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Update Recast version to 1.5.0

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The version of Recast that Blender ships with is from 2009.  This patch updates the Recast version to the latest version, 1.5.0.  The Detour version remains untouched.

Reviewers: campbellbarton, moguri

Reviewed By: moguri

Projects: #bf_blender

Differential Revision: https://developer.blender.org/D1747
This commit is contained in:
Reinier de Blois
2016-04-05 20:34:00 +02:00
committed by Porteries Tristan
parent 214e384fc4
commit 176538f613
21 changed files with 2691 additions and 1403 deletions
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162
extern/recastnavigation/Recast/Include/Recast.h vendored
View File

@@ -127,7 +127,7 @@ public:
inline void resetTimers() { if (m_timerEnabled) doResetTimers(); }
/// Starts the specified performance timer.
/// @param label The category of timer.
/// @param label The category of the timer.
inline void startTimer(const rcTimerLabel label) { if (m_timerEnabled) doStartTimer(label); }
/// Stops the specified performance timer.
@@ -173,6 +173,26 @@ protected:
bool m_timerEnabled;
};
/// A helper to first start a timer and then stop it when this helper goes out of scope.
/// @see rcContext
class rcScopedTimer
{
public:
/// Constructs an instance and starts the timer.
/// @param[in] ctx The context to use.
/// @param[in] label The category of the timer.
inline rcScopedTimer(rcContext* ctx, const rcTimerLabel label) : m_ctx(ctx), m_label(label) { m_ctx->startTimer(m_label); }
inline ~rcScopedTimer() { m_ctx->stopTimer(m_label); }
private:
// Explicitly disabled copy constructor and copy assignment operator.
rcScopedTimer(const rcScopedTimer&);
rcScopedTimer& operator=(const rcScopedTimer&);
rcContext* const m_ctx;
const rcTimerLabel m_label;
};
/// Specifies a configuration to use when performing Recast builds.
/// @ingroup recast
struct rcConfig
@@ -219,7 +239,7 @@ struct rcConfig
int maxEdgeLen;
/// The maximum distance a simplfied contour's border edges should deviate
/// the original raw contour. [Limit: >=0] [Units: wu]
/// the original raw contour. [Limit: >=0] [Units: vx]
float maxSimplificationError;
/// The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx]
@@ -255,8 +275,8 @@ static const int RC_SPANS_PER_POOL = 2048;
/// @see rcHeightfield
struct rcSpan
{
unsigned int smin : 13; ///< The lower limit of the span. [Limit: < #smax]
unsigned int smax : 13; ///< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT]
unsigned int smin : RC_SPAN_HEIGHT_BITS; ///< The lower limit of the span. [Limit: < #smax]
unsigned int smax : RC_SPAN_HEIGHT_BITS; ///< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT]
unsigned int area : 6; ///< The area id assigned to the span.
rcSpan* next; ///< The next span higher up in column.
};
@@ -338,7 +358,7 @@ struct rcHeightfieldLayer
int maxy; ///< The maximum y-bounds of usable data. (Along the z-axis.)
int hmin; ///< The minimum height bounds of usable data. (Along the y-axis.)
int hmax; ///< The maximum height bounds of usable data. (Along the y-axis.)
unsigned char* heights; ///< The heightfield. [Size: (width - borderSize*2) * (h - borderSize*2)]
unsigned char* heights; ///< The heightfield. [Size: width * height]
unsigned char* areas; ///< Area ids. [Size: Same as #heights]
unsigned char* cons; ///< Packed neighbor connection information. [Size: Same as #heights]
};
@@ -376,6 +396,7 @@ struct rcContourSet
int width; ///< The width of the set. (Along the x-axis in cell units.)
int height; ///< The height of the set. (Along the z-axis in cell units.)
int borderSize; ///< The AABB border size used to generate the source data from which the contours were derived.
float maxError; ///< The max edge error that this contour set was simplified with.
};
/// Represents a polygon mesh suitable for use in building a navigation mesh.
@@ -396,6 +417,7 @@ struct rcPolyMesh
float cs; ///< The size of each cell. (On the xz-plane.)
float ch; ///< The height of each cell. (The minimum increment along the y-axis.)
int borderSize; ///< The AABB border size used to generate the source data from which the mesh was derived.
float maxEdgeError; ///< The max error of the polygon edges in the mesh.
};
/// Contains triangle meshes that represent detailed height data associated
@@ -497,6 +519,14 @@ void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh);
/// @see rcCompactSpan::reg
static const unsigned short RC_BORDER_REG = 0x8000;
/// Polygon touches multiple regions.
/// If a polygon has this region ID it was merged with or created
/// from polygons of different regions during the polymesh
/// build step that removes redundant border vertices.
/// (Used during the polymesh and detail polymesh build processes)
/// @see rcPolyMesh::regs
static const unsigned short RC_MULTIPLE_REGS = 0;
/// Border vertex flag.
/// If a region ID has this bit set, then the associated element lies on
/// a tile border. If a contour vertex's region ID has this bit set, the
@@ -549,6 +579,11 @@ static const int RC_NOT_CONNECTED = 0x3f;
/// @name General helper functions
/// @{
/// Used to ignore a function parameter. VS complains about unused parameters
/// and this silences the warning.
/// @param [in] _ Unused parameter
template<class T> void rcIgnoreUnused(const T&) { }
/// Swaps the values of the two parameters.
/// @param[in,out] a Value A
/// @param[in,out] b Value B
@@ -571,7 +606,7 @@ template<class T> inline T rcMax(T a, T b) { return a > b ? a : b; }
/// @return The absolute value of the specified value.
template<class T> inline T rcAbs(T a) { return a < 0 ? -a : a; }
/// Return the square of a value.
/// Returns the square of the value.
/// @param[in] a The value.
/// @return The square of the value.
template<class T> inline T rcSqr(T a) { return a*a; }
@@ -588,16 +623,11 @@ template<class T> inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v >
/// @return The square root of the vlaue.
float rcSqrt(float x);
/// Not documented. Internal use only.
/// @param[in] x Not documented.
/// @return Not documented.
inline int rcAlign4(int x) { return (x+3) & ~3; }
/// @}
/// @name Vector helper functions.
/// @{
/// Derives the cross product of two vectors. (v1 x v2)
/// Derives the cross product of two vectors. (@p v1 x @p v2)
/// @param[out] dest The cross product. [(x, y, z)]
/// @param[in] v1 A Vector [(x, y, z)]
/// @param[in] v2 A vector [(x, y, z)]
@@ -608,7 +638,7 @@ inline void rcVcross(float* dest, const float* v1, const float* v2)
dest[2] = v1[0]*v2[1] - v1[1]*v2[0];
}
/// Derives the dot product of two vectors. (v1 . v2)
/// Derives the dot product of two vectors. (@p v1 . @p v2)
/// @param[in] v1 A Vector [(x, y, z)]
/// @param[in] v2 A vector [(x, y, z)]
/// @return The dot product.
@@ -617,9 +647,9 @@ inline float rcVdot(const float* v1, const float* v2)
return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
}
/// Performs a scaled vector addition. (v1 + (v2 * s))
/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] v1 The base vector [(x, y, z)]
/// @param[in] v1 The base vector. [(x, y, z)]
/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)]
/// @param[in] s The amount to scale @p v2 by before adding to @p v1.
inline void rcVmad(float* dest, const float* v1, const float* v2, const float s)
@@ -631,7 +661,7 @@ inline void rcVmad(float* dest, const float* v1, const float* v2, const float s)
/// Performs a vector addition. (@p v1 + @p v2)
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] v1 The base vector [(x, y, z)]
/// @param[in] v1 The base vector. [(x, y, z)]
/// @param[in] v2 The vector to add to @p v1. [(x, y, z)]
inline void rcVadd(float* dest, const float* v1, const float* v2)
{
@@ -642,7 +672,7 @@ inline void rcVadd(float* dest, const float* v1, const float* v2)
/// Performs a vector subtraction. (@p v1 - @p v2)
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] v1 The base vector [(x, y, z)]
/// @param[in] v1 The base vector. [(x, y, z)]
/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)]
inline void rcVsub(float* dest, const float* v1, const float* v2)
{
@@ -673,7 +703,7 @@ inline void rcVmax(float* mx, const float* v)
/// Performs a vector copy.
/// @param[out] dest The result. [(x, y, z)]
/// @param[in] v The vector to copy [(x, y, z)]
/// @param[in] v The vector to copy. [(x, y, z)]
inline void rcVcopy(float* dest, const float* v)
{
dest[0] = v[0];
@@ -715,17 +745,6 @@ inline void rcVnormalize(float* v)
v[2] *= d;
}
/// Not documented. Internal use only.
/// @param[in] p0 Not documented.
/// @param[in] p1 Not documented.
/// @return Not documented.
inline bool rcVequal(const float* p0, const float* p1)
{
static const float thr = rcSqr(1.0f/16384.0f);
const float d = rcVdistSqr(p0, p1);
return d < thr;
}
/// @}
/// @name Heightfield Functions
/// @see rcHeightfield
@@ -758,6 +777,7 @@ void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int*
/// @param[in] bmax The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu]
/// @param[in] cs The xz-plane cell size to use for the field. [Limit: > 0] [Units: wu]
/// @param[in] ch The y-axis cell size to use for field. [Limit: > 0] [Units: wu]
/// @returns True if the operation completed successfully.
bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height,
const float* bmin, const float* bmax,
float cs, float ch);
@@ -766,8 +786,8 @@ bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int heigh
/// to #RC_WALKABLE_AREA.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. [Limits: 0 <= value < 90]
/// [Units: Degrees]
/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable.
/// [Limits: 0 <= value < 90] [Units: Degrees]
/// @param[in] verts The vertices. [(x, y, z) * @p nv]
/// @param[in] nv The number of vertices.
/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt]
@@ -779,8 +799,8 @@ void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, con
/// Sets the area id of all triangles with a slope greater than or equal to the specified value to #RC_NULL_AREA.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. [Limits: 0 <= value < 90]
/// [Units: Degrees]
/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable.
/// [Limits: 0 <= value < 90] [Units: Degrees]
/// @param[in] verts The vertices. [(x, y, z) * @p nv]
/// @param[in] nv The number of vertices.
/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt]
@@ -801,7 +821,8 @@ void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
/// @param[in] smax The maximum height of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] [Units: vx]
/// @param[in] area The area id of the span. [Limit: <= #RC_WALKABLE_AREA)
/// @param[in] flagMergeThr The merge theshold. [Limit: >= 0] [Units: vx]
void rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
/// @returns True if the operation completed successfully.
bool rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned char area, const int flagMergeThr);
@@ -815,7 +836,8 @@ void rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
/// @param[in,out] solid An initialized heightfield.
/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
/// [Limit: >= 0] [Units: vx]
void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
/// @returns True if the operation completed successfully.
bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
const unsigned char area, rcHeightfield& solid,
const int flagMergeThr = 1);
@@ -830,7 +852,8 @@ void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const
/// @param[in,out] solid An initialized heightfield.
/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
/// [Limit: >= 0] [Units: vx]
void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
/// @returns True if the operation completed successfully.
bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
const int* tris, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr = 1);
@@ -845,7 +868,8 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
/// @param[in,out] solid An initialized heightfield.
/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
/// [Limit: >= 0] [Units: vx]
void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
/// @returns True if the operation completed successfully.
bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
const unsigned short* tris, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr = 1);
@@ -858,7 +882,8 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
/// @param[in,out] solid An initialized heightfield.
/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
/// [Limit: >= 0] [Units: vx]
void rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
/// @returns True if the operation completed successfully.
bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr = 1);
/// Marks non-walkable spans as walkable if their maximum is within @p walkableClimp of a walkable neihbor.
@@ -951,6 +976,16 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
const float hmin, const float hmax, unsigned char areaId,
rcCompactHeightfield& chf);
/// Helper function to offset voncex polygons for rcMarkConvexPolyArea.
/// @ingroup recast
/// @param[in] verts The vertices of the polygon [Form: (x, y, z) * @p nverts]
/// @param[in] nverts The number of vertices in the polygon.
/// @param[out] outVerts The offset vertices (should hold up to 2 * @p nverts) [Form: (x, y, z) * return value]
/// @param[in] maxOutVerts The max number of vertices that can be stored to @p outVerts.
/// @returns Number of vertices in the offset polygon or 0 if too few vertices in @p outVerts.
int rcOffsetPoly(const float* verts, const int nverts, const float offset,
float* outVerts, const int maxOutVerts);
/// Applies the area id to all spans within the specified cylinder.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
@@ -974,29 +1009,42 @@ bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf);
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in,out] chf A populated compact heightfield.
/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx]
/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. [Limit: >=0]
/// [Units: vx].
/// @param[in] borderSize The size of the non-navigable border around the heightfield.
/// [Limit: >=0] [Units: vx]
/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas.
/// [Limit: >=0] [Units: vx].
/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible,
/// be merged with larger regions. [Limit: >=0] [Units: vx]
/// @returns True if the operation completed successfully.
bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea);
/// Builds region data for the heightfield by partitioning the heightfield in non-overlapping layers.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in,out] chf A populated compact heightfield.
/// @param[in] borderSize The size of the non-navigable border around the heightfield.
/// [Limit: >=0] [Units: vx]
/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas.
/// [Limit: >=0] [Units: vx].
/// @returns True if the operation completed successfully.
bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea);
/// Builds region data for the heightfield using simple monotone partitioning.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in,out] chf A populated compact heightfield.
/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx]
/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. [Limit: >=0]
/// [Units: vx].
/// @param[in] borderSize The size of the non-navigable border around the heightfield.
/// [Limit: >=0] [Units: vx]
/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas.
/// [Limit: >=0] [Units: vx].
/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible,
/// be merged with larger regions. [Limit: >=0] [Units: vx]
/// @returns True if the operation completed successfully.
bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea);
/// Sets the neighbor connection data for the specified direction.
/// @param[in] s The span to update.
/// @param[in] dir The direction to set. [Limits: 0 <= value < 4]
@@ -1025,7 +1073,7 @@ inline int rcGetCon(const rcCompactSpan& s, int dir)
/// in the direction.
inline int rcGetDirOffsetX(int dir)
{
const int offset[4] = { -1, 0, 1, 0, };
static const int offset[4] = { -1, 0, 1, 0, };
return offset[dir&0x03];
}
@@ -1035,10 +1083,20 @@ inline int rcGetDirOffsetX(int dir)
/// in the direction.
inline int rcGetDirOffsetY(int dir)
{
const int offset[4] = { 0, 1, 0, -1 };
static const int offset[4] = { 0, 1, 0, -1 };
return offset[dir&0x03];
}
/// Gets the direction for the specified offset. One of x and y should be 0.
/// @param[in] x The x offset. [Limits: -1 <= value <= 1]
/// @param[in] y The y offset. [Limits: -1 <= value <= 1]
/// @return The direction that represents the offset.
inline int rcGetDirForOffset(int x, int y)
{
static const int dirs[5] = { 3, 0, -1, 2, 1 };
return dirs[((y+1)<<1)+x];
}
/// @}
/// @name Layer, Contour, Polymesh, and Detail Mesh Functions
/// @see rcHeightfieldLayer, rcContourSet, rcPolyMesh, rcPolyMeshDetail
@@ -1071,7 +1129,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
/// @returns True if the operation completed successfully.
bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
const float maxError, const int maxEdgeLen,
rcContourSet& cset, const int flags = RC_CONTOUR_TESS_WALL_EDGES);
rcContourSet& cset, const int buildFlags = RC_CONTOUR_TESS_WALL_EDGES);
/// Builds a polygon mesh from the provided contours.
/// @ingroup recast
@@ -1106,6 +1164,14 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
const float sampleDist, const float sampleMaxError,
rcPolyMeshDetail& dmesh);
/// Copies the poly mesh data from src to dst.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] src The source mesh to copy from.
/// @param[out] dst The resulting detail mesh. (Must be pre-allocated, must be empty mesh.)
/// @returns True if the operation completed successfully.
bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst);
/// Merges multiple detail meshes into a single detail mesh.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.

55
extern/recastnavigation/Recast/Include/RecastAlloc.h vendored
View File

@@ -19,6 +19,8 @@
#ifndef RECASTALLOC_H
#define RECASTALLOC_H
#include <stddef.h>
/// Provides hint values to the memory allocator on how long the
/// memory is expected to be used.
enum rcAllocHint
@@ -32,11 +34,11 @@ enum rcAllocHint
// @param[in] rcAllocHint A hint to the allocator on how long the memory is expected to be in use.
// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
/// @see rcAllocSetCustom
typedef void* (rcAllocFunc)(int size, rcAllocHint hint);
typedef void* (rcAllocFunc)(size_t size, rcAllocHint hint);
/// A memory deallocation function.
/// @param[in] ptr A pointer to a memory block previously allocated using #rcAllocFunc.
/// @see rcAllocSetCustom
// @param[in] ptr
typedef void (rcFreeFunc)(void* ptr);
/// Sets the base custom allocation functions to be used by Recast.
@@ -48,10 +50,12 @@ void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc);
/// @param[in] size The size, in bytes of memory, to allocate.
/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use.
/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
void* rcAlloc(int size, rcAllocHint hint);
/// @see rcFree
void* rcAlloc(size_t size, rcAllocHint hint);
/// Deallocates a memory block.
/// @param[in] ptr A pointer to a memory block previously allocated using #rcAlloc.
/// @see rcAlloc
void rcFree(void* ptr);
@@ -60,42 +64,58 @@ class rcIntArray
{
int* m_data;
int m_size, m_cap;
inline rcIntArray(const rcIntArray&);
inline rcIntArray& operator=(const rcIntArray&);
public:
void doResize(int n);
// Explicitly disabled copy constructor and copy assignment operator.
rcIntArray(const rcIntArray&);
rcIntArray& operator=(const rcIntArray&);
public:
/// Constructs an instance with an initial array size of zero.
inline rcIntArray() : m_data(0), m_size(0), m_cap(0) {}
rcIntArray() : m_data(0), m_size(0), m_cap(0) {}
/// Constructs an instance initialized to the specified size.
/// @param[in] n The initial size of the integer array.
inline rcIntArray(int n) : m_data(0), m_size(0), m_cap(0) { resize(n); }
inline ~rcIntArray() { rcFree(m_data); }
rcIntArray(int n) : m_data(0), m_size(0), m_cap(0) { resize(n); }
~rcIntArray() { rcFree(m_data); }
/// Specifies the new size of the integer array.
/// @param[in] n The new size of the integer array.
void resize(int n);
void resize(int n)
{
if (n > m_cap)
doResize(n);
m_size = n;
}
/// Push the specified integer onto the end of the array and increases the size by one.
/// @param[in] item The new value.
inline void push(int item) { resize(m_size+1); m_data[m_size-1] = item; }
void push(int item) { resize(m_size+1); m_data[m_size-1] = item; }
/// Returns the value at the end of the array and reduces the size by one.
/// @return The value at the end of the array.
inline int pop() { if (m_size > 0) m_size--; return m_data[m_size]; }
int pop()
{
if (m_size > 0)
m_size--;
return m_data[m_size];
}
/// The value at the specified array index.
/// @warning Does not provide overflow protection.
/// @param[in] i The index of the value.
inline const int& operator[](int i) const { return m_data[i]; }
const int& operator[](int i) const { return m_data[i]; }
/// The value at the specified array index.
/// @warning Does not provide overflow protection.
/// @param[in] i The index of the value.
inline int& operator[](int i) { return m_data[i]; }
int& operator[](int i) { return m_data[i]; }
/// The current size of the integer array.
inline int size() const { return m_size; }
int size() const { return m_size; }
};
/// A simple helper class used to delete an array when it goes out of scope.
@@ -117,6 +137,11 @@ public:
/// The root array pointer.
/// @return The root array pointer.
inline operator T*() { return ptr; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
rcScopedDelete(const rcScopedDelete&);
rcScopedDelete& operator=(const rcScopedDelete&);
};
#endif

