Recast: upgrade library.
- Upgrade Recast library to latest portable version - Implement recast_qsort based on FreeBSD qsort.c to have portable thread safe quick sort for use in conversion routine. - Better default value for the Build Navigation Mesh operator
This commit is contained in:
Benoit Bolsee
211
extern/recastnavigation/recast-capi.cpp
vendored
211
extern/recastnavigation/recast-capi.cpp
vendored
@@ -30,6 +30,11 @@
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#include <math.h>
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#include "Recast.h"
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static rcContext *sctx;
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#define INIT_SCTX() \
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if (sctx == NULL) sctx = new rcContext(false)
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int recast_buildMeshAdjacency(unsigned short* polys, const int npolys,
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const int nverts, const int vertsPerPoly)
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{
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@@ -48,109 +53,123 @@ void recast_calcGridSize(const float *bmin, const float *bmax, float cs, int *w,
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struct recast_heightfield *recast_newHeightfield(void)
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{
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return (struct recast_heightfield *) (new rcHeightfield);
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return (struct recast_heightfield *) rcAllocHeightfield();
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}
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void recast_destroyHeightfield(struct recast_heightfield *heightfield)
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{
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delete (rcHeightfield *) heightfield;
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rcFreeHeightField((rcHeightfield *) heightfield);
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}
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int recast_createHeightfield(struct recast_heightfield *hf, int width, int height,
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const float *bmin, const float* bmax, float cs, float ch)
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{
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return rcCreateHeightfield(*(rcHeightfield *)hf, width, height, bmin, bmax, cs, ch);
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INIT_SCTX();
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return rcCreateHeightfield(sctx, *(rcHeightfield *)hf, width, height, bmin, bmax, cs, ch);
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}
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void recast_markWalkableTriangles(const float walkableSlopeAngle,const float *verts, int nv,
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const int *tris, int nt, unsigned char *flags)
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{
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rcMarkWalkableTriangles(walkableSlopeAngle, verts, nv, tris, nt, flags);
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INIT_SCTX();
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rcMarkWalkableTriangles(sctx, walkableSlopeAngle, verts, nv, tris, nt, flags);
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}
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void recast_rasterizeTriangles(const float *verts, int nv, const int *tris,
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const unsigned char *flags, int nt, struct recast_heightfield *solid)
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{
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rcRasterizeTriangles(verts, nv, tris, flags, nt, *(rcHeightfield *) solid);
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INIT_SCTX();
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rcRasterizeTriangles(sctx, verts, nv, tris, flags, nt, *(rcHeightfield *) solid);
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}
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void recast_filterLedgeSpans(const int walkableHeight, const int walkableClimb,
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struct recast_heightfield *solid)
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{
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rcFilterLedgeSpans(walkableHeight, walkableClimb, *(rcHeightfield *) solid);
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INIT_SCTX();
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rcFilterLedgeSpans(sctx, walkableHeight, walkableClimb, *(rcHeightfield *) solid);
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}
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void recast_filterWalkableLowHeightSpans(int walkableHeight, struct recast_heightfield *solid)
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{
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rcFilterWalkableLowHeightSpans(walkableHeight, *(rcHeightfield *) solid);
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INIT_SCTX();
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rcFilterWalkableLowHeightSpans(sctx, walkableHeight, *(rcHeightfield *) solid);
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}
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void recast_filterLowHangingWalkableObstacles(const int walkableClimb, struct recast_heightfield *solid)
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{
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INIT_SCTX();
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rcFilterLowHangingWalkableObstacles(sctx, walkableClimb, *(rcHeightfield *) solid);
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}
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struct recast_compactHeightfield *recast_newCompactHeightfield(void)
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{
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return (struct recast_compactHeightfield *) (new rcCompactHeightfield);
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return (struct recast_compactHeightfield *) rcAllocCompactHeightfield();
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}
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void recast_destroyCompactHeightfield(struct recast_compactHeightfield *compactHeightfield)
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{
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delete (rcCompactHeightfield *) compactHeightfield;
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rcFreeCompactHeightfield( (rcCompactHeightfield *) compactHeightfield);
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}
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int recast_buildCompactHeightfield(const int walkableHeight, const int walkableClimb,
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unsigned char flags, struct recast_heightfield *hf, struct recast_compactHeightfield *chf)
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struct recast_heightfield *hf, struct recast_compactHeightfield *chf)
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{
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int rcFlags = 0;
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INIT_SCTX();
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return rcBuildCompactHeightfield(sctx, walkableHeight, walkableClimb,
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*(rcHeightfield *) hf, *(rcCompactHeightfield *) chf);
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}
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if(flags & RECAST_WALKABLE)
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rcFlags |= RC_WALKABLE;
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if(flags & RECAST_REACHABLE)
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rcFlags |= RC_REACHABLE;
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return rcBuildCompactHeightfield(walkableHeight, walkableClimb, rcFlags,
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*(rcHeightfield *) hf, *(rcCompactHeightfield *) chf);
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int recast_erodeWalkableArea(int radius, struct recast_compactHeightfield *chf)
