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navmesh: convert object_navmesh.cpp to plain c.

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This commit is contained in:
Sergey Sharybin
2011-09-27 09:09:43 +00:00
parent 928e2784c6
commit a25c7f647e
7 changed files with 461 additions and 107 deletions
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4
source/blender/editors/object/CMakeLists.txt
View File

@@ -60,11 +60,11 @@ set(SRC
if(WITH_GAMEENGINE)
list(APPEND INC
../../../../extern/recastnavigation/Recast/Include
../../../../extern/recastnavigation
)
list(APPEND SRC
object_navmesh.cpp
object_navmesh.c
)
endif()

4
source/blender/editors/object/SConscript
View File

@@ -1,13 +1,13 @@
#!/usr/bin/python
Import ('env')
sources = env.Glob('*.c') + env.Glob('*.cpp')
sources = env.Glob('*.c')
incs = '../include ../../blenlib ../../blenkernel ../../makesdna ../../imbuf'
incs += ' ../../windowmanager #/intern/guardedalloc ../../blenloader'
incs += ' ../../makesrna ../../python ../../ikplugin'
incs += ' ../../render/extern/include ../../gpu' # for object_bake.c
incs += ' #extern/recastnavigation/Recast/Include'
incs += ' #extern/recastnavigation'
defs = []

254
source/blender/editors/object/object_navmesh.cpp → source/blender/editors/object/object_navmesh.c
View File