80
extern/recastnavigation/Recast/Include/RecastLog.h vendored
View File

@@ -1,80 +0,0 @@
//
// Copyright (c) 2009 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty. In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
// claim that you wrote the original software. If you use this software
// in a product, an acknowledgment in the product documentation would be
// appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
// misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
#ifndef RECAST_LOG_H
#define RECAST_LOG_H
enum rcLogCategory
{
RC_LOG_PROGRESS = 1,
RC_LOG_WARNING,
RC_LOG_ERROR,
};
class rcLog
{
public:
rcLog();
~rcLog();
void log(rcLogCategory category, const char* format, ...);
inline void clear() { m_messageCount = 0; m_textPoolSize = 0; }
inline int getMessageCount() const { return m_messageCount; }
inline char getMessageType(int i) const { return *m_messages[i]; }
inline const char* getMessageText(int i) const { return m_messages[i]+1; }
private:
static const int MAX_MESSAGES = 1000;
const char* m_messages[MAX_MESSAGES];
int m_messageCount;
static const int TEXT_POOL_SIZE = 8000;
char m_textPool[TEXT_POOL_SIZE];
int m_textPoolSize;
};
struct rcBuildTimes
{
int rasterizeTriangles;
int buildCompact;
int buildContours;
int buildContoursTrace;
int buildContoursSimplify;
int filterBorder;
int filterWalkable;
int filterMarkReachable;
int buildPolymesh;
int buildDistanceField;
int buildDistanceFieldDist;
int buildDistanceFieldBlur;
int buildRegions;
int buildRegionsReg;
int buildRegionsExp;
int buildRegionsFlood;
int buildRegionsFilter;
int buildDetailMesh;
int mergePolyMesh;
int mergePolyMeshDetail;
};
void rcSetLog(rcLog* log);
rcLog* rcGetLog();
void rcSetBuildTimes(rcBuildTimes* btimes);
rcBuildTimes* rcGetBuildTimes();
#endif // RECAST_LOG_H

31
extern/recastnavigation/Recast/Include/RecastTimer.h vendored
View File

@@ -1,31 +0,0 @@
//
// Copyright (c) 2009 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty. In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
// claim that you wrote the original software. If you use this software
// in a product, an acknowledgment in the product documentation would be
// appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
// misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
#ifndef RECAST_TIMER_H
#define RECAST_TIMER_H
#ifdef __GNUC__
#include <stdint.h>
typedef int64_t rcTimeVal;
#else
typedef __int64 rcTimeVal;
#endif
rcTimeVal rcGetPerformanceTimer();
int rcGetDeltaTimeUsec(rcTimeVal start, rcTimeVal end);
#endif // RECAST_TIMER_H

38
extern/recastnavigation/Recast/Source/Recast.cpp vendored
View File

@@ -208,12 +208,11 @@ void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int*
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfield, rcHeightfield
bool rcCreateHeightfield(rcContext* /*ctx*/, rcHeightfield& hf, int width, int height,
bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height,
const float* bmin, const float* bmax,
float cs, float ch)
{
// TODO: VC complains about unref formal variable, figure out a way to handle this better.
// rcAssert(ctx);
rcIgnoreUnused(ctx);
hf.width = width;
hf.height = height;
@@ -239,19 +238,18 @@ static void calcTriNormal(const float* v0, const float* v1, const float* v2, flo
/// @par
///
/// Only sets the aread id's for the walkable triangles. Does not alter the
/// Only sets the area id's for the walkable triangles. Does not alter the
/// area id's for unwalkable triangles.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
void rcMarkWalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle,
void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
const float* verts, int /*nv*/,
const int* tris, int nt,
unsigned char* areas)
{
// TODO: VC complains about unref formal variable, figure out a way to handle this better.
// rcAssert(ctx);
rcIgnoreUnused(ctx);
const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
@@ -269,19 +267,18 @@ void rcMarkWalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle,
/// @par
///
/// Only sets the aread id's for the unwalkable triangles. Does not alter the
/// Only sets the area id's for the unwalkable triangles. Does not alter the
/// area id's for walkable triangles.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
void rcClearUnwalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle,
void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
const float* verts, int /*nv*/,
const int* tris, int nt,
unsigned char* areas)
{
// TODO: VC complains about unref formal variable, figure out a way to handle this better.
// rcAssert(ctx);
rcIgnoreUnused(ctx);
const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
@@ -297,10 +294,9 @@ void rcClearUnwalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAng
}
}
int rcGetHeightFieldSpanCount(rcContext* /*ctx*/, rcHeightfield& hf)
int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf)
{
// TODO: VC complains about unref formal variable, figure out a way to handle this better.
// rcAssert(ctx);
rcIgnoreUnused(ctx);
const int w = hf.width;
const int h = hf.height;
@@ -322,7 +318,7 @@ int rcGetHeightFieldSpanCount(rcContext* /*ctx*/, rcHeightfield& hf)
/// @par
///
/// This is just the beginning of the process of fully building a compact heightfield.
/// Various filters may be applied applied, then the distance field and regions built.
/// Various filters may be applied, then the distance field and regions built.
/// E.g: #rcBuildDistanceField and #rcBuildRegions
///
/// See the #rcConfig documentation for more information on the configuration parameters.
@@ -333,7 +329,7 @@ bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const i
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
const int w = hf.width;
const int h = hf.height;
@@ -439,13 +435,13 @@ bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const i
if ((top - bot) >= walkableHeight && rcAbs((int)ns.y - (int)s.y) <= walkableClimb)
{
// Mark direction as walkable.
const int idx = k - (int)nc.index;
if (idx < 0 || idx > MAX_LAYERS)
const int lidx = k - (int)nc.index;
if (lidx < 0 || lidx > MAX_LAYERS)
{
tooHighNeighbour = rcMax(tooHighNeighbour, idx);
tooHighNeighbour = rcMax(tooHighNeighbour, lidx);
continue;
}
rcSetCon(s, dir, idx);
rcSetCon(s, dir, lidx);
break;
}
}
@@ -461,8 +457,6 @@ bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const i
tooHighNeighbour, MAX_LAYERS);
}
ctx->stopTimer(RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
return true;
}

10
extern/recastnavigation/Recast/Source/RecastAlloc.cpp vendored
View File

@@ -20,7 +20,7 @@
#include <string.h>
#include "RecastAlloc.h"
static void *rcAllocDefault(int size, rcAllocHint)
static void *rcAllocDefault(size_t size, rcAllocHint)
{
return malloc(size);
}
@@ -41,7 +41,7 @@ void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc)
}
/// @see rcAllocSetCustom
void* rcAlloc(int size, rcAllocHint hint)
void* rcAlloc(size_t size, rcAllocHint hint)
{
return sRecastAllocFunc(size, hint);
}
@@ -72,9 +72,7 @@ void rcFree(void* ptr)
/// Using this method ensures the array is at least large enough to hold
/// the specified number of elements. This can improve performance by
/// avoiding auto-resizing during use.
void rcIntArray::resize(int n)
{
if (n > m_cap)
void rcIntArray::doResize(int n)
{
if (!m_cap) m_cap = n;
while (m_cap < n) m_cap *= 2;
@@ -83,6 +81,4 @@ void rcIntArray::resize(int n)
rcFree(m_data);
m_data = newData;
}
m_size = n;
}

103
extern/recastnavigation/Recast/Source/RecastArea.cpp vendored
View File

@@ -41,7 +41,7 @@ bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
const int w = chf.width;
const int h = chf.height;
ctx->startTimer(RC_TIMER_ERODE_AREA);
rcScopedTimer timer(ctx, RC_TIMER_ERODE_AREA);
unsigned char* dist = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
if (!dist)
@@ -75,8 +75,8 @@ bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
{
const int nx = x + rcGetDirOffsetX(dir);
const int ny = y + rcGetDirOffsetY(dir);
const int ni = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
if (chf.areas[ni] != RC_NULL_AREA)
const int nidx = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
if (chf.areas[nidx] != RC_NULL_AREA)
{
nc++;
}
@@ -215,8 +215,6 @@ bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
rcFree(dist);
ctx->stopTimer(RC_TIMER_ERODE_AREA);
return true;
}
@@ -245,7 +243,7 @@ bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
const int w = chf.width;
const int h = chf.height;
ctx->startTimer(RC_TIMER_MEDIAN_AREA);
rcScopedTimer timer(ctx, RC_TIMER_MEDIAN_AREA);
unsigned char* areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
if (!areas)
@@ -307,8 +305,6 @@ bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
rcFree(areas);
ctx->stopTimer(RC_TIMER_MEDIAN_AREA);
return true;
}
@@ -322,7 +318,7 @@ void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigne
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_MARK_BOX_AREA);
rcScopedTimer timer(ctx, RC_TIMER_MARK_BOX_AREA);
int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
@@ -357,9 +353,6 @@ void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigne
}
}
}
ctx->stopTimer(RC_TIMER_MARK_BOX_AREA);
}
@@ -391,7 +384,7 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
rcScopedTimer timer(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA);
float bmin[3], bmax[3];
rcVcopy(bmin, verts);
@@ -448,10 +441,86 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
}
}
}
ctx->stopTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
}
int rcOffsetPoly(const float* verts, const int nverts, const float offset,
float* outVerts, const int maxOutVerts)
{
const float MITER_LIMIT = 1.20f;
int n = 0;
for (int i = 0; i < nverts; i++)
{
const int a = (i+nverts-1) % nverts;
const int b = i;
const int c = (i+1) % nverts;
const float* va = &verts[a*3];
const float* vb = &verts[b*3];
const float* vc = &verts[c*3];
float dx0 = vb[0] - va[0];
float dy0 = vb[2] - va[2];
float d0 = dx0*dx0 + dy0*dy0;
if (d0 > 1e-6f)
{
d0 = 1.0f/rcSqrt(d0);
dx0 *= d0;
dy0 *= d0;
}
float dx1 = vc[0] - vb[0];
float dy1 = vc[2] - vb[2];
float d1 = dx1*dx1 + dy1*dy1;
if (d1 > 1e-6f)
{
d1 = 1.0f/rcSqrt(d1);
dx1 *= d1;
dy1 *= d1;
}
const float dlx0 = -dy0;
const float dly0 = dx0;
const float dlx1 = -dy1;
const float dly1 = dx1;
float cross = dx1*dy0 - dx0*dy1;
float dmx = (dlx0 + dlx1) * 0.5f;
float dmy = (dly0 + dly1) * 0.5f;
float dmr2 = dmx*dmx + dmy*dmy;
bool bevel = dmr2 * MITER_LIMIT*MITER_LIMIT < 1.0f;
if (dmr2 > 1e-6f)
{
const float scale = 1.0f / dmr2;
dmx *= scale;
dmy *= scale;
}
if (bevel && cross < 0.0f)
{
if (n+2 >= maxOutVerts)
return 0;
float d = (1.0f - (dx0*dx1 + dy0*dy1))*0.5f;
outVerts[n*3+0] = vb[0] + (-dlx0+dx0*d)*offset;
outVerts[n*3+1] = vb[1];
outVerts[n*3+2] = vb[2] + (-dly0+dy0*d)*offset;
n++;
outVerts[n*3+0] = vb[0] + (-dlx1-dx1*d)*offset;
outVerts[n*3+1] = vb[1];
outVerts[n*3+2] = vb[2] + (-dly1-dy1*d)*offset;
n++;
}
else
{
if (n+1 >= maxOutVerts)
return 0;
outVerts[n*3+0] = vb[0] - dmx*offset;
outVerts[n*3+1] = vb[1];
outVerts[n*3+2] = vb[2] - dmy*offset;
n++;
}
}
return n;
}
/// @par
///
/// The value of spacial parameters are in world units.
@@ -463,7 +532,7 @@ void rcMarkCylinderArea(rcContext* ctx, const float* pos,
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_MARK_CYLINDER_AREA);
rcScopedTimer timer(ctx, RC_TIMER_MARK_CYLINDER_AREA);
float bmin[3], bmax[3];
bmin[0] = pos[0] - r;
@@ -519,6 +588,4 @@ void rcMarkCylinderArea(rcContext* ctx, const float* pos,
}
}
}
ctx->stopTimer(RC_TIMER_MARK_CYLINDER_AREA);
}