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{
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INIT_SCTX();
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return rcErodeWalkableArea(sctx, radius, *(rcCompactHeightfield *) chf);
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}
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int recast_buildDistanceField(struct recast_compactHeightfield *chf)
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{
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return rcBuildDistanceField(*(rcCompactHeightfield *) chf);
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INIT_SCTX();
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return rcBuildDistanceField(sctx, *(rcCompactHeightfield *) chf);
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}
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int recast_buildRegions(struct recast_compactHeightfield *chf, int walkableRadius, int borderSize,
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int recast_buildRegions(struct recast_compactHeightfield *chf, int borderSize,
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int minRegionSize, int mergeRegionSize)
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{
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return rcBuildRegions(*(rcCompactHeightfield *) chf, walkableRadius, borderSize,
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INIT_SCTX();
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return rcBuildRegions(sctx, *(rcCompactHeightfield *) chf, borderSize,
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minRegionSize, mergeRegionSize);
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}
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struct recast_contourSet *recast_newContourSet(void)
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{
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return (struct recast_contourSet *) (new rcContourSet);
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return (struct recast_contourSet *) rcAllocContourSet();
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}
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void recast_destroyContourSet(struct recast_contourSet *contourSet)
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{
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delete (rcContourSet *) contourSet;
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rcFreeContourSet((rcContourSet *) contourSet);
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}
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int recast_buildContours(struct recast_compactHeightfield *chf,
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const float maxError, const int maxEdgeLen, struct recast_contourSet *cset)
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{
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return rcBuildContours(*(rcCompactHeightfield *) chf, maxError, maxEdgeLen, *(rcContourSet *) cset);
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INIT_SCTX();
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return rcBuildContours(sctx, *(rcCompactHeightfield *) chf, maxError, maxEdgeLen, *(rcContourSet *) cset);
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}
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struct recast_polyMesh *recast_newPolyMesh(void)
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{
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return (recast_polyMesh *) (new rcPolyMesh);
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return (recast_polyMesh *) rcAllocPolyMesh();
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}
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void recast_destroyPolyMesh(struct recast_polyMesh *polyMesh)
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{
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delete (rcPolyMesh *) polyMesh;
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rcFreePolyMesh((rcPolyMesh *) polyMesh);
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}
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int recast_buildPolyMesh(struct recast_contourSet *cset, int nvp, struct recast_polyMesh *mesh)
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{
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return rcBuildPolyMesh(*(rcContourSet *) cset, nvp, * (rcPolyMesh *) mesh);
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INIT_SCTX();
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return rcBuildPolyMesh(sctx, *(rcContourSet *) cset, nvp, * (rcPolyMesh *) mesh);
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}
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unsigned short *recast_polyMeshGetVerts(struct recast_polyMesh *mesh, int *nverts)
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@@ -206,18 +225,19 @@ unsigned short *recast_polyMeshGetPolys(struct recast_polyMesh *mesh, int *npoly
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struct recast_polyMeshDetail *recast_newPolyMeshDetail(void)
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{
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return (struct recast_polyMeshDetail *) (new rcPolyMeshDetail);
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return (struct recast_polyMeshDetail *) rcAllocPolyMeshDetail();
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}
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void recast_destroyPolyMeshDetail(struct recast_polyMeshDetail *polyMeshDetail)
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{
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delete (rcPolyMeshDetail *) polyMeshDetail;
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rcFreePolyMeshDetail((rcPolyMeshDetail *) polyMeshDetail);
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}
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int recast_buildPolyMeshDetail(const struct recast_polyMesh *mesh, const struct recast_compactHeightfield *chf,
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const float sampleDist, const float sampleMaxError, struct recast_polyMeshDetail *dmesh)
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{
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return rcBuildPolyMeshDetail(*(rcPolyMesh *) mesh, *(rcCompactHeightfield *) chf,
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INIT_SCTX();
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return rcBuildPolyMeshDetail(sctx, *(rcPolyMesh *) mesh, *(rcCompactHeightfield *) chf,
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sampleDist, sampleMaxError, *(rcPolyMeshDetail *) dmesh);
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}
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@@ -241,7 +261,7 @@ unsigned char *recast_polyMeshDetailGetTris(struct recast_polyMeshDetail *mesh,
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return dmesh->tris;
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}
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unsigned short *recast_polyMeshDetailGetMeshes(struct recast_polyMeshDetail *mesh, int *nmeshes)
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unsigned int *recast_polyMeshDetailGetMeshes(struct recast_polyMeshDetail *mesh, int *nmeshes)
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{
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rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh;
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@@ -250,3 +270,130 @@ unsigned short *recast_polyMeshDetailGetMeshes(struct recast_polyMeshDetail *mes
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return dmesh->meshes;
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}
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// qsort based on FreeBSD source (libkern\qsort.c)
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typedef int cmp_t(void *, const void *, const void *);
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static inline char *med3(char *, char *, char *, cmp_t *, void *);
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static inline void swapfunc(char *, char *, int, int);
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#define min(a, b) (a) < (b) ? a : b
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#define swapcode(TYPE, parmi, parmj, n) \