@@ -28,10 +28,7 @@
*/
#include <math.h>
#include "Recast.h"
extern "C"
{
#include "MEM_guardedalloc.h"
#include "DNA_scene_types.h"
@@ -43,20 +40,27 @@ extern "C"
#include "BKE_library.h"
#include "BKE_depsgraph.h"
#include "BKE_context.h"
#include "BKE_main.h"
#include "BKE_mesh.h"
#include "BKE_modifier.h"
#include "BKE_scene.h"
#include "BKE_DerivedMesh.h"
#include "BKE_cdderivedmesh.h"
#include "BLI_editVert.h"
#include "BLI_listbase.h"
#include "BLI_utildefines.h"
#include "ED_object.h"
#include "BLI_math_vector.h"
#include "ED_object.h"
#include "ED_mesh.h"
#include "RNA_access.h"
#include "ED_mesh.h"
#include "WM_api.h"
#include "WM_types.h"
#include "recast-capi.h"
/*mesh/mesh_intern.h */
extern struct EditVert *addvertlist(EditMesh *em, float *vec, struct EditVert *example);
@@ -65,10 +69,7 @@ extern void free_vertlist(EditMesh *em, ListBase *edve);
extern void free_edgelist(EditMesh *em, ListBase *lb);
extern void free_facelist(EditMesh *em, ListBase *lb);
#include "WM_api.h"
#include "WM_types.h"
static void createVertsTrisData(bContext *C, LinkNode* obs, int& nverts, float*& verts, int &ntris, int*& tris)
static void createVertsTrisData(bContext *C, LinkNode* obs, int *nverts_r, float **verts_r, int *ntris_r, int **tris_r)
{
MVert *mvert;
int nfaces = 0, *tri, i, curnverts, basenverts, curnfaces;
@@ -80,13 +81,16 @@ static void createVertsTrisData(bContext *C, LinkNode* obs, int& nverts, float*&
Scene* scene = CTX_data_scene(C);
LinkNode* dms = NULL;
int nverts, ntris, *tris;
float *verts;
nverts = 0;
ntris = 0;
//calculate number of verts and tris
for (oblink = obs; oblink; oblink = oblink->next)
{
ob = (Object*) oblink->link;
DerivedMesh *dm = mesh_create_derived_no_virtual(scene, ob, NULL, CD_MASK_MESH);
dm = mesh_create_derived_no_virtual(scene, ob, NULL, CD_MASK_MESH);
BLI_linklist_append(&dms, (void*)dm);
nverts += dm->getNumVerts(dm);
@@ -104,8 +108,8 @@ static void createVertsTrisData(bContext *C, LinkNode* obs, int& nverts, float*&
}
//create data
verts = (float*) MEM_mallocN(sizeof(float)*3*nverts, "verts");
tris = (int*) MEM_mallocN(sizeof(int)*3*ntris, "faces");
verts = MEM_mallocN(sizeof(float)*3*nverts, "verts");
tris = MEM_mallocN(sizeof(int)*3*ntris, "faces");
basenverts = 0;
tri = tris;
@@ -152,24 +156,30 @@ static void createVertsTrisData(bContext *C, LinkNode* obs, int& nverts, float*&
dm->release(dm);
}
BLI_linklist_free(dms, NULL);
*nverts_r= nverts;
*verts_r= verts;
*ntris_r= ntris;
*tris_r= tris;
}
static bool buildNavMesh(const RecastData& recastParams, int nverts, float* verts, int ntris, int* tris,
rcPolyMesh*& pmesh, rcPolyMeshDetail*& dmesh)
static int buildNavMesh(const RecastData *recastParams, int nverts, float *verts, int ntris, int *tris,
struct recast_polyMesh **pmesh, struct recast_polyMeshDetail **dmesh)
{
float bmin[3], bmax[3];
rcHeightfield* solid;
struct recast_heightfield *solid;
unsigned char *triflags;
rcCompactHeightfield* chf;
rcContourSet *cset;
struct recast_compactHeightfield* chf;
struct recast_contourSet *cset;
int width, height, walkableHeight, walkableClimb, walkableRadius;
int minRegionSize, mergeRegionSize, maxEdgeLen;
float detailSampleDist, detailSampleMaxError;
rcCalcBounds(verts, nverts, bmin, bmax);
recast_calcBounds(verts, nverts, bmin, bmax);
//
// Step 1. Initialize build config.
//
rcConfig cfg;
memset(&cfg, 0, sizeof(cfg));
{
/*
float cellsize = 0.3f;
@@ -199,6 +209,7 @@ static bool buildNavMesh(const RecastData& recastParams, int nverts, float* vert
cfg.detailSampleDist = detailsampledist< 0.9f ? 0 : cellsize * detailsampledist;
cfg.detailSampleMaxError = cellheight * detailsamplemaxerror;
*/
#if 0
cfg.cs = recastParams.cellsize;
cfg.ch = recastParams.cellheight;
cfg.walkableSlopeAngle = recastParams.agentmaxslope/((float)M_PI)*180.f;
@@ -213,102 +224,123 @@ static bool buildNavMesh(const RecastData& recastParams, int nverts, float* vert
cfg.detailSampleDist = recastParams.detailsampledist< 0.9f ? 0 :
recastParams.cellsize * recastParams.detailsampledist;
cfg.detailSampleMaxError = recastParams.cellheight * recastParams.detailsamplemaxerror;
#endif
}