560
extern/recastnavigation/Recast/Source/RecastContour.cpp vendored
View File

@@ -20,6 +20,7 @@
#include <math.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
@@ -187,27 +188,6 @@ static float distancePtSeg(const int x, const int z,
const int px, const int pz,
const int qx, const int qz)
{
/* float pqx = (float)(qx - px);
float pqy = (float)(qy - py);
float pqz = (float)(qz - pz);
float dx = (float)(x - px);
float dy = (float)(y - py);
float dz = (float)(z - pz);
float d = pqx*pqx + pqy*pqy + pqz*pqz;
float t = pqx*dx + pqy*dy + pqz*dz;
if (d > 0)
t /= d;
if (t < 0)
t = 0;
else if (t > 1)
t = 1;
dx = px + t*pqx - x;
dy = py + t*pqy - y;
dz = pz + t*pqz - z;
return dx*dx + dy*dy + dz*dz;*/
float pqx = (float)(qx - px);
float pqz = (float)(qz - pz);
float dx = (float)(x - px);
@@ -311,17 +291,17 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
{
int ii = (i+1) % (simplified.size()/4);
const int ax = simplified[i*4+0];
const int az = simplified[i*4+2];
const int ai = simplified[i*4+3];
int ax = simplified[i*4+0];
int az = simplified[i*4+2];
int ai = simplified[i*4+3];
const int bx = simplified[ii*4+0];
const int bz = simplified[ii*4+2];
const int bi = simplified[ii*4+3];
int bx = simplified[ii*4+0];
int bz = simplified[ii*4+2];
int bi = simplified[ii*4+3];
// Find maximum deviation from the segment.
float maxd = 0;
int i_max = -1;
int maxi = -1;
int ci, cinc, endi;
// Traverse the segment in lexilogical order so that the
@@ -338,6 +318,8 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
cinc = pn-1;
ci = (bi+cinc) % pn;
endi = ai;
rcSwap(ax, bx);
rcSwap(az, bz);
}
// Tessellate only outer edges or edges between areas.
@@ -350,7 +332,7 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
if (d > maxd)
{
maxd = d;
i_max = ci;
maxi = ci;
}
ci = (ci+cinc) % pn;
}
@@ -359,7 +341,7 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (i_max != -1 && maxd > (maxError*maxError))
if (maxi != -1 && maxd > (maxError*maxError))
{
// Add space for the new point.
simplified.resize(simplified.size()+4);
@@ -372,10 +354,10 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
simplified[j*4+3] = simplified[(j-1)*4+3];
}
// Add the point.
simplified[(i+1)*4+0] = points[i_max*4+0];
simplified[(i+1)*4+1] = points[i_max*4+1];
simplified[(i+1)*4+2] = points[i_max*4+2];
simplified[(i+1)*4+3] = i_max;
simplified[(i+1)*4+0] = points[maxi*4+0];
simplified[(i+1)*4+1] = points[maxi*4+1];
simplified[(i+1)*4+2] = points[maxi*4+2];
simplified[(i+1)*4+3] = maxi;
}
else
{
@@ -399,7 +381,7 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
const int bi = simplified[ii*4+3];
// Find maximum deviation from the segment.
int i_max = -1;
int maxi = -1;
int ci = (ai+1) % pn;
// Tessellate only outer edges or edges between areas.
@@ -420,22 +402,20 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
// Round based on the segments in lexilogical order so that the
// max tesselation is consistent regardles in which direction
// segments are traversed.
const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
if (n > 1)
{
if (bx > ax || (bx == ax && bz > az))
{
const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
i_max = (ai + n/2) % pn;
}
maxi = (ai + n/2) % pn;
else
{
const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
i_max = (ai + (n+1)/2) % pn;
maxi = (ai + (n+1)/2) % pn;
}
}
}
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (i_max != -1)
if (maxi != -1)
{
// Add space for the new point.
simplified.resize(simplified.size()+4);
@@ -448,10 +428,10 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
simplified[j*4+3] = simplified[(j-1)*4+3];
}
// Add the point.
simplified[(i+1)*4+0] = points[i_max*4+0];
simplified[(i+1)*4+1] = points[i_max*4+1];
simplified[(i+1)*4+2] = points[i_max*4+2];
simplified[(i+1)*4+3] = i_max;
simplified[(i+1)*4+0] = points[maxi*4+0];
simplified[(i+1)*4+1] = points[maxi*4+1];
simplified[(i+1)*4+2] = points[maxi*4+2];
simplified[(i+1)*4+3] = maxi;
}
else
{
@@ -466,37 +446,11 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
// and the neighbour region is take from the next raw point.
const int ai = (simplified[i*4+3]+1) % pn;
const int bi = simplified[i*4+3];
simplified[i*4+3] = (points[ai*4+3] & RC_CONTOUR_REG_MASK) | (points[bi*4+3] & RC_BORDER_VERTEX);
simplified[i*4+3] = (points[ai*4+3] & (RC_CONTOUR_REG_MASK|RC_AREA_BORDER)) | (points[bi*4+3] & RC_BORDER_VERTEX);
}
}
static void removeDegenerateSegments(rcIntArray& simplified)
{
// Remove adjacent vertices which are equal on xz-plane,
// or else the triangulator will get confused.
for (int i = 0; i < simplified.size()/4; ++i)
{
int ni = i+1;
if (ni >= (simplified.size()/4))
ni = 0;
if (simplified[i*4+0] == simplified[ni*4+0] &&
simplified[i*4+2] == simplified[ni*4+2])
{
// Degenerate segment, remove.
for (int j = i; j < simplified.size()/4-1; ++j)
{
simplified[j*4+0] = simplified[(j+1)*4+0];
simplified[j*4+1] = simplified[(j+1)*4+1];
simplified[j*4+2] = simplified[(j+1)*4+2];
simplified[j*4+3] = simplified[(j+1)*4+3];
}
simplified.resize(simplified.size()-4);
}
}
}
static int calcAreaOfPolygon2D(const int* verts, const int nverts)
{
int area = 0;
@@ -509,45 +463,146 @@ static int calcAreaOfPolygon2D(const int* verts, const int nverts)
return (area+1) / 2;
}
inline bool ileft(const int* a, const int* b, const int* c)
// TODO: these are the same as in RecastMesh.cpp, consider using the same.
// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv).
inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; }
inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
inline int area2(const int* a, const int* b, const int* c)
{
return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]) <= 0;
return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]);
}
static void getClosestIndices(const int* vertsa, const int nvertsa,
const int* vertsb, const int nvertsb,
int& ia, int& ib)
// Exclusive or: true iff exactly one argument is true.
// The arguments are negated to ensure that they are 0/1
// values. Then the bitwise Xor operator may apply.
// (This idea is due to Michael Baldwin.)
inline bool xorb(bool x, bool y)
{
int closestDist = 0xfffffff;
ia = -1, ib = -1;
for (int i = 0; i < nvertsa; ++i)
{
const int in = (i+1) % nvertsa;
const int ip = (i+nvertsa-1) % nvertsa;
const int* va = &vertsa[i*4];
const int* van = &vertsa[in*4];
const int* vap = &vertsa[ip*4];
return !x ^ !y;
}
for (int j = 0; j < nvertsb; ++j)
// Returns true iff c is strictly to the left of the directed
// line through a to b.
inline bool left(const int* a, const int* b, const int* c)
{
const int* vb = &vertsb[j*4];
// vb must be "infront" of va.
if (ileft(vap,va,vb) && ileft(va,van,vb))
return area2(a, b, c) < 0;
}
inline bool leftOn(const int* a, const int* b, const int* c)
{
const int dx = vb[0] - va[0];
const int dz = vb[2] - va[2];
const int d = dx*dx + dz*dz;
if (d < closestDist)
return area2(a, b, c) <= 0;
}
inline bool collinear(const int* a, const int* b, const int* c)
{
ia = i;
ib = j;
closestDist = d;
}
}
return area2(a, b, c) == 0;
}
// Returns true iff ab properly intersects cd: they share
// a point interior to both segments. The properness of the
// intersection is ensured by using strict leftness.
static bool intersectProp(const int* a, const int* b, const int* c, const int* d)
{
// Eliminate improper cases.
if (collinear(a,b,c) || collinear(a,b,d) ||
collinear(c,d,a) || collinear(c,d,b))
return false;
return xorb(left(a,b,c), left(a,b,d)) && xorb(left(c,d,a), left(c,d,b));
}
// Returns T iff (a,b,c) are collinear and point c lies
// on the closed segement ab.
static bool between(const int* a, const int* b, const int* c)
{
if (!collinear(a, b, c))
return false;
// If ab not vertical, check betweenness on x; else on y.
if (a[0] != b[0])
return ((a[0] <= c[0]) && (c[0] <= b[0])) || ((a[0] >= c[0]) && (c[0] >= b[0]));
else
return ((a[2] <= c[2]) && (c[2] <= b[2])) || ((a[2] >= c[2]) && (c[2] >= b[2]));
}
// Returns true iff segments ab and cd intersect, properly or improperly.
static bool intersect(const int* a, const int* b, const int* c, const int* d)
{
if (intersectProp(a, b, c, d))
return true;
else if (between(a, b, c) || between(a, b, d) ||
between(c, d, a) || between(c, d, b))
return true;
else
return false;
}
static bool vequal(const int* a, const int* b)
{
return a[0] == b[0] && a[2] == b[2];
}
static bool intersectSegCountour(const int* d0, const int* d1, int i, int n, const int* verts)
{
// For each edge (k,k+1) of P
for (int k = 0; k < n; k++)
{
int k1 = next(k, n);
// Skip edges incident to i.
if (i == k || i == k1)
continue;
const int* p0 = &verts[k * 4];
const int* p1 = &verts[k1 * 4];
if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1))
continue;
if (intersect(d0, d1, p0, p1))
return true;
}
return false;
}
static bool inCone(int i, int n, const int* verts, const int* pj)
{
const int* pi = &verts[i * 4];
const int* pi1 = &verts[next(i, n) * 4];
const int* pin1 = &verts[prev(i, n) * 4];
// If P[i] is a convex vertex [ i+1 left or on (i-1,i) ].
if (leftOn(pin1, pi, pi1))
return left(pi, pj, pin1) && left(pj, pi, pi1);
// Assume (i-1,i,i+1) not collinear.
// else P[i] is reflex.
return !(leftOn(pi, pj, pi1) && leftOn(pj, pi, pin1));
}
static void removeDegenerateSegments(rcIntArray& simplified)
{
// Remove adjacent vertices which are equal on xz-plane,
// or else the triangulator will get confused.
int npts = simplified.size()/4;
for (int i = 0; i < npts; ++i)
{
int ni = next(i, npts);
if (vequal(&simplified[i*4], &simplified[ni*4]))
{
// Degenerate segment, remove.
for (int j = i; j < simplified.size()/4-1; ++j)
{
simplified[j*4+0] = simplified[(j+1)*4+0];
simplified[j*4+1] = simplified[(j+1)*4+1];
simplified[j*4+2] = simplified[(j+1)*4+2];
simplified[j*4+3] = simplified[(j+1)*4+3];
}
simplified.resize(simplified.size()-4);
npts--;
}
}
}
static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib)
{
const int maxVerts = ca.nverts + cb.nverts + 2;
@@ -592,6 +647,167 @@ static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib)
return true;
}
struct rcContourHole
{
rcContour* contour;
int minx, minz, leftmost;
};
struct rcContourRegion
{
rcContour* outline;
rcContourHole* holes;
int nholes;
};
struct rcPotentialDiagonal
{
int vert;
int dist;
};
// Finds the lowest leftmost vertex of a contour.
static void findLeftMostVertex(rcContour* contour, int* minx, int* minz, int* leftmost)
{
*minx = contour->verts[0];
*minz = contour->verts[2];
*leftmost = 0;
for (int i = 1; i < contour->nverts; i++)
{
const int x = contour->verts[i*4+0];
const int z = contour->verts[i*4+2];
if (x < *minx || (x == *minx && z < *minz))
{
*minx = x;
*minz = z;
*leftmost = i;
}
}
}
static int compareHoles(const void* va, const void* vb)
{
const rcContourHole* a = (const rcContourHole*)va;
const rcContourHole* b = (const rcContourHole*)vb;
if (a->minx == b->minx)
{
if (a->minz < b->minz)
return -1;
if (a->minz > b->minz)
return 1;
}
else
{
if (a->minx < b->minx)
return -1;
if (a->minx > b->minx)
return 1;
}
return 0;
}
static int compareDiagDist(const void* va, const void* vb)
{
const rcPotentialDiagonal* a = (const rcPotentialDiagonal*)va;
const rcPotentialDiagonal* b = (const rcPotentialDiagonal*)vb;
if (a->dist < b->dist)
return -1;
if (a->dist > b->dist)
return 1;
return 0;
}
static void mergeRegionHoles(rcContext* ctx, rcContourRegion& region)
{
// Sort holes from left to right.
for (int i = 0; i < region.nholes; i++)
findLeftMostVertex(region.holes[i].contour, &region.holes[i].minx, &region.holes[i].minz, &region.holes[i].leftmost);
qsort(region.holes, region.nholes, sizeof(rcContourHole), compareHoles);
int maxVerts = region.outline->nverts;
for (int i = 0; i < region.nholes; i++)
maxVerts += region.holes[i].contour->nverts;
rcScopedDelete<rcPotentialDiagonal> diags((rcPotentialDiagonal*)rcAlloc(sizeof(rcPotentialDiagonal)*maxVerts, RC_ALLOC_TEMP));
if (!diags)
{
ctx->log(RC_LOG_WARNING, "mergeRegionHoles: Failed to allocated diags %d.", maxVerts);
return;
}
rcContour* outline = region.outline;
// Merge holes into the outline one by one.
for (int i = 0; i < region.nholes; i++)
{
rcContour* hole = region.holes[i].contour;
int index = -1;
int bestVertex = region.holes[i].leftmost;
for (int iter = 0; iter < hole->nverts; iter++)
{
// Find potential diagonals.
// The 'best' vertex must be in the cone described by 3 cosequtive vertices of the outline.
// ..o j-1
// |
// | * best
// |
// j o-----o j+1
// :
int ndiags = 0;
const int* corner = &hole->verts[bestVertex*4];
for (int j = 0; j < outline->nverts; j++)
{
if (inCone(j, outline->nverts, outline->verts, corner))
{
int dx = outline->verts[j*4+0] - corner[0];
int dz = outline->verts[j*4+2] - corner[2];
diags[ndiags].vert = j;
diags[ndiags].dist = dx*dx + dz*dz;
ndiags++;
}
}
// Sort potential diagonals by distance, we want to make the connection as short as possible.
qsort(diags, ndiags, sizeof(rcPotentialDiagonal), compareDiagDist);
// Find a diagonal that is not intersecting the outline not the remaining holes.
index = -1;
for (int j = 0; j < ndiags; j++)
{
const int* pt = &outline->verts[diags[j].vert*4];
bool intersect = intersectSegCountour(pt, corner, diags[i].vert, outline->nverts, outline->verts);
for (int k = i; k < region.nholes && !intersect; k++)
intersect |= intersectSegCountour(pt, corner, -1, region.holes[k].contour->nverts, region.holes[k].contour->verts);
if (!intersect)
{
index = diags[j].vert;
break;
}
}
// If found non-intersecting diagonal, stop looking.
if (index != -1)
break;
// All the potential diagonals for the current vertex were intersecting, try next vertex.
bestVertex = (bestVertex + 1) % hole->nverts;
}
if (index == -1)
{
ctx->log(RC_LOG_WARNING, "mergeHoles: Failed to find merge points for %p and %p.", region.outline, hole);
continue;
}
if (!mergeContours(*region.outline, *hole, index, bestVertex))
{
ctx->log(RC_LOG_WARNING, "mergeHoles: Failed to merge contours %p and %p.", region.outline, hole);
continue;
}
}
}
/// @par
///
/// The raw contours will match the region outlines exactly. The @p maxError and @p maxEdgeLen
@@ -615,7 +831,7 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
const int h = chf.height;
const int borderSize = chf.borderSize;
ctx->startTimer(RC_TIMER_BUILD_CONTOURS);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_CONTOURS);
rcVcopy(cset.bmin, chf.bmin);
rcVcopy(cset.bmax, chf.bmax);
@@ -633,6 +849,7 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
cset.width = chf.width - chf.borderSize*2;
cset.height = chf.height - chf.borderSize*2;
cset.borderSize = chf.borderSize;
cset.maxError = maxError;
int maxContours = rcMax((int)chf.maxRegions, 8);
cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
@@ -640,7 +857,7 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
return false;
cset.nconts = 0;
rcScopedDelete<unsigned char> flags = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
rcScopedDelete<unsigned char> flags((unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP));
if (!flags)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags' (%d).", chf.spanCount);
@@ -724,7 +941,7 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
if (cset.nconts >= maxContours)
{
// Allocate more contours.
// This can happen when there are tiny holes in the heightfield.
// This happens when a region has holes.
const int oldMax = maxContours;
maxContours *= 2;
rcContour* newConts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
@@ -754,9 +971,9 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int i = 0; i < cont->nverts; ++i)
for (int j = 0; j < cont->nverts; ++j)
{
int* v = &cont->verts[i*4];
int* v = &cont->verts[j*4];
v[0] -= borderSize;
v[2] -= borderSize;
}
@@ -773,25 +990,14 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int i = 0; i < cont->nrverts; ++i)
for (int j = 0; j < cont->nrverts; ++j)
{
int* v = &cont->rverts[i*4];
int* v = &cont->rverts[j*4];
v[0] -= borderSize;
v[2] -= borderSize;
}
}
/* cont->cx = cont->cy = cont->cz = 0;
for (int i = 0; i < cont->nverts; ++i)
{
cont->cx += cont->verts[i*4+0];
cont->cy += cont->verts[i*4+1];
cont->cz += cont->verts[i*4+2];
}
cont->cx /= cont->nverts;
cont->cy /= cont->nverts;
cont->cz /= cont->nverts;*/
cont->reg = reg;
cont->area = area;
}
@@ -799,55 +1005,101 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
}
}
// Check and merge droppings.
// Sometimes the previous algorithms can fail and create several contours
// per area. This pass will try to merge the holes into the main region.
// Merge holes if needed.
if (cset.nconts > 0)
{
// Calculate winding of all polygons.
rcScopedDelete<char> winding((char*)rcAlloc(sizeof(char)*cset.nconts, RC_ALLOC_TEMP));
if (!winding)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'hole' (%d).", cset.nconts);
return false;
}
int nholes = 0;
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
// Check if the contour is would backwards.
if (calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0)
{
// Find another contour which has the same region ID.
int mergeIdx = -1;
for (int j = 0; j < cset.nconts; ++j)
{
if (i == j) continue;
if (cset.conts[j].nverts && cset.conts[j].reg == cont.reg)
{
// Make sure the polygon is correctly oriented.
if (calcAreaOfPolygon2D(cset.conts[j].verts, cset.conts[j].nverts))
{
mergeIdx = j;
break;
// If the contour is wound backwards, it is a hole.
winding[i] = calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0 ? -1 : 1;
if (winding[i] < 0)
nholes++;
}
}
}
if (mergeIdx == -1)
if (nholes > 0)
{
ctx->log(RC_LOG_WARNING, "rcBuildContours: Could not find merge target for bad contour %d.", i);
// Collect outline contour and holes contours per region.
// We assume that there is one outline and multiple holes.
const int nregions = chf.maxRegions+1;
rcScopedDelete<rcContourRegion> regions((rcContourRegion*)rcAlloc(sizeof(rcContourRegion)*nregions, RC_ALLOC_TEMP));
if (!regions)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'regions' (%d).", nregions);
return false;
}
memset(regions, 0, sizeof(rcContourRegion)*nregions);
rcScopedDelete<rcContourHole> holes((rcContourHole*)rcAlloc(sizeof(rcContourHole)*cset.nconts, RC_ALLOC_TEMP));
if (!holes)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'holes' (%d).", cset.nconts);
return false;
}
memset(holes, 0, sizeof(rcContourHole)*cset.nconts);
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
// Positively would contours are outlines, negative holes.
if (winding[i] > 0)
{
if (regions[cont.reg].outline)
ctx->log(RC_LOG_ERROR, "rcBuildContours: Multiple outlines for region %d.", cont.reg);
regions[cont.reg].outline = &cont;
}
else
{
rcContour& mcont = cset.conts[mergeIdx];
// Merge by closest points.
int ia = 0, ib = 0;
getClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ia, ib);
if (ia == -1 || ib == -1)
{
ctx->log(RC_LOG_WARNING, "rcBuildContours: Failed to find merge points for %d and %d.", i, mergeIdx);
continue;
regions[cont.reg].nholes++;
}
if (!mergeContours(mcont, cont, ia, ib))
{
ctx->log(RC_LOG_WARNING, "rcBuildContours: Failed to merge contours %d and %d.", i, mergeIdx);
continue;
}
int index = 0;
for (int i = 0; i < nregions; i++)
{
if (regions[i].nholes > 0)
{
regions[i].holes = &holes[index];
index += regions[i].nholes;
regions[i].nholes = 0;
}
}
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
rcContourRegion& reg = regions[cont.reg];
if (winding[i] < 0)
reg.holes[reg.nholes++].contour = &cont;
}
// Finally merge each regions holes into the outline.
for (int i = 0; i < nregions; i++)
{
rcContourRegion& reg = regions[i];
if (!reg.nholes) continue;
if (reg.outline)
{
mergeRegionHoles(ctx, reg);
}
else
{
// The region does not have an outline.
// This can happen if the contour becaomes selfoverlapping because of
// too aggressive simplification settings.
ctx->log(RC_LOG_ERROR, "rcBuildContours: Bad outline for region %d, contour simplification is likely too aggressive.", i);
}
}
}
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS);
}
return true;
}

21
extern/recastnavigation/Recast/Source/RecastFilter.cpp vendored
View File

@@ -37,7 +37,7 @@ void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_FILTER_LOW_OBSTACLES);
rcScopedTimer timer(ctx, RC_TIMER_FILTER_LOW_OBSTACLES);
const int w = solid.width;
const int h = solid.height;
@@ -67,8 +67,6 @@ void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb
}
}
}
ctx->stopTimer(RC_TIMER_FILTER_LOW_OBSTACLES);
}
/// @par
@@ -86,7 +84,7 @@ void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walk
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_FILTER_BORDER);
rcScopedTimer timer(ctx, RC_TIMER_FILTER_BORDER);
const int w = solid.width;
const int h = solid.height;
@@ -128,7 +126,7 @@ void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walk
rcSpan* ns = solid.spans[dx + dy*w];
int nbot = -walkableClimb;
int ntop = ns ? (int)ns->smin : MAX_HEIGHT;
// Skip neighbor if the gap between the spans is too small.
// Skip neightbour if the gap between the spans is too small.
if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight)
minh = rcMin(minh, nbot - bot);
@@ -137,7 +135,7 @@ void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walk
{
nbot = (int)ns->smax;
ntop = ns->next ? (int)ns->next->smin : MAX_HEIGHT;
// Skip neighbor if the gap between the spans is too small.
// Skip neightbour if the gap between the spans is too small.
if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight)
{
minh = rcMin(minh, nbot - bot);
@@ -156,19 +154,18 @@ void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walk
// The current span is close to a ledge if the drop to any
// neighbour span is less than the walkableClimb.
if (minh < -walkableClimb)
{
s->area = RC_NULL_AREA;
}
// If the difference between all neighbours is too large,
// we are at steep slope, mark the span as ledge.
if ((asmax - asmin) > walkableClimb)
else if ((asmax - asmin) > walkableClimb)
{
s->area = RC_NULL_AREA;
}
}
}
}
ctx->stopTimer(RC_TIMER_FILTER_BORDER);
}
/// @par
@@ -181,7 +178,7 @@ void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeight
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_FILTER_WALKABLE);
rcScopedTimer timer(ctx, RC_TIMER_FILTER_WALKABLE);
const int w = solid.width;
const int h = solid.height;
@@ -202,6 +199,4 @@ void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeight
}
}
}
ctx->stopTimer(RC_TIMER_FILTER_WALKABLE);
}

43
extern/recastnavigation/Recast/Source/RecastLayers.cpp vendored
View File

@@ -38,7 +38,7 @@ struct rcLayerRegion
unsigned char layerId; // Layer ID
unsigned char nlayers; // Layer count
unsigned char nneis; // Neighbour count
unsigned char base; // Flag indicating if the region is hte base of merged regions.
unsigned char base; // Flag indicating if the region is the base of merged regions.
};
@@ -87,12 +87,12 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_LAYERS);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_LAYERS);
const int w = chf.width;
const int h = chf.height;
rcScopedDelete<unsigned char> srcReg = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
rcScopedDelete<unsigned char> srcReg((unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP));
if (!srcReg)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' (%d).", chf.spanCount);
@@ -101,7 +101,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
memset(srcReg,0xff,sizeof(unsigned char)*chf.spanCount);
const int nsweeps = chf.width;
rcScopedDelete<rcLayerSweepSpan> sweeps = (rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP);
rcScopedDelete<rcLayerSweepSpan> sweeps((rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP));
if (!sweeps)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps);
@@ -212,7 +212,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
// Allocate and init layer regions.
const int nregs = (int)regId;
rcScopedDelete<rcLayerRegion> regs = (rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP);
rcScopedDelete<rcLayerRegion> regs((rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP));
if (!regs)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs);
@@ -258,7 +258,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
const unsigned char rai = srcReg[ai];
if (rai != 0xff && rai != ri)
if (rai != 0xff && rai != ri && regs[ri].nneis < RC_MAX_NEIS)
addUnique(regs[ri].neis, regs[ri].nneis, rai);
}
}
@@ -293,7 +293,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
for (int i = 0; i < nregs; ++i)
{
rcLayerRegion& root = regs[i];
// Skip alreadu visited.
// Skip already visited.
if (root.layerId != 0xff)
continue;
@@ -325,7 +325,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(root.ymin, regn.ymin);
const int ymax = rcMin(root.ymax, regn.ymax);
const int ymax = rcMax(root.ymax, regn.ymax);
if ((ymax - ymin) >= 255)
continue;
@@ -373,11 +373,11 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(ri.ymin, rj.ymin);
const int ymax = rcMin(ri.ymax, rj.ymax);
const int ymax = rcMax(ri.ymax, rj.ymax);
if ((ymax - ymin) >= 255)
continue;
// Make sure that there is no overlap when mergin 'ri' and 'rj'.
// Make sure that there is no overlap when merging 'ri' and 'rj'.
bool overlap = false;
// Iterate over all regions which have the same layerId as 'rj'
for (int k = 0; k < nregs; ++k)
@@ -417,7 +417,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
// Add overlaid layers from 'rj' to 'ri'.
for (int k = 0; k < rj.nlayers; ++k)
addUnique(ri.layers, ri.nlayers, rj.layers[k]);
// Update heigh bounds.
// Update height bounds.
ri.ymin = rcMin(ri.ymin, rj.ymin);
ri.ymax = rcMax(ri.ymax, rj.ymax);
}
@@ -446,10 +446,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
// No layers, return empty.
if (layerId == 0)
{
ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
return true;
}
// Create layers.
rcAssert(lset.layers == 0);
@@ -482,9 +479,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
{
unsigned char curId = (unsigned char)i;
// Allocate memory for the current layer.
rcHeightfieldLayer* layer = &lset.layers[i];
memset(layer, 0, sizeof(rcHeightfieldLayer));
const int gridSize = sizeof(unsigned char)*lw*lh;
@@ -528,7 +523,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
layer->cs = chf.cs;
layer->ch = chf.ch;
// Adjust the bbox to fit the heighfield.
// Adjust the bbox to fit the heightfield.
rcVcopy(layer->bmin, bmin);
rcVcopy(layer->bmax, bmax);
layer->bmin[1] = bmin[1] + hmin*chf.ch;
@@ -542,7 +537,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
layer->miny = layer->height;
layer->maxy = 0;
// Copy height and area from compact heighfield.
// Copy height and area from compact heightfield.
for (int y = 0; y < lh; ++y)
{
for (int x = 0; x < lw; ++x)
@@ -550,14 +545,14 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
const int cx = borderSize+x;
const int cy = borderSize+y;
const rcCompactCell& c = chf.cells[cx+cy*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
{
const rcCompactSpan& s = chf.spans[i];
const rcCompactSpan& s = chf.spans[j];
// Skip unassigned regions.
if (srcReg[i] == 0xff)
if (srcReg[j] == 0xff)
continue;
// Skip of does nto belong to current layer.
unsigned char lid = regs[srcReg[i]].layerId;
unsigned char lid = regs[srcReg[j]].layerId;
if (lid != curId)
continue;
@@ -570,7 +565,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
// Store height and area type.
const int idx = x+y*lw;
layer->heights[idx] = (unsigned char)(s.y - hmin);
layer->areas[idx] = chf.areas[i];
layer->areas[idx] = chf.areas[j];
// Check connection.
unsigned char portal = 0;
@@ -614,7 +609,5 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
layer->miny = layer->maxy = 0;
}
ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
return true;
}

