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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 <Tool
Name="VCCLCompilerTool" Name="VCCLCompilerTool"
Optimization="0" 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" PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS"
MinimalRebuild="true" MinimalRebuild="true"
BasicRuntimeChecks="3" BasicRuntimeChecks="3"
@@ -77,7 +77,7 @@
/> />
<Tool <Tool
Name="VCPostBuildEventTool" 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>
<Configuration <Configuration
@@ -106,8 +106,8 @@
<Tool <Tool
Name="VCCLCompilerTool" Name="VCCLCompilerTool"
Optimization="2" Optimization="2"
EnableIntrinsicFunctions="true" EnableIntrinsicFunctions="false"
AdditionalIncludeDirectories="../../Recast/Include; ../../Detour/Include" AdditionalIncludeDirectories="../../Recast/Include;../../Detour/Include;../../../../source/blender/makesdna;../../../../source/blender/blenkernel;../../../../source/blender/blenlib"
PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS" PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS"
RuntimeLibrary="0" RuntimeLibrary="0"
EnableFunctionLevelLinking="true" EnableFunctionLevelLinking="true"
@@ -142,7 +142,7 @@
/> />
<Tool <Tool
Name="VCPostBuildEventTool" 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>
</Configurations> </Configurations>
@@ -269,6 +269,18 @@
</File> </File>
</Filter> </Filter>
</Filter> </Filter>
<Filter
Name="BlenderNavMesh"
>
<File
RelativePath="..\..\BlenderNavMesh\NavMeshConversion.cpp"
>
</File>
<File
RelativePath="..\..\BlenderNavMesh\NavMeshConversion.h"
>
</File>
</Filter>
</Files> </Files>
<Globals> <Globals>
</Globals> </Globals>

6
projectfiles_vc9/blender/blender.sln
View File

@@ -185,6 +185,9 @@ EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "KX_converter", "..\gameengine\converter\KX_converter.vcproj", "{F90BD995-FFA4-4B18-81E8-FA4322C939E8}" Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "KX_converter", "..\gameengine\converter\KX_converter.vcproj", "{F90BD995-FFA4-4B18-81E8-FA4322C939E8}"
EndProject EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "KX_ketsji", "..\gameengine\ketsji\KX_ketsji.vcproj", "{E645CC32-4823-463E-82F0-46ADDE664018}" Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "KX_ketsji", "..\gameengine\ketsji\KX_ketsji.vcproj", "{E645CC32-4823-463E-82F0-46ADDE664018}"
ProjectSection(ProjectDependencies) = postProject
{FB55B14E-D38E-4D04-BA7B-748EBC97FDB6} = {FB55B14E-D38E-4D04-BA7B-748EBC97FDB6}
EndProjectSection
EndProject EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "KX_network", "..\gameengine\ketsji\network\KX_network.vcproj", "{6E24BF09-9653-4166-A871-F65CC9E98A9B}" Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "KX_network", "..\gameengine\ketsji\network\KX_network.vcproj", "{6E24BF09-9653-4166-A871-F65CC9E98A9B}"
EndProject EndProject
@@ -340,6 +343,9 @@ EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BF_collada", "collada\BF_collada.vcproj", "{76D3102B-7DD2-8BA1-034A-8B19FE2897C2}" Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BF_collada", "collada\BF_collada.vcproj", "{76D3102B-7DD2-8BA1-034A-8B19FE2897C2}"
EndProject EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BL_modifiers", "modifiers\modifiers.vcproj", "{7CB0C521-91E0-40CE-A7C4-45FEA7ABE8BC}" Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BL_modifiers", "modifiers\modifiers.vcproj", "{7CB0C521-91E0-40CE-A7C4-45FEA7ABE8BC}"