walkableHeight = (int)ceilf(recastParams->agentheight/ recastParams->cellheight);
walkableClimb = (int)floorf(recastParams->agentmaxclimb / recastParams->cellheight);
walkableRadius = (int)ceilf(recastParams->agentradius / recastParams->cellsize);
minRegionSize = (int)(recastParams->regionminsize * recastParams->regionminsize);
mergeRegionSize = (int)(recastParams->regionmergesize * recastParams->regionmergesize);
maxEdgeLen = (int)(recastParams->edgemaxlen/recastParams->cellsize);
detailSampleDist = recastParams->detailsampledist< 0.9f ? 0 :
recastParams->cellsize * recastParams->detailsampledist;
detailSampleMaxError = recastParams->cellheight * recastParams->detailsamplemaxerror;
// Set the area where the navigation will be build.
vcopy(cfg.bmin, bmin);
vcopy(cfg.bmax, bmax);
rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
recast_calcGridSize(bmin, bmax, recastParams->cellsize, &width, &height);
//
// Step 2. Rasterize input polygon soup.
//
// Allocate voxel heightfield where we rasterize our input data to.
solid = new rcHeightfield;
if (!solid)
return false;
solid = recast_newHeightfield();
if (!rcCreateHeightfield(*solid, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch))
return false;
if (!recast_createHeightfield(solid, width, height, bmin, bmax, recastParams->cellsize, recastParams->cellheight)) {
recast_destroyHeightfield(solid);
return 0;
}
// Allocate array that can hold triangle flags.
triflags = (unsigned char*) MEM_mallocN(sizeof(unsigned char)*ntris, "triflags");
if (!triflags)
return false;
triflags = MEM_callocN(sizeof(unsigned char)*ntris, "triflags");
// Find triangles which are walkable based on their slope and rasterize them.
memset(triflags, 0, ntris*sizeof(unsigned char));
rcMarkWalkableTriangles(cfg.walkableSlopeAngle, verts, nverts, tris, ntris, triflags);
rcRasterizeTriangles(verts, nverts, tris, triflags, ntris, *solid);
recast_markWalkableTriangles(RAD2DEG(recastParams->agentmaxslope), verts, nverts, tris, ntris, triflags);
recast_rasterizeTriangles(verts, nverts, tris, triflags, ntris, solid);
MEM_freeN(triflags);
MEM_freeN(verts);
MEM_freeN(tris);
//
// Step 3. Filter walkables surfaces.
//
rcFilterLedgeSpans(cfg.walkableHeight, cfg.walkableClimb, *solid);
rcFilterWalkableLowHeightSpans(cfg.walkableHeight, *solid);
recast_filterLedgeSpans(walkableHeight, walkableClimb, solid);
recast_filterWalkableLowHeightSpans(walkableHeight, solid);
//
// Step 4. Partition walkable surface to simple regions.
//
chf = new rcCompactHeightfield;
if (!chf)
return false;
if (!rcBuildCompactHeightfield(cfg.walkableHeight, cfg.walkableClimb, RC_WALKABLE, *solid, *chf))
return false;
chf = recast_newCompactHeightfield();
if (!recast_buildCompactHeightfield(walkableHeight, walkableClimb, RECAST_WALKABLE, solid, chf)) {
recast_destroyHeightfield(solid);
recast_destroyCompactHeightfield(chf);
delete solid;
return 0;
}
recast_destroyHeightfield(solid);
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!rcBuildDistanceField(*chf))
return false;
if (!recast_buildDistanceField(chf)) {
recast_destroyCompactHeightfield(chf);
return 0;
}
// Partition the walkable surface into simple regions without holes.
if (!rcBuildRegions(*chf, cfg.walkableRadius, cfg.borderSize, cfg.minRegionSize, cfg.mergeRegionSize))
return false;
if (!recast_buildRegions(chf, walkableRadius, 0, minRegionSize, mergeRegionSize)) {
recast_destroyCompactHeightfield(chf);
return 0;
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
cset = new rcContourSet;
if (!cset)
return false;
cset = recast_newContourSet();
if (!rcBuildContours(*chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset))
return false;
if (!recast_buildContours(chf, recastParams->edgemaxerror, maxEdgeLen, cset)) {
recast_destroyCompactHeightfield(chf);
recast_destroyContourSet(cset);
return 0;
}
//
// Step 6. Build polygons mesh from contours.
//
pmesh = new rcPolyMesh;
if (!pmesh)
return false;
if (!rcBuildPolyMesh(*cset, cfg.maxVertsPerPoly, *pmesh))
return false;
*pmesh = recast_newPolyMesh();
if (!recast_buildPolyMesh(cset, recastParams->vertsperpoly, *pmesh)) {