77
extern/recastnavigation/Recast/Source/RecastLog.cpp vendored
View File

@@ -1,77 +0,0 @@
//
// Copyright (c) 2009 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty. In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
// claim that you wrote the original software. If you use this software
// in a product, an acknowledgment in the product documentation would be
// appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
// misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
#include "RecastLog.h"
#include <stdio.h>
#include <stdarg.h>
static rcLog* g_log = 0;
static rcBuildTimes* g_btimes = 0;
rcLog::rcLog() :
m_messageCount(0),
m_textPoolSize(0)
{
}
rcLog::~rcLog()
{
if (g_log == this)
g_log = 0;
}
void rcLog::log(rcLogCategory category, const char* format, ...)
{
if (m_messageCount >= MAX_MESSAGES)
return;
char* dst = &m_textPool[m_textPoolSize];
int n = TEXT_POOL_SIZE - m_textPoolSize;
if (n < 2)
return;
// Store category
*dst = (char)category;
n--;
// Store message
va_list ap;
va_start(ap, format);
int ret = vsnprintf(dst+1, n-1, format, ap);
va_end(ap);
if (ret > 0)
m_textPoolSize += ret+2;
m_messages[m_messageCount++] = dst;
}
void rcSetLog(rcLog* log)
{
g_log = log;
}
rcLog* rcGetLog()
{
return g_log;
}
void rcSetBuildTimes(rcBuildTimes* btimes)
{
g_btimes = btimes;
}
rcBuildTimes* rcGetBuildTimes()
{
return g_btimes;
}

279
extern/recastnavigation/Recast/Source/RecastMesh.cpp vendored
View File

@@ -160,6 +160,7 @@ static unsigned short addVertex(unsigned short x, unsigned short y, unsigned sho
return (unsigned short)i;
}
// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv).
inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; }
inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
@@ -288,6 +289,53 @@ static bool diagonal(int i, int j, int n, const int* verts, int* indices)
return inCone(i, j, n, verts, indices) && diagonalie(i, j, n, verts, indices);
}
static bool diagonalieLoose(int i, int j, int n, const int* verts, int* indices)
{
const int* d0 = &verts[(indices[i] & 0x0fffffff) * 4];
const int* d1 = &verts[(indices[j] & 0x0fffffff) * 4];
// For each edge (k,k+1) of P
for (int k = 0; k < n; k++)
{
int k1 = next(k, n);
// Skip edges incident to i or j
if (!((k == i) || (k1 == i) || (k == j) || (k1 == j)))
{
const int* p0 = &verts[(indices[k] & 0x0fffffff) * 4];
const int* p1 = &verts[(indices[k1] & 0x0fffffff) * 4];
if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1))
continue;
if (intersectProp(d0, d1, p0, p1))
return false;
}
}
return true;
}
static bool inConeLoose(int i, int j, int n, const int* verts, int* indices)
{
const int* pi = &verts[(indices[i] & 0x0fffffff) * 4];
const int* pj = &verts[(indices[j] & 0x0fffffff) * 4];
const int* pi1 = &verts[(indices[next(i, n)] & 0x0fffffff) * 4];
const int* pin1 = &verts[(indices[prev(i, n)] & 0x0fffffff) * 4];
// If P[i] is a convex vertex [ i+1 left or on (i-1,i) ].
if (leftOn(pin1, pi, pi1))
return leftOn(pi, pj, pin1) && leftOn(pj, pi, pi1);
// Assume (i-1,i,i+1) not collinear.
// else P[i] is reflex.
return !(leftOn(pi, pj, pi1) && leftOn(pj, pi, pin1));
}
static bool diagonalLoose(int i, int j, int n, const int* verts, int* indices)
{
return inConeLoose(i, j, n, verts, indices) && diagonalieLoose(i, j, n, verts, indices);
}
static int triangulate(int n, const int* verts, int* indices, int* tris)
{
int ntris = 0;
@@ -305,7 +353,7 @@ static int triangulate(int n, const int* verts, int* indices, int* tris)
while (n > 3)
{
int minLen = -1;
int i_min = -1;
int mini = -1;
for (int i = 0; i < n; i++)
{
int i1 = next(i, n);
@@ -321,24 +369,51 @@ static int triangulate(int n, const int* verts, int* indices, int* tris)
if (minLen < 0 || len < minLen)
{
minLen = len;
i_min = i;
mini = i;
}
}
}
if (i_min == -1)
if (mini == -1)
{
// Should not happen.
/* printf("mini == -1 ntris=%d n=%d\n", ntris, n);
// We might get here because the contour has overlapping segments, like this:
//
// A o-o=====o---o B
// / |C D| \
// o o o o
// : : : :
// We'll try to recover by loosing up the inCone test a bit so that a diagonal
// like A-B or C-D can be found and we can continue.
minLen = -1;
mini = -1;
for (int i = 0; i < n; i++)
{
printf("%d ", indices[i] & 0x0fffffff);
int i1 = next(i, n);
int i2 = next(i1, n);
if (diagonalLoose(i, i2, n, verts, indices))
{
const int* p0 = &verts[(indices[i] & 0x0fffffff) * 4];
const int* p2 = &verts[(indices[next(i2, n)] & 0x0fffffff) * 4];
int dx = p2[0] - p0[0];
int dy = p2[2] - p0[2];
int len = dx*dx + dy*dy;
if (minLen < 0 || len < minLen)
{
minLen = len;
mini = i;
}
printf("\n");*/
}
}
if (mini == -1)
{
// The contour is messed up. This sometimes happens
// if the contour simplification is too aggressive.
return -ntris;
}
}
int i = i_min;
int i = mini;
int i1 = next(i, n);
int i2 = next(i1, n);
@@ -453,7 +528,7 @@ static int getPolyMergeValue(unsigned short* pa, unsigned short* pb,
return dx*dx + dy*dy;
}
static void mergePolys(unsigned short* pa, unsigned short* pb, int ea, int eb,
static void mergePolyVerts(unsigned short* pa, unsigned short* pb, int ea, int eb,
unsigned short* tmp, const int nvp)
{
const int na = countPolyVerts(pa, nvp);
@@ -526,7 +601,7 @@ static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned sho
// Find edges which share the removed vertex.
const int maxEdges = numTouchedVerts*2;
int nedges = 0;
rcScopedDelete<int> edges = (int*)rcAlloc(sizeof(int)*maxEdges*3, RC_ALLOC_TEMP);
rcScopedDelete<int> edges((int*)rcAlloc(sizeof(int)*maxEdges*3, RC_ALLOC_TEMP));
if (!edges)
{
ctx->log(RC_LOG_WARNING, "canRemoveVertex: Out of memory 'edges' (%d).", maxEdges*3);
@@ -550,9 +625,9 @@ static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned sho
// Check if the edge exists
bool exists = false;
for (int k = 0; k < nedges; ++k)
for (int m = 0; m < nedges; ++m)
{
int* e = &edges[k*3];
int* e = &edges[m*3];
if (e[1] == b)
{
// Exists, increment vertex share count.
@@ -606,7 +681,7 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
}
int nedges = 0;
rcScopedDelete<int> edges = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp*4, RC_ALLOC_TEMP);
rcScopedDelete<int> edges((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp*4, RC_ALLOC_TEMP));
if (!edges)
{
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'edges' (%d).", numRemovedVerts*nvp*4);
@@ -614,7 +689,7 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
}
int nhole = 0;
rcScopedDelete<int> hole = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP);
rcScopedDelete<int> hole((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP));
if (!hole)
{
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hole' (%d).", numRemovedVerts*nvp);
@@ -622,7 +697,7 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
}
int nhreg = 0;
rcScopedDelete<int> hreg = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP);
rcScopedDelete<int> hreg((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP));
if (!hreg)
{
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hreg' (%d).", numRemovedVerts*nvp);
@@ -630,7 +705,7 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
}
int nharea = 0;
rcScopedDelete<int> harea = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP);
rcScopedDelete<int> harea((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP));
if (!harea)
{
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'harea' (%d).", numRemovedVerts*nvp);
@@ -661,6 +736,7 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
}
// Remove the polygon.
unsigned short* p2 = &mesh.polys[(mesh.npolys-1)*nvp*2];
if (p != p2)
memcpy(p,p2,sizeof(unsigned short)*nvp);
memset(p+nvp,0xff,sizeof(unsigned short)*nvp);
mesh.regs[i] = mesh.regs[mesh.npolys-1];
@@ -671,7 +747,7 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
}
// Remove vertex.
for (int i = (int)rem; i < mesh.nverts; ++i)
for (int i = (int)rem; i < mesh.nverts - 1; ++i)
{
mesh.verts[i*3+0] = mesh.verts[(i+1)*3+0];
mesh.verts[i*3+1] = mesh.verts[(i+1)*3+1];
@@ -746,22 +822,22 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
break;
}
rcScopedDelete<int> tris = (int*)rcAlloc(sizeof(int)*nhole*3, RC_ALLOC_TEMP);
rcScopedDelete<int> tris((int*)rcAlloc(sizeof(int)*nhole*3, RC_ALLOC_TEMP));
if (!tris)
{
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tris' (%d).", nhole*3);
return false;
}
rcScopedDelete<int> tverts = (int*)rcAlloc(sizeof(int)*nhole*4, RC_ALLOC_TEMP);
rcScopedDelete<int> tverts((int*)rcAlloc(sizeof(int)*nhole*4, RC_ALLOC_TEMP));
if (!tverts)
{
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tverts' (%d).", nhole*4);
return false;
}
rcScopedDelete<int> thole = (int*)rcAlloc(sizeof(int)*nhole, RC_ALLOC_TEMP);
if (!tverts)
rcScopedDelete<int> thole((int*)rcAlloc(sizeof(int)*nhole, RC_ALLOC_TEMP));
if (!thole)
{
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'thole' (%d).", nhole);
return false;
@@ -787,20 +863,20 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
}
// Merge the hole triangles back to polygons.
rcScopedDelete<unsigned short> polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*(ntris+1)*nvp, RC_ALLOC_TEMP);
rcScopedDelete<unsigned short> polys((unsigned short*)rcAlloc(sizeof(unsigned short)*(ntris+1)*nvp, RC_ALLOC_TEMP));
if (!polys)
{
ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'polys' (%d).", (ntris+1)*nvp);
return false;
}
rcScopedDelete<unsigned short> pregs = (unsigned short*)rcAlloc(sizeof(unsigned short)*ntris, RC_ALLOC_TEMP);
rcScopedDelete<unsigned short> pregs((unsigned short*)rcAlloc(sizeof(unsigned short)*ntris, RC_ALLOC_TEMP));
if (!pregs)
{
ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pregs' (%d).", ntris);
return false;
}
rcScopedDelete<unsigned char> pareas = (unsigned char*)rcAlloc(sizeof(unsigned char)*ntris, RC_ALLOC_TEMP);
if (!pregs)
rcScopedDelete<unsigned char> pareas((unsigned char*)rcAlloc(sizeof(unsigned char)*ntris, RC_ALLOC_TEMP));
if (!pareas)
{
ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pareas' (%d).", ntris);
return false;
@@ -819,7 +895,14 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
polys[npolys*nvp+0] = (unsigned short)hole[t[0]];
polys[npolys*nvp+1] = (unsigned short)hole[t[1]];
polys[npolys*nvp+2] = (unsigned short)hole[t[2]];
// If this polygon covers multiple region types then
// mark it as such
if (hreg[t[0]] != hreg[t[1]] || hreg[t[1]] != hreg[t[2]])
pregs[npolys] = RC_MULTIPLE_REGS;
else
pregs[npolys] = (unsigned short)hreg[t[0]];
pareas[npolys] = (unsigned char)harea[t[0]];
npolys++;
}
@@ -860,8 +943,13 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
// Found best, merge.
unsigned short* pa = &polys[bestPa*nvp];
unsigned short* pb = &polys[bestPb*nvp];
mergePolys(pa, pb, bestEa, bestEb, tmpPoly, nvp);
memcpy(pb, &polys[(npolys-1)*nvp], sizeof(unsigned short)*nvp);
mergePolyVerts(pa, pb, bestEa, bestEb, tmpPoly, nvp);
if (pregs[bestPa] != pregs[bestPb])
pregs[bestPa] = RC_MULTIPLE_REGS;
unsigned short* last = &polys[(npolys-1)*nvp];
if (pb != last)
memcpy(pb, last, sizeof(unsigned short)*nvp);
pregs[bestPb] = pregs[npolys-1];
pareas[bestPb] = pareas[npolys-1];
npolys--;
@@ -905,13 +993,14 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_POLYMESH);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_POLYMESH);
rcVcopy(mesh.bmin, cset.bmin);
rcVcopy(mesh.bmax, cset.bmax);
mesh.cs = cset.cs;
mesh.ch = cset.ch;
mesh.borderSize = cset.borderSize;
mesh.maxEdgeError = cset.maxError;
int maxVertices = 0;
int maxTris = 0;
@@ -931,10 +1020,10 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe
return false;
}
rcScopedDelete<unsigned char> vflags = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxVertices, RC_ALLOC_TEMP);
rcScopedDelete<unsigned char> vflags((unsigned char*)rcAlloc(sizeof(unsigned char)*maxVertices, RC_ALLOC_TEMP));
if (!vflags)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices);
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'vflags' (%d).", maxVertices);
return false;
}
memset(vflags, 0, maxVertices);
@@ -974,7 +1063,7 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe
memset(mesh.regs, 0, sizeof(unsigned short)*maxTris);
memset(mesh.areas, 0, sizeof(unsigned char)*maxTris);
rcScopedDelete<int> nextVert = (int*)rcAlloc(sizeof(int)*maxVertices, RC_ALLOC_TEMP);
rcScopedDelete<int> nextVert((int*)rcAlloc(sizeof(int)*maxVertices, RC_ALLOC_TEMP));
if (!nextVert)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'nextVert' (%d).", maxVertices);
@@ -982,7 +1071,7 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe
}
memset(nextVert, 0, sizeof(int)*maxVertices);
rcScopedDelete<int> firstVert = (int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP);
rcScopedDelete<int> firstVert((int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP));
if (!firstVert)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
@@ -991,19 +1080,19 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe
for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
firstVert[i] = -1;
rcScopedDelete<int> indices = (int*)rcAlloc(sizeof(int)*maxVertsPerCont, RC_ALLOC_TEMP);
rcScopedDelete<int> indices((int*)rcAlloc(sizeof(int)*maxVertsPerCont, RC_ALLOC_TEMP));
if (!indices)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'indices' (%d).", maxVertsPerCont);
return false;
}
rcScopedDelete<int> tris = (int*)rcAlloc(sizeof(int)*maxVertsPerCont*3, RC_ALLOC_TEMP);
rcScopedDelete<int> tris((int*)rcAlloc(sizeof(int)*maxVertsPerCont*3, RC_ALLOC_TEMP));
if (!tris)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'tris' (%d).", maxVertsPerCont*3);
return false;
}
rcScopedDelete<unsigned short> polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*(maxVertsPerCont+1)*nvp, RC_ALLOC_TEMP);
rcScopedDelete<unsigned short> polys((unsigned short*)rcAlloc(sizeof(unsigned short)*(maxVertsPerCont+1)*nvp, RC_ALLOC_TEMP));
if (!polys)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'polys' (%d).", maxVertsPerCont*nvp);
@@ -1104,8 +1193,10 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe
// Found best, merge.
unsigned short* pa = &polys[bestPa*nvp];
unsigned short* pb = &polys[bestPb*nvp];
mergePolys(pa, pb, bestEa, bestEb, tmpPoly, nvp);
memcpy(pb, &polys[(npolys-1)*nvp], sizeof(unsigned short)*nvp);
mergePolyVerts(pa, pb, bestEa, bestEb, tmpPoly, nvp);
unsigned short* lastPoly = &polys[(npolys-1)*nvp];
if (pb != lastPoly)
memcpy(pb, lastPoly, sizeof(unsigned short)*nvp);
npolys--;
}
else
@@ -1150,6 +1241,7 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe
}
// Remove vertex
// Note: mesh.nverts is already decremented inside removeVertex()!
// Fixup vertex flags
for (int j = i; j < mesh.nverts; ++j)
vflags[j] = vflags[j+1];
--i;
@@ -1212,8 +1304,6 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff);
}
ctx->stopTimer(RC_TIMER_BUILD_POLYMESH);
return true;
}
@@ -1225,7 +1315,7 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
if (!nmeshes || !meshes)
return true;
ctx->startTimer(RC_TIMER_MERGE_POLYMESH);
rcScopedTimer timer(ctx, RC_TIMER_MERGE_POLYMESH);
mesh.nvp = meshes[0]->nvp;
mesh.cs = meshes[0]->cs;
@@ -1286,7 +1376,7 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
}
memset(mesh.flags, 0, sizeof(unsigned short)*maxPolys);
rcScopedDelete<int> nextVert = (int*)rcAlloc(sizeof(int)*maxVerts, RC_ALLOC_TEMP);
rcScopedDelete<int> nextVert((int*)rcAlloc(sizeof(int)*maxVerts, RC_ALLOC_TEMP));
if (!nextVert)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'nextVert' (%d).", maxVerts);
@@ -1294,7 +1384,7 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
}
memset(nextVert, 0, sizeof(int)*maxVerts);
rcScopedDelete<int> firstVert = (int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP);
rcScopedDelete<int> firstVert((int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP));
if (!firstVert)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
@@ -1303,13 +1393,13 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
firstVert[i] = -1;
rcScopedDelete<unsigned short> vremap = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertsPerMesh, RC_ALLOC_PERM);
rcScopedDelete<unsigned short> vremap((unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertsPerMesh, RC_ALLOC_PERM));
if (!vremap)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'vremap' (%d).", maxVertsPerMesh);
return false;
}
memset(nextVert, 0, sizeof(int)*maxVerts);
memset(vremap, 0, sizeof(unsigned short)*maxVertsPerMesh);
for (int i = 0; i < nmeshes; ++i)
{
@@ -1318,6 +1408,12 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
const unsigned short ox = (unsigned short)floorf((pmesh->bmin[0]-mesh.bmin[0])/mesh.cs+0.5f);
const unsigned short oz = (unsigned short)floorf((pmesh->bmin[2]-mesh.bmin[2])/mesh.cs+0.5f);
bool isMinX = (ox == 0);
bool isMinZ = (oz == 0);
bool isMaxX = ((unsigned short)floorf((mesh.bmax[0] - pmesh->bmax[0]) / mesh.cs + 0.5f)) == 0;
bool isMaxZ = ((unsigned short)floorf((mesh.bmax[2] - pmesh->bmax[2]) / mesh.cs + 0.5f)) == 0;
bool isOnBorder = (isMinX || isMinZ || isMaxX || isMaxZ);
for (int j = 0; j < pmesh->nverts; ++j)
{
unsigned short* v = &pmesh->verts[j*3];
@@ -1338,6 +1434,36 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
if (src[k] == RC_MESH_NULL_IDX) break;
tgt[k] = vremap[src[k]];
}
if (isOnBorder)
{
for (int k = mesh.nvp; k < mesh.nvp * 2; ++k)
{
if (src[k] & 0x8000 && src[k] != 0xffff)
{
unsigned short dir = src[k] & 0xf;
switch (dir)
{
case 0: // Portal x-
if (isMinX)
tgt[k] = src[k];
break;
case 1: // Portal z+
if (isMaxZ)
tgt[k] = src[k];
break;
case 2: // Portal x+
if (isMaxX)
tgt[k] = src[k];
break;
case 3: // Portal z-
if (isMinZ)
tgt[k] = src[k];
break;
}
}
}
}
}
}
@@ -1357,7 +1483,70 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff);
}
ctx->stopTimer(RC_TIMER_MERGE_POLYMESH);
return true;
}
bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst)
{
rcAssert(ctx);
// Destination must be empty.
rcAssert(dst.verts == 0);
rcAssert(dst.polys == 0);
rcAssert(dst.regs == 0);
rcAssert(dst.areas == 0);
rcAssert(dst.flags == 0);
dst.nverts = src.nverts;
dst.npolys = src.npolys;
dst.maxpolys = src.npolys;
dst.nvp = src.nvp;
rcVcopy(dst.bmin, src.bmin);
rcVcopy(dst.bmax, src.bmax);
dst.cs = src.cs;
dst.ch = src.ch;
dst.borderSize = src.borderSize;
dst.maxEdgeError = src.maxEdgeError;
dst.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.nverts*3, RC_ALLOC_PERM);
if (!dst.verts)
{
ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.verts' (%d).", src.nverts*3);
return false;
}
memcpy(dst.verts, src.verts, sizeof(unsigned short)*src.nverts*3);
dst.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys*2*src.nvp, RC_ALLOC_PERM);
if (!dst.polys)
{
ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.polys' (%d).", src.npolys*2*src.nvp);
return false;
}
memcpy(dst.polys, src.polys, sizeof(unsigned short)*src.npolys*2*src.nvp);
dst.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys, RC_ALLOC_PERM);
if (!dst.regs)
{
ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.regs' (%d).", src.npolys);
return false;
}
memcpy(dst.regs, src.regs, sizeof(unsigned short)*src.npolys);
dst.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*src.npolys, RC_ALLOC_PERM);
if (!dst.areas)
{
ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.areas' (%d).", src.npolys);
return false;
}
memcpy(dst.areas, src.areas, sizeof(unsigned char)*src.npolys);
dst.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys, RC_ALLOC_PERM);
if (!dst.flags)
{
ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.flags' (%d).", src.npolys);
return false;
}
memcpy(dst.flags, src.flags, sizeof(unsigned short)*src.npolys);
return true;
}