ProjectSection(ProjectDependencies) = postProject
{FB55B14E-D38E-4D04-BA7B-748EBC97FDB6} = {FB55B14E-D38E-4D04-BA7B-748EBC97FDB6}
EndProjectSection
EndProject EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "EXT_recastnavigation", "..\..\extern\recastnavigation\make\msvc_9_0\recastnavigation.vcproj", "{FB55B14E-D38E-4D04-BA7B-748EBC97FDB6}" Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "EXT_recastnavigation", "..\..\extern\recastnavigation\make\msvc_9_0\recastnavigation.vcproj", "{FB55B14E-D38E-4D04-BA7B-748EBC97FDB6}"
EndProject EndProject

4
projectfiles_vc9/blender/modifiers/modifiers.vcproj
View File

@@ -182,7 +182,7 @@
<Tool <Tool
Name="VCCLCompilerTool" Name="VCCLCompilerTool"
Optimization="0" Optimization="0"
AdditionalIncludeDirectories="..\..\..\..\lib\windows\zlib\include;..\..\..\..\build\msvc_9\intern\bsp\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\decimation\include;..\..\..\..\build\msvc_9\intern\elbeem\include;..\..\..\..\build\msvc_9\intern\iksolver\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\blenkernel;..\..\..\source\blender\blenkernel\intern;..\..\..\source\blender\makesdna;..\..\..\source\blender\editors\include;..\..\..\source\blender\gpu;..\..\..\source\blender\modifiers;..\..\..\source\blender\render\extern\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include" AdditionalIncludeDirectories="..\..\..\..\lib\windows\zlib\include;..\..\..\..\build\msvc_9\intern\bsp\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\decimation\include;..\..\..\..\build\msvc_9\intern\elbeem\include;..\..\..\..\build\msvc_9\intern\iksolver\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\blenkernel;..\..\..\source\blender\blenkernel\intern;..\..\..\source\blender\makesdna;..\..\..\source\blender\editors\include;..\..\..\source\blender\gpu;..\..\..\source\blender\modifiers;..\..\..\source\blender\render\extern\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\BlenderNavMesh"
PreprocessorDefinitions="_DEBUG;WIN32;_LIB;WITH_LZO;WITH_LZMA" PreprocessorDefinitions="_DEBUG;WIN32;_LIB;WITH_LZO;WITH_LZMA"
MinimalRebuild="false" MinimalRebuild="false"
BasicRuntimeChecks="3" BasicRuntimeChecks="3"
@@ -253,7 +253,7 @@
<Tool <Tool
Name="VCCLCompilerTool" Name="VCCLCompilerTool"
Optimization="2" Optimization="2"
AdditionalIncludeDirectories="..\..\..\..\lib\windows\zlib\include;..\..\..\..\build\msvc_9\intern\bsp\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\decimation\include;..\..\..\..\build\msvc_9\intern\elbeem\include;..\..\..\..\build\msvc_9\intern\iksolver\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\blenkernel;..\..\..\source\blender\blenkernel\intern;..\..\..\source\blender\makesdna;..\..\..\source\blender\modifiers;..\..\..\source\blender\render\extern\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\source\blender\editors\include;..\..\..\source\blender\gpu" AdditionalIncludeDirectories="..\..\..\..\lib\windows\zlib\include;..\..\..\..\build\msvc_9\intern\bsp\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\intern\decimation\include;..\..\..\..\build\msvc_9\intern\elbeem\include;..\..\..\..\build\msvc_9\intern\iksolver\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\blenkernel;..\..\..\source\blender\blenkernel\intern;..\..\..\source\blender\makesdna;..\..\..\source\blender\modifiers;..\..\..\source\blender\render\extern\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\BlenderNavMesh;..\..\..\source\blender\editors\include;..\..\..\source\blender\gpu"