recast_destroyCompactHeightfield(chf);
recast_destroyContourSet(cset);
recast_destroyPolyMesh(*pmesh);
return 0;
}
//
// Step 7. Create detail mesh which allows to access approximate height on each polygon.
//
dmesh = new rcPolyMeshDetail;
if (!dmesh)
return false;
*dmesh = recast_newPolyMeshDetail();
if (!recast_buildPolyMeshDetail(*pmesh, chf, detailSampleDist, detailSampleMaxError, *dmesh)) {
recast_destroyCompactHeightfield(chf);
recast_destroyContourSet(cset);
recast_destroyPolyMesh(*pmesh);
recast_destroyPolyMeshDetail(*dmesh);
if (!rcBuildPolyMeshDetail(*pmesh, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *dmesh))
return false;
return 0;
}
delete chf;
delete cset;
recast_destroyCompactHeightfield(chf);
recast_destroyContourSet(cset);
return true;
return 1;
}
static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshDetail*& dmesh, Base* base)
static Object* createRepresentation(bContext *C, struct recast_polyMesh *pmesh, struct recast_polyMeshDetail *dmesh, Base* base)
{
float co[3], rot[3];
EditMesh *em;
@@ -319,8 +351,15 @@ static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshD
Scene *scene= CTX_data_scene(C);
Object* obedit;
int createob = base==NULL;
int nverts, nmeshes, nvp;
unsigned short *verts, *meshes, *polys;
float bmin[3], cs, ch, *dverts;
unsigned char *tris;
ModifierData *md;
zero_v3(co);
zero_v3(rot);
if (createob)
{
//create new object
@@ -347,11 +386,15 @@ static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshD
}
//create verts for polygon mesh
for(i = 0; i < pmesh->nverts; i++) {
v = &pmesh->verts[3*i];
co[0] = pmesh->bmin[0] + v[0]*pmesh->cs;
co[1] = pmesh->bmin[1] + v[1]*pmesh->ch;
co[2] = pmesh->bmin[2] + v[2]*pmesh->cs;
verts = recast_polyMeshGetVerts(pmesh, &nverts);
recast_polyMeshGetBoundbox(pmesh, bmin, NULL);
recast_polyMeshGetCell(pmesh, &cs, &ch);
for(i = 0; i < nverts; i++) {
v = &verts[3*i];
co[0] = bmin[0] + v[0]*cs;
co[1] = bmin[1] + v[1]*ch;
co[2] = bmin[2] + v[2]*cs;
SWAP(float, co[1], co[2]);
addvertlist(em, co, NULL);
}
@@ -360,16 +403,21 @@ static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshD
CustomData_add_layer_named(&em->fdata, CD_RECAST, CD_CALLOC, NULL, 0, "recastData");
//create verts and faces for detailed mesh
for (i=0; i<dmesh->nmeshes; i++)
meshes = recast_polyMeshDetailGetMeshes(dmesh, &nmeshes);
polys = recast_polyMeshGetPolys(pmesh, NULL, &nvp);
dverts = recast_polyMeshDetailGetVerts(dmesh, NULL);
tris = recast_polyMeshDetailGetTris(dmesh, NULL);
for (i=0; i<nmeshes; i++)
{
int uniquevbase = em->totvert;
unsigned short vbase = dmesh->meshes[4*i+0];
unsigned short ndv = dmesh->meshes[4*i+1];
unsigned short tribase = dmesh->meshes[4*i+2];
unsigned short trinum = dmesh->meshes[4*i+3];
const unsigned short* p = &pmesh->polys[i*pmesh->nvp*2];
unsigned short vbase = meshes[4*i+0];
unsigned short ndv = meshes[4*i+1];
unsigned short tribase = meshes[4*i+2];
unsigned short trinum = meshes[4*i+3];
const unsigned short* p = &polys[i*nvp*2];
int nv = 0;
for (j = 0; j < pmesh->nvp; ++j)
for (j = 0; j < nvp; ++j)
{
if (p[j] == 0xffff) break;
nv++;
@@ -377,7 +425,7 @@ static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshD
//create unique verts
for (j=nv; j<ndv; j++)
{
copy_v3_v3(co, &dmesh->verts[3*(vbase + j)]);
copy_v3_v3(co, &dverts[3*(vbase + j)]);
SWAP(float, co[1], co[2]);
addvertlist(em, co, NULL);
}
@@ -387,8 +435,10 @@ static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshD
//create faces
for (j=0; j<trinum; j++)
{
unsigned char* tri = &dmesh->tris[4*(tribase+j)];
unsigned char* tri = &tris[4*(tribase+j)];
EditFace* newFace;
int* polygonIdx;
for (k=0; k<3; k++)
{
if (tri[k]<nv)
@@ -400,15 +450,15 @@ static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshD
EM_get_vert_for_index(face[1]), NULL, NULL, NULL);
//set navigation polygon idx to the custom layer
int* polygonIdx = (int*)CustomData_em_get(&em->fdata, newFace->data, CD_RECAST);
polygonIdx = (int*)CustomData_em_get(&em->fdata, newFace->data, CD_RECAST);
*polygonIdx = i+1; //add 1 to avoid zero idx
}
EM_free_index_arrays();
}
delete pmesh; pmesh = NULL;
delete dmesh; dmesh = NULL;