577
extern/recastnavigation/Recast/Source/RecastMeshDetail.cpp vendored
View File

@@ -37,6 +37,7 @@ struct rcHeightPatch
int xmin, ymin, width, height;
};
inline float vdot2(const float* a, const float* b)
{
return a[0]*b[0] + a[2]*b[2];
@@ -67,21 +68,27 @@ static bool circumCircle(const float* p1, const float* p2, const float* p3,
float* c, float& r)
{
static const float EPS = 1e-6f;
// Calculate the circle relative to p1, to avoid some precision issues.
const float v1[3] = {0,0,0};
float v2[3], v3[3];
rcVsub(v2, p2,p1);
rcVsub(v3, p3,p1);
const float cp = vcross2(p1, p2, p3);
const float cp = vcross2(v1, v2, v3);
if (fabsf(cp) > EPS)
{
const float p1Sq = vdot2(p1,p1);
const float p2Sq = vdot2(p2,p2);
const float p3Sq = vdot2(p3,p3);
c[0] = (p1Sq*(p2[2]-p3[2]) + p2Sq*(p3[2]-p1[2]) + p3Sq*(p1[2]-p2[2])) / (2*cp);
c[2] = (p1Sq*(p3[0]-p2[0]) + p2Sq*(p1[0]-p3[0]) + p3Sq*(p2[0]-p1[0])) / (2*cp);
r = vdist2(c, p1);
const float v1Sq = vdot2(v1,v1);
const float v2Sq = vdot2(v2,v2);
const float v3Sq = vdot2(v3,v3);
c[0] = (v1Sq*(v2[2]-v3[2]) + v2Sq*(v3[2]-v1[2]) + v3Sq*(v1[2]-v2[2])) / (2*cp);
c[1] = 0;
c[2] = (v1Sq*(v3[0]-v2[0]) + v2Sq*(v1[0]-v3[0]) + v3Sq*(v2[0]-v1[0])) / (2*cp);
r = vdist2(c, v1);
rcVadd(c, c, p1);
return true;
}
c[0] = p1[0];
c[2] = p1[2];
rcVcopy(c, p1);
r = 0;
return false;
}
@@ -195,42 +202,79 @@ static float distToPoly(int nvert, const float* verts, const float* p)
static unsigned short getHeight(const float fx, const float fy, const float fz,
const float /*cs*/, const float ics, const float ch,
const rcHeightPatch& hp)
const int radius, const rcHeightPatch& hp)
{
int ix = (int)floorf(fx*ics + 0.01f);
int iz = (int)floorf(fz*ics + 0.01f);
ix = rcClamp(ix-hp.xmin, 0, hp.width);
iz = rcClamp(iz-hp.ymin, 0, hp.height);
ix = rcClamp(ix-hp.xmin, 0, hp.width - 1);
iz = rcClamp(iz-hp.ymin, 0, hp.height - 1);
unsigned short h = hp.data[ix+iz*hp.width];
if (h == RC_UNSET_HEIGHT)
{
// Special case when data might be bad.
// Find nearest neighbour pixel which has valid height.
const int off[8*2] = { -1,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1};
float dmin = FLT_MAX;
for (int i = 0; i < 8; ++i)
{
const int nx = ix+off[i*2+0];
const int nz = iz+off[i*2+1];
if (nx < 0 || nz < 0 || nx >= hp.width || nz >= hp.height) continue;
const unsigned short nh = hp.data[nx+nz*hp.width];
if (nh == RC_UNSET_HEIGHT) continue;
// Walk adjacent cells in a spiral up to 'radius', and look
// for a pixel which has a valid height.
int x = 1, z = 0, dx = 1, dz = 0;
int maxSize = radius * 2 + 1;
int maxIter = maxSize * maxSize - 1;
int nextRingIterStart = 8;
int nextRingIters = 16;
float dmin = FLT_MAX;
for (int i = 0; i < maxIter; i++)
{
const int nx = ix + x;
const int nz = iz + z;
if (nx >= 0 && nz >= 0 && nx < hp.width && nz < hp.height)
{
const unsigned short nh = hp.data[nx + nz*hp.width];
if (nh != RC_UNSET_HEIGHT)
{
const float d = fabsf(nh*ch - fy);
if (d < dmin)
{
h = nh;
dmin = d;
}
}
}
/* const float dx = (nx+0.5f)*cs - fx;
const float dz = (nz+0.5f)*cs - fz;
const float d = dx*dx+dz*dz;
if (d < dmin)
// We are searching in a grid which looks approximately like this:
// __________
// |2 ______ 2|
// | |1 __ 1| |
// | | |__| | |
// | |______| |
// |__________|
// We want to find the best height as close to the center cell as possible. This means that
// if we find a height in one of the neighbor cells to the center, we don't want to
// expand further out than the 8 neighbors - we want to limit our search to the closest
// of these "rings", but the best height in the ring.
// For example, the center is just 1 cell. We checked that at the entrance to the function.
// The next "ring" contains 8 cells (marked 1 above). Those are all the neighbors to the center cell.
// The next one again contains 16 cells (marked 2). In general each ring has 8 additional cells, which
// can be thought of as adding 2 cells around the "center" of each side when we expand the ring.
// Here we detect if we are about to enter the next ring, and if we are and we have found
// a height, we abort the search.
if (i + 1 == nextRingIterStart)
{
h = nh;
dmin = d;
} */
if (h != RC_UNSET_HEIGHT)
break;
nextRingIterStart += nextRingIters;
nextRingIters += 8;
}
if ((x == z) || ((x < 0) && (x == -z)) || ((x > 0) && (x == 1 - z)))
{
int tmp = dx;
dx = -dz;
dz = tmp;
}
x += dx;
z += dz;
}
}
return h;
@@ -239,8 +283,8 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
enum EdgeValues
{
UNDEF = -1,
HULL = -2,
EV_UNDEF = -1,
EV_HULL = -2,
};
static int findEdge(const int* edges, int nedges, int s, int t)
@@ -251,7 +295,7 @@ static int findEdge(const int* edges, int nedges, int s, int t)
if ((e[0] == s && e[1] == t) || (e[0] == t && e[1] == s))
return i;
}
return UNDEF;
return EV_UNDEF;
}
static int addEdge(rcContext* ctx, int* edges, int& nedges, const int maxEdges, int s, int t, int l, int r)
@@ -259,31 +303,31 @@ static int addEdge(rcContext* ctx, int* edges, int& nedges, const int maxEdges,
if (nedges >= maxEdges)
{
ctx->log(RC_LOG_ERROR, "addEdge: Too many edges (%d/%d).", nedges, maxEdges);
return UNDEF;
return EV_UNDEF;
}
// Add edge if not already in the triangulation.
int e = findEdge(edges, nedges, s, t);
if (e == UNDEF)
if (e == EV_UNDEF)
{
int* e = &edges[nedges*4];
e[0] = s;
e[1] = t;
e[2] = l;
e[3] = r;
int* edge = &edges[nedges*4];
edge[0] = s;
edge[1] = t;
edge[2] = l;
edge[3] = r;
return nedges++;
}
else
{
return UNDEF;
return EV_UNDEF;
}
}
static void updateLeftFace(int* e, int s, int t, int f)
{
if (e[0] == s && e[1] == t && e[2] == UNDEF)
if (e[0] == s && e[1] == t && e[2] == EV_UNDEF)
e[2] = f;
else if (e[1] == s && e[0] == t && e[3] == UNDEF)
else if (e[1] == s && e[0] == t && e[3] == EV_UNDEF)
e[3] = f;
}
@@ -324,12 +368,12 @@ static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges
// Cache s and t.
int s,t;
if (edge[2] == UNDEF)
if (edge[2] == EV_UNDEF)
{
s = edge[0];
t = edge[1];
}
else if (edge[3] == UNDEF)
else if (edge[3] == EV_UNDEF)
{
s = edge[1];
t = edge[0];
@@ -392,15 +436,15 @@ static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges
// Add new edge or update face info of old edge.
e = findEdge(edges, nedges, pt, s);
if (e == UNDEF)
addEdge(ctx, edges, nedges, maxEdges, pt, s, nfaces, UNDEF);
if (e == EV_UNDEF)
addEdge(ctx, edges, nedges, maxEdges, pt, s, nfaces, EV_UNDEF);
else
updateLeftFace(&edges[e*4], pt, s, nfaces);
// Add new edge or update face info of old edge.
e = findEdge(edges, nedges, t, pt);
if (e == UNDEF)
addEdge(ctx, edges, nedges, maxEdges, t, pt, nfaces, UNDEF);
if (e == EV_UNDEF)
addEdge(ctx, edges, nedges, maxEdges, t, pt, nfaces, EV_UNDEF);
else
updateLeftFace(&edges[e*4], t, pt, nfaces);
@@ -408,7 +452,7 @@ static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges
}
else
{
updateLeftFace(&edges[e*4], s, t, HULL);
updateLeftFace(&edges[e*4], s, t, EV_HULL);
}
}
@@ -422,14 +466,14 @@ static void delaunayHull(rcContext* ctx, const int npts, const float* pts,
edges.resize(maxEdges*4);
for (int i = 0, j = nhull-1; i < nhull; j=i++)
addEdge(ctx, &edges[0], nedges, maxEdges, hull[j],hull[i], HULL, UNDEF);
addEdge(ctx, &edges[0], nedges, maxEdges, hull[j],hull[i], EV_HULL, EV_UNDEF);
int currentEdge = 0;
while (currentEdge < nedges)
{
if (edges[currentEdge*4+2] == UNDEF)
if (edges[currentEdge*4+2] == EV_UNDEF)
completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
if (edges[currentEdge*4+3] == UNDEF)
if (edges[currentEdge*4+3] == EV_UNDEF)
completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
currentEdge++;
}
@@ -488,6 +532,97 @@ static void delaunayHull(rcContext* ctx, const int npts, const float* pts,
}
}
// Calculate minimum extend of the polygon.
static float polyMinExtent(const float* verts, const int nverts)
{
float minDist = FLT_MAX;
for (int i = 0; i < nverts; i++)
{
const int ni = (i+1) % nverts;
const float* p1 = &verts[i*3];
const float* p2 = &verts[ni*3];
float maxEdgeDist = 0;
for (int j = 0; j < nverts; j++)
{
if (j == i || j == ni) continue;
float d = distancePtSeg2d(&verts[j*3], p1,p2);
maxEdgeDist = rcMax(maxEdgeDist, d);
}
minDist = rcMin(minDist, maxEdgeDist);
}
return rcSqrt(minDist);
}
// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv).
inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; }
inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
static void triangulateHull(const int /*nverts*/, const float* verts, const int nhull, const int* hull, rcIntArray& tris)
{
int start = 0, left = 1, right = nhull-1;
// Start from an ear with shortest perimeter.
// This tends to favor well formed triangles as starting point.
float dmin = 0;
for (int i = 0; i < nhull; i++)
{
int pi = prev(i, nhull);
int ni = next(i, nhull);
const float* pv = &verts[hull[pi]*3];
const float* cv = &verts[hull[i]*3];
const float* nv = &verts[hull[ni]*3];
const float d = vdist2(pv,cv) + vdist2(cv,nv) + vdist2(nv,pv);
if (d < dmin)
{
start = i;
left = ni;
right = pi;
dmin = d;
}
}
// Add first triangle
tris.push(hull[start]);
tris.push(hull[left]);
tris.push(hull[right]);
tris.push(0);
// Triangulate the polygon by moving left or right,
// depending on which triangle has shorter perimeter.
// This heuristic was chose emprically, since it seems
// handle tesselated straight edges well.
while (next(left, nhull) != right)
{
// Check to see if se should advance left or right.
int nleft = next(left, nhull);
int nright = prev(right, nhull);
const float* cvleft = &verts[hull[left]*3];
const float* nvleft = &verts[hull[nleft]*3];
const float* cvright = &verts[hull[right]*3];
const float* nvright = &verts[hull[nright]*3];
const float dleft = vdist2(cvleft, nvleft) + vdist2(nvleft, cvright);
const float dright = vdist2(cvright, nvright) + vdist2(cvleft, nvright);
if (dleft < dright)
{
tris.push(hull[left]);
tris.push(hull[nleft]);
tris.push(hull[right]);
tris.push(0);
left = nleft;
}
else
{
tris.push(hull[left]);
tris.push(hull[nright]);
tris.push(hull[right]);
tris.push(0);
right = nright;
}
}
}
inline float getJitterX(const int i)
{
@@ -501,9 +636,9 @@ inline float getJitterY(const int i)
static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
const float sampleDist, const float sampleMaxError,
const rcCompactHeightfield& chf, const rcHeightPatch& hp,
float* verts, int& nverts, rcIntArray& tris,
rcIntArray& edges, rcIntArray& samples)
const int heightSearchRadius, const rcCompactHeightfield& chf,
const rcHeightPatch& hp, float* verts, int& nverts,
rcIntArray& tris, rcIntArray& edges, rcIntArray& samples)
{
static const int MAX_VERTS = 127;
static const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
@@ -518,9 +653,15 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
rcVcopy(&verts[i*3], &in[i*3]);
nverts = nin;
edges.resize(0);
tris.resize(0);
const float cs = chf.cs;
const float ics = 1.0f/cs;
// Calculate minimum extents of the polygon based on input data.
float minExtent = polyMinExtent(verts, nverts);
// Tessellate outlines.
// This is done in separate pass in order to ensure
// seamless height values across the ply boundaries.
@@ -566,7 +707,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
pos[0] = vj[0] + dx*u;
pos[1] = vj[1] + dy*u;
pos[2] = vj[2] + dz*u;
pos[1] = getHeight(pos[0],pos[1],pos[2], cs, ics, chf.ch, hp)*chf.ch;
pos[1] = getHeight(pos[0],pos[1],pos[2], cs, ics, chf.ch, heightSearchRadius, hp)*chf.ch;
}
// Simplify samples.
int idx[MAX_VERTS_PER_EDGE] = {0,nn};
@@ -579,23 +720,23 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
const float* vb = &edge[b*3];
// Find maximum deviation along the segment.
float maxd = 0;
int i_max = -1;
int maxi = -1;
for (int m = a+1; m < b; ++m)
{
float d = distancePtSeg(&edge[m*3],va,vb);
if (d > maxd)
float dev = distancePtSeg(&edge[m*3],va,vb);
if (dev > maxd)
{
maxd = d;
i_max = m;
maxd = dev;
maxi = m;
}
}
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (i_max != -1 && maxd > rcSqr(sampleMaxError))
if (maxi != -1 && maxd > rcSqr(sampleMaxError))
{
for (int m = nidx; m > k; --m)
idx[m] = idx[m-1];
idx[k+1] = i_max;
idx[k+1] = maxi;
nidx++;
}
else
@@ -627,24 +768,23 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
}
}
// If the polygon minimum extent is small (sliver or small triangle), do not try to add internal points.
if (minExtent < sampleDist*2)
{
triangulateHull(nverts, verts, nhull, hull, tris);
return true;
}
// Tessellate the base mesh.
edges.resize(0);
tris.resize(0);
delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges);
// We're using the triangulateHull instead of delaunayHull as it tends to
// create a bit better triangulation for long thing triangles when there
// are no internal points.
triangulateHull(nverts, verts, nhull, hull, tris);
if (tris.size() == 0)
{
// Could not triangulate the poly, make sure there is some valid data there.
ctx->log(RC_LOG_WARNING, "buildPolyDetail: Could not triangulate polygon, adding default data.");
for (int i = 2; i < nverts; ++i)
{
tris.push(0);
tris.push(i-1);
tris.push(i);
tris.push(0);
}
ctx->log(RC_LOG_WARNING, "buildPolyDetail: Could not triangulate polygon (%d verts).", nverts);
return true;
}
@@ -675,7 +815,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
// Make sure the samples are not too close to the edges.
if (distToPoly(nin,in,pt) > -sampleDist/2) continue;
samples.push(x);
samples.push(getHeight(pt[0], pt[1], pt[2], cs, ics, chf.ch, hp));
samples.push(getHeight(pt[0], pt[1], pt[2], cs, ics, chf.ch, heightSearchRadius, hp));
samples.push(z);
samples.push(0); // Not added
}
@@ -740,32 +880,25 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
return true;
}
static void getHeightData(const rcCompactHeightfield& chf,
static void seedArrayWithPolyCenter(rcContext* ctx, const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& stack)
rcHeightPatch& hp, rcIntArray& array)
{
// Floodfill the heightfield to get 2D height data,
// starting at vertex locations as seeds.
// Note: Reads to the compact heightfield are offset by border size (bs)
// since border size offset is already removed from the polymesh vertices.
memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
stack.resize(0);
static const int offset[9*2] =
{
0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0,
};
// Use poly vertices as seed points for the flood fill.
for (int j = 0; j < npoly; ++j)
{
int cx = 0, cz = 0, ci =-1;
// Find cell closest to a poly vertex
int startCellX = 0, startCellY = 0, startSpanIndex = -1;
int dmin = RC_UNSET_HEIGHT;
for (int k = 0; k < 9; ++k)
for (int j = 0; j < npoly && dmin > 0; ++j)
{
for (int k = 0; k < 9 && dmin > 0; ++k)
{
const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
const int ay = (int)verts[poly[j]*3+1];
@@ -775,116 +908,208 @@ static void getHeightData(const rcCompactHeightfield& chf,
continue;
const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni && dmin > 0; ++i)
{
const rcCompactSpan& s = chf.spans[i];
int d = rcAbs(ay - (int)s.y);
if (d < dmin)
{
cx = ax;
cz = az;
ci = i;
startCellX = ax;
startCellY = az;
startSpanIndex = i;
dmin = d;
}
}
}
if (ci != -1)
{
stack.push(cx);
stack.push(cz);
stack.push(ci);
}
}
// Find center of the polygon using flood fill.
int pcx = 0, pcz = 0;
rcAssert(startSpanIndex != -1);
// Find center of the polygon
int pcx = 0, pcy = 0;
for (int j = 0; j < npoly; ++j)
{
pcx += (int)verts[poly[j]*3+0];
pcz += (int)verts[poly[j]*3+2];
pcy += (int)verts[poly[j]*3+2];
}
pcx /= npoly;
pcz /= npoly;
pcy /= npoly;
for (int i = 0; i < stack.size(); i += 3)
{
int cx = stack[i+0];
int cy = stack[i+1];
int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
hp.data[idx] = 1;
}
// Use seeds array as a stack for DFS
array.resize(0);
array.push(startCellX);
array.push(startCellY);
array.push(startSpanIndex);
while (stack.size() > 0)
int dirs[] = { 0, 1, 2, 3 };
memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
// DFS to move to the center. Note that we need a DFS here and can not just move
// directly towards the center without recording intermediate nodes, even though the polygons
// are convex. In very rare we can get stuck due to contour simplification if we do not
// record nodes.
int cx = -1, cy = -1, ci = -1;
while (true)
{
int ci = stack.pop();
int cy = stack.pop();
int cx = stack.pop();
// Check if close to center of the polygon.
if (rcAbs(cx-pcx) <= 1 && rcAbs(cy-pcz) <= 1)
if (array.size() < 3)
{
stack.resize(0);
stack.push(cx);
stack.push(cy);
stack.push(ci);
ctx->log(RC_LOG_WARNING, "Walk towards polygon center failed to reach center");
break;
}
ci = array.pop();
cy = array.pop();
cx = array.pop();
if (cx == pcx && cy == pcy)
break;
// If we are already at the correct X-position, prefer direction
// directly towards the center in the Y-axis; otherwise prefer
// direction in the X-axis
int directDir;
if (cx == pcx)
directDir = rcGetDirForOffset(0, pcy > cy ? 1 : -1);
else
directDir = rcGetDirForOffset(pcx > cx ? 1 : -1, 0);
// Push the direct dir last so we start with this on next iteration
rcSwap(dirs[directDir], dirs[3]);
const rcCompactSpan& cs = chf.spans[ci];
for (int dir = 0; dir < 4; ++dir)
for (int i = 0; i < 4; i++)
{
if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
ay < hp.ymin || ay >= (hp.ymin+hp.height))
int dir = dirs[i];
if (rcGetCon(cs, dir) == RC_NOT_CONNECTED)
continue;
if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != 0)
int newX = cx + rcGetDirOffsetX(dir);
int newY = cy + rcGetDirOffsetY(dir);
int hpx = newX - hp.xmin;
int hpy = newY - hp.ymin;
if (hpx < 0 || hpx >= hp.width || hpy < 0 || hpy >= hp.height)
continue;
const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir);
if (hp.data[hpx+hpy*hp.width] != 0)
continue;
int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
hp.data[idx] = 1;
hp.data[hpx+hpy*hp.width] = 1;
array.push(newX);
array.push(newY);
array.push((int)chf.cells[(newX+bs)+(newY+bs)*chf.width].index + rcGetCon(cs, dir));
}
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
rcSwap(dirs[directDir], dirs[3]);
}
array.resize(0);
// getHeightData seeds are given in coordinates with borders
array.push(cx+bs);
array.push(cy+bs);
array.push(ci);
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
// Mark start locations.
for (int i = 0; i < stack.size(); i += 3)
{
int cx = stack[i+0];
int cy = stack[i+1];
int ci = stack[i+2];
int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
const rcCompactSpan& cs = chf.spans[ci];
hp.data[idx] = cs.y;
hp.data[cx-hp.xmin+(cy-hp.ymin)*hp.width] = cs.y;
}
static void push3(rcIntArray& queue, int v1, int v2, int v3)
{
queue.resize(queue.size() + 3);
queue[queue.size() - 3] = v1;
queue[queue.size() - 2] = v2;
queue[queue.size() - 1] = v3;
}
static void getHeightData(rcContext* ctx, const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& queue,
int region)
{
// Note: Reads to the compact heightfield are offset by border size (bs)
// since border size offset is already removed from the polymesh vertices.
queue.resize(0);
// Set all heights to RC_UNSET_HEIGHT.
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
bool empty = true;
// We cannot sample from this poly if it was created from polys
// of different regions. If it was then it could potentially be overlapping
// with polys of that region and the heights sampled here could be wrong.
if (region != RC_MULTIPLE_REGS)
{
// Copy the height from the same region, and mark region borders
// as seed points to fill the rest.
for (int hy = 0; hy < hp.height; hy++)
{
int y = hp.ymin + hy + bs;
for (int hx = 0; hx < hp.width; hx++)
{
int x = hp.xmin + hx + bs;
const rcCompactCell& c = chf.cells[x + y*chf.width];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
if (s.reg == region)
{
// Store height
hp.data[hx + hy*hp.width] = s.y;
empty = false;
// If any of the neighbours is not in same region,
// add the current location as flood fill start
bool border = false;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(s, dir);
const rcCompactSpan& as = chf.spans[ai];
if (as.reg != region)
{
border = true;
break;
}
}
}
if (border)
push3(queue, x, y, i);
break;
}
}
}
}
}
// if the polygon does not contain any points from the current region (rare, but happens)
// or if it could potentially be overlapping polygons of the same region,
// then use the center as the seed point.
if (empty)
seedArrayWithPolyCenter(ctx, chf, poly, npoly, verts, bs, hp, queue);
static const int RETRACT_SIZE = 256;
int head = 0;
while (head*3 < stack.size())
// We assume the seed is centered in the polygon, so a BFS to collect
// height data will ensure we do not move onto overlapping polygons and
// sample wrong heights.
while (head*3 < queue.size())
{
int cx = stack[head*3+0];
int cy = stack[head*3+1];
int ci = stack[head*3+2];
int cx = queue[head*3+0];
int cy = queue[head*3+1];
int ci = queue[head*3+2];
head++;
if (head >= RETRACT_SIZE)
{
head = 0;
if (stack.size() > RETRACT_SIZE*3)
memmove(&stack[0], &stack[RETRACT_SIZE*3], sizeof(int)*(stack.size()-RETRACT_SIZE*3));
stack.resize(stack.size()-RETRACT_SIZE*3);
if (queue.size() > RETRACT_SIZE*3)
memmove(&queue[0], &queue[RETRACT_SIZE*3], sizeof(int)*(queue.size()-RETRACT_SIZE*3));
queue.resize(queue.size()-RETRACT_SIZE*3);
}
const rcCompactSpan& cs = chf.spans[ci];
@@ -894,26 +1119,23 @@ static void getHeightData(const rcCompactHeightfield& chf,
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int hx = ax - hp.xmin - bs;
const int hy = ay - hp.ymin - bs;
if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
ay < hp.ymin || ay >= (hp.ymin+hp.height))
if ((unsigned int)hx >= (unsigned int)hp.width || (unsigned int)hy >= (unsigned int)hp.height)
continue;
if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != RC_UNSET_HEIGHT)
if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT)
continue;
const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir);
const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(cs, dir);
const rcCompactSpan& as = chf.spans[ai];
int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
hp.data[idx] = as.y;
stack.push(ax);
stack.push(ay);
stack.push(ai);
hp.data[hx + hy*hp.width] = as.y;
push3(queue, ax, ay, ai);
}
}
}
static unsigned char getEdgeFlags(const float* va, const float* vb,
@@ -951,7 +1173,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_POLYMESHDETAIL);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_POLYMESHDETAIL);
if (mesh.nverts == 0 || mesh.npolys == 0)
return true;
@@ -961,23 +1183,24 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
const float ch = mesh.ch;
const float* orig = mesh.bmin;
const int borderSize = mesh.borderSize;
const int heightSearchRadius = rcMax(1, (int)ceilf(mesh.maxEdgeError));
rcIntArray edges(64);
rcIntArray tris(512);
rcIntArray stack(512);
rcIntArray arr(512);
rcIntArray samples(512);
float verts[256*3];
rcHeightPatch hp;
int nPolyVerts = 0;
int maxhw = 0, maxhh = 0;
rcScopedDelete<int> bounds = (int*)rcAlloc(sizeof(int)*mesh.npolys*4, RC_ALLOC_TEMP);
rcScopedDelete<int> bounds((int*)rcAlloc(sizeof(int)*mesh.npolys*4, RC_ALLOC_TEMP));
if (!bounds)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'bounds' (%d).", mesh.npolys*4);
return false;
}
rcScopedDelete<float> poly = (float*)rcAlloc(sizeof(float)*nvp*3, RC_ALLOC_TEMP);
rcScopedDelete<float> poly((float*)rcAlloc(sizeof(float)*nvp*3, RC_ALLOC_TEMP));
if (!poly)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'poly' (%d).", nvp*3);
@@ -1043,7 +1266,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
return false;
}
dmesh.ntris = 0;
dmesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char*)*tcap*4, RC_ALLOC_PERM);
dmesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*tcap*4, RC_ALLOC_PERM);
if (!dmesh.tris)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", tcap*4);
@@ -1071,13 +1294,14 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
hp.ymin = bounds[i*4+2];
hp.width = bounds[i*4+1]-bounds[i*4+0];
hp.height = bounds[i*4+3]-bounds[i*4+2];
getHeightData(chf, p, npoly, mesh.verts, borderSize, hp, stack);
getHeightData(ctx, chf, p, npoly, mesh.verts, borderSize, hp, arr, mesh.regs[i]);
// Build detail mesh.
int nverts = 0;
if (!buildPolyDetail(ctx, poly, npoly,
sampleDist, sampleMaxError,
chf, hp, verts, nverts, tris,
heightSearchRadius, chf, hp,
verts, nverts, tris,
edges, samples))
{
return false;
@@ -1158,8 +1382,6 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
}
}
ctx->stopTimer(RC_TIMER_BUILD_POLYMESHDETAIL);
return true;
}
@@ -1168,7 +1390,7 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_MERGE_POLYMESHDETAIL);
rcScopedTimer timer(ctx, RC_TIMER_MERGE_POLYMESHDETAIL);
int maxVerts = 0;
int maxTris = 0;
@@ -1237,8 +1459,5 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
}
}
ctx->stopTimer(RC_TIMER_MERGE_POLYMESHDETAIL);
return true;
}