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{ \
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long i = (n) / sizeof (TYPE); \
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TYPE *pi = (TYPE *) (parmi); \
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TYPE *pj = (TYPE *) (parmj); \
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do { \
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TYPE t = *pi; \
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*pi++ = *pj; \
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*pj++ = t; \
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} while (--i > 0); \
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}
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#define SWAPINIT(a, es) swaptype = ((char *)a - (char *)0) % sizeof(long) || \
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es % sizeof(long) ? 2 : es == sizeof(long)? 0 : 1;
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static inline void swapfunc(char* a, char* b, int n, int swaptype)
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{
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if(swaptype <= 1)
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swapcode(long, a, b, n)
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else
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swapcode(char, a, b, n)
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}
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#define swap(a, b) \
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if (swaptype == 0) { \
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long t = *(long *)(a); \
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*(long *)(a) = *(long *)(b);\
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*(long *)(b) = t; \
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} else \
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swapfunc(a, b, es, swaptype)
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#define vecswap(a, b, n) if ((n) > 0) swapfunc(a, b, n, swaptype)
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#define CMP(t, x, y) (cmp((t), (x), (y)))
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static inline char * med3(char *a, char *b, char *c, cmp_t *cmp, void *thunk)
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{
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return CMP(thunk, a, b) < 0 ?
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(CMP(thunk, b, c) < 0 ? b : (CMP(thunk, a, c) < 0 ? c : a ))
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:(CMP(thunk, b, c) > 0 ? b : (CMP(thunk, a, c) < 0 ? a : c ));
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}
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void recast_qsort(void *a, size_t n, size_t es, void *thunk, cmp_t *cmp)
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{
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char *pa, *pb, *pc, *pd, *pl, *pm, *pn;
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int d, r, swaptype, swap_cnt;
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loop:
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SWAPINIT(a, es);
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swap_cnt = 0;
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if (n < 7) {
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for (pm = (char *)a + es; pm < (char *)a + n * es; pm += es)
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for (pl = pm;
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pl > (char *)a && CMP(thunk, pl - es, pl) > 0;
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pl -= es)
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swap(pl, pl - es);
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return;
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}
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pm = (char *)a + (n / 2) * es;
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if (n > 7) {
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pl = (char *)a;
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pn = (char *)a + (n - 1) * es;
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if (n > 40) {
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d = (n / 8) * es;
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pl = med3(pl, pl + d, pl + 2 * d, cmp, thunk);
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pm = med3(pm - d, pm, pm + d, cmp, thunk);
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pn = med3(pn - 2 * d, pn - d, pn, cmp, thunk);
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}
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pm = med3(pl, pm, pn, cmp, thunk);
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}
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swap((char *)a, pm);
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pa = pb = (char *)a + es;
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pc = pd = (char *)a + (n - 1) * es;
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for (;;) {
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while (pb <= pc && (r = CMP(thunk, pb, a)) <= 0) {
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if (r == 0) {
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swap_cnt = 1;
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swap(pa, pb);
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pa += es;
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}
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pb += es;
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}
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while (pb <= pc && (r = CMP(thunk, pc, a)) >= 0) {
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if (r == 0) {
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swap_cnt = 1;
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swap(pc, pd);
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pd -= es;
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}
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pc -= es;
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}
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if (pb > pc)
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break;
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swap(pb, pc);
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swap_cnt = 1;
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pb += es;
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pc -= es;
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}
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if (swap_cnt == 0) { /* Switch to insertion sort */
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for (pm = (char *)a + es; pm < (char *)a + n * es; pm += es)
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for (pl = pm;
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pl > (char *)a && CMP(thunk, pl - es, pl) > 0;
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pl -= es)
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swap(pl, pl - es);
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return;
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}
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pn = (char *)a + n * es;
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r = min(pa - (char *)a, pb - pa);
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vecswap((char *)a, pb - r, r);
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r = min(pd - pc, pn - pd - es);
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vecswap(pb, pn - r, r);
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if ((r = pb - pa) > es)
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recast_qsort(a, r / es, es, thunk, cmp);
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if ((r = pd - pc) > es) {
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/* Iterate rather than recurse to save stack space */
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a = pn - r;
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n = r / es;
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goto loop;
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}
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}
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