recast_destroyPolyMesh(pmesh);
recast_destroyPolyMeshDetail(dmesh);
BKE_mesh_end_editmesh((Mesh*)obedit->data, em);
@@ -427,7 +477,7 @@ static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshD
rename_id((ID *)obedit, "Navmesh");
}
ModifierData *md= modifiers_findByType(obedit, eModifierType_NavMesh);
md= modifiers_findByType(obedit, eModifierType_NavMesh);
if (!md)
{
ED_object_modifier_add(NULL, bmain, scene, obedit, NULL, eModifierType_NavMesh);
@@ -436,16 +486,17 @@ static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshD
return obedit;
}
static int create_navmesh_exec(bContext *C, wmOperator *op)
static int create_navmesh_exec(bContext *C, wmOperator *UNUSED(op))
{
Scene* scene = CTX_data_scene(C);
int nverts, ntris;
float* verts;
int* tris;
rcPolyMesh* pmesh;
rcPolyMeshDetail* dmesh;
struct recast_polyMesh *pmesh;
struct recast_polyMeshDetail *dmesh;
LinkNode* obs = NULL;
Base* navmeshBase = NULL;
//CTX_DATA_BEGIN(C, Base*, base, selected_editable_bases) //expand macros to avoid error in convertion from void*
{
ListBase ctx_data_list;
@@ -464,9 +515,9 @@ static int create_navmesh_exec(bContext *C, wmOperator *op)
BLI_linklist_append(&obs, (void*)base->object);
}
CTX_DATA_END;
createVertsTrisData(C, obs, nverts, verts, ntris, tris);
createVertsTrisData(C, obs, &nverts, &verts, &ntris, &tris);
BLI_linklist_free(obs, NULL);
buildNavMesh(scene->gm.recastData, nverts, verts, ntris, tris, pmesh, dmesh);
buildNavMesh(&scene->gm.recastData, nverts, verts, ntris, tris, &pmesh, &dmesh);
createRepresentation(C, pmesh, dmesh, navmeshBase);
return OPERATOR_FINISHED;
@@ -494,7 +545,7 @@ static int assign_navpolygon_poll(bContext *C)
return (((Mesh*)ob->data)->edit_mesh != NULL);
}
static int assign_navpolygon_exec(bContext *C, wmOperator *op)
static int assign_navpolygon_exec(bContext *C, wmOperator *UNUSED(op))
{
Object *obedit= CTX_data_edit_object(C);
EditMesh *em= BKE_mesh_get_editmesh((Mesh *)obedit->data);
@@ -551,13 +602,15 @@ void OBJECT_OT_assign_navpolygon(struct wmOperatorType *ot)
static int compare(const void * a, const void * b){
return ( *(int*)a - *(int*)b );
}
static int findFreeNavPolyIndex(EditMesh* em)
{
//construct vector of indices
int numfaces = em->totface;
int* indices = new int[numfaces];
int* indices = MEM_callocN(sizeof(int)*numfaces, "findFreeNavPolyIndex(indices)");
EditFace* ef = (EditFace*)em->faces.last;
int idx = 0;
int i, idx = 0, freeIdx = 1;
while(ef)
{
int polyIdx = *(int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST);
@@ -565,21 +618,25 @@ static int findFreeNavPolyIndex(EditMesh* em)
idx++;
ef = ef->prev;
}
qsort(indices, numfaces, sizeof(int), compare);
//search first free index
int freeIdx = 1;
for (int i=0; i<numfaces; i++)
freeIdx = 1;
for (i=0; i<numfaces; i++)
{
if (indices[i]==freeIdx)
freeIdx++;
else if (indices[i]>freeIdx)
break;
}
delete [] indices;
MEM_freeN(indices);
return freeIdx;
}
static int assign_new_navpolygon_exec(bContext *C, wmOperator *op)
static int assign_new_navpolygon_exec(bContext *C, wmOperator *UNUSED(op))
{
Object *obedit= CTX_data_edit_object(C);
EditMesh *em= BKE_mesh_get_editmesh((Mesh *)obedit->data);
@@ -625,4 +682,3 @@ void OBJECT_OT_assign_new_navpolygon(struct wmOperatorType *ot)
/* flags */
ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
}
}

2
source/blender/editors/space_view3d/view3d_edit.c
View File

@@ -3226,7 +3226,7 @@ static int set_3dcursor_invoke(bContext *C, wmOperator *UNUSED(op), wmEvent *eve
else
WM_event_add_notifier(C, NC_SCENE|NA_EDITED, scene);
return OPERATOR_FINISHED;
return OPERATOR_PASS_THROUGH;
}
void VIEW3D_OT_cursor3d(wmOperatorType *ot)

3
source/blender/windowmanager/intern/wm_event_system.c
View File

@@ -1270,10 +1270,7 @@ static int wm_handler_operator_call(bContext *C, ListBase *handlers, wmEventHand
if(ot)
retval= wm_operator_invoke(C, ot, event, properties, NULL, FALSE);
}
/* Finished and pass through flag as handled */
if(retval == (OPERATOR_FINISHED|OPERATOR_PASS_THROUGH))
return WM_HANDLER_HANDLED;
/* Modal unhandled, break */
if(retval == (OPERATOR_PASS_THROUGH|OPERATOR_RUNNING_MODAL))