189
extern/recastnavigation/Recast/Source/RecastRasterization.cpp vendored
View File

@@ -50,7 +50,7 @@ static rcSpan* allocSpan(rcHeightfield& hf)
// Allocate memory for the new pool.
rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
if (!pool) return 0;
pool->next = 0;
// Add the pool into the list of pools.
pool->next = hf.pools;
hf.pools = pool;
@@ -82,7 +82,7 @@ static void freeSpan(rcHeightfield& hf, rcSpan* ptr)
hf.freelist = ptr;
}
static void addSpan(rcHeightfield& hf, const int x, const int y,
static bool addSpan(rcHeightfield& hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned char area, const int flagMergeThr)
{
@@ -90,16 +90,18 @@ static void addSpan(rcHeightfield& hf, const int x, const int y,
int idx = x + y*hf.width;
rcSpan* s = allocSpan(hf);
if (!s)
return false;
s->smin = smin;
s->smax = smax;
s->area = area;
s->next = 0;
// Empty cell, add he first span.
// Empty cell, add the first span.
if (!hf.spans[idx])
{
hf.spans[idx] = s;
return;
return true;
}
rcSpan* prev = 0;
rcSpan* cur = hf.spans[idx];
@@ -152,6 +154,8 @@ static void addSpan(rcHeightfield& hf, const int x, const int y,
s->next = hf.spans[idx];
hf.spans[idx] = s;
}
return true;
}
/// @par
@@ -161,45 +165,80 @@ static void addSpan(rcHeightfield& hf, const int x, const int y,
/// from the existing span, the span flags are merged.
///
/// @see rcHeightfield, rcSpan.
void rcAddSpan(rcContext* /*ctx*/, rcHeightfield& hf, const int x, const int y,
bool rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned char area, const int flagMergeThr)
{
// rcAssert(ctx);
addSpan(hf, x,y, smin, smax, area, flagMergeThr);
rcAssert(ctx);
if (!addSpan(hf, x, y, smin, smax, area, flagMergeThr))
{
ctx->log(RC_LOG_ERROR, "rcAddSpan: Out of memory.");
return false;
}
static int clipPoly(const float* in, int n, float* out, float pnx, float pnz, float pd)
return true;
}
// divides a convex polygons into two convex polygons on both sides of a line
static void dividePoly(const float* in, int nin,
float* out1, int* nout1,
float* out2, int* nout2,
float x, int axis)
{
float d[12];
for (int i = 0; i < n; ++i)
d[i] = pnx*in[i*3+0] + pnz*in[i*3+2] + pd;
for (int i = 0; i < nin; ++i)
d[i] = x - in[i*3+axis];
int m = 0;
for (int i = 0, j = n-1; i < n; j=i, ++i)
int m = 0, n = 0;
for (int i = 0, j = nin-1; i < nin; j=i, ++i)
{
bool ina = d[j] >= 0;
bool inb = d[i] >= 0;
if (ina != inb)
{
float s = d[j] / (d[j] - d[i]);
out[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s;
out[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s;
out[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s;
out1[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s;
out1[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s;
out1[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s;
rcVcopy(out2 + n*3, out1 + m*3);
m++;
}
if (inb)
n++;
// add the i'th point to the right polygon. Do NOT add points that are on the dividing line
// since these were already added above
if (d[i] > 0)
{
out[m*3+0] = in[i*3+0];
out[m*3+1] = in[i*3+1];
out[m*3+2] = in[i*3+2];
rcVcopy(out1 + m*3, in + i*3);
m++;
}
else if (d[i] < 0)
{
rcVcopy(out2 + n*3, in + i*3);
n++;
}
}
else // same side
{
// add the i'th point to the right polygon. Addition is done even for points on the dividing line
if (d[i] >= 0)
{
rcVcopy(out1 + m*3, in + i*3);
m++;
if (d[i] != 0)
continue;
}
rcVcopy(out2 + n*3, in + i*3);
n++;
}
return m;
}
static void rasterizeTri(const float* v0, const float* v1, const float* v2,
*nout1 = m;
*nout2 = n;
}
static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
const unsigned char area, rcHeightfield& hf,
const float* bmin, const float* bmax,
const float cs, const float ics, const float ich,
@@ -220,50 +259,59 @@ static void rasterizeTri(const float* v0, const float* v1, const float* v2,
// If the triangle does not touch the bbox of the heightfield, skip the triagle.
if (!overlapBounds(bmin, bmax, tmin, tmax))
return;
return true;
// Calculate the footpring of the triangle on the grid.
int x0 = (int)((tmin[0] - bmin[0])*ics);
// Calculate the footprint of the triangle on the grid's y-axis
int y0 = (int)((tmin[2] - bmin[2])*ics);
int x1 = (int)((tmax[0] - bmin[0])*ics);
int y1 = (int)((tmax[2] - bmin[2])*ics);
x0 = rcClamp(x0, 0, w-1);
y0 = rcClamp(y0, 0, h-1);
x1 = rcClamp(x1, 0, w-1);
y1 = rcClamp(y1, 0, h-1);
// Clip the triangle into all grid cells it touches.
float in[7*3], out[7*3], inrow[7*3];
float buf[7*3*4];
float *in = buf, *inrow = buf+7*3, *p1 = inrow+7*3, *p2 = p1+7*3;
for (int y = y0; y <= y1; ++y)
{
// Clip polygon to row.
rcVcopy(&in[0], v0);
rcVcopy(&in[1*3], v1);
rcVcopy(&in[2*3], v2);
int nvrow = 3;
int nvrow, nvIn = 3;
for (int y = y0; y <= y1; ++y)
{
// Clip polygon to row. Store the remaining polygon as well
const float cz = bmin[2] + y*cs;
nvrow = clipPoly(in, nvrow, out, 0, 1, -cz);
if (nvrow < 3) continue;
nvrow = clipPoly(out, nvrow, inrow, 0, -1, cz+cs);
dividePoly(in, nvIn, inrow, &nvrow, p1, &nvIn, cz+cs, 2);
rcSwap(in, p1);
if (nvrow < 3) continue;
// find the horizontal bounds in the row
float minX = inrow[0], maxX = inrow[0];
for (int i=1; i<nvrow; ++i)
{
if (minX > inrow[i*3]) minX = inrow[i*3];
if (maxX < inrow[i*3]) maxX = inrow[i*3];
}
int x0 = (int)((minX - bmin[0])*ics);
int x1 = (int)((maxX - bmin[0])*ics);
x0 = rcClamp(x0, 0, w-1);
x1 = rcClamp(x1, 0, w-1);
int nv, nv2 = nvrow;
for (int x = x0; x <= x1; ++x)
{
// Clip polygon to column.
int nv = nvrow;
// Clip polygon to column. store the remaining polygon as well
const float cx = bmin[0] + x*cs;
nv = clipPoly(inrow, nv, out, 1, 0, -cx);
if (nv < 3) continue;
nv = clipPoly(out, nv, in, -1, 0, cx+cs);
dividePoly(inrow, nv2, p1, &nv, p2, &nv2, cx+cs, 0);
rcSwap(inrow, p2);
if (nv < 3) continue;
// Calculate min and max of the span.
float smin = in[1], smax = in[1];
float smin = p1[1], smax = p1[1];
for (int i = 1; i < nv; ++i)
{
smin = rcMin(smin, in[i*3+1]);
smax = rcMax(smax, in[i*3+1]);
smin = rcMin(smin, p1[i*3+1]);
smax = rcMax(smax, p1[i*3+1]);
}
smin -= bmin[1];
smax -= bmin[1];
@@ -278,9 +326,12 @@ static void rasterizeTri(const float* v0, const float* v1, const float* v2,
unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, RC_SPAN_MAX_HEIGHT);
unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), (int)ismin+1, RC_SPAN_MAX_HEIGHT);
addSpan(hf, x, y, ismin, ismax, area, flagMergeThr);
if (!addSpan(hf, x, y, ismin, ismax, area, flagMergeThr))
return false;
}
}
return true;
}
/// @par
@@ -288,19 +339,23 @@ static void rasterizeTri(const float* v0, const float* v1, const float* v2,
/// No spans will be added if the triangle does not overlap the heightfield grid.
///
/// @see rcHeightfield
void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
const unsigned char area, rcHeightfield& solid,
const int flagMergeThr)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
const float ics = 1.0f/solid.cs;
const float ich = 1.0f/solid.ch;
rasterizeTri(v0, v1, v2, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
if (!rasterizeTri(v0, v1, v2, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
{
ctx->log(RC_LOG_ERROR, "rcRasterizeTriangle: Out of memory.");
return false;
}
ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
return true;
}
/// @par
@@ -308,13 +363,13 @@ void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
const int* tris, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
const float ics = 1.0f/solid.cs;
const float ich = 1.0f/solid.ch;
@@ -325,10 +380,14 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
const float* v1 = &verts[tris[i*3+1]*3];
const float* v2 = &verts[tris[i*3+2]*3];
// Rasterize.
rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
{
ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
return false;
}
}
ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
return true;
}
/// @par
@@ -336,13 +395,13 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
const unsigned short* tris, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
const float ics = 1.0f/solid.cs;
const float ich = 1.0f/solid.ch;
@@ -353,10 +412,14 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
const float* v1 = &verts[tris[i*3+1]*3];
const float* v2 = &verts[tris[i*3+2]*3];
// Rasterize.
rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
{
ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
return false;
}
}
ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
return true;
}
/// @par
@@ -364,12 +427,12 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
void rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
const float ics = 1.0f/solid.cs;
const float ich = 1.0f/solid.ch;
@@ -380,8 +443,12 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned cha
const float* v1 = &verts[(i*3+1)*3];
const float* v2 = &verts[(i*3+2)*3];
// Rasterize.
rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
{
ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
return false;
}
}
ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
return true;
}