PreprocessorDefinitions="NDEBUG;WIN32;_LIB;WITH_LZO;WITH_LZMA" PreprocessorDefinitions="NDEBUG;WIN32;_LIB;WITH_LZO;WITH_LZMA"
BasicRuntimeChecks="0" BasicRuntimeChecks="0"
RuntimeLibrary="0" RuntimeLibrary="0"

4
projectfiles_vc9/gameengine/ketsji/KX_ketsji.vcproj
View File

@@ -194,7 +194,7 @@
<Tool <Tool
Name="VCCLCompilerTool" Name="VCCLCompilerTool"
Optimization="0" Optimization="0"
AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern" AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\BlenderNavMesh;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"
PreprocessorDefinitions="JANCODEPANCO;WIN32;_LIB;EXP_PYTHON_EMBEDDING;_DEBUG;USE_SUMO_SOLID;WITH_GLEXT;GLEW_STATIC;WITH_FFMPEG" PreprocessorDefinitions="JANCODEPANCO;WIN32;_LIB;EXP_PYTHON_EMBEDDING;_DEBUG;USE_SUMO_SOLID;WITH_GLEXT;GLEW_STATIC;WITH_FFMPEG"
BasicRuntimeChecks="3" BasicRuntimeChecks="3"
RuntimeLibrary="1" RuntimeLibrary="1"
@@ -271,7 +271,7 @@
Name="VCCLCompilerTool" Name="VCCLCompilerTool"
Optimization="2" Optimization="2"
InlineFunctionExpansion="1" InlineFunctionExpansion="1"
AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern" AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\build\msvc_9\extern\bullet\include;..\..\..\..\build\msvc_9\extern\solid\include;..\..\..\..\build\msvc_9\extern\recastnavigation\Detour\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\Recast\Include;..\..\..\..\build\msvc_9\extern\recastnavigation\BlenderNavMesh;..\..\..\..\build\msvc_9\extern\glew\include;..\..\..\..\lib\windows\python\include\python3.1;..\..\..\..\lib\windows\sdl\include;..\..\..\source\blender\imbuf;..\..\..\source\blender\include;..\..\..\source\blender\blenlib;..\..\..\source\blender\python;..\..\..\source\blender\python\generic;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenloader;..\..\..\source\blender\blenkernel;..\..\..\source\kernel\gen_system;..\..\..\source\gameengine\physics;..\..\..\source\gameengine\rasterizer;..\..\..\source\gameengine\network;..\..\..\source\gameengine\Converter;..\..\..\source\gameengine\gamelogic;..\..\..\source\gameengine\scenegraph;..\..\..\source\gameengine\expressions;..\..\..\source\gameengine\physics\sumo;..\..\..\source\gameengine\physics\dummy;..\..\..\source\gameengine\physics\BlOde;..\..\..\source\gameengine\ketsji\kxnetwork;..\..\..\source\gameengine\physics\common;..\..\..\source\gameengine\physics\sumo\include;..\..\..\source\gameengine\physics\common\dummy;..\..\..\source\gameengine\Rasterizer\RAS_OpenGLRasterizer;..\..\..\source\gameengine\physics\sumo\fuzzics\include;..\..\..\source\sumo\include;..\..\..\source\sumo\fuzzics\include;..\..\..\source\gameengine\physics\bullet;..\..\..\source\blender\python\api2_2x;..\..\..\source\blender\gpu;..\..\..\intern\audaspace\intern"
PreprocessorDefinitions="NDEBUG;WIN32;_LIB;USE_SUMO_SOLID;WITH_GLEXT;GLEW_STATIC;WITH_FFMPEG" PreprocessorDefinitions="NDEBUG;WIN32;_LIB;USE_SUMO_SOLID;WITH_GLEXT;GLEW_STATIC;WITH_FFMPEG"
StringPooling="true" StringPooling="true"
RuntimeLibrary="0" RuntimeLibrary="0"

389
source/blender/modifiers/intern/MOD_navmesh.cpp
View File

@@ -27,6 +27,7 @@
*/ */
#include <math.h> #include <math.h>
#include "Recast.h" #include "Recast.h"
#include "NavMeshConversion.h"
extern "C"{ extern "C"{
@@ -36,399 +37,13 @@ extern "C"{
#include "BKE_mesh.h" #include "BKE_mesh.h"
#include "BKE_modifier.h" #include "BKE_modifier.h"
#include "BKE_particle.h" #include "BKE_particle.h"
#include "BKE_customdata.h"
#include "MEM_guardedalloc.h" #include "MEM_guardedalloc.h"
#include "BIF_gl.h" #include "BIF_gl.h"
#include "gpu_buffers.h" #include "gpu_buffers.h"
#include "GPU_draw.h" #include "GPU_draw.h"
#include "UI_resources.h" #include "UI_resources.h"
//service function
inline int abs(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;
}
inline 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;
}
inline 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;
}
static 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];
}
static 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->v2;
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;
}
static 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]] );
}
static 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;
}
static 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;
}
static void initData(ModifierData *md) static void initData(ModifierData *md)
{ {
NavMeshModifierData *nmmd = (NavMeshModifierData*) md; NavMeshModifierData *nmmd = (NavMeshModifierData*) md;

324
source/gameengine/Ketsji/KX_NavMeshObject.cpp
View File

@@ -43,6 +43,7 @@ extern "C" {
#include "Value.h" #include "Value.h"
#include "Recast.h" #include "Recast.h"
#include "DetourStatNavMeshBuilder.h" #include "DetourStatNavMeshBuilder.h"
#include "NavMeshConversion.h"
#include "KX_ObstacleSimulation.h" #include "KX_ObstacleSimulation.h"
static const int MAX_PATH_LEN = 256; static const int MAX_PATH_LEN = 256;
@@ -69,25 +70,6 @@ inline void flipAxes(float* vec)
{ {
std::swap(vec[1],vec[2]); std::swap(vec[1],vec[2]);
} }
static 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[1]*abx[1];
float t = abx[0]*dx[0]+abx[1]*dx[1];
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[1] = a[1] + t*abx[1] - point[1];
return dx[0]*dx[0] + dx[1]*dx[1];
}
KX_NavMeshObject::KX_NavMeshObject(void* sgReplicationInfo, SG_Callbacks callbacks) KX_NavMeshObject::KX_NavMeshObject(void* sgReplicationInfo, SG_Callbacks callbacks)
: KX_GameObject(sgReplicationInfo, callbacks) : KX_GameObject(sgReplicationInfo, callbacks)
, m_navMesh(NULL) , m_navMesh(NULL)
@@ -130,253 +112,98 @@ bool KX_NavMeshObject::BuildVertIndArrays(float *&vertices, int& nverts,
int* recastData = (int*) dm->getFaceDataArray(dm, CD_PROP_INT); int* recastData = (int*) dm->getFaceDataArray(dm, CD_PROP_INT);
if (recastData) if (recastData)
{ {
//create from blender mesh using recast data to build navigation int *dtrisToPolysMap=NULL, *dtrisToTrisMap=NULL, *trisToFacesMap=NULL;
//polygon mesh from detailed triangle mesh int nAllVerts = 0;
MVert *mvert = dm->getVertArray(dm); float *allVerts = NULL;
MFace *mface = dm->getFaceArray(dm); buildNavMeshDataByDerivedMesh(dm, vertsPerPoly, nAllVerts, allVerts, ndtris, dtris,
int numfaces = dm->getNumFaces(dm); npolys, dmeshes, polys, dtrisToPolysMap, dtrisToTrisMap, trisToFacesMap);
int numverts = dm->getNumVerts(dm);
if (numfaces==0) unsigned short *verticesMap = new unsigned short[nAllVerts];
{ memset(verticesMap, 0xffff, sizeof(unsigned short)*nAllVerts);
return true; int curIdx = 0;
} //vertices - mesh verts
//iterate over all polys and create map for their vertices first...