617
extern/recastnavigation/Recast/Source/RecastRegion.cpp vendored
View File

@@ -286,7 +286,10 @@ static bool floodRegion(int x, int y, int i,
if (nr & RC_BORDER_REG) // Do not take borders into account.
continue;
if (nr != 0 && nr != r)
{
ar = nr;
break;
}
const rcCompactSpan& as = chf.spans[ai];
@@ -298,9 +301,12 @@ static bool floodRegion(int x, int y, int i,
const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
if (chf.areas[ai2] != area)
continue;
unsigned short nr = srcReg[ai2];
if (nr != 0 && nr != r)
ar = nr;
unsigned short nr2 = srcReg[ai2];
if (nr2 != 0 && nr2 != r)
{
ar = nr2;
break;
}
}
}
}
@@ -309,6 +315,7 @@ static bool floodRegion(int x, int y, int i,
srcReg[ci] = 0;
continue;
}
count++;
// Expand neighbours.
@@ -340,11 +347,14 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
rcCompactHeightfield& chf,
unsigned short* srcReg, unsigned short* srcDist,
unsigned short* dstReg, unsigned short* dstDist,
rcIntArray& stack)
rcIntArray& stack,
bool fillStack)
{
const int w = chf.width;
const int h = chf.height;
if (fillStack)
{
// Find cells revealed by the raised level.
stack.resize(0);
for (int y = 0; y < h; ++y)
@@ -363,6 +373,17 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
}
}
}
}
else // use cells in the input stack
{
// mark all cells which already have a region
for (int j=0; j<stack.size(); j+=3)
{
int i = stack[j+2];
if (srcReg[i] != 0)
stack[j+2] = -1;
}
}
int iter = 0;
while (stack.size() > 0)
@@ -434,6 +455,61 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
}
static void sortCellsByLevel(unsigned short startLevel,
rcCompactHeightfield& chf,
unsigned short* srcReg,
unsigned int nbStacks, rcIntArray* stacks,
unsigned short loglevelsPerStack) // the levels per stack (2 in our case) as a bit shift
{
const int w = chf.width;
const int h = chf.height;
startLevel = startLevel >> loglevelsPerStack;
for (unsigned int j=0; j<nbStacks; ++j)
stacks[j].resize(0);
// put all cells in the level range into the appropriate stacks
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (chf.areas[i] == RC_NULL_AREA || srcReg[i] != 0)
continue;
int level = chf.dist[i] >> loglevelsPerStack;
int sId = startLevel - level;
if (sId >= (int)nbStacks)
continue;
if (sId < 0)
sId = 0;
stacks[sId].push(x);
stacks[sId].push(y);
stacks[sId].push(i);
}
}
}
}
static void appendStacks(rcIntArray& srcStack, rcIntArray& dstStack,
unsigned short* srcReg)
{
for (int j=0; j<srcStack.size(); j+=3)
{
int i = srcStack[j+2];
if ((i < 0) || (srcReg[i] != 0))
continue;
dstStack.push(srcStack[j]);
dstStack.push(srcStack[j+1]);
dstStack.push(srcStack[j+2]);
}
}
struct rcRegion
{
inline rcRegion(unsigned short i) :
@@ -441,7 +517,11 @@ struct rcRegion
id(i),
areaType(0),
remap(false),
visited(false)
visited(false),
overlap(false),
connectsToBorder(false),
ymin(0xffff),
ymax(0)
{}
int spanCount; // Number of spans belonging to this region
@@ -449,6 +529,9 @@ struct rcRegion
unsigned char areaType; // Are type.
bool remap;
bool visited;
bool overlap;
bool connectsToBorder;
unsigned short ymin, ymax;
rcIntArray connections;
rcIntArray floors;
};
@@ -678,25 +761,26 @@ static void walkContour(int x, int y, int i, int dir,
// Remove adjacent duplicates.
if (cont.size() > 1)
{
for (int i = 0; i < cont.size(); )
for (int j = 0; j < cont.size(); )
{
int ni = (i+1) % cont.size();
if (cont[i] == cont[ni])
int nj = (j+1) % cont.size();
if (cont[j] == cont[nj])
{
for (int j = i; j < cont.size()-1; ++j)
cont[j] = cont[j+1];
for (int k = j; k < cont.size()-1; ++k)
cont[k] = cont[k+1];
cont.pop();
}
else
++i;
++j;
}
}
}
static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegionSize,
static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRegionSize,
unsigned short& maxRegionId,
rcCompactHeightfield& chf,
unsigned short* srcReg)
unsigned short* srcReg, rcIntArray& overlaps)
{
const int w = chf.width;
const int h = chf.height;
@@ -705,7 +789,7 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
if (!regions)
{
ctx->log(RC_LOG_ERROR, "filterSmallRegions: Out of memory 'regions' (%d).", nreg);
ctx->log(RC_LOG_ERROR, "mergeAndFilterRegions: Out of memory 'regions' (%d).", nreg);
return false;
}
@@ -728,7 +812,6 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
rcRegion& reg = regions[r];
reg.spanCount++;
// Update floors.
for (int j = (int)c.index; j < ni; ++j)
{
@@ -736,6 +819,8 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
unsigned short floorId = srcReg[j];
if (floorId == 0 || floorId >= nreg)
continue;
if (floorId == r)
reg.overlap = true;
addUniqueFloorRegion(reg, floorId);
}
@@ -806,14 +891,14 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
connectsToBorder = true;
continue;
}
rcRegion& nreg = regions[creg.connections[j]];
if (nreg.visited)
rcRegion& neireg = regions[creg.connections[j]];
if (neireg.visited)
continue;
if (nreg.id == 0 || (nreg.id & RC_BORDER_REG))
if (neireg.id == 0 || (neireg.id & RC_BORDER_REG))
continue;
// Visit
stack.push(nreg.id);
nreg.visited = true;
stack.push(neireg.id);
neireg.visited = true;
}
}
@@ -842,6 +927,8 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
rcRegion& reg = regions[i];
if (reg.id == 0 || (reg.id & RC_BORDER_REG))
continue;
if (reg.overlap)
continue;
if (reg.spanCount == 0)
continue;
@@ -858,7 +945,7 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
{
if (reg.connections[j] & RC_BORDER_REG) continue;
rcRegion& mreg = regions[reg.connections[j]];
if (mreg.id == 0 || (mreg.id & RC_BORDER_REG)) continue;
if (mreg.id == 0 || (mreg.id & RC_BORDER_REG) || mreg.overlap) continue;
if (mreg.spanCount < smallest &&
canMergeWithRegion(reg, mreg) &&
canMergeWithRegion(mreg, reg))
@@ -929,6 +1016,224 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
srcReg[i] = regions[srcReg[i]].id;
}
// Return regions that we found to be overlapping.
for (int i = 0; i < nreg; ++i)
if (regions[i].overlap)
overlaps.push(regions[i].id);
for (int i = 0; i < nreg; ++i)
regions[i].~rcRegion();
rcFree(regions);
return true;
}
static void addUniqueConnection(rcRegion& reg, int n)
{
for (int i = 0; i < reg.connections.size(); ++i)
if (reg.connections[i] == n)
return;
reg.connections.push(n);
}
static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
unsigned short& maxRegionId,
rcCompactHeightfield& chf,
unsigned short* srcReg, rcIntArray& /*overlaps*/)
{
const int w = chf.width;
const int h = chf.height;
const int nreg = maxRegionId+1;
rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
if (!regions)
{
ctx->log(RC_LOG_ERROR, "mergeAndFilterLayerRegions: Out of memory 'regions' (%d).", nreg);
return false;
}
// Construct regions
for (int i = 0; i < nreg; ++i)
new(&regions[i]) rcRegion((unsigned short)i);
// Find region neighbours and overlapping regions.
rcIntArray lregs(32);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
lregs.resize(0);
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
const unsigned short ri = srcReg[i];
if (ri == 0 || ri >= nreg) continue;
rcRegion& reg = regions[ri];
reg.spanCount++;
reg.ymin = rcMin(reg.ymin, s.y);
reg.ymax = rcMax(reg.ymax, s.y);
// Collect all region layers.
lregs.push(ri);
// Update neighbours
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
const unsigned short rai = srcReg[ai];
if (rai > 0 && rai < nreg && rai != ri)
addUniqueConnection(reg, rai);
if (rai & RC_BORDER_REG)
reg.connectsToBorder = true;
}
}
}
// Update overlapping regions.
for (int i = 0; i < lregs.size()-1; ++i)
{
for (int j = i+1; j < lregs.size(); ++j)
{
if (lregs[i] != lregs[j])
{
rcRegion& ri = regions[lregs[i]];
rcRegion& rj = regions[lregs[j]];
addUniqueFloorRegion(ri, lregs[j]);
addUniqueFloorRegion(rj, lregs[i]);
}
}
}
}
}
// Create 2D layers from regions.
unsigned short layerId = 1;
for (int i = 0; i < nreg; ++i)
regions[i].id = 0;
// Merge montone regions to create non-overlapping areas.
rcIntArray stack(32);
for (int i = 1; i < nreg; ++i)
{
rcRegion& root = regions[i];
// Skip already visited.
if (root.id != 0)
continue;
// Start search.
root.id = layerId;
stack.resize(0);
stack.push(i);
while (stack.size() > 0)
{
// Pop front
rcRegion& reg = regions[stack[0]];
for (int j = 0; j < stack.size()-1; ++j)
stack[j] = stack[j+1];
stack.resize(stack.size()-1);
const int ncons = (int)reg.connections.size();
for (int j = 0; j < ncons; ++j)
{
const int nei = reg.connections[j];
rcRegion& regn = regions[nei];
// Skip already visited.
if (regn.id != 0)
continue;
// Skip if the neighbour is overlapping root region.
bool overlap = false;
for (int k = 0; k < root.floors.size(); k++)
{
if (root.floors[k] == nei)
{
overlap = true;
break;
}
}
if (overlap)
continue;
// Deepen
stack.push(nei);
// Mark layer id
regn.id = layerId;
// Merge current layers to root.
for (int k = 0; k < regn.floors.size(); ++k)
addUniqueFloorRegion(root, regn.floors[k]);
root.ymin = rcMin(root.ymin, regn.ymin);
root.ymax = rcMax(root.ymax, regn.ymax);
root.spanCount += regn.spanCount;
regn.spanCount = 0;
root.connectsToBorder = root.connectsToBorder || regn.connectsToBorder;
}
}
layerId++;
}
// Remove small regions
for (int i = 0; i < nreg; ++i)
{
if (regions[i].spanCount > 0 && regions[i].spanCount < minRegionArea && !regions[i].connectsToBorder)
{
unsigned short reg = regions[i].id;
for (int j = 0; j < nreg; ++j)
if (regions[j].id == reg)
regions[j].id = 0;
}
}
// Compress region Ids.
for (int i = 0; i < nreg; ++i)
{
regions[i].remap = false;
if (regions[i].id == 0) continue; // Skip nil regions.
if (regions[i].id & RC_BORDER_REG) continue; // Skip external regions.
regions[i].remap = true;
}
unsigned short regIdGen = 0;
for (int i = 0; i < nreg; ++i)
{
if (!regions[i].remap)
continue;
unsigned short oldId = regions[i].id;
unsigned short newId = ++regIdGen;
for (int j = i; j < nreg; ++j)
{
if (regions[j].id == oldId)
{
regions[j].id = newId;
regions[j].remap = false;
}
}
}
maxRegionId = regIdGen;
// Remap regions.
for (int i = 0; i < chf.spanCount; ++i)
{
if ((srcReg[i] & RC_BORDER_REG) == 0)
srcReg[i] = regions[srcReg[i]].id;
}
for (int i = 0; i < nreg; ++i)
regions[i].~rcRegion();
rcFree(regions);
@@ -936,6 +1241,8 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
return true;
}
/// @par
///
/// This is usually the second to the last step in creating a fully built
@@ -950,7 +1257,7 @@ bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_DISTANCEFIELD);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_DISTANCEFIELD);
if (chf.dist)
{
@@ -974,14 +1281,15 @@ bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf)
unsigned short maxDist = 0;
ctx->startTimer(RC_TIMER_BUILD_DISTANCEFIELD_DIST);
{
rcScopedTimer timerDist(ctx, RC_TIMER_BUILD_DISTANCEFIELD_DIST);
calculateDistanceField(chf, src, maxDist);
chf.maxDistance = maxDist;
}
ctx->stopTimer(RC_TIMER_BUILD_DISTANCEFIELD_DIST);
ctx->startTimer(RC_TIMER_BUILD_DISTANCEFIELD_BLUR);
{
rcScopedTimer timerBlur(ctx, RC_TIMER_BUILD_DISTANCEFIELD_BLUR);
// Blur
if (boxBlur(chf, 1, src, dst) != src)
@@ -989,10 +1297,7 @@ bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf)
// Store distance.
chf.dist = src;
ctx->stopTimer(RC_TIMER_BUILD_DISTANCEFIELD_BLUR);
ctx->stopTimer(RC_TIMER_BUILD_DISTANCEFIELD);
}
rcFree(dst);
@@ -1052,13 +1357,13 @@ bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_REGIONS);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_REGIONS);
const int w = chf.width;
const int h = chf.height;
unsigned short id = 1;
rcScopedDelete<unsigned short> srcReg = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
rcScopedDelete<unsigned short> srcReg((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP));
if (!srcReg)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'src' (%d).", chf.spanCount);
@@ -1067,7 +1372,7 @@ bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
memset(srcReg,0,sizeof(unsigned short)*chf.spanCount);
const int nsweeps = rcMax(chf.width,chf.height);
rcScopedDelete<rcSweepSpan> sweeps = (rcSweepSpan*)rcAlloc(sizeof(rcSweepSpan)*nsweeps, RC_ALLOC_TEMP);
rcScopedDelete<rcSweepSpan> sweeps((rcSweepSpan*)rcAlloc(sizeof(rcSweepSpan)*nsweeps, RC_ALLOC_TEMP));
if (!sweeps)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'sweeps' (%d).", nsweeps);
@@ -1181,21 +1486,23 @@ bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
}
}
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Filter out small regions.
{
rcScopedTimer timerFilter(ctx, RC_TIMER_BUILD_REGIONS_FILTER);
// Merge regions and filter out small regions.
rcIntArray overlaps;
chf.maxRegions = id;
if (!filterSmallRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg))
if (!mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg, overlaps))
return false;
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Monotone partitioning does not generate overlapping regions.
}
// Store the result out.
for (int i = 0; i < chf.spanCount; ++i)
chf.spans[i].reg = srcReg[i];
ctx->stopTimer(RC_TIMER_BUILD_REGIONS);
return true;
}
@@ -1223,12 +1530,12 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_REGIONS);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_REGIONS);
const int w = chf.width;
const int h = chf.height;
rcScopedDelete<unsigned short> buf = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP);
rcScopedDelete<unsigned short> buf((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP));
if (!buf)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' (%d).", chf.spanCount*4);
@@ -1237,6 +1544,12 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
ctx->startTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
const int LOG_NB_STACKS = 3;
const int NB_STACKS = 1 << LOG_NB_STACKS;
rcIntArray lvlStacks[NB_STACKS];
for (int i=0; i<NB_STACKS; ++i)
lvlStacks[i].resize(1024);
rcIntArray stack(1024);
rcIntArray visited(1024);
@@ -1262,6 +1575,13 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
// Make sure border will not overflow.
const int bw = rcMin(w, borderSize);
const int bh = rcMin(h, borderSize);
if (regionId > 0xFFFB)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegions: Region ID overflow");
return false;
}
// Paint regions
paintRectRegion(0, bw, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(w-bw, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
@@ -1271,44 +1591,60 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
chf.borderSize = borderSize;
}
int sId = -1;
while (level > 0)
{
level = level >= 2 ? level-2 : 0;
sId = (sId+1) & (NB_STACKS-1);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_EXPAND);
// ctx->startTimer(RC_TIMER_DIVIDE_TO_LEVELS);
if (sId == 0)
sortCellsByLevel(level, chf, srcReg, NB_STACKS, lvlStacks, 1);
else
appendStacks(lvlStacks[sId-1], lvlStacks[sId], srcReg); // copy left overs from last level
// ctx->stopTimer(RC_TIMER_DIVIDE_TO_LEVELS);
{
rcScopedTimer timerExpand(ctx, RC_TIMER_BUILD_REGIONS_EXPAND);
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, lvlStacks[sId], false) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);
}
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_EXPAND);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FLOOD);
{
rcScopedTimer timerFloor(ctx, RC_TIMER_BUILD_REGIONS_FLOOD);
// Mark new regions with IDs.
for (int y = 0; y < h; ++y)
for (int j = 0; j<lvlStacks[sId].size(); j += 3)
{
for (int x = 0; x < w; ++x)
int x = lvlStacks[sId][j];
int y = lvlStacks[sId][j+1];
int i = lvlStacks[sId][j+2];
if (i >= 0 && srcReg[i] == 0)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (chf.dist[i] < level || srcReg[i] != 0 || chf.areas[i] == RC_NULL_AREA)
continue;
if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
{
if (regionId == 0xFFFF)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegions: Region ID overflow");
return false;
}
regionId++;
}
}
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FLOOD);
}
}
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack, true) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);
@@ -1316,22 +1652,179 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
{
rcScopedTimer timerFilter(ctx, RC_TIMER_BUILD_REGIONS_FILTER);
// Filter out small regions.
// Merge regions and filter out smalle regions.
rcIntArray overlaps;
chf.maxRegions = regionId;
if (!filterSmallRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg))
if (!mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg, overlaps))
return false;
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// If overlapping regions were found during merging, split those regions.
if (overlaps.size() > 0)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegions: %d overlapping regions.", overlaps.size());
}
}
// Write the result out.
for (int i = 0; i < chf.spanCount; ++i)
chf.spans[i].reg = srcReg[i];
ctx->stopTimer(RC_TIMER_BUILD_REGIONS);
return true;
}
bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea)
{
rcAssert(ctx);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_REGIONS);
const int w = chf.width;
const int h = chf.height;
unsigned short id = 1;
rcScopedDelete<unsigned short> srcReg((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP));
if (!srcReg)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'src' (%d).", chf.spanCount);
return false;
}
memset(srcReg,0,sizeof(unsigned short)*chf.spanCount);
const int nsweeps = rcMax(chf.width,chf.height);
rcScopedDelete<rcSweepSpan> sweeps((rcSweepSpan*)rcAlloc(sizeof(rcSweepSpan)*nsweeps, RC_ALLOC_TEMP));
if (!sweeps)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'sweeps' (%d).", nsweeps);
return false;
}
// Mark border regions.
if (borderSize > 0)
{
// Make sure border will not overflow.
const int bw = rcMin(w, borderSize);
const int bh = rcMin(h, borderSize);
// Paint regions
paintRectRegion(0, bw, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(w-bw, w, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(0, w, 0, bh, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(0, w, h-bh, h, id|RC_BORDER_REG, chf, srcReg); id++;
chf.borderSize = borderSize;
}
rcIntArray prev(256);
// Sweep one line at a time.
for (int y = borderSize; y < h-borderSize; ++y)
{
// Collect spans from this row.
prev.resize(id+1);
memset(&prev[0],0,sizeof(int)*id);
unsigned short rid = 1;
for (int x = borderSize; x < w-borderSize; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA) continue;
// -x
unsigned short previd = 0;
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(0);
const int ay = y + rcGetDirOffsetY(0);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
if ((srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
previd = srcReg[ai];
}
if (!previd)
{
previd = rid++;
sweeps[previd].rid = previd;
sweeps[previd].ns = 0;
sweeps[previd].nei = 0;
}
// -y
if (rcGetCon(s,3) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(3);
const int ay = y + rcGetDirOffsetY(3);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
if (srcReg[ai] && (srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
{
unsigned short nr = srcReg[ai];
if (!sweeps[previd].nei || sweeps[previd].nei == nr)
{
sweeps[previd].nei = nr;
sweeps[previd].ns++;
prev[nr]++;
}
else
{
sweeps[previd].nei = RC_NULL_NEI;
}
}
}
srcReg[i] = previd;
}
}
// Create unique ID.
for (int i = 1; i < rid; ++i)
{
if (sweeps[i].nei != RC_NULL_NEI && sweeps[i].nei != 0 &&
prev[sweeps[i].nei] == (int)sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
sweeps[i].id = id++;
}
}
// Remap IDs
for (int x = borderSize; x < w-borderSize; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (srcReg[i] > 0 && srcReg[i] < rid)
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
{
rcScopedTimer timerFilter(ctx, RC_TIMER_BUILD_REGIONS_FILTER);
// Merge monotone regions to layers and remove small regions.
rcIntArray overlaps;
chf.maxRegions = id;
if (!mergeAndFilterLayerRegions(ctx, minRegionArea, chf.maxRegions, chf, srcReg, overlaps))
return false;
}
// Store the result out.
for (int i = 0; i < chf.spanCount; ++i)
chf.spans[i].reg = srcReg[i];
return true;
}