//build detailed mesh adjacency (with triangle reordering)
ndtris = numfaces;
dtris = new unsigned short[numfaces*3*2];
memset(dtris, 0xffff, sizeof(unsigned short)*3*2*numfaces);
for (int i=0; i<numfaces;i++)
{
MFace* mf = &mface[i];
dtris[i*3*2+0] = mf->v1;
dtris[i*3*2+1] = mf->v3;
dtris[i*3*2+2] = mf->v2;
}
buildMeshAdjacency(dtris, numfaces, numverts, 3);
//assumption: detailed mesh triangles are sorted by polygon idx
npolys = recastData[numfaces-1]/* + 1*/; //stored indices start from 1
dmeshes = new unsigned short[npolys*4];
memset(dmeshes, 0, npolys*4*sizeof(unsigned short));
unsigned short *dmesh = NULL;
int prevpolyidx = -1;
for (int i=0; i<numfaces; i++)
{
int curpolyidx = recastData[i];
if (curpolyidx!=prevpolyidx)
{
if (curpolyidx!=prevpolyidx+1)
{
//error - wrong order of detailed mesh faces
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]++;
}
vertsPerPoly = 6;
polys = new unsigned short[npolys*vertsPerPoly*2];
memset(polys, 0xff, sizeof(unsigned short)*vertsPerPoly*2*npolys);
int curpolytri = 0;
for (int polyidx=0; polyidx<npolys; polyidx++)
{
vector<unsigned short> poly, tempPoly;
//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 || recastData[neighbortri]!=polyidx)
{
btri = curpolytri;
bedge = k;
break;
}
}
}
if (btri==-1 || bedge==-1)
{
//can't find triangle with border edge
return false;
}
poly.push_back(dtris[btri*3*2+bedge]);
//poly.push_back(detailedpolys[btri*3*2+(bedge+1)%3]);
int tri = btri;
int edge = (bedge+1)%3;
while (tri!=btri || edge!=bedge)
{
int neighbortri = dtris[tri*3*2+3+edge];
if (neighbortri==0xffff || recastData[neighbortri]!=polyidx)
{
//add vertex to current edge
poly.push_back(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)
{
//can't find neighbor edge - invalid adjacency info
return false;
}
tri = neighbortri;
edge = (twinedge+1)%3;
}
}
size_t nv = poly.size();
for (size_t i=0; i<nv; i++)
{
unsigned short prev = poly[(poly.size()+i-1)%nv];
unsigned short cur = poly[i];
unsigned short next = poly[(i+1)%nv];
float distSq = distPointToSegmentSq(mvert[cur].co, mvert[prev].co, mvert[next].co);
static const float tolerance = 0.001f;
if (distSq>tolerance)
tempPoly.push_back(cur);
}
poly = tempPoly;
if (poly.size()>vertsPerPoly)
{
printf("Error! Polygon size exceeds max verts count");
return false;
}
for (int i=0; i<poly.size(); i++)
{
polys[polyidx*vertsPerPoly*2+i] = poly[i];
}
}
//assumption: vertices in mesh are stored in following order:
//navigation mesh vertices - unique detailed mesh vertex
unsigned short maxidx = 0;
for (int polyidx=0; polyidx<npolys; polyidx++) for (int polyidx=0; polyidx<npolys; polyidx++)
{ {
unsigned short* poly = &polys[polyidx*vertsPerPoly*2];
for (int i=0; i<vertsPerPoly; i++) for (int i=0; i<vertsPerPoly; i++)
{ {
unsigned short idx = polys[polyidx*vertsPerPoly*2+i]; unsigned short idx = poly[i];
if (idx==0xffff) if (idx==0xffff)
break; break;
if (idx>maxidx) if (verticesMap[idx]==0xffff)
maxidx=idx;
}
}
//create navigation mesh verts
nverts = maxidx+1;
vertices = new float[nverts*3];
for (int vi=0; vi<nverts; vi++)
{
MVert *v = &mvert[vi];
copy_v3_v3(&vertices[3*vi], v->co);
}
//create unique detailed mesh verts
ndvertsuniq = numverts - nverts;
if (ndvertsuniq>0)
{
dvertices = new float[ndvertsuniq*3];
for (int vi=0; vi<ndvertsuniq; vi++)
{