58
extern/recastnavigation/Recast/Source/RecastTimer.cpp vendored
View File

@@ -1,58 +0,0 @@
#include "RecastTimer.h"
#if defined(WIN32)
// Win32
#include <windows.h>
rcTimeVal rcGetPerformanceTimer()
{
__int64 count;
QueryPerformanceCounter((LARGE_INTEGER*)&count);
return count;
}
int rcGetDeltaTimeUsec(rcTimeVal start, rcTimeVal end)
{
static __int64 freq = 0;
if (freq == 0)
QueryPerformanceFrequency((LARGE_INTEGER*)&freq);
__int64 elapsed = end - start;
return (int)(elapsed*1000000 / freq);
}
#elif defined(__MACH__)
// OSX
#include <mach/mach_time.h>
rcTimeVal rcGetPerformanceTimer()
{
return mach_absolute_time();
}
int rcGetDeltaTimeUsec(rcTimeVal start, rcTimeVal end)
{
static mach_timebase_info_data_t timebaseInfo;
if (timebaseInfo.denom == 0)
mach_timebase_info(&timebaseInfo);
uint64_t elapsed = end - start;
uint64_t nanosec = elapsed * timebaseInfo.numer / timebaseInfo.denom;
return (int)(nanosec / 1000);
}
#else
// TODO: Linux, etc
rcTimeVal rcGetPerformanceTimer()
{
return 0;
}
int rcGetDeltaTimeUsec(rcTimeVal start, rcTimeVal end)
{
return 0;
}
#endif

22
extern/recastnavigation/readme-blender.txt vendored Normal file
View File

@@ -0,0 +1,22 @@
The version of Recast is 1.5.0, from:
https://github.com/recastnavigation/recastnavigation
Changes made:
* Recast/Source/RecastMesh.cpp: made buildMeshAdjacency() non-static so it can be used with recast-capi
* Recast/Include/Recast.h: Added forward declaration for buildMeshAdjacency()
The following additional files were added:
* recast-capi.cpp
* recast-capi.h
These expose a C interface to the Recast library, which has only C++ headers.
The version of Detour is 1.4, from:
https://code.google.com/archive/p/recastnavigation/downloads
Changes made:
* DetourStatNavMesh.h: use more portable definition of DT_STAT_NAVMESH_MAGIC
* DetourStatNavMesh.cpp: comment out some unused variables to avoid compiler warnings
* DetourStatNavMeshBuilder.h: add forward declaration for createBVTree
* DetourStatNavMeshBuilder.cpp: made createBVTree non-static for use with recast-capi
The CMakeLists.txt file has been added, since the original software does not include build files for the libraries.
~rdb

131
extern/recastnavigation/recast-capi.cpp vendored
View File

@@ -68,17 +68,41 @@ int recast_createHeightfield(struct recast_heightfield *hf, int width, int heigh
}
void recast_markWalkableTriangles(const float walkableSlopeAngle,const float *verts, int nv,
const int *tris, int nt, unsigned char *flags)
const int *tris, int nt, unsigned char *areas)
{
INIT_SCTX();
rcMarkWalkableTriangles(sctx, walkableSlopeAngle, verts, nv, tris, nt, flags);
rcMarkWalkableTriangles(sctx, walkableSlopeAngle, verts, nv, tris, nt, areas);
}
void recast_rasterizeTriangles(const float *verts, int nv, const int *tris,
const unsigned char *flags, int nt, struct recast_heightfield *solid)
void recast_clearUnwalkableTriangles(const float walkableSlopeAngle, const float* verts, int nv,
const int* tris, int nt, unsigned char* areas)
{
INIT_SCTX();
rcRasterizeTriangles(sctx, verts, nv, tris, flags, nt, *(rcHeightfield *) solid);
rcClearUnwalkableTriangles(sctx, walkableSlopeAngle, verts, nv, tris, nt, areas);
}
int recast_addSpan(struct recast_heightfield *hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned char area, const int flagMergeThr)
{
INIT_SCTX();
return rcAddSpan(sctx, *(rcHeightfield *) hf, x, y, smin, smax, area, flagMergeThr);
}
int recast_rasterizeTriangle(const float *v0, const float *v1, const float *v2,
const unsigned char area, struct recast_heightfield *solid,
const int flagMergeThr)
{
INIT_SCTX();
return rcRasterizeTriangle(sctx, v0, v1, v2, area, *(rcHeightfield *) solid, flagMergeThr);
}
int recast_rasterizeTriangles(const float *verts, const int nv, const int *tris,
const unsigned char *areas, const int nt, struct recast_heightfield *solid,
const int flagMergeThr)
{
INIT_SCTX();
return rcRasterizeTriangles(sctx, verts, nv, tris, areas, nt, *(rcHeightfield *) solid, flagMergeThr);
}
void recast_filterLedgeSpans(const int walkableHeight, const int walkableClimb,
@@ -100,6 +124,22 @@ void recast_filterLowHangingWalkableObstacles(const int walkableClimb, struct re
rcFilterLowHangingWalkableObstacles(sctx, walkableClimb, *(rcHeightfield *) solid);
}
int recast_getHeightFieldSpanCount(struct recast_heightfield *hf)
{
INIT_SCTX();
return rcGetHeightFieldSpanCount(sctx, *(rcHeightfield *) hf);
}
struct recast_heightfieldLayerSet *recast_newHeightfieldLayerSet(void)
{
return (struct recast_heightfieldLayerSet *) rcAllocHeightfieldLayerSet();
}
void recast_destroyHeightfieldLayerSet(struct recast_heightfieldLayerSet *lset)
{
rcFreeHeightfieldLayerSet( (rcHeightfieldLayerSet *) lset);
}
struct recast_compactHeightfield *recast_newCompactHeightfield(void)
{
return (struct recast_compactHeightfield *) rcAllocCompactHeightfield();
@@ -124,18 +164,68 @@ int recast_erodeWalkableArea(int radius, struct recast_compactHeightfield *chf)
return rcErodeWalkableArea(sctx, radius, *(rcCompactHeightfield *) chf);
}
int recast_medianFilterWalkableArea(struct recast_compactHeightfield *chf)
{
INIT_SCTX();
return rcMedianFilterWalkableArea(sctx, *(rcCompactHeightfield *) chf);
}
void recast_markBoxArea(const float *bmin, const float *bmax, unsigned char areaId,
struct recast_compactHeightfield *chf)
{
INIT_SCTX();
rcMarkBoxArea(sctx, bmin, bmax, areaId, *(rcCompactHeightfield *) chf);
}
void recast_markConvexPolyArea(const float* verts, const int nverts,
const float hmin, const float hmax, unsigned char areaId,
struct recast_compactHeightfield *chf)
{
INIT_SCTX();
rcMarkConvexPolyArea(sctx, verts, nverts, hmin, hmax, areaId, *(rcCompactHeightfield *) chf);
}
int recast_offsetPoly(const float* verts, const int nverts,
const float offset, float *outVerts, const int maxOutVerts)
{
return rcOffsetPoly(verts, nverts, offset, outVerts, maxOutVerts);
}
void recast_markCylinderArea(const float* pos, const float r, const float h,
unsigned char areaId, struct recast_compactHeightfield *chf)
{
INIT_SCTX();
rcMarkCylinderArea(sctx, pos, r, h, areaId, *(rcCompactHeightfield *) chf);
}
int recast_buildDistanceField(struct recast_compactHeightfield *chf)
{
INIT_SCTX();
return rcBuildDistanceField(sctx, *(rcCompactHeightfield *) chf);
}
int recast_buildRegions(struct recast_compactHeightfield *chf, int borderSize,
int minRegionSize, int mergeRegionSize)
int recast_buildRegions(struct recast_compactHeightfield *chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea)
{
INIT_SCTX();
return rcBuildRegions(sctx, *(rcCompactHeightfield *) chf, borderSize,
minRegionSize, mergeRegionSize);
minRegionArea, mergeRegionArea);
}
int recast_buildLayerRegions(struct recast_compactHeightfield *chf,
const int borderSize, const int minRegionArea)
{
INIT_SCTX();
return rcBuildLayerRegions(sctx, *(rcCompactHeightfield *) chf, borderSize,
minRegionArea);
}
int recast_buildRegionsMonotone(struct recast_compactHeightfield *chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea)
{
INIT_SCTX();
return rcBuildRegionsMonotone(sctx, *(rcCompactHeightfield *) chf, borderSize,
minRegionArea, mergeRegionArea);
}
struct recast_contourSet *recast_newContourSet(void)
@@ -149,10 +239,11 @@ void recast_destroyContourSet(struct recast_contourSet *contourSet)
}
int recast_buildContours(struct recast_compactHeightfield *chf,
const float maxError, const int maxEdgeLen, struct recast_contourSet *cset)
const float maxError, const int maxEdgeLen, struct recast_contourSet *cset,
const int buildFlags)
{
INIT_SCTX();
return rcBuildContours(sctx, *(rcCompactHeightfield *) chf, maxError, maxEdgeLen, *(rcContourSet *) cset);
return rcBuildContours(sctx, *(rcCompactHeightfield *) chf, maxError, maxEdgeLen, *(rcContourSet *) cset, buildFlags);
}
struct recast_polyMesh *recast_newPolyMesh(void)
@@ -165,12 +256,24 @@ void recast_destroyPolyMesh(struct recast_polyMesh *polyMesh)
rcFreePolyMesh((rcPolyMesh *) polyMesh);
}
int recast_buildPolyMesh(struct recast_contourSet *cset, int nvp, struct recast_polyMesh *mesh)
int recast_buildPolyMesh(struct recast_contourSet *cset, const int nvp, struct recast_polyMesh *mesh)
{
INIT_SCTX();
return rcBuildPolyMesh(sctx, *(rcContourSet *) cset, nvp, *(rcPolyMesh *) mesh);
}
int recast_mergePolyMeshes(struct recast_polyMesh **meshes, const int nmeshes, struct recast_polyMesh *mesh)
{
INIT_SCTX();
return rcMergePolyMeshes(sctx, (rcPolyMesh **) meshes, nmeshes, *(rcPolyMesh *) mesh);
}
int recast_copyPolyMesh(const struct recast_polyMesh *src, struct recast_polyMesh *dst)
{
INIT_SCTX();
return rcCopyPolyMesh(sctx, *(const rcPolyMesh *) src, *(rcPolyMesh *) dst);
}
unsigned short *recast_polyMeshGetVerts(struct recast_polyMesh *mesh, int *nverts)
{
rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
@@ -240,6 +343,12 @@ int recast_buildPolyMeshDetail(const struct recast_polyMesh *mesh, const struct
sampleDist, sampleMaxError, *(rcPolyMeshDetail *) dmesh);
}
int recast_mergePolyMeshDetails(struct recast_polyMeshDetail **meshes, const int nmeshes, struct recast_polyMeshDetail *mesh)
{
INIT_SCTX();
return rcMergePolyMeshDetails(sctx, (rcPolyMeshDetail **) meshes, nmeshes, *(rcPolyMeshDetail *) mesh);
}
float *recast_polyMeshDetailGetVerts(struct recast_polyMeshDetail *mesh, int *nverts)
{
rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh;

67
extern/recastnavigation/recast-capi.h vendored
View File

@@ -38,12 +38,13 @@ struct recast_polyMesh;
struct recast_polyMeshDetail;
struct recast_heightfield;
struct recast_compactHeightfield;
struct recast_heightfieldLayerSet;
struct recast_contourSet;
enum recast_SpanFlags
enum recast_BuildContoursFlags
{
RECAST_WALKABLE = 0x01,
RECAST_REACHABLE = 0x02
RECAST_CONTOUR_TESS_WALL_EDGES = 0x01,
RECAST_CONTOUR_TESS_AREA_EDGES = 0x02,
};
int recast_buildMeshAdjacency(unsigned short* polys, const int npolys,
@@ -61,10 +62,22 @@ int recast_createHeightfield(struct recast_heightfield *hf, int width, int heigh
const float *bmin, const float* bmax, float cs, float ch);
void recast_markWalkableTriangles(const float walkableSlopeAngle,const float *verts, int nv,
const int *tris, int nt, unsigned char *flags);
const int *tris, int nt, unsigned char *areas);
void recast_rasterizeTriangles(const float *verts, int nv, const int *tris,
const unsigned char *flags, int nt, struct recast_heightfield *solid);
void recast_clearUnwalkableTriangles(const float walkableSlopeAngle, const float* verts, int nv,
const int* tris, int nt, unsigned char* areas);
int recast_addSpan(struct recast_heightfield *hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned char area, const int flagMergeThr);
int recast_rasterizeTriangle(const float* v0, const float* v1, const float* v2,
const unsigned char area, struct recast_heightfield *solid,
const int flagMergeThr);
int recast_rasterizeTriangles(const float *verts, const int nv, const int *tris,
const unsigned char *areas, const int nt, struct recast_heightfield *solid,
const int flagMergeThr);
void recast_filterLedgeSpans(const int walkableHeight, const int walkableClimb,
struct recast_heightfield *solid);
@@ -73,6 +86,12 @@ void recast_filterWalkableLowHeightSpans(int walkableHeight, struct recast_heigh
void recast_filterLowHangingWalkableObstacles(const int walkableClimb, struct recast_heightfield *solid);
int recast_getHeightFieldSpanCount(struct recast_heightfield *hf);
struct recast_heightfieldLayerSet *recast_newHeightfieldLayerSet(void);
void recast_destroyHeightfieldLayerSet(struct recast_heightfieldLayerSet *lset);
struct recast_compactHeightfield *recast_newCompactHeightfield(void);
void recast_destroyCompactHeightfield(struct recast_compactHeightfield *compactHeightfield);
@@ -82,10 +101,31 @@ int recast_buildCompactHeightfield(const int walkableHeight, const int walkableC
int recast_erodeWalkableArea(int radius, struct recast_compactHeightfield *chf);
int recast_medianFilterWalkableArea(struct recast_compactHeightfield *chf);
void recast_markBoxArea(const float *bmin, const float *bmax, unsigned char areaId,
struct recast_compactHeightfield *chf);
void recast_markConvexPolyArea(const float* verts, const int nverts,
const float hmin, const float hmax, unsigned char areaId,
struct recast_compactHeightfield *chf);
int recast_offsetPoly(const float* verts, const int nverts,
const float offset, float *outVerts, const int maxOutVerts);
void recast_markCylinderArea(const float* pos, const float r, const float h,
unsigned char areaId, struct recast_compactHeightfield *chf);
int recast_buildDistanceField(struct recast_compactHeightfield *chf);
int recast_buildRegions(struct recast_compactHeightfield *chf, int borderSize,
int minRegionSize, int mergeRegionSize);
int recast_buildRegions(struct recast_compactHeightfield *chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea);
int recast_buildLayerRegions(struct recast_compactHeightfield *chf,
const int borderSize, const int minRegionArea);
int recast_buildRegionsMonotone(struct recast_compactHeightfield *chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea);
/* Contour set */
@@ -94,7 +134,8 @@ struct recast_contourSet *recast_newContourSet(void);
void recast_destroyContourSet(struct recast_contourSet *contourSet);
int recast_buildContours(struct recast_compactHeightfield *chf,
const float maxError, const int maxEdgeLen, struct recast_contourSet *cset);
const float maxError, const int maxEdgeLen, struct recast_contourSet *cset,
const int buildFlags);
/* Poly mesh */
@@ -102,7 +143,11 @@ struct recast_polyMesh *recast_newPolyMesh(void);
void recast_destroyPolyMesh(struct recast_polyMesh *polyMesh);
int recast_buildPolyMesh(struct recast_contourSet *cset, int nvp, struct recast_polyMesh *mesh);
int recast_buildPolyMesh(struct recast_contourSet *cset, const int nvp, struct recast_polyMesh *mesh);
int recast_mergePolyMeshes(struct recast_polyMesh **meshes, const int nmeshes, struct recast_polyMesh *mesh);
int recast_copyPolyMesh(const struct recast_polyMesh *src, struct recast_polyMesh *dst);
unsigned short *recast_polyMeshGetVerts(struct recast_polyMesh *mesh, int *nverts);
@@ -121,6 +166,8 @@ void recast_destroyPolyMeshDetail(struct recast_polyMeshDetail *polyMeshDetail);
int recast_buildPolyMeshDetail(const struct recast_polyMesh *mesh, const struct recast_compactHeightfield *chf,
const float sampleDist, const float sampleMaxError, struct recast_polyMeshDetail *dmesh);
int recast_mergePolyMeshDetails(struct recast_polyMeshDetail **meshes, const int nmeshes, struct recast_polyMeshDetail *mesh);
float *recast_polyMeshDetailGetVerts(struct recast_polyMeshDetail *mesh, int *nverts);
unsigned char *recast_polyMeshDetailGetTris(struct recast_polyMeshDetail *mesh, int *ntris);

4
source/blender/editors/mesh/mesh_navmesh.c
View File

@@ -216,7 +216,7 @@ static bool buildNavMesh(const RecastData *recastParams, int nverts, float *vert
/* Find triangles which are walkable based on their slope and rasterize them */
recast_markWalkableTriangles(RAD2DEGF(recastParams->agentmaxslope), verts, nverts, tris, ntris, triflags);
recast_rasterizeTriangles(verts, nverts, tris, triflags, ntris, solid);
recast_rasterizeTriangles(verts, nverts, tris, triflags, ntris, solid, 1);
MEM_freeN(triflags);
/* ** Step 3: Filter walkables surfaces ** */
@@ -265,7 +265,7 @@ static bool buildNavMesh(const RecastData *recastParams, int nverts, float *vert
/* Create contours */
cset = recast_newContourSet();
if (!recast_buildContours(chf, recastParams->edgemaxerror, maxEdgeLen, cset)) {
if (!recast_buildContours(chf, recastParams->edgemaxerror, maxEdgeLen, cset, RECAST_CONTOUR_TESS_WALL_EDGES)) {
recast_destroyCompactHeightfield(chf);
recast_destroyContourSet(cset);