MVert *v = &mvert[nverts+vi];
copy_v3_v3(&dvertices[3*vi], v->co);
}
}
for (int polyIdx=0; polyIdx<npolys; polyIdx++)
{
unsigned short *dmesh = &dmeshes[4*polyIdx];
unsigned short minvert = 0xffff, maxvert = 0;
for (int j=0; j<dmesh[3]; j++)
{
unsigned short* dtri = &dtris[(dmesh[2]+j)*3*2];
for (int k=0; k<3; k++)
{ {
if (dtri[k]<nverts) verticesMap[idx] = curIdx++;
continue;
minvert = std::min(minvert, dtri[k]);
maxvert = std::max(maxvert, dtri[k]);
} }
poly[i] = verticesMap[idx];
} }
dmesh[0] = minvert; //vbase
dmesh[1] = minvert != 0xffff ? maxvert - minvert + 1 : 0; //vnum
} }
nverts = curIdx;
//recalculate detailed mesh indices (they must be local) //...then iterate over detailed meshes
for (int polyIdx=0; polyIdx<npolys; polyIdx++) //transform indices to local ones (for each navigation polygon)
for (int polyidx=0; polyidx<npolys; polyidx++)
{ {
unsigned short * poly = &polys[polyIdx*vertsPerPoly*2]; unsigned short *poly = &polys[polyidx*vertsPerPoly*2];
int nv=0; int nv = polyNumVerts(poly, vertsPerPoly);
for (int vi=0; vi<vertsPerPoly; vi++) unsigned short *dmesh = &dmeshes[4*polyidx];
unsigned short tribase = dmesh[2];
unsigned short trinum = dmesh[3];
unsigned short vbase = curIdx;
for (int j=0; j<trinum; j++)
{ {
if (poly[vi]==0xffff) unsigned short* dtri = &dtris[(tribase+j)*3*2];
break;
nv++;
}
unsigned short *dmesh = &dmeshes[4*polyIdx];
for (int j=0; j<dmesh[3]; j++)
{
unsigned short* dtri = &dtris[(dmesh[2]+j)*3*2];
for (int k=0; k<3; k++) for (int k=0; k<3; k++)
{ {
if (dtri[k]<nverts) int newVertexIdx = verticesMap[dtri[k]];
if (newVertexIdx==0xffff)
{ {
//shared vertex from polygon newVertexIdx = curIdx++;
unsigned short idx = 0xffff; verticesMap[dtri[k]] = newVertexIdx;
for (int vi=0; vi<nv; vi++) }
if (newVertexIdx<nverts)
{
//it's polygon vertex ("shared")
int idxInPoly = polyFindVertex(poly, vertsPerPoly, newVertexIdx);
if (idxInPoly==-1)
{ {
if (poly[vi]==dtri[k]) printf("Building NavMeshObject: Error! Can't find vertex in polygon\n");
{
idx = vi;
break;
}
}
if (idx==0xffff)
{
printf("Can't find vertex in navigation polygon");
return false; return false;
} }
dtri[k] = idx; dtri[k] = idxInPoly;
} }
else else
{ {
dtri[k] = dtri[k]-dmesh[0]+nv; dtri[k] = newVertexIdx - vbase + nv;
} }
} }
} }
if (dmesh[1]>0) dmesh[0] = vbase-nverts; //verts base
dmesh[0] -= nverts; dmesh[1] = curIdx-vbase; //verts num
}
vertices = new float[nverts*3];
ndvertsuniq = curIdx - nverts;
if (ndvertsuniq>0)
{
dvertices = new float[ndvertsuniq*3];
}
for (int vi=0; vi<nAllVerts; vi++)
{
int newIdx = verticesMap[vi];
if (newIdx!=0xffff)
{
if (newIdx<nverts)
{
//navigation mesh vertex
memcpy(vertices+3*newIdx, allVerts+3*vi, 3*sizeof(float));
}
else
{
//detailed mesh vertex
memcpy(dvertices+3*(newIdx-nverts), allVerts+3*vi, 3*sizeof(float));
}
}
} }
} }
else else
@@ -468,13 +295,16 @@ bool KX_NavMeshObject::BuildNavMesh()
} }
MT_Point3 pos; MT_Point3 pos;
for (int i=0; i<nverts; i++) if (dmeshes==NULL)
{ {
flipAxes(&vertices[i*3]); for (int i=0; i<nverts; i++)
} {
for (int i=0; i<ndvertsuniq; i++) flipAxes(&vertices[i*3]);
{ }
flipAxes(&dvertices[i*3]); for (int i=0; i<ndvertsuniq; i++)
{
flipAxes(&dvertices[i*3]);
}
} }
buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly); buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly);