From fe3fe163a6216da68b4b6c467f166c1a382e5e25 Mon Sep 17 00:00:00 2001 From: KimLS Date: Sun, 10 Mar 2019 00:39:22 -0800 Subject: [PATCH] Remove old recast from proj --- libs/recast/CMakeLists.txt | 77 - libs/recast/debug_utils/include/DebugDraw.h | 223 - .../debug_utils/include/DetourDebugDraw.h | 48 - .../debug_utils/include/RecastDebugDraw.h | 42 - libs/recast/debug_utils/include/RecastDump.h | 43 - libs/recast/debug_utils/src/DebugDraw.cpp | 612 --- .../debug_utils/src/DetourDebugDraw.cpp | 862 ---- .../debug_utils/src/RecastDebugDraw.cpp | 1064 ----- libs/recast/debug_utils/src/RecastDump.cpp | 451 -- libs/recast/detour/include/DetourAlloc.h | 61 - libs/recast/detour/include/DetourAssert.h | 56 - libs/recast/detour/include/DetourCommon.h | 550 --- libs/recast/detour/include/DetourMath.h | 20 - libs/recast/detour/include/DetourNavMesh.h | 765 ---- .../detour/include/DetourNavMeshBuilder.h | 149 - .../detour/include/DetourNavMeshQuery.h | 575 --- libs/recast/detour/include/DetourNode.h | 168 - libs/recast/detour/include/DetourStatus.h | 64 - libs/recast/detour/src/DetourAlloc.cpp | 50 - libs/recast/detour/src/DetourAssert.cpp | 35 - libs/recast/detour/src/DetourCommon.cpp | 388 -- libs/recast/detour/src/DetourNavMesh.cpp | 1522 ------- .../detour/src/DetourNavMeshBuilder.cpp | 802 ---- libs/recast/detour/src/DetourNavMeshQuery.cpp | 3666 ----------------- libs/recast/detour/src/DetourNode.cpp | 200 - .../include/DetourTileCache.h | 247 -- .../include/DetourTileCacheBuilder.h | 153 - .../detour_tile_cache/src/DetourTileCache.cpp | 764 ---- .../src/DetourTileCacheBuilder.cpp | 2196 ---------- libs/recast/recast/include/Recast.h | 1200 ------ libs/recast/recast/include/RecastAlloc.h | 146 - libs/recast/recast/include/RecastAssert.h | 56 - libs/recast/recast/src/Recast.cpp | 504 --- libs/recast/recast/src/RecastAlloc.cpp | 86 - libs/recast/recast/src/RecastArea.cpp | 591 --- libs/recast/recast/src/RecastAssert.cpp | 35 - libs/recast/recast/src/RecastContour.cpp | 1105 ----- libs/recast/recast/src/RecastFilter.cpp | 202 - libs/recast/recast/src/RecastLayers.cpp | 644 --- libs/recast/recast/src/RecastMesh.cpp | 1552 ------- libs/recast/recast/src/RecastMeshDetail.cpp | 1462 ------- .../recast/recast/src/RecastRasterization.cpp | 454 -- libs/recast/recast/src/RecastRegion.cpp | 1824 -------- 43 files changed, 25714 deletions(-) delete mode 100644 libs/recast/CMakeLists.txt delete mode 100644 libs/recast/debug_utils/include/DebugDraw.h delete mode 100644 libs/recast/debug_utils/include/DetourDebugDraw.h delete mode 100644 libs/recast/debug_utils/include/RecastDebugDraw.h delete mode 100644 libs/recast/debug_utils/include/RecastDump.h delete mode 100644 libs/recast/debug_utils/src/DebugDraw.cpp delete mode 100644 libs/recast/debug_utils/src/DetourDebugDraw.cpp delete mode 100644 libs/recast/debug_utils/src/RecastDebugDraw.cpp delete mode 100644 libs/recast/debug_utils/src/RecastDump.cpp delete mode 100644 libs/recast/detour/include/DetourAlloc.h delete mode 100644 libs/recast/detour/include/DetourAssert.h delete mode 100644 libs/recast/detour/include/DetourCommon.h delete mode 100644 libs/recast/detour/include/DetourMath.h delete mode 100644 libs/recast/detour/include/DetourNavMesh.h delete mode 100644 libs/recast/detour/include/DetourNavMeshBuilder.h delete mode 100644 libs/recast/detour/include/DetourNavMeshQuery.h delete mode 100644 libs/recast/detour/include/DetourNode.h delete mode 100644 libs/recast/detour/include/DetourStatus.h delete mode 100644 libs/recast/detour/src/DetourAlloc.cpp delete mode 100644 libs/recast/detour/src/DetourAssert.cpp delete mode 100644 libs/recast/detour/src/DetourCommon.cpp delete mode 100644 libs/recast/detour/src/DetourNavMesh.cpp delete mode 100644 libs/recast/detour/src/DetourNavMeshBuilder.cpp delete mode 100644 libs/recast/detour/src/DetourNavMeshQuery.cpp delete mode 100644 libs/recast/detour/src/DetourNode.cpp delete mode 100644 libs/recast/detour_tile_cache/include/DetourTileCache.h delete mode 100644 libs/recast/detour_tile_cache/include/DetourTileCacheBuilder.h delete mode 100644 libs/recast/detour_tile_cache/src/DetourTileCache.cpp delete mode 100644 libs/recast/detour_tile_cache/src/DetourTileCacheBuilder.cpp delete mode 100644 libs/recast/recast/include/Recast.h delete mode 100644 libs/recast/recast/include/RecastAlloc.h delete mode 100644 libs/recast/recast/include/RecastAssert.h delete mode 100644 libs/recast/recast/src/Recast.cpp delete mode 100644 libs/recast/recast/src/RecastAlloc.cpp delete mode 100644 libs/recast/recast/src/RecastArea.cpp delete mode 100644 libs/recast/recast/src/RecastAssert.cpp delete mode 100644 libs/recast/recast/src/RecastContour.cpp delete mode 100644 libs/recast/recast/src/RecastFilter.cpp delete mode 100644 libs/recast/recast/src/RecastLayers.cpp delete mode 100644 libs/recast/recast/src/RecastMesh.cpp delete mode 100644 libs/recast/recast/src/RecastMeshDetail.cpp delete mode 100644 libs/recast/recast/src/RecastRasterization.cpp delete mode 100644 libs/recast/recast/src/RecastRegion.cpp diff --git a/libs/recast/CMakeLists.txt b/libs/recast/CMakeLists.txt deleted file mode 100644 index 7f91efb38..000000000 --- a/libs/recast/CMakeLists.txt +++ /dev/null @@ -1,77 +0,0 @@ -CMAKE_MINIMUM_REQUIRED(VERSION 2.8) - -SET(recast_navigation_sources - detour/src/DetourAlloc.cpp - detour/src/DetourAssert.cpp - detour/src/DetourCommon.cpp - detour/src/DetourNavMesh.cpp - detour/src/DetourNavMeshBuilder.cpp - detour/src/DetourNavMeshQuery.cpp - detour/src/DetourNode.cpp - recast/src/Recast.cpp - recast/src/RecastAlloc.cpp - recast/src/RecastArea.cpp - recast/src/RecastAssert.cpp - recast/src/RecastContour.cpp - recast/src/RecastFilter.cpp - recast/src/RecastLayers.cpp - recast/src/RecastMesh.cpp - recast/src/RecastMeshDetail.cpp - recast/src/RecastRasterization.cpp - recast/src/RecastRegion.cpp -) - -SET(recast_navigation_headers - detour/include/DetourAlloc.h - detour/include/DetourAssert.h - detour/include/DetourCommon.h - detour/include/DetourMath.h - detour/include/DetourNavMesh.h - detour/include/DetourNavMeshBuilder.h - detour/include/DetourNavMeshQuery.h - detour/include/DetourNode.h - detour/include/DetourStatus.h - recast/include/Recast.h - recast/include/RecastAlloc.h - recast/include/RecastAssert.h -) - -SOURCE_GROUP(Detour FILES - detour/src/DetourAlloc.cpp - detour/src/DetourAssert.cpp - detour/src/DetourCommon.cpp - detour/src/DetourNavMesh.cpp - detour/src/DetourNavMeshBuilder.cpp - detour/src/DetourNavMeshQuery.cpp - detour/src/DetourNode.cpp - detour/include/DetourAlloc.h - detour/include/DetourAssert.h - detour/include/DetourCommon.h - detour/include/DetourMath.h - detour/include/DetourNavMesh.h - detour/include/DetourNavMeshBuilder.h - detour/include/DetourNavMeshQuery.h - detour/include/DetourNode.h - detour/include/DetourStatus.h -) - -SOURCE_GROUP(Recast FILES - recast/src/Recast.cpp - recast/src/RecastAlloc.cpp - recast/src/RecastArea.cpp - recast/src/RecastAssert.cpp - recast/src/RecastContour.cpp - recast/src/RecastFilter.cpp - recast/src/RecastLayers.cpp - recast/src/RecastMesh.cpp - recast/src/RecastMeshDetail.cpp - recast/src/RecastRasterization.cpp - recast/src/RecastRegion.cpp - recast/include/Recast.h - recast/include/RecastAlloc.h - recast/include/RecastAssert.h -) - -ADD_LIBRARY(recast_navigation ${recast_navigation_sources} ${recast_navigation_headers}) - -SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib) \ No newline at end of file diff --git a/libs/recast/debug_utils/include/DebugDraw.h b/libs/recast/debug_utils/include/DebugDraw.h deleted file mode 100644 index 00b544d1c..000000000 --- a/libs/recast/debug_utils/include/DebugDraw.h +++ /dev/null @@ -1,223 +0,0 @@ -// -// Copyright (c) 2009-2010 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 DEBUGDRAW_H -#define DEBUGDRAW_H - -// Some math headers don't have PI defined. -static const float DU_PI = 3.14159265f; - -enum duDebugDrawPrimitives -{ - DU_DRAW_POINTS, - DU_DRAW_LINES, - DU_DRAW_TRIS, - DU_DRAW_QUADS, -}; - -/// Abstract debug draw interface. -struct duDebugDraw -{ - virtual ~duDebugDraw() = 0; - - virtual void depthMask(bool state) = 0; - - virtual void texture(bool state) = 0; - - /// Begin drawing primitives. - /// @param prim [in] primitive type to draw, one of rcDebugDrawPrimitives. - /// @param size [in] size of a primitive, applies to point size and line width only. - virtual void begin(duDebugDrawPrimitives prim, float size = 1.0f) = 0; - - /// Submit a vertex - /// @param pos [in] position of the verts. - /// @param color [in] color of the verts. - virtual void vertex(const float* pos, unsigned int color) = 0; - - /// Submit a vertex - /// @param x,y,z [in] position of the verts. - /// @param color [in] color of the verts. - virtual void vertex(const float x, const float y, const float z, unsigned int color) = 0; - - /// Submit a vertex - /// @param pos [in] position of the verts. - /// @param color [in] color of the verts. - virtual void vertex(const float* pos, unsigned int color, const float* uv) = 0; - - /// Submit a vertex - /// @param x,y,z [in] position of the verts. - /// @param color [in] color of the verts. - virtual void vertex(const float x, const float y, const float z, unsigned int color, const float u, const float v) = 0; - - /// End drawing primitives. - virtual void end() = 0; - - /// Compute a color for given area. - virtual unsigned int areaToCol(unsigned int area); -}; - -inline unsigned int duRGBA(int r, int g, int b, int a) -{ - return ((unsigned int)r) | ((unsigned int)g << 8) | ((unsigned int)b << 16) | ((unsigned int)a << 24); -} - -inline unsigned int duRGBAf(float fr, float fg, float fb, float fa) -{ - unsigned char r = (unsigned char)(fr*255.0f); - unsigned char g = (unsigned char)(fg*255.0f); - unsigned char b = (unsigned char)(fb*255.0f); - unsigned char a = (unsigned char)(fa*255.0f); - return duRGBA(r,g,b,a); -} - -unsigned int duIntToCol(int i, int a); -void duIntToCol(int i, float* col); - -inline unsigned int duMultCol(const unsigned int col, const unsigned int d) -{ - const unsigned int r = col & 0xff; - const unsigned int g = (col >> 8) & 0xff; - const unsigned int b = (col >> 16) & 0xff; - const unsigned int a = (col >> 24) & 0xff; - return duRGBA((r*d) >> 8, (g*d) >> 8, (b*d) >> 8, a); -} - -inline unsigned int duDarkenCol(unsigned int col) -{ - return ((col >> 1) & 0x007f7f7f) | (col & 0xff000000); -} - -inline unsigned int duLerpCol(unsigned int ca, unsigned int cb, unsigned int u) -{ - const unsigned int ra = ca & 0xff; - const unsigned int ga = (ca >> 8) & 0xff; - const unsigned int ba = (ca >> 16) & 0xff; - const unsigned int aa = (ca >> 24) & 0xff; - const unsigned int rb = cb & 0xff; - const unsigned int gb = (cb >> 8) & 0xff; - const unsigned int bb = (cb >> 16) & 0xff; - const unsigned int ab = (cb >> 24) & 0xff; - - unsigned int r = (ra*(255-u) + rb*u)/255; - unsigned int g = (ga*(255-u) + gb*u)/255; - unsigned int b = (ba*(255-u) + bb*u)/255; - unsigned int a = (aa*(255-u) + ab*u)/255; - return duRGBA(r,g,b,a); -} - -inline unsigned int duTransCol(unsigned int c, unsigned int a) -{ - return (a<<24) | (c & 0x00ffffff); -} - - -void duCalcBoxColors(unsigned int* colors, unsigned int colTop, unsigned int colSide); - -void duDebugDrawCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col, const float lineWidth); - -void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col, const float lineWidth); - -void duDebugDrawArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, const float h, - const float as0, const float as1, unsigned int col, const float lineWidth); - -void duDebugDrawArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, - const float as0, const float as1, unsigned int col, const float lineWidth); - -void duDebugDrawCircle(struct duDebugDraw* dd, const float x, const float y, const float z, - const float r, unsigned int col, const float lineWidth); - -void duDebugDrawCross(struct duDebugDraw* dd, const float x, const float y, const float z, - const float size, unsigned int col, const float lineWidth); - -void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, const unsigned int* fcol); - -void duDebugDrawCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col); - -void duDebugDrawGridXZ(struct duDebugDraw* dd, const float ox, const float oy, const float oz, - const int w, const int h, const float size, - const unsigned int col, const float lineWidth); - - -// Versions without begin/end, can be used to draw multiple primitives. -void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col); - -void duAppendBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col); - -void duAppendBoxPoints(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col); - -void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, const float h, - const float as0, const float as1, unsigned int col); - -void duAppendArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, - const float as0, const float as1, unsigned int col); - -void duAppendCircle(struct duDebugDraw* dd, const float x, const float y, const float z, - const float r, unsigned int col); - -void duAppendCross(struct duDebugDraw* dd, const float x, const float y, const float z, - const float size, unsigned int col); - -void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, const unsigned int* fcol); - -void duAppendCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col); - - -class duDisplayList : public duDebugDraw -{ - float* m_pos; - unsigned int* m_color; - int m_size; - int m_cap; - - bool m_depthMask; - duDebugDrawPrimitives m_prim; - float m_primSize; - - void resize(int cap); - -public: - duDisplayList(int cap = 512); - ~duDisplayList(); - virtual void depthMask(bool state); - virtual void begin(duDebugDrawPrimitives prim, float size = 1.0f); - virtual void vertex(const float x, const float y, const float z, unsigned int color); - virtual void vertex(const float* pos, unsigned int color); - virtual void end(); - void clear(); - void draw(struct duDebugDraw* dd); -private: - // Explicitly disabled copy constructor and copy assignment operator. - duDisplayList(const duDisplayList&); - duDisplayList& operator=(const duDisplayList&); -}; - - -#endif // DEBUGDRAW_H diff --git a/libs/recast/debug_utils/include/DetourDebugDraw.h b/libs/recast/debug_utils/include/DetourDebugDraw.h deleted file mode 100644 index ff2ca2f9d..000000000 --- a/libs/recast/debug_utils/include/DetourDebugDraw.h +++ /dev/null @@ -1,48 +0,0 @@ -// -// Copyright (c) 2009-2010 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 DETOURDEBUGDRAW_H -#define DETOURDEBUGDRAW_H - -#include "DetourNavMesh.h" -#include "DetourNavMeshQuery.h" -#include "DetourTileCacheBuilder.h" - -enum DrawNavMeshFlags -{ - DU_DRAWNAVMESH_OFFMESHCONS = 0x01, - DU_DRAWNAVMESH_CLOSEDLIST = 0x02, - DU_DRAWNAVMESH_COLOR_TILES = 0x04, -}; - -void duDebugDrawNavMesh(struct duDebugDraw* dd, const dtNavMesh& mesh, unsigned char flags); -void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery& query, unsigned char flags); -void duDebugDrawNavMeshNodes(struct duDebugDraw* dd, const dtNavMeshQuery& query); -void duDebugDrawNavMeshBVTree(struct duDebugDraw* dd, const dtNavMesh& mesh); -void duDebugDrawNavMeshPortals(struct duDebugDraw* dd, const dtNavMesh& mesh); -void duDebugDrawNavMeshPolysWithFlags(struct duDebugDraw* dd, const dtNavMesh& mesh, const unsigned short polyFlags, const unsigned int col); -void duDebugDrawNavMeshPoly(struct duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef ref, const unsigned int col); - -void duDebugDrawTileCacheLayerAreas(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch); -void duDebugDrawTileCacheLayerRegions(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch); -void duDebugDrawTileCacheContours(duDebugDraw* dd, const struct dtTileCacheContourSet& lcset, - const float* orig, const float cs, const float ch); -void duDebugDrawTileCachePolyMesh(duDebugDraw* dd, const struct dtTileCachePolyMesh& lmesh, - const float* orig, const float cs, const float ch); - -#endif // DETOURDEBUGDRAW_H diff --git a/libs/recast/debug_utils/include/RecastDebugDraw.h b/libs/recast/debug_utils/include/RecastDebugDraw.h deleted file mode 100644 index 6a55fa647..000000000 --- a/libs/recast/debug_utils/include/RecastDebugDraw.h +++ /dev/null @@ -1,42 +0,0 @@ -// -// Copyright (c) 2009-2010 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_DEBUGDRAW_H -#define RECAST_DEBUGDRAW_H - -void duDebugDrawTriMesh(struct duDebugDraw* dd, const float* verts, int nverts, const int* tris, const float* normals, int ntris, const unsigned char* flags, const float texScale); -void duDebugDrawTriMeshSlope(struct duDebugDraw* dd, const float* verts, int nverts, const int* tris, const float* normals, int ntris, const float walkableSlopeAngle, const float texScale); - -void duDebugDrawHeightfieldSolid(struct duDebugDraw* dd, const struct rcHeightfield& hf); -void duDebugDrawHeightfieldWalkable(struct duDebugDraw* dd, const struct rcHeightfield& hf); - -void duDebugDrawCompactHeightfieldSolid(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf); -void duDebugDrawCompactHeightfieldRegions(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf); -void duDebugDrawCompactHeightfieldDistance(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf); - -void duDebugDrawHeightfieldLayer(duDebugDraw* dd, const struct rcHeightfieldLayer& layer, const int idx); -void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset); -void duDebugDrawHeightfieldLayersRegions(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset); - -void duDebugDrawRegionConnections(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f); -void duDebugDrawRawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f); -void duDebugDrawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f); -void duDebugDrawPolyMesh(struct duDebugDraw* dd, const struct rcPolyMesh& mesh); -void duDebugDrawPolyMeshDetail(struct duDebugDraw* dd, const struct rcPolyMeshDetail& dmesh); - -#endif // RECAST_DEBUGDRAW_H diff --git a/libs/recast/debug_utils/include/RecastDump.h b/libs/recast/debug_utils/include/RecastDump.h deleted file mode 100644 index 6a722fdae..000000000 --- a/libs/recast/debug_utils/include/RecastDump.h +++ /dev/null @@ -1,43 +0,0 @@ -// -// Copyright (c) 2009-2010 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_DUMP_H -#define RECAST_DUMP_H - -struct duFileIO -{ - virtual ~duFileIO() = 0; - virtual bool isWriting() const = 0; - virtual bool isReading() const = 0; - virtual bool write(const void* ptr, const size_t size) = 0; - virtual bool read(void* ptr, const size_t size) = 0; -}; - -bool duDumpPolyMeshToObj(struct rcPolyMesh& pmesh, duFileIO* io); -bool duDumpPolyMeshDetailToObj(struct rcPolyMeshDetail& dmesh, duFileIO* io); - -bool duDumpContourSet(struct rcContourSet& cset, duFileIO* io); -bool duReadContourSet(struct rcContourSet& cset, duFileIO* io); - -bool duDumpCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io); -bool duReadCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io); - -void duLogBuildTimes(rcContext& ctx, const int totalTileUsec); - - -#endif // RECAST_DUMP_H diff --git a/libs/recast/debug_utils/src/DebugDraw.cpp b/libs/recast/debug_utils/src/DebugDraw.cpp deleted file mode 100644 index d0179bca2..000000000 --- a/libs/recast/debug_utils/src/DebugDraw.cpp +++ /dev/null @@ -1,612 +0,0 @@ -// -// Copyright (c) 2009-2010 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. -// - -#define _USE_MATH_DEFINES -#include -#include "DebugDraw.h" -#include "DetourMath.h" -#include "DetourNavMesh.h" - - -duDebugDraw::~duDebugDraw() -{ - // Empty -} - -unsigned int duDebugDraw::areaToCol(unsigned int area) -{ - if (area == 0) - { - // Treat zero area type as default. - return duRGBA(0, 192, 255, 255); - } - else - { - return duIntToCol(area, 255); - } -} - -inline int bit(int a, int b) -{ - return (a & (1 << b)) >> b; -} - -unsigned int duIntToCol(int i, int a) -{ - int r = bit(i, 1) + bit(i, 3) * 2 + 1; - int g = bit(i, 2) + bit(i, 4) * 2 + 1; - int b = bit(i, 0) + bit(i, 5) * 2 + 1; - return duRGBA(r*63,g*63,b*63,a); -} - -void duIntToCol(int i, float* col) -{ - int r = bit(i, 0) + bit(i, 3) * 2 + 1; - int g = bit(i, 1) + bit(i, 4) * 2 + 1; - int b = bit(i, 2) + bit(i, 5) * 2 + 1; - col[0] = 1 - r*63.0f/255.0f; - col[1] = 1 - g*63.0f/255.0f; - col[2] = 1 - b*63.0f/255.0f; -} - -void duCalcBoxColors(unsigned int* colors, unsigned int colTop, unsigned int colSide) -{ - if (!colors) return; - - colors[0] = duMultCol(colTop, 250); - colors[1] = duMultCol(colSide, 140); - colors[2] = duMultCol(colSide, 165); - colors[3] = duMultCol(colSide, 217); - colors[4] = duMultCol(colSide, 165); - colors[5] = duMultCol(colSide, 217); -} - -void duDebugDrawCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendCylinderWire(dd, minx,miny,minz, maxx,maxy,maxz, col); - dd->end(); -} - -void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendBoxWire(dd, minx,miny,minz, maxx,maxy,maxz, col); - dd->end(); -} - -void duDebugDrawArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, const float h, - const float as0, const float as1, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendArc(dd, x0,y0,z0, x1,y1,z1, h, as0, as1, col); - dd->end(); -} - -void duDebugDrawArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, - const float as0, const float as1, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendArrow(dd, x0,y0,z0, x1,y1,z1, as0, as1, col); - dd->end(); -} - -void duDebugDrawCircle(struct duDebugDraw* dd, const float x, const float y, const float z, - const float r, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendCircle(dd, x,y,z, r, col); - dd->end(); -} - -void duDebugDrawCross(struct duDebugDraw* dd, const float x, const float y, const float z, - const float size, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendCross(dd, x,y,z, size, col); - dd->end(); -} - -void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, const unsigned int* fcol) -{ - if (!dd) return; - - dd->begin(DU_DRAW_QUADS); - duAppendBox(dd, minx,miny,minz, maxx,maxy,maxz, fcol); - dd->end(); -} - -void duDebugDrawCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col) -{ - if (!dd) return; - - dd->begin(DU_DRAW_TRIS); - duAppendCylinder(dd, minx,miny,minz, maxx,maxy,maxz, col); - dd->end(); -} - -void duDebugDrawGridXZ(struct duDebugDraw* dd, const float ox, const float oy, const float oz, - const int w, const int h, const float size, - const unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - for (int i = 0; i <= h; ++i) - { - dd->vertex(ox,oy,oz+i*size, col); - dd->vertex(ox+w*size,oy,oz+i*size, col); - } - for (int i = 0; i <= w; ++i) - { - dd->vertex(ox+i*size,oy,oz, col); - dd->vertex(ox+i*size,oy,oz+h*size, col); - } - dd->end(); -} - - -void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col) -{ - if (!dd) return; - - static const int NUM_SEG = 16; - static float dir[NUM_SEG*2]; - static bool init = false; - if (!init) - { - init = true; - for (int i = 0; i < NUM_SEG; ++i) - { - const float a = (float)i/(float)NUM_SEG*DU_PI*2; - dir[i*2] = dtMathCosf(a); - dir[i*2+1] = dtMathSinf(a); - } - } - - const float cx = (maxx + minx)/2; - const float cz = (maxz + minz)/2; - const float rx = (maxx - minx)/2; - const float rz = (maxz - minz)/2; - - for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++) - { - dd->vertex(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz, col); - dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col); - dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col); - dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col); - } - for (int i = 0; i < NUM_SEG; i += NUM_SEG/4) - { - dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col); - dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col); - } -} - -void duAppendBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col) -{ - if (!dd) return; - // Top - dd->vertex(minx, miny, minz, col); - dd->vertex(maxx, miny, minz, col); - dd->vertex(maxx, miny, minz, col); - dd->vertex(maxx, miny, maxz, col); - dd->vertex(maxx, miny, maxz, col); - dd->vertex(minx, miny, maxz, col); - dd->vertex(minx, miny, maxz, col); - dd->vertex(minx, miny, minz, col); - - // bottom - dd->vertex(minx, maxy, minz, col); - dd->vertex(maxx, maxy, minz, col); - dd->vertex(maxx, maxy, minz, col); - dd->vertex(maxx, maxy, maxz, col); - dd->vertex(maxx, maxy, maxz, col); - dd->vertex(minx, maxy, maxz, col); - dd->vertex(minx, maxy, maxz, col); - dd->vertex(minx, maxy, minz, col); - - // Sides - dd->vertex(minx, miny, minz, col); - dd->vertex(minx, maxy, minz, col); - dd->vertex(maxx, miny, minz, col); - dd->vertex(maxx, maxy, minz, col); - dd->vertex(maxx, miny, maxz, col); - dd->vertex(maxx, maxy, maxz, col); - dd->vertex(minx, miny, maxz, col); - dd->vertex(minx, maxy, maxz, col); -} - -void duAppendBoxPoints(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col) -{ - if (!dd) return; - // Top - dd->vertex(minx, miny, minz, col); - dd->vertex(maxx, miny, minz, col); - dd->vertex(maxx, miny, minz, col); - dd->vertex(maxx, miny, maxz, col); - dd->vertex(maxx, miny, maxz, col); - dd->vertex(minx, miny, maxz, col); - dd->vertex(minx, miny, maxz, col); - dd->vertex(minx, miny, minz, col); - - // bottom - dd->vertex(minx, maxy, minz, col); - dd->vertex(maxx, maxy, minz, col); - dd->vertex(maxx, maxy, minz, col); - dd->vertex(maxx, maxy, maxz, col); - dd->vertex(maxx, maxy, maxz, col); - dd->vertex(minx, maxy, maxz, col); - dd->vertex(minx, maxy, maxz, col); - dd->vertex(minx, maxy, minz, col); -} - -void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, const unsigned int* fcol) -{ - if (!dd) return; - const float verts[8*3] = - { - minx, miny, minz, - maxx, miny, minz, - maxx, miny, maxz, - minx, miny, maxz, - minx, maxy, minz, - maxx, maxy, minz, - maxx, maxy, maxz, - minx, maxy, maxz, - }; - static const unsigned char inds[6*4] = - { - 7, 6, 5, 4, - 0, 1, 2, 3, - 1, 5, 6, 2, - 3, 7, 4, 0, - 2, 6, 7, 3, - 0, 4, 5, 1, - }; - - const unsigned char* in = inds; - for (int i = 0; i < 6; ++i) - { - dd->vertex(&verts[*in*3], fcol[i]); in++; - dd->vertex(&verts[*in*3], fcol[i]); in++; - dd->vertex(&verts[*in*3], fcol[i]); in++; - dd->vertex(&verts[*in*3], fcol[i]); in++; - } -} - -void duAppendCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col) -{ - if (!dd) return; - - static const int NUM_SEG = 16; - static float dir[NUM_SEG*2]; - static bool init = false; - if (!init) - { - init = true; - for (int i = 0; i < NUM_SEG; ++i) - { - const float a = (float)i/(float)NUM_SEG*DU_PI*2; - dir[i*2] = cosf(a); - dir[i*2+1] = sinf(a); - } - } - - unsigned int col2 = duMultCol(col, 160); - - const float cx = (maxx + minx)/2; - const float cz = (maxz + minz)/2; - const float rx = (maxx - minx)/2; - const float rz = (maxz - minz)/2; - - for (int i = 2; i < NUM_SEG; ++i) - { - const int a = 0, b = i-1, c = i; - dd->vertex(cx+dir[a*2+0]*rx, miny, cz+dir[a*2+1]*rz, col2); - dd->vertex(cx+dir[b*2+0]*rx, miny, cz+dir[b*2+1]*rz, col2); - dd->vertex(cx+dir[c*2+0]*rx, miny, cz+dir[c*2+1]*rz, col2); - } - for (int i = 2; i < NUM_SEG; ++i) - { - const int a = 0, b = i, c = i-1; - dd->vertex(cx+dir[a*2+0]*rx, maxy, cz+dir[a*2+1]*rz, col); - dd->vertex(cx+dir[b*2+0]*rx, maxy, cz+dir[b*2+1]*rz, col); - dd->vertex(cx+dir[c*2+0]*rx, maxy, cz+dir[c*2+1]*rz, col); - } - for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++) - { - dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col2); - dd->vertex(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz, col2); - dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col); - - dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col2); - dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col); - dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col); - } -} - - -inline void evalArc(const float x0, const float y0, const float z0, - const float dx, const float dy, const float dz, - const float h, const float u, float* res) -{ - res[0] = x0 + dx * u; - res[1] = y0 + dy * u + h * (1-(u*2-1)*(u*2-1)); - res[2] = z0 + dz * u; -} - - -inline void vcross(float* dest, const float* v1, const float* v2) -{ - dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; - dest[1] = v1[2]*v2[0] - v1[0]*v2[2]; - dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; -} - -inline void vnormalize(float* v) -{ - float d = 1.0f / sqrtf(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]); - v[0] *= d; - v[1] *= d; - v[2] *= d; -} - -inline void vsub(float* dest, const float* v1, const float* v2) -{ - dest[0] = v1[0]-v2[0]; - dest[1] = v1[1]-v2[1]; - dest[2] = v1[2]-v2[2]; -} - -inline float vdistSqr(const float* v1, const float* v2) -{ - const float x = v1[0]-v2[0]; - const float y = v1[1]-v2[1]; - const float z = v1[2]-v2[2]; - return x*x + y*y + z*z; -} - - -void appendArrowHead(struct duDebugDraw* dd, const float* p, const float* q, - const float s, unsigned int col) -{ - const float eps = 0.001f; - if (!dd) return; - if (vdistSqr(p,q) < eps*eps) return; - float ax[3], ay[3] = {0,1,0}, az[3]; - vsub(az, q, p); - vnormalize(az); - vcross(ax, ay, az); - vcross(ay, az, ax); - vnormalize(ay); - - dd->vertex(p, col); -// dd->vertex(p[0]+az[0]*s+ay[0]*s/2, p[1]+az[1]*s+ay[1]*s/2, p[2]+az[2]*s+ay[2]*s/2, col); - dd->vertex(p[0]+az[0]*s+ax[0]*s/3, p[1]+az[1]*s+ax[1]*s/3, p[2]+az[2]*s+ax[2]*s/3, col); - - dd->vertex(p, col); -// dd->vertex(p[0]+az[0]*s-ay[0]*s/2, p[1]+az[1]*s-ay[1]*s/2, p[2]+az[2]*s-ay[2]*s/2, col); - dd->vertex(p[0]+az[0]*s-ax[0]*s/3, p[1]+az[1]*s-ax[1]*s/3, p[2]+az[2]*s-ax[2]*s/3, col); - -} - -void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, const float h, - const float as0, const float as1, unsigned int col) -{ - if (!dd) return; - static const int NUM_ARC_PTS = 8; - static const float PAD = 0.05f; - static const float ARC_PTS_SCALE = (1.0f-PAD*2) / (float)NUM_ARC_PTS; - const float dx = x1 - x0; - const float dy = y1 - y0; - const float dz = z1 - z0; - const float len = sqrtf(dx*dx + dy*dy + dz*dz); - float prev[3]; - evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD, prev); - for (int i = 1; i <= NUM_ARC_PTS; ++i) - { - const float u = PAD + i * ARC_PTS_SCALE; - float pt[3]; - evalArc(x0,y0,z0, dx,dy,dz, len*h, u, pt); - dd->vertex(prev[0],prev[1],prev[2], col); - dd->vertex(pt[0],pt[1],pt[2], col); - prev[0] = pt[0]; prev[1] = pt[1]; prev[2] = pt[2]; - } - - // End arrows - if (as0 > 0.001f) - { - float p[3], q[3]; - evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD, p); - evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD+0.05f, q); - appendArrowHead(dd, p, q, as0, col); - } - - if (as1 > 0.001f) - { - float p[3], q[3]; - evalArc(x0,y0,z0, dx,dy,dz, len*h, 1-PAD, p); - evalArc(x0,y0,z0, dx,dy,dz, len*h, 1-(PAD+0.05f), q); - appendArrowHead(dd, p, q, as1, col); - } -} - -void duAppendArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, - const float as0, const float as1, unsigned int col) -{ - if (!dd) return; - - dd->vertex(x0,y0,z0, col); - dd->vertex(x1,y1,z1, col); - - // End arrows - const float p[3] = {x0,y0,z0}, q[3] = {x1,y1,z1}; - if (as0 > 0.001f) - appendArrowHead(dd, p, q, as0, col); - if (as1 > 0.001f) - appendArrowHead(dd, q, p, as1, col); -} - -void duAppendCircle(struct duDebugDraw* dd, const float x, const float y, const float z, - const float r, unsigned int col) -{ - if (!dd) return; - static const int NUM_SEG = 40; - static float dir[40*2]; - static bool init = false; - if (!init) - { - init = true; - for (int i = 0; i < NUM_SEG; ++i) - { - const float a = (float)i/(float)NUM_SEG*DU_PI*2; - dir[i*2] = cosf(a); - dir[i*2+1] = sinf(a); - } - } - - for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++) - { - dd->vertex(x+dir[j*2+0]*r, y, z+dir[j*2+1]*r, col); - dd->vertex(x+dir[i*2+0]*r, y, z+dir[i*2+1]*r, col); - } -} - -void duAppendCross(struct duDebugDraw* dd, const float x, const float y, const float z, - const float s, unsigned int col) -{ - if (!dd) return; - dd->vertex(x-s,y,z, col); - dd->vertex(x+s,y,z, col); - dd->vertex(x,y-s,z, col); - dd->vertex(x,y+s,z, col); - dd->vertex(x,y,z-s, col); - dd->vertex(x,y,z+s, col); -} - -duDisplayList::duDisplayList(int cap) : - m_pos(0), - m_color(0), - m_size(0), - m_cap(0), - m_depthMask(true), - m_prim(DU_DRAW_LINES), - m_primSize(1.0f) -{ - if (cap < 8) - cap = 8; - resize(cap); -} - -duDisplayList::~duDisplayList() -{ - delete [] m_pos; - delete [] m_color; -} - -void duDisplayList::resize(int cap) -{ - float* newPos = new float[cap*3]; - if (m_size) - memcpy(newPos, m_pos, sizeof(float)*3*m_size); - delete [] m_pos; - m_pos = newPos; - - unsigned int* newColor = new unsigned int[cap]; - if (m_size) - memcpy(newColor, m_color, sizeof(unsigned int)*m_size); - delete [] m_color; - m_color = newColor; - - m_cap = cap; -} - -void duDisplayList::clear() -{ - m_size = 0; -} - -void duDisplayList::depthMask(bool state) -{ - m_depthMask = state; -} - -void duDisplayList::begin(duDebugDrawPrimitives prim, float size) -{ - clear(); - m_prim = prim; - m_primSize = size; -} - -void duDisplayList::vertex(const float x, const float y, const float z, unsigned int color) -{ - if (m_size+1 >= m_cap) - resize(m_cap*2); - float* p = &m_pos[m_size*3]; - p[0] = x; - p[1] = y; - p[2] = z; - m_color[m_size] = color; - m_size++; -} - -void duDisplayList::vertex(const float* pos, unsigned int color) -{ - vertex(pos[0],pos[1],pos[2],color); -} - -void duDisplayList::end() -{ -} - -void duDisplayList::draw(struct duDebugDraw* dd) -{ - if (!dd) return; - if (!m_size) return; - dd->depthMask(m_depthMask); - dd->begin(m_prim, m_primSize); - for (int i = 0; i < m_size; ++i) - dd->vertex(&m_pos[i*3], m_color[i]); - dd->end(); -} diff --git a/libs/recast/debug_utils/src/DetourDebugDraw.cpp b/libs/recast/debug_utils/src/DetourDebugDraw.cpp deleted file mode 100644 index dd4bad3fd..000000000 --- a/libs/recast/debug_utils/src/DetourDebugDraw.cpp +++ /dev/null @@ -1,862 +0,0 @@ -// -// Copyright (c) 2009-2010 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 "DebugDraw.h" -#include "DetourDebugDraw.h" -#include "DetourNavMesh.h" -#include "DetourCommon.h" -#include "DetourNode.h" - - -static float distancePtLine2d(const float* pt, const float* p, const float* q) -{ - float pqx = q[0] - p[0]; - float pqz = q[2] - p[2]; - float dx = pt[0] - p[0]; - float dz = pt[2] - p[2]; - float d = pqx*pqx + pqz*pqz; - float t = pqx*dx + pqz*dz; - if (d != 0) t /= d; - dx = p[0] + t*pqx - pt[0]; - dz = p[2] + t*pqz - pt[2]; - return dx*dx + dz*dz; -} - -static void drawPolyBoundaries(duDebugDraw* dd, const dtMeshTile* tile, - const unsigned int col, const float linew, - bool inner) -{ - static const float thr = 0.01f*0.01f; - - dd->begin(DU_DRAW_LINES, linew); - - for (int i = 0; i < tile->header->polyCount; ++i) - { - const dtPoly* p = &tile->polys[i]; - - if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) continue; - - const dtPolyDetail* pd = &tile->detailMeshes[i]; - - for (int j = 0, nj = (int)p->vertCount; j < nj; ++j) - { - unsigned int c = col; - if (inner) - { - if (p->neis[j] == 0) continue; - if (p->neis[j] & DT_EXT_LINK) - { - bool con = false; - for (unsigned int k = p->firstLink; k != DT_NULL_LINK; k = tile->links[k].next) - { - if (tile->links[k].edge == j) - { - con = true; - break; - } - } - if (con) - c = duRGBA(255,255,255,48); - else - c = duRGBA(0,0,0,48); - } - else - c = duRGBA(0,48,64,32); - } - else - { - if (p->neis[j] != 0) continue; - } - - const float* v0 = &tile->verts[p->verts[j]*3]; - const float* v1 = &tile->verts[p->verts[(j+1) % nj]*3]; - - // Draw detail mesh edges which align with the actual poly edge. - // This is really slow. - for (int k = 0; k < pd->triCount; ++k) - { - const unsigned char* t = &tile->detailTris[(pd->triBase+k)*4]; - const float* tv[3]; - for (int m = 0; m < 3; ++m) - { - if (t[m] < p->vertCount) - tv[m] = &tile->verts[p->verts[t[m]]*3]; - else - tv[m] = &tile->detailVerts[(pd->vertBase+(t[m]-p->vertCount))*3]; - } - for (int m = 0, n = 2; m < 3; n=m++) - { - if (((t[3] >> (n*2)) & 0x3) == 0) continue; // Skip inner detail edges. - if (distancePtLine2d(tv[n],v0,v1) < thr && - distancePtLine2d(tv[m],v0,v1) < thr) - { - dd->vertex(tv[n], c); - dd->vertex(tv[m], c); - } - } - } - } - } - dd->end(); -} - -static void drawMeshTile(duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery* query, - const dtMeshTile* tile, unsigned char flags) -{ - dtPolyRef base = mesh.getPolyRefBase(tile); - - int tileNum = mesh.decodePolyIdTile(base); - const unsigned int tileColor = duIntToCol(tileNum, 128); - - dd->depthMask(false); - - dd->begin(DU_DRAW_TRIS); - for (int i = 0; i < tile->header->polyCount; ++i) - { - const dtPoly* p = &tile->polys[i]; - if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) // Skip off-mesh links. - continue; - - const dtPolyDetail* pd = &tile->detailMeshes[i]; - - unsigned int col; - if (query && query->isInClosedList(base | (dtPolyRef)i)) - col = duRGBA(255,196,0,64); - else - { - if (flags & DU_DRAWNAVMESH_COLOR_TILES) - col = tileColor; - else - col = duTransCol(dd->areaToCol(p->getArea()), 64); - } - - for (int j = 0; j < pd->triCount; ++j) - { - const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; - for (int k = 0; k < 3; ++k) - { - if (t[k] < p->vertCount) - dd->vertex(&tile->verts[p->verts[t[k]]*3], col); - else - dd->vertex(&tile->detailVerts[(pd->vertBase+t[k]-p->vertCount)*3], col); - } - } - } - dd->end(); - - // Draw inter poly boundaries - drawPolyBoundaries(dd, tile, duRGBA(0,48,64,32), 1.5f, true); - - // Draw outer poly boundaries - drawPolyBoundaries(dd, tile, duRGBA(0,48,64,220), 2.5f, false); - - if (flags & DU_DRAWNAVMESH_OFFMESHCONS) - { - dd->begin(DU_DRAW_LINES, 2.0f); - for (int i = 0; i < tile->header->polyCount; ++i) - { - const dtPoly* p = &tile->polys[i]; - if (p->getType() != DT_POLYTYPE_OFFMESH_CONNECTION) // Skip regular polys. - continue; - - unsigned int col, col2; - if (query && query->isInClosedList(base | (dtPolyRef)i)) - col = duRGBA(255,196,0,220); - else - col = duDarkenCol(duTransCol(dd->areaToCol(p->getArea()), 220)); - - const dtOffMeshConnection* con = &tile->offMeshCons[i - tile->header->offMeshBase]; - const float* va = &tile->verts[p->verts[0]*3]; - const float* vb = &tile->verts[p->verts[1]*3]; - - // Check to see if start and end end-points have links. - bool startSet = false; - bool endSet = false; - for (unsigned int k = p->firstLink; k != DT_NULL_LINK; k = tile->links[k].next) - { - if (tile->links[k].edge == 0) - startSet = true; - if (tile->links[k].edge == 1) - endSet = true; - } - - // End points and their on-mesh locations. - dd->vertex(va[0],va[1],va[2], col); - dd->vertex(con->pos[0],con->pos[1],con->pos[2], col); - col2 = startSet ? col : duRGBA(220,32,16,196); - duAppendCircle(dd, con->pos[0],con->pos[1]+0.1f,con->pos[2], con->rad, col2); - - dd->vertex(vb[0],vb[1],vb[2], col); - dd->vertex(con->pos[3],con->pos[4],con->pos[5], col); - col2 = endSet ? col : duRGBA(220,32,16,196); - duAppendCircle(dd, con->pos[3],con->pos[4]+0.1f,con->pos[5], con->rad, col2); - - // End point vertices. - dd->vertex(con->pos[0],con->pos[1],con->pos[2], duRGBA(0,48,64,196)); - dd->vertex(con->pos[0],con->pos[1]+0.2f,con->pos[2], duRGBA(0,48,64,196)); - - dd->vertex(con->pos[3],con->pos[4],con->pos[5], duRGBA(0,48,64,196)); - dd->vertex(con->pos[3],con->pos[4]+0.2f,con->pos[5], duRGBA(0,48,64,196)); - - // Connection arc. - duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f, - (con->flags & 1) ? 0.6f : 0, 0.6f, col); - } - dd->end(); - } - - const unsigned int vcol = duRGBA(0,0,0,196); - dd->begin(DU_DRAW_POINTS, 3.0f); - for (int i = 0; i < tile->header->vertCount; ++i) - { - const float* v = &tile->verts[i*3]; - dd->vertex(v[0], v[1], v[2], vcol); - } - dd->end(); - - dd->depthMask(true); -} - -void duDebugDrawNavMesh(duDebugDraw* dd, const dtNavMesh& mesh, unsigned char flags) -{ - if (!dd) return; - - for (int i = 0; i < mesh.getMaxTiles(); ++i) - { - const dtMeshTile* tile = mesh.getTile(i); - if (!tile->header) continue; - drawMeshTile(dd, mesh, 0, tile, flags); - } -} - -void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery& query, unsigned char flags) -{ - if (!dd) return; - - const dtNavMeshQuery* q = (flags & DU_DRAWNAVMESH_CLOSEDLIST) ? &query : 0; - - for (int i = 0; i < mesh.getMaxTiles(); ++i) - { - const dtMeshTile* tile = mesh.getTile(i); - if (!tile->header) continue; - drawMeshTile(dd, mesh, q, tile, flags); - } -} - -void duDebugDrawNavMeshNodes(struct duDebugDraw* dd, const dtNavMeshQuery& query) -{ - if (!dd) return; - - const dtNodePool* pool = query.getNodePool(); - if (pool) - { - const float off = 0.5f; - dd->begin(DU_DRAW_POINTS, 4.0f); - for (int i = 0; i < pool->getHashSize(); ++i) - { - for (dtNodeIndex j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j)) - { - const dtNode* node = pool->getNodeAtIdx(j+1); - if (!node) continue; - dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,255)); - } - } - dd->end(); - - dd->begin(DU_DRAW_LINES, 2.0f); - for (int i = 0; i < pool->getHashSize(); ++i) - { - for (dtNodeIndex j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j)) - { - const dtNode* node = pool->getNodeAtIdx(j+1); - if (!node) continue; - if (!node->pidx) continue; - const dtNode* parent = pool->getNodeAtIdx(node->pidx); - if (!parent) continue; - dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,128)); - dd->vertex(parent->pos[0],parent->pos[1]+off,parent->pos[2], duRGBA(255,192,0,128)); - } - } - dd->end(); - } -} - - -static void drawMeshTileBVTree(duDebugDraw* dd, const dtMeshTile* tile) -{ - // Draw BV nodes. - const float cs = 1.0f / tile->header->bvQuantFactor; - dd->begin(DU_DRAW_LINES, 1.0f); - for (int i = 0; i < tile->header->bvNodeCount; ++i) - { - const dtBVNode* n = &tile->bvTree[i]; - if (n->i < 0) // Leaf indices are positive. - continue; - duAppendBoxWire(dd, tile->header->bmin[0] + n->bmin[0]*cs, - tile->header->bmin[1] + n->bmin[1]*cs, - tile->header->bmin[2] + n->bmin[2]*cs, - tile->header->bmin[0] + n->bmax[0]*cs, - tile->header->bmin[1] + n->bmax[1]*cs, - tile->header->bmin[2] + n->bmax[2]*cs, - duRGBA(255,255,255,128)); - } - dd->end(); -} - -void duDebugDrawNavMeshBVTree(duDebugDraw* dd, const dtNavMesh& mesh) -{ - if (!dd) return; - - for (int i = 0; i < mesh.getMaxTiles(); ++i) - { - const dtMeshTile* tile = mesh.getTile(i); - if (!tile->header) continue; - drawMeshTileBVTree(dd, tile); - } -} - -static void drawMeshTilePortal(duDebugDraw* dd, const dtMeshTile* tile) -{ - // Draw portals - const float padx = 0.04f; - const float pady = tile->header->walkableClimb; - - dd->begin(DU_DRAW_LINES, 2.0f); - - for (int side = 0; side < 8; ++side) - { - unsigned short m = DT_EXT_LINK | (unsigned short)side; - - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* poly = &tile->polys[i]; - - // Create new links. - const int nv = poly->vertCount; - for (int j = 0; j < nv; ++j) - { - // Skip edges which do not point to the right side. - if (poly->neis[j] != m) - continue; - - // Create new links - const float* va = &tile->verts[poly->verts[j]*3]; - const float* vb = &tile->verts[poly->verts[(j+1) % nv]*3]; - - if (side == 0 || side == 4) - { - unsigned int col = side == 0 ? duRGBA(128,0,0,128) : duRGBA(128,0,128,128); - - const float x = va[0] + ((side == 0) ? -padx : padx); - - dd->vertex(x,va[1]-pady,va[2], col); - dd->vertex(x,va[1]+pady,va[2], col); - - dd->vertex(x,va[1]+pady,va[2], col); - dd->vertex(x,vb[1]+pady,vb[2], col); - - dd->vertex(x,vb[1]+pady,vb[2], col); - dd->vertex(x,vb[1]-pady,vb[2], col); - - dd->vertex(x,vb[1]-pady,vb[2], col); - dd->vertex(x,va[1]-pady,va[2], col); - } - else if (side == 2 || side == 6) - { - unsigned int col = side == 2 ? duRGBA(0,128,0,128) : duRGBA(0,128,128,128); - - const float z = va[2] + ((side == 2) ? -padx : padx); - - dd->vertex(va[0],va[1]-pady,z, col); - dd->vertex(va[0],va[1]+pady,z, col); - - dd->vertex(va[0],va[1]+pady,z, col); - dd->vertex(vb[0],vb[1]+pady,z, col); - - dd->vertex(vb[0],vb[1]+pady,z, col); - dd->vertex(vb[0],vb[1]-pady,z, col); - - dd->vertex(vb[0],vb[1]-pady,z, col); - dd->vertex(va[0],va[1]-pady,z, col); - } - - } - } - } - - dd->end(); -} - -void duDebugDrawNavMeshPortals(duDebugDraw* dd, const dtNavMesh& mesh) -{ - if (!dd) return; - - for (int i = 0; i < mesh.getMaxTiles(); ++i) - { - const dtMeshTile* tile = mesh.getTile(i); - if (!tile->header) continue; - drawMeshTilePortal(dd, tile); - } -} - -void duDebugDrawNavMeshPolysWithFlags(struct duDebugDraw* dd, const dtNavMesh& mesh, - const unsigned short polyFlags, const unsigned int col) -{ - if (!dd) return; - - for (int i = 0; i < mesh.getMaxTiles(); ++i) - { - const dtMeshTile* tile = mesh.getTile(i); - if (!tile->header) continue; - dtPolyRef base = mesh.getPolyRefBase(tile); - - for (int j = 0; j < tile->header->polyCount; ++j) - { - const dtPoly* p = &tile->polys[j]; - if ((p->flags & polyFlags) == 0) continue; - duDebugDrawNavMeshPoly(dd, mesh, base|(dtPolyRef)j, col); - } - } -} - -void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef ref, const unsigned int col) -{ - if (!dd) return; - - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - if (dtStatusFailed(mesh.getTileAndPolyByRef(ref, &tile, &poly))) - return; - - dd->depthMask(false); - - const unsigned int c = duTransCol(col, 64); - const unsigned int ip = (unsigned int)(poly - tile->polys); - - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - dtOffMeshConnection* con = &tile->offMeshCons[ip - tile->header->offMeshBase]; - - dd->begin(DU_DRAW_LINES, 2.0f); - - // Connection arc. - duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f, - (con->flags & 1) ? 0.6f : 0.0f, 0.6f, c); - - dd->end(); - } - else - { - const dtPolyDetail* pd = &tile->detailMeshes[ip]; - - dd->begin(DU_DRAW_TRIS); - for (int i = 0; i < pd->triCount; ++i) - { - const unsigned char* t = &tile->detailTris[(pd->triBase+i)*4]; - for (int j = 0; j < 3; ++j) - { - if (t[j] < poly->vertCount) - dd->vertex(&tile->verts[poly->verts[t[j]]*3], c); - else - dd->vertex(&tile->detailVerts[(pd->vertBase+t[j]-poly->vertCount)*3], c); - } - } - dd->end(); - } - - dd->depthMask(true); - -} - -static void debugDrawTileCachePortals(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch) -{ - const int w = (int)layer.header->width; - const int h = (int)layer.header->height; - const float* bmin = layer.header->bmin; - - // Portals - unsigned int pcol = duRGBA(255,255,255,255); - - const int segs[4*4] = {0,0,0,1, 0,1,1,1, 1,1,1,0, 1,0,0,0}; - - // Layer portals - dd->begin(DU_DRAW_LINES, 2.0f); - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int idx = x+y*w; - const int lh = (int)layer.heights[idx]; - if (lh == 0xff) continue; - - for (int dir = 0; dir < 4; ++dir) - { - if (layer.cons[idx] & (1<<(dir+4))) - { - const int* seg = &segs[dir*4]; - const float ax = bmin[0] + (x+seg[0])*cs; - const float ay = bmin[1] + (lh+2)*ch; - const float az = bmin[2] + (y+seg[1])*cs; - const float bx = bmin[0] + (x+seg[2])*cs; - const float by = bmin[1] + (lh+2)*ch; - const float bz = bmin[2] + (y+seg[3])*cs; - dd->vertex(ax, ay, az, pcol); - dd->vertex(bx, by, bz, pcol); - } - } - } - } - dd->end(); -} - -void duDebugDrawTileCacheLayerAreas(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch) -{ - const int w = (int)layer.header->width; - const int h = (int)layer.header->height; - const float* bmin = layer.header->bmin; - const float* bmax = layer.header->bmax; - const int idx = layer.header->tlayer; - - unsigned int color = duIntToCol(idx+1, 255); - - // Layer bounds - float lbmin[3], lbmax[3]; - lbmin[0] = bmin[0] + layer.header->minx*cs; - lbmin[1] = bmin[1]; - lbmin[2] = bmin[2] + layer.header->miny*cs; - lbmax[0] = bmin[0] + (layer.header->maxx+1)*cs; - lbmax[1] = bmax[1]; - lbmax[2] = bmin[2] + (layer.header->maxy+1)*cs; - duDebugDrawBoxWire(dd, lbmin[0],lbmin[1],lbmin[2], lbmax[0],lbmax[1],lbmax[2], duTransCol(color,128), 2.0f); - - // Layer height - dd->begin(DU_DRAW_QUADS); - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int lidx = x+y*w; - const int lh = (int)layer.heights[lidx]; - if (lh == 0xff) continue; - - const unsigned char area = layer.areas[lidx]; - unsigned int col; - if (area == 63) - col = duLerpCol(color, duRGBA(0,192,255,64), 32); - else if (area == 0) - col = duLerpCol(color, duRGBA(0,0,0,64), 32); - else - col = duLerpCol(color, dd->areaToCol(area), 32); - - const float fx = bmin[0] + x*cs; - const float fy = bmin[1] + (lh+1)*ch; - const float fz = bmin[2] + y*cs; - - dd->vertex(fx, fy, fz, col); - dd->vertex(fx, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz, col); - } - } - dd->end(); - - debugDrawTileCachePortals(dd, layer, cs, ch); -} - -void duDebugDrawTileCacheLayerRegions(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch) -{ - const int w = (int)layer.header->width; - const int h = (int)layer.header->height; - const float* bmin = layer.header->bmin; - const float* bmax = layer.header->bmax; - const int idx = layer.header->tlayer; - - unsigned int color = duIntToCol(idx+1, 255); - - // Layer bounds - float lbmin[3], lbmax[3]; - lbmin[0] = bmin[0] + layer.header->minx*cs; - lbmin[1] = bmin[1]; - lbmin[2] = bmin[2] + layer.header->miny*cs; - lbmax[0] = bmin[0] + (layer.header->maxx+1)*cs; - lbmax[1] = bmax[1]; - lbmax[2] = bmin[2] + (layer.header->maxy+1)*cs; - duDebugDrawBoxWire(dd, lbmin[0],lbmin[1],lbmin[2], lbmax[0],lbmax[1],lbmax[2], duTransCol(color,128), 2.0f); - - // Layer height - dd->begin(DU_DRAW_QUADS); - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int lidx = x+y*w; - const int lh = (int)layer.heights[lidx]; - if (lh == 0xff) continue; - const unsigned char reg = layer.regs[lidx]; - - unsigned int col = duLerpCol(color, duIntToCol(reg, 255), 192); - - const float fx = bmin[0] + x*cs; - const float fy = bmin[1] + (lh+1)*ch; - const float fz = bmin[2] + y*cs; - - dd->vertex(fx, fy, fz, col); - dd->vertex(fx, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz, col); - } - } - dd->end(); - - debugDrawTileCachePortals(dd, layer, cs, ch); -} - - - - -/*struct dtTileCacheContour -{ - int nverts; - unsigned char* verts; - unsigned char reg; - unsigned char area; -}; - -struct dtTileCacheContourSet -{ - int nconts; - dtTileCacheContour* conts; -};*/ - -void duDebugDrawTileCacheContours(duDebugDraw* dd, const struct dtTileCacheContourSet& lcset, - const float* orig, const float cs, const float ch) -{ - if (!dd) return; - - const unsigned char a = 255;// (unsigned char)(alpha*255.0f); - - const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; - - dd->begin(DU_DRAW_LINES, 2.0f); - - for (int i = 0; i < lcset.nconts; ++i) - { - const dtTileCacheContour& c = lcset.conts[i]; - unsigned int color = 0; - - color = duIntToCol(i, a); - - for (int j = 0; j < c.nverts; ++j) - { - const int k = (j+1) % c.nverts; - const unsigned char* va = &c.verts[j*4]; - const unsigned char* vb = &c.verts[k*4]; - const float ax = orig[0] + va[0]*cs; - const float ay = orig[1] + (va[1]+1+(i&1))*ch; - const float az = orig[2] + va[2]*cs; - const float bx = orig[0] + vb[0]*cs; - const float by = orig[1] + (vb[1]+1+(i&1))*ch; - const float bz = orig[2] + vb[2]*cs; - unsigned int col = color; - if ((va[3] & 0xf) != 0xf) - { - // Portal segment - col = duRGBA(255,255,255,128); - int d = va[3] & 0xf; - - const float cx = (ax+bx)*0.5f; - const float cy = (ay+by)*0.5f; - const float cz = (az+bz)*0.5f; - - const float dx = cx + offs[d*2+0]*2*cs; - const float dy = cy; - const float dz = cz + offs[d*2+1]*2*cs; - - dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); - dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); - } - - duAppendArrow(dd, ax,ay,az, bx,by,bz, 0.0f, cs*0.5f, col); - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 4.0f); - - for (int i = 0; i < lcset.nconts; ++i) - { - const dtTileCacheContour& c = lcset.conts[i]; - unsigned int color = 0; - - for (int j = 0; j < c.nverts; ++j) - { - const unsigned char* va = &c.verts[j*4]; - - color = duDarkenCol(duIntToCol(i, a)); - if (va[3] & 0x80) - { - // Border vertex - color = duRGBA(255,0,0,255); - } - - float fx = orig[0] + va[0]*cs; - float fy = orig[1] + (va[1]+1+(i&1))*ch; - float fz = orig[2] + va[2]*cs; - dd->vertex(fx,fy,fz, color); - } - } - dd->end(); -} - -void duDebugDrawTileCachePolyMesh(duDebugDraw* dd, const struct dtTileCachePolyMesh& lmesh, - const float* orig, const float cs, const float ch) -{ - if (!dd) return; - - const int nvp = lmesh.nvp; - - const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; - - dd->begin(DU_DRAW_TRIS); - - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - const unsigned char area = lmesh.areas[i]; - - unsigned int color; - if (area == DT_TILECACHE_WALKABLE_AREA) - color = duRGBA(0,192,255,64); - else if (area == DT_TILECACHE_NULL_AREA) - color = duRGBA(0,0,0,64); - else - color = dd->areaToCol(area); - - unsigned short vi[3]; - for (int j = 2; j < nvp; ++j) - { - if (p[j] == DT_TILECACHE_NULL_IDX) break; - vi[0] = p[0]; - vi[1] = p[j-1]; - vi[2] = p[j]; - for (int k = 0; k < 3; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, color); - } - } - } - dd->end(); - - // Draw neighbours edges - const unsigned int coln = duRGBA(0,48,64,32); - dd->begin(DU_DRAW_LINES, 1.5f); - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == DT_TILECACHE_NULL_IDX) break; - if (p[nvp+j] & 0x8000) continue; - const int nj = (j+1 >= nvp || p[j+1] == DT_TILECACHE_NULL_IDX) ? 0 : j+1; - int vi[2] = {p[j], p[nj]}; - - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, coln); - } - } - } - dd->end(); - - // Draw boundary edges - const unsigned int colb = duRGBA(0,48,64,220); - dd->begin(DU_DRAW_LINES, 2.5f); - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == DT_TILECACHE_NULL_IDX) break; - if ((p[nvp+j] & 0x8000) == 0) continue; - const int nj = (j+1 >= nvp || p[j+1] == DT_TILECACHE_NULL_IDX) ? 0 : j+1; - int vi[2] = {p[j], p[nj]}; - - unsigned int col = colb; - if ((p[nvp+j] & 0xf) != 0xf) - { - const unsigned short* va = &lmesh.verts[vi[0]*3]; - const unsigned short* vb = &lmesh.verts[vi[1]*3]; - - const float ax = orig[0] + va[0]*cs; - const float ay = orig[1] + (va[1]+1+(i&1))*ch; - const float az = orig[2] + va[2]*cs; - const float bx = orig[0] + vb[0]*cs; - const float by = orig[1] + (vb[1]+1+(i&1))*ch; - const float bz = orig[2] + vb[2]*cs; - - const float cx = (ax+bx)*0.5f; - const float cy = (ay+by)*0.5f; - const float cz = (az+bz)*0.5f; - - int d = p[nvp+j] & 0xf; - - const float dx = cx + offs[d*2+0]*2*cs; - const float dy = cy; - const float dz = cz + offs[d*2+1]*2*cs; - - dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); - dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); - - col = duRGBA(255,255,255,128); - } - - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, col); - } - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 3.0f); - const unsigned int colv = duRGBA(0,0,0,220); - for (int i = 0; i < lmesh.nverts; ++i) - { - const unsigned short* v = &lmesh.verts[i*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, colv); - } - dd->end(); -} - - - diff --git a/libs/recast/debug_utils/src/RecastDebugDraw.cpp b/libs/recast/debug_utils/src/RecastDebugDraw.cpp deleted file mode 100644 index c1a73a168..000000000 --- a/libs/recast/debug_utils/src/RecastDebugDraw.cpp +++ /dev/null @@ -1,1064 +0,0 @@ -// -// Copyright (c) 2009-2010 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. -// - -#define _USE_MATH_DEFINES -#include -#include "DebugDraw.h" -#include "RecastDebugDraw.h" -#include "Recast.h" - -void duDebugDrawTriMesh(duDebugDraw* dd, const float* verts, int /*nverts*/, - const int* tris, const float* normals, int ntris, - const unsigned char* flags, const float texScale) -{ - if (!dd) return; - if (!verts) return; - if (!tris) return; - if (!normals) return; - - float uva[2]; - float uvb[2]; - float uvc[2]; - - const unsigned int unwalkable = duRGBA(192,128,0,255); - - dd->texture(true); - - dd->begin(DU_DRAW_TRIS); - for (int i = 0; i < ntris*3; i += 3) - { - const float* norm = &normals[i]; - unsigned int color; - unsigned char a = (unsigned char)(220*(2+norm[0]+norm[1])/4); - if (flags && !flags[i/3]) - color = duLerpCol(duRGBA(a,a,a,255), unwalkable, 64); - else - color = duRGBA(a,a,a,255); - - const float* va = &verts[tris[i+0]*3]; - const float* vb = &verts[tris[i+1]*3]; - const float* vc = &verts[tris[i+2]*3]; - - int ax = 0, ay = 0; - if (rcAbs(norm[1]) > rcAbs(norm[ax])) - ax = 1; - if (rcAbs(norm[2]) > rcAbs(norm[ax])) - ax = 2; - ax = (1<vertex(va, color, uva); - dd->vertex(vb, color, uvb); - dd->vertex(vc, color, uvc); - } - dd->end(); - dd->texture(false); -} - -void duDebugDrawTriMeshSlope(duDebugDraw* dd, const float* verts, int /*nverts*/, - const int* tris, const float* normals, int ntris, - const float walkableSlopeAngle, const float texScale) -{ - if (!dd) return; - if (!verts) return; - if (!tris) return; - if (!normals) return; - - const float walkableThr = cosf(walkableSlopeAngle/180.0f*DU_PI); - - float uva[2]; - float uvb[2]; - float uvc[2]; - - dd->texture(true); - - const unsigned int unwalkable = duRGBA(192,128,0,255); - - dd->begin(DU_DRAW_TRIS); - for (int i = 0; i < ntris*3; i += 3) - { - const float* norm = &normals[i]; - unsigned int color; - unsigned char a = (unsigned char)(220*(2+norm[0]+norm[1])/4); - if (norm[1] < walkableThr) - color = duLerpCol(duRGBA(a,a,a,255), unwalkable, 64); - else - color = duRGBA(a,a,a,255); - - const float* va = &verts[tris[i+0]*3]; - const float* vb = &verts[tris[i+1]*3]; - const float* vc = &verts[tris[i+2]*3]; - - int ax = 0, ay = 0; - if (rcAbs(norm[1]) > rcAbs(norm[ax])) - ax = 1; - if (rcAbs(norm[2]) > rcAbs(norm[ax])) - ax = 2; - ax = (1<vertex(va, color, uva); - dd->vertex(vb, color, uvb); - dd->vertex(vc, color, uvc); - } - dd->end(); - - dd->texture(false); -} - -void duDebugDrawHeightfieldSolid(duDebugDraw* dd, const rcHeightfield& hf) -{ - if (!dd) return; - - const float* orig = hf.bmin; - const float cs = hf.cs; - const float ch = hf.ch; - - const int w = hf.width; - const int h = hf.height; - - unsigned int fcol[6]; - duCalcBoxColors(fcol, duRGBA(255,255,255,255), duRGBA(255,255,255,255)); - - dd->begin(DU_DRAW_QUADS); - - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - float fx = orig[0] + x*cs; - float fz = orig[2] + y*cs; - const rcSpan* s = hf.spans[x + y*w]; - while (s) - { - duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, fcol); - s = s->next; - } - } - } - dd->end(); -} - -void duDebugDrawHeightfieldWalkable(duDebugDraw* dd, const rcHeightfield& hf) -{ - if (!dd) return; - - const float* orig = hf.bmin; - const float cs = hf.cs; - const float ch = hf.ch; - - const int w = hf.width; - const int h = hf.height; - - unsigned int fcol[6]; - duCalcBoxColors(fcol, duRGBA(255,255,255,255), duRGBA(217,217,217,255)); - - dd->begin(DU_DRAW_QUADS); - - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - float fx = orig[0] + x*cs; - float fz = orig[2] + y*cs; - const rcSpan* s = hf.spans[x + y*w]; - while (s) - { - if (s->area == RC_WALKABLE_AREA) - fcol[0] = duRGBA(64,128,160,255); - else if (s->area == RC_NULL_AREA) - fcol[0] = duRGBA(64,64,64,255); - else - fcol[0] = duMultCol(dd->areaToCol(s->area), 200); - - duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, fcol); - s = s->next; - } - } - } - - dd->end(); -} - -void duDebugDrawCompactHeightfieldSolid(duDebugDraw* dd, const rcCompactHeightfield& chf) -{ - if (!dd) return; - - const float cs = chf.cs; - const float ch = chf.ch; - - dd->begin(DU_DRAW_QUADS); - - for (int y = 0; y < chf.height; ++y) - { - for (int x = 0; x < chf.width; ++x) - { - const float fx = chf.bmin[0] + x*cs; - const float fz = chf.bmin[2] + y*cs; - const rcCompactCell& c = chf.cells[x+y*chf.width]; - - for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) - { - const rcCompactSpan& s = chf.spans[i]; - - const unsigned char area = chf.areas[i]; - unsigned int color; - if (area == RC_WALKABLE_AREA) - color = duRGBA(0,192,255,64); - else if (area == RC_NULL_AREA) - color = duRGBA(0,0,0,64); - else - color = dd->areaToCol(area); - - const float fy = chf.bmin[1] + (s.y+1)*ch; - dd->vertex(fx, fy, fz, color); - dd->vertex(fx, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz, color); - } - } - } - dd->end(); -} - -void duDebugDrawCompactHeightfieldRegions(duDebugDraw* dd, const rcCompactHeightfield& chf) -{ - if (!dd) return; - - const float cs = chf.cs; - const float ch = chf.ch; - - dd->begin(DU_DRAW_QUADS); - - for (int y = 0; y < chf.height; ++y) - { - for (int x = 0; x < chf.width; ++x) - { - const float fx = chf.bmin[0] + x*cs; - const float fz = chf.bmin[2] + y*cs; - const rcCompactCell& c = chf.cells[x+y*chf.width]; - - for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) - { - const rcCompactSpan& s = chf.spans[i]; - const float fy = chf.bmin[1] + (s.y)*ch; - unsigned int color; - if (s.reg) - color = duIntToCol(s.reg, 192); - else - color = duRGBA(0,0,0,64); - - dd->vertex(fx, fy, fz, color); - dd->vertex(fx, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz, color); - } - } - } - - dd->end(); -} - - -void duDebugDrawCompactHeightfieldDistance(duDebugDraw* dd, const rcCompactHeightfield& chf) -{ - if (!dd) return; - if (!chf.dist) return; - - const float cs = chf.cs; - const float ch = chf.ch; - - float maxd = chf.maxDistance; - if (maxd < 1.0f) maxd = 1; - const float dscale = 255.0f / maxd; - - dd->begin(DU_DRAW_QUADS); - - for (int y = 0; y < chf.height; ++y) - { - for (int x = 0; x < chf.width; ++x) - { - const float fx = chf.bmin[0] + x*cs; - const float fz = chf.bmin[2] + y*cs; - const rcCompactCell& c = chf.cells[x+y*chf.width]; - - for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) - { - const rcCompactSpan& s = chf.spans[i]; - const float fy = chf.bmin[1] + (s.y+1)*ch; - const unsigned char cd = (unsigned char)(chf.dist[i] * dscale); - const unsigned int color = duRGBA(cd,cd,cd,255); - dd->vertex(fx, fy, fz, color); - dd->vertex(fx, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz, color); - } - } - } - dd->end(); -} - -static void drawLayerPortals(duDebugDraw* dd, const rcHeightfieldLayer* layer) -{ - const float cs = layer->cs; - const float ch = layer->ch; - const int w = layer->width; - const int h = layer->height; - - unsigned int pcol = duRGBA(255,255,255,255); - - const int segs[4*4] = {0,0,0,1, 0,1,1,1, 1,1,1,0, 1,0,0,0}; - - // Layer portals - dd->begin(DU_DRAW_LINES, 2.0f); - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int idx = x+y*w; - const int lh = (int)layer->heights[idx]; - if (lh == 255) continue; - - for (int dir = 0; dir < 4; ++dir) - { - if (layer->cons[idx] & (1<<(dir+4))) - { - const int* seg = &segs[dir*4]; - const float ax = layer->bmin[0] + (x+seg[0])*cs; - const float ay = layer->bmin[1] + (lh+2)*ch; - const float az = layer->bmin[2] + (y+seg[1])*cs; - const float bx = layer->bmin[0] + (x+seg[2])*cs; - const float by = layer->bmin[1] + (lh+2)*ch; - const float bz = layer->bmin[2] + (y+seg[3])*cs; - dd->vertex(ax, ay, az, pcol); - dd->vertex(bx, by, bz, pcol); - } - } - } - } - dd->end(); -} - -void duDebugDrawHeightfieldLayer(duDebugDraw* dd, const struct rcHeightfieldLayer& layer, const int idx) -{ - const float cs = layer.cs; - const float ch = layer.ch; - const int w = layer.width; - const int h = layer.height; - - unsigned int color = duIntToCol(idx+1, 255); - - // Layer bounds - float bmin[3], bmax[3]; - bmin[0] = layer.bmin[0] + layer.minx*cs; - bmin[1] = layer.bmin[1]; - bmin[2] = layer.bmin[2] + layer.miny*cs; - bmax[0] = layer.bmin[0] + (layer.maxx+1)*cs; - bmax[1] = layer.bmax[1]; - bmax[2] = layer.bmin[2] + (layer.maxy+1)*cs; - duDebugDrawBoxWire(dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duTransCol(color,128), 2.0f); - - // Layer height - dd->begin(DU_DRAW_QUADS); - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int lidx = x+y*w; - const int lh = (int)layer.heights[lidx]; - if (h == 0xff) continue; - const unsigned char area = layer.areas[lidx]; - - unsigned int col; - if (area == RC_WALKABLE_AREA) - col = duLerpCol(color, duRGBA(0,192,255,64), 32); - else if (area == RC_NULL_AREA) - col = duLerpCol(color, duRGBA(0,0,0,64), 32); - else - col = duLerpCol(color, dd->areaToCol(area), 32); - - const float fx = layer.bmin[0] + x*cs; - const float fy = layer.bmin[1] + (lh+1)*ch; - const float fz = layer.bmin[2] + y*cs; - - dd->vertex(fx, fy, fz, col); - dd->vertex(fx, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz, col); - } - } - dd->end(); - - // Portals - drawLayerPortals(dd, &layer); -} - -void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset) -{ - if (!dd) return; - for (int i = 0; i < lset.nlayers; ++i) - duDebugDrawHeightfieldLayer(dd, lset.layers[i], i); -} - -/* -void duDebugDrawLayerContours(duDebugDraw* dd, const struct rcLayerContourSet& lcset) -{ - if (!dd) return; - - const float* orig = lcset.bmin; - const float cs = lcset.cs; - const float ch = lcset.ch; - - const unsigned char a = 255;// (unsigned char)(alpha*255.0f); - - const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; - - dd->begin(DU_DRAW_LINES, 2.0f); - - for (int i = 0; i < lcset.nconts; ++i) - { - const rcLayerContour& c = lcset.conts[i]; - unsigned int color = 0; - - color = duIntToCol(i, a); - - for (int j = 0; j < c.nverts; ++j) - { - const int k = (j+1) % c.nverts; - const unsigned char* va = &c.verts[j*4]; - const unsigned char* vb = &c.verts[k*4]; - const float ax = orig[0] + va[0]*cs; - const float ay = orig[1] + (va[1]+1+(i&1))*ch; - const float az = orig[2] + va[2]*cs; - const float bx = orig[0] + vb[0]*cs; - const float by = orig[1] + (vb[1]+1+(i&1))*ch; - const float bz = orig[2] + vb[2]*cs; - unsigned int col = color; - if ((va[3] & 0xf) != 0xf) - { - col = duRGBA(255,255,255,128); - int d = va[3] & 0xf; - - const float cx = (ax+bx)*0.5f; - const float cy = (ay+by)*0.5f; - const float cz = (az+bz)*0.5f; - - const float dx = cx + offs[d*2+0]*2*cs; - const float dy = cy; - const float dz = cz + offs[d*2+1]*2*cs; - - dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); - dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); - } - - duAppendArrow(dd, ax,ay,az, bx,by,bz, 0.0f, cs*0.5f, col); - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 4.0f); - - for (int i = 0; i < lcset.nconts; ++i) - { - const rcLayerContour& c = lcset.conts[i]; - unsigned int color = 0; - - for (int j = 0; j < c.nverts; ++j) - { - const unsigned char* va = &c.verts[j*4]; - - color = duDarkenCol(duIntToCol(i, a)); - if (va[3] & 0x80) - color = duRGBA(255,0,0,255); - - float fx = orig[0] + va[0]*cs; - float fy = orig[1] + (va[1]+1+(i&1))*ch; - float fz = orig[2] + va[2]*cs; - dd->vertex(fx,fy,fz, color); - } - } - dd->end(); -} - -void duDebugDrawLayerPolyMesh(duDebugDraw* dd, const struct rcLayerPolyMesh& lmesh) -{ - if (!dd) return; - - const int nvp = lmesh.nvp; - const float cs = lmesh.cs; - const float ch = lmesh.ch; - const float* orig = lmesh.bmin; - - const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; - - dd->begin(DU_DRAW_TRIS); - - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - - unsigned int color; - if (lmesh.areas[i] == RC_WALKABLE_AREA) - color = duRGBA(0,192,255,64); - else if (lmesh.areas[i] == RC_NULL_AREA) - color = duRGBA(0,0,0,64); - else - color = duIntToCol(lmesh.areas[i], 255); - - unsigned short vi[3]; - for (int j = 2; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - vi[0] = p[0]; - vi[1] = p[j-1]; - vi[2] = p[j]; - for (int k = 0; k < 3; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, color); - } - } - } - dd->end(); - - // Draw neighbours edges - const unsigned int coln = duRGBA(0,48,64,32); - dd->begin(DU_DRAW_LINES, 1.5f); - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - if (p[nvp+j] & 0x8000) continue; - const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; - int vi[2] = {p[j], p[nj]}; - - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, coln); - } - } - } - dd->end(); - - // Draw boundary edges - const unsigned int colb = duRGBA(0,48,64,220); - dd->begin(DU_DRAW_LINES, 2.5f); - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - if ((p[nvp+j] & 0x8000) == 0) continue; - const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; - int vi[2] = {p[j], p[nj]}; - - unsigned int col = colb; - if ((p[nvp+j] & 0xf) != 0xf) - { - const unsigned short* va = &lmesh.verts[vi[0]*3]; - const unsigned short* vb = &lmesh.verts[vi[1]*3]; - - const float ax = orig[0] + va[0]*cs; - const float ay = orig[1] + (va[1]+1+(i&1))*ch; - const float az = orig[2] + va[2]*cs; - const float bx = orig[0] + vb[0]*cs; - const float by = orig[1] + (vb[1]+1+(i&1))*ch; - const float bz = orig[2] + vb[2]*cs; - - const float cx = (ax+bx)*0.5f; - const float cy = (ay+by)*0.5f; - const float cz = (az+bz)*0.5f; - - int d = p[nvp+j] & 0xf; - - const float dx = cx + offs[d*2+0]*2*cs; - const float dy = cy; - const float dz = cz + offs[d*2+1]*2*cs; - - dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); - dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); - - col = duRGBA(255,255,255,128); - } - - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, col); - } - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 3.0f); - const unsigned int colv = duRGBA(0,0,0,220); - for (int i = 0; i < lmesh.nverts; ++i) - { - const unsigned short* v = &lmesh.verts[i*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, colv); - } - dd->end(); -} -*/ - -static void getContourCenter(const rcContour* cont, const float* orig, float cs, float ch, float* center) -{ - center[0] = 0; - center[1] = 0; - center[2] = 0; - if (!cont->nverts) - return; - for (int i = 0; i < cont->nverts; ++i) - { - const int* v = &cont->verts[i*4]; - center[0] += (float)v[0]; - center[1] += (float)v[1]; - center[2] += (float)v[2]; - } - const float s = 1.0f / cont->nverts; - center[0] *= s * cs; - center[1] *= s * ch; - center[2] *= s * cs; - center[0] += orig[0]; - center[1] += orig[1] + 4*ch; - center[2] += orig[2]; -} - -static const rcContour* findContourFromSet(const rcContourSet& cset, unsigned short reg) -{ - for (int i = 0; i < cset.nconts; ++i) - { - if (cset.conts[i].reg == reg) - return &cset.conts[i]; - } - return 0; -} - -void duDebugDrawRegionConnections(duDebugDraw* dd, const rcContourSet& cset, const float alpha) -{ - if (!dd) return; - - const float* orig = cset.bmin; - const float cs = cset.cs; - const float ch = cset.ch; - - // Draw centers - float pos[3], pos2[3]; - - unsigned int color = duRGBA(0,0,0,196); - - dd->begin(DU_DRAW_LINES, 2.0f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour* cont = &cset.conts[i]; - getContourCenter(cont, orig, cs, ch, pos); - for (int j = 0; j < cont->nverts; ++j) - { - const int* v = &cont->verts[j*4]; - if (v[3] == 0 || (unsigned short)v[3] < cont->reg) continue; - const rcContour* cont2 = findContourFromSet(cset, (unsigned short)v[3]); - if (cont2) - { - getContourCenter(cont2, orig, cs, ch, pos2); - duAppendArc(dd, pos[0],pos[1],pos[2], pos2[0],pos2[1],pos2[2], 0.25f, 0.6f, 0.6f, color); - } - } - } - - dd->end(); - - unsigned char a = (unsigned char)(alpha * 255.0f); - - dd->begin(DU_DRAW_POINTS, 7.0f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour* cont = &cset.conts[i]; - unsigned int col = duDarkenCol(duIntToCol(cont->reg,a)); - getContourCenter(cont, orig, cs, ch, pos); - dd->vertex(pos, col); - } - dd->end(); -} - -void duDebugDrawRawContours(duDebugDraw* dd, const rcContourSet& cset, const float alpha) -{ - if (!dd) return; - - const float* orig = cset.bmin; - const float cs = cset.cs; - const float ch = cset.ch; - - const unsigned char a = (unsigned char)(alpha*255.0f); - - dd->begin(DU_DRAW_LINES, 2.0f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour& c = cset.conts[i]; - unsigned int color = duIntToCol(c.reg, a); - - for (int j = 0; j < c.nrverts; ++j) - { - const int* v = &c.rverts[j*4]; - float fx = orig[0] + v[0]*cs; - float fy = orig[1] + (v[1]+1+(i&1))*ch; - float fz = orig[2] + v[2]*cs; - dd->vertex(fx,fy,fz,color); - if (j > 0) - dd->vertex(fx,fy,fz,color); - } - // Loop last segment. - const int* v = &c.rverts[0]; - float fx = orig[0] + v[0]*cs; - float fy = orig[1] + (v[1]+1+(i&1))*ch; - float fz = orig[2] + v[2]*cs; - dd->vertex(fx,fy,fz,color); - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 2.0f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour& c = cset.conts[i]; - unsigned int color = duDarkenCol(duIntToCol(c.reg, a)); - - for (int j = 0; j < c.nrverts; ++j) - { - const int* v = &c.rverts[j*4]; - float off = 0; - unsigned int colv = color; - if (v[3] & RC_BORDER_VERTEX) - { - colv = duRGBA(255,255,255,a); - off = ch*2; - } - - float fx = orig[0] + v[0]*cs; - float fy = orig[1] + (v[1]+1+(i&1))*ch + off; - float fz = orig[2] + v[2]*cs; - dd->vertex(fx,fy,fz, colv); - } - } - dd->end(); -} - -void duDebugDrawContours(duDebugDraw* dd, const rcContourSet& cset, const float alpha) -{ - if (!dd) return; - - const float* orig = cset.bmin; - const float cs = cset.cs; - const float ch = cset.ch; - - const unsigned char a = (unsigned char)(alpha*255.0f); - - dd->begin(DU_DRAW_LINES, 2.5f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour& c = cset.conts[i]; - if (!c.nverts) - continue; - const unsigned int color = duIntToCol(c.reg, a); - const unsigned int bcolor = duLerpCol(color,duRGBA(255,255,255,a),128); - for (int j = 0, k = c.nverts-1; j < c.nverts; k=j++) - { - const int* va = &c.verts[k*4]; - const int* vb = &c.verts[j*4]; - unsigned int col = (va[3] & RC_AREA_BORDER) ? bcolor : color; - float fx,fy,fz; - fx = orig[0] + va[0]*cs; - fy = orig[1] + (va[1]+1+(i&1))*ch; - fz = orig[2] + va[2]*cs; - dd->vertex(fx,fy,fz, col); - fx = orig[0] + vb[0]*cs; - fy = orig[1] + (vb[1]+1+(i&1))*ch; - fz = orig[2] + vb[2]*cs; - dd->vertex(fx,fy,fz, col); - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 3.0f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour& c = cset.conts[i]; - unsigned int color = duDarkenCol(duIntToCol(c.reg, a)); - for (int j = 0; j < c.nverts; ++j) - { - const int* v = &c.verts[j*4]; - float off = 0; - unsigned int colv = color; - if (v[3] & RC_BORDER_VERTEX) - { - colv = duRGBA(255,255,255,a); - off = ch*2; - } - - float fx = orig[0] + v[0]*cs; - float fy = orig[1] + (v[1]+1+(i&1))*ch + off; - float fz = orig[2] + v[2]*cs; - dd->vertex(fx,fy,fz, colv); - } - } - dd->end(); -} - -void duDebugDrawPolyMesh(duDebugDraw* dd, const struct rcPolyMesh& mesh) -{ - if (!dd) return; - - const int nvp = mesh.nvp; - const float cs = mesh.cs; - const float ch = mesh.ch; - const float* orig = mesh.bmin; - - dd->begin(DU_DRAW_TRIS); - - for (int i = 0; i < mesh.npolys; ++i) - { - const unsigned short* p = &mesh.polys[i*nvp*2]; - const unsigned char area = mesh.areas[i]; - - unsigned int color; - if (area == RC_WALKABLE_AREA) - color = duRGBA(0,192,255,64); - else if (area == RC_NULL_AREA) - color = duRGBA(0,0,0,64); - else - color = dd->areaToCol(area); - - unsigned short vi[3]; - for (int j = 2; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - vi[0] = p[0]; - vi[1] = p[j-1]; - vi[2] = p[j]; - for (int k = 0; k < 3; ++k) - { - const unsigned short* v = &mesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, color); - } - } - } - dd->end(); - - // Draw neighbours edges - const unsigned int coln = duRGBA(0,48,64,32); - dd->begin(DU_DRAW_LINES, 1.5f); - for (int i = 0; i < mesh.npolys; ++i) - { - const unsigned short* p = &mesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - if (p[nvp+j] & 0x8000) continue; - const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; - const int vi[2] = {p[j], p[nj]}; - - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &mesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, coln); - } - } - } - dd->end(); - - // Draw boundary edges - const unsigned int colb = duRGBA(0,48,64,220); - dd->begin(DU_DRAW_LINES, 2.5f); - for (int i = 0; i < mesh.npolys; ++i) - { - const unsigned short* p = &mesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - if ((p[nvp+j] & 0x8000) == 0) continue; - const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; - const int vi[2] = {p[j], p[nj]}; - - unsigned int col = colb; - if ((p[nvp+j] & 0xf) != 0xf) - col = duRGBA(255,255,255,128); - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &mesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, col); - } - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 3.0f); - const unsigned int colv = duRGBA(0,0,0,220); - for (int i = 0; i < mesh.nverts; ++i) - { - const unsigned short* v = &mesh.verts[i*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, colv); - } - dd->end(); -} - -void duDebugDrawPolyMeshDetail(duDebugDraw* dd, const struct rcPolyMeshDetail& dmesh) -{ - if (!dd) return; - - dd->begin(DU_DRAW_TRIS); - - for (int i = 0; i < dmesh.nmeshes; ++i) - { - const unsigned int* m = &dmesh.meshes[i*4]; - const unsigned int bverts = m[0]; - const unsigned int btris = m[2]; - const int ntris = (int)m[3]; - const float* verts = &dmesh.verts[bverts*3]; - const unsigned char* tris = &dmesh.tris[btris*4]; - - unsigned int color = duIntToCol(i, 192); - - for (int j = 0; j < ntris; ++j) - { - dd->vertex(&verts[tris[j*4+0]*3], color); - dd->vertex(&verts[tris[j*4+1]*3], color); - dd->vertex(&verts[tris[j*4+2]*3], color); - } - } - dd->end(); - - // Internal edges. - dd->begin(DU_DRAW_LINES, 1.0f); - const unsigned int coli = duRGBA(0,0,0,64); - for (int i = 0; i < dmesh.nmeshes; ++i) - { - const unsigned int* m = &dmesh.meshes[i*4]; - const unsigned int bverts = m[0]; - const unsigned int btris = m[2]; - const int ntris = (int)m[3]; - const float* verts = &dmesh.verts[bverts*3]; - const unsigned char* tris = &dmesh.tris[btris*4]; - - for (int j = 0; j < ntris; ++j) - { - const unsigned char* t = &tris[j*4]; - for (int k = 0, kp = 2; k < 3; kp=k++) - { - unsigned char ef = (t[3] >> (kp*2)) & 0x3; - if (ef == 0) - { - // Internal edge - if (t[kp] < t[k]) - { - dd->vertex(&verts[t[kp]*3], coli); - dd->vertex(&verts[t[k]*3], coli); - } - } - } - } - } - dd->end(); - - // External edges. - dd->begin(DU_DRAW_LINES, 2.0f); - const unsigned int cole = duRGBA(0,0,0,64); - for (int i = 0; i < dmesh.nmeshes; ++i) - { - const unsigned int* m = &dmesh.meshes[i*4]; - const unsigned int bverts = m[0]; - const unsigned int btris = m[2]; - const int ntris = (int)m[3]; - const float* verts = &dmesh.verts[bverts*3]; - const unsigned char* tris = &dmesh.tris[btris*4]; - - for (int j = 0; j < ntris; ++j) - { - const unsigned char* t = &tris[j*4]; - for (int k = 0, kp = 2; k < 3; kp=k++) - { - unsigned char ef = (t[3] >> (kp*2)) & 0x3; - if (ef != 0) - { - // Ext edge - dd->vertex(&verts[t[kp]*3], cole); - dd->vertex(&verts[t[k]*3], cole); - } - } - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 3.0f); - const unsigned int colv = duRGBA(0,0,0,64); - for (int i = 0; i < dmesh.nmeshes; ++i) - { - const unsigned int* m = &dmesh.meshes[i*4]; - const unsigned int bverts = m[0]; - const int nverts = (int)m[1]; - const float* verts = &dmesh.verts[bverts*3]; - for (int j = 0; j < nverts; ++j) - dd->vertex(&verts[j*3], colv); - } - dd->end(); -} diff --git a/libs/recast/debug_utils/src/RecastDump.cpp b/libs/recast/debug_utils/src/RecastDump.cpp deleted file mode 100644 index 209382515..000000000 --- a/libs/recast/debug_utils/src/RecastDump.cpp +++ /dev/null @@ -1,451 +0,0 @@ -// -// Copyright (c) 2009-2010 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. -// - -#define _USE_MATH_DEFINES -#include -#include -#include -#include -#include "Recast.h" -#include "RecastAlloc.h" -#include "RecastDump.h" - - -duFileIO::~duFileIO() -{ - // Empty -} - -static void ioprintf(duFileIO* io, const char* format, ...) -{ - char line[256]; - va_list ap; - va_start(ap, format); - const int n = vsnprintf(line, sizeof(line), format, ap); - va_end(ap); - if (n > 0) - io->write(line, sizeof(char)*n); -} - -bool duDumpPolyMeshToObj(rcPolyMesh& pmesh, duFileIO* io) -{ - if (!io) - { - printf("duDumpPolyMeshToObj: input IO is null.\n"); - return false; - } - if (!io->isWriting()) - { - printf("duDumpPolyMeshToObj: input IO not writing.\n"); - return false; - } - - const int nvp = pmesh.nvp; - const float cs = pmesh.cs; - const float ch = pmesh.ch; - const float* orig = pmesh.bmin; - - ioprintf(io, "# Recast Navmesh\n"); - ioprintf(io, "o NavMesh\n"); - - ioprintf(io, "\n"); - - for (int i = 0; i < pmesh.nverts; ++i) - { - const unsigned short* v = &pmesh.verts[i*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - ioprintf(io, "v %f %f %f\n", x,y,z); - } - - ioprintf(io, "\n"); - - for (int i = 0; i < pmesh.npolys; ++i) - { - const unsigned short* p = &pmesh.polys[i*nvp*2]; - for (int j = 2; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - ioprintf(io, "f %d %d %d\n", p[0]+1, p[j-1]+1, p[j]+1); - } - } - - return true; -} - -bool duDumpPolyMeshDetailToObj(rcPolyMeshDetail& dmesh, duFileIO* io) -{ - if (!io) - { - printf("duDumpPolyMeshDetailToObj: input IO is null.\n"); - return false; - } - if (!io->isWriting()) - { - printf("duDumpPolyMeshDetailToObj: input IO not writing.\n"); - return false; - } - - ioprintf(io, "# Recast Navmesh\n"); - ioprintf(io, "o NavMesh\n"); - - ioprintf(io, "\n"); - - for (int i = 0; i < dmesh.nverts; ++i) - { - const float* v = &dmesh.verts[i*3]; - ioprintf(io, "v %f %f %f\n", v[0],v[1],v[2]); - } - - ioprintf(io, "\n"); - - for (int i = 0; i < dmesh.nmeshes; ++i) - { - const unsigned int* m = &dmesh.meshes[i*4]; - const unsigned int bverts = m[0]; - const unsigned int btris = m[2]; - const unsigned int ntris = m[3]; - const unsigned char* tris = &dmesh.tris[btris*4]; - for (unsigned int j = 0; j < ntris; ++j) - { - ioprintf(io, "f %d %d %d\n", - (int)(bverts+tris[j*4+0])+1, - (int)(bverts+tris[j*4+1])+1, - (int)(bverts+tris[j*4+2])+1); - } - } - - return true; -} - -static const int CSET_MAGIC = ('c' << 24) | ('s' << 16) | ('e' << 8) | 't'; -static const int CSET_VERSION = 2; - -bool duDumpContourSet(struct rcContourSet& cset, duFileIO* io) -{ - if (!io) - { - printf("duDumpContourSet: input IO is null.\n"); - return false; - } - if (!io->isWriting()) - { - printf("duDumpContourSet: input IO not writing.\n"); - return false; - } - - io->write(&CSET_MAGIC, sizeof(CSET_MAGIC)); - io->write(&CSET_VERSION, sizeof(CSET_VERSION)); - - io->write(&cset.nconts, sizeof(cset.nconts)); - - io->write(cset.bmin, sizeof(cset.bmin)); - io->write(cset.bmax, sizeof(cset.bmax)); - - io->write(&cset.cs, sizeof(cset.cs)); - io->write(&cset.ch, sizeof(cset.ch)); - - io->write(&cset.width, sizeof(cset.width)); - io->write(&cset.height, sizeof(cset.height)); - io->write(&cset.borderSize, sizeof(cset.borderSize)); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour& cont = cset.conts[i]; - io->write(&cont.nverts, sizeof(cont.nverts)); - io->write(&cont.nrverts, sizeof(cont.nrverts)); - io->write(&cont.reg, sizeof(cont.reg)); - io->write(&cont.area, sizeof(cont.area)); - io->write(cont.verts, sizeof(int)*4*cont.nverts); - io->write(cont.rverts, sizeof(int)*4*cont.nrverts); - } - - return true; -} - -bool duReadContourSet(struct rcContourSet& cset, duFileIO* io) -{ - if (!io) - { - printf("duReadContourSet: input IO is null.\n"); - return false; - } - if (!io->isReading()) - { - printf("duReadContourSet: input IO not reading.\n"); - return false; - } - - int magic = 0; - int version = 0; - - io->read(&magic, sizeof(magic)); - io->read(&version, sizeof(version)); - - if (magic != CSET_MAGIC) - { - printf("duReadContourSet: Bad voodoo.\n"); - return false; - } - if (version != CSET_VERSION) - { - printf("duReadContourSet: Bad version.\n"); - return false; - } - - io->read(&cset.nconts, sizeof(cset.nconts)); - - cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*cset.nconts, RC_ALLOC_PERM); - if (!cset.conts) - { - printf("duReadContourSet: Could not alloc contours (%d)\n", cset.nconts); - return false; - } - memset(cset.conts, 0, sizeof(rcContour)*cset.nconts); - - io->read(cset.bmin, sizeof(cset.bmin)); - io->read(cset.bmax, sizeof(cset.bmax)); - - io->read(&cset.cs, sizeof(cset.cs)); - io->read(&cset.ch, sizeof(cset.ch)); - - io->read(&cset.width, sizeof(cset.width)); - io->read(&cset.height, sizeof(cset.height)); - io->read(&cset.borderSize, sizeof(cset.borderSize)); - - for (int i = 0; i < cset.nconts; ++i) - { - rcContour& cont = cset.conts[i]; - io->read(&cont.nverts, sizeof(cont.nverts)); - io->read(&cont.nrverts, sizeof(cont.nrverts)); - io->read(&cont.reg, sizeof(cont.reg)); - io->read(&cont.area, sizeof(cont.area)); - - cont.verts = (int*)rcAlloc(sizeof(int)*4*cont.nverts, RC_ALLOC_PERM); - if (!cont.verts) - { - printf("duReadContourSet: Could not alloc contour verts (%d)\n", cont.nverts); - return false; - } - cont.rverts = (int*)rcAlloc(sizeof(int)*4*cont.nrverts, RC_ALLOC_PERM); - if (!cont.rverts) - { - printf("duReadContourSet: Could not alloc contour rverts (%d)\n", cont.nrverts); - return false; - } - - io->read(cont.verts, sizeof(int)*4*cont.nverts); - io->read(cont.rverts, sizeof(int)*4*cont.nrverts); - } - - return true; -} - - -static const int CHF_MAGIC = ('r' << 24) | ('c' << 16) | ('h' << 8) | 'f'; -static const int CHF_VERSION = 3; - -bool duDumpCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io) -{ - if (!io) - { - printf("duDumpCompactHeightfield: input IO is null.\n"); - return false; - } - if (!io->isWriting()) - { - printf("duDumpCompactHeightfield: input IO not writing.\n"); - return false; - } - - io->write(&CHF_MAGIC, sizeof(CHF_MAGIC)); - io->write(&CHF_VERSION, sizeof(CHF_VERSION)); - - io->write(&chf.width, sizeof(chf.width)); - io->write(&chf.height, sizeof(chf.height)); - io->write(&chf.spanCount, sizeof(chf.spanCount)); - - io->write(&chf.walkableHeight, sizeof(chf.walkableHeight)); - io->write(&chf.walkableClimb, sizeof(chf.walkableClimb)); - io->write(&chf.borderSize, sizeof(chf.borderSize)); - - io->write(&chf.maxDistance, sizeof(chf.maxDistance)); - io->write(&chf.maxRegions, sizeof(chf.maxRegions)); - - io->write(chf.bmin, sizeof(chf.bmin)); - io->write(chf.bmax, sizeof(chf.bmax)); - - io->write(&chf.cs, sizeof(chf.cs)); - io->write(&chf.ch, sizeof(chf.ch)); - - int tmp = 0; - if (chf.cells) tmp |= 1; - if (chf.spans) tmp |= 2; - if (chf.dist) tmp |= 4; - if (chf.areas) tmp |= 8; - - io->write(&tmp, sizeof(tmp)); - - if (chf.cells) - io->write(chf.cells, sizeof(rcCompactCell)*chf.width*chf.height); - if (chf.spans) - io->write(chf.spans, sizeof(rcCompactSpan)*chf.spanCount); - if (chf.dist) - io->write(chf.dist, sizeof(unsigned short)*chf.spanCount); - if (chf.areas) - io->write(chf.areas, sizeof(unsigned char)*chf.spanCount); - - return true; -} - -bool duReadCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io) -{ - if (!io) - { - printf("duReadCompactHeightfield: input IO is null.\n"); - return false; - } - if (!io->isReading()) - { - printf("duReadCompactHeightfield: input IO not reading.\n"); - return false; - } - - int magic = 0; - int version = 0; - - io->read(&magic, sizeof(magic)); - io->read(&version, sizeof(version)); - - if (magic != CHF_MAGIC) - { - printf("duReadCompactHeightfield: Bad voodoo.\n"); - return false; - } - if (version != CHF_VERSION) - { - printf("duReadCompactHeightfield: Bad version.\n"); - return false; - } - - io->read(&chf.width, sizeof(chf.width)); - io->read(&chf.height, sizeof(chf.height)); - io->read(&chf.spanCount, sizeof(chf.spanCount)); - - io->read(&chf.walkableHeight, sizeof(chf.walkableHeight)); - io->read(&chf.walkableClimb, sizeof(chf.walkableClimb)); - io->read(&chf.borderSize, sizeof(chf.borderSize)); - - io->read(&chf.maxDistance, sizeof(chf.maxDistance)); - io->read(&chf.maxRegions, sizeof(chf.maxRegions)); - - io->read(chf.bmin, sizeof(chf.bmin)); - io->read(chf.bmax, sizeof(chf.bmax)); - - io->read(&chf.cs, sizeof(chf.cs)); - io->read(&chf.ch, sizeof(chf.ch)); - - int tmp = 0; - io->read(&tmp, sizeof(tmp)); - - if (tmp & 1) - { - chf.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell)*chf.width*chf.height, RC_ALLOC_PERM); - if (!chf.cells) - { - printf("duReadCompactHeightfield: Could not alloc cells (%d)\n", chf.width*chf.height); - return false; - } - io->read(chf.cells, sizeof(rcCompactCell)*chf.width*chf.height); - } - if (tmp & 2) - { - chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*chf.spanCount, RC_ALLOC_PERM); - if (!chf.spans) - { - printf("duReadCompactHeightfield: Could not alloc spans (%d)\n", chf.spanCount); - return false; - } - io->read(chf.spans, sizeof(rcCompactSpan)*chf.spanCount); - } - if (tmp & 4) - { - chf.dist = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_PERM); - if (!chf.dist) - { - printf("duReadCompactHeightfield: Could not alloc dist (%d)\n", chf.spanCount); - return false; - } - io->read(chf.dist, sizeof(unsigned short)*chf.spanCount); - } - if (tmp & 8) - { - chf.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_PERM); - if (!chf.areas) - { - printf("duReadCompactHeightfield: Could not alloc areas (%d)\n", chf.spanCount); - return false; - } - io->read(chf.areas, sizeof(unsigned char)*chf.spanCount); - } - - return true; -} - - -static void logLine(rcContext& ctx, rcTimerLabel label, const char* name, const float pc) -{ - const int t = ctx.getAccumulatedTime(label); - if (t < 0) return; - ctx.log(RC_LOG_PROGRESS, "%s:\t%.2fms\t(%.1f%%)", name, t/1000.0f, t*pc); -} - -void duLogBuildTimes(rcContext& ctx, const int totalTimeUsec) -{ - const float pc = 100.0f / totalTimeUsec; - - ctx.log(RC_LOG_PROGRESS, "Build Times"); - logLine(ctx, RC_TIMER_RASTERIZE_TRIANGLES, "- Rasterize", pc); - logLine(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD, "- Build Compact", pc); - logLine(ctx, RC_TIMER_FILTER_BORDER, "- Filter Border", pc); - logLine(ctx, RC_TIMER_FILTER_WALKABLE, "- Filter Walkable", pc); - logLine(ctx, RC_TIMER_ERODE_AREA, "- Erode Area", pc); - logLine(ctx, RC_TIMER_MEDIAN_AREA, "- Median Area", pc); - logLine(ctx, RC_TIMER_MARK_BOX_AREA, "- Mark Box Area", pc); - logLine(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA, "- Mark Convex Area", pc); - logLine(ctx, RC_TIMER_MARK_CYLINDER_AREA, "- Mark Cylinder Area", pc); - logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD, "- Build Distance Field", pc); - logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD_DIST, " - Distance", pc); - logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD_BLUR, " - Blur", pc); - logLine(ctx, RC_TIMER_BUILD_REGIONS, "- Build Regions", pc); - logLine(ctx, RC_TIMER_BUILD_REGIONS_WATERSHED, " - Watershed", pc); - logLine(ctx, RC_TIMER_BUILD_REGIONS_EXPAND, " - Expand", pc); - logLine(ctx, RC_TIMER_BUILD_REGIONS_FLOOD, " - Find Basins", pc); - logLine(ctx, RC_TIMER_BUILD_REGIONS_FILTER, " - Filter", pc); - logLine(ctx, RC_TIMER_BUILD_LAYERS, "- Build Layers", pc); - logLine(ctx, RC_TIMER_BUILD_CONTOURS, "- Build Contours", pc); - logLine(ctx, RC_TIMER_BUILD_CONTOURS_TRACE, " - Trace", pc); - logLine(ctx, RC_TIMER_BUILD_CONTOURS_SIMPLIFY, " - Simplify", pc); - logLine(ctx, RC_TIMER_BUILD_POLYMESH, "- Build Polymesh", pc); - logLine(ctx, RC_TIMER_BUILD_POLYMESHDETAIL, "- Build Polymesh Detail", pc); - logLine(ctx, RC_TIMER_MERGE_POLYMESH, "- Merge Polymeshes", pc); - logLine(ctx, RC_TIMER_MERGE_POLYMESHDETAIL, "- Merge Polymesh Details", pc); - ctx.log(RC_LOG_PROGRESS, "=== TOTAL:\t%.2fms", totalTimeUsec/1000.0f); -} - diff --git a/libs/recast/detour/include/DetourAlloc.h b/libs/recast/detour/include/DetourAlloc.h deleted file mode 100644 index f87b454ac..000000000 --- a/libs/recast/detour/include/DetourAlloc.h +++ /dev/null @@ -1,61 +0,0 @@ -// -// Copyright (c) 2009-2010 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 DETOURALLOCATOR_H -#define DETOURALLOCATOR_H - -#include - -/// Provides hint values to the memory allocator on how long the -/// memory is expected to be used. -enum dtAllocHint -{ - DT_ALLOC_PERM, ///< Memory persist after a function call. - DT_ALLOC_TEMP ///< Memory used temporarily within a function. -}; - -/// A memory allocation function. -// @param[in] size The size, in bytes of memory, to allocate. -// @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 dtAllocSetCustom -typedef void* (dtAllocFunc)(size_t size, dtAllocHint hint); - -/// A memory deallocation function. -/// @param[in] ptr A pointer to a memory block previously allocated using #dtAllocFunc. -/// @see dtAllocSetCustom -typedef void (dtFreeFunc)(void* ptr); - -/// Sets the base custom allocation functions to be used by Detour. -/// @param[in] allocFunc The memory allocation function to be used by #dtAlloc -/// @param[in] freeFunc The memory de-allocation function to be used by #dtFree -void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc); - -/// Allocates a memory block. -/// @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. -/// @see dtFree -void* dtAlloc(size_t size, dtAllocHint hint); - -/// Deallocates a memory block. -/// @param[in] ptr A pointer to a memory block previously allocated using #dtAlloc. -/// @see dtAlloc -void dtFree(void* ptr); - -#endif diff --git a/libs/recast/detour/include/DetourAssert.h b/libs/recast/detour/include/DetourAssert.h deleted file mode 100644 index e05fd66fa..000000000 --- a/libs/recast/detour/include/DetourAssert.h +++ /dev/null @@ -1,56 +0,0 @@ -// -// Copyright (c) 2009-2010 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 DETOURASSERT_H -#define DETOURASSERT_H - -// Note: This header file's only purpose is to include define assert. -// Feel free to change the file and include your own implementation instead. - -#ifdef NDEBUG - -// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/ -# define dtAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false) - -#else - -/// An assertion failure function. -// @param[in] expression asserted expression. -// @param[in] file Filename of the failed assertion. -// @param[in] line Line number of the failed assertion. -/// @see dtAssertFailSetCustom -typedef void (dtAssertFailFunc)(const char* expression, const char* file, int line); - -/// Sets the base custom assertion failure function to be used by Detour. -/// @param[in] assertFailFunc The function to be invoked in case of failure of #dtAssert -void dtAssertFailSetCustom(dtAssertFailFunc *assertFailFunc); - -/// Gets the base custom assertion failure function to be used by Detour. -dtAssertFailFunc* dtAssertFailGetCustom(); - -# include -# define dtAssert(expression) \ - { \ - dtAssertFailFunc* failFunc = dtAssertFailGetCustom(); \ - if(failFunc == NULL) { assert(expression); } \ - else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \ - } - -#endif - -#endif // DETOURASSERT_H diff --git a/libs/recast/detour/include/DetourCommon.h b/libs/recast/detour/include/DetourCommon.h deleted file mode 100644 index 739858cd9..000000000 --- a/libs/recast/detour/include/DetourCommon.h +++ /dev/null @@ -1,550 +0,0 @@ -// -// Copyright (c) 2009-2010 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 DETOURCOMMON_H -#define DETOURCOMMON_H - -#include "DetourMath.h" -#include - -/** -@defgroup detour Detour - -Members in this module are used to create, manipulate, and query navigation -meshes. - -@note This is a summary list of members. Use the index or search -feature to find minor members. -*/ - -/// @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 void dtIgnoreUnused(const T&) { } - -/// Swaps the values of the two parameters. -/// @param[in,out] a Value A -/// @param[in,out] b Value B -template inline void dtSwap(T& a, T& b) { T t = a; a = b; b = t; } - -/// Returns the minimum of two values. -/// @param[in] a Value A -/// @param[in] b Value B -/// @return The minimum of the two values. -template inline T dtMin(T a, T b) { return a < b ? a : b; } - -/// Returns the maximum of two values. -/// @param[in] a Value A -/// @param[in] b Value B -/// @return The maximum of the two values. -template inline T dtMax(T a, T b) { return a > b ? a : b; } - -/// Returns the absolute value. -/// @param[in] a The value. -/// @return The absolute value of the specified value. -template inline T dtAbs(T a) { return a < 0 ? -a : a; } - -/// Returns the square of the value. -/// @param[in] a The value. -/// @return The square of the value. -template inline T dtSqr(T a) { return a*a; } - -/// Clamps the value to the specified range. -/// @param[in] v The value to clamp. -/// @param[in] mn The minimum permitted return value. -/// @param[in] mx The maximum permitted return value. -/// @return The value, clamped to the specified range. -template inline T dtClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } - -/// @} -/// @name Vector helper functions. -/// @{ - -/// 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)] -inline void dtVcross(float* dest, const float* v1, const float* v2) -{ - dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; - dest[1] = v1[2]*v2[0] - v1[0]*v2[2]; - dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; -} - -/// 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. -inline float dtVdot(const float* v1, const float* v2) -{ - return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; -} - -/// 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] 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 dtVmad(float* dest, const float* v1, const float* v2, const float s) -{ - dest[0] = v1[0]+v2[0]*s; - dest[1] = v1[1]+v2[1]*s; - dest[2] = v1[2]+v2[2]*s; -} - -/// Performs a linear interpolation between two vectors. (@p v1 toward @p v2) -/// @param[out] dest The result vector. [(x, y, x)] -/// @param[in] v1 The starting vector. -/// @param[in] v2 The destination vector. -/// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0] -inline void dtVlerp(float* dest, const float* v1, const float* v2, const float t) -{ - dest[0] = v1[0]+(v2[0]-v1[0])*t; - dest[1] = v1[1]+(v2[1]-v1[1])*t; - dest[2] = v1[2]+(v2[2]-v1[2])*t; -} - -/// 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] v2 The vector to add to @p v1. [(x, y, z)] -inline void dtVadd(float* dest, const float* v1, const float* v2) -{ - dest[0] = v1[0]+v2[0]; - dest[1] = v1[1]+v2[1]; - dest[2] = v1[2]+v2[2]; -} - -/// 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] v2 The vector to subtract from @p v1. [(x, y, z)] -inline void dtVsub(float* dest, const float* v1, const float* v2) -{ - dest[0] = v1[0]-v2[0]; - dest[1] = v1[1]-v2[1]; - dest[2] = v1[2]-v2[2]; -} - -/// Scales the vector by the specified value. (@p v * @p t) -/// @param[out] dest The result vector. [(x, y, z)] -/// @param[in] v The vector to scale. [(x, y, z)] -/// @param[in] t The scaling factor. -inline void dtVscale(float* dest, const float* v, const float t) -{ - dest[0] = v[0]*t; - dest[1] = v[1]*t; - dest[2] = v[2]*t; -} - -/// Selects the minimum value of each element from the specified vectors. -/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)] -/// @param[in] v A vector. [(x, y, z)] -inline void dtVmin(float* mn, const float* v) -{ - mn[0] = dtMin(mn[0], v[0]); - mn[1] = dtMin(mn[1], v[1]); - mn[2] = dtMin(mn[2], v[2]); -} - -/// Selects the maximum value of each element from the specified vectors. -/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)] -/// @param[in] v A vector. [(x, y, z)] -inline void dtVmax(float* mx, const float* v) -{ - mx[0] = dtMax(mx[0], v[0]); - mx[1] = dtMax(mx[1], v[1]); - mx[2] = dtMax(mx[2], v[2]); -} - -/// Sets the vector elements to the specified values. -/// @param[out] dest The result vector. [(x, y, z)] -/// @param[in] x The x-value of the vector. -/// @param[in] y The y-value of the vector. -/// @param[in] z The z-value of the vector. -inline void dtVset(float* dest, const float x, const float y, const float z) -{ - dest[0] = x; dest[1] = y; dest[2] = z; -} - -/// Performs a vector copy. -/// @param[out] dest The result. [(x, y, z)] -/// @param[in] a The vector to copy. [(x, y, z)] -inline void dtVcopy(float* dest, const float* a) -{ - dest[0] = a[0]; - dest[1] = a[1]; - dest[2] = a[2]; -} - -/// Derives the scalar length of the vector. -/// @param[in] v The vector. [(x, y, z)] -/// @return The scalar length of the vector. -inline float dtVlen(const float* v) -{ - return dtMathSqrtf(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]); -} - -/// Derives the square of the scalar length of the vector. (len * len) -/// @param[in] v The vector. [(x, y, z)] -/// @return The square of the scalar length of the vector. -inline float dtVlenSqr(const float* v) -{ - return v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; -} - -/// Returns the distance between two points. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] -/// @return The distance between the two points. -inline float dtVdist(const float* v1, const float* v2) -{ - const float dx = v2[0] - v1[0]; - const float dy = v2[1] - v1[1]; - const float dz = v2[2] - v1[2]; - return dtMathSqrtf(dx*dx + dy*dy + dz*dz); -} - -/// Returns the square of the distance between two points. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] -/// @return The square of the distance between the two points. -inline float dtVdistSqr(const float* v1, const float* v2) -{ - const float dx = v2[0] - v1[0]; - const float dy = v2[1] - v1[1]; - const float dz = v2[2] - v1[2]; - return dx*dx + dy*dy + dz*dz; -} - -/// Derives the distance between the specified points on the xz-plane. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] -/// @return The distance between the point on the xz-plane. -/// -/// The vectors are projected onto the xz-plane, so the y-values are ignored. -inline float dtVdist2D(const float* v1, const float* v2) -{ - const float dx = v2[0] - v1[0]; - const float dz = v2[2] - v1[2]; - return dtMathSqrtf(dx*dx + dz*dz); -} - -/// Derives the square of the distance between the specified points on the xz-plane. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] -/// @return The square of the distance between the point on the xz-plane. -inline float dtVdist2DSqr(const float* v1, const float* v2) -{ - const float dx = v2[0] - v1[0]; - const float dz = v2[2] - v1[2]; - return dx*dx + dz*dz; -} - -/// Normalizes the vector. -/// @param[in,out] v The vector to normalize. [(x, y, z)] -inline void dtVnormalize(float* v) -{ - float d = 1.0f / dtMathSqrtf(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2])); - v[0] *= d; - v[1] *= d; - v[2] *= d; -} - -/// Performs a 'sloppy' colocation check of the specified points. -/// @param[in] p0 A point. [(x, y, z)] -/// @param[in] p1 A point. [(x, y, z)] -/// @return True if the points are considered to be at the same location. -/// -/// Basically, this function will return true if the specified points are -/// close enough to eachother to be considered colocated. -inline bool dtVequal(const float* p0, const float* p1) -{ - static const float thr = dtSqr(1.0f/16384.0f); - const float d = dtVdistSqr(p0, p1); - return d < thr; -} - -/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v) -/// @param[in] u A vector [(x, y, z)] -/// @param[in] v A vector [(x, y, z)] -/// @return The dot product on the xz-plane. -/// -/// The vectors are projected onto the xz-plane, so the y-values are ignored. -inline float dtVdot2D(const float* u, const float* v) -{ - return u[0]*v[0] + u[2]*v[2]; -} - -/// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz) -/// @param[in] u The LHV vector [(x, y, z)] -/// @param[in] v The RHV vector [(x, y, z)] -/// @return The dot product on the xz-plane. -/// -/// The vectors are projected onto the xz-plane, so the y-values are ignored. -inline float dtVperp2D(const float* u, const float* v) -{ - return u[2]*v[0] - u[0]*v[2]; -} - -/// @} -/// @name Computational geometry helper functions. -/// @{ - -/// Derives the signed xz-plane area of the triangle ABC, or the relationship of line AB to point C. -/// @param[in] a Vertex A. [(x, y, z)] -/// @param[in] b Vertex B. [(x, y, z)] -/// @param[in] c Vertex C. [(x, y, z)] -/// @return The signed xz-plane area of the triangle. -inline float dtTriArea2D(const float* a, const float* b, const float* c) -{ - const float abx = b[0] - a[0]; - const float abz = b[2] - a[2]; - const float acx = c[0] - a[0]; - const float acz = c[2] - a[2]; - return acx*abz - abx*acz; -} - -/// Determines if two axis-aligned bounding boxes overlap. -/// @param[in] amin Minimum bounds of box A. [(x, y, z)] -/// @param[in] amax Maximum bounds of box A. [(x, y, z)] -/// @param[in] bmin Minimum bounds of box B. [(x, y, z)] -/// @param[in] bmax Maximum bounds of box B. [(x, y, z)] -/// @return True if the two AABB's overlap. -/// @see dtOverlapBounds -inline bool dtOverlapQuantBounds(const unsigned short amin[3], const unsigned short amax[3], - const unsigned short bmin[3], const unsigned short bmax[3]) -{ - bool overlap = true; - overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; - overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; - overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; - return overlap; -} - -/// Determines if two axis-aligned bounding boxes overlap. -/// @param[in] amin Minimum bounds of box A. [(x, y, z)] -/// @param[in] amax Maximum bounds of box A. [(x, y, z)] -/// @param[in] bmin Minimum bounds of box B. [(x, y, z)] -/// @param[in] bmax Maximum bounds of box B. [(x, y, z)] -/// @return True if the two AABB's overlap. -/// @see dtOverlapQuantBounds -inline bool dtOverlapBounds(const float* amin, const float* amax, - const float* bmin, const float* bmax) -{ - bool overlap = true; - overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; - overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; - overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; - return overlap; -} - -/// Derives the closest point on a triangle from the specified reference point. -/// @param[out] closest The closest point on the triangle. -/// @param[in] p The reference point from which to test. [(x, y, z)] -/// @param[in] a Vertex A of triangle ABC. [(x, y, z)] -/// @param[in] b Vertex B of triangle ABC. [(x, y, z)] -/// @param[in] c Vertex C of triangle ABC. [(x, y, z)] -void dtClosestPtPointTriangle(float* closest, const float* p, - const float* a, const float* b, const float* c); - -/// Derives the y-axis height of the closest point on the triangle from the specified reference point. -/// @param[in] p The reference point from which to test. [(x, y, z)] -/// @param[in] a Vertex A of triangle ABC. [(x, y, z)] -/// @param[in] b Vertex B of triangle ABC. [(x, y, z)] -/// @param[in] c Vertex C of triangle ABC. [(x, y, z)] -/// @param[out] h The resulting height. -bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h); - -bool dtIntersectSegmentPoly2D(const float* p0, const float* p1, - const float* verts, int nverts, - float& tmin, float& tmax, - int& segMin, int& segMax); - -bool dtIntersectSegSeg2D(const float* ap, const float* aq, - const float* bp, const float* bq, - float& s, float& t); - -/// Determines if the specified point is inside the convex polygon on the xz-plane. -/// @param[in] pt The point to check. [(x, y, z)] -/// @param[in] verts The polygon vertices. [(x, y, z) * @p nverts] -/// @param[in] nverts The number of vertices. [Limit: >= 3] -/// @return True if the point is inside the polygon. -bool dtPointInPolygon(const float* pt, const float* verts, const int nverts); - -bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts, - float* ed, float* et); - -float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t); - -/// Derives the centroid of a convex polygon. -/// @param[out] tc The centroid of the polgyon. [(x, y, z)] -/// @param[in] idx The polygon indices. [(vertIndex) * @p nidx] -/// @param[in] nidx The number of indices in the polygon. [Limit: >= 3] -/// @param[in] verts The polygon vertices. [(x, y, z) * vertCount] -void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts); - -/// Determines if the two convex polygons overlap on the xz-plane. -/// @param[in] polya Polygon A vertices. [(x, y, z) * @p npolya] -/// @param[in] npolya The number of vertices in polygon A. -/// @param[in] polyb Polygon B vertices. [(x, y, z) * @p npolyb] -/// @param[in] npolyb The number of vertices in polygon B. -/// @return True if the two polygons overlap. -bool dtOverlapPolyPoly2D(const float* polya, const int npolya, - const float* polyb, const int npolyb); - -/// @} -/// @name Miscellanious functions. -/// @{ - -inline unsigned int dtNextPow2(unsigned int v) -{ - v--; - v |= v >> 1; - v |= v >> 2; - v |= v >> 4; - v |= v >> 8; - v |= v >> 16; - v++; - return v; -} - -inline unsigned int dtIlog2(unsigned int v) -{ - unsigned int r; - unsigned int shift; - r = (v > 0xffff) << 4; v >>= r; - shift = (v > 0xff) << 3; v >>= shift; r |= shift; - shift = (v > 0xf) << 2; v >>= shift; r |= shift; - shift = (v > 0x3) << 1; v >>= shift; r |= shift; - r |= (v >> 1); - return r; -} - -inline int dtAlign4(int x) { return (x+3) & ~3; } - -inline int dtOppositeTile(int side) { return (side+4) & 0x7; } - -inline void dtSwapByte(unsigned char* a, unsigned char* b) -{ - unsigned char tmp = *a; - *a = *b; - *b = tmp; -} - -inline void dtSwapEndian(unsigned short* v) -{ - unsigned char* x = (unsigned char*)v; - dtSwapByte(x+0, x+1); -} - -inline void dtSwapEndian(short* v) -{ - unsigned char* x = (unsigned char*)v; - dtSwapByte(x+0, x+1); -} - -inline void dtSwapEndian(unsigned int* v) -{ - unsigned char* x = (unsigned char*)v; - dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); -} - -inline void dtSwapEndian(int* v) -{ - unsigned char* x = (unsigned char*)v; - dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); -} - -inline void dtSwapEndian(float* v) -{ - unsigned char* x = (unsigned char*)v; - dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); -} - -void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas, - const float s, const float t, float* out); - -template -TypeToRetrieveAs* dtGetThenAdvanceBufferPointer(const unsigned char*& buffer, const size_t distanceToAdvance) -{ - TypeToRetrieveAs* returnPointer = reinterpret_cast(buffer); - buffer += distanceToAdvance; - return returnPointer; -} - -template -TypeToRetrieveAs* dtGetThenAdvanceBufferPointer(unsigned char*& buffer, const size_t distanceToAdvance) -{ - TypeToRetrieveAs* returnPointer = reinterpret_cast(buffer); - buffer += distanceToAdvance; - return returnPointer; -} - - -/// @} - -#endif // DETOURCOMMON_H - -/////////////////////////////////////////////////////////////////////////// - -// This section contains detailed documentation for members that don't have -// a source file. It reduces clutter in the main section of the header. - -/** - -@fn float dtTriArea2D(const float* a, const float* b, const float* c) -@par - -The vertices are projected onto the xz-plane, so the y-values are ignored. - -This is a low cost function than can be used for various purposes. Its main purpose -is for point/line relationship testing. - -In all cases: A value of zero indicates that all vertices are collinear or represent the same point. -(On the xz-plane.) - -When used for point/line relationship tests, AB usually represents a line against which -the C point is to be tested. In this case: - -A positive value indicates that point C is to the left of line AB, looking from A toward B.
-A negative value indicates that point C is to the right of lineAB, looking from A toward B. - -When used for evaluating a triangle: - -The absolute value of the return value is two times the area of the triangle when it is -projected onto the xz-plane. - -A positive return value indicates: - -
    -
  • The vertices are wrapped in the normal Detour wrap direction.
    • -
  • The triangle's 3D face normal is in the general up direction.
    • -
- -A negative return value indicates: - -
    -
  • The vertices are reverse wrapped. (Wrapped opposite the normal Detour wrap direction.)
    • -
  • The triangle's 3D face normal is in the general down direction.
    • -
- -*/ diff --git a/libs/recast/detour/include/DetourMath.h b/libs/recast/detour/include/DetourMath.h deleted file mode 100644 index 95e14f884..000000000 --- a/libs/recast/detour/include/DetourMath.h +++ /dev/null @@ -1,20 +0,0 @@ -/** -@defgroup detour Detour - -Members in this module are wrappers around the standard math library -*/ - -#ifndef DETOURMATH_H -#define DETOURMATH_H - -#include - -inline float dtMathFabsf(float x) { return fabsf(x); } -inline float dtMathSqrtf(float x) { return sqrtf(x); } -inline float dtMathFloorf(float x) { return floorf(x); } -inline float dtMathCeilf(float x) { return ceilf(x); } -inline float dtMathCosf(float x) { return cosf(x); } -inline float dtMathSinf(float x) { return sinf(x); } -inline float dtMathAtan2f(float y, float x) { return atan2f(y, x); } - -#endif diff --git a/libs/recast/detour/include/DetourNavMesh.h b/libs/recast/detour/include/DetourNavMesh.h deleted file mode 100644 index 8ecd57e46..000000000 --- a/libs/recast/detour/include/DetourNavMesh.h +++ /dev/null @@ -1,765 +0,0 @@ -// -// Copyright (c) 2009-2010 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 DETOURNAVMESH_H -#define DETOURNAVMESH_H - -#include "DetourAlloc.h" -#include "DetourStatus.h" - -// Undefine (or define in a build cofnig) the following line to use 64bit polyref. -// Generally not needed, useful for very large worlds. -// Note: tiles build using 32bit refs are not compatible with 64bit refs! -//#define DT_POLYREF64 1 - -#ifdef DT_POLYREF64 -// TODO: figure out a multiplatform version of uint64_t -// - maybe: https://code.google.com/p/msinttypes/ -// - or: http://www.azillionmonkeys.com/qed/pstdint.h -#include -#endif - -// Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef. -// It is also recommended that you change dtHashRef() to a proper 64-bit hash. - -/// A handle to a polygon within a navigation mesh tile. -/// @ingroup detour -#ifdef DT_POLYREF64 -static const unsigned int DT_SALT_BITS = 16; -static const unsigned int DT_TILE_BITS = 28; -static const unsigned int DT_POLY_BITS = 20; -typedef uint64_t dtPolyRef; -#else -typedef unsigned int dtPolyRef; -#endif - -/// A handle to a tile within a navigation mesh. -/// @ingroup detour -#ifdef DT_POLYREF64 -typedef uint64_t dtTileRef; -#else -typedef unsigned int dtTileRef; -#endif - -/// The maximum number of vertices per navigation polygon. -/// @ingroup detour -static const int DT_VERTS_PER_POLYGON = 6; - -/// @{ -/// @name Tile Serialization Constants -/// These constants are used to detect whether a navigation tile's data -/// and state format is compatible with the current build. -/// - -/// A magic number used to detect compatibility of navigation tile data. -static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V'; - -/// A version number used to detect compatibility of navigation tile data. -static const int DT_NAVMESH_VERSION = 7; - -/// A magic number used to detect the compatibility of navigation tile states. -static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S'; - -/// A version number used to detect compatibility of navigation tile states. -static const int DT_NAVMESH_STATE_VERSION = 1; - -/// @} - -/// A flag that indicates that an entity links to an external entity. -/// (E.g. A polygon edge is a portal that links to another polygon.) -static const unsigned short DT_EXT_LINK = 0x8000; - -/// A value that indicates the entity does not link to anything. -static const unsigned int DT_NULL_LINK = 0xffffffff; - -/// A flag that indicates that an off-mesh connection can be traversed in both directions. (Is bidirectional.) -static const unsigned int DT_OFFMESH_CON_BIDIR = 1; - -/// The maximum number of user defined area ids. -/// @ingroup detour -static const int DT_MAX_AREAS = 64; - -/// Tile flags used for various functions and fields. -/// For an example, see dtNavMesh::addTile(). -enum dtTileFlags -{ - /// The navigation mesh owns the tile memory and is responsible for freeing it. - DT_TILE_FREE_DATA = 0x01, -}; - -/// Vertex flags returned by dtNavMeshQuery::findStraightPath. -enum dtStraightPathFlags -{ - DT_STRAIGHTPATH_START = 0x01, ///< The vertex is the start position in the path. - DT_STRAIGHTPATH_END = 0x02, ///< The vertex is the end position in the path. - DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04, ///< The vertex is the start of an off-mesh connection. -}; - -/// Options for dtNavMeshQuery::findStraightPath. -enum dtStraightPathOptions -{ - DT_STRAIGHTPATH_AREA_CROSSINGS = 0x01, ///< Add a vertex at every polygon edge crossing where area changes. - DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02, ///< Add a vertex at every polygon edge crossing. -}; - - -/// Options for dtNavMeshQuery::initSlicedFindPath and updateSlicedFindPath -enum dtFindPathOptions -{ - DT_FINDPATH_ANY_ANGLE = 0x02, ///< use raycasts during pathfind to "shortcut" (raycast still consider costs) -}; - -/// Options for dtNavMeshQuery::raycast -enum dtRaycastOptions -{ - DT_RAYCAST_USE_COSTS = 0x01, ///< Raycast should calculate movement cost along the ray and fill RaycastHit::cost -}; - - -/// Limit raycasting during any angle pahfinding -/// The limit is given as a multiple of the character radius -static const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f; - -/// Flags representing the type of a navigation mesh polygon. -enum dtPolyTypes -{ - /// The polygon is a standard convex polygon that is part of the surface of the mesh. - DT_POLYTYPE_GROUND = 0, - /// The polygon is an off-mesh connection consisting of two vertices. - DT_POLYTYPE_OFFMESH_CONNECTION = 1, -}; - - -/// Defines a polygon within a dtMeshTile object. -/// @ingroup detour -struct dtPoly -{ - /// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.) - unsigned int firstLink; - - /// The indices of the polygon's vertices. - /// The actual vertices are located in dtMeshTile::verts. - unsigned short verts[DT_VERTS_PER_POLYGON]; - - /// Packed data representing neighbor polygons references and flags for each edge. - unsigned short neis[DT_VERTS_PER_POLYGON]; - - /// The user defined polygon flags. - unsigned short flags; - - /// The number of vertices in the polygon. - unsigned char vertCount; - - /// The bit packed area id and polygon type. - /// @note Use the structure's set and get methods to acess this value. - unsigned char areaAndtype; - - /// Sets the user defined area id. [Limit: < #DT_MAX_AREAS] - inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); } - - /// Sets the polygon type. (See: #dtPolyTypes.) - inline void setType(unsigned char t) { areaAndtype = (areaAndtype & 0x3f) | (t << 6); } - - /// Gets the user defined area id. - inline unsigned char getArea() const { return areaAndtype & 0x3f; } - - /// Gets the polygon type. (See: #dtPolyTypes) - inline unsigned char getType() const { return areaAndtype >> 6; } -}; - -/// Defines the location of detail sub-mesh data within a dtMeshTile. -struct dtPolyDetail -{ - unsigned int vertBase; ///< The offset of the vertices in the dtMeshTile::detailVerts array. - unsigned int triBase; ///< The offset of the triangles in the dtMeshTile::detailTris array. - unsigned char vertCount; ///< The number of vertices in the sub-mesh. - unsigned char triCount; ///< The number of triangles in the sub-mesh. -}; - -/// Defines a link between polygons. -/// @note This structure is rarely if ever used by the end user. -/// @see dtMeshTile -struct dtLink -{ - dtPolyRef ref; ///< Neighbour reference. (The neighbor that is linked to.) - unsigned int next; ///< Index of the next link. - unsigned char edge; ///< Index of the polygon edge that owns this link. - unsigned char side; ///< If a boundary link, defines on which side the link is. - unsigned char bmin; ///< If a boundary link, defines the minimum sub-edge area. - unsigned char bmax; ///< If a boundary link, defines the maximum sub-edge area. -}; - -/// Bounding volume node. -/// @note This structure is rarely if ever used by the end user. -/// @see dtMeshTile -struct dtBVNode -{ - unsigned short bmin[3]; ///< Minimum bounds of the node's AABB. [(x, y, z)] - unsigned short bmax[3]; ///< Maximum bounds of the node's AABB. [(x, y, z)] - int i; ///< The node's index. (Negative for escape sequence.) -}; - -/// Defines an navigation mesh off-mesh connection within a dtMeshTile object. -/// An off-mesh connection is a user defined traversable connection made up to two vertices. -struct dtOffMeshConnection -{ - /// The endpoints of the connection. [(ax, ay, az, bx, by, bz)] - float pos[6]; - - /// The radius of the endpoints. [Limit: >= 0] - float rad; - - /// The polygon reference of the connection within the tile. - unsigned short poly; - - /// Link flags. - /// @note These are not the connection's user defined flags. Those are assigned via the - /// connection's dtPoly definition. These are link flags used for internal purposes. - unsigned char flags; - - /// End point side. - unsigned char side; - - /// The id of the offmesh connection. (User assigned when the navigation mesh is built.) - unsigned int userId; -}; - -/// Provides high level information related to a dtMeshTile object. -/// @ingroup detour -struct dtMeshHeader -{ - int magic; ///< Tile magic number. (Used to identify the data format.) - int version; ///< Tile data format version number. - int x; ///< The x-position of the tile within the dtNavMesh tile grid. (x, y, layer) - int y; ///< The y-position of the tile within the dtNavMesh tile grid. (x, y, layer) - int layer; ///< The layer of the tile within the dtNavMesh tile grid. (x, y, layer) - unsigned int userId; ///< The user defined id of the tile. - int polyCount; ///< The number of polygons in the tile. - int vertCount; ///< The number of vertices in the tile. - int maxLinkCount; ///< The number of allocated links. - int detailMeshCount; ///< The number of sub-meshes in the detail mesh. - - /// The number of unique vertices in the detail mesh. (In addition to the polygon vertices.) - int detailVertCount; - - int detailTriCount; ///< The number of triangles in the detail mesh. - int bvNodeCount; ///< The number of bounding volume nodes. (Zero if bounding volumes are disabled.) - int offMeshConCount; ///< The number of off-mesh connections. - int offMeshBase; ///< The index of the first polygon which is an off-mesh connection. - float walkableHeight; ///< The height of the agents using the tile. - float walkableRadius; ///< The radius of the agents using the tile. - float walkableClimb; ///< The maximum climb height of the agents using the tile. - float bmin[3]; ///< The minimum bounds of the tile's AABB. [(x, y, z)] - float bmax[3]; ///< The maximum bounds of the tile's AABB. [(x, y, z)] - - /// The bounding volume quantization factor. - float bvQuantFactor; -}; - -/// Defines a navigation mesh tile. -/// @ingroup detour -struct dtMeshTile -{ - unsigned int salt; ///< Counter describing modifications to the tile. - - unsigned int linksFreeList; ///< Index to the next free link. - dtMeshHeader* header; ///< The tile header. - dtPoly* polys; ///< The tile polygons. [Size: dtMeshHeader::polyCount] - float* verts; ///< The tile vertices. [Size: dtMeshHeader::vertCount] - dtLink* links; ///< The tile links. [Size: dtMeshHeader::maxLinkCount] - dtPolyDetail* detailMeshes; ///< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount] - - /// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount] - float* detailVerts; - - /// The detail mesh's triangles. [(vertA, vertB, vertC) * dtMeshHeader::detailTriCount] - unsigned char* detailTris; - - /// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount] - /// (Will be null if bounding volumes are disabled.) - dtBVNode* bvTree; - - dtOffMeshConnection* offMeshCons; ///< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount] - - unsigned char* data; ///< The tile data. (Not directly accessed under normal situations.) - int dataSize; ///< Size of the tile data. - int flags; ///< Tile flags. (See: #dtTileFlags) - dtMeshTile* next; ///< The next free tile, or the next tile in the spatial grid. -private: - dtMeshTile(const dtMeshTile&); - dtMeshTile& operator=(const dtMeshTile&); -}; - -/// Configuration parameters used to define multi-tile navigation meshes. -/// The values are used to allocate space during the initialization of a navigation mesh. -/// @see dtNavMesh::init() -/// @ingroup detour -struct dtNavMeshParams -{ - float orig[3]; ///< The world space origin of the navigation mesh's tile space. [(x, y, z)] - float tileWidth; ///< The width of each tile. (Along the x-axis.) - float tileHeight; ///< The height of each tile. (Along the z-axis.) - int maxTiles; ///< The maximum number of tiles the navigation mesh can contain. - int maxPolys; ///< The maximum number of polygons each tile can contain. -}; - -/// A navigation mesh based on tiles of convex polygons. -/// @ingroup detour -class dtNavMesh -{ -public: - dtNavMesh(); - ~dtNavMesh(); - - /// @{ - /// @name Initialization and Tile Management - - /// Initializes the navigation mesh for tiled use. - /// @param[in] params Initialization parameters. - /// @return The status flags for the operation. - dtStatus init(const dtNavMeshParams* params); - - /// Initializes the navigation mesh for single tile use. - /// @param[in] data Data of the new tile. (See: #dtCreateNavMeshData) - /// @param[in] dataSize The data size of the new tile. - /// @param[in] flags The tile flags. (See: #dtTileFlags) - /// @return The status flags for the operation. - /// @see dtCreateNavMeshData - dtStatus init(unsigned char* data, const int dataSize, const int flags); - - /// The navigation mesh initialization params. - const dtNavMeshParams* getParams() const; - - /// Adds a tile to the navigation mesh. - /// @param[in] data Data for the new tile mesh. (See: #dtCreateNavMeshData) - /// @param[in] dataSize Data size of the new tile mesh. - /// @param[in] flags Tile flags. (See: #dtTileFlags) - /// @param[in] lastRef The desired reference for the tile. (When reloading a tile.) [opt] [Default: 0] - /// @param[out] result The tile reference. (If the tile was succesfully added.) [opt] - /// @return The status flags for the operation. - dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result); - - /// Removes the specified tile from the navigation mesh. - /// @param[in] ref The reference of the tile to remove. - /// @param[out] data Data associated with deleted tile. - /// @param[out] dataSize Size of the data associated with deleted tile. - /// @return The status flags for the operation. - dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize); - - /// @} - - /// @{ - /// @name Query Functions - - /// Calculates the tile grid location for the specified world position. - /// @param[in] pos The world position for the query. [(x, y, z)] - /// @param[out] tx The tile's x-location. (x, y) - /// @param[out] ty The tile's y-location. (x, y) - void calcTileLoc(const float* pos, int* tx, int* ty) const; - - /// Gets the tile at the specified grid location. - /// @param[in] x The tile's x-location. (x, y, layer) - /// @param[in] y The tile's y-location. (x, y, layer) - /// @param[in] layer The tile's layer. (x, y, layer) - /// @return The tile, or null if the tile does not exist. - const dtMeshTile* getTileAt(const int x, const int y, const int layer) const; - - /// Gets all tiles at the specified grid location. (All layers.) - /// @param[in] x The tile's x-location. (x, y) - /// @param[in] y The tile's y-location. (x, y) - /// @param[out] tiles A pointer to an array of tiles that will hold the result. - /// @param[in] maxTiles The maximum tiles the tiles parameter can hold. - /// @return The number of tiles returned in the tiles array. - int getTilesAt(const int x, const int y, - dtMeshTile const** tiles, const int maxTiles) const; - - /// Gets the tile reference for the tile at specified grid location. - /// @param[in] x The tile's x-location. (x, y, layer) - /// @param[in] y The tile's y-location. (x, y, layer) - /// @param[in] layer The tile's layer. (x, y, layer) - /// @return The tile reference of the tile, or 0 if there is none. - dtTileRef getTileRefAt(int x, int y, int layer) const; - - /// Gets the tile reference for the specified tile. - /// @param[in] tile The tile. - /// @return The tile reference of the tile. - dtTileRef getTileRef(const dtMeshTile* tile) const; - - /// Gets the tile for the specified tile reference. - /// @param[in] ref The tile reference of the tile to retrieve. - /// @return The tile for the specified reference, or null if the - /// reference is invalid. - const dtMeshTile* getTileByRef(dtTileRef ref) const; - - /// The maximum number of tiles supported by the navigation mesh. - /// @return The maximum number of tiles supported by the navigation mesh. - int getMaxTiles() const; - - /// Gets the tile at the specified index. - /// @param[in] i The tile index. [Limit: 0 >= index < #getMaxTiles()] - /// @return The tile at the specified index. - const dtMeshTile* getTile(int i) const; - - /// Gets the tile and polygon for the specified polygon reference. - /// @param[in] ref The reference for the a polygon. - /// @param[out] tile The tile containing the polygon. - /// @param[out] poly The polygon. - /// @return The status flags for the operation. - dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const; - - /// Returns the tile and polygon for the specified polygon reference. - /// @param[in] ref A known valid reference for a polygon. - /// @param[out] tile The tile containing the polygon. - /// @param[out] poly The polygon. - void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const; - - /// Checks the validity of a polygon reference. - /// @param[in] ref The polygon reference to check. - /// @return True if polygon reference is valid for the navigation mesh. - bool isValidPolyRef(dtPolyRef ref) const; - - /// Gets the polygon reference for the tile's base polygon. - /// @param[in] tile The tile. - /// @return The polygon reference for the base polygon in the specified tile. - dtPolyRef getPolyRefBase(const dtMeshTile* tile) const; - - /// Gets the endpoints for an off-mesh connection, ordered by "direction of travel". - /// @param[in] prevRef The reference of the polygon before the connection. - /// @param[in] polyRef The reference of the off-mesh connection polygon. - /// @param[out] startPos The start position of the off-mesh connection. [(x, y, z)] - /// @param[out] endPos The end position of the off-mesh connection. [(x, y, z)] - /// @return The status flags for the operation. - dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const; - - /// Gets the specified off-mesh connection. - /// @param[in] ref The polygon reference of the off-mesh connection. - /// @return The specified off-mesh connection, or null if the polygon reference is not valid. - const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const; - - /// @} - - /// @{ - /// @name State Management - /// These functions do not effect #dtTileRef or #dtPolyRef's. - - /// Sets the user defined flags for the specified polygon. - /// @param[in] ref The polygon reference. - /// @param[in] flags The new flags for the polygon. - /// @return The status flags for the operation. - dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags); - - /// Gets the user defined flags for the specified polygon. - /// @param[in] ref The polygon reference. - /// @param[out] resultFlags The polygon flags. - /// @return The status flags for the operation. - dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const; - - /// Sets the user defined area for the specified polygon. - /// @param[in] ref The polygon reference. - /// @param[in] area The new area id for the polygon. [Limit: < #DT_MAX_AREAS] - /// @return The status flags for the operation. - dtStatus setPolyArea(dtPolyRef ref, unsigned char area); - - /// Gets the user defined area for the specified polygon. - /// @param[in] ref The polygon reference. - /// @param[out] resultArea The area id for the polygon. - /// @return The status flags for the operation. - dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const; - - /// Gets the size of the buffer required by #storeTileState to store the specified tile's state. - /// @param[in] tile The tile. - /// @return The size of the buffer required to store the state. - int getTileStateSize(const dtMeshTile* tile) const; - - /// Stores the non-structural state of the tile in the specified buffer. (Flags, area ids, etc.) - /// @param[in] tile The tile. - /// @param[out] data The buffer to store the tile's state in. - /// @param[in] maxDataSize The size of the data buffer. [Limit: >= #getTileStateSize] - /// @return The status flags for the operation. - dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const; - - /// Restores the state of the tile. - /// @param[in] tile The tile. - /// @param[in] data The new state. (Obtained from #storeTileState.) - /// @param[in] maxDataSize The size of the state within the data buffer. - /// @return The status flags for the operation. - dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize); - - /// @} - - /// @{ - /// @name Encoding and Decoding - /// These functions are generally meant for internal use only. - - /// Derives a standard polygon reference. - /// @note This function is generally meant for internal use only. - /// @param[in] salt The tile's salt value. - /// @param[in] it The index of the tile. - /// @param[in] ip The index of the polygon within the tile. - inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const - { -#ifdef DT_POLYREF64 - return ((dtPolyRef)salt << (DT_POLY_BITS+DT_TILE_BITS)) | ((dtPolyRef)it << DT_POLY_BITS) | (dtPolyRef)ip; -#else - return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip; -#endif - } - - /// Decodes a standard polygon reference. - /// @note This function is generally meant for internal use only. - /// @param[in] ref The polygon reference to decode. - /// @param[out] salt The tile's salt value. - /// @param[out] it The index of the tile. - /// @param[out] ip The index of the polygon within the tile. - /// @see #encodePolyId - inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const - { -#ifdef DT_POLYREF64 - const dtPolyRef saltMask = ((dtPolyRef)1<> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask); - it = (unsigned int)((ref >> DT_POLY_BITS) & tileMask); - ip = (unsigned int)(ref & polyMask); -#else - const dtPolyRef saltMask = ((dtPolyRef)1<> (m_polyBits+m_tileBits)) & saltMask); - it = (unsigned int)((ref >> m_polyBits) & tileMask); - ip = (unsigned int)(ref & polyMask); -#endif - } - - /// Extracts a tile's salt value from the specified polygon reference. - /// @note This function is generally meant for internal use only. - /// @param[in] ref The polygon reference. - /// @see #encodePolyId - inline unsigned int decodePolyIdSalt(dtPolyRef ref) const - { -#ifdef DT_POLYREF64 - const dtPolyRef saltMask = ((dtPolyRef)1<> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask); -#else - const dtPolyRef saltMask = ((dtPolyRef)1<> (m_polyBits+m_tileBits)) & saltMask); -#endif - } - - /// Extracts the tile's index from the specified polygon reference. - /// @note This function is generally meant for internal use only. - /// @param[in] ref The polygon reference. - /// @see #encodePolyId - inline unsigned int decodePolyIdTile(dtPolyRef ref) const - { -#ifdef DT_POLYREF64 - const dtPolyRef tileMask = ((dtPolyRef)1<> DT_POLY_BITS) & tileMask); -#else - const dtPolyRef tileMask = ((dtPolyRef)1<> m_polyBits) & tileMask); -#endif - } - - /// Extracts the polygon's index (within its tile) from the specified polygon reference. - /// @note This function is generally meant for internal use only. - /// @param[in] ref The polygon reference. - /// @see #encodePolyId - inline unsigned int decodePolyIdPoly(dtPolyRef ref) const - { -#ifdef DT_POLYREF64 - const dtPolyRef polyMask = ((dtPolyRef)1<header->bvQuantFactor; -const dtBVNode* n = &tile->bvTree[i]; -if (n->i >= 0) -{ - // This is a leaf node. - float worldMinX = tile->header->bmin[0] + n->bmin[0]*cs; - float worldMinY = tile->header->bmin[0] + n->bmin[1]*cs; - // Etc... -} -@endcode - -@struct dtMeshTile -@par - -Tiles generally only exist within the context of a dtNavMesh object. - -Some tile content is optional. For example, a tile may not contain any -off-mesh connections. In this case the associated pointer will be null. - -If a detail mesh exists it will share vertices with the base polygon mesh. -Only the vertices unique to the detail mesh will be stored in #detailVerts. - -@warning Tiles returned by a dtNavMesh object are not guarenteed to be populated. -For example: The tile at a location might not have been loaded yet, or may have been removed. -In this case, pointers will be null. So if in doubt, check the polygon count in the -tile's header to determine if a tile has polygons defined. - -@var float dtOffMeshConnection::pos[6] -@par - -For a properly built navigation mesh, vertex A will always be within the bounds of the mesh. -Vertex B is not required to be within the bounds of the mesh. - -*/ diff --git a/libs/recast/detour/include/DetourNavMeshBuilder.h b/libs/recast/detour/include/DetourNavMeshBuilder.h deleted file mode 100644 index 9425a7a78..000000000 --- a/libs/recast/detour/include/DetourNavMeshBuilder.h +++ /dev/null @@ -1,149 +0,0 @@ -// -// Copyright (c) 2009-2010 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 DETOURNAVMESHBUILDER_H -#define DETOURNAVMESHBUILDER_H - -#include "DetourAlloc.h" - -/// Represents the source data used to build an navigation mesh tile. -/// @ingroup detour -struct dtNavMeshCreateParams -{ - - /// @name Polygon Mesh Attributes - /// Used to create the base navigation graph. - /// See #rcPolyMesh for details related to these attributes. - /// @{ - - const unsigned short* verts; ///< The polygon mesh vertices. [(x, y, z) * #vertCount] [Unit: vx] - int vertCount; ///< The number vertices in the polygon mesh. [Limit: >= 3] - const unsigned short* polys; ///< The polygon data. [Size: #polyCount * 2 * #nvp] - const unsigned short* polyFlags; ///< The user defined flags assigned to each polygon. [Size: #polyCount] - const unsigned char* polyAreas; ///< The user defined area ids assigned to each polygon. [Size: #polyCount] - int polyCount; ///< Number of polygons in the mesh. [Limit: >= 1] - int nvp; ///< Number maximum number of vertices per polygon. [Limit: >= 3] - - /// @} - /// @name Height Detail Attributes (Optional) - /// See #rcPolyMeshDetail for details related to these attributes. - /// @{ - - const unsigned int* detailMeshes; ///< The height detail sub-mesh data. [Size: 4 * #polyCount] - const float* detailVerts; ///< The detail mesh vertices. [Size: 3 * #detailVertsCount] [Unit: wu] - int detailVertsCount; ///< The number of vertices in the detail mesh. - const unsigned char* detailTris; ///< The detail mesh triangles. [Size: 4 * #detailTriCount] - int detailTriCount; ///< The number of triangles in the detail mesh. - - /// @} - /// @name Off-Mesh Connections Attributes (Optional) - /// Used to define a custom point-to-point edge within the navigation graph, an - /// off-mesh connection is a user defined traversable connection made up to two vertices, - /// at least one of which resides within a navigation mesh polygon. - /// @{ - - /// Off-mesh connection vertices. [(ax, ay, az, bx, by, bz) * #offMeshConCount] [Unit: wu] - const float* offMeshConVerts; - /// Off-mesh connection radii. [Size: #offMeshConCount] [Unit: wu] - const float* offMeshConRad; - /// User defined flags assigned to the off-mesh connections. [Size: #offMeshConCount] - const unsigned short* offMeshConFlags; - /// User defined area ids assigned to the off-mesh connections. [Size: #offMeshConCount] - const unsigned char* offMeshConAreas; - /// The permitted travel direction of the off-mesh connections. [Size: #offMeshConCount] - /// - /// 0 = Travel only from endpoint A to endpoint B.
- /// #DT_OFFMESH_CON_BIDIR = Bidirectional travel. - const unsigned char* offMeshConDir; - /// The user defined ids of the off-mesh connection. [Size: #offMeshConCount] - const unsigned int* offMeshConUserID; - /// The number of off-mesh connections. [Limit: >= 0] - int offMeshConCount; - - /// @} - /// @name Tile Attributes - /// @note The tile grid/layer data can be left at zero if the destination is a single tile mesh. - /// @{ - - unsigned int userId; ///< The user defined id of the tile. - int tileX; ///< The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.) - int tileY; ///< The tile's y-grid location within the multi-tile desitation mesh. (Along the z-axis.) - int tileLayer; ///< The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.) - float bmin[3]; ///< The minimum bounds of the tile. [(x, y, z)] [Unit: wu] - float bmax[3]; ///< The maximum bounds of the tile. [(x, y, z)] [Unit: wu] - - /// @} - /// @name General Configuration Attributes - /// @{ - - float walkableHeight; ///< The agent height. [Unit: wu] - float walkableRadius; ///< The agent radius. [Unit: wu] - float walkableClimb; ///< The agent maximum traversable ledge. (Up/Down) [Unit: wu] - float cs; ///< The xz-plane cell size of the polygon mesh. [Limit: > 0] [Unit: wu] - float ch; ///< The y-axis cell height of the polygon mesh. [Limit: > 0] [Unit: wu] - - /// True if a bounding volume tree should be built for the tile. - /// @note The BVTree is not normally needed for layered navigation meshes. - bool buildBvTree; - - /// @} -}; - -/// Builds navigation mesh tile data from the provided tile creation data. -/// @ingroup detour -/// @param[in] params Tile creation data. -/// @param[out] outData The resulting tile data. -/// @param[out] outDataSize The size of the tile data array. -/// @return True if the tile data was successfully created. -bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize); - -/// Swaps the endianess of the tile data's header (#dtMeshHeader). -/// @param[in,out] data The tile data array. -/// @param[in] dataSize The size of the data array. -bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int dataSize); - -/// Swaps endianess of the tile data. -/// @param[in,out] data The tile data array. -/// @param[in] dataSize The size of the data array. -bool dtNavMeshDataSwapEndian(unsigned char* data, const int dataSize); - -#endif // DETOURNAVMESHBUILDER_H - -// This section contains detailed documentation for members that don't have -// a source file. It reduces clutter in the main section of the header. - -/** - -@struct dtNavMeshCreateParams -@par - -This structure is used to marshal data between the Recast mesh generation pipeline and Detour navigation components. - -See the rcPolyMesh and rcPolyMeshDetail documentation for detailed information related to mesh structure. - -Units are usually in voxels (vx) or world units (wu). The units for voxels, grid size, and cell size -are all based on the values of #cs and #ch. - -The standard navigation mesh build process is to create tile data using dtCreateNavMeshData, then add the tile -to a navigation mesh using either the dtNavMesh single tile init() function or the dtNavMesh::addTile() -function. - -@see dtCreateNavMeshData - -*/ - diff --git a/libs/recast/detour/include/DetourNavMeshQuery.h b/libs/recast/detour/include/DetourNavMeshQuery.h deleted file mode 100644 index 61541e83d..000000000 --- a/libs/recast/detour/include/DetourNavMeshQuery.h +++ /dev/null @@ -1,575 +0,0 @@ -// -// Copyright (c) 2009-2010 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 DETOURNAVMESHQUERY_H -#define DETOURNAVMESHQUERY_H - -#include "DetourNavMesh.h" -#include "DetourStatus.h" - - -// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter. -// On certain platforms indirect or virtual function call is expensive. The default -// setting is to use non-virtual functions, the actual implementations of the functions -// are declared as inline for maximum speed. - -//#define DT_VIRTUAL_QUERYFILTER 1 - -/// Defines polygon filtering and traversal costs for navigation mesh query operations. -/// @ingroup detour -class dtQueryFilter -{ - float m_areaCost[DT_MAX_AREAS]; ///< Cost per area type. (Used by default implementation.) - unsigned short m_includeFlags; ///< Flags for polygons that can be visited. (Used by default implementation.) - unsigned short m_excludeFlags; ///< Flags for polygons that should not be visted. (Used by default implementation.) - -public: - dtQueryFilter(); - -#ifdef DT_VIRTUAL_QUERYFILTER - virtual ~dtQueryFilter() { } -#endif - - /// Returns true if the polygon can be visited. (I.e. Is traversable.) - /// @param[in] ref The reference id of the polygon test. - /// @param[in] tile The tile containing the polygon. - /// @param[in] poly The polygon to test. -#ifdef DT_VIRTUAL_QUERYFILTER - virtual bool passFilter(const dtPolyRef ref, - const dtMeshTile* tile, - const dtPoly* poly) const; -#else - bool passFilter(const dtPolyRef ref, - const dtMeshTile* tile, - const dtPoly* poly) const; -#endif - - /// Returns cost to move from the beginning to the end of a line segment - /// that is fully contained within a polygon. - /// @param[in] pa The start position on the edge of the previous and current polygon. [(x, y, z)] - /// @param[in] pb The end position on the edge of the current and next polygon. [(x, y, z)] - /// @param[in] prevRef The reference id of the previous polygon. [opt] - /// @param[in] prevTile The tile containing the previous polygon. [opt] - /// @param[in] prevPoly The previous polygon. [opt] - /// @param[in] curRef The reference id of the current polygon. - /// @param[in] curTile The tile containing the current polygon. - /// @param[in] curPoly The current polygon. - /// @param[in] nextRef The refernece id of the next polygon. [opt] - /// @param[in] nextTile The tile containing the next polygon. [opt] - /// @param[in] nextPoly The next polygon. [opt] -#ifdef DT_VIRTUAL_QUERYFILTER - virtual float getCost(const float* pa, const float* pb, - const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly, - const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly, - const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const; -#else - float getCost(const float* pa, const float* pb, - const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly, - const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly, - const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const; -#endif - - /// @name Getters and setters for the default implementation data. - ///@{ - - /// Returns the traversal cost of the area. - /// @param[in] i The id of the area. - /// @returns The traversal cost of the area. - inline float getAreaCost(const int i) const { return m_areaCost[i]; } - - /// Sets the traversal cost of the area. - /// @param[in] i The id of the area. - /// @param[in] cost The new cost of traversing the area. - inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; } - - /// Returns the include flags for the filter. - /// Any polygons that include one or more of these flags will be - /// included in the operation. - inline unsigned short getIncludeFlags() const { return m_includeFlags; } - - /// Sets the include flags for the filter. - /// @param[in] flags The new flags. - inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; } - - /// Returns the exclude flags for the filter. - /// Any polygons that include one ore more of these flags will be - /// excluded from the operation. - inline unsigned short getExcludeFlags() const { return m_excludeFlags; } - - /// Sets the exclude flags for the filter. - /// @param[in] flags The new flags. - inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; } - - ///@} - -}; - - - -/// Provides information about raycast hit -/// filled by dtNavMeshQuery::raycast -/// @ingroup detour -struct dtRaycastHit -{ - /// The hit parameter. (FLT_MAX if no wall hit.) - float t; - - /// hitNormal The normal of the nearest wall hit. [(x, y, z)] - float hitNormal[3]; - - /// The index of the edge on the final polygon where the wall was hit. - int hitEdgeIndex; - - /// Pointer to an array of reference ids of the visited polygons. [opt] - dtPolyRef* path; - - /// The number of visited polygons. [opt] - int pathCount; - - /// The maximum number of polygons the @p path array can hold. - int maxPath; - - /// The cost of the path until hit. - float pathCost; -}; - -/// Provides custom polygon query behavior. -/// Used by dtNavMeshQuery::queryPolygons. -/// @ingroup detour -class dtPolyQuery -{ -public: - virtual ~dtPolyQuery() { } - - /// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons. - /// This can be called multiple times for a single query. - virtual void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) = 0; -}; - -/// Provides the ability to perform pathfinding related queries against -/// a navigation mesh. -/// @ingroup detour -class dtNavMeshQuery -{ -public: - dtNavMeshQuery(); - ~dtNavMeshQuery(); - - /// Initializes the query object. - /// @param[in] nav Pointer to the dtNavMesh object to use for all queries. - /// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65535] - /// @returns The status flags for the query. - dtStatus init(const dtNavMesh* nav, const int maxNodes); - - /// @name Standard Pathfinding Functions - // /@{ - - /// Finds a path from the start polygon to the end polygon. - /// @param[in] startRef The refrence id of the start polygon. - /// @param[in] endRef The reference id of the end polygon. - /// @param[in] startPos A position within the start polygon. [(x, y, z)] - /// @param[in] endPos A position within the end polygon. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) - /// [(polyRef) * @p pathCount] - /// @param[out] pathCount The number of polygons returned in the @p path array. - /// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 1] - dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef, - const float* startPos, const float* endPos, - const dtQueryFilter* filter, - dtPolyRef* path, int* pathCount, const int maxPath) const; - - /// Finds the straight path from the start to the end position within the polygon corridor. - /// @param[in] startPos Path start position. [(x, y, z)] - /// @param[in] endPos Path end position. [(x, y, z)] - /// @param[in] path An array of polygon references that represent the path corridor. - /// @param[in] pathSize The number of polygons in the @p path array. - /// @param[out] straightPath Points describing the straight path. [(x, y, z) * @p straightPathCount]. - /// @param[out] straightPathFlags Flags describing each point. (See: #dtStraightPathFlags) [opt] - /// @param[out] straightPathRefs The reference id of the polygon that is being entered at each point. [opt] - /// @param[out] straightPathCount The number of points in the straight path. - /// @param[in] maxStraightPath The maximum number of points the straight path arrays can hold. [Limit: > 0] - /// @param[in] options Query options. (see: #dtStraightPathOptions) - /// @returns The status flags for the query. - dtStatus findStraightPath(const float* startPos, const float* endPos, - const dtPolyRef* path, const int pathSize, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath, const int options = 0) const; - - ///@} - /// @name Sliced Pathfinding Functions - /// Common use case: - /// -# Call initSlicedFindPath() to initialize the sliced path query. - /// -# Call updateSlicedFindPath() until it returns complete. - /// -# Call finalizeSlicedFindPath() to get the path. - ///@{ - - /// Intializes a sliced path query. - /// @param[in] startRef The refrence id of the start polygon. - /// @param[in] endRef The reference id of the end polygon. - /// @param[in] startPos A position within the start polygon. [(x, y, z)] - /// @param[in] endPos A position within the end polygon. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[in] options query options (see: #dtFindPathOptions) - /// @returns The status flags for the query. - dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef, - const float* startPos, const float* endPos, - const dtQueryFilter* filter, const unsigned int options = 0); - - /// Updates an in-progress sliced path query. - /// @param[in] maxIter The maximum number of iterations to perform. - /// @param[out] doneIters The actual number of iterations completed. [opt] - /// @returns The status flags for the query. - dtStatus updateSlicedFindPath(const int maxIter, int* doneIters); - - /// Finalizes and returns the results of a sliced path query. - /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) - /// [(polyRef) * @p pathCount] - /// @param[out] pathCount The number of polygons returned in the @p path array. - /// @param[in] maxPath The max number of polygons the path array can hold. [Limit: >= 1] - /// @returns The status flags for the query. - dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath); - - /// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest - /// polygon on the existing path that was visited during the search. - /// @param[in] existing An array of polygon references for the existing path. - /// @param[in] existingSize The number of polygon in the @p existing array. - /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) - /// [(polyRef) * @p pathCount] - /// @param[out] pathCount The number of polygons returned in the @p path array. - /// @param[in] maxPath The max number of polygons the @p path array can hold. [Limit: >= 1] - /// @returns The status flags for the query. - dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize, - dtPolyRef* path, int* pathCount, const int maxPath); - - ///@} - /// @name Dijkstra Search Functions - /// @{ - - /// Finds the polygons along the navigation graph that touch the specified circle. - /// @param[in] startRef The reference id of the polygon where the search starts. - /// @param[in] centerPos The center of the search circle. [(x, y, z)] - /// @param[in] radius The radius of the search circle. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt] - /// @param[out] resultParent The reference ids of the parent polygons for each result. - /// Zero if a result polygon has no parent. [opt] - /// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt] - /// @param[out] resultCount The number of polygons found. [opt] - /// @param[in] maxResult The maximum number of polygons the result arrays can hold. - /// @returns The status flags for the query. - dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, - int* resultCount, const int maxResult) const; - - /// Finds the polygons along the naviation graph that touch the specified convex polygon. - /// @param[in] startRef The reference id of the polygon where the search starts. - /// @param[in] verts The vertices describing the convex polygon. (CCW) - /// [(x, y, z) * @p nverts] - /// @param[in] nverts The number of vertices in the polygon. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt] - /// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a - /// result polygon has no parent. [opt] - /// @param[out] resultCost The search cost from the centroid point to the polygon. [opt] - /// @param[out] resultCount The number of polygons found. - /// @param[in] maxResult The maximum number of polygons the result arrays can hold. - /// @returns The status flags for the query. - dtStatus findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, - int* resultCount, const int maxResult) const; - - /// Gets a path from the explored nodes in the previous search. - /// @param[in] endRef The reference id of the end polygon. - /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) - /// [(polyRef) * @p pathCount] - /// @param[out] pathCount The number of polygons returned in the @p path array. - /// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 0] - /// @returns The status flags. Returns DT_FAILURE | DT_INVALID_PARAM if any parameter is wrong, or if - /// @p endRef was not explored in the previous search. Returns DT_SUCCESS | DT_BUFFER_TOO_SMALL - /// if @p path cannot contain the entire path. In this case it is filled to capacity with a partial path. - /// Otherwise returns DT_SUCCESS. - /// @remarks The result of this function depends on the state of the query object. For that reason it should only - /// be used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape. - dtStatus getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef* path, int* pathCount, int maxPath) const; - - /// @} - /// @name Local Query Functions - ///@{ - - /// Finds the polygon nearest to the specified center point. - /// @param[in] center The center of the search box. [(x, y, z)] - /// @param[in] extents The search distance along each axis. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] nearestRef The reference id of the nearest polygon. - /// @param[out] nearestPt The nearest point on the polygon. [opt] [(x, y, z)] - /// @returns The status flags for the query. - dtStatus findNearestPoly(const float* center, const float* extents, - const dtQueryFilter* filter, - dtPolyRef* nearestRef, float* nearestPt) const; - - /// Finds polygons that overlap the search box. - /// @param[in] center The center of the search box. [(x, y, z)] - /// @param[in] extents The search distance along each axis. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] polys The reference ids of the polygons that overlap the query box. - /// @param[out] polyCount The number of polygons in the search result. - /// @param[in] maxPolys The maximum number of polygons the search result can hold. - /// @returns The status flags for the query. - dtStatus queryPolygons(const float* center, const float* extents, - const dtQueryFilter* filter, - dtPolyRef* polys, int* polyCount, const int maxPolys) const; - - /// Finds polygons that overlap the search box. - /// @param[in] center The center of the search box. [(x, y, z)] - /// @param[in] extents The search distance along each axis. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[in] query The query. Polygons found will be batched together and passed to this query. - dtStatus queryPolygons(const float* center, const float* extents, - const dtQueryFilter* filter, dtPolyQuery* query) const; - - /// Finds the non-overlapping navigation polygons in the local neighbourhood around the center position. - /// @param[in] startRef The reference id of the polygon where the search starts. - /// @param[in] centerPos The center of the query circle. [(x, y, z)] - /// @param[in] radius The radius of the query circle. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] resultRef The reference ids of the polygons touched by the circle. - /// @param[out] resultParent The reference ids of the parent polygons for each result. - /// Zero if a result polygon has no parent. [opt] - /// @param[out] resultCount The number of polygons found. - /// @param[in] maxResult The maximum number of polygons the result arrays can hold. - /// @returns The status flags for the query. - dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, - int* resultCount, const int maxResult) const; - - /// Moves from the start to the end position constrained to the navigation mesh. - /// @param[in] startRef The reference id of the start polygon. - /// @param[in] startPos A position of the mover within the start polygon. [(x, y, x)] - /// @param[in] endPos The desired end position of the mover. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] resultPos The result position of the mover. [(x, y, z)] - /// @param[out] visited The reference ids of the polygons visited during the move. - /// @param[out] visitedCount The number of polygons visited during the move. - /// @param[in] maxVisitedSize The maximum number of polygons the @p visited array can hold. - /// @returns The status flags for the query. - dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, - float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const; - - /// Casts a 'walkability' ray along the surface of the navigation mesh from - /// the start position toward the end position. - /// @note A wrapper around raycast(..., RaycastHit*). Retained for backward compatibility. - /// @param[in] startRef The reference id of the start polygon. - /// @param[in] startPos A position within the start polygon representing - /// the start of the ray. [(x, y, z)] - /// @param[in] endPos The position to cast the ray toward. [(x, y, z)] - /// @param[out] t The hit parameter. (FLT_MAX if no wall hit.) - /// @param[out] hitNormal The normal of the nearest wall hit. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] path The reference ids of the visited polygons. [opt] - /// @param[out] pathCount The number of visited polygons. [opt] - /// @param[in] maxPath The maximum number of polygons the @p path array can hold. - /// @returns The status flags for the query. - dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, - float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const; - - /// Casts a 'walkability' ray along the surface of the navigation mesh from - /// the start position toward the end position. - /// @param[in] startRef The reference id of the start polygon. - /// @param[in] startPos A position within the start polygon representing - /// the start of the ray. [(x, y, z)] - /// @param[in] endPos The position to cast the ray toward. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[in] flags govern how the raycast behaves. See dtRaycastOptions - /// @param[out] hit Pointer to a raycast hit structure which will be filled by the results. - /// @param[in] prevRef parent of start ref. Used during for cost calculation [opt] - /// @returns The status flags for the query. - dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, const unsigned int options, - dtRaycastHit* hit, dtPolyRef prevRef = 0) const; - - - /// Finds the distance from the specified position to the nearest polygon wall. - /// @param[in] startRef The reference id of the polygon containing @p centerPos. - /// @param[in] centerPos The center of the search circle. [(x, y, z)] - /// @param[in] maxRadius The radius of the search circle. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] hitDist The distance to the nearest wall from @p centerPos. - /// @param[out] hitPos The nearest position on the wall that was hit. [(x, y, z)] - /// @param[out] hitNormal The normalized ray formed from the wall point to the - /// source point. [(x, y, z)] - /// @returns The status flags for the query. - dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius, - const dtQueryFilter* filter, - float* hitDist, float* hitPos, float* hitNormal) const; - - /// Returns the segments for the specified polygon, optionally including portals. - /// @param[in] ref The reference id of the polygon. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] segmentVerts The segments. [(ax, ay, az, bx, by, bz) * segmentCount] - /// @param[out] segmentRefs The reference ids of each segment's neighbor polygon. - /// Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount] - /// @param[out] segmentCount The number of segments returned. - /// @param[in] maxSegments The maximum number of segments the result arrays can hold. - /// @returns The status flags for the query. - dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter, - float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount, - const int maxSegments) const; - - /// Returns random location on navmesh. - /// Polygons are chosen weighted by area. The search runs in linear related to number of polygon. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[in] frand Function returning a random number [0..1). - /// @param[out] randomRef The reference id of the random location. - /// @param[out] randomPt The random location. - /// @returns The status flags for the query. - dtStatus findRandomPoint(const dtQueryFilter* filter, float (*frand)(), - dtPolyRef* randomRef, float* randomPt) const; - - /// Returns random location on navmesh within the reach of specified location. - /// Polygons are chosen weighted by area. The search runs in linear related to number of polygon. - /// The location is not exactly constrained by the circle, but it limits the visited polygons. - /// @param[in] startRef The reference id of the polygon where the search starts. - /// @param[in] centerPos The center of the search circle. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[in] frand Function returning a random number [0..1). - /// @param[out] randomRef The reference id of the random location. - /// @param[out] randomPt The random location. [(x, y, z)] - /// @returns The status flags for the query. - dtStatus findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius, - const dtQueryFilter* filter, float (*frand)(), - dtPolyRef* randomRef, float* randomPt) const; - - /// Finds the closest point on the specified polygon. - /// @param[in] ref The reference id of the polygon. - /// @param[in] pos The position to check. [(x, y, z)] - /// @param[out] closest The closest point on the polygon. [(x, y, z)] - /// @param[out] posOverPoly True of the position is over the polygon. - /// @returns The status flags for the query. - dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const; - - /// Returns a point on the boundary closest to the source point if the source point is outside the - /// polygon's xz-bounds. - /// @param[in] ref The reference id to the polygon. - /// @param[in] pos The position to check. [(x, y, z)] - /// @param[out] closest The closest point. [(x, y, z)] - /// @returns The status flags for the query. - dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const; - - /// Gets the height of the polygon at the provided position using the height detail. (Most accurate.) - /// @param[in] ref The reference id of the polygon. - /// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)] - /// @param[out] height The height at the surface of the polygon. - /// @returns The status flags for the query. - dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const; - - /// @} - /// @name Miscellaneous Functions - /// @{ - - /// Returns true if the polygon reference is valid and passes the filter restrictions. - /// @param[in] ref The polygon reference to check. - /// @param[in] filter The filter to apply. - bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const; - - /// Returns true if the polygon reference is in the closed list. - /// @param[in] ref The reference id of the polygon to check. - /// @returns True if the polygon is in closed list. - bool isInClosedList(dtPolyRef ref) const; - - /// Gets the node pool. - /// @returns The node pool. - class dtNodePool* getNodePool() const { return m_nodePool; } - - /// Gets the navigation mesh the query object is using. - /// @return The navigation mesh the query object is using. - const dtNavMesh* getAttachedNavMesh() const { return m_nav; } - - /// @} - -private: - // Explicitly disabled copy constructor and copy assignment operator - dtNavMeshQuery(const dtNavMeshQuery&); - dtNavMeshQuery& operator=(const dtNavMeshQuery&); - - /// Queries polygons within a tile. - void queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, - const dtQueryFilter* filter, dtPolyQuery* query) const; - - /// Returns portal points between two polygons. - dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right, - unsigned char& fromType, unsigned char& toType) const; - dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, - dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, - float* left, float* right) const; - - /// Returns edge mid point between two polygons. - dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const; - dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, - dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, - float* mid) const; - - // Appends vertex to a straight path - dtStatus appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath) const; - - // Appends intermediate portal points to a straight path. - dtStatus appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath, const int options) const; - - // Gets the path leading to the specified end node. - dtStatus getPathToNode(struct dtNode* endNode, dtPolyRef* path, int* pathCount, int maxPath) const; - - const dtNavMesh* m_nav; ///< Pointer to navmesh data. - - struct dtQueryData - { - dtStatus status; - struct dtNode* lastBestNode; - float lastBestNodeCost; - dtPolyRef startRef, endRef; - float startPos[3], endPos[3]; - const dtQueryFilter* filter; - unsigned int options; - float raycastLimitSqr; - }; - dtQueryData m_query; ///< Sliced query state. - - class dtNodePool* m_tinyNodePool; ///< Pointer to small node pool. - class dtNodePool* m_nodePool; ///< Pointer to node pool. - class dtNodeQueue* m_openList; ///< Pointer to open list queue. -}; - -/// Allocates a query object using the Detour allocator. -/// @return An allocated query object, or null on failure. -/// @ingroup detour -dtNavMeshQuery* dtAllocNavMeshQuery(); - -/// Frees the specified query object using the Detour allocator. -/// @param[in] query A query object allocated using #dtAllocNavMeshQuery -/// @ingroup detour -void dtFreeNavMeshQuery(dtNavMeshQuery* query); - -#endif // DETOURNAVMESHQUERY_H diff --git a/libs/recast/detour/include/DetourNode.h b/libs/recast/detour/include/DetourNode.h deleted file mode 100644 index db0974708..000000000 --- a/libs/recast/detour/include/DetourNode.h +++ /dev/null @@ -1,168 +0,0 @@ -// -// Copyright (c) 2009-2010 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 DETOURNODE_H -#define DETOURNODE_H - -#include "DetourNavMesh.h" - -enum dtNodeFlags -{ - DT_NODE_OPEN = 0x01, - DT_NODE_CLOSED = 0x02, - DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not adjacent. Found using raycast. -}; - -typedef unsigned short dtNodeIndex; -static const dtNodeIndex DT_NULL_IDX = (dtNodeIndex)~0; - -static const int DT_NODE_PARENT_BITS = 24; -static const int DT_NODE_STATE_BITS = 2; -struct dtNode -{ - float pos[3]; ///< Position of the node. - float cost; ///< Cost from previous node to current node. - float total; ///< Cost up to the node. - unsigned int pidx : DT_NODE_PARENT_BITS; ///< Index to parent node. - unsigned int state : DT_NODE_STATE_BITS; ///< extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE - unsigned int flags : 3; ///< Node flags. A combination of dtNodeFlags. - dtPolyRef id; ///< Polygon ref the node corresponds to. -}; - -static const int DT_MAX_STATES_PER_NODE = 1 << DT_NODE_STATE_BITS; // number of extra states per node. See dtNode::state - -class dtNodePool -{ -public: - dtNodePool(int maxNodes, int hashSize); - ~dtNodePool(); - void clear(); - - // Get a dtNode by ref and extra state information. If there is none then - allocate - // There can be more than one node for the same polyRef but with different extra state information - dtNode* getNode(dtPolyRef id, unsigned char state=0); - dtNode* findNode(dtPolyRef id, unsigned char state); - unsigned int findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes); - - inline unsigned int getNodeIdx(const dtNode* node) const - { - if (!node) return 0; - return (unsigned int)(node - m_nodes) + 1; - } - - inline dtNode* getNodeAtIdx(unsigned int idx) - { - if (!idx) return 0; - return &m_nodes[idx - 1]; - } - - inline const dtNode* getNodeAtIdx(unsigned int idx) const - { - if (!idx) return 0; - return &m_nodes[idx - 1]; - } - - inline int getMemUsed() const - { - return sizeof(*this) + - sizeof(dtNode)*m_maxNodes + - sizeof(dtNodeIndex)*m_maxNodes + - sizeof(dtNodeIndex)*m_hashSize; - } - - inline int getMaxNodes() const { return m_maxNodes; } - - inline int getHashSize() const { return m_hashSize; } - inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; } - inline dtNodeIndex getNext(int i) const { return m_next[i]; } - inline int getNodeCount() const { return m_nodeCount; } - -private: - // Explicitly disabled copy constructor and copy assignment operator. - dtNodePool(const dtNodePool&); - dtNodePool& operator=(const dtNodePool&); - - dtNode* m_nodes; - dtNodeIndex* m_first; - dtNodeIndex* m_next; - const int m_maxNodes; - const int m_hashSize; - int m_nodeCount; -}; - -class dtNodeQueue -{ -public: - dtNodeQueue(int n); - ~dtNodeQueue(); - - inline void clear() { m_size = 0; } - - inline dtNode* top() { return m_heap[0]; } - - inline dtNode* pop() - { - dtNode* result = m_heap[0]; - m_size--; - trickleDown(0, m_heap[m_size]); - return result; - } - - inline void push(dtNode* node) - { - m_size++; - bubbleUp(m_size-1, node); - } - - inline void modify(dtNode* node) - { - for (int i = 0; i < m_size; ++i) - { - if (m_heap[i] == node) - { - bubbleUp(i, node); - return; - } - } - } - - inline bool empty() const { return m_size == 0; } - - inline int getMemUsed() const - { - return sizeof(*this) + - sizeof(dtNode*) * (m_capacity + 1); - } - - inline int getCapacity() const { return m_capacity; } - -private: - // Explicitly disabled copy constructor and copy assignment operator. - dtNodeQueue(const dtNodeQueue&); - dtNodeQueue& operator=(const dtNodeQueue&); - - void bubbleUp(int i, dtNode* node); - void trickleDown(int i, dtNode* node); - - dtNode** m_heap; - const int m_capacity; - int m_size; -}; - - -#endif // DETOURNODE_H diff --git a/libs/recast/detour/include/DetourStatus.h b/libs/recast/detour/include/DetourStatus.h deleted file mode 100644 index af822c4a9..000000000 --- a/libs/recast/detour/include/DetourStatus.h +++ /dev/null @@ -1,64 +0,0 @@ -// -// Copyright (c) 2009-2010 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 DETOURSTATUS_H -#define DETOURSTATUS_H - -typedef unsigned int dtStatus; - -// High level status. -static const unsigned int DT_FAILURE = 1u << 31; // Operation failed. -static const unsigned int DT_SUCCESS = 1u << 30; // Operation succeed. -static const unsigned int DT_IN_PROGRESS = 1u << 29; // Operation still in progress. - -// Detail information for status. -static const unsigned int DT_STATUS_DETAIL_MASK = 0x0ffffff; -static const unsigned int DT_WRONG_MAGIC = 1 << 0; // Input data is not recognized. -static const unsigned int DT_WRONG_VERSION = 1 << 1; // Input data is in wrong version. -static const unsigned int DT_OUT_OF_MEMORY = 1 << 2; // Operation ran out of memory. -static const unsigned int DT_INVALID_PARAM = 1 << 3; // An input parameter was invalid. -static const unsigned int DT_BUFFER_TOO_SMALL = 1 << 4; // Result buffer for the query was too small to store all results. -static const unsigned int DT_OUT_OF_NODES = 1 << 5; // Query ran out of nodes during search. -static const unsigned int DT_PARTIAL_RESULT = 1 << 6; // Query did not reach the end location, returning best guess. - - -// Returns true of status is success. -inline bool dtStatusSucceed(dtStatus status) -{ - return (status & DT_SUCCESS) != 0; -} - -// Returns true of status is failure. -inline bool dtStatusFailed(dtStatus status) -{ - return (status & DT_FAILURE) != 0; -} - -// Returns true of status is in progress. -inline bool dtStatusInProgress(dtStatus status) -{ - return (status & DT_IN_PROGRESS) != 0; -} - -// Returns true if specific detail is set. -inline bool dtStatusDetail(dtStatus status, unsigned int detail) -{ - return (status & detail) != 0; -} - -#endif // DETOURSTATUS_H diff --git a/libs/recast/detour/src/DetourAlloc.cpp b/libs/recast/detour/src/DetourAlloc.cpp deleted file mode 100644 index d9ad1fc01..000000000 --- a/libs/recast/detour/src/DetourAlloc.cpp +++ /dev/null @@ -1,50 +0,0 @@ -// -// Copyright (c) 2009-2010 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 -#include "DetourAlloc.h" - -static void *dtAllocDefault(size_t size, dtAllocHint) -{ - return malloc(size); -} - -static void dtFreeDefault(void *ptr) -{ - free(ptr); -} - -static dtAllocFunc* sAllocFunc = dtAllocDefault; -static dtFreeFunc* sFreeFunc = dtFreeDefault; - -void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc) -{ - sAllocFunc = allocFunc ? allocFunc : dtAllocDefault; - sFreeFunc = freeFunc ? freeFunc : dtFreeDefault; -} - -void* dtAlloc(size_t size, dtAllocHint hint) -{ - return sAllocFunc(size, hint); -} - -void dtFree(void* ptr) -{ - if (ptr) - sFreeFunc(ptr); -} diff --git a/libs/recast/detour/src/DetourAssert.cpp b/libs/recast/detour/src/DetourAssert.cpp deleted file mode 100644 index 5e019e0cf..000000000 --- a/libs/recast/detour/src/DetourAssert.cpp +++ /dev/null @@ -1,35 +0,0 @@ -// -// Copyright (c) 2009-2010 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 "DetourAssert.h" - -#ifndef NDEBUG - -static dtAssertFailFunc* sAssertFailFunc = 0; - -void dtAssertFailSetCustom(dtAssertFailFunc *assertFailFunc) -{ - sAssertFailFunc = assertFailFunc; -} - -dtAssertFailFunc* dtAssertFailGetCustom() -{ - return sAssertFailFunc; -} - -#endif diff --git a/libs/recast/detour/src/DetourCommon.cpp b/libs/recast/detour/src/DetourCommon.cpp deleted file mode 100644 index 41d0d7bd3..000000000 --- a/libs/recast/detour/src/DetourCommon.cpp +++ /dev/null @@ -1,388 +0,0 @@ -// -// Copyright (c) 2009-2010 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 "DetourCommon.h" -#include "DetourMath.h" - -////////////////////////////////////////////////////////////////////////////////////////// - -void dtClosestPtPointTriangle(float* closest, const float* p, - const float* a, const float* b, const float* c) -{ - // Check if P in vertex region outside A - float ab[3], ac[3], ap[3]; - dtVsub(ab, b, a); - dtVsub(ac, c, a); - dtVsub(ap, p, a); - float d1 = dtVdot(ab, ap); - float d2 = dtVdot(ac, ap); - if (d1 <= 0.0f && d2 <= 0.0f) - { - // barycentric coordinates (1,0,0) - dtVcopy(closest, a); - return; - } - - // Check if P in vertex region outside B - float bp[3]; - dtVsub(bp, p, b); - float d3 = dtVdot(ab, bp); - float d4 = dtVdot(ac, bp); - if (d3 >= 0.0f && d4 <= d3) - { - // barycentric coordinates (0,1,0) - dtVcopy(closest, b); - return; - } - - // Check if P in edge region of AB, if so return projection of P onto AB - float vc = d1*d4 - d3*d2; - if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f) - { - // barycentric coordinates (1-v,v,0) - float v = d1 / (d1 - d3); - closest[0] = a[0] + v * ab[0]; - closest[1] = a[1] + v * ab[1]; - closest[2] = a[2] + v * ab[2]; - return; - } - - // Check if P in vertex region outside C - float cp[3]; - dtVsub(cp, p, c); - float d5 = dtVdot(ab, cp); - float d6 = dtVdot(ac, cp); - if (d6 >= 0.0f && d5 <= d6) - { - // barycentric coordinates (0,0,1) - dtVcopy(closest, c); - return; - } - - // Check if P in edge region of AC, if so return projection of P onto AC - float vb = d5*d2 - d1*d6; - if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f) - { - // barycentric coordinates (1-w,0,w) - float w = d2 / (d2 - d6); - closest[0] = a[0] + w * ac[0]; - closest[1] = a[1] + w * ac[1]; - closest[2] = a[2] + w * ac[2]; - return; - } - - // Check if P in edge region of BC, if so return projection of P onto BC - float va = d3*d6 - d5*d4; - if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f) - { - // barycentric coordinates (0,1-w,w) - float w = (d4 - d3) / ((d4 - d3) + (d5 - d6)); - closest[0] = b[0] + w * (c[0] - b[0]); - closest[1] = b[1] + w * (c[1] - b[1]); - closest[2] = b[2] + w * (c[2] - b[2]); - return; - } - - // P inside face region. Compute Q through its barycentric coordinates (u,v,w) - float denom = 1.0f / (va + vb + vc); - float v = vb * denom; - float w = vc * denom; - closest[0] = a[0] + ab[0] * v + ac[0] * w; - closest[1] = a[1] + ab[1] * v + ac[1] * w; - closest[2] = a[2] + ab[2] * v + ac[2] * w; -} - -bool dtIntersectSegmentPoly2D(const float* p0, const float* p1, - const float* verts, int nverts, - float& tmin, float& tmax, - int& segMin, int& segMax) -{ - static const float EPS = 0.00000001f; - - tmin = 0; - tmax = 1; - segMin = -1; - segMax = -1; - - float dir[3]; - dtVsub(dir, p1, p0); - - for (int i = 0, j = nverts-1; i < nverts; j=i++) - { - float edge[3], diff[3]; - dtVsub(edge, &verts[i*3], &verts[j*3]); - dtVsub(diff, p0, &verts[j*3]); - const float n = dtVperp2D(edge, diff); - const float d = dtVperp2D(dir, edge); - if (fabsf(d) < EPS) - { - // S is nearly parallel to this edge - if (n < 0) - return false; - else - continue; - } - const float t = n / d; - if (d < 0) - { - // segment S is entering across this edge - if (t > tmin) - { - tmin = t; - segMin = j; - // S enters after leaving polygon - if (tmin > tmax) - return false; - } - } - else - { - // segment S is leaving across this edge - if (t < tmax) - { - tmax = t; - segMax = j; - // S leaves before entering polygon - if (tmax < tmin) - return false; - } - } - } - - return true; -} - -float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t) -{ - float pqx = q[0] - p[0]; - float pqz = q[2] - p[2]; - float dx = pt[0] - p[0]; - float dz = pt[2] - p[2]; - float d = pqx*pqx + pqz*pqz; - t = pqx*dx + pqz*dz; - if (d > 0) t /= d; - if (t < 0) t = 0; - else if (t > 1) t = 1; - dx = p[0] + t*pqx - pt[0]; - dz = p[2] + t*pqz - pt[2]; - return dx*dx + dz*dz; -} - -void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts) -{ - tc[0] = 0.0f; - tc[1] = 0.0f; - tc[2] = 0.0f; - for (int j = 0; j < nidx; ++j) - { - const float* v = &verts[idx[j]*3]; - tc[0] += v[0]; - tc[1] += v[1]; - tc[2] += v[2]; - } - const float s = 1.0f / nidx; - tc[0] *= s; - tc[1] *= s; - tc[2] *= s; -} - -bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h) -{ - float v0[3], v1[3], v2[3]; - dtVsub(v0, c,a); - dtVsub(v1, b,a); - dtVsub(v2, p,a); - - const float dot00 = dtVdot2D(v0, v0); - const float dot01 = dtVdot2D(v0, v1); - const float dot02 = dtVdot2D(v0, v2); - const float dot11 = dtVdot2D(v1, v1); - const float dot12 = dtVdot2D(v1, v2); - - // Compute barycentric coordinates - const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01); - const float u = (dot11 * dot02 - dot01 * dot12) * invDenom; - const float v = (dot00 * dot12 - dot01 * dot02) * invDenom; - - // The (sloppy) epsilon is needed to allow to get height of points which - // are interpolated along the edges of the triangles. - static const float EPS = 1e-4f; - - // If point lies inside the triangle, return interpolated ycoord. - if (u >= -EPS && v >= -EPS && (u+v) <= 1+EPS) - { - h = a[1] + v0[1]*u + v1[1]*v; - return true; - } - - return false; -} - -/// @par -/// -/// All points are projected onto the xz-plane, so the y-values are ignored. -bool dtPointInPolygon(const float* pt, const float* verts, const int nverts) -{ - // TODO: Replace pnpoly with triArea2D tests? - int i, j; - bool c = false; - for (i = 0, j = nverts-1; i < nverts; j = i++) - { - const float* vi = &verts[i*3]; - const float* vj = &verts[j*3]; - if (((vi[2] > pt[2]) != (vj[2] > pt[2])) && - (pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) ) - c = !c; - } - return c; -} - -bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts, - float* ed, float* et) -{ - // TODO: Replace pnpoly with triArea2D tests? - int i, j; - bool c = false; - for (i = 0, j = nverts-1; i < nverts; j = i++) - { - const float* vi = &verts[i*3]; - const float* vj = &verts[j*3]; - if (((vi[2] > pt[2]) != (vj[2] > pt[2])) && - (pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) ) - c = !c; - ed[j] = dtDistancePtSegSqr2D(pt, vj, vi, et[j]); - } - return c; -} - -static void projectPoly(const float* axis, const float* poly, const int npoly, - float& rmin, float& rmax) -{ - rmin = rmax = dtVdot2D(axis, &poly[0]); - for (int i = 1; i < npoly; ++i) - { - const float d = dtVdot2D(axis, &poly[i*3]); - rmin = dtMin(rmin, d); - rmax = dtMax(rmax, d); - } -} - -inline bool overlapRange(const float amin, const float amax, - const float bmin, const float bmax, - const float eps) -{ - return ((amin+eps) > bmax || (amax-eps) < bmin) ? false : true; -} - -/// @par -/// -/// All vertices are projected onto the xz-plane, so the y-values are ignored. -bool dtOverlapPolyPoly2D(const float* polya, const int npolya, - const float* polyb, const int npolyb) -{ - const float eps = 1e-4f; - - for (int i = 0, j = npolya-1; i < npolya; j=i++) - { - const float* va = &polya[j*3]; - const float* vb = &polya[i*3]; - const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) }; - float amin,amax,bmin,bmax; - projectPoly(n, polya, npolya, amin,amax); - projectPoly(n, polyb, npolyb, bmin,bmax); - if (!overlapRange(amin,amax, bmin,bmax, eps)) - { - // Found separating axis - return false; - } - } - for (int i = 0, j = npolyb-1; i < npolyb; j=i++) - { - const float* va = &polyb[j*3]; - const float* vb = &polyb[i*3]; - const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) }; - float amin,amax,bmin,bmax; - projectPoly(n, polya, npolya, amin,amax); - projectPoly(n, polyb, npolyb, bmin,bmax); - if (!overlapRange(amin,amax, bmin,bmax, eps)) - { - // Found separating axis - return false; - } - } - return true; -} - -// Returns a random point in a convex polygon. -// Adapted from Graphics Gems article. -void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas, - const float s, const float t, float* out) -{ - // Calc triangle araes - float areasum = 0.0f; - for (int i = 2; i < npts; i++) { - areas[i] = dtTriArea2D(&pts[0], &pts[(i-1)*3], &pts[i*3]); - areasum += dtMax(0.001f, areas[i]); - } - // Find sub triangle weighted by area. - const float thr = s*areasum; - float acc = 0.0f; - float u = 1.0f; - int tri = npts - 1; - for (int i = 2; i < npts; i++) { - const float dacc = areas[i]; - if (thr >= acc && thr < (acc+dacc)) - { - u = (thr - acc) / dacc; - tri = i; - break; - } - acc += dacc; - } - - float v = dtMathSqrtf(t); - - const float a = 1 - v; - const float b = (1 - u) * v; - const float c = u * v; - const float* pa = &pts[0]; - const float* pb = &pts[(tri-1)*3]; - const float* pc = &pts[tri*3]; - - out[0] = a*pa[0] + b*pb[0] + c*pc[0]; - out[1] = a*pa[1] + b*pb[1] + c*pc[1]; - out[2] = a*pa[2] + b*pb[2] + c*pc[2]; -} - -inline float vperpXZ(const float* a, const float* b) { return a[0]*b[2] - a[2]*b[0]; } - -bool dtIntersectSegSeg2D(const float* ap, const float* aq, - const float* bp, const float* bq, - float& s, float& t) -{ - float u[3], v[3], w[3]; - dtVsub(u,aq,ap); - dtVsub(v,bq,bp); - dtVsub(w,ap,bp); - float d = vperpXZ(u,v); - if (fabsf(d) < 1e-6f) return false; - s = vperpXZ(v,w) / d; - t = vperpXZ(u,w) / d; - return true; -} - diff --git a/libs/recast/detour/src/DetourNavMesh.cpp b/libs/recast/detour/src/DetourNavMesh.cpp deleted file mode 100644 index a6557f9e8..000000000 --- a/libs/recast/detour/src/DetourNavMesh.cpp +++ /dev/null @@ -1,1522 +0,0 @@ -// -// Copyright (c) 2009-2010 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 -#include -#include -#include "DetourNavMesh.h" -#include "DetourNode.h" -#include "DetourCommon.h" -#include "DetourMath.h" -#include "DetourAlloc.h" -#include "DetourAssert.h" -#include - - -inline bool overlapSlabs(const float* amin, const float* amax, - const float* bmin, const float* bmax, - const float px, const float py) -{ - // Check for horizontal overlap. - // The segment is shrunken a little so that slabs which touch - // at end points are not connected. - const float minx = dtMax(amin[0]+px,bmin[0]+px); - const float maxx = dtMin(amax[0]-px,bmax[0]-px); - if (minx > maxx) - return false; - - // Check vertical overlap. - const float ad = (amax[1]-amin[1]) / (amax[0]-amin[0]); - const float ak = amin[1] - ad*amin[0]; - const float bd = (bmax[1]-bmin[1]) / (bmax[0]-bmin[0]); - const float bk = bmin[1] - bd*bmin[0]; - const float aminy = ad*minx + ak; - const float amaxy = ad*maxx + ak; - const float bminy = bd*minx + bk; - const float bmaxy = bd*maxx + bk; - const float dmin = bminy - aminy; - const float dmax = bmaxy - amaxy; - - // Crossing segments always overlap. - if (dmin*dmax < 0) - return true; - - // Check for overlap at endpoints. - const float thr = dtSqr(py*2); - if (dmin*dmin <= thr || dmax*dmax <= thr) - return true; - - return false; -} - -static float getSlabCoord(const float* va, const int side) -{ - if (side == 0 || side == 4) - return va[0]; - else if (side == 2 || side == 6) - return va[2]; - return 0; -} - -static void calcSlabEndPoints(const float* va, const float* vb, float* bmin, float* bmax, const int side) -{ - if (side == 0 || side == 4) - { - if (va[2] < vb[2]) - { - bmin[0] = va[2]; - bmin[1] = va[1]; - bmax[0] = vb[2]; - bmax[1] = vb[1]; - } - else - { - bmin[0] = vb[2]; - bmin[1] = vb[1]; - bmax[0] = va[2]; - bmax[1] = va[1]; - } - } - else if (side == 2 || side == 6) - { - if (va[0] < vb[0]) - { - bmin[0] = va[0]; - bmin[1] = va[1]; - bmax[0] = vb[0]; - bmax[1] = vb[1]; - } - else - { - bmin[0] = vb[0]; - bmin[1] = vb[1]; - bmax[0] = va[0]; - bmax[1] = va[1]; - } - } -} - -inline int computeTileHash(int x, int y, const int mask) -{ - const unsigned int h1 = 0x8da6b343; // Large multiplicative constants; - const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes - unsigned int n = h1 * x + h2 * y; - return (int)(n & mask); -} - -inline unsigned int allocLink(dtMeshTile* tile) -{ - if (tile->linksFreeList == DT_NULL_LINK) - return DT_NULL_LINK; - unsigned int link = tile->linksFreeList; - tile->linksFreeList = tile->links[link].next; - return link; -} - -inline void freeLink(dtMeshTile* tile, unsigned int link) -{ - tile->links[link].next = tile->linksFreeList; - tile->linksFreeList = link; -} - - -dtNavMesh* dtAllocNavMesh() -{ - void* mem = dtAlloc(sizeof(dtNavMesh), DT_ALLOC_PERM); - if (!mem) return 0; - return new(mem) dtNavMesh; -} - -/// @par -/// -/// This function will only free the memory for tiles with the #DT_TILE_FREE_DATA -/// flag set. -void dtFreeNavMesh(dtNavMesh* navmesh) -{ - if (!navmesh) return; - navmesh->~dtNavMesh(); - dtFree(navmesh); -} - -////////////////////////////////////////////////////////////////////////////////////////// - -/** -@class dtNavMesh - -The navigation mesh consists of one or more tiles defining three primary types of structural data: - -A polygon mesh which defines most of the navigation graph. (See rcPolyMesh for its structure.) -A detail mesh used for determining surface height on the polygon mesh. (See rcPolyMeshDetail for its structure.) -Off-mesh connections, which define custom point-to-point edges within the navigation graph. - -The general build process is as follows: - --# Create rcPolyMesh and rcPolyMeshDetail data using the Recast build pipeline. --# Optionally, create off-mesh connection data. --# Combine the source data into a dtNavMeshCreateParams structure. --# Create a tile data array using dtCreateNavMeshData(). --# Allocate at dtNavMesh object and initialize it. (For single tile navigation meshes, - the tile data is loaded during this step.) --# For multi-tile navigation meshes, load the tile data using dtNavMesh::addTile(). - -Notes: - -- This class is usually used in conjunction with the dtNavMeshQuery class for pathfinding. -- Technically, all navigation meshes are tiled. A 'solo' mesh is simply a navigation mesh initialized - to have only a single tile. -- This class does not implement any asynchronous methods. So the ::dtStatus result of all methods will - always contain either a success or failure flag. - -@see dtNavMeshQuery, dtCreateNavMeshData, dtNavMeshCreateParams, #dtAllocNavMesh, #dtFreeNavMesh -*/ - -dtNavMesh::dtNavMesh() : - m_tileWidth(0), - m_tileHeight(0), - m_maxTiles(0), - m_tileLutSize(0), - m_tileLutMask(0), - m_posLookup(0), - m_nextFree(0), - m_tiles(0) -{ -#ifndef DT_POLYREF64 - m_saltBits = 0; - m_tileBits = 0; - m_polyBits = 0; -#endif - memset(&m_params, 0, sizeof(dtNavMeshParams)); - m_orig[0] = 0; - m_orig[1] = 0; - m_orig[2] = 0; -} - -dtNavMesh::~dtNavMesh() -{ - for (int i = 0; i < m_maxTiles; ++i) - { - if (m_tiles[i].flags & DT_TILE_FREE_DATA) - { - dtFree(m_tiles[i].data); - m_tiles[i].data = 0; - m_tiles[i].dataSize = 0; - } - } - dtFree(m_posLookup); - dtFree(m_tiles); -} - -dtStatus dtNavMesh::init(const dtNavMeshParams* params) -{ - memcpy(&m_params, params, sizeof(dtNavMeshParams)); - dtVcopy(m_orig, params->orig); - m_tileWidth = params->tileWidth; - m_tileHeight = params->tileHeight; - - // Init tiles - m_maxTiles = params->maxTiles; - m_tileLutSize = dtNextPow2(params->maxTiles/4); - if (!m_tileLutSize) m_tileLutSize = 1; - m_tileLutMask = m_tileLutSize-1; - - m_tiles = (dtMeshTile*)dtAlloc(sizeof(dtMeshTile)*m_maxTiles, DT_ALLOC_PERM); - if (!m_tiles) - return DT_FAILURE | DT_OUT_OF_MEMORY; - m_posLookup = (dtMeshTile**)dtAlloc(sizeof(dtMeshTile*)*m_tileLutSize, DT_ALLOC_PERM); - if (!m_posLookup) - return DT_FAILURE | DT_OUT_OF_MEMORY; - memset(m_tiles, 0, sizeof(dtMeshTile)*m_maxTiles); - memset(m_posLookup, 0, sizeof(dtMeshTile*)*m_tileLutSize); - m_nextFree = 0; - for (int i = m_maxTiles-1; i >= 0; --i) - { - m_tiles[i].salt = 1; - m_tiles[i].next = m_nextFree; - m_nextFree = &m_tiles[i]; - } - - // Init ID generator values. -#ifndef DT_POLYREF64 - m_tileBits = dtIlog2(dtNextPow2((unsigned int)params->maxTiles)); - m_polyBits = dtIlog2(dtNextPow2((unsigned int)params->maxPolys)); - // Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow. - m_saltBits = dtMin((unsigned int)31, 32 - m_tileBits - m_polyBits); - - if (m_saltBits < 10) - return DT_FAILURE | DT_INVALID_PARAM; -#endif - - return DT_SUCCESS; -} - -dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flags) -{ - // Make sure the data is in right format. - dtMeshHeader* header = (dtMeshHeader*)data; - if (header->magic != DT_NAVMESH_MAGIC) - return DT_FAILURE | DT_WRONG_MAGIC; - if (header->version != DT_NAVMESH_VERSION) - return DT_FAILURE | DT_WRONG_VERSION; - - dtNavMeshParams params; - dtVcopy(params.orig, header->bmin); - params.tileWidth = header->bmax[0] - header->bmin[0]; - params.tileHeight = header->bmax[2] - header->bmin[2]; - params.maxTiles = 1; - params.maxPolys = header->polyCount; - - dtStatus status = init(¶ms); - if (dtStatusFailed(status)) - return status; - - return addTile(data, dataSize, flags, 0, 0); -} - -/// @par -/// -/// @note The parameters are created automatically when the single tile -/// initialization is performed. -const dtNavMeshParams* dtNavMesh::getParams() const -{ - return &m_params; -} - -////////////////////////////////////////////////////////////////////////////////////////// -int dtNavMesh::findConnectingPolys(const float* va, const float* vb, - const dtMeshTile* tile, int side, - dtPolyRef* con, float* conarea, int maxcon) const -{ - if (!tile) return 0; - - float amin[2], amax[2]; - calcSlabEndPoints(va, vb, amin, amax, side); - const float apos = getSlabCoord(va, side); - - // Remove links pointing to 'side' and compact the links array. - float bmin[2], bmax[2]; - unsigned short m = DT_EXT_LINK | (unsigned short)side; - int n = 0; - - dtPolyRef base = getPolyRefBase(tile); - - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* poly = &tile->polys[i]; - const int nv = poly->vertCount; - for (int j = 0; j < nv; ++j) - { - // Skip edges which do not point to the right side. - if (poly->neis[j] != m) continue; - - const float* vc = &tile->verts[poly->verts[j]*3]; - const float* vd = &tile->verts[poly->verts[(j+1) % nv]*3]; - const float bpos = getSlabCoord(vc, side); - - // Segments are not close enough. - if (dtAbs(apos-bpos) > 0.01f) - continue; - - // Check if the segments touch. - calcSlabEndPoints(vc,vd, bmin,bmax, side); - - if (!overlapSlabs(amin,amax, bmin,bmax, 0.01f, tile->header->walkableClimb)) continue; - - // Add return value. - if (n < maxcon) - { - conarea[n*2+0] = dtMax(amin[0], bmin[0]); - conarea[n*2+1] = dtMin(amax[0], bmax[0]); - con[n] = base | (dtPolyRef)i; - n++; - } - break; - } - } - return n; -} - -void dtNavMesh::unconnectLinks(dtMeshTile* tile, dtMeshTile* target) -{ - if (!tile || !target) return; - - const unsigned int targetNum = decodePolyIdTile(getTileRef(target)); - - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* poly = &tile->polys[i]; - unsigned int j = poly->firstLink; - unsigned int pj = DT_NULL_LINK; - while (j != DT_NULL_LINK) - { - if (decodePolyIdTile(tile->links[j].ref) == targetNum) - { - // Remove link. - unsigned int nj = tile->links[j].next; - if (pj == DT_NULL_LINK) - poly->firstLink = nj; - else - tile->links[pj].next = nj; - freeLink(tile, j); - j = nj; - } - else - { - // Advance - pj = j; - j = tile->links[j].next; - } - } - } -} - -void dtNavMesh::connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side) -{ - if (!tile) return; - - // Connect border links. - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* poly = &tile->polys[i]; - - // Create new links. -// unsigned short m = DT_EXT_LINK | (unsigned short)side; - - const int nv = poly->vertCount; - for (int j = 0; j < nv; ++j) - { - // Skip non-portal edges. - if ((poly->neis[j] & DT_EXT_LINK) == 0) - continue; - - const int dir = (int)(poly->neis[j] & 0xff); - if (side != -1 && dir != side) - continue; - - // Create new links - const float* va = &tile->verts[poly->verts[j]*3]; - const float* vb = &tile->verts[poly->verts[(j+1) % nv]*3]; - dtPolyRef nei[4]; - float neia[4*2]; - int nnei = findConnectingPolys(va,vb, target, dtOppositeTile(dir), nei,neia,4); - for (int k = 0; k < nnei; ++k) - { - unsigned int idx = allocLink(tile); - if (idx != DT_NULL_LINK) - { - dtLink* link = &tile->links[idx]; - link->ref = nei[k]; - link->edge = (unsigned char)j; - link->side = (unsigned char)dir; - - link->next = poly->firstLink; - poly->firstLink = idx; - - // Compress portal limits to a byte value. - if (dir == 0 || dir == 4) - { - float tmin = (neia[k*2+0]-va[2]) / (vb[2]-va[2]); - float tmax = (neia[k*2+1]-va[2]) / (vb[2]-va[2]); - if (tmin > tmax) - dtSwap(tmin,tmax); - link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f); - link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f); - } - else if (dir == 2 || dir == 6) - { - float tmin = (neia[k*2+0]-va[0]) / (vb[0]-va[0]); - float tmax = (neia[k*2+1]-va[0]) / (vb[0]-va[0]); - if (tmin > tmax) - dtSwap(tmin,tmax); - link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f); - link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f); - } - } - } - } - } -} - -void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side) -{ - if (!tile) return; - - // Connect off-mesh links. - // We are interested on links which land from target tile to this tile. - const unsigned char oppositeSide = (side == -1) ? 0xff : (unsigned char)dtOppositeTile(side); - - for (int i = 0; i < target->header->offMeshConCount; ++i) - { - dtOffMeshConnection* targetCon = &target->offMeshCons[i]; - if (targetCon->side != oppositeSide) - continue; - - dtPoly* targetPoly = &target->polys[targetCon->poly]; - // Skip off-mesh connections which start location could not be connected at all. - if (targetPoly->firstLink == DT_NULL_LINK) - continue; - - const float ext[3] = { targetCon->rad, target->header->walkableClimb, targetCon->rad }; - - // Find polygon to connect to. - const float* p = &targetCon->pos[3]; - float nearestPt[3]; - dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt); - if (!ref) - continue; - // findNearestPoly may return too optimistic results, further check to make sure. - if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(targetCon->rad)) - continue; - // Make sure the location is on current mesh. - float* v = &target->verts[targetPoly->verts[1]*3]; - dtVcopy(v, nearestPt); - - // Link off-mesh connection to target poly. - unsigned int idx = allocLink(target); - if (idx != DT_NULL_LINK) - { - dtLink* link = &target->links[idx]; - link->ref = ref; - link->edge = (unsigned char)1; - link->side = oppositeSide; - link->bmin = link->bmax = 0; - // Add to linked list. - link->next = targetPoly->firstLink; - targetPoly->firstLink = idx; - } - - // Link target poly to off-mesh connection. - if (targetCon->flags & DT_OFFMESH_CON_BIDIR) - { - unsigned int tidx = allocLink(tile); - if (tidx != DT_NULL_LINK) - { - const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref); - dtPoly* landPoly = &tile->polys[landPolyIdx]; - dtLink* link = &tile->links[tidx]; - link->ref = getPolyRefBase(target) | (dtPolyRef)(targetCon->poly); - link->edge = 0xff; - link->side = (unsigned char)(side == -1 ? 0xff : side); - link->bmin = link->bmax = 0; - // Add to linked list. - link->next = landPoly->firstLink; - landPoly->firstLink = tidx; - } - } - } - -} - -void dtNavMesh::connectIntLinks(dtMeshTile* tile) -{ - if (!tile) return; - - dtPolyRef base = getPolyRefBase(tile); - - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* poly = &tile->polys[i]; - poly->firstLink = DT_NULL_LINK; - - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - - // Build edge links backwards so that the links will be - // in the linked list from lowest index to highest. - for (int j = poly->vertCount-1; j >= 0; --j) - { - // Skip hard and non-internal edges. - if (poly->neis[j] == 0 || (poly->neis[j] & DT_EXT_LINK)) continue; - - unsigned int idx = allocLink(tile); - if (idx != DT_NULL_LINK) - { - dtLink* link = &tile->links[idx]; - link->ref = base | (dtPolyRef)(poly->neis[j]-1); - link->edge = (unsigned char)j; - link->side = 0xff; - link->bmin = link->bmax = 0; - // Add to linked list. - link->next = poly->firstLink; - poly->firstLink = idx; - } - } - } -} - -void dtNavMesh::baseOffMeshLinks(dtMeshTile* tile) -{ - if (!tile) return; - - dtPolyRef base = getPolyRefBase(tile); - - // Base off-mesh connection start points. - for (int i = 0; i < tile->header->offMeshConCount; ++i) - { - dtOffMeshConnection* con = &tile->offMeshCons[i]; - dtPoly* poly = &tile->polys[con->poly]; - - const float ext[3] = { con->rad, tile->header->walkableClimb, con->rad }; - - // Find polygon to connect to. - const float* p = &con->pos[0]; // First vertex - float nearestPt[3]; - dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt); - if (!ref) continue; - // findNearestPoly may return too optimistic results, further check to make sure. - if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(con->rad)) - continue; - // Make sure the location is on current mesh. - float* v = &tile->verts[poly->verts[0]*3]; - dtVcopy(v, nearestPt); - - // Link off-mesh connection to target poly. - unsigned int idx = allocLink(tile); - if (idx != DT_NULL_LINK) - { - dtLink* link = &tile->links[idx]; - link->ref = ref; - link->edge = (unsigned char)0; - link->side = 0xff; - link->bmin = link->bmax = 0; - // Add to linked list. - link->next = poly->firstLink; - poly->firstLink = idx; - } - - // Start end-point is always connect back to off-mesh connection. - unsigned int tidx = allocLink(tile); - if (tidx != DT_NULL_LINK) - { - const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref); - dtPoly* landPoly = &tile->polys[landPolyIdx]; - dtLink* link = &tile->links[tidx]; - link->ref = base | (dtPolyRef)(con->poly); - link->edge = 0xff; - link->side = 0xff; - link->bmin = link->bmax = 0; - // Add to linked list. - link->next = landPoly->firstLink; - landPoly->firstLink = tidx; - } - } -} - -void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const -{ - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - getTileAndPolyByRefUnsafe(ref, &tile, &poly); - - // Off-mesh connections don't have detail polygons. - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - const float* v0 = &tile->verts[poly->verts[0]*3]; - const float* v1 = &tile->verts[poly->verts[1]*3]; - const float d0 = dtVdist(pos, v0); - const float d1 = dtVdist(pos, v1); - const float u = d0 / (d0+d1); - dtVlerp(closest, v0, v1, u); - if (posOverPoly) - *posOverPoly = false; - return; - } - - const unsigned int ip = (unsigned int)(poly - tile->polys); - const dtPolyDetail* pd = &tile->detailMeshes[ip]; - - // Clamp point to be inside the polygon. - float verts[DT_VERTS_PER_POLYGON*3]; - float edged[DT_VERTS_PER_POLYGON]; - float edget[DT_VERTS_PER_POLYGON]; - const int nv = poly->vertCount; - for (int i = 0; i < nv; ++i) - dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]); - - dtVcopy(closest, pos); - if (!dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget)) - { - // Point is outside the polygon, dtClamp to nearest edge. - float dmin = edged[0]; - int imin = 0; - for (int i = 1; i < nv; ++i) - { - if (edged[i] < dmin) - { - dmin = edged[i]; - imin = i; - } - } - const float* va = &verts[imin*3]; - const float* vb = &verts[((imin+1)%nv)*3]; - dtVlerp(closest, va, vb, edget[imin]); - - if (posOverPoly) - *posOverPoly = false; - } - else - { - if (posOverPoly) - *posOverPoly = true; - } - - // Find height at the location. - for (int j = 0; j < pd->triCount; ++j) - { - const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; - const float* v[3]; - for (int k = 0; k < 3; ++k) - { - if (t[k] < poly->vertCount) - v[k] = &tile->verts[poly->verts[t[k]]*3]; - else - v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3]; - } - float h; - if (dtClosestHeightPointTriangle(closest, v[0], v[1], v[2], h)) - { - closest[1] = h; - break; - } - } -} - -dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile, - const float* center, const float* extents, - float* nearestPt) const -{ - float bmin[3], bmax[3]; - dtVsub(bmin, center, extents); - dtVadd(bmax, center, extents); - - // Get nearby polygons from proximity grid. - dtPolyRef polys[128]; - int polyCount = queryPolygonsInTile(tile, bmin, bmax, polys, 128); - - // Find nearest polygon amongst the nearby polygons. - dtPolyRef nearest = 0; - float nearestDistanceSqr = FLT_MAX; - for (int i = 0; i < polyCount; ++i) - { - dtPolyRef ref = polys[i]; - float closestPtPoly[3]; - float diff[3]; - bool posOverPoly = false; - float d; - closestPointOnPoly(ref, center, closestPtPoly, &posOverPoly); - - // If a point is directly over a polygon and closer than - // climb height, favor that instead of straight line nearest point. - dtVsub(diff, center, closestPtPoly); - if (posOverPoly) - { - d = dtAbs(diff[1]) - tile->header->walkableClimb; - d = d > 0 ? d*d : 0; - } - else - { - d = dtVlenSqr(diff); - } - - if (d < nearestDistanceSqr) - { - dtVcopy(nearestPt, closestPtPoly); - nearestDistanceSqr = d; - nearest = ref; - } - } - - return nearest; -} - -int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, - dtPolyRef* polys, const int maxPolys) const -{ - if (tile->bvTree) - { - const dtBVNode* node = &tile->bvTree[0]; - const dtBVNode* end = &tile->bvTree[tile->header->bvNodeCount]; - const float* tbmin = tile->header->bmin; - const float* tbmax = tile->header->bmax; - const float qfac = tile->header->bvQuantFactor; - - // Calculate quantized box - unsigned short bmin[3], bmax[3]; - // dtClamp query box to world box. - float minx = dtClamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0]; - float miny = dtClamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1]; - float minz = dtClamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2]; - float maxx = dtClamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0]; - float maxy = dtClamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1]; - float maxz = dtClamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2]; - // Quantize - bmin[0] = (unsigned short)(qfac * minx) & 0xfffe; - bmin[1] = (unsigned short)(qfac * miny) & 0xfffe; - bmin[2] = (unsigned short)(qfac * minz) & 0xfffe; - bmax[0] = (unsigned short)(qfac * maxx + 1) | 1; - bmax[1] = (unsigned short)(qfac * maxy + 1) | 1; - bmax[2] = (unsigned short)(qfac * maxz + 1) | 1; - - // Traverse tree - dtPolyRef base = getPolyRefBase(tile); - int n = 0; - while (node < end) - { - const bool overlap = dtOverlapQuantBounds(bmin, bmax, node->bmin, node->bmax); - const bool isLeafNode = node->i >= 0; - - if (isLeafNode && overlap) - { - if (n < maxPolys) - polys[n++] = base | (dtPolyRef)node->i; - } - - if (overlap || isLeafNode) - node++; - else - { - const int escapeIndex = -node->i; - node += escapeIndex; - } - } - - return n; - } - else - { - float bmin[3], bmax[3]; - int n = 0; - dtPolyRef base = getPolyRefBase(tile); - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* p = &tile->polys[i]; - // Do not return off-mesh connection polygons. - if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - // Calc polygon bounds. - const float* v = &tile->verts[p->verts[0]*3]; - dtVcopy(bmin, v); - dtVcopy(bmax, v); - for (int j = 1; j < p->vertCount; ++j) - { - v = &tile->verts[p->verts[j]*3]; - dtVmin(bmin, v); - dtVmax(bmax, v); - } - if (dtOverlapBounds(qmin,qmax, bmin,bmax)) - { - if (n < maxPolys) - polys[n++] = base | (dtPolyRef)i; - } - } - return n; - } -} - -/// @par -/// -/// The add operation will fail if the data is in the wrong format, the allocated tile -/// space is full, or there is a tile already at the specified reference. -/// -/// The lastRef parameter is used to restore a tile with the same tile -/// reference it had previously used. In this case the #dtPolyRef's for the -/// tile will be restored to the same values they were before the tile was -/// removed. -/// -/// The nav mesh assumes exclusive access to the data passed and will make -/// changes to the dynamic portion of the data. For that reason the data -/// should not be reused in other nav meshes until the tile has been successfully -/// removed from this nav mesh. -/// -/// @see dtCreateNavMeshData, #removeTile -dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, - dtTileRef lastRef, dtTileRef* result) -{ - // Make sure the data is in right format. - dtMeshHeader* header = (dtMeshHeader*)data; - if (header->magic != DT_NAVMESH_MAGIC) - return DT_FAILURE | DT_WRONG_MAGIC; - if (header->version != DT_NAVMESH_VERSION) - return DT_FAILURE | DT_WRONG_VERSION; - - // Make sure the location is free. - if (getTileAt(header->x, header->y, header->layer)) - return DT_FAILURE; - - // Allocate a tile. - dtMeshTile* tile = 0; - if (!lastRef) - { - if (m_nextFree) - { - tile = m_nextFree; - m_nextFree = tile->next; - tile->next = 0; - } - } - else - { - // Try to relocate the tile to specific index with same salt. - int tileIndex = (int)decodePolyIdTile((dtPolyRef)lastRef); - if (tileIndex >= m_maxTiles) - return DT_FAILURE | DT_OUT_OF_MEMORY; - // Try to find the specific tile id from the free list. - dtMeshTile* target = &m_tiles[tileIndex]; - dtMeshTile* prev = 0; - tile = m_nextFree; - while (tile && tile != target) - { - prev = tile; - tile = tile->next; - } - // Could not find the correct location. - if (tile != target) - return DT_FAILURE | DT_OUT_OF_MEMORY; - // Remove from freelist - if (!prev) - m_nextFree = tile->next; - else - prev->next = tile->next; - - // Restore salt. - tile->salt = decodePolyIdSalt((dtPolyRef)lastRef); - } - - // Make sure we could allocate a tile. - if (!tile) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - // Insert tile into the position lut. - int h = computeTileHash(header->x, header->y, m_tileLutMask); - tile->next = m_posLookup[h]; - m_posLookup[h] = tile; - - // Patch header pointers. - const int headerSize = dtAlign4(sizeof(dtMeshHeader)); - const int vertsSize = dtAlign4(sizeof(float)*3*header->vertCount); - const int polysSize = dtAlign4(sizeof(dtPoly)*header->polyCount); - const int linksSize = dtAlign4(sizeof(dtLink)*(header->maxLinkCount)); - const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*header->detailMeshCount); - const int detailVertsSize = dtAlign4(sizeof(float)*3*header->detailVertCount); - const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*header->detailTriCount); - const int bvtreeSize = dtAlign4(sizeof(dtBVNode)*header->bvNodeCount); - const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount); - - unsigned char* d = data + headerSize; - tile->verts = dtGetThenAdvanceBufferPointer(d, vertsSize); - tile->polys = dtGetThenAdvanceBufferPointer(d, polysSize); - tile->links = dtGetThenAdvanceBufferPointer(d, linksSize); - tile->detailMeshes = dtGetThenAdvanceBufferPointer(d, detailMeshesSize); - tile->detailVerts = dtGetThenAdvanceBufferPointer(d, detailVertsSize); - tile->detailTris = dtGetThenAdvanceBufferPointer(d, detailTrisSize); - tile->bvTree = dtGetThenAdvanceBufferPointer(d, bvtreeSize); - tile->offMeshCons = dtGetThenAdvanceBufferPointer(d, offMeshLinksSize); - - // If there are no items in the bvtree, reset the tree pointer. - if (!bvtreeSize) - tile->bvTree = 0; - - // Build links freelist - tile->linksFreeList = 0; - tile->links[header->maxLinkCount-1].next = DT_NULL_LINK; - for (int i = 0; i < header->maxLinkCount-1; ++i) - tile->links[i].next = i+1; - - // Init tile. - tile->header = header; - tile->data = data; - tile->dataSize = dataSize; - tile->flags = flags; - - connectIntLinks(tile); - - // Base off-mesh connections to their starting polygons and connect connections inside the tile. - baseOffMeshLinks(tile); - connectExtOffMeshLinks(tile, tile, -1); - - // Create connections with neighbour tiles. - static const int MAX_NEIS = 32; - dtMeshTile* neis[MAX_NEIS]; - int nneis; - - // Connect with layers in current tile. - nneis = getTilesAt(header->x, header->y, neis, MAX_NEIS); - for (int j = 0; j < nneis; ++j) - { - if (neis[j] == tile) - continue; - - connectExtLinks(tile, neis[j], -1); - connectExtLinks(neis[j], tile, -1); - connectExtOffMeshLinks(tile, neis[j], -1); - connectExtOffMeshLinks(neis[j], tile, -1); - } - - // Connect with neighbour tiles. - for (int i = 0; i < 8; ++i) - { - nneis = getNeighbourTilesAt(header->x, header->y, i, neis, MAX_NEIS); - for (int j = 0; j < nneis; ++j) - { - connectExtLinks(tile, neis[j], i); - connectExtLinks(neis[j], tile, dtOppositeTile(i)); - connectExtOffMeshLinks(tile, neis[j], i); - connectExtOffMeshLinks(neis[j], tile, dtOppositeTile(i)); - } - } - - if (result) - *result = getTileRef(tile); - - return DT_SUCCESS; -} - -const dtMeshTile* dtNavMesh::getTileAt(const int x, const int y, const int layer) const -{ - // Find tile based on hash. - int h = computeTileHash(x,y,m_tileLutMask); - dtMeshTile* tile = m_posLookup[h]; - while (tile) - { - if (tile->header && - tile->header->x == x && - tile->header->y == y && - tile->header->layer == layer) - { - return tile; - } - tile = tile->next; - } - return 0; -} - -int dtNavMesh::getNeighbourTilesAt(const int x, const int y, const int side, dtMeshTile** tiles, const int maxTiles) const -{ - int nx = x, ny = y; - switch (side) - { - case 0: nx++; break; - case 1: nx++; ny++; break; - case 2: ny++; break; - case 3: nx--; ny++; break; - case 4: nx--; break; - case 5: nx--; ny--; break; - case 6: ny--; break; - case 7: nx++; ny--; break; - }; - - return getTilesAt(nx, ny, tiles, maxTiles); -} - -int dtNavMesh::getTilesAt(const int x, const int y, dtMeshTile** tiles, const int maxTiles) const -{ - int n = 0; - - // Find tile based on hash. - int h = computeTileHash(x,y,m_tileLutMask); - dtMeshTile* tile = m_posLookup[h]; - while (tile) - { - if (tile->header && - tile->header->x == x && - tile->header->y == y) - { - if (n < maxTiles) - tiles[n++] = tile; - } - tile = tile->next; - } - - return n; -} - -/// @par -/// -/// This function will not fail if the tiles array is too small to hold the -/// entire result set. It will simply fill the array to capacity. -int dtNavMesh::getTilesAt(const int x, const int y, dtMeshTile const** tiles, const int maxTiles) const -{ - int n = 0; - - // Find tile based on hash. - int h = computeTileHash(x,y,m_tileLutMask); - dtMeshTile* tile = m_posLookup[h]; - while (tile) - { - if (tile->header && - tile->header->x == x && - tile->header->y == y) - { - if (n < maxTiles) - tiles[n++] = tile; - } - tile = tile->next; - } - - return n; -} - - -dtTileRef dtNavMesh::getTileRefAt(const int x, const int y, const int layer) const -{ - // Find tile based on hash. - int h = computeTileHash(x,y,m_tileLutMask); - dtMeshTile* tile = m_posLookup[h]; - while (tile) - { - if (tile->header && - tile->header->x == x && - tile->header->y == y && - tile->header->layer == layer) - { - return getTileRef(tile); - } - tile = tile->next; - } - return 0; -} - -const dtMeshTile* dtNavMesh::getTileByRef(dtTileRef ref) const -{ - if (!ref) - return 0; - unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref); - unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref); - if ((int)tileIndex >= m_maxTiles) - return 0; - const dtMeshTile* tile = &m_tiles[tileIndex]; - if (tile->salt != tileSalt) - return 0; - return tile; -} - -int dtNavMesh::getMaxTiles() const -{ - return m_maxTiles; -} - -dtMeshTile* dtNavMesh::getTile(int i) -{ - return &m_tiles[i]; -} - -const dtMeshTile* dtNavMesh::getTile(int i) const -{ - return &m_tiles[i]; -} - -void dtNavMesh::calcTileLoc(const float* pos, int* tx, int* ty) const -{ - *tx = (int)floorf((pos[0]-m_orig[0]) / m_tileWidth); - *ty = (int)floorf((pos[2]-m_orig[2]) / m_tileHeight); -} - -dtStatus dtNavMesh::getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const -{ - if (!ref) return DT_FAILURE; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - if (ip >= (unsigned int)m_tiles[it].header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - *tile = &m_tiles[it]; - *poly = &m_tiles[it].polys[ip]; - return DT_SUCCESS; -} - -/// @par -/// -/// @warning Only use this function if it is known that the provided polygon -/// reference is valid. This function is faster than #getTileAndPolyByRef, but -/// it does not validate the reference. -void dtNavMesh::getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const -{ - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - *tile = &m_tiles[it]; - *poly = &m_tiles[it].polys[ip]; -} - -bool dtNavMesh::isValidPolyRef(dtPolyRef ref) const -{ - if (!ref) return false; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return false; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false; - if (ip >= (unsigned int)m_tiles[it].header->polyCount) return false; - return true; -} - -/// @par -/// -/// This function returns the data for the tile so that, if desired, -/// it can be added back to the navigation mesh at a later point. -/// -/// @see #addTile -dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize) -{ - if (!ref) - return DT_FAILURE | DT_INVALID_PARAM; - unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref); - unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref); - if ((int)tileIndex >= m_maxTiles) - return DT_FAILURE | DT_INVALID_PARAM; - dtMeshTile* tile = &m_tiles[tileIndex]; - if (tile->salt != tileSalt) - return DT_FAILURE | DT_INVALID_PARAM; - - // Remove tile from hash lookup. - int h = computeTileHash(tile->header->x,tile->header->y,m_tileLutMask); - dtMeshTile* prev = 0; - dtMeshTile* cur = m_posLookup[h]; - while (cur) - { - if (cur == tile) - { - if (prev) - prev->next = cur->next; - else - m_posLookup[h] = cur->next; - break; - } - prev = cur; - cur = cur->next; - } - - // Remove connections to neighbour tiles. - static const int MAX_NEIS = 32; - dtMeshTile* neis[MAX_NEIS]; - int nneis; - - // Disconnect from other layers in current tile. - nneis = getTilesAt(tile->header->x, tile->header->y, neis, MAX_NEIS); - for (int j = 0; j < nneis; ++j) - { - if (neis[j] == tile) continue; - unconnectLinks(neis[j], tile); - } - - // Disconnect from neighbour tiles. - for (int i = 0; i < 8; ++i) - { - nneis = getNeighbourTilesAt(tile->header->x, tile->header->y, i, neis, MAX_NEIS); - for (int j = 0; j < nneis; ++j) - unconnectLinks(neis[j], tile); - } - - // Reset tile. - if (tile->flags & DT_TILE_FREE_DATA) - { - // Owns data - dtFree(tile->data); - tile->data = 0; - tile->dataSize = 0; - if (data) *data = 0; - if (dataSize) *dataSize = 0; - } - else - { - if (data) *data = tile->data; - if (dataSize) *dataSize = tile->dataSize; - } - - tile->header = 0; - tile->flags = 0; - tile->linksFreeList = 0; - tile->polys = 0; - tile->verts = 0; - tile->links = 0; - tile->detailMeshes = 0; - tile->detailVerts = 0; - tile->detailTris = 0; - tile->bvTree = 0; - tile->offMeshCons = 0; - - // Update salt, salt should never be zero. -#ifdef DT_POLYREF64 - tile->salt = (tile->salt+1) & ((1<salt = (tile->salt+1) & ((1<salt == 0) - tile->salt++; - - // Add to free list. - tile->next = m_nextFree; - m_nextFree = tile; - - return DT_SUCCESS; -} - -dtTileRef dtNavMesh::getTileRef(const dtMeshTile* tile) const -{ - if (!tile) return 0; - const unsigned int it = (unsigned int)(tile - m_tiles); - return (dtTileRef)encodePolyId(tile->salt, it, 0); -} - -/// @par -/// -/// Example use case: -/// @code -/// -/// const dtPolyRef base = navmesh->getPolyRefBase(tile); -/// for (int i = 0; i < tile->header->polyCount; ++i) -/// { -/// const dtPoly* p = &tile->polys[i]; -/// const dtPolyRef ref = base | (dtPolyRef)i; -/// -/// // Use the reference to access the polygon data. -/// } -/// @endcode -dtPolyRef dtNavMesh::getPolyRefBase(const dtMeshTile* tile) const -{ - if (!tile) return 0; - const unsigned int it = (unsigned int)(tile - m_tiles); - return encodePolyId(tile->salt, it, 0); -} - -struct dtTileState -{ - int magic; // Magic number, used to identify the data. - int version; // Data version number. - dtTileRef ref; // Tile ref at the time of storing the data. -}; - -struct dtPolyState -{ - unsigned short flags; // Flags (see dtPolyFlags). - unsigned char area; // Area ID of the polygon. -}; - -/// @see #storeTileState -int dtNavMesh::getTileStateSize(const dtMeshTile* tile) const -{ - if (!tile) return 0; - const int headerSize = dtAlign4(sizeof(dtTileState)); - const int polyStateSize = dtAlign4(sizeof(dtPolyState) * tile->header->polyCount); - return headerSize + polyStateSize; -} - -/// @par -/// -/// Tile state includes non-structural data such as polygon flags, area ids, etc. -/// @note The state data is only valid until the tile reference changes. -/// @see #getTileStateSize, #restoreTileState -dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const -{ - // Make sure there is enough space to store the state. - const int sizeReq = getTileStateSize(tile); - if (maxDataSize < sizeReq) - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - - dtTileState* tileState = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtTileState))); - dtPolyState* polyStates = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtPolyState) * tile->header->polyCount)); - - // Store tile state. - tileState->magic = DT_NAVMESH_STATE_MAGIC; - tileState->version = DT_NAVMESH_STATE_VERSION; - tileState->ref = getTileRef(tile); - - // Store per poly state. - for (int i = 0; i < tile->header->polyCount; ++i) - { - const dtPoly* p = &tile->polys[i]; - dtPolyState* s = &polyStates[i]; - s->flags = p->flags; - s->area = p->getArea(); - } - - return DT_SUCCESS; -} - -/// @par -/// -/// Tile state includes non-structural data such as polygon flags, area ids, etc. -/// @note This function does not impact the tile's #dtTileRef and #dtPolyRef's. -/// @see #storeTileState -dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize) -{ - // Make sure there is enough space to store the state. - const int sizeReq = getTileStateSize(tile); - if (maxDataSize < sizeReq) - return DT_FAILURE | DT_INVALID_PARAM; - - const dtTileState* tileState = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtTileState))); - const dtPolyState* polyStates = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtPolyState) * tile->header->polyCount)); - - // Check that the restore is possible. - if (tileState->magic != DT_NAVMESH_STATE_MAGIC) - return DT_FAILURE | DT_WRONG_MAGIC; - if (tileState->version != DT_NAVMESH_STATE_VERSION) - return DT_FAILURE | DT_WRONG_VERSION; - if (tileState->ref != getTileRef(tile)) - return DT_FAILURE | DT_INVALID_PARAM; - - // Restore per poly state. - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* p = &tile->polys[i]; - const dtPolyState* s = &polyStates[i]; - p->flags = s->flags; - p->setArea(s->area); - } - - return DT_SUCCESS; -} - -/// @par -/// -/// Off-mesh connections are stored in the navigation mesh as special 2-vertex -/// polygons with a single edge. At least one of the vertices is expected to be -/// inside a normal polygon. So an off-mesh connection is "entered" from a -/// normal polygon at one of its endpoints. This is the polygon identified by -/// the prevRef parameter. -dtStatus dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const -{ - unsigned int salt, it, ip; - - if (!polyRef) - return DT_FAILURE; - - // Get current polygon - decodePolyId(polyRef, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - const dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - const dtPoly* poly = &tile->polys[ip]; - - // Make sure that the current poly is indeed off-mesh link. - if (poly->getType() != DT_POLYTYPE_OFFMESH_CONNECTION) - return DT_FAILURE; - - // Figure out which way to hand out the vertices. - int idx0 = 0, idx1 = 1; - - // Find link that points to first vertex. - for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next) - { - if (tile->links[i].edge == 0) - { - if (tile->links[i].ref != prevRef) - { - idx0 = 1; - idx1 = 0; - } - break; - } - } - - dtVcopy(startPos, &tile->verts[poly->verts[idx0]*3]); - dtVcopy(endPos, &tile->verts[poly->verts[idx1]*3]); - - return DT_SUCCESS; -} - - -const dtOffMeshConnection* dtNavMesh::getOffMeshConnectionByRef(dtPolyRef ref) const -{ - unsigned int salt, it, ip; - - if (!ref) - return 0; - - // Get current polygon - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return 0; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0; - const dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return 0; - const dtPoly* poly = &tile->polys[ip]; - - // Make sure that the current poly is indeed off-mesh link. - if (poly->getType() != DT_POLYTYPE_OFFMESH_CONNECTION) - return 0; - - const unsigned int idx = ip - tile->header->offMeshBase; - dtAssert(idx < (unsigned int)tile->header->offMeshConCount); - return &tile->offMeshCons[idx]; -} - - -dtStatus dtNavMesh::setPolyFlags(dtPolyRef ref, unsigned short flags) -{ - if (!ref) return DT_FAILURE; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - dtPoly* poly = &tile->polys[ip]; - - // Change flags. - poly->flags = flags; - - return DT_SUCCESS; -} - -dtStatus dtNavMesh::getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const -{ - if (!ref) return DT_FAILURE; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - const dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - const dtPoly* poly = &tile->polys[ip]; - - *resultFlags = poly->flags; - - return DT_SUCCESS; -} - -dtStatus dtNavMesh::setPolyArea(dtPolyRef ref, unsigned char area) -{ - if (!ref) return DT_FAILURE; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - dtPoly* poly = &tile->polys[ip]; - - poly->setArea(area); - - return DT_SUCCESS; -} - -dtStatus dtNavMesh::getPolyArea(dtPolyRef ref, unsigned char* resultArea) const -{ - if (!ref) return DT_FAILURE; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - const dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - const dtPoly* poly = &tile->polys[ip]; - - *resultArea = poly->getArea(); - - return DT_SUCCESS; -} - diff --git a/libs/recast/detour/src/DetourNavMeshBuilder.cpp b/libs/recast/detour/src/DetourNavMeshBuilder.cpp deleted file mode 100644 index e93a97629..000000000 --- a/libs/recast/detour/src/DetourNavMeshBuilder.cpp +++ /dev/null @@ -1,802 +0,0 @@ -// -// Copyright (c) 2009-2010 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 -#include -#include -#include -#include "DetourNavMesh.h" -#include "DetourCommon.h" -#include "DetourMath.h" -#include "DetourNavMeshBuilder.h" -#include "DetourAlloc.h" -#include "DetourAssert.h" - -static unsigned short MESH_NULL_IDX = 0xffff; - - -struct BVItem -{ - unsigned short bmin[3]; - unsigned short bmax[3]; - int i; -}; - -static int compareItemX(const void* va, const void* vb) -{ - const BVItem* a = (const BVItem*)va; - const BVItem* b = (const BVItem*)vb; - if (a->bmin[0] < b->bmin[0]) - return -1; - if (a->bmin[0] > b->bmin[0]) - return 1; - return 0; -} - -static int compareItemY(const void* va, const void* vb) -{ - const BVItem* a = (const BVItem*)va; - const BVItem* b = (const BVItem*)vb; - if (a->bmin[1] < b->bmin[1]) - return -1; - if (a->bmin[1] > b->bmin[1]) - return 1; - return 0; -} - -static int compareItemZ(const void* va, const void* vb) -{ - const BVItem* a = (const BVItem*)va; - const BVItem* b = (const BVItem*)vb; - if (a->bmin[2] < b->bmin[2]) - return -1; - if (a->bmin[2] > b->bmin[2]) - return 1; - return 0; -} - -static void calcExtends(BVItem* items, const int /*nitems*/, const int imin, const int imax, - unsigned short* bmin, unsigned short* bmax) -{ - bmin[0] = items[imin].bmin[0]; - bmin[1] = items[imin].bmin[1]; - bmin[2] = items[imin].bmin[2]; - - bmax[0] = items[imin].bmax[0]; - bmax[1] = items[imin].bmax[1]; - bmax[2] = items[imin].bmax[2]; - - for (int i = imin+1; i < imax; ++i) - { - const BVItem& it = items[i]; - if (it.bmin[0] < bmin[0]) bmin[0] = it.bmin[0]; - if (it.bmin[1] < bmin[1]) bmin[1] = it.bmin[1]; - if (it.bmin[2] < bmin[2]) bmin[2] = it.bmin[2]; - - if (it.bmax[0] > bmax[0]) bmax[0] = it.bmax[0]; - if (it.bmax[1] > bmax[1]) bmax[1] = it.bmax[1]; - if (it.bmax[2] > bmax[2]) bmax[2] = it.bmax[2]; - } -} - -inline int longestAxis(unsigned short x, unsigned short y, unsigned short z) -{ - int axis = 0; - unsigned short maxVal = x; - if (y > maxVal) - { - axis = 1; - maxVal = y; - } - if (z > maxVal) - { - axis = 2; - } - return axis; -} - -static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNode, dtBVNode* nodes) -{ - int inum = imax - imin; - int icur = curNode; - - dtBVNode& node = nodes[curNode++]; - - if (inum == 1) - { - // Leaf - node.bmin[0] = items[imin].bmin[0]; - node.bmin[1] = items[imin].bmin[1]; - node.bmin[2] = items[imin].bmin[2]; - - node.bmax[0] = items[imin].bmax[0]; - node.bmax[1] = items[imin].bmax[1]; - node.bmax[2] = items[imin].bmax[2]; - - node.i = items[imin].i; - } - else - { - // Split - calcExtends(items, nitems, imin, imax, node.bmin, node.bmax); - - int axis = longestAxis(node.bmax[0] - node.bmin[0], - node.bmax[1] - node.bmin[1], - node.bmax[2] - node.bmin[2]); - - if (axis == 0) - { - // Sort along x-axis - qsort(items+imin, inum, sizeof(BVItem), compareItemX); - } - else if (axis == 1) - { - // Sort along y-axis - qsort(items+imin, inum, sizeof(BVItem), compareItemY); - } - else - { - // Sort along z-axis - qsort(items+imin, inum, sizeof(BVItem), compareItemZ); - } - - int isplit = imin+inum/2; - - // Left - subdivide(items, nitems, imin, isplit, curNode, nodes); - // Right - subdivide(items, nitems, isplit, imax, curNode, nodes); - - int iescape = curNode - icur; - // Negative index means escape. - node.i = -iescape; - } -} - -static int createBVTree(dtNavMeshCreateParams* params, dtBVNode* nodes, int /*nnodes*/) -{ - // Build tree - float quantFactor = 1 / params->cs; - BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*params->polyCount, DT_ALLOC_TEMP); - for (int i = 0; i < params->polyCount; i++) - { - BVItem& it = items[i]; - it.i = i; - // Calc polygon bounds. Use detail meshes if available. - if (params->detailMeshes) - { - int vb = (int)params->detailMeshes[i*4+0]; - int ndv = (int)params->detailMeshes[i*4+1]; - float bmin[3]; - float bmax[3]; - - const float* dv = ¶ms->detailVerts[vb*3]; - dtVcopy(bmin, dv); - dtVcopy(bmax, dv); - - for (int j = 1; j < ndv; j++) - { - dtVmin(bmin, &dv[j * 3]); - dtVmax(bmax, &dv[j * 3]); - } - - // BV-tree uses cs for all dimensions - it.bmin[0] = (unsigned short)dtClamp((int)((bmin[0] - params->bmin[0])*quantFactor), 0, 0xffff); - it.bmin[1] = (unsigned short)dtClamp((int)((bmin[1] - params->bmin[1])*quantFactor), 0, 0xffff); - it.bmin[2] = (unsigned short)dtClamp((int)((bmin[2] - params->bmin[2])*quantFactor), 0, 0xffff); - - it.bmax[0] = (unsigned short)dtClamp((int)((bmax[0] - params->bmin[0])*quantFactor), 0, 0xffff); - it.bmax[1] = (unsigned short)dtClamp((int)((bmax[1] - params->bmin[1])*quantFactor), 0, 0xffff); - it.bmax[2] = (unsigned short)dtClamp((int)((bmax[2] - params->bmin[2])*quantFactor), 0, 0xffff); - } - else - { - const unsigned short* p = ¶ms->polys[i*params->nvp * 2]; - it.bmin[0] = it.bmax[0] = params->verts[p[0] * 3 + 0]; - it.bmin[1] = it.bmax[1] = params->verts[p[0] * 3 + 1]; - it.bmin[2] = it.bmax[2] = params->verts[p[0] * 3 + 2]; - - for (int j = 1; j < params->nvp; ++j) - { - if (p[j] == MESH_NULL_IDX) break; - unsigned short x = params->verts[p[j] * 3 + 0]; - unsigned short y = params->verts[p[j] * 3 + 1]; - unsigned short z = params->verts[p[j] * 3 + 2]; - - if (x < it.bmin[0]) it.bmin[0] = x; - if (y < it.bmin[1]) it.bmin[1] = y; - if (z < it.bmin[2]) it.bmin[2] = z; - - if (x > it.bmax[0]) it.bmax[0] = x; - if (y > it.bmax[1]) it.bmax[1] = y; - if (z > it.bmax[2]) it.bmax[2] = z; - } - // Remap y - it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1] * params->ch / params->cs); - it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1] * params->ch / params->cs); - } - } - - int curNode = 0; - subdivide(items, params->polyCount, 0, params->polyCount, curNode, nodes); - - dtFree(items); - - return curNode; -} - -static unsigned char classifyOffMeshPoint(const float* pt, const float* bmin, const float* bmax) -{ - static const unsigned char XP = 1<<0; - static const unsigned char ZP = 1<<1; - static const unsigned char XM = 1<<2; - static const unsigned char ZM = 1<<3; - - unsigned char outcode = 0; - outcode |= (pt[0] >= bmax[0]) ? XP : 0; - outcode |= (pt[2] >= bmax[2]) ? ZP : 0; - outcode |= (pt[0] < bmin[0]) ? XM : 0; - outcode |= (pt[2] < bmin[2]) ? ZM : 0; - - switch (outcode) - { - case XP: return 0; - case XP|ZP: return 1; - case ZP: return 2; - case XM|ZP: return 3; - case XM: return 4; - case XM|ZM: return 5; - case ZM: return 6; - case XP|ZM: return 7; - }; - - return 0xff; -} - -// TODO: Better error handling. - -/// @par -/// -/// The output data array is allocated using the detour allocator (dtAlloc()). The method -/// used to free the memory will be determined by how the tile is added to the navigation -/// mesh. -/// -/// @see dtNavMesh, dtNavMesh::addTile() -bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize) -{ - if (params->nvp > DT_VERTS_PER_POLYGON) - return false; - if (params->vertCount >= 0xffff) - return false; - if (!params->vertCount || !params->verts) - return false; - if (!params->polyCount || !params->polys) - return false; - - const int nvp = params->nvp; - - // Classify off-mesh connection points. We store only the connections - // whose start point is inside the tile. - unsigned char* offMeshConClass = 0; - int storedOffMeshConCount = 0; - int offMeshConLinkCount = 0; - - if (params->offMeshConCount > 0) - { - offMeshConClass = (unsigned char*)dtAlloc(sizeof(unsigned char)*params->offMeshConCount*2, DT_ALLOC_TEMP); - if (!offMeshConClass) - return false; - - // Find tight heigh bounds, used for culling out off-mesh start locations. - float hmin = FLT_MAX; - float hmax = -FLT_MAX; - - if (params->detailVerts && params->detailVertsCount) - { - for (int i = 0; i < params->detailVertsCount; ++i) - { - const float h = params->detailVerts[i*3+1]; - hmin = dtMin(hmin,h); - hmax = dtMax(hmax,h); - } - } - else - { - for (int i = 0; i < params->vertCount; ++i) - { - const unsigned short* iv = ¶ms->verts[i*3]; - const float h = params->bmin[1] + iv[1] * params->ch; - hmin = dtMin(hmin,h); - hmax = dtMax(hmax,h); - } - } - hmin -= params->walkableClimb; - hmax += params->walkableClimb; - float bmin[3], bmax[3]; - dtVcopy(bmin, params->bmin); - dtVcopy(bmax, params->bmax); - bmin[1] = hmin; - bmax[1] = hmax; - - for (int i = 0; i < params->offMeshConCount; ++i) - { - const float* p0 = ¶ms->offMeshConVerts[(i*2+0)*3]; - const float* p1 = ¶ms->offMeshConVerts[(i*2+1)*3]; - offMeshConClass[i*2+0] = classifyOffMeshPoint(p0, bmin, bmax); - offMeshConClass[i*2+1] = classifyOffMeshPoint(p1, bmin, bmax); - - // Zero out off-mesh start positions which are not even potentially touching the mesh. - if (offMeshConClass[i*2+0] == 0xff) - { - if (p0[1] < bmin[1] || p0[1] > bmax[1]) - offMeshConClass[i*2+0] = 0; - } - - // Cound how many links should be allocated for off-mesh connections. - if (offMeshConClass[i*2+0] == 0xff) - offMeshConLinkCount++; - if (offMeshConClass[i*2+1] == 0xff) - offMeshConLinkCount++; - - if (offMeshConClass[i*2+0] == 0xff) - storedOffMeshConCount++; - } - } - - // Off-mesh connectionss are stored as polygons, adjust values. - const int totPolyCount = params->polyCount + storedOffMeshConCount; - const int totVertCount = params->vertCount + storedOffMeshConCount*2; - - // Find portal edges which are at tile borders. - int edgeCount = 0; - int portalCount = 0; - for (int i = 0; i < params->polyCount; ++i) - { - const unsigned short* p = ¶ms->polys[i*2*nvp]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == MESH_NULL_IDX) break; - edgeCount++; - - if (p[nvp+j] & 0x8000) - { - unsigned short dir = p[nvp+j] & 0xf; - if (dir != 0xf) - portalCount++; - } - } - } - - const int maxLinkCount = edgeCount + portalCount*2 + offMeshConLinkCount*2; - - // Find unique detail vertices. - int uniqueDetailVertCount = 0; - int detailTriCount = 0; - if (params->detailMeshes) - { - // Has detail mesh, count unique detail vertex count and use input detail tri count. - detailTriCount = params->detailTriCount; - for (int i = 0; i < params->polyCount; ++i) - { - const unsigned short* p = ¶ms->polys[i*nvp*2]; - int ndv = params->detailMeshes[i*4+1]; - int nv = 0; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == MESH_NULL_IDX) break; - nv++; - } - ndv -= nv; - uniqueDetailVertCount += ndv; - } - } - else - { - // No input detail mesh, build detail mesh from nav polys. - uniqueDetailVertCount = 0; // No extra detail verts. - detailTriCount = 0; - for (int i = 0; i < params->polyCount; ++i) - { - const unsigned short* p = ¶ms->polys[i*nvp*2]; - int nv = 0; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == MESH_NULL_IDX) break; - nv++; - } - detailTriCount += nv-2; - } - } - - // Calculate data size - const int headerSize = dtAlign4(sizeof(dtMeshHeader)); - const int vertsSize = dtAlign4(sizeof(float)*3*totVertCount); - const int polysSize = dtAlign4(sizeof(dtPoly)*totPolyCount); - const int linksSize = dtAlign4(sizeof(dtLink)*maxLinkCount); - const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*params->polyCount); - const int detailVertsSize = dtAlign4(sizeof(float)*3*uniqueDetailVertCount); - const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*detailTriCount); - const int bvTreeSize = params->buildBvTree ? dtAlign4(sizeof(dtBVNode)*params->polyCount*2) : 0; - const int offMeshConsSize = dtAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount); - - const int dataSize = headerSize + vertsSize + polysSize + linksSize + - detailMeshesSize + detailVertsSize + detailTrisSize + - bvTreeSize + offMeshConsSize; - - unsigned char* data = (unsigned char*)dtAlloc(sizeof(unsigned char)*dataSize, DT_ALLOC_PERM); - if (!data) - { - dtFree(offMeshConClass); - return false; - } - memset(data, 0, dataSize); - - unsigned char* d = data; - - dtMeshHeader* header = dtGetThenAdvanceBufferPointer(d, headerSize); - float* navVerts = dtGetThenAdvanceBufferPointer(d, vertsSize); - dtPoly* navPolys = dtGetThenAdvanceBufferPointer(d, polysSize); - d += linksSize; // Ignore links; just leave enough space for them. They'll be created on load. - dtPolyDetail* navDMeshes = dtGetThenAdvanceBufferPointer(d, detailMeshesSize); - float* navDVerts = dtGetThenAdvanceBufferPointer(d, detailVertsSize); - unsigned char* navDTris = dtGetThenAdvanceBufferPointer(d, detailTrisSize); - dtBVNode* navBvtree = dtGetThenAdvanceBufferPointer(d, bvTreeSize); - dtOffMeshConnection* offMeshCons = dtGetThenAdvanceBufferPointer(d, offMeshConsSize); - - - // Store header - header->magic = DT_NAVMESH_MAGIC; - header->version = DT_NAVMESH_VERSION; - header->x = params->tileX; - header->y = params->tileY; - header->layer = params->tileLayer; - header->userId = params->userId; - header->polyCount = totPolyCount; - header->vertCount = totVertCount; - header->maxLinkCount = maxLinkCount; - dtVcopy(header->bmin, params->bmin); - dtVcopy(header->bmax, params->bmax); - header->detailMeshCount = params->polyCount; - header->detailVertCount = uniqueDetailVertCount; - header->detailTriCount = detailTriCount; - header->bvQuantFactor = 1.0f / params->cs; - header->offMeshBase = params->polyCount; - header->walkableHeight = params->walkableHeight; - header->walkableRadius = params->walkableRadius; - header->walkableClimb = params->walkableClimb; - header->offMeshConCount = storedOffMeshConCount; - header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0; - - const int offMeshVertsBase = params->vertCount; - const int offMeshPolyBase = params->polyCount; - - // Store vertices - // Mesh vertices - for (int i = 0; i < params->vertCount; ++i) - { - const unsigned short* iv = ¶ms->verts[i*3]; - float* v = &navVerts[i*3]; - v[0] = params->bmin[0] + iv[0] * params->cs; - v[1] = params->bmin[1] + iv[1] * params->ch; - v[2] = params->bmin[2] + iv[2] * params->cs; - } - // Off-mesh link vertices. - int n = 0; - for (int i = 0; i < params->offMeshConCount; ++i) - { - // Only store connections which start from this tile. - if (offMeshConClass[i*2+0] == 0xff) - { - const float* linkv = ¶ms->offMeshConVerts[i*2*3]; - float* v = &navVerts[(offMeshVertsBase + n*2)*3]; - dtVcopy(&v[0], &linkv[0]); - dtVcopy(&v[3], &linkv[3]); - n++; - } - } - - // Store polygons - // Mesh polys - const unsigned short* src = params->polys; - for (int i = 0; i < params->polyCount; ++i) - { - dtPoly* p = &navPolys[i]; - p->vertCount = 0; - p->flags = params->polyFlags[i]; - p->setArea(params->polyAreas[i]); - p->setType(DT_POLYTYPE_GROUND); - for (int j = 0; j < nvp; ++j) - { - if (src[j] == MESH_NULL_IDX) break; - p->verts[j] = src[j]; - if (src[nvp+j] & 0x8000) - { - // Border or portal edge. - unsigned short dir = src[nvp+j] & 0xf; - if (dir == 0xf) // Border - p->neis[j] = 0; - else if (dir == 0) // Portal x- - p->neis[j] = DT_EXT_LINK | 4; - else if (dir == 1) // Portal z+ - p->neis[j] = DT_EXT_LINK | 2; - else if (dir == 2) // Portal x+ - p->neis[j] = DT_EXT_LINK | 0; - else if (dir == 3) // Portal z- - p->neis[j] = DT_EXT_LINK | 6; - } - else - { - // Normal connection - p->neis[j] = src[nvp+j]+1; - } - - p->vertCount++; - } - src += nvp*2; - } - // Off-mesh connection vertices. - n = 0; - for (int i = 0; i < params->offMeshConCount; ++i) - { - // Only store connections which start from this tile. - if (offMeshConClass[i*2+0] == 0xff) - { - dtPoly* p = &navPolys[offMeshPolyBase+n]; - p->vertCount = 2; - p->verts[0] = (unsigned short)(offMeshVertsBase + n*2+0); - p->verts[1] = (unsigned short)(offMeshVertsBase + n*2+1); - p->flags = params->offMeshConFlags[i]; - p->setArea(params->offMeshConAreas[i]); - p->setType(DT_POLYTYPE_OFFMESH_CONNECTION); - n++; - } - } - - // Store detail meshes and vertices. - // The nav polygon vertices are stored as the first vertices on each mesh. - // We compress the mesh data by skipping them and using the navmesh coordinates. - if (params->detailMeshes) - { - unsigned short vbase = 0; - for (int i = 0; i < params->polyCount; ++i) - { - dtPolyDetail& dtl = navDMeshes[i]; - const int vb = (int)params->detailMeshes[i*4+0]; - const int ndv = (int)params->detailMeshes[i*4+1]; - const int nv = navPolys[i].vertCount; - dtl.vertBase = (unsigned int)vbase; - dtl.vertCount = (unsigned char)(ndv-nv); - dtl.triBase = (unsigned int)params->detailMeshes[i*4+2]; - dtl.triCount = (unsigned char)params->detailMeshes[i*4+3]; - // Copy vertices except the first 'nv' verts which are equal to nav poly verts. - if (ndv-nv) - { - memcpy(&navDVerts[vbase*3], ¶ms->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv)); - vbase += (unsigned short)(ndv-nv); - } - } - // Store triangles. - memcpy(navDTris, params->detailTris, sizeof(unsigned char)*4*params->detailTriCount); - } - else - { - // Create dummy detail mesh by triangulating polys. - int tbase = 0; - for (int i = 0; i < params->polyCount; ++i) - { - dtPolyDetail& dtl = navDMeshes[i]; - const int nv = navPolys[i].vertCount; - dtl.vertBase = 0; - dtl.vertCount = 0; - dtl.triBase = (unsigned int)tbase; - dtl.triCount = (unsigned char)(nv-2); - // Triangulate polygon (local indices). - for (int j = 2; j < nv; ++j) - { - unsigned char* t = &navDTris[tbase*4]; - t[0] = 0; - t[1] = (unsigned char)(j-1); - t[2] = (unsigned char)j; - // Bit for each edge that belongs to poly boundary. - t[3] = (1<<2); - if (j == 2) t[3] |= (1<<0); - if (j == nv-1) t[3] |= (1<<4); - tbase++; - } - } - } - - // Store and create BVtree. - if (params->buildBvTree) - { - createBVTree(params, navBvtree, 2*params->polyCount); - } - - // Store Off-Mesh connections. - n = 0; - for (int i = 0; i < params->offMeshConCount; ++i) - { - // Only store connections which start from this tile. - if (offMeshConClass[i*2+0] == 0xff) - { - dtOffMeshConnection* con = &offMeshCons[n]; - con->poly = (unsigned short)(offMeshPolyBase + n); - // Copy connection end-points. - const float* endPts = ¶ms->offMeshConVerts[i*2*3]; - dtVcopy(&con->pos[0], &endPts[0]); - dtVcopy(&con->pos[3], &endPts[3]); - con->rad = params->offMeshConRad[i]; - con->flags = params->offMeshConDir[i] ? DT_OFFMESH_CON_BIDIR : 0; - con->side = offMeshConClass[i*2+1]; - if (params->offMeshConUserID) - con->userId = params->offMeshConUserID[i]; - n++; - } - } - - dtFree(offMeshConClass); - - *outData = data; - *outDataSize = dataSize; - - return true; -} - -bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int /*dataSize*/) -{ - dtMeshHeader* header = (dtMeshHeader*)data; - - int swappedMagic = DT_NAVMESH_MAGIC; - int swappedVersion = DT_NAVMESH_VERSION; - dtSwapEndian(&swappedMagic); - dtSwapEndian(&swappedVersion); - - if ((header->magic != DT_NAVMESH_MAGIC || header->version != DT_NAVMESH_VERSION) && - (header->magic != swappedMagic || header->version != swappedVersion)) - { - return false; - } - - dtSwapEndian(&header->magic); - dtSwapEndian(&header->version); - dtSwapEndian(&header->x); - dtSwapEndian(&header->y); - dtSwapEndian(&header->layer); - dtSwapEndian(&header->userId); - dtSwapEndian(&header->polyCount); - dtSwapEndian(&header->vertCount); - dtSwapEndian(&header->maxLinkCount); - dtSwapEndian(&header->detailMeshCount); - dtSwapEndian(&header->detailVertCount); - dtSwapEndian(&header->detailTriCount); - dtSwapEndian(&header->bvNodeCount); - dtSwapEndian(&header->offMeshConCount); - dtSwapEndian(&header->offMeshBase); - dtSwapEndian(&header->walkableHeight); - dtSwapEndian(&header->walkableRadius); - dtSwapEndian(&header->walkableClimb); - dtSwapEndian(&header->bmin[0]); - dtSwapEndian(&header->bmin[1]); - dtSwapEndian(&header->bmin[2]); - dtSwapEndian(&header->bmax[0]); - dtSwapEndian(&header->bmax[1]); - dtSwapEndian(&header->bmax[2]); - dtSwapEndian(&header->bvQuantFactor); - - // Freelist index and pointers are updated when tile is added, no need to swap. - - return true; -} - -/// @par -/// -/// @warning This function assumes that the header is in the correct endianess already. -/// Call #dtNavMeshHeaderSwapEndian() first on the data if the data is expected to be in wrong endianess -/// to start with. Call #dtNavMeshHeaderSwapEndian() after the data has been swapped if converting from -/// native to foreign endianess. -bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/) -{ - // Make sure the data is in right format. - dtMeshHeader* header = (dtMeshHeader*)data; - if (header->magic != DT_NAVMESH_MAGIC) - return false; - if (header->version != DT_NAVMESH_VERSION) - return false; - - // Patch header pointers. - const int headerSize = dtAlign4(sizeof(dtMeshHeader)); - const int vertsSize = dtAlign4(sizeof(float)*3*header->vertCount); - const int polysSize = dtAlign4(sizeof(dtPoly)*header->polyCount); - const int linksSize = dtAlign4(sizeof(dtLink)*(header->maxLinkCount)); - const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*header->detailMeshCount); - const int detailVertsSize = dtAlign4(sizeof(float)*3*header->detailVertCount); - const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*header->detailTriCount); - const int bvtreeSize = dtAlign4(sizeof(dtBVNode)*header->bvNodeCount); - const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount); - - unsigned char* d = data + headerSize; - float* verts = dtGetThenAdvanceBufferPointer(d, vertsSize); - dtPoly* polys = dtGetThenAdvanceBufferPointer(d, polysSize); - d += linksSize; // Ignore links; they technically should be endian-swapped but all their data is overwritten on load anyway. - //dtLink* links = dtGetThenAdvanceBufferPointer(d, linksSize); - dtPolyDetail* detailMeshes = dtGetThenAdvanceBufferPointer(d, detailMeshesSize); - float* detailVerts = dtGetThenAdvanceBufferPointer(d, detailVertsSize); - d += detailTrisSize; // Ignore detail tris; single bytes can't be endian-swapped. - //unsigned char* detailTris = dtGetThenAdvanceBufferPointer(d, detailTrisSize); - dtBVNode* bvTree = dtGetThenAdvanceBufferPointer(d, bvtreeSize); - dtOffMeshConnection* offMeshCons = dtGetThenAdvanceBufferPointer(d, offMeshLinksSize); - - // Vertices - for (int i = 0; i < header->vertCount*3; ++i) - { - dtSwapEndian(&verts[i]); - } - - // Polys - for (int i = 0; i < header->polyCount; ++i) - { - dtPoly* p = &polys[i]; - // poly->firstLink is update when tile is added, no need to swap. - for (int j = 0; j < DT_VERTS_PER_POLYGON; ++j) - { - dtSwapEndian(&p->verts[j]); - dtSwapEndian(&p->neis[j]); - } - dtSwapEndian(&p->flags); - } - - // Links are rebuild when tile is added, no need to swap. - - // Detail meshes - for (int i = 0; i < header->detailMeshCount; ++i) - { - dtPolyDetail* pd = &detailMeshes[i]; - dtSwapEndian(&pd->vertBase); - dtSwapEndian(&pd->triBase); - } - - // Detail verts - for (int i = 0; i < header->detailVertCount*3; ++i) - { - dtSwapEndian(&detailVerts[i]); - } - - // BV-tree - for (int i = 0; i < header->bvNodeCount; ++i) - { - dtBVNode* node = &bvTree[i]; - for (int j = 0; j < 3; ++j) - { - dtSwapEndian(&node->bmin[j]); - dtSwapEndian(&node->bmax[j]); - } - dtSwapEndian(&node->i); - } - - // Off-mesh Connections. - for (int i = 0; i < header->offMeshConCount; ++i) - { - dtOffMeshConnection* con = &offMeshCons[i]; - for (int j = 0; j < 6; ++j) - dtSwapEndian(&con->pos[j]); - dtSwapEndian(&con->rad); - dtSwapEndian(&con->poly); - } - - return true; -} diff --git a/libs/recast/detour/src/DetourNavMeshQuery.cpp b/libs/recast/detour/src/DetourNavMeshQuery.cpp deleted file mode 100644 index aa06b006a..000000000 --- a/libs/recast/detour/src/DetourNavMeshQuery.cpp +++ /dev/null @@ -1,3666 +0,0 @@ -// -// Copyright (c) 2009-2010 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 -#include -#include "DetourNavMeshQuery.h" -#include "DetourNavMesh.h" -#include "DetourNode.h" -#include "DetourCommon.h" -#include "DetourMath.h" -#include "DetourAlloc.h" -#include "DetourAssert.h" -#include - -/// @class dtQueryFilter -/// -/// The Default Implementation -/// -/// At construction: All area costs default to 1.0. All flags are included -/// and none are excluded. -/// -/// If a polygon has both an include and an exclude flag, it will be excluded. -/// -/// The way filtering works, a navigation mesh polygon must have at least one flag -/// set to ever be considered by a query. So a polygon with no flags will never -/// be considered. -/// -/// Setting the include flags to 0 will result in all polygons being excluded. -/// -/// Custom Implementations -/// -/// DT_VIRTUAL_QUERYFILTER must be defined in order to extend this class. -/// -/// Implement a custom query filter by overriding the virtual passFilter() -/// and getCost() functions. If this is done, both functions should be as -/// fast as possible. Use cached local copies of data rather than accessing -/// your own objects where possible. -/// -/// Custom implementations do not need to adhere to the flags or cost logic -/// used by the default implementation. -/// -/// In order for A* searches to work properly, the cost should be proportional to -/// the travel distance. Implementing a cost modifier less than 1.0 is likely -/// to lead to problems during pathfinding. -/// -/// @see dtNavMeshQuery - -dtQueryFilter::dtQueryFilter() : - m_includeFlags(0xffff), - m_excludeFlags(0) -{ - for (int i = 0; i < DT_MAX_AREAS; ++i) - m_areaCost[i] = 1.0f; -} - -#ifdef DT_VIRTUAL_QUERYFILTER -bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/, - const dtMeshTile* /*tile*/, - const dtPoly* poly) const -{ - return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0; -} - -float dtQueryFilter::getCost(const float* pa, const float* pb, - const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/, - const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly, - const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const -{ - return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()]; -} -#else -inline bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/, - const dtMeshTile* /*tile*/, - const dtPoly* poly) const -{ - return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0; -} - -inline float dtQueryFilter::getCost(const float* pa, const float* pb, - const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/, - const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly, - const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const -{ - return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()]; -} -#endif - -static const float H_SCALE = 0.999f; // Search heuristic scale. - - -dtNavMeshQuery* dtAllocNavMeshQuery() -{ - void* mem = dtAlloc(sizeof(dtNavMeshQuery), DT_ALLOC_PERM); - if (!mem) return 0; - return new(mem) dtNavMeshQuery; -} - -void dtFreeNavMeshQuery(dtNavMeshQuery* navmesh) -{ - if (!navmesh) return; - navmesh->~dtNavMeshQuery(); - dtFree(navmesh); -} - -////////////////////////////////////////////////////////////////////////////////////////// - -/// @class dtNavMeshQuery -/// -/// For methods that support undersized buffers, if the buffer is too small -/// to hold the entire result set the return status of the method will include -/// the #DT_BUFFER_TOO_SMALL flag. -/// -/// Constant member functions can be used by multiple clients without side -/// effects. (E.g. No change to the closed list. No impact on an in-progress -/// sliced path query. Etc.) -/// -/// Walls and portals: A @e wall is a polygon segment that is -/// considered impassable. A @e portal is a passable segment between polygons. -/// A portal may be treated as a wall based on the dtQueryFilter used for a query. -/// -/// @see dtNavMesh, dtQueryFilter, #dtAllocNavMeshQuery(), #dtAllocNavMeshQuery() - -dtNavMeshQuery::dtNavMeshQuery() : - m_nav(0), - m_tinyNodePool(0), - m_nodePool(0), - m_openList(0) -{ - memset(&m_query, 0, sizeof(dtQueryData)); -} - -dtNavMeshQuery::~dtNavMeshQuery() -{ - if (m_tinyNodePool) - m_tinyNodePool->~dtNodePool(); - if (m_nodePool) - m_nodePool->~dtNodePool(); - if (m_openList) - m_openList->~dtNodeQueue(); - dtFree(m_tinyNodePool); - dtFree(m_nodePool); - dtFree(m_openList); -} - -/// @par -/// -/// Must be the first function called after construction, before other -/// functions are used. -/// -/// This function can be used multiple times. -dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes) -{ - if (maxNodes > DT_NULL_IDX || maxNodes > (1 << DT_NODE_PARENT_BITS) - 1) - return DT_FAILURE | DT_INVALID_PARAM; - - m_nav = nav; - - if (!m_nodePool || m_nodePool->getMaxNodes() < maxNodes) - { - if (m_nodePool) - { - m_nodePool->~dtNodePool(); - dtFree(m_nodePool); - m_nodePool = 0; - } - m_nodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(maxNodes, dtNextPow2(maxNodes/4)); - if (!m_nodePool) - return DT_FAILURE | DT_OUT_OF_MEMORY; - } - else - { - m_nodePool->clear(); - } - - if (!m_tinyNodePool) - { - m_tinyNodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(64, 32); - if (!m_tinyNodePool) - return DT_FAILURE | DT_OUT_OF_MEMORY; - } - else - { - m_tinyNodePool->clear(); - } - - if (!m_openList || m_openList->getCapacity() < maxNodes) - { - if (m_openList) - { - m_openList->~dtNodeQueue(); - dtFree(m_openList); - m_openList = 0; - } - m_openList = new (dtAlloc(sizeof(dtNodeQueue), DT_ALLOC_PERM)) dtNodeQueue(maxNodes); - if (!m_openList) - return DT_FAILURE | DT_OUT_OF_MEMORY; - } - else - { - m_openList->clear(); - } - - return DT_SUCCESS; -} - -dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*frand)(), - dtPolyRef* randomRef, float* randomPt) const -{ - dtAssert(m_nav); - - // Randomly pick one tile. Assume that all tiles cover roughly the same area. - const dtMeshTile* tile = 0; - float tsum = 0.0f; - for (int i = 0; i < m_nav->getMaxTiles(); i++) - { - const dtMeshTile* t = m_nav->getTile(i); - if (!t || !t->header) continue; - - // Choose random tile using reservoi sampling. - const float area = 1.0f; // Could be tile area too. - tsum += area; - const float u = frand(); - if (u*tsum <= area) - tile = t; - } - if (!tile) - return DT_FAILURE; - - // Randomly pick one polygon weighted by polygon area. - const dtPoly* poly = 0; - dtPolyRef polyRef = 0; - const dtPolyRef base = m_nav->getPolyRefBase(tile); - - float areaSum = 0.0f; - for (int i = 0; i < tile->header->polyCount; ++i) - { - const dtPoly* p = &tile->polys[i]; - // Do not return off-mesh connection polygons. - if (p->getType() != DT_POLYTYPE_GROUND) - continue; - // Must pass filter - const dtPolyRef ref = base | (dtPolyRef)i; - if (!filter->passFilter(ref, tile, p)) - continue; - - // Calc area of the polygon. - float polyArea = 0.0f; - for (int j = 2; j < p->vertCount; ++j) - { - const float* va = &tile->verts[p->verts[0]*3]; - const float* vb = &tile->verts[p->verts[j-1]*3]; - const float* vc = &tile->verts[p->verts[j]*3]; - polyArea += dtTriArea2D(va,vb,vc); - } - - // Choose random polygon weighted by area, using reservoi sampling. - areaSum += polyArea; - const float u = frand(); - if (u*areaSum <= polyArea) - { - poly = p; - polyRef = ref; - } - } - - if (!poly) - return DT_FAILURE; - - // Randomly pick point on polygon. - const float* v = &tile->verts[poly->verts[0]*3]; - float verts[3*DT_VERTS_PER_POLYGON]; - float areas[DT_VERTS_PER_POLYGON]; - dtVcopy(&verts[0*3],v); - for (int j = 1; j < poly->vertCount; ++j) - { - v = &tile->verts[poly->verts[j]*3]; - dtVcopy(&verts[j*3],v); - } - - const float s = frand(); - const float t = frand(); - - float pt[3]; - dtRandomPointInConvexPoly(verts, poly->vertCount, areas, s, t, pt); - - float h = 0.0f; - dtStatus status = getPolyHeight(polyRef, pt, &h); - if (dtStatusFailed(status)) - return status; - pt[1] = h; - - dtVcopy(randomPt, pt); - *randomRef = polyRef; - - return DT_SUCCESS; -} - -dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius, - const dtQueryFilter* filter, float (*frand)(), - dtPolyRef* randomRef, float* randomPt) const -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - // Validate input - if (!startRef || !m_nav->isValidPolyRef(startRef)) - return DT_FAILURE | DT_INVALID_PARAM; - - const dtMeshTile* startTile = 0; - const dtPoly* startPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(startRef, &startTile, &startPoly); - if (!filter->passFilter(startRef, startTile, startPoly)) - return DT_FAILURE | DT_INVALID_PARAM; - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, centerPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - dtStatus status = DT_SUCCESS; - - const float radiusSqr = dtSqr(maxRadius); - float areaSum = 0.0f; - - const dtMeshTile* randomTile = 0; - const dtPoly* randomPoly = 0; - dtPolyRef randomPolyRef = 0; - - while (!m_openList->empty()) - { - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); - - // Place random locations on on ground. - if (bestPoly->getType() == DT_POLYTYPE_GROUND) - { - // Calc area of the polygon. - float polyArea = 0.0f; - for (int j = 2; j < bestPoly->vertCount; ++j) - { - const float* va = &bestTile->verts[bestPoly->verts[0]*3]; - const float* vb = &bestTile->verts[bestPoly->verts[j-1]*3]; - const float* vc = &bestTile->verts[bestPoly->verts[j]*3]; - polyArea += dtTriArea2D(va,vb,vc); - } - // Choose random polygon weighted by area, using reservoi sampling. - areaSum += polyArea; - const float u = frand(); - if (u*areaSum <= polyArea) - { - randomTile = bestTile; - randomPoly = bestPoly; - randomPolyRef = bestRef; - } - } - - - // Get parent poly and tile. - dtPolyRef parentRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - if (bestNode->pidx) - parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; - if (parentRef) - m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - const dtLink* link = &bestTile->links[i]; - dtPolyRef neighbourRef = link->ref; - // Skip invalid neighbours and do not follow back to parent. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Expand to neighbour - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - // Do not advance if the polygon is excluded by the filter. - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // Find edge and calc distance to the edge. - float va[3], vb[3]; - if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) - continue; - - // If the circle is not touching the next polygon, skip it. - float tseg; - float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); - if (distSqr > radiusSqr) - continue; - - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); - if (!neighbourNode) - { - status |= DT_OUT_OF_NODES; - continue; - } - - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Cost - if (neighbourNode->flags == 0) - dtVlerp(neighbourNode->pos, va, vb, 0.5f); - - const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos); - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - - neighbourNode->id = neighbourRef; - neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); - neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); - neighbourNode->total = total; - - if (neighbourNode->flags & DT_NODE_OPEN) - { - m_openList->modify(neighbourNode); - } - else - { - neighbourNode->flags = DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - } - } - - if (!randomPoly) - return DT_FAILURE; - - // Randomly pick point on polygon. - const float* v = &randomTile->verts[randomPoly->verts[0]*3]; - float verts[3*DT_VERTS_PER_POLYGON]; - float areas[DT_VERTS_PER_POLYGON]; - dtVcopy(&verts[0*3],v); - for (int j = 1; j < randomPoly->vertCount; ++j) - { - v = &randomTile->verts[randomPoly->verts[j]*3]; - dtVcopy(&verts[j*3],v); - } - - const float s = frand(); - const float t = frand(); - - float pt[3]; - dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt); - - float h = 0.0f; - dtStatus stat = getPolyHeight(randomPolyRef, pt, &h); - if (dtStatusFailed(status)) - return stat; - pt[1] = h; - - dtVcopy(randomPt, pt); - *randomRef = randomPolyRef; - - return DT_SUCCESS; -} - - -////////////////////////////////////////////////////////////////////////////////////////// - -/// @par -/// -/// Uses the detail polygons to find the surface height. (Most accurate.) -/// -/// @p pos does not have to be within the bounds of the polygon or navigation mesh. -/// -/// See closestPointOnPolyBoundary() for a limited but faster option. -/// -dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const -{ - dtAssert(m_nav); - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) - return DT_FAILURE | DT_INVALID_PARAM; - if (!tile) - return DT_FAILURE | DT_INVALID_PARAM; - - // Off-mesh connections don't have detail polygons. - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - const float* v0 = &tile->verts[poly->verts[0]*3]; - const float* v1 = &tile->verts[poly->verts[1]*3]; - const float d0 = dtVdist(pos, v0); - const float d1 = dtVdist(pos, v1); - const float u = d0 / (d0+d1); - dtVlerp(closest, v0, v1, u); - if (posOverPoly) - *posOverPoly = false; - return DT_SUCCESS; - } - - const unsigned int ip = (unsigned int)(poly - tile->polys); - const dtPolyDetail* pd = &tile->detailMeshes[ip]; - - // Clamp point to be inside the polygon. - float verts[DT_VERTS_PER_POLYGON*3]; - float edged[DT_VERTS_PER_POLYGON]; - float edget[DT_VERTS_PER_POLYGON]; - const int nv = poly->vertCount; - for (int i = 0; i < nv; ++i) - dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]); - - dtVcopy(closest, pos); - if (!dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget)) - { - // Point is outside the polygon, dtClamp to nearest edge. - float dmin = edged[0]; - int imin = 0; - for (int i = 1; i < nv; ++i) - { - if (edged[i] < dmin) - { - dmin = edged[i]; - imin = i; - } - } - const float* va = &verts[imin*3]; - const float* vb = &verts[((imin+1)%nv)*3]; - dtVlerp(closest, va, vb, edget[imin]); - - if (posOverPoly) - *posOverPoly = false; - } - else - { - if (posOverPoly) - *posOverPoly = true; - } - - // Find height at the location. - for (int j = 0; j < pd->triCount; ++j) - { - const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; - const float* v[3]; - for (int k = 0; k < 3; ++k) - { - if (t[k] < poly->vertCount) - v[k] = &tile->verts[poly->verts[t[k]]*3]; - else - v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3]; - } - float h; - if (dtClosestHeightPointTriangle(closest, v[0], v[1], v[2], h)) - { - closest[1] = h; - break; - } - } - - return DT_SUCCESS; -} - -/// @par -/// -/// Much faster than closestPointOnPoly(). -/// -/// If the provided position lies within the polygon's xz-bounds (above or below), -/// then @p pos and @p closest will be equal. -/// -/// The height of @p closest will be the polygon boundary. The height detail is not used. -/// -/// @p pos does not have to be within the bounds of the polybon or the navigation mesh. -/// -dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const -{ - dtAssert(m_nav); - - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) - return DT_FAILURE | DT_INVALID_PARAM; - - // Collect vertices. - float verts[DT_VERTS_PER_POLYGON*3]; - float edged[DT_VERTS_PER_POLYGON]; - float edget[DT_VERTS_PER_POLYGON]; - int nv = 0; - for (int i = 0; i < (int)poly->vertCount; ++i) - { - dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]); - nv++; - } - - bool inside = dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget); - if (inside) - { - // Point is inside the polygon, return the point. - dtVcopy(closest, pos); - } - else - { - // Point is outside the polygon, dtClamp to nearest edge. - float dmin = edged[0]; - int imin = 0; - for (int i = 1; i < nv; ++i) - { - if (edged[i] < dmin) - { - dmin = edged[i]; - imin = i; - } - } - const float* va = &verts[imin*3]; - const float* vb = &verts[((imin+1)%nv)*3]; - dtVlerp(closest, va, vb, edget[imin]); - } - - return DT_SUCCESS; -} - -/// @par -/// -/// Will return #DT_FAILURE if the provided position is outside the xz-bounds -/// of the polygon. -/// -dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* height) const -{ - dtAssert(m_nav); - - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) - return DT_FAILURE | DT_INVALID_PARAM; - - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - const float* v0 = &tile->verts[poly->verts[0]*3]; - const float* v1 = &tile->verts[poly->verts[1]*3]; - const float d0 = dtVdist2D(pos, v0); - const float d1 = dtVdist2D(pos, v1); - const float u = d0 / (d0+d1); - if (height) - *height = v0[1] + (v1[1] - v0[1]) * u; - return DT_SUCCESS; - } - else - { - const unsigned int ip = (unsigned int)(poly - tile->polys); - const dtPolyDetail* pd = &tile->detailMeshes[ip]; - for (int j = 0; j < pd->triCount; ++j) - { - const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; - const float* v[3]; - for (int k = 0; k < 3; ++k) - { - if (t[k] < poly->vertCount) - v[k] = &tile->verts[poly->verts[t[k]]*3]; - else - v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3]; - } - float h; - if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h)) - { - if (height) - *height = h; - return DT_SUCCESS; - } - } - } - - return DT_FAILURE | DT_INVALID_PARAM; -} - -class dtFindNearestPolyQuery : public dtPolyQuery -{ - const dtNavMeshQuery* m_query; - const float* m_center; - float m_nearestDistanceSqr; - dtPolyRef m_nearestRef; - float m_nearestPoint[3]; - -public: - dtFindNearestPolyQuery(const dtNavMeshQuery* query, const float* center) - : m_query(query), m_center(center), m_nearestDistanceSqr(FLT_MAX), m_nearestRef(0), m_nearestPoint() - { - } - - dtPolyRef nearestRef() const { return m_nearestRef; } - const float* nearestPoint() const { return m_nearestPoint; } - - void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) - { - dtIgnoreUnused(polys); - - for (int i = 0; i < count; ++i) - { - dtPolyRef ref = refs[i]; - float closestPtPoly[3]; - float diff[3]; - bool posOverPoly = false; - float d; - m_query->closestPointOnPoly(ref, m_center, closestPtPoly, &posOverPoly); - - // If a point is directly over a polygon and closer than - // climb height, favor that instead of straight line nearest point. - dtVsub(diff, m_center, closestPtPoly); - if (posOverPoly) - { - d = dtAbs(diff[1]) - tile->header->walkableClimb; - d = d > 0 ? d*d : 0; - } - else - { - d = dtVlenSqr(diff); - } - - if (d < m_nearestDistanceSqr) - { - dtVcopy(m_nearestPoint, closestPtPoly); - - m_nearestDistanceSqr = d; - m_nearestRef = ref; - } - } - } -}; - -/// @par -/// -/// @note If the search box does not intersect any polygons the search will -/// return #DT_SUCCESS, but @p nearestRef will be zero. So if in doubt, check -/// @p nearestRef before using @p nearestPt. -/// -dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* extents, - const dtQueryFilter* filter, - dtPolyRef* nearestRef, float* nearestPt) const -{ - dtAssert(m_nav); - - if (!nearestRef) - return DT_FAILURE | DT_INVALID_PARAM; - - dtFindNearestPolyQuery query(this, center); - - dtStatus status = queryPolygons(center, extents, filter, &query); - if (dtStatusFailed(status)) - return status; - - *nearestRef = query.nearestRef(); - // Only override nearestPt if we actually found a poly so the nearest point - // is valid. - if (nearestPt && *nearestRef) - dtVcopy(nearestPt, query.nearestPoint()); - - return DT_SUCCESS; -} - -void dtNavMeshQuery::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, - const dtQueryFilter* filter, dtPolyQuery* query) const -{ - dtAssert(m_nav); - static const int batchSize = 32; - dtPolyRef polyRefs[batchSize]; - dtPoly* polys[batchSize]; - int n = 0; - - if (tile->bvTree) - { - const dtBVNode* node = &tile->bvTree[0]; - const dtBVNode* end = &tile->bvTree[tile->header->bvNodeCount]; - const float* tbmin = tile->header->bmin; - const float* tbmax = tile->header->bmax; - const float qfac = tile->header->bvQuantFactor; - - // Calculate quantized box - unsigned short bmin[3], bmax[3]; - // dtClamp query box to world box. - float minx = dtClamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0]; - float miny = dtClamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1]; - float minz = dtClamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2]; - float maxx = dtClamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0]; - float maxy = dtClamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1]; - float maxz = dtClamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2]; - // Quantize - bmin[0] = (unsigned short)(qfac * minx) & 0xfffe; - bmin[1] = (unsigned short)(qfac * miny) & 0xfffe; - bmin[2] = (unsigned short)(qfac * minz) & 0xfffe; - bmax[0] = (unsigned short)(qfac * maxx + 1) | 1; - bmax[1] = (unsigned short)(qfac * maxy + 1) | 1; - bmax[2] = (unsigned short)(qfac * maxz + 1) | 1; - - // Traverse tree - const dtPolyRef base = m_nav->getPolyRefBase(tile); - while (node < end) - { - const bool overlap = dtOverlapQuantBounds(bmin, bmax, node->bmin, node->bmax); - const bool isLeafNode = node->i >= 0; - - if (isLeafNode && overlap) - { - dtPolyRef ref = base | (dtPolyRef)node->i; - if (filter->passFilter(ref, tile, &tile->polys[node->i])) - { - polyRefs[n] = ref; - polys[n] = &tile->polys[node->i]; - - if (n == batchSize - 1) - { - query->process(tile, polys, polyRefs, batchSize); - n = 0; - } - else - { - n++; - } - } - } - - if (overlap || isLeafNode) - node++; - else - { - const int escapeIndex = -node->i; - node += escapeIndex; - } - } - } - else - { - float bmin[3], bmax[3]; - const dtPolyRef base = m_nav->getPolyRefBase(tile); - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* p = &tile->polys[i]; - // Do not return off-mesh connection polygons. - if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - // Must pass filter - const dtPolyRef ref = base | (dtPolyRef)i; - if (!filter->passFilter(ref, tile, p)) - continue; - // Calc polygon bounds. - const float* v = &tile->verts[p->verts[0]*3]; - dtVcopy(bmin, v); - dtVcopy(bmax, v); - for (int j = 1; j < p->vertCount; ++j) - { - v = &tile->verts[p->verts[j]*3]; - dtVmin(bmin, v); - dtVmax(bmax, v); - } - if (dtOverlapBounds(qmin, qmax, bmin, bmax)) - { - polyRefs[n] = ref; - polys[n] = p; - - if (n == batchSize - 1) - { - query->process(tile, polys, polyRefs, batchSize); - n = 0; - } - else - { - n++; - } - } - } - } - - // Process the last polygons that didn't make a full batch. - if (n > 0) - query->process(tile, polys, polyRefs, n); -} - -class dtCollectPolysQuery : public dtPolyQuery -{ - dtPolyRef* m_polys; - const int m_maxPolys; - int m_numCollected; - bool m_overflow; - -public: - dtCollectPolysQuery(dtPolyRef* polys, const int maxPolys) - : m_polys(polys), m_maxPolys(maxPolys), m_numCollected(0), m_overflow(false) - { - } - - int numCollected() const { return m_numCollected; } - bool overflowed() const { return m_overflow; } - - void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) - { - dtIgnoreUnused(tile); - dtIgnoreUnused(polys); - - int numLeft = m_maxPolys - m_numCollected; - int toCopy = count; - if (toCopy > numLeft) - { - m_overflow = true; - toCopy = numLeft; - } - - memcpy(m_polys + m_numCollected, refs, (size_t)toCopy * sizeof(dtPolyRef)); - m_numCollected += toCopy; - } -}; - -/// @par -/// -/// If no polygons are found, the function will return #DT_SUCCESS with a -/// @p polyCount of zero. -/// -/// If @p polys is too small to hold the entire result set, then the array will -/// be filled to capacity. The method of choosing which polygons from the -/// full set are included in the partial result set is undefined. -/// -dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents, - const dtQueryFilter* filter, - dtPolyRef* polys, int* polyCount, const int maxPolys) const -{ - if (!polys || !polyCount || maxPolys < 0) - return DT_FAILURE | DT_INVALID_PARAM; - - dtCollectPolysQuery collector(polys, maxPolys); - - dtStatus status = queryPolygons(center, extents, filter, &collector); - if (dtStatusFailed(status)) - return status; - - *polyCount = collector.numCollected(); - return collector.overflowed() ? DT_SUCCESS | DT_BUFFER_TOO_SMALL : DT_SUCCESS; -} - -/// @par -/// -/// The query will be invoked with batches of polygons. Polygons passed -/// to the query have bounding boxes that overlap with the center and extents -/// passed to this function. The dtPolyQuery::process function is invoked multiple -/// times until all overlapping polygons have been processed. -/// -dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents, - const dtQueryFilter* filter, dtPolyQuery* query) const -{ - dtAssert(m_nav); - - if (!center || !extents || !filter || !query) - return DT_FAILURE | DT_INVALID_PARAM; - - float bmin[3], bmax[3]; - dtVsub(bmin, center, extents); - dtVadd(bmax, center, extents); - - // Find tiles the query touches. - int minx, miny, maxx, maxy; - m_nav->calcTileLoc(bmin, &minx, &miny); - m_nav->calcTileLoc(bmax, &maxx, &maxy); - - static const int MAX_NEIS = 32; - const dtMeshTile* neis[MAX_NEIS]; - - for (int y = miny; y <= maxy; ++y) - { - for (int x = minx; x <= maxx; ++x) - { - const int nneis = m_nav->getTilesAt(x,y,neis,MAX_NEIS); - for (int j = 0; j < nneis; ++j) - { - queryPolygonsInTile(neis[j], bmin, bmax, filter, query); - } - } - } - - return DT_SUCCESS; -} - -/// @par -/// -/// If the end polygon cannot be reached through the navigation graph, -/// the last polygon in the path will be the nearest the end polygon. -/// -/// If the path array is to small to hold the full result, it will be filled as -/// far as possible from the start polygon toward the end polygon. -/// -/// The start and end positions are used to calculate traversal costs. -/// (The y-values impact the result.) -/// -dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef, - const float* startPos, const float* endPos, - const dtQueryFilter* filter, - dtPolyRef* path, int* pathCount, const int maxPath) const -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - if (pathCount) - *pathCount = 0; - - // Validate input - if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) || - !startPos || !endPos || !filter || maxPath <= 0 || !path || !pathCount) - return DT_FAILURE | DT_INVALID_PARAM; - - if (startRef == endRef) - { - path[0] = startRef; - *pathCount = 1; - return DT_SUCCESS; - } - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, startPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = dtVdist(startPos, endPos) * H_SCALE; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - dtNode* lastBestNode = startNode; - float lastBestNodeCost = startNode->total; - - bool outOfNodes = false; - - while (!m_openList->empty()) - { - // Remove node from open list and put it in closed list. - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Reached the goal, stop searching. - if (bestNode->id == endRef) - { - lastBestNode = bestNode; - break; - } - - // Get current poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); - - // Get parent poly and tile. - dtPolyRef parentRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - if (bestNode->pidx) - parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; - if (parentRef) - m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - dtPolyRef neighbourRef = bestTile->links[i].ref; - - // Skip invalid ids and do not expand back to where we came from. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Get neighbour poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(neighbourRef, &neighbourTile, &neighbourPoly))) { - continue; - } - - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // deal explicitly with crossing tile boundaries - unsigned char crossSide = 0; - if (bestTile->links[i].side != 0xff) - crossSide = bestTile->links[i].side >> 1; - - // get the node - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide); - if (!neighbourNode) - { - outOfNodes = true; - continue; - } - - // If the node is visited the first time, calculate node position. - if (neighbourNode->flags == 0) - { - getEdgeMidPoint(bestRef, bestPoly, bestTile, - neighbourRef, neighbourPoly, neighbourTile, - neighbourNode->pos); - } - - // Calculate cost and heuristic. - float cost = 0; - float heuristic = 0; - - // Special case for last node. - if (neighbourRef == endRef) - { - // Cost - const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos, - parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly); - const float endCost = filter->getCost(neighbourNode->pos, endPos, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly, - 0, 0, 0); - - cost = bestNode->cost + curCost + endCost; - heuristic = 0; - } - else - { - // Cost - const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos, - parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly); - cost = bestNode->cost + curCost; - heuristic = dtVdist(neighbourNode->pos, endPos)*H_SCALE; - } - - const float total = cost + heuristic; - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - // The node is already visited and process, and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_CLOSED) && total >= neighbourNode->total) - continue; - - // Add or update the node. - neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); - neighbourNode->id = neighbourRef; - neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); - neighbourNode->cost = cost; - neighbourNode->total = total; - - if (neighbourNode->flags & DT_NODE_OPEN) - { - // Already in open, update node location. - m_openList->modify(neighbourNode); - } - else - { - // Put the node in open list. - neighbourNode->flags |= DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - - // Update nearest node to target so far. - if (heuristic < lastBestNodeCost) - { - lastBestNodeCost = heuristic; - lastBestNode = neighbourNode; - } - } - } - - dtStatus status = getPathToNode(lastBestNode, path, pathCount, maxPath); - - if (lastBestNode->id != endRef) - status |= DT_PARTIAL_RESULT; - - if (outOfNodes) - status |= DT_OUT_OF_NODES; - - return status; -} - -dtStatus dtNavMeshQuery::getPathToNode(dtNode* endNode, dtPolyRef* path, int* pathCount, int maxPath) const -{ - // Find the length of the entire path. - dtNode* curNode = endNode; - int length = 0; - do - { - length++; - curNode = m_nodePool->getNodeAtIdx(curNode->pidx); - } while (curNode); - - // If the path cannot be fully stored then advance to the last node we will be able to store. - curNode = endNode; - int writeCount; - for (writeCount = length; writeCount > maxPath; writeCount--) - { - dtAssert(curNode); - - curNode = m_nodePool->getNodeAtIdx(curNode->pidx); - } - - // Write path - for (int i = writeCount - 1; i >= 0; i--) - { - dtAssert(curNode); - - path[i] = curNode->id; - curNode = m_nodePool->getNodeAtIdx(curNode->pidx); - } - - dtAssert(!curNode); - - *pathCount = dtMin(length, maxPath); - - if (length > maxPath) - return DT_SUCCESS | DT_BUFFER_TOO_SMALL; - - return DT_SUCCESS; -} - - -/// @par -/// -/// @warning Calling any non-slice methods before calling finalizeSlicedFindPath() -/// or finalizeSlicedFindPathPartial() may result in corrupted data! -/// -/// The @p filter pointer is stored and used for the duration of the sliced -/// path query. -/// -dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef, - const float* startPos, const float* endPos, - const dtQueryFilter* filter, const unsigned int options) -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - // Init path state. - memset(&m_query, 0, sizeof(dtQueryData)); - m_query.status = DT_FAILURE; - m_query.startRef = startRef; - m_query.endRef = endRef; - dtVcopy(m_query.startPos, startPos); - dtVcopy(m_query.endPos, endPos); - m_query.filter = filter; - m_query.options = options; - m_query.raycastLimitSqr = FLT_MAX; - - if (!startRef || !endRef) - return DT_FAILURE | DT_INVALID_PARAM; - - // Validate input - if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef)) - return DT_FAILURE | DT_INVALID_PARAM; - - // trade quality with performance? - if (options & DT_FINDPATH_ANY_ANGLE) - { - // limiting to several times the character radius yields nice results. It is not sensitive - // so it is enough to compute it from the first tile. - const dtMeshTile* tile = m_nav->getTileByRef(startRef); - float agentRadius = tile->header->walkableRadius; - m_query.raycastLimitSqr = dtSqr(agentRadius * DT_RAY_CAST_LIMIT_PROPORTIONS); - } - - if (startRef == endRef) - { - m_query.status = DT_SUCCESS; - return DT_SUCCESS; - } - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, startPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = dtVdist(startPos, endPos) * H_SCALE; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - m_query.status = DT_IN_PROGRESS; - m_query.lastBestNode = startNode; - m_query.lastBestNodeCost = startNode->total; - - return m_query.status; -} - -dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters) -{ - if (!dtStatusInProgress(m_query.status)) - return m_query.status; - - // Make sure the request is still valid. - if (!m_nav->isValidPolyRef(m_query.startRef) || !m_nav->isValidPolyRef(m_query.endRef)) - { - m_query.status = DT_FAILURE; - return DT_FAILURE; - } - - dtRaycastHit rayHit; - rayHit.maxPath = 0; - - int iter = 0; - while (iter < maxIter && !m_openList->empty()) - { - iter++; - - // Remove node from open list and put it in closed list. - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Reached the goal, stop searching. - if (bestNode->id == m_query.endRef) - { - m_query.lastBestNode = bestNode; - const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; - m_query.status = DT_SUCCESS | details; - if (doneIters) - *doneIters = iter; - return m_query.status; - } - - // Get current poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(bestRef, &bestTile, &bestPoly))) - { - // The polygon has disappeared during the sliced query, fail. - m_query.status = DT_FAILURE; - if (doneIters) - *doneIters = iter; - return m_query.status; - } - - // Get parent and grand parent poly and tile. - dtPolyRef parentRef = 0, grandpaRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - dtNode* parentNode = 0; - if (bestNode->pidx) - { - parentNode = m_nodePool->getNodeAtIdx(bestNode->pidx); - parentRef = parentNode->id; - if (parentNode->pidx) - grandpaRef = m_nodePool->getNodeAtIdx(parentNode->pidx)->id; - } - if (parentRef) - { - bool invalidParent = dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly)); - if (invalidParent || (grandpaRef && !m_nav->isValidPolyRef(grandpaRef)) ) - { - // The polygon has disappeared during the sliced query, fail. - m_query.status = DT_FAILURE; - if (doneIters) - *doneIters = iter; - return m_query.status; - } - } - - // decide whether to test raycast to previous nodes - bool tryLOS = false; - if (m_query.options & DT_FINDPATH_ANY_ANGLE) - { - if ((parentRef != 0) && (dtVdistSqr(parentNode->pos, bestNode->pos) < m_query.raycastLimitSqr)) - tryLOS = true; - } - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - dtPolyRef neighbourRef = bestTile->links[i].ref; - - // Skip invalid ids and do not expand back to where we came from. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Get neighbour poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - if (!m_query.filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // get the neighbor node - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, 0); - if (!neighbourNode) - { - m_query.status |= DT_OUT_OF_NODES; - continue; - } - - // do not expand to nodes that were already visited from the same parent - if (neighbourNode->pidx != 0 && neighbourNode->pidx == bestNode->pidx) - continue; - - // If the node is visited the first time, calculate node position. - if (neighbourNode->flags == 0) - { - getEdgeMidPoint(bestRef, bestPoly, bestTile, - neighbourRef, neighbourPoly, neighbourTile, - neighbourNode->pos); - } - - // Calculate cost and heuristic. - float cost = 0; - float heuristic = 0; - - // raycast parent - bool foundShortCut = false; - rayHit.pathCost = rayHit.t = 0; - if (tryLOS) - { - raycast(parentRef, parentNode->pos, neighbourNode->pos, m_query.filter, DT_RAYCAST_USE_COSTS, &rayHit, grandpaRef); - foundShortCut = rayHit.t >= 1.0f; - } - - // update move cost - if (foundShortCut) - { - // shortcut found using raycast. Using shorter cost instead - cost = parentNode->cost + rayHit.pathCost; - } - else - { - // No shortcut found. - const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos, - parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly); - cost = bestNode->cost + curCost; - } - - // Special case for last node. - if (neighbourRef == m_query.endRef) - { - const float endCost = m_query.filter->getCost(neighbourNode->pos, m_query.endPos, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly, - 0, 0, 0); - - cost = cost + endCost; - heuristic = 0; - } - else - { - heuristic = dtVdist(neighbourNode->pos, m_query.endPos)*H_SCALE; - } - - const float total = cost + heuristic; - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - // The node is already visited and process, and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_CLOSED) && total >= neighbourNode->total) - continue; - - // Add or update the node. - neighbourNode->pidx = foundShortCut ? bestNode->pidx : m_nodePool->getNodeIdx(bestNode); - neighbourNode->id = neighbourRef; - neighbourNode->flags = (neighbourNode->flags & ~(DT_NODE_CLOSED | DT_NODE_PARENT_DETACHED)); - neighbourNode->cost = cost; - neighbourNode->total = total; - if (foundShortCut) - neighbourNode->flags = (neighbourNode->flags | DT_NODE_PARENT_DETACHED); - - if (neighbourNode->flags & DT_NODE_OPEN) - { - // Already in open, update node location. - m_openList->modify(neighbourNode); - } - else - { - // Put the node in open list. - neighbourNode->flags |= DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - - // Update nearest node to target so far. - if (heuristic < m_query.lastBestNodeCost) - { - m_query.lastBestNodeCost = heuristic; - m_query.lastBestNode = neighbourNode; - } - } - } - - // Exhausted all nodes, but could not find path. - if (m_openList->empty()) - { - const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; - m_query.status = DT_SUCCESS | details; - } - - if (doneIters) - *doneIters = iter; - - return m_query.status; -} - -dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath) -{ - *pathCount = 0; - - if (dtStatusFailed(m_query.status)) - { - // Reset query. - memset(&m_query, 0, sizeof(dtQueryData)); - return DT_FAILURE; - } - - int n = 0; - - if (m_query.startRef == m_query.endRef) - { - // Special case: the search starts and ends at same poly. - path[n++] = m_query.startRef; - } - else - { - // Reverse the path. - dtAssert(m_query.lastBestNode); - - if (m_query.lastBestNode->id != m_query.endRef) - m_query.status |= DT_PARTIAL_RESULT; - - dtNode* prev = 0; - dtNode* node = m_query.lastBestNode; - int prevRay = 0; - do - { - dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); - node->pidx = m_nodePool->getNodeIdx(prev); - prev = node; - int nextRay = node->flags & DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent (i.e. due to raycast shortcut) - node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed path's node - prevRay = nextRay; - node = next; - } - while (node); - - // Store path - node = prev; - do - { - dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); - dtStatus status = 0; - if (node->flags & DT_NODE_PARENT_DETACHED) - { - float t, normal[3]; - int m; - status = raycast(node->id, node->pos, next->pos, m_query.filter, &t, normal, path+n, &m, maxPath-n); - n += m; - // raycast ends on poly boundary and the path might include the next poly boundary. - if (path[n-1] == next->id) - n--; // remove to avoid duplicates - } - else - { - path[n++] = node->id; - if (n >= maxPath) - status = DT_BUFFER_TOO_SMALL; - } - - if (status & DT_STATUS_DETAIL_MASK) - { - m_query.status |= status & DT_STATUS_DETAIL_MASK; - break; - } - node = next; - } - while (node); - } - - const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; - - // Reset query. - memset(&m_query, 0, sizeof(dtQueryData)); - - *pathCount = n; - - return DT_SUCCESS | details; -} - -dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize, - dtPolyRef* path, int* pathCount, const int maxPath) -{ - *pathCount = 0; - - if (existingSize == 0) - { - return DT_FAILURE; - } - - if (dtStatusFailed(m_query.status)) - { - // Reset query. - memset(&m_query, 0, sizeof(dtQueryData)); - return DT_FAILURE; - } - - int n = 0; - - if (m_query.startRef == m_query.endRef) - { - // Special case: the search starts and ends at same poly. - path[n++] = m_query.startRef; - } - else - { - // Find furthest existing node that was visited. - dtNode* prev = 0; - dtNode* node = 0; - for (int i = existingSize-1; i >= 0; --i) - { - m_nodePool->findNodes(existing[i], &node, 1); - if (node) - break; - } - - if (!node) - { - m_query.status |= DT_PARTIAL_RESULT; - dtAssert(m_query.lastBestNode); - node = m_query.lastBestNode; - } - - // Reverse the path. - int prevRay = 0; - do - { - dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); - node->pidx = m_nodePool->getNodeIdx(prev); - prev = node; - int nextRay = node->flags & DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent (i.e. due to raycast shortcut) - node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed path's node - prevRay = nextRay; - node = next; - } - while (node); - - // Store path - node = prev; - do - { - dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); - dtStatus status = 0; - if (node->flags & DT_NODE_PARENT_DETACHED) - { - float t, normal[3]; - int m; - status = raycast(node->id, node->pos, next->pos, m_query.filter, &t, normal, path+n, &m, maxPath-n); - n += m; - // raycast ends on poly boundary and the path might include the next poly boundary. - if (path[n-1] == next->id) - n--; // remove to avoid duplicates - } - else - { - path[n++] = node->id; - if (n >= maxPath) - status = DT_BUFFER_TOO_SMALL; - } - - if (status & DT_STATUS_DETAIL_MASK) - { - m_query.status |= status & DT_STATUS_DETAIL_MASK; - break; - } - node = next; - } - while (node); - } - - const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; - - // Reset query. - memset(&m_query, 0, sizeof(dtQueryData)); - - *pathCount = n; - - return DT_SUCCESS | details; -} - - -dtStatus dtNavMeshQuery::appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath) const -{ - if ((*straightPathCount) > 0 && dtVequal(&straightPath[((*straightPathCount)-1)*3], pos)) - { - // The vertices are equal, update flags and poly. - if (straightPathFlags) - straightPathFlags[(*straightPathCount)-1] = flags; - if (straightPathRefs) - straightPathRefs[(*straightPathCount)-1] = ref; - } - else - { - // Append new vertex. - dtVcopy(&straightPath[(*straightPathCount)*3], pos); - if (straightPathFlags) - straightPathFlags[(*straightPathCount)] = flags; - if (straightPathRefs) - straightPathRefs[(*straightPathCount)] = ref; - (*straightPathCount)++; - - // If there is no space to append more vertices, return. - if ((*straightPathCount) >= maxStraightPath) - { - return DT_SUCCESS | DT_BUFFER_TOO_SMALL; - } - - // If reached end of path, return. - if (flags == DT_STRAIGHTPATH_END) - { - return DT_SUCCESS; - } - } - return DT_IN_PROGRESS; -} - -dtStatus dtNavMeshQuery::appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath, const int options) const -{ - const float* startPos = &straightPath[(*straightPathCount-1)*3]; - // Append or update last vertex - dtStatus stat = 0; - for (int i = startIdx; i < endIdx; i++) - { - // Calculate portal - const dtPolyRef from = path[i]; - const dtMeshTile* fromTile = 0; - const dtPoly* fromPoly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly))) - return DT_FAILURE | DT_INVALID_PARAM; - - const dtPolyRef to = path[i+1]; - const dtMeshTile* toTile = 0; - const dtPoly* toPoly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(to, &toTile, &toPoly))) - return DT_FAILURE | DT_INVALID_PARAM; - - float left[3], right[3]; - if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right))) - break; - - if (options & DT_STRAIGHTPATH_AREA_CROSSINGS) - { - // Skip intersection if only area crossings are requested. - if (fromPoly->getArea() == toPoly->getArea()) - continue; - } - - // Append intersection - float s,t; - if (dtIntersectSegSeg2D(startPos, endPos, left, right, s, t)) - { - float pt[3]; - dtVlerp(pt, left,right, t); - - stat = appendVertex(pt, 0, path[i+1], - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - if (stat != DT_IN_PROGRESS) - return stat; - } - } - return DT_IN_PROGRESS; -} - -/// @par -/// -/// This method peforms what is often called 'string pulling'. -/// -/// The start position is clamped to the first polygon in the path, and the -/// end position is clamped to the last. So the start and end positions should -/// normally be within or very near the first and last polygons respectively. -/// -/// The returned polygon references represent the reference id of the polygon -/// that is entered at the associated path position. The reference id associated -/// with the end point will always be zero. This allows, for example, matching -/// off-mesh link points to their representative polygons. -/// -/// If the provided result buffers are too small for the entire result set, -/// they will be filled as far as possible from the start toward the end -/// position. -/// -dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* endPos, - const dtPolyRef* path, const int pathSize, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath, const int options) const -{ - dtAssert(m_nav); - - *straightPathCount = 0; - - if (!maxStraightPath) - return DT_FAILURE | DT_INVALID_PARAM; - - if (!path[0]) - return DT_FAILURE | DT_INVALID_PARAM; - - dtStatus stat = 0; - - // TODO: Should this be callers responsibility? - float closestStartPos[3]; - if (dtStatusFailed(closestPointOnPolyBoundary(path[0], startPos, closestStartPos))) - return DT_FAILURE | DT_INVALID_PARAM; - - float closestEndPos[3]; - if (dtStatusFailed(closestPointOnPolyBoundary(path[pathSize-1], endPos, closestEndPos))) - return DT_FAILURE | DT_INVALID_PARAM; - - // Add start point. - stat = appendVertex(closestStartPos, DT_STRAIGHTPATH_START, path[0], - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - if (stat != DT_IN_PROGRESS) - return stat; - - if (pathSize > 1) - { - float portalApex[3], portalLeft[3], portalRight[3]; - dtVcopy(portalApex, closestStartPos); - dtVcopy(portalLeft, portalApex); - dtVcopy(portalRight, portalApex); - int apexIndex = 0; - int leftIndex = 0; - int rightIndex = 0; - - unsigned char leftPolyType = 0; - unsigned char rightPolyType = 0; - - dtPolyRef leftPolyRef = path[0]; - dtPolyRef rightPolyRef = path[0]; - - for (int i = 0; i < pathSize; ++i) - { - float left[3], right[3]; - unsigned char toType; - - if (i+1 < pathSize) - { - unsigned char fromType; // fromType is ignored. - - // Next portal. - if (dtStatusFailed(getPortalPoints(path[i], path[i+1], left, right, fromType, toType))) - { - // Failed to get portal points, in practice this means that path[i+1] is invalid polygon. - // Clamp the end point to path[i], and return the path so far. - - if (dtStatusFailed(closestPointOnPolyBoundary(path[i], endPos, closestEndPos))) - { - // This should only happen when the first polygon is invalid. - return DT_FAILURE | DT_INVALID_PARAM; - } - - // Apeend portals along the current straight path segment. - if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) - { - // Ignore status return value as we're just about to return anyway. - appendPortals(apexIndex, i, closestEndPos, path, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath, options); - } - - // Ignore status return value as we're just about to return anyway. - appendVertex(closestEndPos, 0, path[i], - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - - return DT_SUCCESS | DT_PARTIAL_RESULT | ((*straightPathCount >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0); - } - - // If starting really close the portal, advance. - if (i == 0) - { - float t; - if (dtDistancePtSegSqr2D(portalApex, left, right, t) < dtSqr(0.001f)) - continue; - } - } - else - { - // End of the path. - dtVcopy(left, closestEndPos); - dtVcopy(right, closestEndPos); - - toType = DT_POLYTYPE_GROUND; - } - - // Right vertex. - if (dtTriArea2D(portalApex, portalRight, right) <= 0.0f) - { - if (dtVequal(portalApex, portalRight) || dtTriArea2D(portalApex, portalLeft, right) > 0.0f) - { - dtVcopy(portalRight, right); - rightPolyRef = (i+1 < pathSize) ? path[i+1] : 0; - rightPolyType = toType; - rightIndex = i; - } - else - { - // Append portals along the current straight path segment. - if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) - { - stat = appendPortals(apexIndex, leftIndex, portalLeft, path, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath, options); - if (stat != DT_IN_PROGRESS) - return stat; - } - - dtVcopy(portalApex, portalLeft); - apexIndex = leftIndex; - - unsigned char flags = 0; - if (!leftPolyRef) - flags = DT_STRAIGHTPATH_END; - else if (leftPolyType == DT_POLYTYPE_OFFMESH_CONNECTION) - flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION; - dtPolyRef ref = leftPolyRef; - - // Append or update vertex - stat = appendVertex(portalApex, flags, ref, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - if (stat != DT_IN_PROGRESS) - return stat; - - dtVcopy(portalLeft, portalApex); - dtVcopy(portalRight, portalApex); - leftIndex = apexIndex; - rightIndex = apexIndex; - - // Restart - i = apexIndex; - - continue; - } - } - - // Left vertex. - if (dtTriArea2D(portalApex, portalLeft, left) >= 0.0f) - { - if (dtVequal(portalApex, portalLeft) || dtTriArea2D(portalApex, portalRight, left) < 0.0f) - { - dtVcopy(portalLeft, left); - leftPolyRef = (i+1 < pathSize) ? path[i+1] : 0; - leftPolyType = toType; - leftIndex = i; - } - else - { - // Append portals along the current straight path segment. - if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) - { - stat = appendPortals(apexIndex, rightIndex, portalRight, path, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath, options); - if (stat != DT_IN_PROGRESS) - return stat; - } - - dtVcopy(portalApex, portalRight); - apexIndex = rightIndex; - - unsigned char flags = 0; - if (!rightPolyRef) - flags = DT_STRAIGHTPATH_END; - else if (rightPolyType == DT_POLYTYPE_OFFMESH_CONNECTION) - flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION; - dtPolyRef ref = rightPolyRef; - - // Append or update vertex - stat = appendVertex(portalApex, flags, ref, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - if (stat != DT_IN_PROGRESS) - return stat; - - dtVcopy(portalLeft, portalApex); - dtVcopy(portalRight, portalApex); - leftIndex = apexIndex; - rightIndex = apexIndex; - - // Restart - i = apexIndex; - - continue; - } - } - } - - // Append portals along the current straight path segment. - if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) - { - stat = appendPortals(apexIndex, pathSize-1, closestEndPos, path, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath, options); - if (stat != DT_IN_PROGRESS) - return stat; - } - } - - // Ignore status return value as we're just about to return anyway. - appendVertex(closestEndPos, DT_STRAIGHTPATH_END, 0, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - - return DT_SUCCESS | ((*straightPathCount >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0); -} - -/// @par -/// -/// This method is optimized for small delta movement and a small number of -/// polygons. If used for too great a distance, the result set will form an -/// incomplete path. -/// -/// @p resultPos will equal the @p endPos if the end is reached. -/// Otherwise the closest reachable position will be returned. -/// -/// @p resultPos is not projected onto the surface of the navigation -/// mesh. Use #getPolyHeight if this is needed. -/// -/// This method treats the end position in the same manner as -/// the #raycast method. (As a 2D point.) See that method's documentation -/// for details. -/// -/// If the @p visited array is too small to hold the entire result set, it will -/// be filled as far as possible from the start position toward the end -/// position. -/// -dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, - float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const -{ - dtAssert(m_nav); - dtAssert(m_tinyNodePool); - - *visitedCount = 0; - - // Validate input - if (!startRef) - return DT_FAILURE | DT_INVALID_PARAM; - if (!m_nav->isValidPolyRef(startRef)) - return DT_FAILURE | DT_INVALID_PARAM; - - dtStatus status = DT_SUCCESS; - - static const int MAX_STACK = 48; - dtNode* stack[MAX_STACK]; - int nstack = 0; - - m_tinyNodePool->clear(); - - dtNode* startNode = m_tinyNodePool->getNode(startRef); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_CLOSED; - stack[nstack++] = startNode; - - float bestPos[3]; - float bestDist = FLT_MAX; - dtNode* bestNode = 0; - dtVcopy(bestPos, startPos); - - // Search constraints - float searchPos[3], searchRadSqr; - dtVlerp(searchPos, startPos, endPos, 0.5f); - searchRadSqr = dtSqr(dtVdist(startPos, endPos)/2.0f + 0.001f); - - float verts[DT_VERTS_PER_POLYGON*3]; - - while (nstack) - { - // Pop front. - dtNode* curNode = stack[0]; - for (int i = 0; i < nstack-1; ++i) - stack[i] = stack[i+1]; - nstack--; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef curRef = curNode->id; - const dtMeshTile* curTile = 0; - const dtPoly* curPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(curRef, &curTile, &curPoly); - - // Collect vertices. - const int nverts = curPoly->vertCount; - for (int i = 0; i < nverts; ++i) - dtVcopy(&verts[i*3], &curTile->verts[curPoly->verts[i]*3]); - - // If target is inside the poly, stop search. - if (dtPointInPolygon(endPos, verts, nverts)) - { - bestNode = curNode; - dtVcopy(bestPos, endPos); - break; - } - - // Find wall edges and find nearest point inside the walls. - for (int i = 0, j = (int)curPoly->vertCount-1; i < (int)curPoly->vertCount; j = i++) - { - // Find links to neighbours. - static const int MAX_NEIS = 8; - int nneis = 0; - dtPolyRef neis[MAX_NEIS]; - - if (curPoly->neis[j] & DT_EXT_LINK) - { - // Tile border. - for (unsigned int k = curPoly->firstLink; k != DT_NULL_LINK; k = curTile->links[k].next) - { - const dtLink* link = &curTile->links[k]; - if (link->edge == j) - { - if (link->ref != 0) - { - const dtMeshTile* neiTile = 0; - const dtPoly* neiPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly); - if (filter->passFilter(link->ref, neiTile, neiPoly)) - { - if (nneis < MAX_NEIS) - neis[nneis++] = link->ref; - } - } - } - } - } - else if (curPoly->neis[j]) - { - const unsigned int idx = (unsigned int)(curPoly->neis[j]-1); - const dtPolyRef ref = m_nav->getPolyRefBase(curTile) | idx; - if (filter->passFilter(ref, curTile, &curTile->polys[idx])) - { - // Internal edge, encode id. - neis[nneis++] = ref; - } - } - - if (!nneis) - { - // Wall edge, calc distance. - const float* vj = &verts[j*3]; - const float* vi = &verts[i*3]; - float tseg; - const float distSqr = dtDistancePtSegSqr2D(endPos, vj, vi, tseg); - if (distSqr < bestDist) - { - // Update nearest distance. - dtVlerp(bestPos, vj,vi, tseg); - bestDist = distSqr; - bestNode = curNode; - } - } - else - { - for (int k = 0; k < nneis; ++k) - { - // Skip if no node can be allocated. - dtNode* neighbourNode = m_tinyNodePool->getNode(neis[k]); - if (!neighbourNode) - continue; - // Skip if already visited. - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Skip the link if it is too far from search constraint. - // TODO: Maybe should use getPortalPoints(), but this one is way faster. - const float* vj = &verts[j*3]; - const float* vi = &verts[i*3]; - float tseg; - float distSqr = dtDistancePtSegSqr2D(searchPos, vj, vi, tseg); - if (distSqr > searchRadSqr) - continue; - - // Mark as the node as visited and push to queue. - if (nstack < MAX_STACK) - { - neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode); - neighbourNode->flags |= DT_NODE_CLOSED; - stack[nstack++] = neighbourNode; - } - } - } - } - } - - int n = 0; - if (bestNode) - { - // Reverse the path. - dtNode* prev = 0; - dtNode* node = bestNode; - do - { - dtNode* next = m_tinyNodePool->getNodeAtIdx(node->pidx); - node->pidx = m_tinyNodePool->getNodeIdx(prev); - prev = node; - node = next; - } - while (node); - - // Store result - node = prev; - do - { - visited[n++] = node->id; - if (n >= maxVisitedSize) - { - status |= DT_BUFFER_TOO_SMALL; - break; - } - node = m_tinyNodePool->getNodeAtIdx(node->pidx); - } - while (node); - } - - dtVcopy(resultPos, bestPos); - - *visitedCount = n; - - return status; -} - - -dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right, - unsigned char& fromType, unsigned char& toType) const -{ - dtAssert(m_nav); - - const dtMeshTile* fromTile = 0; - const dtPoly* fromPoly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly))) - return DT_FAILURE | DT_INVALID_PARAM; - fromType = fromPoly->getType(); - - const dtMeshTile* toTile = 0; - const dtPoly* toPoly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(to, &toTile, &toPoly))) - return DT_FAILURE | DT_INVALID_PARAM; - toType = toPoly->getType(); - - return getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right); -} - -// Returns portal points between two polygons. -dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, - dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, - float* left, float* right) const -{ - // Find the link that points to the 'to' polygon. - const dtLink* link = 0; - for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next) - { - if (fromTile->links[i].ref == to) - { - link = &fromTile->links[i]; - break; - } - } - if (!link) - return DT_FAILURE | DT_INVALID_PARAM; - - // Handle off-mesh connections. - if (fromPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - // Find link that points to first vertex. - for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next) - { - if (fromTile->links[i].ref == to) - { - const int v = fromTile->links[i].edge; - dtVcopy(left, &fromTile->verts[fromPoly->verts[v]*3]); - dtVcopy(right, &fromTile->verts[fromPoly->verts[v]*3]); - return DT_SUCCESS; - } - } - return DT_FAILURE | DT_INVALID_PARAM; - } - - if (toPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - for (unsigned int i = toPoly->firstLink; i != DT_NULL_LINK; i = toTile->links[i].next) - { - if (toTile->links[i].ref == from) - { - const int v = toTile->links[i].edge; - dtVcopy(left, &toTile->verts[toPoly->verts[v]*3]); - dtVcopy(right, &toTile->verts[toPoly->verts[v]*3]); - return DT_SUCCESS; - } - } - return DT_FAILURE | DT_INVALID_PARAM; - } - - // Find portal vertices. - const int v0 = fromPoly->verts[link->edge]; - const int v1 = fromPoly->verts[(link->edge+1) % (int)fromPoly->vertCount]; - dtVcopy(left, &fromTile->verts[v0*3]); - dtVcopy(right, &fromTile->verts[v1*3]); - - // If the link is at tile boundary, dtClamp the vertices to - // the link width. - if (link->side != 0xff) - { - // Unpack portal limits. - if (link->bmin != 0 || link->bmax != 255) - { - const float s = 1.0f/255.0f; - const float tmin = link->bmin*s; - const float tmax = link->bmax*s; - dtVlerp(left, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmin); - dtVlerp(right, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmax); - } - } - - return DT_SUCCESS; -} - -// Returns edge mid point between two polygons. -dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const -{ - float left[3], right[3]; - unsigned char fromType, toType; - if (dtStatusFailed(getPortalPoints(from, to, left,right, fromType, toType))) - return DT_FAILURE | DT_INVALID_PARAM; - mid[0] = (left[0]+right[0])*0.5f; - mid[1] = (left[1]+right[1])*0.5f; - mid[2] = (left[2]+right[2])*0.5f; - return DT_SUCCESS; -} - -dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, - dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, - float* mid) const -{ - float left[3], right[3]; - if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right))) - return DT_FAILURE | DT_INVALID_PARAM; - mid[0] = (left[0]+right[0])*0.5f; - mid[1] = (left[1]+right[1])*0.5f; - mid[2] = (left[2]+right[2])*0.5f; - return DT_SUCCESS; -} - - - -/// @par -/// -/// This method is meant to be used for quick, short distance checks. -/// -/// If the path array is too small to hold the result, it will be filled as -/// far as possible from the start postion toward the end position. -/// -/// Using the Hit Parameter (t) -/// -/// If the hit parameter is a very high value (FLT_MAX), then the ray has hit -/// the end position. In this case the path represents a valid corridor to the -/// end position and the value of @p hitNormal is undefined. -/// -/// If the hit parameter is zero, then the start position is on the wall that -/// was hit and the value of @p hitNormal is undefined. -/// -/// If 0 < t < 1.0 then the following applies: -/// -/// @code -/// distanceToHitBorder = distanceToEndPosition * t -/// hitPoint = startPos + (endPos - startPos) * t -/// @endcode -/// -/// Use Case Restriction -/// -/// The raycast ignores the y-value of the end position. (2D check.) This -/// places significant limits on how it can be used. For example: -/// -/// Consider a scene where there is a main floor with a second floor balcony -/// that hangs over the main floor. So the first floor mesh extends below the -/// balcony mesh. The start position is somewhere on the first floor. The end -/// position is on the balcony. -/// -/// The raycast will search toward the end position along the first floor mesh. -/// If it reaches the end position's xz-coordinates it will indicate FLT_MAX -/// (no wall hit), meaning it reached the end position. This is one example of why -/// this method is meant for short distance checks. -/// -dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, - float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const -{ - dtRaycastHit hit; - hit.path = path; - hit.maxPath = maxPath; - - dtStatus status = raycast(startRef, startPos, endPos, filter, 0, &hit); - - *t = hit.t; - if (hitNormal) - dtVcopy(hitNormal, hit.hitNormal); - if (pathCount) - *pathCount = hit.pathCount; - - return status; -} - - -/// @par -/// -/// This method is meant to be used for quick, short distance checks. -/// -/// If the path array is too small to hold the result, it will be filled as -/// far as possible from the start postion toward the end position. -/// -/// Using the Hit Parameter t of RaycastHit -/// -/// If the hit parameter is a very high value (FLT_MAX), then the ray has hit -/// the end position. In this case the path represents a valid corridor to the -/// end position and the value of @p hitNormal is undefined. -/// -/// If the hit parameter is zero, then the start position is on the wall that -/// was hit and the value of @p hitNormal is undefined. -/// -/// If 0 < t < 1.0 then the following applies: -/// -/// @code -/// distanceToHitBorder = distanceToEndPosition * t -/// hitPoint = startPos + (endPos - startPos) * t -/// @endcode -/// -/// Use Case Restriction -/// -/// The raycast ignores the y-value of the end position. (2D check.) This -/// places significant limits on how it can be used. For example: -/// -/// Consider a scene where there is a main floor with a second floor balcony -/// that hangs over the main floor. So the first floor mesh extends below the -/// balcony mesh. The start position is somewhere on the first floor. The end -/// position is on the balcony. -/// -/// The raycast will search toward the end position along the first floor mesh. -/// If it reaches the end position's xz-coordinates it will indicate FLT_MAX -/// (no wall hit), meaning it reached the end position. This is one example of why -/// this method is meant for short distance checks. -/// -dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, const unsigned int options, - dtRaycastHit* hit, dtPolyRef prevRef) const -{ - dtAssert(m_nav); - - hit->t = 0; - hit->pathCount = 0; - hit->pathCost = 0; - - // Validate input - if (!startRef || !m_nav->isValidPolyRef(startRef)) - return DT_FAILURE | DT_INVALID_PARAM; - if (prevRef && !m_nav->isValidPolyRef(prevRef)) - return DT_FAILURE | DT_INVALID_PARAM; - - float dir[3], curPos[3], lastPos[3]; - float verts[DT_VERTS_PER_POLYGON*3+3]; - int n = 0; - - dtVcopy(curPos, startPos); - dtVsub(dir, endPos, startPos); - dtVset(hit->hitNormal, 0, 0, 0); - - dtStatus status = DT_SUCCESS; - - const dtMeshTile* prevTile, *tile, *nextTile; - const dtPoly* prevPoly, *poly, *nextPoly; - dtPolyRef curRef; - - // The API input has been checked already, skip checking internal data. - curRef = startRef; - tile = 0; - poly = 0; - m_nav->getTileAndPolyByRefUnsafe(curRef, &tile, &poly); - nextTile = prevTile = tile; - nextPoly = prevPoly = poly; - if (prevRef) - m_nav->getTileAndPolyByRefUnsafe(prevRef, &prevTile, &prevPoly); - - while (curRef) - { - // Cast ray against current polygon. - - // Collect vertices. - int nv = 0; - for (int i = 0; i < (int)poly->vertCount; ++i) - { - dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]); - nv++; - } - - float tmin, tmax; - int segMin, segMax; - if (!dtIntersectSegmentPoly2D(startPos, endPos, verts, nv, tmin, tmax, segMin, segMax)) - { - // Could not hit the polygon, keep the old t and report hit. - hit->pathCount = n; - return status; - } - - hit->hitEdgeIndex = segMax; - - // Keep track of furthest t so far. - if (tmax > hit->t) - hit->t = tmax; - - // Store visited polygons. - if (n < hit->maxPath) - hit->path[n++] = curRef; - else - status |= DT_BUFFER_TOO_SMALL; - - // Ray end is completely inside the polygon. - if (segMax == -1) - { - hit->t = FLT_MAX; - hit->pathCount = n; - - // add the cost - if (options & DT_RAYCAST_USE_COSTS) - hit->pathCost += filter->getCost(curPos, endPos, prevRef, prevTile, prevPoly, curRef, tile, poly, curRef, tile, poly); - return status; - } - - // Follow neighbours. - dtPolyRef nextRef = 0; - - for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next) - { - const dtLink* link = &tile->links[i]; - - // Find link which contains this edge. - if ((int)link->edge != segMax) - continue; - - // Get pointer to the next polygon. - nextTile = 0; - nextPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(link->ref, &nextTile, &nextPoly); - - // Skip off-mesh connections. - if (nextPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - - // Skip links based on filter. - if (!filter->passFilter(link->ref, nextTile, nextPoly)) - continue; - - // If the link is internal, just return the ref. - if (link->side == 0xff) - { - nextRef = link->ref; - break; - } - - // If the link is at tile boundary, - - // Check if the link spans the whole edge, and accept. - if (link->bmin == 0 && link->bmax == 255) - { - nextRef = link->ref; - break; - } - - // Check for partial edge links. - const int v0 = poly->verts[link->edge]; - const int v1 = poly->verts[(link->edge+1) % poly->vertCount]; - const float* left = &tile->verts[v0*3]; - const float* right = &tile->verts[v1*3]; - - // Check that the intersection lies inside the link portal. - if (link->side == 0 || link->side == 4) - { - // Calculate link size. - const float s = 1.0f/255.0f; - float lmin = left[2] + (right[2] - left[2])*(link->bmin*s); - float lmax = left[2] + (right[2] - left[2])*(link->bmax*s); - if (lmin > lmax) dtSwap(lmin, lmax); - - // Find Z intersection. - float z = startPos[2] + (endPos[2]-startPos[2])*tmax; - if (z >= lmin && z <= lmax) - { - nextRef = link->ref; - break; - } - } - else if (link->side == 2 || link->side == 6) - { - // Calculate link size. - const float s = 1.0f/255.0f; - float lmin = left[0] + (right[0] - left[0])*(link->bmin*s); - float lmax = left[0] + (right[0] - left[0])*(link->bmax*s); - if (lmin > lmax) dtSwap(lmin, lmax); - - // Find X intersection. - float x = startPos[0] + (endPos[0]-startPos[0])*tmax; - if (x >= lmin && x <= lmax) - { - nextRef = link->ref; - break; - } - } - } - - // add the cost - if (options & DT_RAYCAST_USE_COSTS) - { - // compute the intersection point at the furthest end of the polygon - // and correct the height (since the raycast moves in 2d) - dtVcopy(lastPos, curPos); - dtVmad(curPos, startPos, dir, hit->t); - float* e1 = &verts[segMax*3]; - float* e2 = &verts[((segMax+1)%nv)*3]; - float eDir[3], diff[3]; - dtVsub(eDir, e2, e1); - dtVsub(diff, curPos, e1); - float s = dtSqr(eDir[0]) > dtSqr(eDir[2]) ? diff[0] / eDir[0] : diff[2] / eDir[2]; - curPos[1] = e1[1] + eDir[1] * s; - - hit->pathCost += filter->getCost(lastPos, curPos, prevRef, prevTile, prevPoly, curRef, tile, poly, nextRef, nextTile, nextPoly); - } - - if (!nextRef) - { - // No neighbour, we hit a wall. - - // Calculate hit normal. - const int a = segMax; - const int b = segMax+1 < nv ? segMax+1 : 0; - const float* va = &verts[a*3]; - const float* vb = &verts[b*3]; - const float dx = vb[0] - va[0]; - const float dz = vb[2] - va[2]; - hit->hitNormal[0] = dz; - hit->hitNormal[1] = 0; - hit->hitNormal[2] = -dx; - dtVnormalize(hit->hitNormal); - - hit->pathCount = n; - return status; - } - - // No hit, advance to neighbour polygon. - prevRef = curRef; - curRef = nextRef; - prevTile = tile; - tile = nextTile; - prevPoly = poly; - poly = nextPoly; - } - - hit->pathCount = n; - - return status; -} - -/// @par -/// -/// At least one result array must be provided. -/// -/// The order of the result set is from least to highest cost to reach the polygon. -/// -/// A common use case for this method is to perform Dijkstra searches. -/// Candidate polygons are found by searching the graph beginning at the start polygon. -/// -/// If a polygon is not found via the graph search, even if it intersects the -/// search circle, it will not be included in the result set. For example: -/// -/// polyA is the start polygon. -/// polyB shares an edge with polyA. (Is adjacent.) -/// polyC shares an edge with polyB, but not with polyA -/// Even if the search circle overlaps polyC, it will not be included in the -/// result set unless polyB is also in the set. -/// -/// The value of the center point is used as the start position for cost -/// calculations. It is not projected onto the surface of the mesh, so its -/// y-value will effect the costs. -/// -/// Intersection tests occur in 2D. All polygons and the search circle are -/// projected onto the xz-plane. So the y-value of the center point does not -/// effect intersection tests. -/// -/// If the result arrays are to small to hold the entire result set, they will be -/// filled to capacity. -/// -dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, - int* resultCount, const int maxResult) const -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - *resultCount = 0; - - // Validate input - if (!startRef || !m_nav->isValidPolyRef(startRef)) - return DT_FAILURE | DT_INVALID_PARAM; - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, centerPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - dtStatus status = DT_SUCCESS; - - int n = 0; - - const float radiusSqr = dtSqr(radius); - - while (!m_openList->empty()) - { - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); - - // Get parent poly and tile. - dtPolyRef parentRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - if (bestNode->pidx) - parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; - if (parentRef) - m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); - - if (n < maxResult) - { - if (resultRef) - resultRef[n] = bestRef; - if (resultParent) - resultParent[n] = parentRef; - if (resultCost) - resultCost[n] = bestNode->total; - ++n; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - const dtLink* link = &bestTile->links[i]; - dtPolyRef neighbourRef = link->ref; - // Skip invalid neighbours and do not follow back to parent. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Expand to neighbour - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - // Do not advance if the polygon is excluded by the filter. - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // Find edge and calc distance to the edge. - float va[3], vb[3]; - if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) - continue; - - // If the circle is not touching the next polygon, skip it. - float tseg; - float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); - if (distSqr > radiusSqr) - continue; - - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); - if (!neighbourNode) - { - status |= DT_OUT_OF_NODES; - continue; - } - - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Cost - if (neighbourNode->flags == 0) - dtVlerp(neighbourNode->pos, va, vb, 0.5f); - - float cost = filter->getCost( - bestNode->pos, neighbourNode->pos, - parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly); - - const float total = bestNode->total + cost; - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - - neighbourNode->id = neighbourRef; - neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); - neighbourNode->total = total; - - if (neighbourNode->flags & DT_NODE_OPEN) - { - m_openList->modify(neighbourNode); - } - else - { - neighbourNode->flags = DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - } - } - - *resultCount = n; - - return status; -} - -/// @par -/// -/// The order of the result set is from least to highest cost. -/// -/// At least one result array must be provided. -/// -/// A common use case for this method is to perform Dijkstra searches. -/// Candidate polygons are found by searching the graph beginning at the start -/// polygon. -/// -/// The same intersection test restrictions that apply to findPolysAroundCircle() -/// method apply to this method. -/// -/// The 3D centroid of the search polygon is used as the start position for cost -/// calculations. -/// -/// Intersection tests occur in 2D. All polygons are projected onto the -/// xz-plane. So the y-values of the vertices do not effect intersection tests. -/// -/// If the result arrays are is too small to hold the entire result set, they will -/// be filled to capacity. -/// -dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, - int* resultCount, const int maxResult) const -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - *resultCount = 0; - - // Validate input - if (!startRef || !m_nav->isValidPolyRef(startRef)) - return DT_FAILURE | DT_INVALID_PARAM; - - m_nodePool->clear(); - m_openList->clear(); - - float centerPos[3] = {0,0,0}; - for (int i = 0; i < nverts; ++i) - dtVadd(centerPos,centerPos,&verts[i*3]); - dtVscale(centerPos,centerPos,1.0f/nverts); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, centerPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - dtStatus status = DT_SUCCESS; - - int n = 0; - - while (!m_openList->empty()) - { - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); - - // Get parent poly and tile. - dtPolyRef parentRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - if (bestNode->pidx) - parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; - if (parentRef) - m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); - - if (n < maxResult) - { - if (resultRef) - resultRef[n] = bestRef; - if (resultParent) - resultParent[n] = parentRef; - if (resultCost) - resultCost[n] = bestNode->total; - - ++n; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - const dtLink* link = &bestTile->links[i]; - dtPolyRef neighbourRef = link->ref; - // Skip invalid neighbours and do not follow back to parent. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Expand to neighbour - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - // Do not advance if the polygon is excluded by the filter. - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // Find edge and calc distance to the edge. - float va[3], vb[3]; - if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) - continue; - - // If the poly is not touching the edge to the next polygon, skip the connection it. - float tmin, tmax; - int segMin, segMax; - if (!dtIntersectSegmentPoly2D(va, vb, verts, nverts, tmin, tmax, segMin, segMax)) - continue; - if (tmin > 1.0f || tmax < 0.0f) - continue; - - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); - if (!neighbourNode) - { - status |= DT_OUT_OF_NODES; - continue; - } - - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Cost - if (neighbourNode->flags == 0) - dtVlerp(neighbourNode->pos, va, vb, 0.5f); - - float cost = filter->getCost( - bestNode->pos, neighbourNode->pos, - parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly); - - const float total = bestNode->total + cost; - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - - neighbourNode->id = neighbourRef; - neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); - neighbourNode->total = total; - - if (neighbourNode->flags & DT_NODE_OPEN) - { - m_openList->modify(neighbourNode); - } - else - { - neighbourNode->flags = DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - } - } - - *resultCount = n; - - return status; -} - -dtStatus dtNavMeshQuery::getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef* path, int* pathCount, int maxPath) const -{ - if (!m_nav->isValidPolyRef(endRef) || !path || !pathCount || maxPath < 0) - return DT_FAILURE | DT_INVALID_PARAM; - - *pathCount = 0; - - dtNode* endNode; - if (m_nodePool->findNodes(endRef, &endNode, 1) != 1 || - (endNode->flags & DT_NODE_CLOSED) == 0) - return DT_FAILURE | DT_INVALID_PARAM; - - return getPathToNode(endNode, path, pathCount, maxPath); -} - -/// @par -/// -/// This method is optimized for a small search radius and small number of result -/// polygons. -/// -/// Candidate polygons are found by searching the navigation graph beginning at -/// the start polygon. -/// -/// The same intersection test restrictions that apply to the findPolysAroundCircle -/// mehtod applies to this method. -/// -/// The value of the center point is used as the start point for cost calculations. -/// It is not projected onto the surface of the mesh, so its y-value will effect -/// the costs. -/// -/// Intersection tests occur in 2D. All polygons and the search circle are -/// projected onto the xz-plane. So the y-value of the center point does not -/// effect intersection tests. -/// -/// If the result arrays are is too small to hold the entire result set, they will -/// be filled to capacity. -/// -dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, - int* resultCount, const int maxResult) const -{ - dtAssert(m_nav); - dtAssert(m_tinyNodePool); - - *resultCount = 0; - - // Validate input - if (!startRef || !m_nav->isValidPolyRef(startRef)) - return DT_FAILURE | DT_INVALID_PARAM; - - static const int MAX_STACK = 48; - dtNode* stack[MAX_STACK]; - int nstack = 0; - - m_tinyNodePool->clear(); - - dtNode* startNode = m_tinyNodePool->getNode(startRef); - startNode->pidx = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_CLOSED; - stack[nstack++] = startNode; - - const float radiusSqr = dtSqr(radius); - - float pa[DT_VERTS_PER_POLYGON*3]; - float pb[DT_VERTS_PER_POLYGON*3]; - - dtStatus status = DT_SUCCESS; - - int n = 0; - if (n < maxResult) - { - resultRef[n] = startNode->id; - if (resultParent) - resultParent[n] = 0; - ++n; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - - while (nstack) - { - // Pop front. - dtNode* curNode = stack[0]; - for (int i = 0; i < nstack-1; ++i) - stack[i] = stack[i+1]; - nstack--; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef curRef = curNode->id; - const dtMeshTile* curTile = 0; - const dtPoly* curPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(curRef, &curTile, &curPoly); - - for (unsigned int i = curPoly->firstLink; i != DT_NULL_LINK; i = curTile->links[i].next) - { - const dtLink* link = &curTile->links[i]; - dtPolyRef neighbourRef = link->ref; - // Skip invalid neighbours. - if (!neighbourRef) - continue; - - // Skip if cannot alloca more nodes. - dtNode* neighbourNode = m_tinyNodePool->getNode(neighbourRef); - if (!neighbourNode) - continue; - // Skip visited. - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Expand to neighbour - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - // Skip off-mesh connections. - if (neighbourPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - - // Do not advance if the polygon is excluded by the filter. - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // Find edge and calc distance to the edge. - float va[3], vb[3]; - if (!getPortalPoints(curRef, curPoly, curTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) - continue; - - // If the circle is not touching the next polygon, skip it. - float tseg; - float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); - if (distSqr > radiusSqr) - continue; - - // Mark node visited, this is done before the overlap test so that - // we will not visit the poly again if the test fails. - neighbourNode->flags |= DT_NODE_CLOSED; - neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode); - - // Check that the polygon does not collide with existing polygons. - - // Collect vertices of the neighbour poly. - const int npa = neighbourPoly->vertCount; - for (int k = 0; k < npa; ++k) - dtVcopy(&pa[k*3], &neighbourTile->verts[neighbourPoly->verts[k]*3]); - - bool overlap = false; - for (int j = 0; j < n; ++j) - { - dtPolyRef pastRef = resultRef[j]; - - // Connected polys do not overlap. - bool connected = false; - for (unsigned int k = curPoly->firstLink; k != DT_NULL_LINK; k = curTile->links[k].next) - { - if (curTile->links[k].ref == pastRef) - { - connected = true; - break; - } - } - if (connected) - continue; - - // Potentially overlapping. - const dtMeshTile* pastTile = 0; - const dtPoly* pastPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(pastRef, &pastTile, &pastPoly); - - // Get vertices and test overlap - const int npb = pastPoly->vertCount; - for (int k = 0; k < npb; ++k) - dtVcopy(&pb[k*3], &pastTile->verts[pastPoly->verts[k]*3]); - - if (dtOverlapPolyPoly2D(pa,npa, pb,npb)) - { - overlap = true; - break; - } - } - if (overlap) - continue; - - // This poly is fine, store and advance to the poly. - if (n < maxResult) - { - resultRef[n] = neighbourRef; - if (resultParent) - resultParent[n] = curRef; - ++n; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - - if (nstack < MAX_STACK) - { - stack[nstack++] = neighbourNode; - } - } - } - - *resultCount = n; - - return status; -} - - -struct dtSegInterval -{ - dtPolyRef ref; - short tmin, tmax; -}; - -static void insertInterval(dtSegInterval* ints, int& nints, const int maxInts, - const short tmin, const short tmax, const dtPolyRef ref) -{ - if (nints+1 > maxInts) return; - // Find insertion point. - int idx = 0; - while (idx < nints) - { - if (tmax <= ints[idx].tmin) - break; - idx++; - } - // Move current results. - if (nints-idx) - memmove(ints+idx+1, ints+idx, sizeof(dtSegInterval)*(nints-idx)); - // Store - ints[idx].ref = ref; - ints[idx].tmin = tmin; - ints[idx].tmax = tmax; - nints++; -} - -/// @par -/// -/// If the @p segmentRefs parameter is provided, then all polygon segments will be returned. -/// Otherwise only the wall segments are returned. -/// -/// A segment that is normally a portal will be included in the result set as a -/// wall if the @p filter results in the neighbor polygon becoomming impassable. -/// -/// The @p segmentVerts and @p segmentRefs buffers should normally be sized for the -/// maximum segments per polygon of the source navigation mesh. -/// -dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter, - float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount, - const int maxSegments) const -{ - dtAssert(m_nav); - - *segmentCount = 0; - - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) - return DT_FAILURE | DT_INVALID_PARAM; - - int n = 0; - static const int MAX_INTERVAL = 16; - dtSegInterval ints[MAX_INTERVAL]; - int nints; - - const bool storePortals = segmentRefs != 0; - - dtStatus status = DT_SUCCESS; - - for (int i = 0, j = (int)poly->vertCount-1; i < (int)poly->vertCount; j = i++) - { - // Skip non-solid edges. - nints = 0; - if (poly->neis[j] & DT_EXT_LINK) - { - // Tile border. - for (unsigned int k = poly->firstLink; k != DT_NULL_LINK; k = tile->links[k].next) - { - const dtLink* link = &tile->links[k]; - if (link->edge == j) - { - if (link->ref != 0) - { - const dtMeshTile* neiTile = 0; - const dtPoly* neiPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly); - if (filter->passFilter(link->ref, neiTile, neiPoly)) - { - insertInterval(ints, nints, MAX_INTERVAL, link->bmin, link->bmax, link->ref); - } - } - } - } - } - else - { - // Internal edge - dtPolyRef neiRef = 0; - if (poly->neis[j]) - { - const unsigned int idx = (unsigned int)(poly->neis[j]-1); - neiRef = m_nav->getPolyRefBase(tile) | idx; - if (!filter->passFilter(neiRef, tile, &tile->polys[idx])) - neiRef = 0; - } - - // If the edge leads to another polygon and portals are not stored, skip. - if (neiRef != 0 && !storePortals) - continue; - - if (n < maxSegments) - { - const float* vj = &tile->verts[poly->verts[j]*3]; - const float* vi = &tile->verts[poly->verts[i]*3]; - float* seg = &segmentVerts[n*6]; - dtVcopy(seg+0, vj); - dtVcopy(seg+3, vi); - if (segmentRefs) - segmentRefs[n] = neiRef; - n++; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - - continue; - } - - // Add sentinels - insertInterval(ints, nints, MAX_INTERVAL, -1, 0, 0); - insertInterval(ints, nints, MAX_INTERVAL, 255, 256, 0); - - // Store segments. - const float* vj = &tile->verts[poly->verts[j]*3]; - const float* vi = &tile->verts[poly->verts[i]*3]; - for (int k = 1; k < nints; ++k) - { - // Portal segment. - if (storePortals && ints[k].ref) - { - const float tmin = ints[k].tmin/255.0f; - const float tmax = ints[k].tmax/255.0f; - if (n < maxSegments) - { - float* seg = &segmentVerts[n*6]; - dtVlerp(seg+0, vj,vi, tmin); - dtVlerp(seg+3, vj,vi, tmax); - if (segmentRefs) - segmentRefs[n] = ints[k].ref; - n++; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - } - - // Wall segment. - const int imin = ints[k-1].tmax; - const int imax = ints[k].tmin; - if (imin != imax) - { - const float tmin = imin/255.0f; - const float tmax = imax/255.0f; - if (n < maxSegments) - { - float* seg = &segmentVerts[n*6]; - dtVlerp(seg+0, vj,vi, tmin); - dtVlerp(seg+3, vj,vi, tmax); - if (segmentRefs) - segmentRefs[n] = 0; - n++; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - } - } - } - - *segmentCount = n; - - return status; -} - -/// @par -/// -/// @p hitPos is not adjusted using the height detail data. -/// -/// @p hitDist will equal the search radius if there is no wall within the -/// radius. In this case the values of @p hitPos and @p hitNormal are -/// undefined. -/// -/// The normal will become unpredicable if @p hitDist is a very small number. -/// -dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius, - const dtQueryFilter* filter, - float* hitDist, float* hitPos, float* hitNormal) const -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - // Validate input - if (!startRef || !m_nav->isValidPolyRef(startRef)) - return DT_FAILURE | DT_INVALID_PARAM; - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, centerPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - float radiusSqr = dtSqr(maxRadius); - - dtStatus status = DT_SUCCESS; - - while (!m_openList->empty()) - { - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); - - // Get parent poly and tile. - dtPolyRef parentRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - if (bestNode->pidx) - parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; - if (parentRef) - m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); - - // Hit test walls. - for (int i = 0, j = (int)bestPoly->vertCount-1; i < (int)bestPoly->vertCount; j = i++) - { - // Skip non-solid edges. - if (bestPoly->neis[j] & DT_EXT_LINK) - { - // Tile border. - bool solid = true; - for (unsigned int k = bestPoly->firstLink; k != DT_NULL_LINK; k = bestTile->links[k].next) - { - const dtLink* link = &bestTile->links[k]; - if (link->edge == j) - { - if (link->ref != 0) - { - const dtMeshTile* neiTile = 0; - const dtPoly* neiPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly); - if (filter->passFilter(link->ref, neiTile, neiPoly)) - solid = false; - } - break; - } - } - if (!solid) continue; - } - else if (bestPoly->neis[j]) - { - // Internal edge - const unsigned int idx = (unsigned int)(bestPoly->neis[j]-1); - const dtPolyRef ref = m_nav->getPolyRefBase(bestTile) | idx; - if (filter->passFilter(ref, bestTile, &bestTile->polys[idx])) - continue; - } - - // Calc distance to the edge. - const float* vj = &bestTile->verts[bestPoly->verts[j]*3]; - const float* vi = &bestTile->verts[bestPoly->verts[i]*3]; - float tseg; - float distSqr = dtDistancePtSegSqr2D(centerPos, vj, vi, tseg); - - // Edge is too far, skip. - if (distSqr > radiusSqr) - continue; - - // Hit wall, update radius. - radiusSqr = distSqr; - // Calculate hit pos. - hitPos[0] = vj[0] + (vi[0] - vj[0])*tseg; - hitPos[1] = vj[1] + (vi[1] - vj[1])*tseg; - hitPos[2] = vj[2] + (vi[2] - vj[2])*tseg; - } - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - const dtLink* link = &bestTile->links[i]; - dtPolyRef neighbourRef = link->ref; - // Skip invalid neighbours and do not follow back to parent. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Expand to neighbour. - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - // Skip off-mesh connections. - if (neighbourPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - - // Calc distance to the edge. - const float* va = &bestTile->verts[bestPoly->verts[link->edge]*3]; - const float* vb = &bestTile->verts[bestPoly->verts[(link->edge+1) % bestPoly->vertCount]*3]; - float tseg; - float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); - - // If the circle is not touching the next polygon, skip it. - if (distSqr > radiusSqr) - continue; - - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); - if (!neighbourNode) - { - status |= DT_OUT_OF_NODES; - continue; - } - - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Cost - if (neighbourNode->flags == 0) - { - getEdgeMidPoint(bestRef, bestPoly, bestTile, - neighbourRef, neighbourPoly, neighbourTile, neighbourNode->pos); - } - - const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos); - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - - neighbourNode->id = neighbourRef; - neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); - neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); - neighbourNode->total = total; - - if (neighbourNode->flags & DT_NODE_OPEN) - { - m_openList->modify(neighbourNode); - } - else - { - neighbourNode->flags |= DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - } - } - - // Calc hit normal. - dtVsub(hitNormal, centerPos, hitPos); - dtVnormalize(hitNormal); - - *hitDist = dtMathSqrtf(radiusSqr); - - return status; -} - -bool dtNavMeshQuery::isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const -{ - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - dtStatus status = m_nav->getTileAndPolyByRef(ref, &tile, &poly); - // If cannot get polygon, assume it does not exists and boundary is invalid. - if (dtStatusFailed(status)) - return false; - // If cannot pass filter, assume flags has changed and boundary is invalid. - if (!filter->passFilter(ref, tile, poly)) - return false; - return true; -} - -/// @par -/// -/// The closed list is the list of polygons that were fully evaluated during -/// the last navigation graph search. (A* or Dijkstra) -/// -bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const -{ - if (!m_nodePool) return false; - - dtNode* nodes[DT_MAX_STATES_PER_NODE]; - int n= m_nodePool->findNodes(ref, nodes, DT_MAX_STATES_PER_NODE); - - for (int i=0; iflags & DT_NODE_CLOSED) - return true; - } - - return false; -} diff --git a/libs/recast/detour/src/DetourNode.cpp b/libs/recast/detour/src/DetourNode.cpp deleted file mode 100644 index 48abbba6b..000000000 --- a/libs/recast/detour/src/DetourNode.cpp +++ /dev/null @@ -1,200 +0,0 @@ -// -// Copyright (c) 2009-2010 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 "DetourNode.h" -#include "DetourAlloc.h" -#include "DetourAssert.h" -#include "DetourCommon.h" -#include - -#ifdef DT_POLYREF64 -// From Thomas Wang, https://gist.github.com/badboy/6267743 -inline unsigned int dtHashRef(dtPolyRef a) -{ - a = (~a) + (a << 18); // a = (a << 18) - a - 1; - a = a ^ (a >> 31); - a = a * 21; // a = (a + (a << 2)) + (a << 4); - a = a ^ (a >> 11); - a = a + (a << 6); - a = a ^ (a >> 22); - return (unsigned int)a; -} -#else -inline unsigned int dtHashRef(dtPolyRef a) -{ - a += ~(a<<15); - a ^= (a>>10); - a += (a<<3); - a ^= (a>>6); - a += ~(a<<11); - a ^= (a>>16); - return (unsigned int)a; -} -#endif - -////////////////////////////////////////////////////////////////////////////////////////// -dtNodePool::dtNodePool(int maxNodes, int hashSize) : - m_nodes(0), - m_first(0), - m_next(0), - m_maxNodes(maxNodes), - m_hashSize(hashSize), - m_nodeCount(0) -{ - dtAssert(dtNextPow2(m_hashSize) == (unsigned int)m_hashSize); - // pidx is special as 0 means "none" and 1 is the first node. For that reason - // we have 1 fewer nodes available than the number of values it can contain. - dtAssert(m_maxNodes > 0 && m_maxNodes <= DT_NULL_IDX && m_maxNodes <= (1 << DT_NODE_PARENT_BITS) - 1); - - m_nodes = (dtNode*)dtAlloc(sizeof(dtNode)*m_maxNodes, DT_ALLOC_PERM); - m_next = (dtNodeIndex*)dtAlloc(sizeof(dtNodeIndex)*m_maxNodes, DT_ALLOC_PERM); - m_first = (dtNodeIndex*)dtAlloc(sizeof(dtNodeIndex)*hashSize, DT_ALLOC_PERM); - - dtAssert(m_nodes); - dtAssert(m_next); - dtAssert(m_first); - - memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize); - memset(m_next, 0xff, sizeof(dtNodeIndex)*m_maxNodes); -} - -dtNodePool::~dtNodePool() -{ - dtFree(m_nodes); - dtFree(m_next); - dtFree(m_first); -} - -void dtNodePool::clear() -{ - memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize); - m_nodeCount = 0; -} - -unsigned int dtNodePool::findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes) -{ - int n = 0; - unsigned int bucket = dtHashRef(id) & (m_hashSize-1); - dtNodeIndex i = m_first[bucket]; - while (i != DT_NULL_IDX) - { - if (m_nodes[i].id == id) - { - if (n >= maxNodes) - return n; - nodes[n++] = &m_nodes[i]; - } - i = m_next[i]; - } - - return n; -} - -dtNode* dtNodePool::findNode(dtPolyRef id, unsigned char state) -{ - unsigned int bucket = dtHashRef(id) & (m_hashSize-1); - dtNodeIndex i = m_first[bucket]; - while (i != DT_NULL_IDX) - { - if (m_nodes[i].id == id && m_nodes[i].state == state) - return &m_nodes[i]; - i = m_next[i]; - } - return 0; -} - -dtNode* dtNodePool::getNode(dtPolyRef id, unsigned char state) -{ - unsigned int bucket = dtHashRef(id) & (m_hashSize-1); - dtNodeIndex i = m_first[bucket]; - dtNode* node = 0; - while (i != DT_NULL_IDX) - { - if (m_nodes[i].id == id && m_nodes[i].state == state) - return &m_nodes[i]; - i = m_next[i]; - } - - if (m_nodeCount >= m_maxNodes) - return 0; - - i = (dtNodeIndex)m_nodeCount; - m_nodeCount++; - - // Init node - node = &m_nodes[i]; - node->pidx = 0; - node->cost = 0; - node->total = 0; - node->id = id; - node->state = state; - node->flags = 0; - - m_next[i] = m_first[bucket]; - m_first[bucket] = i; - - return node; -} - - -////////////////////////////////////////////////////////////////////////////////////////// -dtNodeQueue::dtNodeQueue(int n) : - m_heap(0), - m_capacity(n), - m_size(0) -{ - dtAssert(m_capacity > 0); - - m_heap = (dtNode**)dtAlloc(sizeof(dtNode*)*(m_capacity+1), DT_ALLOC_PERM); - dtAssert(m_heap); -} - -dtNodeQueue::~dtNodeQueue() -{ - dtFree(m_heap); -} - -void dtNodeQueue::bubbleUp(int i, dtNode* node) -{ - int parent = (i-1)/2; - // note: (index > 0) means there is a parent - while ((i > 0) && (m_heap[parent]->total > node->total)) - { - m_heap[i] = m_heap[parent]; - i = parent; - parent = (i-1)/2; - } - m_heap[i] = node; -} - -void dtNodeQueue::trickleDown(int i, dtNode* node) -{ - int child = (i*2)+1; - while (child < m_size) - { - if (((child+1) < m_size) && - (m_heap[child]->total > m_heap[child+1]->total)) - { - child++; - } - m_heap[i] = m_heap[child]; - i = child; - child = (i*2)+1; - } - bubbleUp(i, node); -} diff --git a/libs/recast/detour_tile_cache/include/DetourTileCache.h b/libs/recast/detour_tile_cache/include/DetourTileCache.h deleted file mode 100644 index c45910cd5..000000000 --- a/libs/recast/detour_tile_cache/include/DetourTileCache.h +++ /dev/null @@ -1,247 +0,0 @@ -#ifndef DETOURTILECACHE_H -#define DETOURTILECACHE_H - -#include "DetourStatus.h" - - - -typedef unsigned int dtObstacleRef; - -typedef unsigned int dtCompressedTileRef; - -/// Flags for addTile -enum dtCompressedTileFlags -{ - DT_COMPRESSEDTILE_FREE_DATA = 0x01, ///< Navmesh owns the tile memory and should free it. -}; - -struct dtCompressedTile -{ - unsigned int salt; ///< Counter describing modifications to the tile. - struct dtTileCacheLayerHeader* header; - unsigned char* compressed; - int compressedSize; - unsigned char* data; - int dataSize; - unsigned int flags; - dtCompressedTile* next; -}; - -enum ObstacleState -{ - DT_OBSTACLE_EMPTY, - DT_OBSTACLE_PROCESSING, - DT_OBSTACLE_PROCESSED, - DT_OBSTACLE_REMOVING, -}; - -enum ObstacleType -{ - DT_OBSTACLE_CYLINDER, - DT_OBSTACLE_BOX, -}; - -struct dtObstacleCylinder -{ - float pos[ 3 ]; - float radius; - float height; -}; - -struct dtObstacleBox -{ - float bmin[ 3 ]; - float bmax[ 3 ]; -}; - -static const int DT_MAX_TOUCHED_TILES = 8; -struct dtTileCacheObstacle -{ - union - { - dtObstacleCylinder cylinder; - dtObstacleBox box; - }; - - dtCompressedTileRef touched[DT_MAX_TOUCHED_TILES]; - dtCompressedTileRef pending[DT_MAX_TOUCHED_TILES]; - unsigned short salt; - unsigned char type; - unsigned char state; - unsigned char ntouched; - unsigned char npending; - dtTileCacheObstacle* next; -}; - -struct dtTileCacheParams -{ - float orig[3]; - float cs, ch; - int width, height; - float walkableHeight; - float walkableRadius; - float walkableClimb; - float maxSimplificationError; - int maxTiles; - int maxObstacles; -}; - -struct dtTileCacheMeshProcess -{ - virtual ~dtTileCacheMeshProcess() { } - - virtual void process(struct dtNavMeshCreateParams* params, - unsigned char* polyAreas, unsigned short* polyFlags) = 0; -}; - - -class dtTileCache -{ -public: - dtTileCache(); - ~dtTileCache(); - - struct dtTileCacheAlloc* getAlloc() { return m_talloc; } - struct dtTileCacheCompressor* getCompressor() { return m_tcomp; } - const dtTileCacheParams* getParams() const { return &m_params; } - - inline int getTileCount() const { return m_params.maxTiles; } - inline const dtCompressedTile* getTile(const int i) const { return &m_tiles[i]; } - - inline int getObstacleCount() const { return m_params.maxObstacles; } - inline const dtTileCacheObstacle* getObstacle(const int i) const { return &m_obstacles[i]; } - - const dtTileCacheObstacle* getObstacleByRef(dtObstacleRef ref); - - dtObstacleRef getObstacleRef(const dtTileCacheObstacle* obmin) const; - - dtStatus init(const dtTileCacheParams* params, - struct dtTileCacheAlloc* talloc, - struct dtTileCacheCompressor* tcomp, - struct dtTileCacheMeshProcess* tmproc); - - int getTilesAt(const int tx, const int ty, dtCompressedTileRef* tiles, const int maxTiles) const ; - - dtCompressedTile* getTileAt(const int tx, const int ty, const int tlayer); - dtCompressedTileRef getTileRef(const dtCompressedTile* tile) const; - const dtCompressedTile* getTileByRef(dtCompressedTileRef ref) const; - - dtStatus addTile(unsigned char* data, const int dataSize, unsigned char flags, dtCompressedTileRef* result); - - dtStatus removeTile(dtCompressedTileRef ref, unsigned char** data, int* dataSize); - - dtStatus addObstacle(const float* pos, const float radius, const float height, dtObstacleRef* result); - dtStatus addBoxObstacle(const float* bmin, const float* bmax, dtObstacleRef* result); - - dtStatus removeObstacle(const dtObstacleRef ref); - - dtStatus queryTiles(const float* bmin, const float* bmax, - dtCompressedTileRef* results, int* resultCount, const int maxResults) const; - - /// Updates the tile cache by rebuilding tiles touched by unfinished obstacle requests. - /// @param[in] dt The time step size. Currently not used. - /// @param[in] navmesh The mesh to affect when rebuilding tiles. - /// @param[out] upToDate Whether the tile cache is fully up to date with obstacle requests and tile rebuilds. - /// If the tile cache is up to date another (immediate) call to update will have no effect; - /// otherwise another call will continue processing obstacle requests and tile rebuilds. - dtStatus update(const float dt, class dtNavMesh* navmesh, bool* upToDate = 0); - - dtStatus buildNavMeshTilesAt(const int tx, const int ty, class dtNavMesh* navmesh); - - dtStatus buildNavMeshTile(const dtCompressedTileRef ref, class dtNavMesh* navmesh); - - void calcTightTileBounds(const struct dtTileCacheLayerHeader* header, float* bmin, float* bmax) const; - - void getObstacleBounds(const struct dtTileCacheObstacle* ob, float* bmin, float* bmax) const; - - - /// Encodes a tile id. - inline dtCompressedTileRef encodeTileId(unsigned int salt, unsigned int it) const - { - return ((dtCompressedTileRef)salt << m_tileBits) | (dtCompressedTileRef)it; - } - - /// Decodes a tile salt. - inline unsigned int decodeTileIdSalt(dtCompressedTileRef ref) const - { - const dtCompressedTileRef saltMask = ((dtCompressedTileRef)1<> m_tileBits) & saltMask); - } - - /// Decodes a tile id. - inline unsigned int decodeTileIdTile(dtCompressedTileRef ref) const - { - const dtCompressedTileRef tileMask = ((dtCompressedTileRef)1<> 16) & saltMask); - } - - /// Decodes an obstacle id. - inline unsigned int decodeObstacleIdObstacle(dtObstacleRef ref) const - { - const dtObstacleRef tileMask = ((dtObstacleRef)1<<16)-1; - return (unsigned int)(ref & tileMask); - } - - -private: - // Explicitly disabled copy constructor and copy assignment operator. - dtTileCache(const dtTileCache&); - dtTileCache& operator=(const dtTileCache&); - - enum ObstacleRequestAction - { - REQUEST_ADD, - REQUEST_REMOVE, - }; - - struct ObstacleRequest - { - int action; - dtObstacleRef ref; - }; - - int m_tileLutSize; ///< Tile hash lookup size (must be pot). - int m_tileLutMask; ///< Tile hash lookup mask. - - dtCompressedTile** m_posLookup; ///< Tile hash lookup. - dtCompressedTile* m_nextFreeTile; ///< Freelist of tiles. - dtCompressedTile* m_tiles; ///< List of tiles. - - unsigned int m_saltBits; ///< Number of salt bits in the tile ID. - unsigned int m_tileBits; ///< Number of tile bits in the tile ID. - - dtTileCacheParams m_params; - - dtTileCacheAlloc* m_talloc; - dtTileCacheCompressor* m_tcomp; - dtTileCacheMeshProcess* m_tmproc; - - dtTileCacheObstacle* m_obstacles; - dtTileCacheObstacle* m_nextFreeObstacle; - - static const int MAX_REQUESTS = 64; - ObstacleRequest m_reqs[MAX_REQUESTS]; - int m_nreqs; - - static const int MAX_UPDATE = 64; - dtCompressedTileRef m_update[MAX_UPDATE]; - int m_nupdate; -}; - -dtTileCache* dtAllocTileCache(); -void dtFreeTileCache(dtTileCache* tc); - -#endif diff --git a/libs/recast/detour_tile_cache/include/DetourTileCacheBuilder.h b/libs/recast/detour_tile_cache/include/DetourTileCacheBuilder.h deleted file mode 100644 index d1ef80e1d..000000000 --- a/libs/recast/detour_tile_cache/include/DetourTileCacheBuilder.h +++ /dev/null @@ -1,153 +0,0 @@ -// -// Copyright (c) 2009-2010 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 DETOURTILECACHEBUILDER_H -#define DETOURTILECACHEBUILDER_H - -#include "DetourAlloc.h" -#include "DetourStatus.h" - -static const int DT_TILECACHE_MAGIC = 'D'<<24 | 'T'<<16 | 'L'<<8 | 'R'; ///< 'DTLR'; -static const int DT_TILECACHE_VERSION = 1; - -static const unsigned char DT_TILECACHE_NULL_AREA = 0; -static const unsigned char DT_TILECACHE_WALKABLE_AREA = 63; -static const unsigned short DT_TILECACHE_NULL_IDX = 0xffff; - -struct dtTileCacheLayerHeader -{ - int magic; ///< Data magic - int version; ///< Data version - int tx,ty,tlayer; - float bmin[3], bmax[3]; - unsigned short hmin, hmax; ///< Height min/max range - unsigned char width, height; ///< Dimension of the layer. - unsigned char minx, maxx, miny, maxy; ///< Usable sub-region. -}; - -struct dtTileCacheLayer -{ - dtTileCacheLayerHeader* header; - unsigned char regCount; ///< Region count. - unsigned char* heights; - unsigned char* areas; - unsigned char* cons; - unsigned char* regs; -}; - -struct dtTileCacheContour -{ - int nverts; - unsigned char* verts; - unsigned char reg; - unsigned char area; -}; - -struct dtTileCacheContourSet -{ - int nconts; - dtTileCacheContour* conts; -}; - -struct dtTileCachePolyMesh -{ - int nvp; - int nverts; ///< Number of vertices. - int npolys; ///< Number of polygons. - unsigned short* verts; ///< Vertices of the mesh, 3 elements per vertex. - unsigned short* polys; ///< Polygons of the mesh, nvp*2 elements per polygon. - unsigned short* flags; ///< Per polygon flags. - unsigned char* areas; ///< Area ID of polygons. -}; - - -struct dtTileCacheAlloc -{ - virtual ~dtTileCacheAlloc() {} - - virtual void reset() {} - - virtual void* alloc(const size_t size) - { - return dtAlloc(size, DT_ALLOC_TEMP); - } - - virtual void free(void* ptr) - { - dtFree(ptr); - } -}; - -struct dtTileCacheCompressor -{ - virtual ~dtTileCacheCompressor() { } - - virtual int maxCompressedSize(const int bufferSize) = 0; - virtual dtStatus compress(const unsigned char* buffer, const int bufferSize, - unsigned char* compressed, const int maxCompressedSize, int* compressedSize) = 0; - virtual dtStatus decompress(const unsigned char* compressed, const int compressedSize, - unsigned char* buffer, const int maxBufferSize, int* bufferSize) = 0; -}; - - -dtStatus dtBuildTileCacheLayer(dtTileCacheCompressor* comp, - dtTileCacheLayerHeader* header, - const unsigned char* heights, - const unsigned char* areas, - const unsigned char* cons, - unsigned char** outData, int* outDataSize); - -void dtFreeTileCacheLayer(dtTileCacheAlloc* alloc, dtTileCacheLayer* layer); - -dtStatus dtDecompressTileCacheLayer(dtTileCacheAlloc* alloc, dtTileCacheCompressor* comp, - unsigned char* compressed, const int compressedSize, - dtTileCacheLayer** layerOut); - -dtTileCacheContourSet* dtAllocTileCacheContourSet(dtTileCacheAlloc* alloc); -void dtFreeTileCacheContourSet(dtTileCacheAlloc* alloc, dtTileCacheContourSet* cset); - -dtTileCachePolyMesh* dtAllocTileCachePolyMesh(dtTileCacheAlloc* alloc); -void dtFreeTileCachePolyMesh(dtTileCacheAlloc* alloc, dtTileCachePolyMesh* lmesh); - -dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch, - const float* pos, const float radius, const float height, const unsigned char areaId); - -dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch, - const float* bmin, const float* bmax, const unsigned char areaId); - -dtStatus dtBuildTileCacheRegions(dtTileCacheAlloc* alloc, - dtTileCacheLayer& layer, - const int walkableClimb); - -dtStatus dtBuildTileCacheContours(dtTileCacheAlloc* alloc, - dtTileCacheLayer& layer, - const int walkableClimb, const float maxError, - dtTileCacheContourSet& lcset); - -dtStatus dtBuildTileCachePolyMesh(dtTileCacheAlloc* alloc, - dtTileCacheContourSet& lcset, - dtTileCachePolyMesh& mesh); - -/// Swaps the endianess of the compressed tile data's header (#dtTileCacheLayerHeader). -/// Tile layer data does not need endian swapping as it consits only of bytes. -/// @param[in,out] data The tile data array. -/// @param[in] dataSize The size of the data array. -bool dtTileCacheHeaderSwapEndian(unsigned char* data, const int dataSize); - - -#endif // DETOURTILECACHEBUILDER_H diff --git a/libs/recast/detour_tile_cache/src/DetourTileCache.cpp b/libs/recast/detour_tile_cache/src/DetourTileCache.cpp deleted file mode 100644 index cf575046c..000000000 --- a/libs/recast/detour_tile_cache/src/DetourTileCache.cpp +++ /dev/null @@ -1,764 +0,0 @@ -#include "DetourTileCache.h" -#include "DetourTileCacheBuilder.h" -#include "DetourNavMeshBuilder.h" -#include "DetourNavMesh.h" -#include "DetourCommon.h" -#include "DetourMath.h" -#include "DetourAlloc.h" -#include "DetourAssert.h" -#include -#include - -dtTileCache* dtAllocTileCache() -{ - void* mem = dtAlloc(sizeof(dtTileCache), DT_ALLOC_PERM); - if (!mem) return 0; - return new(mem) dtTileCache; -} - -void dtFreeTileCache(dtTileCache* tc) -{ - if (!tc) return; - tc->~dtTileCache(); - dtFree(tc); -} - -static bool contains(const dtCompressedTileRef* a, const int n, const dtCompressedTileRef v) -{ - for (int i = 0; i < n; ++i) - if (a[i] == v) - return true; - return false; -} - -inline int computeTileHash(int x, int y, const int mask) -{ - const unsigned int h1 = 0x8da6b343; // Large multiplicative constants; - const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes - unsigned int n = h1 * x + h2 * y; - return (int)(n & mask); -} - - -struct NavMeshTileBuildContext -{ - inline NavMeshTileBuildContext(struct dtTileCacheAlloc* a) : layer(0), lcset(0), lmesh(0), alloc(a) {} - inline ~NavMeshTileBuildContext() { purge(); } - void purge() - { - dtFreeTileCacheLayer(alloc, layer); - layer = 0; - dtFreeTileCacheContourSet(alloc, lcset); - lcset = 0; - dtFreeTileCachePolyMesh(alloc, lmesh); - lmesh = 0; - } - struct dtTileCacheLayer* layer; - struct dtTileCacheContourSet* lcset; - struct dtTileCachePolyMesh* lmesh; - struct dtTileCacheAlloc* alloc; -}; - - -dtTileCache::dtTileCache() : - m_tileLutSize(0), - m_tileLutMask(0), - m_posLookup(0), - m_nextFreeTile(0), - m_tiles(0), - m_saltBits(0), - m_tileBits(0), - m_talloc(0), - m_tcomp(0), - m_tmproc(0), - m_obstacles(0), - m_nextFreeObstacle(0), - m_nreqs(0), - m_nupdate(0) -{ - memset(&m_params, 0, sizeof(m_params)); - memset(m_reqs, 0, sizeof(ObstacleRequest) * MAX_REQUESTS); -} - -dtTileCache::~dtTileCache() -{ - for (int i = 0; i < m_params.maxTiles; ++i) - { - if (m_tiles[i].flags & DT_COMPRESSEDTILE_FREE_DATA) - { - dtFree(m_tiles[i].data); - m_tiles[i].data = 0; - } - } - dtFree(m_obstacles); - m_obstacles = 0; - dtFree(m_posLookup); - m_posLookup = 0; - dtFree(m_tiles); - m_tiles = 0; - m_nreqs = 0; - m_nupdate = 0; -} - -const dtCompressedTile* dtTileCache::getTileByRef(dtCompressedTileRef ref) const -{ - if (!ref) - return 0; - unsigned int tileIndex = decodeTileIdTile(ref); - unsigned int tileSalt = decodeTileIdSalt(ref); - if ((int)tileIndex >= m_params.maxTiles) - return 0; - const dtCompressedTile* tile = &m_tiles[tileIndex]; - if (tile->salt != tileSalt) - return 0; - return tile; -} - - -dtStatus dtTileCache::init(const dtTileCacheParams* params, - dtTileCacheAlloc* talloc, - dtTileCacheCompressor* tcomp, - dtTileCacheMeshProcess* tmproc) -{ - m_talloc = talloc; - m_tcomp = tcomp; - m_tmproc = tmproc; - m_nreqs = 0; - memcpy(&m_params, params, sizeof(m_params)); - - // Alloc space for obstacles. - m_obstacles = (dtTileCacheObstacle*)dtAlloc(sizeof(dtTileCacheObstacle)*m_params.maxObstacles, DT_ALLOC_PERM); - if (!m_obstacles) - return DT_FAILURE | DT_OUT_OF_MEMORY; - memset(m_obstacles, 0, sizeof(dtTileCacheObstacle)*m_params.maxObstacles); - m_nextFreeObstacle = 0; - for (int i = m_params.maxObstacles-1; i >= 0; --i) - { - m_obstacles[i].salt = 1; - m_obstacles[i].next = m_nextFreeObstacle; - m_nextFreeObstacle = &m_obstacles[i]; - } - - // Init tiles - m_tileLutSize = dtNextPow2(m_params.maxTiles/4); - if (!m_tileLutSize) m_tileLutSize = 1; - m_tileLutMask = m_tileLutSize-1; - - m_tiles = (dtCompressedTile*)dtAlloc(sizeof(dtCompressedTile)*m_params.maxTiles, DT_ALLOC_PERM); - if (!m_tiles) - return DT_FAILURE | DT_OUT_OF_MEMORY; - m_posLookup = (dtCompressedTile**)dtAlloc(sizeof(dtCompressedTile*)*m_tileLutSize, DT_ALLOC_PERM); - if (!m_posLookup) - return DT_FAILURE | DT_OUT_OF_MEMORY; - memset(m_tiles, 0, sizeof(dtCompressedTile)*m_params.maxTiles); - memset(m_posLookup, 0, sizeof(dtCompressedTile*)*m_tileLutSize); - m_nextFreeTile = 0; - for (int i = m_params.maxTiles-1; i >= 0; --i) - { - m_tiles[i].salt = 1; - m_tiles[i].next = m_nextFreeTile; - m_nextFreeTile = &m_tiles[i]; - } - - // Init ID generator values. - m_tileBits = dtIlog2(dtNextPow2((unsigned int)m_params.maxTiles)); - // Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow. - m_saltBits = dtMin((unsigned int)31, 32 - m_tileBits); - if (m_saltBits < 10) - return DT_FAILURE | DT_INVALID_PARAM; - - return DT_SUCCESS; -} - -int dtTileCache::getTilesAt(const int tx, const int ty, dtCompressedTileRef* tiles, const int maxTiles) const -{ - int n = 0; - - // Find tile based on hash. - int h = computeTileHash(tx,ty,m_tileLutMask); - dtCompressedTile* tile = m_posLookup[h]; - while (tile) - { - if (tile->header && - tile->header->tx == tx && - tile->header->ty == ty) - { - if (n < maxTiles) - tiles[n++] = getTileRef(tile); - } - tile = tile->next; - } - - return n; -} - -dtCompressedTile* dtTileCache::getTileAt(const int tx, const int ty, const int tlayer) -{ - // Find tile based on hash. - int h = computeTileHash(tx,ty,m_tileLutMask); - dtCompressedTile* tile = m_posLookup[h]; - while (tile) - { - if (tile->header && - tile->header->tx == tx && - tile->header->ty == ty && - tile->header->tlayer == tlayer) - { - return tile; - } - tile = tile->next; - } - return 0; -} - -dtCompressedTileRef dtTileCache::getTileRef(const dtCompressedTile* tile) const -{ - if (!tile) return 0; - const unsigned int it = (unsigned int)(tile - m_tiles); - return (dtCompressedTileRef)encodeTileId(tile->salt, it); -} - -dtObstacleRef dtTileCache::getObstacleRef(const dtTileCacheObstacle* ob) const -{ - if (!ob) return 0; - const unsigned int idx = (unsigned int)(ob - m_obstacles); - return encodeObstacleId(ob->salt, idx); -} - -const dtTileCacheObstacle* dtTileCache::getObstacleByRef(dtObstacleRef ref) -{ - if (!ref) - return 0; - unsigned int idx = decodeObstacleIdObstacle(ref); - if ((int)idx >= m_params.maxObstacles) - return 0; - const dtTileCacheObstacle* ob = &m_obstacles[idx]; - unsigned int salt = decodeObstacleIdSalt(ref); - if (ob->salt != salt) - return 0; - return ob; -} - -dtStatus dtTileCache::addTile(unsigned char* data, const int dataSize, unsigned char flags, dtCompressedTileRef* result) -{ - // Make sure the data is in right format. - dtTileCacheLayerHeader* header = (dtTileCacheLayerHeader*)data; - if (header->magic != DT_TILECACHE_MAGIC) - return DT_FAILURE | DT_WRONG_MAGIC; - if (header->version != DT_TILECACHE_VERSION) - return DT_FAILURE | DT_WRONG_VERSION; - - // Make sure the location is free. - if (getTileAt(header->tx, header->ty, header->tlayer)) - return DT_FAILURE; - - // Allocate a tile. - dtCompressedTile* tile = 0; - if (m_nextFreeTile) - { - tile = m_nextFreeTile; - m_nextFreeTile = tile->next; - tile->next = 0; - } - - // Make sure we could allocate a tile. - if (!tile) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - // Insert tile into the position lut. - int h = computeTileHash(header->tx, header->ty, m_tileLutMask); - tile->next = m_posLookup[h]; - m_posLookup[h] = tile; - - // Init tile. - const int headerSize = dtAlign4(sizeof(dtTileCacheLayerHeader)); - tile->header = (dtTileCacheLayerHeader*)data; - tile->data = data; - tile->dataSize = dataSize; - tile->compressed = tile->data + headerSize; - tile->compressedSize = tile->dataSize - headerSize; - tile->flags = flags; - - if (result) - *result = getTileRef(tile); - - return DT_SUCCESS; -} - -dtStatus dtTileCache::removeTile(dtCompressedTileRef ref, unsigned char** data, int* dataSize) -{ - if (!ref) - return DT_FAILURE | DT_INVALID_PARAM; - unsigned int tileIndex = decodeTileIdTile(ref); - unsigned int tileSalt = decodeTileIdSalt(ref); - if ((int)tileIndex >= m_params.maxTiles) - return DT_FAILURE | DT_INVALID_PARAM; - dtCompressedTile* tile = &m_tiles[tileIndex]; - if (tile->salt != tileSalt) - return DT_FAILURE | DT_INVALID_PARAM; - - // Remove tile from hash lookup. - const int h = computeTileHash(tile->header->tx,tile->header->ty,m_tileLutMask); - dtCompressedTile* prev = 0; - dtCompressedTile* cur = m_posLookup[h]; - while (cur) - { - if (cur == tile) - { - if (prev) - prev->next = cur->next; - else - m_posLookup[h] = cur->next; - break; - } - prev = cur; - cur = cur->next; - } - - // Reset tile. - if (tile->flags & DT_COMPRESSEDTILE_FREE_DATA) - { - // Owns data - dtFree(tile->data); - tile->data = 0; - tile->dataSize = 0; - if (data) *data = 0; - if (dataSize) *dataSize = 0; - } - else - { - if (data) *data = tile->data; - if (dataSize) *dataSize = tile->dataSize; - } - - tile->header = 0; - tile->data = 0; - tile->dataSize = 0; - tile->compressed = 0; - tile->compressedSize = 0; - tile->flags = 0; - - // Update salt, salt should never be zero. - tile->salt = (tile->salt+1) & ((1<salt == 0) - tile->salt++; - - // Add to free list. - tile->next = m_nextFreeTile; - m_nextFreeTile = tile; - - return DT_SUCCESS; -} - - -dtStatus dtTileCache::addObstacle(const float* pos, const float radius, const float height, dtObstacleRef* result) -{ - if (m_nreqs >= MAX_REQUESTS) - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - - dtTileCacheObstacle* ob = 0; - if (m_nextFreeObstacle) - { - ob = m_nextFreeObstacle; - m_nextFreeObstacle = ob->next; - ob->next = 0; - } - if (!ob) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - unsigned short salt = ob->salt; - memset(ob, 0, sizeof(dtTileCacheObstacle)); - ob->salt = salt; - ob->state = DT_OBSTACLE_PROCESSING; - ob->type = DT_OBSTACLE_CYLINDER; - dtVcopy(ob->cylinder.pos, pos); - ob->cylinder.radius = radius; - ob->cylinder.height = height; - - ObstacleRequest* req = &m_reqs[m_nreqs++]; - memset(req, 0, sizeof(ObstacleRequest)); - req->action = REQUEST_ADD; - req->ref = getObstacleRef(ob); - - if (result) - *result = req->ref; - - return DT_SUCCESS; -} - -dtStatus dtTileCache::addBoxObstacle(const float* bmin, const float* bmax, dtObstacleRef* result) -{ - if (m_nreqs >= MAX_REQUESTS) - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - - dtTileCacheObstacle* ob = 0; - if (m_nextFreeObstacle) - { - ob = m_nextFreeObstacle; - m_nextFreeObstacle = ob->next; - ob->next = 0; - } - if (!ob) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - unsigned short salt = ob->salt; - memset(ob, 0, sizeof(dtTileCacheObstacle)); - ob->salt = salt; - ob->state = DT_OBSTACLE_PROCESSING; - ob->type = DT_OBSTACLE_BOX; - dtVcopy(ob->box.bmin, bmin); - dtVcopy(ob->box.bmax, bmax); - - ObstacleRequest* req = &m_reqs[m_nreqs++]; - memset(req, 0, sizeof(ObstacleRequest)); - req->action = REQUEST_ADD; - req->ref = getObstacleRef(ob); - - if (result) - *result = req->ref; - - return DT_SUCCESS; -} - -dtStatus dtTileCache::removeObstacle(const dtObstacleRef ref) -{ - if (!ref) - return DT_SUCCESS; - if (m_nreqs >= MAX_REQUESTS) - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - - ObstacleRequest* req = &m_reqs[m_nreqs++]; - memset(req, 0, sizeof(ObstacleRequest)); - req->action = REQUEST_REMOVE; - req->ref = ref; - - return DT_SUCCESS; -} - -dtStatus dtTileCache::queryTiles(const float* bmin, const float* bmax, - dtCompressedTileRef* results, int* resultCount, const int maxResults) const -{ - const int MAX_TILES = 32; - dtCompressedTileRef tiles[MAX_TILES]; - - int n = 0; - - const float tw = m_params.width * m_params.cs; - const float th = m_params.height * m_params.cs; - const int tx0 = (int)dtMathFloorf((bmin[0]-m_params.orig[0]) / tw); - const int tx1 = (int)dtMathFloorf((bmax[0]-m_params.orig[0]) / tw); - const int ty0 = (int)dtMathFloorf((bmin[2]-m_params.orig[2]) / th); - const int ty1 = (int)dtMathFloorf((bmax[2]-m_params.orig[2]) / th); - - for (int ty = ty0; ty <= ty1; ++ty) - { - for (int tx = tx0; tx <= tx1; ++tx) - { - const int ntiles = getTilesAt(tx,ty,tiles,MAX_TILES); - - for (int i = 0; i < ntiles; ++i) - { - const dtCompressedTile* tile = &m_tiles[decodeTileIdTile(tiles[i])]; - float tbmin[3], tbmax[3]; - calcTightTileBounds(tile->header, tbmin, tbmax); - - if (dtOverlapBounds(bmin,bmax, tbmin,tbmax)) - { - if (n < maxResults) - results[n++] = tiles[i]; - } - } - } - } - - *resultCount = n; - - return DT_SUCCESS; -} - -dtStatus dtTileCache::update(const float /*dt*/, dtNavMesh* navmesh, - bool* upToDate) -{ - if (m_nupdate == 0) - { - // Process requests. - for (int i = 0; i < m_nreqs; ++i) - { - ObstacleRequest* req = &m_reqs[i]; - - unsigned int idx = decodeObstacleIdObstacle(req->ref); - if ((int)idx >= m_params.maxObstacles) - continue; - dtTileCacheObstacle* ob = &m_obstacles[idx]; - unsigned int salt = decodeObstacleIdSalt(req->ref); - if (ob->salt != salt) - continue; - - if (req->action == REQUEST_ADD) - { - // Find touched tiles. - float bmin[3], bmax[3]; - getObstacleBounds(ob, bmin, bmax); - - int ntouched = 0; - queryTiles(bmin, bmax, ob->touched, &ntouched, DT_MAX_TOUCHED_TILES); - ob->ntouched = (unsigned char)ntouched; - // Add tiles to update list. - ob->npending = 0; - for (int j = 0; j < ob->ntouched; ++j) - { - if (m_nupdate < MAX_UPDATE) - { - if (!contains(m_update, m_nupdate, ob->touched[j])) - m_update[m_nupdate++] = ob->touched[j]; - ob->pending[ob->npending++] = ob->touched[j]; - } - } - } - else if (req->action == REQUEST_REMOVE) - { - // Prepare to remove obstacle. - ob->state = DT_OBSTACLE_REMOVING; - // Add tiles to update list. - ob->npending = 0; - for (int j = 0; j < ob->ntouched; ++j) - { - if (m_nupdate < MAX_UPDATE) - { - if (!contains(m_update, m_nupdate, ob->touched[j])) - m_update[m_nupdate++] = ob->touched[j]; - ob->pending[ob->npending++] = ob->touched[j]; - } - } - } - } - - m_nreqs = 0; - } - - dtStatus status = DT_SUCCESS; - // Process updates - if (m_nupdate) - { - // Build mesh - const dtCompressedTileRef ref = m_update[0]; - status = buildNavMeshTile(ref, navmesh); - m_nupdate--; - if (m_nupdate > 0) - memmove(m_update, m_update+1, m_nupdate*sizeof(dtCompressedTileRef)); - - // Update obstacle states. - for (int i = 0; i < m_params.maxObstacles; ++i) - { - dtTileCacheObstacle* ob = &m_obstacles[i]; - if (ob->state == DT_OBSTACLE_PROCESSING || ob->state == DT_OBSTACLE_REMOVING) - { - // Remove handled tile from pending list. - for (int j = 0; j < (int)ob->npending; j++) - { - if (ob->pending[j] == ref) - { - ob->pending[j] = ob->pending[(int)ob->npending-1]; - ob->npending--; - break; - } - } - - // If all pending tiles processed, change state. - if (ob->npending == 0) - { - if (ob->state == DT_OBSTACLE_PROCESSING) - { - ob->state = DT_OBSTACLE_PROCESSED; - } - else if (ob->state == DT_OBSTACLE_REMOVING) - { - ob->state = DT_OBSTACLE_EMPTY; - // Update salt, salt should never be zero. - ob->salt = (ob->salt+1) & ((1<<16)-1); - if (ob->salt == 0) - ob->salt++; - // Return obstacle to free list. - ob->next = m_nextFreeObstacle; - m_nextFreeObstacle = ob; - } - } - } - } - } - - if (upToDate) - *upToDate = m_nupdate == 0 && m_nreqs == 0; - - return status; -} - - -dtStatus dtTileCache::buildNavMeshTilesAt(const int tx, const int ty, dtNavMesh* navmesh) -{ - const int MAX_TILES = 32; - dtCompressedTileRef tiles[MAX_TILES]; - const int ntiles = getTilesAt(tx,ty,tiles,MAX_TILES); - - for (int i = 0; i < ntiles; ++i) - { - dtStatus status = buildNavMeshTile(tiles[i], navmesh); - if (dtStatusFailed(status)) - return status; - } - - return DT_SUCCESS; -} - -dtStatus dtTileCache::buildNavMeshTile(const dtCompressedTileRef ref, dtNavMesh* navmesh) -{ - dtAssert(m_talloc); - dtAssert(m_tcomp); - - unsigned int idx = decodeTileIdTile(ref); - if (idx > (unsigned int)m_params.maxTiles) - return DT_FAILURE | DT_INVALID_PARAM; - const dtCompressedTile* tile = &m_tiles[idx]; - unsigned int salt = decodeTileIdSalt(ref); - if (tile->salt != salt) - return DT_FAILURE | DT_INVALID_PARAM; - - m_talloc->reset(); - - NavMeshTileBuildContext bc(m_talloc); - const int walkableClimbVx = (int)(m_params.walkableClimb / m_params.ch); - dtStatus status; - - // Decompress tile layer data. - status = dtDecompressTileCacheLayer(m_talloc, m_tcomp, tile->data, tile->dataSize, &bc.layer); - if (dtStatusFailed(status)) - return status; - - // Rasterize obstacles. - for (int i = 0; i < m_params.maxObstacles; ++i) - { - const dtTileCacheObstacle* ob = &m_obstacles[i]; - if (ob->state == DT_OBSTACLE_EMPTY || ob->state == DT_OBSTACLE_REMOVING) - continue; - if (contains(ob->touched, ob->ntouched, ref)) - { - if (ob->type == DT_OBSTACLE_CYLINDER) - { - dtMarkCylinderArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch, - ob->cylinder.pos, ob->cylinder.radius, ob->cylinder.height, 0); - } - else if (ob->type == DT_OBSTACLE_BOX) - { - dtMarkBoxArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch, - ob->box.bmin, ob->box.bmax, 0); - } - } - } - - // Build navmesh - status = dtBuildTileCacheRegions(m_talloc, *bc.layer, walkableClimbVx); - if (dtStatusFailed(status)) - return status; - - bc.lcset = dtAllocTileCacheContourSet(m_talloc); - if (!bc.lcset) - return status; - status = dtBuildTileCacheContours(m_talloc, *bc.layer, walkableClimbVx, - m_params.maxSimplificationError, *bc.lcset); - if (dtStatusFailed(status)) - return status; - - bc.lmesh = dtAllocTileCachePolyMesh(m_talloc); - if (!bc.lmesh) - return status; - status = dtBuildTileCachePolyMesh(m_talloc, *bc.lcset, *bc.lmesh); - if (dtStatusFailed(status)) - return status; - - // Early out if the mesh tile is empty. - if (!bc.lmesh->npolys) - { - // Remove existing tile. - navmesh->removeTile(navmesh->getTileRefAt(tile->header->tx,tile->header->ty,tile->header->tlayer),0,0); - return DT_SUCCESS; - } - - dtNavMeshCreateParams params; - memset(¶ms, 0, sizeof(params)); - params.verts = bc.lmesh->verts; - params.vertCount = bc.lmesh->nverts; - params.polys = bc.lmesh->polys; - params.polyAreas = bc.lmesh->areas; - params.polyFlags = bc.lmesh->flags; - params.polyCount = bc.lmesh->npolys; - params.nvp = DT_VERTS_PER_POLYGON; - params.walkableHeight = m_params.walkableHeight; - params.walkableRadius = m_params.walkableRadius; - params.walkableClimb = m_params.walkableClimb; - params.tileX = tile->header->tx; - params.tileY = tile->header->ty; - params.tileLayer = tile->header->tlayer; - params.cs = m_params.cs; - params.ch = m_params.ch; - params.buildBvTree = false; - dtVcopy(params.bmin, tile->header->bmin); - dtVcopy(params.bmax, tile->header->bmax); - - if (m_tmproc) - { - m_tmproc->process(¶ms, bc.lmesh->areas, bc.lmesh->flags); - } - - unsigned char* navData = 0; - int navDataSize = 0; - if (!dtCreateNavMeshData(¶ms, &navData, &navDataSize)) - return DT_FAILURE; - - // Remove existing tile. - navmesh->removeTile(navmesh->getTileRefAt(tile->header->tx,tile->header->ty,tile->header->tlayer),0,0); - - // Add new tile, or leave the location empty. - if (navData) - { - // Let the navmesh own the data. - status = navmesh->addTile(navData,navDataSize,DT_TILE_FREE_DATA,0,0); - if (dtStatusFailed(status)) - { - dtFree(navData); - return status; - } - } - - return DT_SUCCESS; -} - -void dtTileCache::calcTightTileBounds(const dtTileCacheLayerHeader* header, float* bmin, float* bmax) const -{ - const float cs = m_params.cs; - bmin[0] = header->bmin[0] + header->minx*cs; - bmin[1] = header->bmin[1]; - bmin[2] = header->bmin[2] + header->miny*cs; - bmax[0] = header->bmin[0] + (header->maxx+1)*cs; - bmax[1] = header->bmax[1]; - bmax[2] = header->bmin[2] + (header->maxy+1)*cs; -} - -void dtTileCache::getObstacleBounds(const struct dtTileCacheObstacle* ob, float* bmin, float* bmax) const -{ - if (ob->type == DT_OBSTACLE_CYLINDER) - { - const dtObstacleCylinder &cl = ob->cylinder; - - bmin[0] = cl.pos[0] - cl.radius; - bmin[1] = cl.pos[1]; - bmin[2] = cl.pos[2] - cl.radius; - bmax[0] = cl.pos[0] + cl.radius; - bmax[1] = cl.pos[1] + cl.height; - bmax[2] = cl.pos[2] + cl.radius; - } - else if (ob->type == DT_OBSTACLE_BOX) - { - dtVcopy(bmin, ob->box.bmin); - dtVcopy(bmax, ob->box.bmax); - } -} diff --git a/libs/recast/detour_tile_cache/src/DetourTileCacheBuilder.cpp b/libs/recast/detour_tile_cache/src/DetourTileCacheBuilder.cpp deleted file mode 100644 index a81a7b439..000000000 --- a/libs/recast/detour_tile_cache/src/DetourTileCacheBuilder.cpp +++ /dev/null @@ -1,2196 +0,0 @@ -// -// Copyright (c) 2009-2010 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 "DetourCommon.h" -#include "DetourMath.h" -#include "DetourStatus.h" -#include "DetourAssert.h" -#include "DetourTileCacheBuilder.h" -#include - - -template class dtFixedArray -{ - dtTileCacheAlloc* m_alloc; - T* m_ptr; - const int m_size; - inline void operator=(dtFixedArray& p); -public: - inline dtFixedArray(dtTileCacheAlloc* a, const int s) : m_alloc(a), m_ptr((T*)a->alloc(sizeof(T)*s)), m_size(s) {} - inline ~dtFixedArray() { if (m_alloc) m_alloc->free(m_ptr); } - inline operator T*() { return m_ptr; } - inline int size() const { return m_size; } -}; - -inline int getDirOffsetX(int dir) -{ - const int offset[4] = { -1, 0, 1, 0, }; - return offset[dir&0x03]; -} - -inline int getDirOffsetY(int dir) -{ - const int offset[4] = { 0, 1, 0, -1 }; - return offset[dir&0x03]; -} - -static const int MAX_VERTS_PER_POLY = 6; // TODO: use the DT_VERTS_PER_POLYGON -static const int MAX_REM_EDGES = 48; // TODO: make this an expression. - - - -dtTileCacheContourSet* dtAllocTileCacheContourSet(dtTileCacheAlloc* alloc) -{ - dtAssert(alloc); - - dtTileCacheContourSet* cset = (dtTileCacheContourSet*)alloc->alloc(sizeof(dtTileCacheContourSet)); - memset(cset, 0, sizeof(dtTileCacheContourSet)); - return cset; -} - -void dtFreeTileCacheContourSet(dtTileCacheAlloc* alloc, dtTileCacheContourSet* cset) -{ - dtAssert(alloc); - - if (!cset) return; - for (int i = 0; i < cset->nconts; ++i) - alloc->free(cset->conts[i].verts); - alloc->free(cset->conts); - alloc->free(cset); -} - -dtTileCachePolyMesh* dtAllocTileCachePolyMesh(dtTileCacheAlloc* alloc) -{ - dtAssert(alloc); - - dtTileCachePolyMesh* lmesh = (dtTileCachePolyMesh*)alloc->alloc(sizeof(dtTileCachePolyMesh)); - memset(lmesh, 0, sizeof(dtTileCachePolyMesh)); - return lmesh; -} - -void dtFreeTileCachePolyMesh(dtTileCacheAlloc* alloc, dtTileCachePolyMesh* lmesh) -{ - dtAssert(alloc); - - if (!lmesh) return; - alloc->free(lmesh->verts); - alloc->free(lmesh->polys); - alloc->free(lmesh->flags); - alloc->free(lmesh->areas); - alloc->free(lmesh); -} - - - -struct dtLayerSweepSpan -{ - unsigned short ns; // number samples - unsigned char id; // region id - unsigned char nei; // neighbour id -}; - -static const int DT_LAYER_MAX_NEIS = 16; - -struct dtLayerMonotoneRegion -{ - int area; - unsigned char neis[DT_LAYER_MAX_NEIS]; - unsigned char nneis; - unsigned char regId; - unsigned char areaId; -}; - -struct dtTempContour -{ - inline dtTempContour(unsigned char* vbuf, const int nvbuf, - unsigned short* pbuf, const int npbuf) : - verts(vbuf), nverts(0), cverts(nvbuf), - poly(pbuf), npoly(0), cpoly(npbuf) - { - } - unsigned char* verts; - int nverts; - int cverts; - unsigned short* poly; - int npoly; - int cpoly; -}; - - - - -inline bool overlapRangeExl(const unsigned short amin, const unsigned short amax, - const unsigned short bmin, const unsigned short bmax) -{ - return (amin >= bmax || amax <= bmin) ? false : true; -} - -static void addUniqueLast(unsigned char* a, unsigned char& an, unsigned char v) -{ - const int n = (int)an; - if (n > 0 && a[n-1] == v) return; - a[an] = v; - an++; -} - -inline bool isConnected(const dtTileCacheLayer& layer, - const int ia, const int ib, const int walkableClimb) -{ - if (layer.areas[ia] != layer.areas[ib]) return false; - if (dtAbs((int)layer.heights[ia] - (int)layer.heights[ib]) > walkableClimb) return false; - return true; -} - -static bool canMerge(unsigned char oldRegId, unsigned char newRegId, const dtLayerMonotoneRegion* regs, const int nregs) -{ - int count = 0; - for (int i = 0; i < nregs; ++i) - { - const dtLayerMonotoneRegion& reg = regs[i]; - if (reg.regId != oldRegId) continue; - const int nnei = (int)reg.nneis; - for (int j = 0; j < nnei; ++j) - { - if (regs[reg.neis[j]].regId == newRegId) - count++; - } - } - return count == 1; -} - - -dtStatus dtBuildTileCacheRegions(dtTileCacheAlloc* alloc, - dtTileCacheLayer& layer, - const int walkableClimb) -{ - dtAssert(alloc); - - const int w = (int)layer.header->width; - const int h = (int)layer.header->height; - - memset(layer.regs,0xff,sizeof(unsigned char)*w*h); - - const int nsweeps = w; - dtFixedArray sweeps(alloc, nsweeps); - if (!sweeps) - return DT_FAILURE | DT_OUT_OF_MEMORY; - memset(sweeps,0,sizeof(dtLayerSweepSpan)*nsweeps); - - // Partition walkable area into monotone regions. - unsigned char prevCount[256]; - unsigned char regId = 0; - - for (int y = 0; y < h; ++y) - { - if (regId > 0) - memset(prevCount,0,sizeof(unsigned char)*regId); - unsigned char sweepId = 0; - - for (int x = 0; x < w; ++x) - { - const int idx = x + y*w; - if (layer.areas[idx] == DT_TILECACHE_NULL_AREA) continue; - - unsigned char sid = 0xff; - - // -x - const int xidx = (x-1)+y*w; - if (x > 0 && isConnected(layer, idx, xidx, walkableClimb)) - { - if (layer.regs[xidx] != 0xff) - sid = layer.regs[xidx]; - } - - if (sid == 0xff) - { - sid = sweepId++; - sweeps[sid].nei = 0xff; - sweeps[sid].ns = 0; - } - - // -y - const int yidx = x+(y-1)*w; - if (y > 0 && isConnected(layer, idx, yidx, walkableClimb)) - { - const unsigned char nr = layer.regs[yidx]; - if (nr != 0xff) - { - // Set neighbour when first valid neighbour is encoutered. - if (sweeps[sid].ns == 0) - sweeps[sid].nei = nr; - - if (sweeps[sid].nei == nr) - { - // Update existing neighbour - sweeps[sid].ns++; - prevCount[nr]++; - } - else - { - // This is hit if there is nore than one neighbour. - // Invalidate the neighbour. - sweeps[sid].nei = 0xff; - } - } - } - - layer.regs[idx] = sid; - } - - // Create unique ID. - for (int i = 0; i < sweepId; ++i) - { - // If the neighbour is set and there is only one continuous connection to it, - // the sweep will be merged with the previous one, else new region is created. - if (sweeps[i].nei != 0xff && (unsigned short)prevCount[sweeps[i].nei] == sweeps[i].ns) - { - sweeps[i].id = sweeps[i].nei; - } - else - { - if (regId == 255) - { - // Region ID's overflow. - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - } - sweeps[i].id = regId++; - } - } - - // Remap local sweep ids to region ids. - for (int x = 0; x < w; ++x) - { - const int idx = x+y*w; - if (layer.regs[idx] != 0xff) - layer.regs[idx] = sweeps[layer.regs[idx]].id; - } - } - - // Allocate and init layer regions. - const int nregs = (int)regId; - dtFixedArray regs(alloc, nregs); - if (!regs) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - memset(regs, 0, sizeof(dtLayerMonotoneRegion)*nregs); - for (int i = 0; i < nregs; ++i) - regs[i].regId = 0xff; - - // Find region neighbours. - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int idx = x+y*w; - const unsigned char ri = layer.regs[idx]; - if (ri == 0xff) - continue; - - // Update area. - regs[ri].area++; - regs[ri].areaId = layer.areas[idx]; - - // Update neighbours - const int ymi = x+(y-1)*w; - if (y > 0 && isConnected(layer, idx, ymi, walkableClimb)) - { - const unsigned char rai = layer.regs[ymi]; - if (rai != 0xff && rai != ri) - { - addUniqueLast(regs[ri].neis, regs[ri].nneis, rai); - addUniqueLast(regs[rai].neis, regs[rai].nneis, ri); - } - } - } - } - - for (int i = 0; i < nregs; ++i) - regs[i].regId = (unsigned char)i; - - for (int i = 0; i < nregs; ++i) - { - dtLayerMonotoneRegion& reg = regs[i]; - - int merge = -1; - int mergea = 0; - for (int j = 0; j < (int)reg.nneis; ++j) - { - const unsigned char nei = reg.neis[j]; - dtLayerMonotoneRegion& regn = regs[nei]; - if (reg.regId == regn.regId) - continue; - if (reg.areaId != regn.areaId) - continue; - if (regn.area > mergea) - { - if (canMerge(reg.regId, regn.regId, regs, nregs)) - { - mergea = regn.area; - merge = (int)nei; - } - } - } - if (merge != -1) - { - const unsigned char oldId = reg.regId; - const unsigned char newId = regs[merge].regId; - for (int j = 0; j < nregs; ++j) - if (regs[j].regId == oldId) - regs[j].regId = newId; - } - } - - // Compact ids. - unsigned char remap[256]; - memset(remap, 0, 256); - // Find number of unique regions. - regId = 0; - for (int i = 0; i < nregs; ++i) - remap[regs[i].regId] = 1; - for (int i = 0; i < 256; ++i) - if (remap[i]) - remap[i] = regId++; - // Remap ids. - for (int i = 0; i < nregs; ++i) - regs[i].regId = remap[regs[i].regId]; - - layer.regCount = regId; - - for (int i = 0; i < w*h; ++i) - { - if (layer.regs[i] != 0xff) - layer.regs[i] = regs[layer.regs[i]].regId; - } - - return DT_SUCCESS; -} - - - -static bool appendVertex(dtTempContour& cont, const int x, const int y, const int z, const int r) -{ - // Try to merge with existing segments. - if (cont.nverts > 1) - { - unsigned char* pa = &cont.verts[(cont.nverts-2)*4]; - unsigned char* pb = &cont.verts[(cont.nverts-1)*4]; - if ((int)pb[3] == r) - { - if (pa[0] == pb[0] && (int)pb[0] == x) - { - // The verts are aligned aling x-axis, update z. - pb[1] = (unsigned char)y; - pb[2] = (unsigned char)z; - return true; - } - else if (pa[2] == pb[2] && (int)pb[2] == z) - { - // The verts are aligned aling z-axis, update x. - pb[0] = (unsigned char)x; - pb[1] = (unsigned char)y; - return true; - } - } - } - - // Add new point. - if (cont.nverts+1 > cont.cverts) - return false; - - unsigned char* v = &cont.verts[cont.nverts*4]; - v[0] = (unsigned char)x; - v[1] = (unsigned char)y; - v[2] = (unsigned char)z; - v[3] = (unsigned char)r; - cont.nverts++; - - return true; -} - - -static unsigned char getNeighbourReg(dtTileCacheLayer& layer, - const int ax, const int ay, const int dir) -{ - const int w = (int)layer.header->width; - const int ia = ax + ay*w; - - const unsigned char con = layer.cons[ia] & 0xf; - const unsigned char portal = layer.cons[ia] >> 4; - const unsigned char mask = (unsigned char)(1<width; - const int h = (int)layer.header->height; - - cont.nverts = 0; - - int startX = x; - int startY = y; - int startDir = -1; - - for (int i = 0; i < 4; ++i) - { - const int dir = (i+3)&3; - unsigned char rn = getNeighbourReg(layer, x, y, dir); - if (rn != layer.regs[x+y*w]) - { - startDir = dir; - break; - } - } - if (startDir == -1) - return true; - - int dir = startDir; - const int maxIter = w*h; - - int iter = 0; - while (iter < maxIter) - { - unsigned char rn = getNeighbourReg(layer, x, y, dir); - - int nx = x; - int ny = y; - int ndir = dir; - - if (rn != layer.regs[x+y*w]) - { - // Solid edge. - int px = x; - int pz = y; - switch(dir) - { - case 0: pz++; break; - case 1: px++; pz++; break; - case 2: px++; break; - } - - // Try to merge with previous vertex. - if (!appendVertex(cont, px, (int)layer.heights[x+y*w], pz,rn)) - return false; - - ndir = (dir+1) & 0x3; // Rotate CW - } - else - { - // Move to next. - nx = x + getDirOffsetX(dir); - ny = y + getDirOffsetY(dir); - ndir = (dir+3) & 0x3; // Rotate CCW - } - - if (iter > 0 && x == startX && y == startY && dir == startDir) - break; - - x = nx; - y = ny; - dir = ndir; - - iter++; - } - - // Remove last vertex if it is duplicate of the first one. - unsigned char* pa = &cont.verts[(cont.nverts-1)*4]; - unsigned char* pb = &cont.verts[0]; - if (pa[0] == pb[0] && pa[2] == pb[2]) - cont.nverts--; - - return true; -} - - -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 pqz = (float)(qz - pz); - float dx = (float)(x - px); - float dz = (float)(z - pz); - float d = pqx*pqx + pqz*pqz; - float t = pqx*dx + pqz*dz; - if (d > 0) - t /= d; - if (t < 0) - t = 0; - else if (t > 1) - t = 1; - - dx = px + t*pqx - x; - dz = pz + t*pqz - z; - - return dx*dx + dz*dz; -} - -static void simplifyContour(dtTempContour& cont, const float maxError) -{ - cont.npoly = 0; - - for (int i = 0; i < cont.nverts; ++i) - { - int j = (i+1) % cont.nverts; - // Check for start of a wall segment. - unsigned char ra = cont.verts[j*4+3]; - unsigned char rb = cont.verts[i*4+3]; - if (ra != rb) - cont.poly[cont.npoly++] = (unsigned short)i; - } - if (cont.npoly < 2) - { - // If there is no transitions at all, - // create some initial points for the simplification process. - // Find lower-left and upper-right vertices of the contour. - int llx = cont.verts[0]; - int llz = cont.verts[2]; - int lli = 0; - int urx = cont.verts[0]; - int urz = cont.verts[2]; - int uri = 0; - for (int i = 1; i < cont.nverts; ++i) - { - int x = cont.verts[i*4+0]; - int z = cont.verts[i*4+2]; - if (x < llx || (x == llx && z < llz)) - { - llx = x; - llz = z; - lli = i; - } - if (x > urx || (x == urx && z > urz)) - { - urx = x; - urz = z; - uri = i; - } - } - cont.npoly = 0; - cont.poly[cont.npoly++] = (unsigned short)lli; - cont.poly[cont.npoly++] = (unsigned short)uri; - } - - // Add points until all raw points are within - // error tolerance to the simplified shape. - for (int i = 0; i < cont.npoly; ) - { - int ii = (i+1) % cont.npoly; - - const int ai = (int)cont.poly[i]; - const int ax = (int)cont.verts[ai*4+0]; - const int az = (int)cont.verts[ai*4+2]; - - const int bi = (int)cont.poly[ii]; - const int bx = (int)cont.verts[bi*4+0]; - const int bz = (int)cont.verts[bi*4+2]; - - // Find maximum deviation from the segment. - float maxd = 0; - int maxi = -1; - int ci, cinc, endi; - - // Traverse the segment in lexilogical order so that the - // max deviation is calculated similarly when traversing - // opposite segments. - if (bx > ax || (bx == ax && bz > az)) - { - cinc = 1; - ci = (ai+cinc) % cont.nverts; - endi = bi; - } - else - { - cinc = cont.nverts-1; - ci = (bi+cinc) % cont.nverts; - endi = ai; - } - - // Tessellate only outer edges or edges between areas. - while (ci != endi) - { - float d = distancePtSeg(cont.verts[ci*4+0], cont.verts[ci*4+2], ax, az, bx, bz); - if (d > maxd) - { - maxd = d; - maxi = ci; - } - ci = (ci+cinc) % cont.nverts; - } - - - // If the max deviation is larger than accepted error, - // add new point, else continue to next segment. - if (maxi != -1 && maxd > (maxError*maxError)) - { - cont.npoly++; - for (int j = cont.npoly-1; j > i; --j) - cont.poly[j] = cont.poly[j-1]; - cont.poly[i+1] = (unsigned short)maxi; - } - else - { - ++i; - } - } - - // Remap vertices - int start = 0; - for (int i = 1; i < cont.npoly; ++i) - if (cont.poly[i] < cont.poly[start]) - start = i; - - cont.nverts = 0; - for (int i = 0; i < cont.npoly; ++i) - { - const int j = (start+i) % cont.npoly; - unsigned char* src = &cont.verts[cont.poly[j]*4]; - unsigned char* dst = &cont.verts[cont.nverts*4]; - dst[0] = src[0]; - dst[1] = src[1]; - dst[2] = src[2]; - dst[3] = src[3]; - cont.nverts++; - } -} - -static unsigned char getCornerHeight(dtTileCacheLayer& layer, - const int x, const int y, const int z, - const int walkableClimb, - bool& shouldRemove) -{ - const int w = (int)layer.header->width; - const int h = (int)layer.header->height; - - int n = 0; - - unsigned char portal = 0xf; - unsigned char height = 0; - unsigned char preg = 0xff; - bool allSameReg = true; - - for (int dz = -1; dz <= 0; ++dz) - { - for (int dx = -1; dx <= 0; ++dx) - { - const int px = x+dx; - const int pz = z+dz; - if (px >= 0 && pz >= 0 && px < w && pz < h) - { - const int idx = px + pz*w; - const int lh = (int)layer.heights[idx]; - if (dtAbs(lh-y) <= walkableClimb && layer.areas[idx] != DT_TILECACHE_NULL_AREA) - { - height = dtMax(height, (unsigned char)lh); - portal &= (layer.cons[idx] >> 4); - if (preg != 0xff && preg != layer.regs[idx]) - allSameReg = false; - preg = layer.regs[idx]; - n++; - } - } - } - } - - int portalCount = 0; - for (int dir = 0; dir < 4; ++dir) - if (portal & (1< 1 && portalCount == 1 && allSameReg) - { - shouldRemove = true; - } - - return height; -} - - -// TODO: move this somewhere else, once the layer meshing is done. -dtStatus dtBuildTileCacheContours(dtTileCacheAlloc* alloc, - dtTileCacheLayer& layer, - const int walkableClimb, const float maxError, - dtTileCacheContourSet& lcset) -{ - dtAssert(alloc); - - const int w = (int)layer.header->width; - const int h = (int)layer.header->height; - - lcset.nconts = layer.regCount; - lcset.conts = (dtTileCacheContour*)alloc->alloc(sizeof(dtTileCacheContour)*lcset.nconts); - if (!lcset.conts) - return DT_FAILURE | DT_OUT_OF_MEMORY; - memset(lcset.conts, 0, sizeof(dtTileCacheContour)*lcset.nconts); - - // Allocate temp buffer for contour tracing. - const int maxTempVerts = (w+h)*2 * 2; // Twice around the layer. - - dtFixedArray tempVerts(alloc, maxTempVerts*4); - if (!tempVerts) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - dtFixedArray tempPoly(alloc, maxTempVerts); - if (!tempPoly) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - dtTempContour temp(tempVerts, maxTempVerts, tempPoly, maxTempVerts); - - // Find contours. - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int idx = x+y*w; - const unsigned char ri = layer.regs[idx]; - if (ri == 0xff) - continue; - - dtTileCacheContour& cont = lcset.conts[ri]; - - if (cont.nverts > 0) - continue; - - cont.reg = ri; - cont.area = layer.areas[idx]; - - if (!walkContour(layer, x, y, temp)) - { - // Too complex contour. - // Note: If you hit here ofte, try increasing 'maxTempVerts'. - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - } - - simplifyContour(temp, maxError); - - // Store contour. - cont.nverts = temp.nverts; - if (cont.nverts > 0) - { - cont.verts = (unsigned char*)alloc->alloc(sizeof(unsigned char)*4*temp.nverts); - if (!cont.verts) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - for (int i = 0, j = temp.nverts-1; i < temp.nverts; j=i++) - { - unsigned char* dst = &cont.verts[j*4]; - unsigned char* v = &temp.verts[j*4]; - unsigned char* vn = &temp.verts[i*4]; - unsigned char nei = vn[3]; // The neighbour reg is stored at segment vertex of a segment. - bool shouldRemove = false; - unsigned char lh = getCornerHeight(layer, (int)v[0], (int)v[1], (int)v[2], - walkableClimb, shouldRemove); - - dst[0] = v[0]; - dst[1] = lh; - dst[2] = v[2]; - - // Store portal direction and remove status to the fourth component. - dst[3] = 0x0f; - if (nei != 0xff && nei >= 0xf8) - dst[3] = nei - 0xf8; - if (shouldRemove) - dst[3] |= 0x80; - } - } - } - } - - return DT_SUCCESS; -} - - - -static const int VERTEX_BUCKET_COUNT2 = (1<<8); - -inline int computeVertexHash2(int x, int y, int z) -{ - const unsigned int h1 = 0x8da6b343; // Large multiplicative constants; - const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes - const unsigned int h3 = 0xcb1ab31f; - unsigned int n = h1 * x + h2 * y + h3 * z; - return (int)(n & (VERTEX_BUCKET_COUNT2-1)); -} - -static unsigned short addVertex(unsigned short x, unsigned short y, unsigned short z, - unsigned short* verts, unsigned short* firstVert, unsigned short* nextVert, int& nv) -{ - int bucket = computeVertexHash2(x, 0, z); - unsigned short i = firstVert[bucket]; - - while (i != DT_TILECACHE_NULL_IDX) - { - const unsigned short* v = &verts[i*3]; - if (v[0] == x && v[2] == z && (dtAbs(v[1] - y) <= 2)) - return i; - i = nextVert[i]; // next - } - - // Could not find, create new. - i = (unsigned short)nv; nv++; - unsigned short* v = &verts[i*3]; - v[0] = x; - v[1] = y; - v[2] = z; - nextVert[i] = firstVert[bucket]; - firstVert[bucket] = i; - - return (unsigned short)i; -} - - -struct rcEdge -{ - unsigned short vert[2]; - unsigned short polyEdge[2]; - unsigned short poly[2]; -}; - -static bool buildMeshAdjacency(dtTileCacheAlloc* alloc, - unsigned short* polys, const int npolys, - const unsigned short* verts, const int nverts, - const dtTileCacheContourSet& lcset) -{ - // Based on code by Eric Lengyel from: - // http://www.terathon.com/code/edges.php - - const int maxEdgeCount = npolys*MAX_VERTS_PER_POLY; - dtFixedArray firstEdge(alloc, nverts + maxEdgeCount); - if (!firstEdge) - return false; - unsigned short* nextEdge = firstEdge + nverts; - int edgeCount = 0; - - dtFixedArray edges(alloc, maxEdgeCount); - if (!edges) - return false; - - for (int i = 0; i < nverts; i++) - firstEdge[i] = DT_TILECACHE_NULL_IDX; - - for (int i = 0; i < npolys; ++i) - { - unsigned short* t = &polys[i*MAX_VERTS_PER_POLY*2]; - for (int j = 0; j < MAX_VERTS_PER_POLY; ++j) - { - if (t[j] == DT_TILECACHE_NULL_IDX) break; - unsigned short v0 = t[j]; - unsigned short v1 = (j+1 >= MAX_VERTS_PER_POLY || t[j+1] == DT_TILECACHE_NULL_IDX) ? t[0] : t[j+1]; - if (v0 < v1) - { - rcEdge& edge = edges[edgeCount]; - edge.vert[0] = v0; - edge.vert[1] = v1; - edge.poly[0] = (unsigned short)i; - edge.polyEdge[0] = (unsigned short)j; - edge.poly[1] = (unsigned short)i; - edge.polyEdge[1] = 0xff; - // Insert edge - nextEdge[edgeCount] = firstEdge[v0]; - firstEdge[v0] = (unsigned short)edgeCount; - edgeCount++; - } - } - } - - for (int i = 0; i < npolys; ++i) - { - unsigned short* t = &polys[i*MAX_VERTS_PER_POLY*2]; - for (int j = 0; j < MAX_VERTS_PER_POLY; ++j) - { - if (t[j] == DT_TILECACHE_NULL_IDX) break; - unsigned short v0 = t[j]; - unsigned short v1 = (j+1 >= MAX_VERTS_PER_POLY || t[j+1] == DT_TILECACHE_NULL_IDX) ? t[0] : t[j+1]; - if (v0 > v1) - { - bool found = false; - for (unsigned short e = firstEdge[v1]; e != DT_TILECACHE_NULL_IDX; e = nextEdge[e]) - { - rcEdge& edge = edges[e]; - if (edge.vert[1] == v0 && edge.poly[0] == edge.poly[1]) - { - edge.poly[1] = (unsigned short)i; - edge.polyEdge[1] = (unsigned short)j; - found = true; - break; - } - } - if (!found) - { - // Matching edge not found, it is an open edge, add it. - rcEdge& edge = edges[edgeCount]; - edge.vert[0] = v1; - edge.vert[1] = v0; - edge.poly[0] = (unsigned short)i; - edge.polyEdge[0] = (unsigned short)j; - edge.poly[1] = (unsigned short)i; - edge.polyEdge[1] = 0xff; - // Insert edge - nextEdge[edgeCount] = firstEdge[v1]; - firstEdge[v1] = (unsigned short)edgeCount; - edgeCount++; - } - } - } - } - - // Mark portal edges. - for (int i = 0; i < lcset.nconts; ++i) - { - dtTileCacheContour& cont = lcset.conts[i]; - if (cont.nverts < 3) - continue; - - for (int j = 0, k = cont.nverts-1; j < cont.nverts; k=j++) - { - const unsigned char* va = &cont.verts[k*4]; - const unsigned char* vb = &cont.verts[j*4]; - const unsigned char dir = va[3] & 0xf; - if (dir == 0xf) - continue; - - if (dir == 0 || dir == 2) - { - // Find matching vertical edge - const unsigned short x = (unsigned short)va[0]; - unsigned short zmin = (unsigned short)va[2]; - unsigned short zmax = (unsigned short)vb[2]; - if (zmin > zmax) - dtSwap(zmin, zmax); - - for (int m = 0; m < edgeCount; ++m) - { - rcEdge& e = edges[m]; - // Skip connected edges. - if (e.poly[0] != e.poly[1]) - continue; - const unsigned short* eva = &verts[e.vert[0]*3]; - const unsigned short* evb = &verts[e.vert[1]*3]; - if (eva[0] == x && evb[0] == x) - { - unsigned short ezmin = eva[2]; - unsigned short ezmax = evb[2]; - if (ezmin > ezmax) - dtSwap(ezmin, ezmax); - if (overlapRangeExl(zmin,zmax, ezmin, ezmax)) - { - // Reuse the other polyedge to store dir. - e.polyEdge[1] = dir; - } - } - } - } - else - { - // Find matching vertical edge - const unsigned short z = (unsigned short)va[2]; - unsigned short xmin = (unsigned short)va[0]; - unsigned short xmax = (unsigned short)vb[0]; - if (xmin > xmax) - dtSwap(xmin, xmax); - for (int m = 0; m < edgeCount; ++m) - { - rcEdge& e = edges[m]; - // Skip connected edges. - if (e.poly[0] != e.poly[1]) - continue; - const unsigned short* eva = &verts[e.vert[0]*3]; - const unsigned short* evb = &verts[e.vert[1]*3]; - if (eva[2] == z && evb[2] == z) - { - unsigned short exmin = eva[0]; - unsigned short exmax = evb[0]; - if (exmin > exmax) - dtSwap(exmin, exmax); - if (overlapRangeExl(xmin,xmax, exmin, exmax)) - { - // Reuse the other polyedge to store dir. - e.polyEdge[1] = dir; - } - } - } - } - } - } - - - // Store adjacency - for (int i = 0; i < edgeCount; ++i) - { - const rcEdge& e = edges[i]; - if (e.poly[0] != e.poly[1]) - { - unsigned short* p0 = &polys[e.poly[0]*MAX_VERTS_PER_POLY*2]; - unsigned short* p1 = &polys[e.poly[1]*MAX_VERTS_PER_POLY*2]; - p0[MAX_VERTS_PER_POLY + e.polyEdge[0]] = e.poly[1]; - p1[MAX_VERTS_PER_POLY + e.polyEdge[1]] = e.poly[0]; - } - else if (e.polyEdge[1] != 0xff) - { - unsigned short* p0 = &polys[e.poly[0]*MAX_VERTS_PER_POLY*2]; - p0[MAX_VERTS_PER_POLY + e.polyEdge[0]] = 0x8000 | (unsigned short)e.polyEdge[1]; - } - - } - - return true; -} - - -// 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 unsigned char* a, const unsigned char* b, const unsigned char* c) -{ - return ((int)b[0] - (int)a[0]) * ((int)c[2] - (int)a[2]) - ((int)c[0] - (int)a[0]) * ((int)b[2] - (int)a[2]); -} - -// 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) -{ - return !x ^ !y; -} - -// Returns true iff c is strictly to the left of the directed -// line through a to b. -inline bool left(const unsigned char* a, const unsigned char* b, const unsigned char* c) -{ - return area2(a, b, c) < 0; -} - -inline bool leftOn(const unsigned char* a, const unsigned char* b, const unsigned char* c) -{ - return area2(a, b, c) <= 0; -} - -inline bool collinear(const unsigned char* a, const unsigned char* b, const unsigned char* c) -{ - 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 unsigned char* a, const unsigned char* b, - const unsigned char* c, const unsigned char* 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 unsigned char* a, const unsigned char* b, const unsigned char* 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 unsigned char* a, const unsigned char* b, - const unsigned char* c, const unsigned char* 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 unsigned char* a, const unsigned char* b) -{ - return a[0] == b[0] && a[2] == b[2]; -} - -// Returns T iff (v_i, v_j) is a proper internal *or* external -// diagonal of P, *ignoring edges incident to v_i and v_j*. -static bool diagonalie(int i, int j, int n, const unsigned char* verts, const unsigned short* indices) -{ - const unsigned char* d0 = &verts[(indices[i] & 0x7fff) * 4]; - const unsigned char* d1 = &verts[(indices[j] & 0x7fff) * 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 unsigned char* p0 = &verts[(indices[k] & 0x7fff) * 4]; - const unsigned char* p1 = &verts[(indices[k1] & 0x7fff) * 4]; - - if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1)) - continue; - - if (intersect(d0, d1, p0, p1)) - return false; - } - } - return true; -} - -// Returns true iff the diagonal (i,j) is strictly internal to the -// polygon P in the neighborhood of the i endpoint. -static bool inCone(int i, int j, int n, const unsigned char* verts, const unsigned short* indices) -{ - const unsigned char* pi = &verts[(indices[i] & 0x7fff) * 4]; - const unsigned char* pj = &verts[(indices[j] & 0x7fff) * 4]; - const unsigned char* pi1 = &verts[(indices[next(i, n)] & 0x7fff) * 4]; - const unsigned char* pin1 = &verts[(indices[prev(i, n)] & 0x7fff) * 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)); -} - -// Returns T iff (v_i, v_j) is a proper internal -// diagonal of P. -static bool diagonal(int i, int j, int n, const unsigned char* verts, const unsigned short* indices) -{ - return inCone(i, j, n, verts, indices) && diagonalie(i, j, n, verts, indices); -} - -static int triangulate(int n, const unsigned char* verts, unsigned short* indices, unsigned short* tris) -{ - int ntris = 0; - unsigned short* dst = tris; - - // The last bit of the index is used to indicate if the vertex can be removed. - for (int i = 0; i < n; i++) - { - int i1 = next(i, n); - int i2 = next(i1, n); - if (diagonal(i, i2, n, verts, indices)) - indices[i1] |= 0x8000; - } - - while (n > 3) - { - int minLen = -1; - int mini = -1; - for (int i = 0; i < n; i++) - { - int i1 = next(i, n); - if (indices[i1] & 0x8000) - { - const unsigned char* p0 = &verts[(indices[i] & 0x7fff) * 4]; - const unsigned char* p2 = &verts[(indices[next(i1, n)] & 0x7fff) * 4]; - - const int dx = (int)p2[0] - (int)p0[0]; - const int dz = (int)p2[2] - (int)p0[2]; - const int len = dx*dx + dz*dz; - if (minLen < 0 || len < minLen) - { - minLen = len; - mini = i; - } - } - } - - if (mini == -1) - { - // Should not happen. - /* printf("mini == -1 ntris=%d n=%d\n", ntris, n); - for (int i = 0; i < n; i++) - { - printf("%d ", indices[i] & 0x0fffffff); - } - printf("\n");*/ - return -ntris; - } - - int i = mini; - int i1 = next(i, n); - int i2 = next(i1, n); - - *dst++ = indices[i] & 0x7fff; - *dst++ = indices[i1] & 0x7fff; - *dst++ = indices[i2] & 0x7fff; - ntris++; - - // Removes P[i1] by copying P[i+1]...P[n-1] left one index. - n--; - for (int k = i1; k < n; k++) - indices[k] = indices[k+1]; - - if (i1 >= n) i1 = 0; - i = prev(i1,n); - // Update diagonal flags. - if (diagonal(prev(i, n), i1, n, verts, indices)) - indices[i] |= 0x8000; - else - indices[i] &= 0x7fff; - - if (diagonal(i, next(i1, n), n, verts, indices)) - indices[i1] |= 0x8000; - else - indices[i1] &= 0x7fff; - } - - // Append the remaining triangle. - *dst++ = indices[0] & 0x7fff; - *dst++ = indices[1] & 0x7fff; - *dst++ = indices[2] & 0x7fff; - ntris++; - - return ntris; -} - - -static int countPolyVerts(const unsigned short* p) -{ - for (int i = 0; i < MAX_VERTS_PER_POLY; ++i) - if (p[i] == DT_TILECACHE_NULL_IDX) - return i; - return MAX_VERTS_PER_POLY; -} - -inline bool uleft(const unsigned short* a, const unsigned short* b, const unsigned short* c) -{ - return ((int)b[0] - (int)a[0]) * ((int)c[2] - (int)a[2]) - - ((int)c[0] - (int)a[0]) * ((int)b[2] - (int)a[2]) < 0; -} - -static int getPolyMergeValue(unsigned short* pa, unsigned short* pb, - const unsigned short* verts, int& ea, int& eb) -{ - const int na = countPolyVerts(pa); - const int nb = countPolyVerts(pb); - - // If the merged polygon would be too big, do not merge. - if (na+nb-2 > MAX_VERTS_PER_POLY) - return -1; - - // Check if the polygons share an edge. - ea = -1; - eb = -1; - - for (int i = 0; i < na; ++i) - { - unsigned short va0 = pa[i]; - unsigned short va1 = pa[(i+1) % na]; - if (va0 > va1) - dtSwap(va0, va1); - for (int j = 0; j < nb; ++j) - { - unsigned short vb0 = pb[j]; - unsigned short vb1 = pb[(j+1) % nb]; - if (vb0 > vb1) - dtSwap(vb0, vb1); - if (va0 == vb0 && va1 == vb1) - { - ea = i; - eb = j; - break; - } - } - } - - // No common edge, cannot merge. - if (ea == -1 || eb == -1) - return -1; - - // Check to see if the merged polygon would be convex. - unsigned short va, vb, vc; - - va = pa[(ea+na-1) % na]; - vb = pa[ea]; - vc = pb[(eb+2) % nb]; - if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3])) - return -1; - - va = pb[(eb+nb-1) % nb]; - vb = pb[eb]; - vc = pa[(ea+2) % na]; - if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3])) - return -1; - - va = pa[ea]; - vb = pa[(ea+1)%na]; - - int dx = (int)verts[va*3+0] - (int)verts[vb*3+0]; - int dy = (int)verts[va*3+2] - (int)verts[vb*3+2]; - - return dx*dx + dy*dy; -} - -static void mergePolys(unsigned short* pa, unsigned short* pb, int ea, int eb) -{ - unsigned short tmp[MAX_VERTS_PER_POLY*2]; - - const int na = countPolyVerts(pa); - const int nb = countPolyVerts(pb); - - // Merge polygons. - memset(tmp, 0xff, sizeof(unsigned short)*MAX_VERTS_PER_POLY*2); - int n = 0; - // Add pa - for (int i = 0; i < na-1; ++i) - tmp[n++] = pa[(ea+1+i) % na]; - // Add pb - for (int i = 0; i < nb-1; ++i) - tmp[n++] = pb[(eb+1+i) % nb]; - - memcpy(pa, tmp, sizeof(unsigned short)*MAX_VERTS_PER_POLY); -} - - -static void pushFront(unsigned short v, unsigned short* arr, int& an) -{ - an++; - for (int i = an-1; i > 0; --i) - arr[i] = arr[i-1]; - arr[0] = v; -} - -static void pushBack(unsigned short v, unsigned short* arr, int& an) -{ - arr[an] = v; - an++; -} - -static bool canRemoveVertex(dtTileCachePolyMesh& mesh, const unsigned short rem) -{ - // Count number of polygons to remove. - int numRemovedVerts = 0; - int numTouchedVerts = 0; - int numRemainingEdges = 0; - for (int i = 0; i < mesh.npolys; ++i) - { - unsigned short* p = &mesh.polys[i*MAX_VERTS_PER_POLY*2]; - const int nv = countPolyVerts(p); - int numRemoved = 0; - int numVerts = 0; - for (int j = 0; j < nv; ++j) - { - if (p[j] == rem) - { - numTouchedVerts++; - numRemoved++; - } - numVerts++; - } - if (numRemoved) - { - numRemovedVerts += numRemoved; - numRemainingEdges += numVerts-(numRemoved+1); - } - } - - // There would be too few edges remaining to create a polygon. - // This can happen for example when a tip of a triangle is marked - // as deletion, but there are no other polys that share the vertex. - // In this case, the vertex should not be removed. - if (numRemainingEdges <= 2) - return false; - - // Check that there is enough memory for the test. - const int maxEdges = numTouchedVerts*2; - if (maxEdges > MAX_REM_EDGES) - return false; - - // Find edges which share the removed vertex. - unsigned short edges[MAX_REM_EDGES]; - int nedges = 0; - - for (int i = 0; i < mesh.npolys; ++i) - { - unsigned short* p = &mesh.polys[i*MAX_VERTS_PER_POLY*2]; - const int nv = countPolyVerts(p); - - // Collect edges which touches the removed vertex. - for (int j = 0, k = nv-1; j < nv; k = j++) - { - if (p[j] == rem || p[k] == rem) - { - // Arrange edge so that a=rem. - int a = p[j], b = p[k]; - if (b == rem) - dtSwap(a,b); - - // Check if the edge exists - bool exists = false; - for (int m = 0; m < nedges; ++m) - { - unsigned short* e = &edges[m*3]; - if (e[1] == b) - { - // Exists, increment vertex share count. - e[2]++; - exists = true; - } - } - // Add new edge. - if (!exists) - { - unsigned short* e = &edges[nedges*3]; - e[0] = (unsigned short)a; - e[1] = (unsigned short)b; - e[2] = 1; - nedges++; - } - } - } - } - - // There should be no more than 2 open edges. - // This catches the case that two non-adjacent polygons - // share the removed vertex. In that case, do not remove the vertex. - int numOpenEdges = 0; - for (int i = 0; i < nedges; ++i) - { - if (edges[i*3+2] < 2) - numOpenEdges++; - } - if (numOpenEdges > 2) - return false; - - return true; -} - -static dtStatus removeVertex(dtTileCachePolyMesh& mesh, const unsigned short rem, const int maxTris) -{ - // Count number of polygons to remove. - int numRemovedVerts = 0; - for (int i = 0; i < mesh.npolys; ++i) - { - unsigned short* p = &mesh.polys[i*MAX_VERTS_PER_POLY*2]; - const int nv = countPolyVerts(p); - for (int j = 0; j < nv; ++j) - { - if (p[j] == rem) - numRemovedVerts++; - } - } - - int nedges = 0; - unsigned short edges[MAX_REM_EDGES*3]; - int nhole = 0; - unsigned short hole[MAX_REM_EDGES]; - int nharea = 0; - unsigned short harea[MAX_REM_EDGES]; - - for (int i = 0; i < mesh.npolys; ++i) - { - unsigned short* p = &mesh.polys[i*MAX_VERTS_PER_POLY*2]; - const int nv = countPolyVerts(p); - bool hasRem = false; - for (int j = 0; j < nv; ++j) - if (p[j] == rem) hasRem = true; - if (hasRem) - { - // Collect edges which does not touch the removed vertex. - for (int j = 0, k = nv-1; j < nv; k = j++) - { - if (p[j] != rem && p[k] != rem) - { - if (nedges >= MAX_REM_EDGES) - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - unsigned short* e = &edges[nedges*3]; - e[0] = p[k]; - e[1] = p[j]; - e[2] = mesh.areas[i]; - nedges++; - } - } - // Remove the polygon. - unsigned short* p2 = &mesh.polys[(mesh.npolys-1)*MAX_VERTS_PER_POLY*2]; - memcpy(p,p2,sizeof(unsigned short)*MAX_VERTS_PER_POLY); - memset(p+MAX_VERTS_PER_POLY,0xff,sizeof(unsigned short)*MAX_VERTS_PER_POLY); - mesh.areas[i] = mesh.areas[mesh.npolys-1]; - mesh.npolys--; - --i; - } - } - - // Remove vertex. - for (int i = (int)rem; i < mesh.nverts; ++i) - { - mesh.verts[i*3+0] = mesh.verts[(i+1)*3+0]; - mesh.verts[i*3+1] = mesh.verts[(i+1)*3+1]; - mesh.verts[i*3+2] = mesh.verts[(i+1)*3+2]; - } - mesh.nverts--; - - // Adjust indices to match the removed vertex layout. - for (int i = 0; i < mesh.npolys; ++i) - { - unsigned short* p = &mesh.polys[i*MAX_VERTS_PER_POLY*2]; - const int nv = countPolyVerts(p); - for (int j = 0; j < nv; ++j) - if (p[j] > rem) p[j]--; - } - for (int i = 0; i < nedges; ++i) - { - if (edges[i*3+0] > rem) edges[i*3+0]--; - if (edges[i*3+1] > rem) edges[i*3+1]--; - } - - if (nedges == 0) - return DT_SUCCESS; - - // Start with one vertex, keep appending connected - // segments to the start and end of the hole. - pushBack(edges[0], hole, nhole); - pushBack(edges[2], harea, nharea); - - while (nedges) - { - bool match = false; - - for (int i = 0; i < nedges; ++i) - { - const unsigned short ea = edges[i*3+0]; - const unsigned short eb = edges[i*3+1]; - const unsigned short a = edges[i*3+2]; - bool add = false; - if (hole[0] == eb) - { - // The segment matches the beginning of the hole boundary. - if (nhole >= MAX_REM_EDGES) - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - pushFront(ea, hole, nhole); - pushFront(a, harea, nharea); - add = true; - } - else if (hole[nhole-1] == ea) - { - // The segment matches the end of the hole boundary. - if (nhole >= MAX_REM_EDGES) - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - pushBack(eb, hole, nhole); - pushBack(a, harea, nharea); - add = true; - } - if (add) - { - // The edge segment was added, remove it. - edges[i*3+0] = edges[(nedges-1)*3+0]; - edges[i*3+1] = edges[(nedges-1)*3+1]; - edges[i*3+2] = edges[(nedges-1)*3+2]; - --nedges; - match = true; - --i; - } - } - - if (!match) - break; - } - - - unsigned short tris[MAX_REM_EDGES*3]; - unsigned char tverts[MAX_REM_EDGES*3]; - unsigned short tpoly[MAX_REM_EDGES*3]; - - // Generate temp vertex array for triangulation. - for (int i = 0; i < nhole; ++i) - { - const unsigned short pi = hole[i]; - tverts[i*4+0] = (unsigned char)mesh.verts[pi*3+0]; - tverts[i*4+1] = (unsigned char)mesh.verts[pi*3+1]; - tverts[i*4+2] = (unsigned char)mesh.verts[pi*3+2]; - tverts[i*4+3] = 0; - tpoly[i] = (unsigned short)i; - } - - // Triangulate the hole. - int ntris = triangulate(nhole, tverts, tpoly, tris); - if (ntris < 0) - { - // TODO: issue warning! - ntris = -ntris; - } - - if (ntris > MAX_REM_EDGES) - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - - unsigned short polys[MAX_REM_EDGES*MAX_VERTS_PER_POLY]; - unsigned char pareas[MAX_REM_EDGES]; - - // Build initial polygons. - int npolys = 0; - memset(polys, 0xff, ntris*MAX_VERTS_PER_POLY*sizeof(unsigned short)); - for (int j = 0; j < ntris; ++j) - { - unsigned short* t = &tris[j*3]; - if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2]) - { - polys[npolys*MAX_VERTS_PER_POLY+0] = hole[t[0]]; - polys[npolys*MAX_VERTS_PER_POLY+1] = hole[t[1]]; - polys[npolys*MAX_VERTS_PER_POLY+2] = hole[t[2]]; - pareas[npolys] = (unsigned char)harea[t[0]]; - npolys++; - } - } - if (!npolys) - return DT_SUCCESS; - - // Merge polygons. - int maxVertsPerPoly = MAX_VERTS_PER_POLY; - if (maxVertsPerPoly > 3) - { - for (;;) - { - // Find best polygons to merge. - int bestMergeVal = 0; - int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0; - - for (int j = 0; j < npolys-1; ++j) - { - unsigned short* pj = &polys[j*MAX_VERTS_PER_POLY]; - for (int k = j+1; k < npolys; ++k) - { - unsigned short* pk = &polys[k*MAX_VERTS_PER_POLY]; - int ea, eb; - int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb); - if (v > bestMergeVal) - { - bestMergeVal = v; - bestPa = j; - bestPb = k; - bestEa = ea; - bestEb = eb; - } - } - } - - if (bestMergeVal > 0) - { - // Found best, merge. - unsigned short* pa = &polys[bestPa*MAX_VERTS_PER_POLY]; - unsigned short* pb = &polys[bestPb*MAX_VERTS_PER_POLY]; - mergePolys(pa, pb, bestEa, bestEb); - memcpy(pb, &polys[(npolys-1)*MAX_VERTS_PER_POLY], sizeof(unsigned short)*MAX_VERTS_PER_POLY); - pareas[bestPb] = pareas[npolys-1]; - npolys--; - } - else - { - // Could not merge any polygons, stop. - break; - } - } - } - - // Store polygons. - for (int i = 0; i < npolys; ++i) - { - if (mesh.npolys >= maxTris) break; - unsigned short* p = &mesh.polys[mesh.npolys*MAX_VERTS_PER_POLY*2]; - memset(p,0xff,sizeof(unsigned short)*MAX_VERTS_PER_POLY*2); - for (int j = 0; j < MAX_VERTS_PER_POLY; ++j) - p[j] = polys[i*MAX_VERTS_PER_POLY+j]; - mesh.areas[mesh.npolys] = pareas[i]; - mesh.npolys++; - if (mesh.npolys > maxTris) - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - } - - return DT_SUCCESS; -} - - -dtStatus dtBuildTileCachePolyMesh(dtTileCacheAlloc* alloc, - dtTileCacheContourSet& lcset, - dtTileCachePolyMesh& mesh) -{ - dtAssert(alloc); - - int maxVertices = 0; - int maxTris = 0; - int maxVertsPerCont = 0; - for (int i = 0; i < lcset.nconts; ++i) - { - // Skip null contours. - if (lcset.conts[i].nverts < 3) continue; - maxVertices += lcset.conts[i].nverts; - maxTris += lcset.conts[i].nverts - 2; - maxVertsPerCont = dtMax(maxVertsPerCont, lcset.conts[i].nverts); - } - - // TODO: warn about too many vertices? - - mesh.nvp = MAX_VERTS_PER_POLY; - - dtFixedArray vflags(alloc, maxVertices); - if (!vflags) - return DT_FAILURE | DT_OUT_OF_MEMORY; - memset(vflags, 0, maxVertices); - - mesh.verts = (unsigned short*)alloc->alloc(sizeof(unsigned short)*maxVertices*3); - if (!mesh.verts) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - mesh.polys = (unsigned short*)alloc->alloc(sizeof(unsigned short)*maxTris*MAX_VERTS_PER_POLY*2); - if (!mesh.polys) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - mesh.areas = (unsigned char*)alloc->alloc(sizeof(unsigned char)*maxTris); - if (!mesh.areas) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - mesh.flags = (unsigned short*)alloc->alloc(sizeof(unsigned short)*maxTris); - if (!mesh.flags) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - // Just allocate and clean the mesh flags array. The user is resposible for filling it. - memset(mesh.flags, 0, sizeof(unsigned short) * maxTris); - - mesh.nverts = 0; - mesh.npolys = 0; - - memset(mesh.verts, 0, sizeof(unsigned short)*maxVertices*3); - memset(mesh.polys, 0xff, sizeof(unsigned short)*maxTris*MAX_VERTS_PER_POLY*2); - memset(mesh.areas, 0, sizeof(unsigned char)*maxTris); - - unsigned short firstVert[VERTEX_BUCKET_COUNT2]; - for (int i = 0; i < VERTEX_BUCKET_COUNT2; ++i) - firstVert[i] = DT_TILECACHE_NULL_IDX; - - dtFixedArray nextVert(alloc, maxVertices); - if (!nextVert) - return DT_FAILURE | DT_OUT_OF_MEMORY; - memset(nextVert, 0, sizeof(unsigned short)*maxVertices); - - dtFixedArray indices(alloc, maxVertsPerCont); - if (!indices) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - dtFixedArray tris(alloc, maxVertsPerCont*3); - if (!tris) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - dtFixedArray polys(alloc, maxVertsPerCont*MAX_VERTS_PER_POLY); - if (!polys) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - for (int i = 0; i < lcset.nconts; ++i) - { - dtTileCacheContour& cont = lcset.conts[i]; - - // Skip null contours. - if (cont.nverts < 3) - continue; - - // Triangulate contour - for (int j = 0; j < cont.nverts; ++j) - indices[j] = (unsigned short)j; - - int ntris = triangulate(cont.nverts, cont.verts, &indices[0], &tris[0]); - if (ntris <= 0) - { - // TODO: issue warning! - ntris = -ntris; - } - - // Add and merge vertices. - for (int j = 0; j < cont.nverts; ++j) - { - const unsigned char* v = &cont.verts[j*4]; - indices[j] = addVertex((unsigned short)v[0], (unsigned short)v[1], (unsigned short)v[2], - mesh.verts, firstVert, nextVert, mesh.nverts); - if (v[3] & 0x80) - { - // This vertex should be removed. - vflags[indices[j]] = 1; - } - } - - // Build initial polygons. - int npolys = 0; - memset(polys, 0xff, sizeof(unsigned short) * maxVertsPerCont * MAX_VERTS_PER_POLY); - for (int j = 0; j < ntris; ++j) - { - const unsigned short* t = &tris[j*3]; - if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2]) - { - polys[npolys*MAX_VERTS_PER_POLY+0] = indices[t[0]]; - polys[npolys*MAX_VERTS_PER_POLY+1] = indices[t[1]]; - polys[npolys*MAX_VERTS_PER_POLY+2] = indices[t[2]]; - npolys++; - } - } - if (!npolys) - continue; - - // Merge polygons. - int maxVertsPerPoly =MAX_VERTS_PER_POLY ; - if (maxVertsPerPoly > 3) - { - for(;;) - { - // Find best polygons to merge. - int bestMergeVal = 0; - int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0; - - for (int j = 0; j < npolys-1; ++j) - { - unsigned short* pj = &polys[j*MAX_VERTS_PER_POLY]; - for (int k = j+1; k < npolys; ++k) - { - unsigned short* pk = &polys[k*MAX_VERTS_PER_POLY]; - int ea, eb; - int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb); - if (v > bestMergeVal) - { - bestMergeVal = v; - bestPa = j; - bestPb = k; - bestEa = ea; - bestEb = eb; - } - } - } - - if (bestMergeVal > 0) - { - // Found best, merge. - unsigned short* pa = &polys[bestPa*MAX_VERTS_PER_POLY]; - unsigned short* pb = &polys[bestPb*MAX_VERTS_PER_POLY]; - mergePolys(pa, pb, bestEa, bestEb); - memcpy(pb, &polys[(npolys-1)*MAX_VERTS_PER_POLY], sizeof(unsigned short)*MAX_VERTS_PER_POLY); - npolys--; - } - else - { - // Could not merge any polygons, stop. - break; - } - } - } - - // Store polygons. - for (int j = 0; j < npolys; ++j) - { - unsigned short* p = &mesh.polys[mesh.npolys*MAX_VERTS_PER_POLY*2]; - unsigned short* q = &polys[j*MAX_VERTS_PER_POLY]; - for (int k = 0; k < MAX_VERTS_PER_POLY; ++k) - p[k] = q[k]; - mesh.areas[mesh.npolys] = cont.area; - mesh.npolys++; - if (mesh.npolys > maxTris) - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - } - } - - - // Remove edge vertices. - for (int i = 0; i < mesh.nverts; ++i) - { - if (vflags[i]) - { - if (!canRemoveVertex(mesh, (unsigned short)i)) - continue; - dtStatus status = removeVertex(mesh, (unsigned short)i, maxTris); - if (dtStatusFailed(status)) - return status; - // Remove vertex - // Note: mesh.nverts is already decremented inside removeVertex()! - for (int j = i; j < mesh.nverts; ++j) - vflags[j] = vflags[j+1]; - --i; - } - } - - // Calculate adjacency. - if (!buildMeshAdjacency(alloc, mesh.polys, mesh.npolys, mesh.verts, mesh.nverts, lcset)) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - return DT_SUCCESS; -} - -dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch, - const float* pos, const float radius, const float height, const unsigned char areaId) -{ - float bmin[3], bmax[3]; - bmin[0] = pos[0] - radius; - bmin[1] = pos[1]; - bmin[2] = pos[2] - radius; - bmax[0] = pos[0] + radius; - bmax[1] = pos[1] + height; - bmax[2] = pos[2] + radius; - const float r2 = dtSqr(radius/cs + 0.5f); - - const int w = (int)layer.header->width; - const int h = (int)layer.header->height; - const float ics = 1.0f/cs; - const float ich = 1.0f/ch; - - const float px = (pos[0]-orig[0])*ics; - const float pz = (pos[2]-orig[2])*ics; - - int minx = (int)dtMathFloorf((bmin[0]-orig[0])*ics); - int miny = (int)dtMathFloorf((bmin[1]-orig[1])*ich); - int minz = (int)dtMathFloorf((bmin[2]-orig[2])*ics); - int maxx = (int)dtMathFloorf((bmax[0]-orig[0])*ics); - int maxy = (int)dtMathFloorf((bmax[1]-orig[1])*ich); - int maxz = (int)dtMathFloorf((bmax[2]-orig[2])*ics); - - if (maxx < 0) return DT_SUCCESS; - if (minx >= w) return DT_SUCCESS; - if (maxz < 0) return DT_SUCCESS; - if (minz >= h) return DT_SUCCESS; - - if (minx < 0) minx = 0; - if (maxx >= w) maxx = w-1; - if (minz < 0) minz = 0; - if (maxz >= h) maxz = h-1; - - for (int z = minz; z <= maxz; ++z) - { - for (int x = minx; x <= maxx; ++x) - { - const float dx = (float)(x+0.5f) - px; - const float dz = (float)(z+0.5f) - pz; - if (dx*dx + dz*dz > r2) - continue; - const int y = layer.heights[x+z*w]; - if (y < miny || y > maxy) - continue; - layer.areas[x+z*w] = areaId; - } - } - - return DT_SUCCESS; -} - -dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch, - const float* bmin, const float* bmax, const unsigned char areaId) -{ - const int w = (int)layer.header->width; - const int h = (int)layer.header->height; - const float ics = 1.0f/cs; - const float ich = 1.0f/ch; - - int minx = (int)floorf((bmin[0]-orig[0])*ics); - int miny = (int)floorf((bmin[1]-orig[1])*ich); - int minz = (int)floorf((bmin[2]-orig[2])*ics); - int maxx = (int)floorf((bmax[0]-orig[0])*ics); - int maxy = (int)floorf((bmax[1]-orig[1])*ich); - int maxz = (int)floorf((bmax[2]-orig[2])*ics); - - if (maxx < 0) return DT_SUCCESS; - if (minx >= w) return DT_SUCCESS; - if (maxz < 0) return DT_SUCCESS; - if (minz >= h) return DT_SUCCESS; - - if (minx < 0) minx = 0; - if (maxx >= w) maxx = w-1; - if (minz < 0) minz = 0; - if (maxz >= h) maxz = h-1; - - for (int z = minz; z <= maxz; ++z) - { - for (int x = minx; x <= maxx; ++x) - { - const int y = layer.heights[x+z*w]; - if (y < miny || y > maxy) - continue; - layer.areas[x+z*w] = areaId; - } - } - - return DT_SUCCESS; -} - -dtStatus dtBuildTileCacheLayer(dtTileCacheCompressor* comp, - dtTileCacheLayerHeader* header, - const unsigned char* heights, - const unsigned char* areas, - const unsigned char* cons, - unsigned char** outData, int* outDataSize) -{ - const int headerSize = dtAlign4(sizeof(dtTileCacheLayerHeader)); - const int gridSize = (int)header->width * (int)header->height; - const int maxDataSize = headerSize + comp->maxCompressedSize(gridSize*3); - unsigned char* data = (unsigned char*)dtAlloc(maxDataSize, DT_ALLOC_PERM); - if (!data) - return DT_FAILURE | DT_OUT_OF_MEMORY; - memset(data, 0, maxDataSize); - - // Store header - memcpy(data, header, sizeof(dtTileCacheLayerHeader)); - - // Concatenate grid data for compression. - const int bufferSize = gridSize*3; - unsigned char* buffer = (unsigned char*)dtAlloc(bufferSize, DT_ALLOC_TEMP); - if (!buffer) - { - dtFree(data); - return DT_FAILURE | DT_OUT_OF_MEMORY; - } - - memcpy(buffer, heights, gridSize); - memcpy(buffer+gridSize, areas, gridSize); - memcpy(buffer+gridSize*2, cons, gridSize); - - // Compress - unsigned char* compressed = data + headerSize; - const int maxCompressedSize = maxDataSize - headerSize; - int compressedSize = 0; - dtStatus status = comp->compress(buffer, bufferSize, compressed, maxCompressedSize, &compressedSize); - if (dtStatusFailed(status)) - { - dtFree(buffer); - dtFree(data); - return status; - } - - *outData = data; - *outDataSize = headerSize + compressedSize; - - dtFree(buffer); - - return DT_SUCCESS; -} - -void dtFreeTileCacheLayer(dtTileCacheAlloc* alloc, dtTileCacheLayer* layer) -{ - dtAssert(alloc); - // The layer is allocated as one conitguous blob of data. - alloc->free(layer); -} - -dtStatus dtDecompressTileCacheLayer(dtTileCacheAlloc* alloc, dtTileCacheCompressor* comp, - unsigned char* compressed, const int compressedSize, - dtTileCacheLayer** layerOut) -{ - dtAssert(alloc); - dtAssert(comp); - - if (!layerOut) - return DT_FAILURE | DT_INVALID_PARAM; - if (!compressed) - return DT_FAILURE | DT_INVALID_PARAM; - - *layerOut = 0; - - dtTileCacheLayerHeader* compressedHeader = (dtTileCacheLayerHeader*)compressed; - if (compressedHeader->magic != DT_TILECACHE_MAGIC) - return DT_FAILURE | DT_WRONG_MAGIC; - if (compressedHeader->version != DT_TILECACHE_VERSION) - return DT_FAILURE | DT_WRONG_VERSION; - - const int layerSize = dtAlign4(sizeof(dtTileCacheLayer)); - const int headerSize = dtAlign4(sizeof(dtTileCacheLayerHeader)); - const int gridSize = (int)compressedHeader->width * (int)compressedHeader->height; - const int bufferSize = layerSize + headerSize + gridSize*4; - - unsigned char* buffer = (unsigned char*)alloc->alloc(bufferSize); - if (!buffer) - return DT_FAILURE | DT_OUT_OF_MEMORY; - memset(buffer, 0, bufferSize); - - dtTileCacheLayer* layer = (dtTileCacheLayer*)buffer; - dtTileCacheLayerHeader* header = (dtTileCacheLayerHeader*)(buffer + layerSize); - unsigned char* grids = buffer + layerSize + headerSize; - const int gridsSize = bufferSize - (layerSize + headerSize); - - // Copy header - memcpy(header, compressedHeader, headerSize); - // Decompress grid. - int size = 0; - dtStatus status = comp->decompress(compressed+headerSize, compressedSize-headerSize, - grids, gridsSize, &size); - if (dtStatusFailed(status)) - { - dtFree(buffer); - return status; - } - - layer->header = header; - layer->heights = grids; - layer->areas = grids + gridSize; - layer->cons = grids + gridSize*2; - layer->regs = grids + gridSize*3; - - *layerOut = layer; - - return DT_SUCCESS; -} - - - -bool dtTileCacheHeaderSwapEndian(unsigned char* data, const int dataSize) -{ - dtIgnoreUnused(dataSize); - dtTileCacheLayerHeader* header = (dtTileCacheLayerHeader*)data; - - int swappedMagic = DT_TILECACHE_MAGIC; - int swappedVersion = DT_TILECACHE_VERSION; - dtSwapEndian(&swappedMagic); - dtSwapEndian(&swappedVersion); - - if ((header->magic != DT_TILECACHE_MAGIC || header->version != DT_TILECACHE_VERSION) && - (header->magic != swappedMagic || header->version != swappedVersion)) - { - return false; - } - - dtSwapEndian(&header->magic); - dtSwapEndian(&header->version); - dtSwapEndian(&header->tx); - dtSwapEndian(&header->ty); - dtSwapEndian(&header->tlayer); - dtSwapEndian(&header->bmin[0]); - dtSwapEndian(&header->bmin[1]); - dtSwapEndian(&header->bmin[2]); - dtSwapEndian(&header->bmax[0]); - dtSwapEndian(&header->bmax[1]); - dtSwapEndian(&header->bmax[2]); - dtSwapEndian(&header->hmin); - dtSwapEndian(&header->hmax); - - // width, height, minx, maxx, miny, maxy are unsigned char, no need to swap. - - return true; -} - diff --git a/libs/recast/recast/include/Recast.h b/libs/recast/recast/include/Recast.h deleted file mode 100644 index e85c0d2e2..000000000 --- a/libs/recast/recast/include/Recast.h +++ /dev/null @@ -1,1200 +0,0 @@ -// -// Copyright (c) 2009-2010 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_H -#define RECAST_H - -/// The value of PI used by Recast. -static const float RC_PI = 3.14159265f; - -/// Recast log categories. -/// @see rcContext -enum rcLogCategory -{ - RC_LOG_PROGRESS = 1, ///< A progress log entry. - RC_LOG_WARNING, ///< A warning log entry. - RC_LOG_ERROR, ///< An error log entry. -}; - -/// Recast performance timer categories. -/// @see rcContext -enum rcTimerLabel -{ - /// The user defined total time of the build. - RC_TIMER_TOTAL, - /// A user defined build time. - RC_TIMER_TEMP, - /// The time to rasterize the triangles. (See: #rcRasterizeTriangle) - RC_TIMER_RASTERIZE_TRIANGLES, - /// The time to build the compact heightfield. (See: #rcBuildCompactHeightfield) - RC_TIMER_BUILD_COMPACTHEIGHTFIELD, - /// The total time to build the contours. (See: #rcBuildContours) - RC_TIMER_BUILD_CONTOURS, - /// The time to trace the boundaries of the contours. (See: #rcBuildContours) - RC_TIMER_BUILD_CONTOURS_TRACE, - /// The time to simplify the contours. (See: #rcBuildContours) - RC_TIMER_BUILD_CONTOURS_SIMPLIFY, - /// The time to filter ledge spans. (See: #rcFilterLedgeSpans) - RC_TIMER_FILTER_BORDER, - /// The time to filter low height spans. (See: #rcFilterWalkableLowHeightSpans) - RC_TIMER_FILTER_WALKABLE, - /// The time to apply the median filter. (See: #rcMedianFilterWalkableArea) - RC_TIMER_MEDIAN_AREA, - /// The time to filter low obstacles. (See: #rcFilterLowHangingWalkableObstacles) - RC_TIMER_FILTER_LOW_OBSTACLES, - /// The time to build the polygon mesh. (See: #rcBuildPolyMesh) - RC_TIMER_BUILD_POLYMESH, - /// The time to merge polygon meshes. (See: #rcMergePolyMeshes) - RC_TIMER_MERGE_POLYMESH, - /// The time to erode the walkable area. (See: #rcErodeWalkableArea) - RC_TIMER_ERODE_AREA, - /// The time to mark a box area. (See: #rcMarkBoxArea) - RC_TIMER_MARK_BOX_AREA, - /// The time to mark a cylinder area. (See: #rcMarkCylinderArea) - RC_TIMER_MARK_CYLINDER_AREA, - /// The time to mark a convex polygon area. (See: #rcMarkConvexPolyArea) - RC_TIMER_MARK_CONVEXPOLY_AREA, - /// The total time to build the distance field. (See: #rcBuildDistanceField) - RC_TIMER_BUILD_DISTANCEFIELD, - /// The time to build the distances of the distance field. (See: #rcBuildDistanceField) - RC_TIMER_BUILD_DISTANCEFIELD_DIST, - /// The time to blur the distance field. (See: #rcBuildDistanceField) - RC_TIMER_BUILD_DISTANCEFIELD_BLUR, - /// The total time to build the regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone) - RC_TIMER_BUILD_REGIONS, - /// The total time to apply the watershed algorithm. (See: #rcBuildRegions) - RC_TIMER_BUILD_REGIONS_WATERSHED, - /// The time to expand regions while applying the watershed algorithm. (See: #rcBuildRegions) - RC_TIMER_BUILD_REGIONS_EXPAND, - /// The time to flood regions while applying the watershed algorithm. (See: #rcBuildRegions) - RC_TIMER_BUILD_REGIONS_FLOOD, - /// The time to filter out small regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone) - RC_TIMER_BUILD_REGIONS_FILTER, - /// The time to build heightfield layers. (See: #rcBuildHeightfieldLayers) - RC_TIMER_BUILD_LAYERS, - /// The time to build the polygon mesh detail. (See: #rcBuildPolyMeshDetail) - RC_TIMER_BUILD_POLYMESHDETAIL, - /// The time to merge polygon mesh details. (See: #rcMergePolyMeshDetails) - RC_TIMER_MERGE_POLYMESHDETAIL, - /// The maximum number of timers. (Used for iterating timers.) - RC_MAX_TIMERS -}; - -/// Provides an interface for optional logging and performance tracking of the Recast -/// build process. -/// @ingroup recast -class rcContext -{ -public: - - /// Contructor. - /// @param[in] state TRUE if the logging and performance timers should be enabled. [Default: true] - inline rcContext(bool state = true) : m_logEnabled(state), m_timerEnabled(state) {} - virtual ~rcContext() {} - - /// Enables or disables logging. - /// @param[in] state TRUE if logging should be enabled. - inline void enableLog(bool state) { m_logEnabled = state; } - - /// Clears all log entries. - inline void resetLog() { if (m_logEnabled) doResetLog(); } - - /// Logs a message. - /// @param[in] category The category of the message. - /// @param[in] format The message. - void log(const rcLogCategory category, const char* format, ...); - - /// Enables or disables the performance timers. - /// @param[in] state TRUE if timers should be enabled. - inline void enableTimer(bool state) { m_timerEnabled = state; } - - /// Clears all peformance timers. (Resets all to unused.) - inline void resetTimers() { if (m_timerEnabled) doResetTimers(); } - - /// Starts the specified performance timer. - /// @param label The category of the timer. - inline void startTimer(const rcTimerLabel label) { if (m_timerEnabled) doStartTimer(label); } - - /// Stops the specified performance timer. - /// @param label The category of the timer. - inline void stopTimer(const rcTimerLabel label) { if (m_timerEnabled) doStopTimer(label); } - - /// Returns the total accumulated time of the specified performance timer. - /// @param label The category of the timer. - /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. - inline int getAccumulatedTime(const rcTimerLabel label) const { return m_timerEnabled ? doGetAccumulatedTime(label) : -1; } - -protected: - - /// Clears all log entries. - virtual void doResetLog() {} - - /// Logs a message. - /// @param[in] category The category of the message. - /// @param[in] msg The formatted message. - /// @param[in] len The length of the formatted message. - virtual void doLog(const rcLogCategory /*category*/, const char* /*msg*/, const int /*len*/) {} - - /// Clears all timers. (Resets all to unused.) - virtual void doResetTimers() {} - - /// Starts the specified performance timer. - /// @param[in] label The category of timer. - virtual void doStartTimer(const rcTimerLabel /*label*/) {} - - /// Stops the specified performance timer. - /// @param[in] label The category of the timer. - virtual void doStopTimer(const rcTimerLabel /*label*/) {} - - /// Returns the total accumulated time of the specified performance timer. - /// @param[in] label The category of the timer. - /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. - virtual int doGetAccumulatedTime(const rcTimerLabel /*label*/) const { return -1; } - - /// True if logging is enabled. - bool m_logEnabled; - - /// True if the performance timers are enabled. - 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 -{ - /// The width of the field along the x-axis. [Limit: >= 0] [Units: vx] - int width; - - /// The height of the field along the z-axis. [Limit: >= 0] [Units: vx] - int height; - - /// The width/height size of tile's on the xz-plane. [Limit: >= 0] [Units: vx] - int tileSize; - - /// The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx] - int borderSize; - - /// The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu] - float cs; - - /// The y-axis cell size to use for fields. [Limit: > 0] [Units: wu] - float ch; - - /// The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] - float bmin[3]; - - /// The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] - float bmax[3]; - - /// The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees] - float walkableSlopeAngle; - - /// Minimum floor to 'ceiling' height that will still allow the floor area to - /// be considered walkable. [Limit: >= 3] [Units: vx] - int walkableHeight; - - /// Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx] - int walkableClimb; - - /// The distance to erode/shrink the walkable area of the heightfield away from - /// obstructions. [Limit: >=0] [Units: vx] - int walkableRadius; - - /// The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx] - int maxEdgeLen; - - /// The maximum distance a simplfied contour's border edges should deviate - /// 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] - int minRegionArea; - - /// Any regions with a span count smaller than this value will, if possible, - /// be merged with larger regions. [Limit: >=0] [Units: vx] - int mergeRegionArea; - - /// The maximum number of vertices allowed for polygons generated during the - /// contour to polygon conversion process. [Limit: >= 3] - int maxVertsPerPoly; - - /// Sets the sampling distance to use when generating the detail mesh. - /// (For height detail only.) [Limits: 0 or >= 0.9] [Units: wu] - float detailSampleDist; - - /// The maximum distance the detail mesh surface should deviate from heightfield - /// data. (For height detail only.) [Limit: >=0] [Units: wu] - float detailSampleMaxError; -}; - -/// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax. -static const int RC_SPAN_HEIGHT_BITS = 13; -/// Defines the maximum value for rcSpan::smin and rcSpan::smax. -static const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1; - -/// The number of spans allocated per span spool. -/// @see rcSpanPool -static const int RC_SPANS_PER_POOL = 2048; - -/// Represents a span in a heightfield. -/// @see rcHeightfield -struct rcSpan -{ - 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. -}; - -/// A memory pool used for quick allocation of spans within a heightfield. -/// @see rcHeightfield -struct rcSpanPool -{ - rcSpanPool* next; ///< The next span pool. - rcSpan items[RC_SPANS_PER_POOL]; ///< Array of spans in the pool. -}; - -/// A dynamic heightfield representing obstructed space. -/// @ingroup recast -struct rcHeightfield -{ - rcHeightfield(); - ~rcHeightfield(); - - int width; ///< The width of the heightfield. (Along the x-axis in cell units.) - int height; ///< The height of the heightfield. (Along the z-axis in cell units.) - float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] - float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] - 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.) - rcSpan** spans; ///< Heightfield of spans (width*height). - rcSpanPool* pools; ///< Linked list of span pools. - rcSpan* freelist; ///< The next free span. - -private: - // Explicitly-disabled copy constructor and copy assignment operator. - rcHeightfield(const rcHeightfield&); - rcHeightfield& operator=(const rcHeightfield&); -}; - -/// Provides information on the content of a cell column in a compact heightfield. -struct rcCompactCell -{ - unsigned int index : 24; ///< Index to the first span in the column. - unsigned int count : 8; ///< Number of spans in the column. -}; - -/// Represents a span of unobstructed space within a compact heightfield. -struct rcCompactSpan -{ - unsigned short y; ///< The lower extent of the span. (Measured from the heightfield's base.) - unsigned short reg; ///< The id of the region the span belongs to. (Or zero if not in a region.) - unsigned int con : 24; ///< Packed neighbor connection data. - unsigned int h : 8; ///< The height of the span. (Measured from #y.) -}; - -/// A compact, static heightfield representing unobstructed space. -/// @ingroup recast -struct rcCompactHeightfield -{ - int width; ///< The width of the heightfield. (Along the x-axis in cell units.) - int height; ///< The height of the heightfield. (Along the z-axis in cell units.) - int spanCount; ///< The number of spans in the heightfield. - int walkableHeight; ///< The walkable height used during the build of the field. (See: rcConfig::walkableHeight) - int walkableClimb; ///< The walkable climb used during the build of the field. (See: rcConfig::walkableClimb) - int borderSize; ///< The AABB border size used during the build of the field. (See: rcConfig::borderSize) - unsigned short maxDistance; ///< The maximum distance value of any span within the field. - unsigned short maxRegions; ///< The maximum region id of any span within the field. - float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] - float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] - 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.) - rcCompactCell* cells; ///< Array of cells. [Size: #width*#height] - rcCompactSpan* spans; ///< Array of spans. [Size: #spanCount] - unsigned short* dist; ///< Array containing border distance data. [Size: #spanCount] - unsigned char* areas; ///< Array containing area id data. [Size: #spanCount] -}; - -/// Represents a heightfield layer within a layer set. -/// @see rcHeightfieldLayerSet -struct rcHeightfieldLayer -{ - float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] - float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] - 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 width; ///< The width of the heightfield. (Along the x-axis in cell units.) - int height; ///< The height of the heightfield. (Along the z-axis in cell units.) - int minx; ///< The minimum x-bounds of usable data. - int maxx; ///< The maximum x-bounds of usable data. - int miny; ///< The minimum y-bounds of usable data. (Along the z-axis.) - 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 * height] - unsigned char* areas; ///< Area ids. [Size: Same as #heights] - unsigned char* cons; ///< Packed neighbor connection information. [Size: Same as #heights] -}; - -/// Represents a set of heightfield layers. -/// @ingroup recast -/// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet -struct rcHeightfieldLayerSet -{ - rcHeightfieldLayer* layers; ///< The layers in the set. [Size: #nlayers] - int nlayers; ///< The number of layers in the set. -}; - -/// Represents a simple, non-overlapping contour in field space. -struct rcContour -{ - int* verts; ///< Simplified contour vertex and connection data. [Size: 4 * #nverts] - int nverts; ///< The number of vertices in the simplified contour. - int* rverts; ///< Raw contour vertex and connection data. [Size: 4 * #nrverts] - int nrverts; ///< The number of vertices in the raw contour. - unsigned short reg; ///< The region id of the contour. - unsigned char area; ///< The area id of the contour. -}; - -/// Represents a group of related contours. -/// @ingroup recast -struct rcContourSet -{ - rcContour* conts; ///< An array of the contours in the set. [Size: #nconts] - int nconts; ///< The number of contours in the set. - float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] - float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] - 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 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. -/// @ingroup recast -struct rcPolyMesh -{ - unsigned short* verts; ///< The mesh vertices. [Form: (x, y, z) * #nverts] - unsigned short* polys; ///< Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp] - unsigned short* regs; ///< The region id assigned to each polygon. [Length: #maxpolys] - unsigned short* flags; ///< The user defined flags for each polygon. [Length: #maxpolys] - unsigned char* areas; ///< The area id assigned to each polygon. [Length: #maxpolys] - int nverts; ///< The number of vertices. - int npolys; ///< The number of polygons. - int maxpolys; ///< The number of allocated polygons. - int nvp; ///< The maximum number of vertices per polygon. - float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] - float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] - 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 -/// with the polygons in its associated polygon mesh object. -/// @ingroup recast -struct rcPolyMeshDetail -{ - unsigned int* meshes; ///< The sub-mesh data. [Size: 4*#nmeshes] - float* verts; ///< The mesh vertices. [Size: 3*#nverts] - unsigned char* tris; ///< The mesh triangles. [Size: 4*#ntris] - int nmeshes; ///< The number of sub-meshes defined by #meshes. - int nverts; ///< The number of vertices in #verts. - int ntris; ///< The number of triangles in #tris. -}; - -/// @name Allocation Functions -/// Functions used to allocate and de-allocate Recast objects. -/// @see rcAllocSetCustom -/// @{ - -/// Allocates a heightfield object using the Recast allocator. -/// @return A heightfield that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcCreateHeightfield, rcFreeHeightField -rcHeightfield* rcAllocHeightfield(); - -/// Frees the specified heightfield object using the Recast allocator. -/// @param[in] hf A heightfield allocated using #rcAllocHeightfield -/// @ingroup recast -/// @see rcAllocHeightfield -void rcFreeHeightField(rcHeightfield* hf); - -/// Allocates a compact heightfield object using the Recast allocator. -/// @return A compact heightfield that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildCompactHeightfield, rcFreeCompactHeightfield -rcCompactHeightfield* rcAllocCompactHeightfield(); - -/// Frees the specified compact heightfield object using the Recast allocator. -/// @param[in] chf A compact heightfield allocated using #rcAllocCompactHeightfield -/// @ingroup recast -/// @see rcAllocCompactHeightfield -void rcFreeCompactHeightfield(rcCompactHeightfield* chf); - -/// Allocates a heightfield layer set using the Recast allocator. -/// @return A heightfield layer set that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet -rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet(); - -/// Frees the specified heightfield layer set using the Recast allocator. -/// @param[in] lset A heightfield layer set allocated using #rcAllocHeightfieldLayerSet -/// @ingroup recast -/// @see rcAllocHeightfieldLayerSet -void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset); - -/// Allocates a contour set object using the Recast allocator. -/// @return A contour set that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildContours, rcFreeContourSet -rcContourSet* rcAllocContourSet(); - -/// Frees the specified contour set using the Recast allocator. -/// @param[in] cset A contour set allocated using #rcAllocContourSet -/// @ingroup recast -/// @see rcAllocContourSet -void rcFreeContourSet(rcContourSet* cset); - -/// Allocates a polygon mesh object using the Recast allocator. -/// @return A polygon mesh that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildPolyMesh, rcFreePolyMesh -rcPolyMesh* rcAllocPolyMesh(); - -/// Frees the specified polygon mesh using the Recast allocator. -/// @param[in] pmesh A polygon mesh allocated using #rcAllocPolyMesh -/// @ingroup recast -/// @see rcAllocPolyMesh -void rcFreePolyMesh(rcPolyMesh* pmesh); - -/// Allocates a detail mesh object using the Recast allocator. -/// @return A detail mesh that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildPolyMeshDetail, rcFreePolyMeshDetail -rcPolyMeshDetail* rcAllocPolyMeshDetail(); - -/// Frees the specified detail mesh using the Recast allocator. -/// @param[in] dmesh A detail mesh allocated using #rcAllocPolyMeshDetail -/// @ingroup recast -/// @see rcAllocPolyMeshDetail -void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh); - -/// @} - -/// Heighfield border flag. -/// If a heightfield region ID has this bit set, then the region is a border -/// region and its spans are considered unwalkable. -/// (Used during the region and contour build process.) -/// @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 -/// vertex will later be removed in order to match the segments and vertices -/// at tile boundaries. -/// (Used during the build process.) -/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts -static const int RC_BORDER_VERTEX = 0x10000; - -/// Area border flag. -/// If a region ID has this bit set, then the associated element lies on -/// the border of an area. -/// (Used during the region and contour build process.) -/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts -static const int RC_AREA_BORDER = 0x20000; - -/// Contour build flags. -/// @see rcBuildContours -enum rcBuildContoursFlags -{ - RC_CONTOUR_TESS_WALL_EDGES = 0x01, ///< Tessellate solid (impassable) edges during contour simplification. - RC_CONTOUR_TESS_AREA_EDGES = 0x02, ///< Tessellate edges between areas during contour simplification. -}; - -/// Applied to the region id field of contour vertices in order to extract the region id. -/// The region id field of a vertex may have several flags applied to it. So the -/// fields value can't be used directly. -/// @see rcContour::verts, rcContour::rverts -static const int RC_CONTOUR_REG_MASK = 0xffff; - -/// An value which indicates an invalid index within a mesh. -/// @note This does not necessarily indicate an error. -/// @see rcPolyMesh::polys -static const unsigned short RC_MESH_NULL_IDX = 0xffff; - -/// Represents the null area. -/// When a data element is given this value it is considered to no longer be -/// assigned to a usable area. (E.g. It is unwalkable.) -static const unsigned char RC_NULL_AREA = 0; - -/// The default area id used to indicate a walkable polygon. -/// This is also the maximum allowed area id, and the only non-null area id -/// recognized by some steps in the build process. -static const unsigned char RC_WALKABLE_AREA = 63; - -/// The value returned by #rcGetCon if the specified direction is not connected -/// to another span. (Has no neighbor.) -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 void rcIgnoreUnused(const T&) { } - -/// Swaps the values of the two parameters. -/// @param[in,out] a Value A -/// @param[in,out] b Value B -template inline void rcSwap(T& a, T& b) { T t = a; a = b; b = t; } - -/// Returns the minimum of two values. -/// @param[in] a Value A -/// @param[in] b Value B -/// @return The minimum of the two values. -template inline T rcMin(T a, T b) { return a < b ? a : b; } - -/// Returns the maximum of two values. -/// @param[in] a Value A -/// @param[in] b Value B -/// @return The maximum of the two values. -template inline T rcMax(T a, T b) { return a > b ? a : b; } - -/// Returns the absolute value. -/// @param[in] a The value. -/// @return The absolute value of the specified value. -template inline T rcAbs(T a) { return a < 0 ? -a : a; } - -/// Returns the square of the value. -/// @param[in] a The value. -/// @return The square of the value. -template inline T rcSqr(T a) { return a*a; } - -/// Clamps the value to the specified range. -/// @param[in] v The value to clamp. -/// @param[in] mn The minimum permitted return value. -/// @param[in] mx The maximum permitted return value. -/// @return The value, clamped to the specified range. -template inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } - -/// Returns the square root of the value. -/// @param[in] x The value. -/// @return The square root of the vlaue. -float rcSqrt(float x); - -/// @} -/// @name Vector helper functions. -/// @{ - -/// 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)] -inline void rcVcross(float* dest, const float* v1, const float* v2) -{ - dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; - dest[1] = v1[2]*v2[0] - v1[0]*v2[2]; - dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; -} - -/// 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. -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. (@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] 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) -{ - dest[0] = v1[0]+v2[0]*s; - dest[1] = v1[1]+v2[1]*s; - dest[2] = v1[2]+v2[2]*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] v2 The vector to add to @p v1. [(x, y, z)] -inline void rcVadd(float* dest, const float* v1, const float* v2) -{ - dest[0] = v1[0]+v2[0]; - dest[1] = v1[1]+v2[1]; - dest[2] = v1[2]+v2[2]; -} - -/// 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] v2 The vector to subtract from @p v1. [(x, y, z)] -inline void rcVsub(float* dest, const float* v1, const float* v2) -{ - dest[0] = v1[0]-v2[0]; - dest[1] = v1[1]-v2[1]; - dest[2] = v1[2]-v2[2]; -} - -/// Selects the minimum value of each element from the specified vectors. -/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)] -/// @param[in] v A vector. [(x, y, z)] -inline void rcVmin(float* mn, const float* v) -{ - mn[0] = rcMin(mn[0], v[0]); - mn[1] = rcMin(mn[1], v[1]); - mn[2] = rcMin(mn[2], v[2]); -} - -/// Selects the maximum value of each element from the specified vectors. -/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)] -/// @param[in] v A vector. [(x, y, z)] -inline void rcVmax(float* mx, const float* v) -{ - mx[0] = rcMax(mx[0], v[0]); - mx[1] = rcMax(mx[1], v[1]); - mx[2] = rcMax(mx[2], v[2]); -} - -/// Performs a vector copy. -/// @param[out] dest The result. [(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]; - dest[1] = v[1]; - dest[2] = v[2]; -} - -/// Returns the distance between two points. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] -/// @return The distance between the two points. -inline float rcVdist(const float* v1, const float* v2) -{ - float dx = v2[0] - v1[0]; - float dy = v2[1] - v1[1]; - float dz = v2[2] - v1[2]; - return rcSqrt(dx*dx + dy*dy + dz*dz); -} - -/// Returns the square of the distance between two points. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] -/// @return The square of the distance between the two points. -inline float rcVdistSqr(const float* v1, const float* v2) -{ - float dx = v2[0] - v1[0]; - float dy = v2[1] - v1[1]; - float dz = v2[2] - v1[2]; - return dx*dx + dy*dy + dz*dz; -} - -/// Normalizes the vector. -/// @param[in,out] v The vector to normalize. [(x, y, z)] -inline void rcVnormalize(float* v) -{ - float d = 1.0f / rcSqrt(rcSqr(v[0]) + rcSqr(v[1]) + rcSqr(v[2])); - v[0] *= d; - v[1] *= d; - v[2] *= d; -} - -/// @} -/// @name Heightfield Functions -/// @see rcHeightfield -/// @{ - -/// Calculates the bounding box of an array of vertices. -/// @ingroup recast -/// @param[in] verts An array of vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices in the @p verts array. -/// @param[out] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu] -/// @param[out] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu] -void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax); - -/// Calculates the grid size based on the bounding box and grid cell size. -/// @ingroup recast -/// @param[in] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu] -/// @param[in] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu] -/// @param[in] cs The xz-plane cell size. [Limit: > 0] [Units: wu] -/// @param[out] w The width along the x-axis. [Limit: >= 0] [Units: vx] -/// @param[out] h The height along the z-axis. [Limit: >= 0] [Units: vx] -void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h); - -/// Initializes a new heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] hf The allocated heightfield to initialize. -/// @param[in] width The width of the field along the x-axis. [Limit: >= 0] [Units: vx] -/// @param[in] height The height of the field along the z-axis. [Limit: >= 0] [Units: vx] -/// @param[in] bmin The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] -/// @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); - -/// Sets the area id of all triangles with a slope below the specified value -/// 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] 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] -/// @param[in] nt The number of triangles. -/// @param[out] areas The triangle area ids. [Length: >= @p nt] -void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv, - const int* tris, int nt, unsigned char* areas); - -/// 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] 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] -/// @param[in] nt The number of triangles. -/// @param[out] areas The triangle area ids. [Length: >= @p nt] -void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv, - const int* tris, int nt, unsigned char* areas); - -/// Adds a span to the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] hf An initialized heightfield. -/// @param[in] x The width index where the span is to be added. -/// [Limits: 0 <= value < rcHeightfield::width] -/// @param[in] y The height index where the span is to be added. -/// [Limits: 0 <= value < rcHeightfield::height] -/// @param[in] smin The minimum height of the span. [Limit: < @p smax] [Units: vx] -/// @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] -/// @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); - -/// Rasterizes a triangle into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] v0 Triangle vertex 0 [(x, y, z)] -/// @param[in] v1 Triangle vertex 1 [(x, y, z)] -/// @param[in] v2 Triangle vertex 2 [(x, y, z)] -/// @param[in] area The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA] -/// @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] -/// @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); - -/// Rasterizes an indexed triangle mesh into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices. -/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] -/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] -/// @param[in] nt The number of triangles. -/// @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] -/// @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); - -/// Rasterizes an indexed triangle mesh into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices. -/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] -/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] -/// @param[in] nt The number of triangles. -/// @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] -/// @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); - -/// Rasterizes triangles into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt] -/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] -/// @param[in] nt The number of triangles. -/// @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] -/// @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 neighbor. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. -/// [Limit: >=0] [Units: vx] -/// @param[in,out] solid A fully built heightfield. (All spans have been added.) -void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid); - -/// Marks spans that are ledges as not-walkable. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to -/// be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. -/// [Limit: >=0] [Units: vx] -/// @param[in,out] solid A fully built heightfield. (All spans have been added.) -void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, - const int walkableClimb, rcHeightfield& solid); - -/// Marks walkable spans as not walkable if the clearence above the span is less than the specified height. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to -/// be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[in,out] solid A fully built heightfield. (All spans have been added.) -void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid); - -/// Returns the number of spans contained in the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] hf An initialized heightfield. -/// @returns The number of spans in the heightfield. -int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf); - -/// @} -/// @name Compact Heightfield Functions -/// @see rcCompactHeightfield -/// @{ - -/// Builds a compact heightfield representing open space, from a heightfield representing solid space. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area -/// to be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. -/// [Limit: >=0] [Units: vx] -/// @param[in] hf The heightfield to be compacted. -/// @param[out] chf The resulting compact heightfield. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb, - rcHeightfield& hf, rcCompactHeightfield& chf); - -/// Erodes the walkable area within the heightfield by the specified radius. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] radius The radius of erosion. [Limits: 0 < value < 255] [Units: vx] -/// @param[in,out] chf The populated compact heightfield to erode. -/// @returns True if the operation completed successfully. -bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf); - -/// Applies a median filter to walkable area types (based on area id), removing noise. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @returns True if the operation completed successfully. -bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf); - -/// Applies an area id to all spans within the specified bounding box. (AABB) -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] bmin The minimum of the bounding box. [(x, y, z)] -/// @param[in] bmax The maximum of the bounding box. [(x, y, z)] -/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] -/// @param[in,out] chf A populated compact heightfield. -void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId, - rcCompactHeightfield& chf); - -/// Applies the area id to the all spans within the specified convex polygon. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The vertices of the polygon [Fomr: (x, y, z) * @p nverts] -/// @param[in] nverts The number of vertices in the polygon. -/// @param[in] hmin The height of the base of the polygon. -/// @param[in] hmax The height of the top of the polygon. -/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] -/// @param[in,out] chf A populated compact heightfield. -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. -/// @param[in] pos The center of the base of the cylinder. [Form: (x, y, z)] -/// @param[in] r The radius of the cylinder. -/// @param[in] h The height of the cylinder. -/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] -/// @param[in,out] chf A populated compact heightfield. -void rcMarkCylinderArea(rcContext* ctx, const float* pos, - const float r, const float h, unsigned char areaId, - rcCompactHeightfield& chf); - -/// Builds the distance field for the specified compact heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @returns True if the operation completed successfully. -bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf); - -/// Builds region data for the heightfield using watershed 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] 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] 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] -/// @param[in] i The index of the neighbor span. -inline void rcSetCon(rcCompactSpan& s, int dir, int i) -{ - const unsigned int shift = (unsigned int)dir*6; - unsigned int con = s.con; - s.con = (con & ~(0x3f << shift)) | (((unsigned int)i & 0x3f) << shift); -} - -/// Gets neighbor connection data for the specified direction. -/// @param[in] s The span to check. -/// @param[in] dir The direction to check. [Limits: 0 <= value < 4] -/// @return The neighbor connection data for the specified direction, -/// or #RC_NOT_CONNECTED if there is no connection. -inline int rcGetCon(const rcCompactSpan& s, int dir) -{ - const unsigned int shift = (unsigned int)dir*6; - return (s.con >> shift) & 0x3f; -} - -/// Gets the standard width (x-axis) offset for the specified direction. -/// @param[in] dir The direction. [Limits: 0 <= value < 4] -/// @return The width offset to apply to the current cell position to move -/// in the direction. -inline int rcGetDirOffsetX(int dir) -{ - static const int offset[4] = { -1, 0, 1, 0, }; - return offset[dir&0x03]; -} - -/// Gets the standard height (z-axis) offset for the specified direction. -/// @param[in] dir The direction. [Limits: 0 <= value < 4] -/// @return The height offset to apply to the current cell position to move -/// in the direction. -inline int rcGetDirOffsetY(int dir) -{ - 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 -/// @{ - -/// Builds a layer set from the specified compact heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] chf A fully built compact heightfield. -/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0] -/// [Units: vx] -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area -/// to be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[out] lset The resulting layer set. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int walkableHeight, - rcHeightfieldLayerSet& lset); - -/// Builds a contour set from the region outlines in the provided compact heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] chf A fully built compact heightfield. -/// @param[in] maxError The maximum distance a simplfied contour's border edges should deviate -/// the original raw contour. [Limit: >=0] [Units: wu] -/// @param[in] maxEdgeLen The maximum allowed length for contour edges along the border of the mesh. -/// [Limit: >=0] [Units: vx] -/// @param[out] cset The resulting contour set. (Must be pre-allocated.) -/// @param[in] buildFlags The build flags. (See: #rcBuildContoursFlags) -/// @returns True if the operation completed successfully. -bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf, - const float maxError, const int maxEdgeLen, - rcContourSet& cset, const int buildFlags = RC_CONTOUR_TESS_WALL_EDGES); - -/// Builds a polygon mesh from the provided contours. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] cset A fully built contour set. -/// @param[in] nvp The maximum number of vertices allowed for polygons generated during the -/// contour to polygon conversion process. [Limit: >= 3] -/// @param[out] mesh The resulting polygon mesh. (Must be re-allocated.) -/// @returns True if the operation completed successfully. -bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh); - -/// Merges multiple polygon meshes into a single mesh. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] meshes An array of polygon meshes to merge. [Size: @p nmeshes] -/// @param[in] nmeshes The number of polygon meshes in the meshes array. -/// @param[in] mesh The resulting polygon mesh. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh); - -/// Builds a detail mesh from the provided polygon mesh. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] mesh A fully built polygon mesh. -/// @param[in] chf The compact heightfield used to build the polygon mesh. -/// @param[in] sampleDist Sets the distance to use when samping the heightfield. [Limit: >=0] [Units: wu] -/// @param[in] sampleMaxError The maximum distance the detail mesh surface should deviate from -/// heightfield data. [Limit: >=0] [Units: wu] -/// @param[out] dmesh The resulting detail mesh. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf, - 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. -/// @param[in] meshes An array of detail meshes to merge. [Size: @p nmeshes] -/// @param[in] nmeshes The number of detail meshes in the meshes array. -/// @param[out] mesh The resulting detail mesh. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh); - -/// @} - -#endif // RECAST_H - -/////////////////////////////////////////////////////////////////////////// - -// Due to the large amount of detail documentation for this file, -// the content normally located at the end of the header file has been separated -// out to a file in /Docs/Extern. diff --git a/libs/recast/recast/include/RecastAlloc.h b/libs/recast/recast/include/RecastAlloc.h deleted file mode 100644 index 3cdd450d4..000000000 --- a/libs/recast/recast/include/RecastAlloc.h +++ /dev/null @@ -1,146 +0,0 @@ -// -// Copyright (c) 2009-2010 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 RECASTALLOC_H -#define RECASTALLOC_H - -#include - -/// Provides hint values to the memory allocator on how long the -/// memory is expected to be used. -enum rcAllocHint -{ - RC_ALLOC_PERM, ///< Memory will persist after a function call. - RC_ALLOC_TEMP ///< Memory used temporarily within a function. -}; - -/// A memory allocation function. -// @param[in] size The size, in bytes of memory, to allocate. -// @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)(size_t size, rcAllocHint hint); - -/// A memory deallocation function. -/// @param[in] ptr A pointer to a memory block previously allocated using #rcAllocFunc. -/// @see rcAllocSetCustom -typedef void (rcFreeFunc)(void* ptr); - -/// Sets the base custom allocation functions to be used by Recast. -/// @param[in] allocFunc The memory allocation function to be used by #rcAlloc -/// @param[in] freeFunc The memory de-allocation function to be used by #rcFree -void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc); - -/// Allocates a memory block. -/// @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. -/// @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); - - -/// A simple dynamic array of integers. -class rcIntArray -{ - int* m_data; - int m_size, m_cap; - - 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. - 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. - 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) - { - 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. - 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. - 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. - 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. - int& operator[](int i) { return m_data[i]; } - - /// The current size of the integer array. - int size() const { return m_size; } -}; - -/// A simple helper class used to delete an array when it goes out of scope. -/// @note This class is rarely if ever used by the end user. -template class rcScopedDelete -{ - T* ptr; -public: - - /// Constructs an instance with a null pointer. - inline rcScopedDelete() : ptr(0) {} - - /// Constructs an instance with the specified pointer. - /// @param[in] p An pointer to an allocated array. - inline rcScopedDelete(T* p) : ptr(p) {} - inline ~rcScopedDelete() { rcFree(ptr); } - - /// 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 diff --git a/libs/recast/recast/include/RecastAssert.h b/libs/recast/recast/include/RecastAssert.h deleted file mode 100644 index e7cc10e49..000000000 --- a/libs/recast/recast/include/RecastAssert.h +++ /dev/null @@ -1,56 +0,0 @@ -// -// Copyright (c) 2009-2010 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 RECASTASSERT_H -#define RECASTASSERT_H - -// Note: This header file's only purpose is to include define assert. -// Feel free to change the file and include your own implementation instead. - -#ifdef NDEBUG - -// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/ -# define rcAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false) - -#else - -/// An assertion failure function. -// @param[in] expression asserted expression. -// @param[in] file Filename of the failed assertion. -// @param[in] line Line number of the failed assertion. -/// @see rcAssertFailSetCustom -typedef void (rcAssertFailFunc)(const char* expression, const char* file, int line); - -/// Sets the base custom assertion failure function to be used by Recast. -/// @param[in] assertFailFunc The function to be used in case of failure of #dtAssert -void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc); - -/// Gets the base custom assertion failure function to be used by Recast. -rcAssertFailFunc* rcAssertFailGetCustom(); - -# include -# define rcAssert(expression) \ - { \ - rcAssertFailFunc* failFunc = rcAssertFailGetCustom(); \ - if(failFunc == NULL) { assert(expression); } \ - else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \ - } - -#endif - -#endif // RECASTASSERT_H diff --git a/libs/recast/recast/src/Recast.cpp b/libs/recast/recast/src/Recast.cpp deleted file mode 100644 index 8308d1973..000000000 --- a/libs/recast/recast/src/Recast.cpp +++ /dev/null @@ -1,504 +0,0 @@ -// -// Copyright (c) 2009-2010 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 -#define _USE_MATH_DEFINES -#include -#include -#include -#include -#include -#include -#include "Recast.h" -#include "RecastAlloc.h" -#include "RecastAssert.h" - -float rcSqrt(float x) -{ - return sqrtf(x); -} - -/// @class rcContext -/// @par -/// -/// This class does not provide logging or timer functionality on its -/// own. Both must be provided by a concrete implementation -/// by overriding the protected member functions. Also, this class does not -/// provide an interface for extracting log messages. (Only adding them.) -/// So concrete implementations must provide one. -/// -/// If no logging or timers are required, just pass an instance of this -/// class through the Recast build process. -/// - -/// @par -/// -/// Example: -/// @code -/// // Where ctx is an instance of rcContext and filepath is a char array. -/// ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not load '%s'", filepath); -/// @endcode -void rcContext::log(const rcLogCategory category, const char* format, ...) -{ - if (!m_logEnabled) - return; - static const int MSG_SIZE = 512; - char msg[MSG_SIZE]; - va_list ap; - va_start(ap, format); - int len = vsnprintf(msg, MSG_SIZE, format, ap); - if (len >= MSG_SIZE) - { - len = MSG_SIZE-1; - msg[MSG_SIZE-1] = '\0'; - } - va_end(ap); - doLog(category, msg, len); -} - -rcHeightfield* rcAllocHeightfield() -{ - return new (rcAlloc(sizeof(rcHeightfield), RC_ALLOC_PERM)) rcHeightfield; -} - -rcHeightfield::rcHeightfield() - : width() - , height() - , bmin() - , bmax() - , cs() - , ch() - , spans() - , pools() - , freelist() -{ -} - -rcHeightfield::~rcHeightfield() -{ - // Delete span array. - rcFree(spans); - // Delete span pools. - while (pools) - { - rcSpanPool* next = pools->next; - rcFree(pools); - pools = next; - } -} - -void rcFreeHeightField(rcHeightfield* hf) -{ - if (!hf) return; - hf->~rcHeightfield(); - rcFree(hf); -} - -rcCompactHeightfield* rcAllocCompactHeightfield() -{ - rcCompactHeightfield* chf = (rcCompactHeightfield*)rcAlloc(sizeof(rcCompactHeightfield), RC_ALLOC_PERM); - memset(chf, 0, sizeof(rcCompactHeightfield)); - return chf; -} - -void rcFreeCompactHeightfield(rcCompactHeightfield* chf) -{ - if (!chf) return; - rcFree(chf->cells); - rcFree(chf->spans); - rcFree(chf->dist); - rcFree(chf->areas); - rcFree(chf); -} - -rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet() -{ - rcHeightfieldLayerSet* lset = (rcHeightfieldLayerSet*)rcAlloc(sizeof(rcHeightfieldLayerSet), RC_ALLOC_PERM); - memset(lset, 0, sizeof(rcHeightfieldLayerSet)); - return lset; -} - -void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset) -{ - if (!lset) return; - for (int i = 0; i < lset->nlayers; ++i) - { - rcFree(lset->layers[i].heights); - rcFree(lset->layers[i].areas); - rcFree(lset->layers[i].cons); - } - rcFree(lset->layers); - rcFree(lset); -} - - -rcContourSet* rcAllocContourSet() -{ - rcContourSet* cset = (rcContourSet*)rcAlloc(sizeof(rcContourSet), RC_ALLOC_PERM); - memset(cset, 0, sizeof(rcContourSet)); - return cset; -} - -void rcFreeContourSet(rcContourSet* cset) -{ - if (!cset) return; - for (int i = 0; i < cset->nconts; ++i) - { - rcFree(cset->conts[i].verts); - rcFree(cset->conts[i].rverts); - } - rcFree(cset->conts); - rcFree(cset); -} - -rcPolyMesh* rcAllocPolyMesh() -{ - rcPolyMesh* pmesh = (rcPolyMesh*)rcAlloc(sizeof(rcPolyMesh), RC_ALLOC_PERM); - memset(pmesh, 0, sizeof(rcPolyMesh)); - return pmesh; -} - -void rcFreePolyMesh(rcPolyMesh* pmesh) -{ - if (!pmesh) return; - rcFree(pmesh->verts); - rcFree(pmesh->polys); - rcFree(pmesh->regs); - rcFree(pmesh->flags); - rcFree(pmesh->areas); - rcFree(pmesh); -} - -rcPolyMeshDetail* rcAllocPolyMeshDetail() -{ - rcPolyMeshDetail* dmesh = (rcPolyMeshDetail*)rcAlloc(sizeof(rcPolyMeshDetail), RC_ALLOC_PERM); - memset(dmesh, 0, sizeof(rcPolyMeshDetail)); - return dmesh; -} - -void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh) -{ - if (!dmesh) return; - rcFree(dmesh->meshes); - rcFree(dmesh->verts); - rcFree(dmesh->tris); - rcFree(dmesh); -} - -void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax) -{ - // Calculate bounding box. - rcVcopy(bmin, verts); - rcVcopy(bmax, verts); - for (int i = 1; i < nv; ++i) - { - const float* v = &verts[i*3]; - rcVmin(bmin, v); - rcVmax(bmax, v); - } -} - -void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h) -{ - *w = (int)((bmax[0] - bmin[0])/cs+0.5f); - *h = (int)((bmax[2] - bmin[2])/cs+0.5f); -} - -/// @par -/// -/// See the #rcConfig documentation for more information on the configuration parameters. -/// -/// @see rcAllocHeightfield, rcHeightfield -bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height, - const float* bmin, const float* bmax, - float cs, float ch) -{ - rcIgnoreUnused(ctx); - - hf.width = width; - hf.height = height; - rcVcopy(hf.bmin, bmin); - rcVcopy(hf.bmax, bmax); - hf.cs = cs; - hf.ch = ch; - hf.spans = (rcSpan**)rcAlloc(sizeof(rcSpan*)*hf.width*hf.height, RC_ALLOC_PERM); - if (!hf.spans) - return false; - memset(hf.spans, 0, sizeof(rcSpan*)*hf.width*hf.height); - return true; -} - -static void calcTriNormal(const float* v0, const float* v1, const float* v2, float* norm) -{ - float e0[3], e1[3]; - rcVsub(e0, v1, v0); - rcVsub(e1, v2, v0); - rcVcross(norm, e0, e1); - rcVnormalize(norm); -} - -/// @par -/// -/// 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, - const float* verts, int nv, - const int* tris, int nt, - unsigned char* areas) -{ - rcIgnoreUnused(ctx); - rcIgnoreUnused(nv); - - const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI); - - float norm[3]; - - for (int i = 0; i < nt; ++i) - { - const int* tri = &tris[i*3]; - calcTriNormal(&verts[tri[0]*3], &verts[tri[1]*3], &verts[tri[2]*3], norm); - // Check if the face is walkable. - if (norm[1] > walkableThr) - areas[i] = RC_WALKABLE_AREA; - } -} - -/// @par -/// -/// 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, - const float* verts, int /*nv*/, - const int* tris, int nt, - unsigned char* areas) -{ - rcIgnoreUnused(ctx); - - const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI); - - float norm[3]; - - for (int i = 0; i < nt; ++i) - { - const int* tri = &tris[i*3]; - calcTriNormal(&verts[tri[0]*3], &verts[tri[1]*3], &verts[tri[2]*3], norm); - // Check if the face is walkable. - if (norm[1] <= walkableThr) - areas[i] = RC_NULL_AREA; - } -} - -int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf) -{ - rcIgnoreUnused(ctx); - - const int w = hf.width; - const int h = hf.height; - int spanCount = 0; - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - for (rcSpan* s = hf.spans[x + y*w]; s; s = s->next) - { - if (s->area != RC_NULL_AREA) - spanCount++; - } - } - } - return spanCount; -} - -/// @par -/// -/// This is just the beginning of the process of fully building a compact heightfield. -/// 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. -/// -/// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig -bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb, - rcHeightfield& hf, rcCompactHeightfield& chf) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD); - - const int w = hf.width; - const int h = hf.height; - const int spanCount = rcGetHeightFieldSpanCount(ctx, hf); - - // Fill in header. - chf.width = w; - chf.height = h; - chf.spanCount = spanCount; - chf.walkableHeight = walkableHeight; - chf.walkableClimb = walkableClimb; - chf.maxRegions = 0; - rcVcopy(chf.bmin, hf.bmin); - rcVcopy(chf.bmax, hf.bmax); - chf.bmax[1] += walkableHeight*hf.ch; - chf.cs = hf.cs; - chf.ch = hf.ch; - chf.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell)*w*h, RC_ALLOC_PERM); - if (!chf.cells) - { - ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", w*h); - return false; - } - memset(chf.cells, 0, sizeof(rcCompactCell)*w*h); - chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*spanCount, RC_ALLOC_PERM); - if (!chf.spans) - { - ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.spans' (%d)", spanCount); - return false; - } - memset(chf.spans, 0, sizeof(rcCompactSpan)*spanCount); - chf.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*spanCount, RC_ALLOC_PERM); - if (!chf.areas) - { - ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.areas' (%d)", spanCount); - return false; - } - memset(chf.areas, RC_NULL_AREA, sizeof(unsigned char)*spanCount); - - const int MAX_HEIGHT = 0xffff; - - // Fill in cells and spans. - int idx = 0; - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const rcSpan* s = hf.spans[x + y*w]; - // If there are no spans at this cell, just leave the data to index=0, count=0. - if (!s) continue; - rcCompactCell& c = chf.cells[x+y*w]; - c.index = idx; - c.count = 0; - while (s) - { - if (s->area != RC_NULL_AREA) - { - const int bot = (int)s->smax; - const int top = s->next ? (int)s->next->smin : MAX_HEIGHT; - chf.spans[idx].y = (unsigned short)rcClamp(bot, 0, 0xffff); - chf.spans[idx].h = (unsigned char)rcClamp(top - bot, 0, 0xff); - chf.areas[idx] = s->area; - idx++; - c.count++; - } - s = s->next; - } - } - } - - // Find neighbour connections. - const int MAX_LAYERS = RC_NOT_CONNECTED-1; - int tooHighNeighbour = 0; - 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) - { - rcCompactSpan& s = chf.spans[i]; - - for (int dir = 0; dir < 4; ++dir) - { - rcSetCon(s, dir, RC_NOT_CONNECTED); - const int nx = x + rcGetDirOffsetX(dir); - const int ny = y + rcGetDirOffsetY(dir); - // First check that the neighbour cell is in bounds. - if (nx < 0 || ny < 0 || nx >= w || ny >= h) - continue; - - // Iterate over all neighbour spans and check if any of the is - // accessible from current cell. - const rcCompactCell& nc = chf.cells[nx+ny*w]; - for (int k = (int)nc.index, nk = (int)(nc.index+nc.count); k < nk; ++k) - { - const rcCompactSpan& ns = chf.spans[k]; - const int bot = rcMax(s.y, ns.y); - const int top = rcMin(s.y+s.h, ns.y+ns.h); - - // Check that the gap between the spans is walkable, - // and that the climb height between the gaps is not too high. - if ((top - bot) >= walkableHeight && rcAbs((int)ns.y - (int)s.y) <= walkableClimb) - { - // Mark direction as walkable. - const int lidx = k - (int)nc.index; - if (lidx < 0 || lidx > MAX_LAYERS) - { - tooHighNeighbour = rcMax(tooHighNeighbour, lidx); - continue; - } - rcSetCon(s, dir, lidx); - break; - } - } - - } - } - } - } - - if (tooHighNeighbour > MAX_LAYERS) - { - ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)", - tooHighNeighbour, MAX_LAYERS); - } - - return true; -} - -/* -static int getHeightfieldMemoryUsage(const rcHeightfield& hf) -{ - int size = 0; - size += sizeof(hf); - size += hf.width * hf.height * sizeof(rcSpan*); - - rcSpanPool* pool = hf.pools; - while (pool) - { - size += (sizeof(rcSpanPool) - sizeof(rcSpan)) + sizeof(rcSpan)*RC_SPANS_PER_POOL; - pool = pool->next; - } - return size; -} - -static int getCompactHeightFieldMemoryusage(const rcCompactHeightfield& chf) -{ - int size = 0; - size += sizeof(rcCompactHeightfield); - size += sizeof(rcCompactSpan) * chf.spanCount; - size += sizeof(rcCompactCell) * chf.width * chf.height; - return size; -} -*/ diff --git a/libs/recast/recast/src/RecastAlloc.cpp b/libs/recast/recast/src/RecastAlloc.cpp deleted file mode 100644 index 453b5fa6a..000000000 --- a/libs/recast/recast/src/RecastAlloc.cpp +++ /dev/null @@ -1,86 +0,0 @@ -// -// Copyright (c) 2009-2010 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 -#include -#include "RecastAlloc.h" -#include "RecastAssert.h" - -static void *rcAllocDefault(size_t size, rcAllocHint) -{ - return malloc(size); -} - -static void rcFreeDefault(void *ptr) -{ - free(ptr); -} - -static rcAllocFunc* sRecastAllocFunc = rcAllocDefault; -static rcFreeFunc* sRecastFreeFunc = rcFreeDefault; - -/// @see rcAlloc, rcFree -void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc) -{ - sRecastAllocFunc = allocFunc ? allocFunc : rcAllocDefault; - sRecastFreeFunc = freeFunc ? freeFunc : rcFreeDefault; -} - -/// @see rcAllocSetCustom -void* rcAlloc(size_t size, rcAllocHint hint) -{ - return sRecastAllocFunc(size, hint); -} - -/// @par -/// -/// @warning This function leaves the value of @p ptr unchanged. So it still -/// points to the same (now invalid) location, and not to null. -/// -/// @see rcAllocSetCustom -void rcFree(void* ptr) -{ - if (ptr) - sRecastFreeFunc(ptr); -} - -/// @class rcIntArray -/// -/// While it is possible to pre-allocate a specific array size during -/// construction or by using the #resize method, certain methods will -/// automatically resize the array as needed. -/// -/// @warning The array memory is not initialized to zero when the size is -/// manually set during construction or when using #resize. - -/// @par -/// -/// 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::doResize(int n) -{ - if (!m_cap) m_cap = n; - while (m_cap < n) m_cap *= 2; - int* newData = (int*)rcAlloc(m_cap*sizeof(int), RC_ALLOC_TEMP); - rcAssert(newData); - if (m_size && newData) memcpy(newData, m_data, m_size*sizeof(int)); - rcFree(m_data); - m_data = newData; -} - diff --git a/libs/recast/recast/src/RecastArea.cpp b/libs/recast/recast/src/RecastArea.cpp deleted file mode 100644 index 97139cf99..000000000 --- a/libs/recast/recast/src/RecastArea.cpp +++ /dev/null @@ -1,591 +0,0 @@ -// -// Copyright (c) 2009-2010 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 -#define _USE_MATH_DEFINES -#include -#include -#include -#include -#include "Recast.h" -#include "RecastAlloc.h" -#include "RecastAssert.h" - -/// @par -/// -/// Basically, any spans that are closer to a boundary or obstruction than the specified radius -/// are marked as unwalkable. -/// -/// This method is usually called immediately after the heightfield has been built. -/// -/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius -bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf) -{ - rcAssert(ctx); - - const int w = chf.width; - const int h = chf.height; - - rcScopedTimer timer(ctx, RC_TIMER_ERODE_AREA); - - unsigned char* dist = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP); - if (!dist) - { - ctx->log(RC_LOG_ERROR, "erodeWalkableArea: Out of memory 'dist' (%d).", chf.spanCount); - return false; - } - - // Init distance. - memset(dist, 0xff, sizeof(unsigned char)*chf.spanCount); - - // Mark boundary cells. - 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) - { - dist[i] = 0; - } - else - { - const rcCompactSpan& s = chf.spans[i]; - int nc = 0; - for (int dir = 0; dir < 4; ++dir) - { - if (rcGetCon(s, dir) != RC_NOT_CONNECTED) - { - const int nx = x + rcGetDirOffsetX(dir); - const int ny = y + rcGetDirOffsetY(dir); - const int nidx = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir); - if (chf.areas[nidx] != RC_NULL_AREA) - { - nc++; - } - } - } - // At least one missing neighbour. - if (nc != 4) - dist[i] = 0; - } - } - } - } - - unsigned char nd; - - // Pass 1 - 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) - { - const rcCompactSpan& s = chf.spans[i]; - - if (rcGetCon(s, 0) != RC_NOT_CONNECTED) - { - // (-1,0) - 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); - const rcCompactSpan& as = chf.spans[ai]; - nd = (unsigned char)rcMin((int)dist[ai]+2, 255); - if (nd < dist[i]) - dist[i] = nd; - - // (-1,-1) - if (rcGetCon(as, 3) != RC_NOT_CONNECTED) - { - const int aax = ax + rcGetDirOffsetX(3); - const int aay = ay + rcGetDirOffsetY(3); - const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3); - nd = (unsigned char)rcMin((int)dist[aai]+3, 255); - if (nd < dist[i]) - dist[i] = nd; - } - } - if (rcGetCon(s, 3) != RC_NOT_CONNECTED) - { - // (0,-1) - 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); - const rcCompactSpan& as = chf.spans[ai]; - nd = (unsigned char)rcMin((int)dist[ai]+2, 255); - if (nd < dist[i]) - dist[i] = nd; - - // (1,-1) - if (rcGetCon(as, 2) != RC_NOT_CONNECTED) - { - const int aax = ax + rcGetDirOffsetX(2); - const int aay = ay + rcGetDirOffsetY(2); - const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2); - nd = (unsigned char)rcMin((int)dist[aai]+3, 255); - if (nd < dist[i]) - dist[i] = nd; - } - } - } - } - } - - // Pass 2 - for (int y = h-1; y >= 0; --y) - { - for (int x = w-1; x >= 0; --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 (rcGetCon(s, 2) != RC_NOT_CONNECTED) - { - // (1,0) - const int ax = x + rcGetDirOffsetX(2); - const int ay = y + rcGetDirOffsetY(2); - const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2); - const rcCompactSpan& as = chf.spans[ai]; - nd = (unsigned char)rcMin((int)dist[ai]+2, 255); - if (nd < dist[i]) - dist[i] = nd; - - // (1,1) - if (rcGetCon(as, 1) != RC_NOT_CONNECTED) - { - const int aax = ax + rcGetDirOffsetX(1); - const int aay = ay + rcGetDirOffsetY(1); - const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1); - nd = (unsigned char)rcMin((int)dist[aai]+3, 255); - if (nd < dist[i]) - dist[i] = nd; - } - } - if (rcGetCon(s, 1) != RC_NOT_CONNECTED) - { - // (0,1) - const int ax = x + rcGetDirOffsetX(1); - const int ay = y + rcGetDirOffsetY(1); - const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1); - const rcCompactSpan& as = chf.spans[ai]; - nd = (unsigned char)rcMin((int)dist[ai]+2, 255); - if (nd < dist[i]) - dist[i] = nd; - - // (-1,1) - if (rcGetCon(as, 0) != RC_NOT_CONNECTED) - { - const int aax = ax + rcGetDirOffsetX(0); - const int aay = ay + rcGetDirOffsetY(0); - const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0); - nd = (unsigned char)rcMin((int)dist[aai]+3, 255); - if (nd < dist[i]) - dist[i] = nd; - } - } - } - } - } - - const unsigned char thr = (unsigned char)(radius*2); - for (int i = 0; i < chf.spanCount; ++i) - if (dist[i] < thr) - chf.areas[i] = RC_NULL_AREA; - - rcFree(dist); - - return true; -} - -static void insertSort(unsigned char* a, const int n) -{ - int i, j; - for (i = 1; i < n; i++) - { - const unsigned char value = a[i]; - for (j = i - 1; j >= 0 && a[j] > value; j--) - a[j+1] = a[j]; - a[j+1] = value; - } -} - -/// @par -/// -/// This filter is usually applied after applying area id's using functions -/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea. -/// -/// @see rcCompactHeightfield -bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf) -{ - rcAssert(ctx); - - const int w = chf.width; - const int h = chf.height; - - rcScopedTimer timer(ctx, RC_TIMER_MEDIAN_AREA); - - unsigned char* areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP); - if (!areas) - { - ctx->log(RC_LOG_ERROR, "medianFilterWalkableArea: Out of memory 'areas' (%d).", chf.spanCount); - return false; - } - - // Init distance. - memset(areas, 0xff, sizeof(unsigned char)*chf.spanCount); - - 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) - { - const rcCompactSpan& s = chf.spans[i]; - if (chf.areas[i] == RC_NULL_AREA) - { - areas[i] = chf.areas[i]; - continue; - } - - unsigned char nei[9]; - for (int j = 0; j < 9; ++j) - nei[j] = chf.areas[i]; - - 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); - if (chf.areas[ai] != RC_NULL_AREA) - nei[dir*2+0] = chf.areas[ai]; - - const rcCompactSpan& as = chf.spans[ai]; - const int dir2 = (dir+1) & 0x3; - if (rcGetCon(as, dir2) != RC_NOT_CONNECTED) - { - const int ax2 = ax + rcGetDirOffsetX(dir2); - const int ay2 = ay + rcGetDirOffsetY(dir2); - const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2); - if (chf.areas[ai2] != RC_NULL_AREA) - nei[dir*2+1] = chf.areas[ai2]; - } - } - } - insertSort(nei, 9); - areas[i] = nei[4]; - } - } - } - - memcpy(chf.areas, areas, sizeof(unsigned char)*chf.spanCount); - - rcFree(areas); - - return true; -} - -/// @par -/// -/// The value of spacial parameters are in world units. -/// -/// @see rcCompactHeightfield, rcMedianFilterWalkableArea -void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId, - rcCompactHeightfield& chf) -{ - rcAssert(ctx); - - 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); - int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs); - int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs); - int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch); - int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs); - - if (maxx < 0) return; - if (minx >= chf.width) return; - if (maxz < 0) return; - if (minz >= chf.height) return; - - if (minx < 0) minx = 0; - if (maxx >= chf.width) maxx = chf.width-1; - if (minz < 0) minz = 0; - if (maxz >= chf.height) maxz = chf.height-1; - - for (int z = minz; z <= maxz; ++z) - { - for (int x = minx; x <= maxx; ++x) - { - const rcCompactCell& c = chf.cells[x+z*chf.width]; - for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) - { - rcCompactSpan& s = chf.spans[i]; - if ((int)s.y >= miny && (int)s.y <= maxy) - { - if (chf.areas[i] != RC_NULL_AREA) - chf.areas[i] = areaId; - } - } - } - } -} - - -static int pointInPoly(int nvert, const float* verts, const float* p) -{ - int i, j, c = 0; - for (i = 0, j = nvert-1; i < nvert; j = i++) - { - const float* vi = &verts[i*3]; - const float* vj = &verts[j*3]; - if (((vi[2] > p[2]) != (vj[2] > p[2])) && - (p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) ) - c = !c; - } - return c; -} - -/// @par -/// -/// The value of spacial parameters are in world units. -/// -/// The y-values of the polygon vertices are ignored. So the polygon is effectively -/// projected onto the xz-plane at @p hmin, then extruded to @p hmax. -/// -/// @see rcCompactHeightfield, rcMedianFilterWalkableArea -void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts, - const float hmin, const float hmax, unsigned char areaId, - rcCompactHeightfield& chf) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA); - - float bmin[3], bmax[3]; - rcVcopy(bmin, verts); - rcVcopy(bmax, verts); - for (int i = 1; i < nverts; ++i) - { - rcVmin(bmin, &verts[i*3]); - rcVmax(bmax, &verts[i*3]); - } - bmin[1] = hmin; - bmax[1] = hmax; - - int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs); - int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch); - int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs); - int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs); - int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch); - int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs); - - if (maxx < 0) return; - if (minx >= chf.width) return; - if (maxz < 0) return; - if (minz >= chf.height) return; - - if (minx < 0) minx = 0; - if (maxx >= chf.width) maxx = chf.width-1; - if (minz < 0) minz = 0; - if (maxz >= chf.height) maxz = chf.height-1; - - - // TODO: Optimize. - for (int z = minz; z <= maxz; ++z) - { - for (int x = minx; x <= maxx; ++x) - { - const rcCompactCell& c = chf.cells[x+z*chf.width]; - for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) - { - rcCompactSpan& s = chf.spans[i]; - if (chf.areas[i] == RC_NULL_AREA) - continue; - if ((int)s.y >= miny && (int)s.y <= maxy) - { - float p[3]; - p[0] = chf.bmin[0] + (x+0.5f)*chf.cs; - p[1] = 0; - p[2] = chf.bmin[2] + (z+0.5f)*chf.cs; - - if (pointInPoly(nverts, verts, p)) - { - chf.areas[i] = areaId; - } - } - } - } - } -} - -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. -/// -/// @see rcCompactHeightfield, rcMedianFilterWalkableArea -void rcMarkCylinderArea(rcContext* ctx, const float* pos, - const float r, const float h, unsigned char areaId, - rcCompactHeightfield& chf) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_MARK_CYLINDER_AREA); - - float bmin[3], bmax[3]; - bmin[0] = pos[0] - r; - bmin[1] = pos[1]; - bmin[2] = pos[2] - r; - bmax[0] = pos[0] + r; - bmax[1] = pos[1] + h; - bmax[2] = pos[2] + r; - const float r2 = r*r; - - int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs); - int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch); - int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs); - int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs); - int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch); - int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs); - - if (maxx < 0) return; - if (minx >= chf.width) return; - if (maxz < 0) return; - if (minz >= chf.height) return; - - if (minx < 0) minx = 0; - if (maxx >= chf.width) maxx = chf.width-1; - if (minz < 0) minz = 0; - if (maxz >= chf.height) maxz = chf.height-1; - - - for (int z = minz; z <= maxz; ++z) - { - for (int x = minx; x <= maxx; ++x) - { - const rcCompactCell& c = chf.cells[x+z*chf.width]; - for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) - { - rcCompactSpan& s = chf.spans[i]; - - if (chf.areas[i] == RC_NULL_AREA) - continue; - - if ((int)s.y >= miny && (int)s.y <= maxy) - { - const float sx = chf.bmin[0] + (x+0.5f)*chf.cs; - const float sz = chf.bmin[2] + (z+0.5f)*chf.cs; - const float dx = sx - pos[0]; - const float dz = sz - pos[2]; - - if (dx*dx + dz*dz < r2) - { - chf.areas[i] = areaId; - } - } - } - } - } -} diff --git a/libs/recast/recast/src/RecastAssert.cpp b/libs/recast/recast/src/RecastAssert.cpp deleted file mode 100644 index 6297d4202..000000000 --- a/libs/recast/recast/src/RecastAssert.cpp +++ /dev/null @@ -1,35 +0,0 @@ -// -// Copyright (c) 2009-2010 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 "RecastAssert.h" - -#ifndef NDEBUG - -static rcAssertFailFunc* sRecastAssertFailFunc = 0; - -void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc) -{ - sRecastAssertFailFunc = assertFailFunc; -} - -rcAssertFailFunc* rcAssertFailGetCustom() -{ - return sRecastAssertFailFunc; -} - -#endif diff --git a/libs/recast/recast/src/RecastContour.cpp b/libs/recast/recast/src/RecastContour.cpp deleted file mode 100644 index 277ab0150..000000000 --- a/libs/recast/recast/src/RecastContour.cpp +++ /dev/null @@ -1,1105 +0,0 @@ -// -// Copyright (c) 2009-2010 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. -// - -#define _USE_MATH_DEFINES -#include -#include -#include -#include -#include "Recast.h" -#include "RecastAlloc.h" -#include "RecastAssert.h" - - -static int getCornerHeight(int x, int y, int i, int dir, - const rcCompactHeightfield& chf, - bool& isBorderVertex) -{ - const rcCompactSpan& s = chf.spans[i]; - int ch = (int)s.y; - int dirp = (dir+1) & 0x3; - - unsigned int regs[4] = {0,0,0,0}; - - // Combine region and area codes in order to prevent - // border vertices which are in between two areas to be removed. - regs[0] = chf.spans[i].reg | (chf.areas[i] << 16); - - 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]; - ch = rcMax(ch, (int)as.y); - regs[1] = chf.spans[ai].reg | (chf.areas[ai] << 16); - if (rcGetCon(as, dirp) != RC_NOT_CONNECTED) - { - const int ax2 = ax + rcGetDirOffsetX(dirp); - const int ay2 = ay + rcGetDirOffsetY(dirp); - const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dirp); - const rcCompactSpan& as2 = chf.spans[ai2]; - ch = rcMax(ch, (int)as2.y); - regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16); - } - } - if (rcGetCon(s, dirp) != RC_NOT_CONNECTED) - { - const int ax = x + rcGetDirOffsetX(dirp); - const int ay = y + rcGetDirOffsetY(dirp); - const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dirp); - const rcCompactSpan& as = chf.spans[ai]; - ch = rcMax(ch, (int)as.y); - regs[3] = chf.spans[ai].reg | (chf.areas[ai] << 16); - if (rcGetCon(as, dir) != RC_NOT_CONNECTED) - { - const int ax2 = ax + rcGetDirOffsetX(dir); - const int ay2 = ay + rcGetDirOffsetY(dir); - const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dir); - const rcCompactSpan& as2 = chf.spans[ai2]; - ch = rcMax(ch, (int)as2.y); - regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16); - } - } - - // Check if the vertex is special edge vertex, these vertices will be removed later. - for (int j = 0; j < 4; ++j) - { - const int a = j; - const int b = (j+1) & 0x3; - const int c = (j+2) & 0x3; - const int d = (j+3) & 0x3; - - // The vertex is a border vertex there are two same exterior cells in a row, - // followed by two interior cells and none of the regions are out of bounds. - const bool twoSameExts = (regs[a] & regs[b] & RC_BORDER_REG) != 0 && regs[a] == regs[b]; - const bool twoInts = ((regs[c] | regs[d]) & RC_BORDER_REG) == 0; - const bool intsSameArea = (regs[c]>>16) == (regs[d]>>16); - const bool noZeros = regs[a] != 0 && regs[b] != 0 && regs[c] != 0 && regs[d] != 0; - if (twoSameExts && twoInts && intsSameArea && noZeros) - { - isBorderVertex = true; - break; - } - } - - return ch; -} - -static void walkContour(int x, int y, int i, - rcCompactHeightfield& chf, - unsigned char* flags, rcIntArray& points) -{ - // Choose the first non-connected edge - unsigned char dir = 0; - while ((flags[i] & (1 << dir)) == 0) - dir++; - - unsigned char startDir = dir; - int starti = i; - - const unsigned char area = chf.areas[i]; - - int iter = 0; - while (++iter < 40000) - { - if (flags[i] & (1 << dir)) - { - // Choose the edge corner - bool isBorderVertex = false; - bool isAreaBorder = false; - int px = x; - int py = getCornerHeight(x, y, i, dir, chf, isBorderVertex); - int pz = y; - switch(dir) - { - case 0: pz++; break; - case 1: px++; pz++; break; - case 2: px++; break; - } - int r = 0; - const rcCompactSpan& s = chf.spans[i]; - 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); - r = (int)chf.spans[ai].reg; - if (area != chf.areas[ai]) - isAreaBorder = true; - } - if (isBorderVertex) - r |= RC_BORDER_VERTEX; - if (isAreaBorder) - r |= RC_AREA_BORDER; - points.push(px); - points.push(py); - points.push(pz); - points.push(r); - - flags[i] &= ~(1 << dir); // Remove visited edges - dir = (dir+1) & 0x3; // Rotate CW - } - else - { - int ni = -1; - const int nx = x + rcGetDirOffsetX(dir); - const int ny = y + rcGetDirOffsetY(dir); - const rcCompactSpan& s = chf.spans[i]; - if (rcGetCon(s, dir) != RC_NOT_CONNECTED) - { - const rcCompactCell& nc = chf.cells[nx+ny*chf.width]; - ni = (int)nc.index + rcGetCon(s, dir); - } - if (ni == -1) - { - // Should not happen. - return; - } - x = nx; - y = ny; - i = ni; - dir = (dir+3) & 0x3; // Rotate CCW - } - - if (starti == i && startDir == dir) - { - break; - } - } -} - -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 pqz = (float)(qz - pz); - float dx = (float)(x - px); - float dz = (float)(z - pz); - float d = pqx*pqx + pqz*pqz; - float t = pqx*dx + pqz*dz; - if (d > 0) - t /= d; - if (t < 0) - t = 0; - else if (t > 1) - t = 1; - - dx = px + t*pqx - x; - dz = pz + t*pqz - z; - - return dx*dx + dz*dz; -} - -static void simplifyContour(rcIntArray& points, rcIntArray& simplified, - const float maxError, const int maxEdgeLen, const int buildFlags) -{ - // Add initial points. - bool hasConnections = false; - for (int i = 0; i < points.size(); i += 4) - { - if ((points[i+3] & RC_CONTOUR_REG_MASK) != 0) - { - hasConnections = true; - break; - } - } - - if (hasConnections) - { - // The contour has some portals to other regions. - // Add a new point to every location where the region changes. - for (int i = 0, ni = points.size()/4; i < ni; ++i) - { - int ii = (i+1) % ni; - const bool differentRegs = (points[i*4+3] & RC_CONTOUR_REG_MASK) != (points[ii*4+3] & RC_CONTOUR_REG_MASK); - const bool areaBorders = (points[i*4+3] & RC_AREA_BORDER) != (points[ii*4+3] & RC_AREA_BORDER); - if (differentRegs || areaBorders) - { - simplified.push(points[i*4+0]); - simplified.push(points[i*4+1]); - simplified.push(points[i*4+2]); - simplified.push(i); - } - } - } - - if (simplified.size() == 0) - { - // If there is no connections at all, - // create some initial points for the simplification process. - // Find lower-left and upper-right vertices of the contour. - int llx = points[0]; - int lly = points[1]; - int llz = points[2]; - int lli = 0; - int urx = points[0]; - int ury = points[1]; - int urz = points[2]; - int uri = 0; - for (int i = 0; i < points.size(); i += 4) - { - int x = points[i+0]; - int y = points[i+1]; - int z = points[i+2]; - if (x < llx || (x == llx && z < llz)) - { - llx = x; - lly = y; - llz = z; - lli = i/4; - } - if (x > urx || (x == urx && z > urz)) - { - urx = x; - ury = y; - urz = z; - uri = i/4; - } - } - simplified.push(llx); - simplified.push(lly); - simplified.push(llz); - simplified.push(lli); - - simplified.push(urx); - simplified.push(ury); - simplified.push(urz); - simplified.push(uri); - } - - // Add points until all raw points are within - // error tolerance to the simplified shape. - const int pn = points.size()/4; - for (int i = 0; i < simplified.size()/4; ) - { - int ii = (i+1) % (simplified.size()/4); - - int ax = simplified[i*4+0]; - int az = simplified[i*4+2]; - int ai = simplified[i*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 maxi = -1; - int ci, cinc, endi; - - // Traverse the segment in lexilogical order so that the - // max deviation is calculated similarly when traversing - // opposite segments. - if (bx > ax || (bx == ax && bz > az)) - { - cinc = 1; - ci = (ai+cinc) % pn; - endi = bi; - } - else - { - cinc = pn-1; - ci = (bi+cinc) % pn; - endi = ai; - rcSwap(ax, bx); - rcSwap(az, bz); - } - - // Tessellate only outer edges or edges between areas. - if ((points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0 || - (points[ci*4+3] & RC_AREA_BORDER)) - { - while (ci != endi) - { - float d = distancePtSeg(points[ci*4+0], points[ci*4+2], ax, az, bx, bz); - if (d > maxd) - { - maxd = d; - maxi = ci; - } - ci = (ci+cinc) % pn; - } - } - - - // If the max deviation is larger than accepted error, - // add new point, else continue to next segment. - if (maxi != -1 && maxd > (maxError*maxError)) - { - // Add space for the new point. - simplified.resize(simplified.size()+4); - const int n = simplified.size()/4; - for (int j = n-1; j > i; --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]; - } - // Add the point. - 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 - { - ++i; - } - } - - // Split too long edges. - if (maxEdgeLen > 0 && (buildFlags & (RC_CONTOUR_TESS_WALL_EDGES|RC_CONTOUR_TESS_AREA_EDGES)) != 0) - { - for (int i = 0; i < simplified.size()/4; ) - { - const 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]; - - const int bx = simplified[ii*4+0]; - const int bz = simplified[ii*4+2]; - const int bi = simplified[ii*4+3]; - - // Find maximum deviation from the segment. - int maxi = -1; - int ci = (ai+1) % pn; - - // Tessellate only outer edges or edges between areas. - bool tess = false; - // Wall edges. - if ((buildFlags & RC_CONTOUR_TESS_WALL_EDGES) && (points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0) - tess = true; - // Edges between areas. - if ((buildFlags & RC_CONTOUR_TESS_AREA_EDGES) && (points[ci*4+3] & RC_AREA_BORDER)) - tess = true; - - if (tess) - { - int dx = bx - ax; - int dz = bz - az; - if (dx*dx + dz*dz > maxEdgeLen*maxEdgeLen) - { - // 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)) - maxi = (ai + n/2) % pn; - else - maxi = (ai + (n+1)/2) % pn; - } - } - } - - // If the max deviation is larger than accepted error, - // add new point, else continue to next segment. - if (maxi != -1) - { - // Add space for the new point. - simplified.resize(simplified.size()+4); - const int n = simplified.size()/4; - for (int j = n-1; j > i; --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]; - } - // Add the point. - 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 - { - ++i; - } - } - } - - for (int i = 0; i < simplified.size()/4; ++i) - { - // The edge vertex flag is take from the current raw point, - // 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|RC_AREA_BORDER)) | (points[bi*4+3] & RC_BORDER_VERTEX); - } - -} - -static int calcAreaOfPolygon2D(const int* verts, const int nverts) -{ - int area = 0; - for (int i = 0, j = nverts-1; i < nverts; j=i++) - { - const int* vi = &verts[i*4]; - const int* vj = &verts[j*4]; - area += vi[0] * vj[2] - vj[0] * vi[2]; - } - return (area+1) / 2; -} - -// 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]); -} - -// 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) -{ - return !x ^ !y; -} - -// 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) -{ - return area2(a, b, c) < 0; -} - -inline bool leftOn(const int* a, const int* b, const int* c) -{ - return area2(a, b, c) <= 0; -} - -inline bool collinear(const int* a, const int* b, const int* c) -{ - 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; - int* verts = (int*)rcAlloc(sizeof(int)*maxVerts*4, RC_ALLOC_PERM); - if (!verts) - return false; - - int nv = 0; - - // Copy contour A. - for (int i = 0; i <= ca.nverts; ++i) - { - int* dst = &verts[nv*4]; - const int* src = &ca.verts[((ia+i)%ca.nverts)*4]; - dst[0] = src[0]; - dst[1] = src[1]; - dst[2] = src[2]; - dst[3] = src[3]; - nv++; - } - - // Copy contour B - for (int i = 0; i <= cb.nverts; ++i) - { - int* dst = &verts[nv*4]; - const int* src = &cb.verts[((ib+i)%cb.nverts)*4]; - dst[0] = src[0]; - dst[1] = src[1]; - dst[2] = src[2]; - dst[3] = src[3]; - nv++; - } - - rcFree(ca.verts); - ca.verts = verts; - ca.nverts = nv; - - rcFree(cb.verts); - cb.verts = 0; - cb.nverts = 0; - - 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, ®ion.holes[i].minx, ®ion.holes[i].minz, ®ion.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 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 -/// parameters control how closely the simplified contours will match the raw contours. -/// -/// Simplified contours are generated such that the vertices for portals between areas match up. -/// (They are considered mandatory vertices.) -/// -/// Setting @p maxEdgeLength to zero will disabled the edge length feature. -/// -/// See the #rcConfig documentation for more information on the configuration parameters. -/// -/// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig -bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf, - const float maxError, const int maxEdgeLen, - rcContourSet& cset, const int buildFlags) -{ - rcAssert(ctx); - - const int w = chf.width; - const int h = chf.height; - const int borderSize = chf.borderSize; - - rcScopedTimer timer(ctx, RC_TIMER_BUILD_CONTOURS); - - rcVcopy(cset.bmin, chf.bmin); - rcVcopy(cset.bmax, chf.bmax); - if (borderSize > 0) - { - // If the heightfield was build with bordersize, remove the offset. - const float pad = borderSize*chf.cs; - cset.bmin[0] += pad; - cset.bmin[2] += pad; - cset.bmax[0] -= pad; - cset.bmax[2] -= pad; - } - cset.cs = chf.cs; - cset.ch = chf.ch; - 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); - if (!cset.conts) - return false; - cset.nconts = 0; - - rcScopedDelete 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); - return false; - } - - ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE); - - // Mark boundaries. - 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) - { - unsigned char res = 0; - const rcCompactSpan& s = chf.spans[i]; - if (!chf.spans[i].reg || (chf.spans[i].reg & RC_BORDER_REG)) - { - flags[i] = 0; - continue; - } - for (int dir = 0; dir < 4; ++dir) - { - unsigned short r = 0; - 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); - r = chf.spans[ai].reg; - } - if (r == chf.spans[i].reg) - res |= (1 << dir); - } - flags[i] = res ^ 0xf; // Inverse, mark non connected edges. - } - } - } - - ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE); - - rcIntArray verts(256); - rcIntArray simplified(64); - - 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 (flags[i] == 0 || flags[i] == 0xf) - { - flags[i] = 0; - continue; - } - const unsigned short reg = chf.spans[i].reg; - if (!reg || (reg & RC_BORDER_REG)) - continue; - const unsigned char area = chf.areas[i]; - - verts.resize(0); - simplified.resize(0); - - ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE); - walkContour(x, y, i, chf, flags, verts); - ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE); - - ctx->startTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY); - simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags); - removeDegenerateSegments(simplified); - ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY); - - - // Store region->contour remap info. - // Create contour. - if (simplified.size()/4 >= 3) - { - if (cset.nconts >= maxContours) - { - // Allocate more contours. - // This happens when a region has holes. - const int oldMax = maxContours; - maxContours *= 2; - rcContour* newConts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM); - for (int j = 0; j < cset.nconts; ++j) - { - newConts[j] = cset.conts[j]; - // Reset source pointers to prevent data deletion. - cset.conts[j].verts = 0; - cset.conts[j].rverts = 0; - } - rcFree(cset.conts); - cset.conts = newConts; - - ctx->log(RC_LOG_WARNING, "rcBuildContours: Expanding max contours from %d to %d.", oldMax, maxContours); - } - - rcContour* cont = &cset.conts[cset.nconts++]; - - cont->nverts = simplified.size()/4; - cont->verts = (int*)rcAlloc(sizeof(int)*cont->nverts*4, RC_ALLOC_PERM); - if (!cont->verts) - { - ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'verts' (%d).", cont->nverts); - return false; - } - memcpy(cont->verts, &simplified[0], sizeof(int)*cont->nverts*4); - if (borderSize > 0) - { - // If the heightfield was build with bordersize, remove the offset. - for (int j = 0; j < cont->nverts; ++j) - { - int* v = &cont->verts[j*4]; - v[0] -= borderSize; - v[2] -= borderSize; - } - } - - cont->nrverts = verts.size()/4; - cont->rverts = (int*)rcAlloc(sizeof(int)*cont->nrverts*4, RC_ALLOC_PERM); - if (!cont->rverts) - { - ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'rverts' (%d).", cont->nrverts); - return false; - } - memcpy(cont->rverts, &verts[0], sizeof(int)*cont->nrverts*4); - if (borderSize > 0) - { - // If the heightfield was build with bordersize, remove the offset. - for (int j = 0; j < cont->nrverts; ++j) - { - int* v = &cont->rverts[j*4]; - v[0] -= borderSize; - v[2] -= borderSize; - } - } - - cont->reg = reg; - cont->area = area; - } - } - } - } - - // Merge holes if needed. - if (cset.nconts > 0) - { - // Calculate winding of all polygons. - rcScopedDelete 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]; - // 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 (nholes > 0) - { - // 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 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 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 - { - regions[cont.reg].nholes++; - } - } - 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); - } - } - } - - } - - return true; -} diff --git a/libs/recast/recast/src/RecastFilter.cpp b/libs/recast/recast/src/RecastFilter.cpp deleted file mode 100644 index 9d3e63c48..000000000 --- a/libs/recast/recast/src/RecastFilter.cpp +++ /dev/null @@ -1,202 +0,0 @@ -// -// Copyright (c) 2009-2010 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. -// - -#define _USE_MATH_DEFINES -#include -#include -#include "Recast.h" -#include "RecastAssert.h" - -/// @par -/// -/// Allows the formation of walkable regions that will flow over low lying -/// objects such as curbs, and up structures such as stairways. -/// -/// Two neighboring spans are walkable if: rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb -/// -/// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call -/// #rcFilterLedgeSpans after calling this filter. -/// -/// @see rcHeightfield, rcConfig -void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_FILTER_LOW_OBSTACLES); - - const int w = solid.width; - const int h = solid.height; - - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - rcSpan* ps = 0; - bool previousWalkable = false; - unsigned char previousArea = RC_NULL_AREA; - - for (rcSpan* s = solid.spans[x + y*w]; s; ps = s, s = s->next) - { - const bool walkable = s->area != RC_NULL_AREA; - // If current span is not walkable, but there is walkable - // span just below it, mark the span above it walkable too. - if (!walkable && previousWalkable) - { - if (rcAbs((int)s->smax - (int)ps->smax) <= walkableClimb) - s->area = previousArea; - } - // Copy walkable flag so that it cannot propagate - // past multiple non-walkable objects. - previousWalkable = walkable; - previousArea = s->area; - } - } - } -} - -/// @par -/// -/// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb -/// from the current span's maximum. -/// This method removes the impact of the overestimation of conservative voxelization -/// so the resulting mesh will not have regions hanging in the air over ledges. -/// -/// A span is a ledge if: rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb -/// -/// @see rcHeightfield, rcConfig -void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walkableClimb, - rcHeightfield& solid) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_FILTER_BORDER); - - const int w = solid.width; - const int h = solid.height; - const int MAX_HEIGHT = 0xffff; - - // Mark border spans. - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next) - { - // Skip non walkable spans. - if (s->area == RC_NULL_AREA) - continue; - - const int bot = (int)(s->smax); - const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT; - - // Find neighbours minimum height. - int minh = MAX_HEIGHT; - - // Min and max height of accessible neighbours. - int asmin = s->smax; - int asmax = s->smax; - - for (int dir = 0; dir < 4; ++dir) - { - int dx = x + rcGetDirOffsetX(dir); - int dy = y + rcGetDirOffsetY(dir); - // Skip neighbours which are out of bounds. - if (dx < 0 || dy < 0 || dx >= w || dy >= h) - { - minh = rcMin(minh, -walkableClimb - bot); - continue; - } - - // From minus infinity to the first span. - rcSpan* ns = solid.spans[dx + dy*w]; - int nbot = -walkableClimb; - int ntop = ns ? (int)ns->smin : MAX_HEIGHT; - // Skip neightbour if the gap between the spans is too small. - if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight) - minh = rcMin(minh, nbot - bot); - - // Rest of the spans. - for (ns = solid.spans[dx + dy*w]; ns; ns = ns->next) - { - nbot = (int)ns->smax; - ntop = ns->next ? (int)ns->next->smin : MAX_HEIGHT; - // Skip neightbour if the gap between the spans is too small. - if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight) - { - minh = rcMin(minh, nbot - bot); - - // Find min/max accessible neighbour height. - if (rcAbs(nbot - bot) <= walkableClimb) - { - if (nbot < asmin) asmin = nbot; - if (nbot > asmax) asmax = nbot; - } - - } - } - } - - // 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. - else if ((asmax - asmin) > walkableClimb) - { - s->area = RC_NULL_AREA; - } - } - } - } -} - -/// @par -/// -/// For this filter, the clearance above the span is the distance from the span's -/// maximum to the next higher span's minimum. (Same grid column.) -/// -/// @see rcHeightfield, rcConfig -void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_FILTER_WALKABLE); - - const int w = solid.width; - const int h = solid.height; - const int MAX_HEIGHT = 0xffff; - - // Remove walkable flag from spans which do not have enough - // space above them for the agent to stand there. - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next) - { - const int bot = (int)(s->smax); - const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT; - if ((top - bot) <= walkableHeight) - s->area = RC_NULL_AREA; - } - } - } -} diff --git a/libs/recast/recast/src/RecastLayers.cpp b/libs/recast/recast/src/RecastLayers.cpp deleted file mode 100644 index acc97e44f..000000000 --- a/libs/recast/recast/src/RecastLayers.cpp +++ /dev/null @@ -1,644 +0,0 @@ -// -// Copyright (c) 2009-2010 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 -#define _USE_MATH_DEFINES -#include -#include -#include -#include -#include "Recast.h" -#include "RecastAlloc.h" -#include "RecastAssert.h" - - -// Must be 255 or smaller (not 256) because layer IDs are stored as -// a byte where 255 is a special value. -static const int RC_MAX_LAYERS = 63; -static const int RC_MAX_NEIS = 16; - -struct rcLayerRegion -{ - unsigned char layers[RC_MAX_LAYERS]; - unsigned char neis[RC_MAX_NEIS]; - unsigned short ymin, ymax; - unsigned char layerId; // Layer ID - unsigned char nlayers; // Layer count - unsigned char nneis; // Neighbour count - unsigned char base; // Flag indicating if the region is the base of merged regions. -}; - - -static bool contains(const unsigned char* a, const unsigned char an, const unsigned char v) -{ - const int n = (int)an; - for (int i = 0; i < n; ++i) - { - if (a[i] == v) - return true; - } - return false; -} - -static bool addUnique(unsigned char* a, unsigned char& an, int anMax, unsigned char v) -{ - if (contains(a, an, v)) - return true; - - if ((int)an >= anMax) - return false; - - a[an] = v; - an++; - return true; -} - - -inline bool overlapRange(const unsigned short amin, const unsigned short amax, - const unsigned short bmin, const unsigned short bmax) -{ - return (amin > bmax || amax < bmin) ? false : true; -} - - - -struct rcLayerSweepSpan -{ - unsigned short ns; // number samples - unsigned char id; // region id - unsigned char nei; // neighbour id -}; - -/// @par -/// -/// See the #rcConfig documentation for more information on the configuration parameters. -/// -/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig -bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int walkableHeight, - rcHeightfieldLayerSet& lset) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_BUILD_LAYERS); - - const int w = chf.width; - const int h = chf.height; - - rcScopedDelete 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); - return false; - } - memset(srcReg,0xff,sizeof(unsigned char)*chf.spanCount); - - const int nsweeps = chf.width; - rcScopedDelete sweeps((rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP)); - if (!sweeps) - { - ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps); - return false; - } - - - // Partition walkable area into monotone regions. - int prevCount[256]; - unsigned char regId = 0; - - for (int y = borderSize; y < h-borderSize; ++y) - { - memset(prevCount,0,sizeof(int)*regId); - unsigned char sweepId = 0; - - 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; - - unsigned char sid = 0xff; - - // -x - 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 (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff) - sid = srcReg[ai]; - } - - if (sid == 0xff) - { - sid = sweepId++; - sweeps[sid].nei = 0xff; - sweeps[sid].ns = 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); - const unsigned char nr = srcReg[ai]; - if (nr != 0xff) - { - // Set neighbour when first valid neighbour is encoutered. - if (sweeps[sid].ns == 0) - sweeps[sid].nei = nr; - - if (sweeps[sid].nei == nr) - { - // Update existing neighbour - sweeps[sid].ns++; - prevCount[nr]++; - } - else - { - // This is hit if there is nore than one neighbour. - // Invalidate the neighbour. - sweeps[sid].nei = 0xff; - } - } - } - - srcReg[i] = sid; - } - } - - // Create unique ID. - for (int i = 0; i < sweepId; ++i) - { - // If the neighbour is set and there is only one continuous connection to it, - // the sweep will be merged with the previous one, else new region is created. - if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns) - { - sweeps[i].id = sweeps[i].nei; - } - else - { - if (regId == 255) - { - ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow."); - return false; - } - sweeps[i].id = regId++; - } - } - - // Remap local sweep ids to region 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] != 0xff) - srcReg[i] = sweeps[srcReg[i]].id; - } - } - } - - // Allocate and init layer regions. - const int nregs = (int)regId; - rcScopedDelete regs((rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP)); - if (!regs) - { - ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs); - return false; - } - memset(regs, 0, sizeof(rcLayerRegion)*nregs); - for (int i = 0; i < nregs; ++i) - { - regs[i].layerId = 0xff; - regs[i].ymin = 0xffff; - regs[i].ymax = 0; - } - - // Find region neighbours and overlapping regions. - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const rcCompactCell& c = chf.cells[x+y*w]; - - unsigned char lregs[RC_MAX_LAYERS]; - int nlregs = 0; - - for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) - { - const rcCompactSpan& s = chf.spans[i]; - const unsigned char ri = srcReg[i]; - if (ri == 0xff) continue; - - regs[ri].ymin = rcMin(regs[ri].ymin, s.y); - regs[ri].ymax = rcMax(regs[ri].ymax, s.y); - - // Collect all region layers. - if (nlregs < RC_MAX_LAYERS) - lregs[nlregs++] = 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 char rai = srcReg[ai]; - if (rai != 0xff && rai != ri) - { - // Don't check return value -- if we cannot add the neighbor - // it will just cause a few more regions to be created, which - // is fine. - addUnique(regs[ri].neis, regs[ri].nneis, RC_MAX_NEIS, rai); - } - } - } - - } - - // Update overlapping regions. - for (int i = 0; i < nlregs-1; ++i) - { - for (int j = i+1; j < nlregs; ++j) - { - if (lregs[i] != lregs[j]) - { - rcLayerRegion& ri = regs[lregs[i]]; - rcLayerRegion& rj = regs[lregs[j]]; - - if (!addUnique(ri.layers, ri.nlayers, RC_MAX_LAYERS, lregs[j]) || - !addUnique(rj.layers, rj.nlayers, RC_MAX_LAYERS, lregs[i])) - { - ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS."); - return false; - } - } - } - } - - } - } - - // Create 2D layers from regions. - unsigned char layerId = 0; - - static const int MAX_STACK = 64; - unsigned char stack[MAX_STACK]; - int nstack = 0; - - for (int i = 0; i < nregs; ++i) - { - rcLayerRegion& root = regs[i]; - // Skip already visited. - if (root.layerId != 0xff) - continue; - - // Start search. - root.layerId = layerId; - root.base = 1; - - nstack = 0; - stack[nstack++] = (unsigned char)i; - - while (nstack) - { - // Pop front - rcLayerRegion& reg = regs[stack[0]]; - nstack--; - for (int j = 0; j < nstack; ++j) - stack[j] = stack[j+1]; - - const int nneis = (int)reg.nneis; - for (int j = 0; j < nneis; ++j) - { - const unsigned char nei = reg.neis[j]; - rcLayerRegion& regn = regs[nei]; - // Skip already visited. - if (regn.layerId != 0xff) - continue; - // Skip if the neighbour is overlapping root region. - if (contains(root.layers, root.nlayers, nei)) - continue; - // Skip if the height range would become too large. - const int ymin = rcMin(root.ymin, regn.ymin); - const int ymax = rcMax(root.ymax, regn.ymax); - if ((ymax - ymin) >= 255) - continue; - - if (nstack < MAX_STACK) - { - // Deepen - stack[nstack++] = (unsigned char)nei; - - // Mark layer id - regn.layerId = layerId; - // Merge current layers to root. - for (int k = 0; k < regn.nlayers; ++k) - { - if (!addUnique(root.layers, root.nlayers, RC_MAX_LAYERS, regn.layers[k])) - { - ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS."); - return false; - } - } - root.ymin = rcMin(root.ymin, regn.ymin); - root.ymax = rcMax(root.ymax, regn.ymax); - } - } - } - - layerId++; - } - - // Merge non-overlapping regions that are close in height. - const unsigned short mergeHeight = (unsigned short)walkableHeight * 4; - - for (int i = 0; i < nregs; ++i) - { - rcLayerRegion& ri = regs[i]; - if (!ri.base) continue; - - unsigned char newId = ri.layerId; - - for (;;) - { - unsigned char oldId = 0xff; - - for (int j = 0; j < nregs; ++j) - { - if (i == j) continue; - rcLayerRegion& rj = regs[j]; - if (!rj.base) continue; - - // Skip if the regions are not close to each other. - if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight)) - continue; - // Skip if the height range would become too large. - const int ymin = rcMin(ri.ymin, rj.ymin); - const int ymax = rcMax(ri.ymax, rj.ymax); - if ((ymax - ymin) >= 255) - continue; - - // 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) - { - if (regs[k].layerId != rj.layerId) - continue; - // Check if region 'k' is overlapping region 'ri' - // Index to 'regs' is the same as region id. - if (contains(ri.layers,ri.nlayers, (unsigned char)k)) - { - overlap = true; - break; - } - } - // Cannot merge of regions overlap. - if (overlap) - continue; - - // Can merge i and j. - oldId = rj.layerId; - break; - } - - // Could not find anything to merge with, stop. - if (oldId == 0xff) - break; - - // Merge - for (int j = 0; j < nregs; ++j) - { - rcLayerRegion& rj = regs[j]; - if (rj.layerId == oldId) - { - rj.base = 0; - // Remap layerIds. - rj.layerId = newId; - // Add overlaid layers from 'rj' to 'ri'. - for (int k = 0; k < rj.nlayers; ++k) - { - if (!addUnique(ri.layers, ri.nlayers, RC_MAX_LAYERS, rj.layers[k])) - { - ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS."); - return false; - } - } - - // Update height bounds. - ri.ymin = rcMin(ri.ymin, rj.ymin); - ri.ymax = rcMax(ri.ymax, rj.ymax); - } - } - } - } - - // Compact layerIds - unsigned char remap[256]; - memset(remap, 0, 256); - - // Find number of unique layers. - layerId = 0; - for (int i = 0; i < nregs; ++i) - remap[regs[i].layerId] = 1; - for (int i = 0; i < 256; ++i) - { - if (remap[i]) - remap[i] = layerId++; - else - remap[i] = 0xff; - } - // Remap ids. - for (int i = 0; i < nregs; ++i) - regs[i].layerId = remap[regs[i].layerId]; - - // No layers, return empty. - if (layerId == 0) - return true; - - // Create layers. - rcAssert(lset.layers == 0); - - const int lw = w - borderSize*2; - const int lh = h - borderSize*2; - - // Build contracted bbox for layers. - float bmin[3], bmax[3]; - rcVcopy(bmin, chf.bmin); - rcVcopy(bmax, chf.bmax); - bmin[0] += borderSize*chf.cs; - bmin[2] += borderSize*chf.cs; - bmax[0] -= borderSize*chf.cs; - bmax[2] -= borderSize*chf.cs; - - lset.nlayers = (int)layerId; - - lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM); - if (!lset.layers) - { - ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' (%d).", lset.nlayers); - return false; - } - memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers); - - - // Store layers. - for (int i = 0; i < lset.nlayers; ++i) - { - unsigned char curId = (unsigned char)i; - - rcHeightfieldLayer* layer = &lset.layers[i]; - - const int gridSize = sizeof(unsigned char)*lw*lh; - - layer->heights = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM); - if (!layer->heights) - { - ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' (%d).", gridSize); - return false; - } - memset(layer->heights, 0xff, gridSize); - - layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM); - if (!layer->areas) - { - ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' (%d).", gridSize); - return false; - } - memset(layer->areas, 0, gridSize); - - layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM); - if (!layer->cons) - { - ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' (%d).", gridSize); - return false; - } - memset(layer->cons, 0, gridSize); - - // Find layer height bounds. - int hmin = 0, hmax = 0; - for (int j = 0; j < nregs; ++j) - { - if (regs[j].base && regs[j].layerId == curId) - { - hmin = (int)regs[j].ymin; - hmax = (int)regs[j].ymax; - } - } - - layer->width = lw; - layer->height = lh; - layer->cs = chf.cs; - layer->ch = chf.ch; - - // Adjust the bbox to fit the heightfield. - rcVcopy(layer->bmin, bmin); - rcVcopy(layer->bmax, bmax); - layer->bmin[1] = bmin[1] + hmin*chf.ch; - layer->bmax[1] = bmin[1] + hmax*chf.ch; - layer->hmin = hmin; - layer->hmax = hmax; - - // Update usable data region. - layer->minx = layer->width; - layer->maxx = 0; - layer->miny = layer->height; - layer->maxy = 0; - - // Copy height and area from compact heightfield. - for (int y = 0; y < lh; ++y) - { - for (int x = 0; x < lw; ++x) - { - const int cx = borderSize+x; - const int cy = borderSize+y; - const rcCompactCell& c = chf.cells[cx+cy*w]; - for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j) - { - const rcCompactSpan& s = chf.spans[j]; - // Skip unassigned regions. - if (srcReg[j] == 0xff) - continue; - // Skip of does nto belong to current layer. - unsigned char lid = regs[srcReg[j]].layerId; - if (lid != curId) - continue; - - // Update data bounds. - layer->minx = rcMin(layer->minx, x); - layer->maxx = rcMax(layer->maxx, x); - layer->miny = rcMin(layer->miny, y); - layer->maxy = rcMax(layer->maxy, y); - - // Store height and area type. - const int idx = x+y*lw; - layer->heights[idx] = (unsigned char)(s.y - hmin); - layer->areas[idx] = chf.areas[j]; - - // Check connection. - unsigned char portal = 0; - unsigned char con = 0; - for (int dir = 0; dir < 4; ++dir) - { - if (rcGetCon(s, dir) != RC_NOT_CONNECTED) - { - const int ax = cx + rcGetDirOffsetX(dir); - const int ay = cy + rcGetDirOffsetY(dir); - const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir); - unsigned char alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff; - // Portal mask - if (chf.areas[ai] != RC_NULL_AREA && lid != alid) - { - portal |= (unsigned char)(1< hmin) - layer->heights[idx] = rcMax(layer->heights[idx], (unsigned char)(as.y - hmin)); - } - // Valid connection mask - if (chf.areas[ai] != RC_NULL_AREA && lid == alid) - { - const int nx = ax - borderSize; - const int ny = ay - borderSize; - if (nx >= 0 && ny >= 0 && nx < lw && ny < lh) - con |= (unsigned char)(1<cons[idx] = (portal << 4) | con; - } - } - } - - if (layer->minx > layer->maxx) - layer->minx = layer->maxx = 0; - if (layer->miny > layer->maxy) - layer->miny = layer->maxy = 0; - } - - return true; -} diff --git a/libs/recast/recast/src/RecastMesh.cpp b/libs/recast/recast/src/RecastMesh.cpp deleted file mode 100644 index e99eaebb7..000000000 --- a/libs/recast/recast/src/RecastMesh.cpp +++ /dev/null @@ -1,1552 +0,0 @@ -// -// Copyright (c) 2009-2010 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. -// - -#define _USE_MATH_DEFINES -#include -#include -#include -#include "Recast.h" -#include "RecastAlloc.h" -#include "RecastAssert.h" - -struct rcEdge -{ - unsigned short vert[2]; - unsigned short polyEdge[2]; - unsigned short poly[2]; -}; - -static bool buildMeshAdjacency(unsigned short* polys, const int npolys, - const int nverts, const int vertsPerPoly) -{ - // Based on code by Eric Lengyel from: - // http://www.terathon.com/code/edges.php - - int maxEdgeCount = npolys*vertsPerPoly; - unsigned short* firstEdge = (unsigned short*)rcAlloc(sizeof(unsigned short)*(nverts + maxEdgeCount), RC_ALLOC_TEMP); - if (!firstEdge) - return false; - unsigned short* nextEdge = firstEdge + nverts; - int edgeCount = 0; - - rcEdge* edges = (rcEdge*)rcAlloc(sizeof(rcEdge)*maxEdgeCount, RC_ALLOC_TEMP); - if (!edges) - { - rcFree(firstEdge); - return false; - } - - for (int i = 0; i < nverts; i++) - firstEdge[i] = RC_MESH_NULL_IDX; - - for (int i = 0; i < npolys; ++i) - { - unsigned short* t = &polys[i*vertsPerPoly*2]; - for (int j = 0; j < vertsPerPoly; ++j) - { - if (t[j] == RC_MESH_NULL_IDX) break; - unsigned short v0 = t[j]; - unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == RC_MESH_NULL_IDX) ? t[0] : t[j+1]; - if (v0 < v1) - { - rcEdge& edge = edges[edgeCount]; - edge.vert[0] = v0; - edge.vert[1] = v1; - edge.poly[0] = (unsigned short)i; - edge.polyEdge[0] = (unsigned short)j; - edge.poly[1] = (unsigned short)i; - edge.polyEdge[1] = 0; - // Insert edge - nextEdge[edgeCount] = firstEdge[v0]; - firstEdge[v0] = (unsigned short)edgeCount; - edgeCount++; - } - } - } - - for (int i = 0; i < npolys; ++i) - { - unsigned short* t = &polys[i*vertsPerPoly*2]; - for (int j = 0; j < vertsPerPoly; ++j) - { - if (t[j] == RC_MESH_NULL_IDX) break; - unsigned short v0 = t[j]; - unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == RC_MESH_NULL_IDX) ? t[0] : t[j+1]; - if (v0 > v1) - { - for (unsigned short e = firstEdge[v1]; e != RC_MESH_NULL_IDX; e = nextEdge[e]) - { - rcEdge& edge = edges[e]; - if (edge.vert[1] == v0 && edge.poly[0] == edge.poly[1]) - { - edge.poly[1] = (unsigned short)i; - edge.polyEdge[1] = (unsigned short)j; - break; - } - } - } - } - } - - // Store adjacency - for (int i = 0; i < edgeCount; ++i) - { - const rcEdge& e = edges[i]; - if (e.poly[0] != e.poly[1]) - { - unsigned short* p0 = &polys[e.poly[0]*vertsPerPoly*2]; - unsigned short* p1 = &polys[e.poly[1]*vertsPerPoly*2]; - p0[vertsPerPoly + e.polyEdge[0]] = e.poly[1]; - p1[vertsPerPoly + e.polyEdge[1]] = e.poly[0]; - } - } - - rcFree(firstEdge); - rcFree(edges); - - return true; -} - - -static const int VERTEX_BUCKET_COUNT = (1<<12); - -inline int computeVertexHash(int x, int y, int z) -{ - const unsigned int h1 = 0x8da6b343; // Large multiplicative constants; - const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes - const unsigned int h3 = 0xcb1ab31f; - unsigned int n = h1 * x + h2 * y + h3 * z; - return (int)(n & (VERTEX_BUCKET_COUNT-1)); -} - -static unsigned short addVertex(unsigned short x, unsigned short y, unsigned short z, - unsigned short* verts, int* firstVert, int* nextVert, int& nv) -{ - int bucket = computeVertexHash(x, 0, z); - int i = firstVert[bucket]; - - while (i != -1) - { - const unsigned short* v = &verts[i*3]; - if (v[0] == x && (rcAbs(v[1] - y) <= 2) && v[2] == z) - return (unsigned short)i; - i = nextVert[i]; // next - } - - // Could not find, create new. - i = nv; nv++; - unsigned short* v = &verts[i*3]; - v[0] = x; - v[1] = y; - v[2] = z; - nextVert[i] = firstVert[bucket]; - firstVert[bucket] = i; - - 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; } - -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]); -} - -// 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) -{ - return !x ^ !y; -} - -// 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) -{ - return area2(a, b, c) < 0; -} - -inline bool leftOn(const int* a, const int* b, const int* c) -{ - return area2(a, b, c) <= 0; -} - -inline bool collinear(const int* a, const int* b, const int* c) -{ - 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]; -} - -// Returns T iff (v_i, v_j) is a proper internal *or* external -// diagonal of P, *ignoring edges incident to v_i and v_j*. -static bool diagonalie(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 (intersect(d0, d1, p0, p1)) - return false; - } - } - return true; -} - -// Returns true iff the diagonal (i,j) is strictly internal to the -// polygon P in the neighborhood of the i endpoint. -static bool inCone(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 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)); -} - -// Returns T iff (v_i, v_j) is a proper internal -// diagonal of P. -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; - int* dst = tris; - - // The last bit of the index is used to indicate if the vertex can be removed. - for (int i = 0; i < n; i++) - { - int i1 = next(i, n); - int i2 = next(i1, n); - if (diagonal(i, i2, n, verts, indices)) - indices[i1] |= 0x80000000; - } - - while (n > 3) - { - int minLen = -1; - int mini = -1; - for (int i = 0; i < n; i++) - { - int i1 = next(i, n); - if (indices[i1] & 0x80000000) - { - const int* p0 = &verts[(indices[i] & 0x0fffffff) * 4]; - const int* p2 = &verts[(indices[next(i1, 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; - } - } - } - - if (mini == -1) - { - // 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++) - { - 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; - } - } - } - if (mini == -1) - { - // The contour is messed up. This sometimes happens - // if the contour simplification is too aggressive. - return -ntris; - } - } - - int i = mini; - int i1 = next(i, n); - int i2 = next(i1, n); - - *dst++ = indices[i] & 0x0fffffff; - *dst++ = indices[i1] & 0x0fffffff; - *dst++ = indices[i2] & 0x0fffffff; - ntris++; - - // Removes P[i1] by copying P[i+1]...P[n-1] left one index. - n--; - for (int k = i1; k < n; k++) - indices[k] = indices[k+1]; - - if (i1 >= n) i1 = 0; - i = prev(i1,n); - // Update diagonal flags. - if (diagonal(prev(i, n), i1, n, verts, indices)) - indices[i] |= 0x80000000; - else - indices[i] &= 0x0fffffff; - - if (diagonal(i, next(i1, n), n, verts, indices)) - indices[i1] |= 0x80000000; - else - indices[i1] &= 0x0fffffff; - } - - // Append the remaining triangle. - *dst++ = indices[0] & 0x0fffffff; - *dst++ = indices[1] & 0x0fffffff; - *dst++ = indices[2] & 0x0fffffff; - ntris++; - - return ntris; -} - -static int countPolyVerts(const unsigned short* p, const int nvp) -{ - for (int i = 0; i < nvp; ++i) - if (p[i] == RC_MESH_NULL_IDX) - return i; - return nvp; -} - -inline bool uleft(const unsigned short* a, const unsigned short* b, const unsigned short* c) -{ - return ((int)b[0] - (int)a[0]) * ((int)c[2] - (int)a[2]) - - ((int)c[0] - (int)a[0]) * ((int)b[2] - (int)a[2]) < 0; -} - -static int getPolyMergeValue(unsigned short* pa, unsigned short* pb, - const unsigned short* verts, int& ea, int& eb, - const int nvp) -{ - const int na = countPolyVerts(pa, nvp); - const int nb = countPolyVerts(pb, nvp); - - // If the merged polygon would be too big, do not merge. - if (na+nb-2 > nvp) - return -1; - - // Check if the polygons share an edge. - ea = -1; - eb = -1; - - for (int i = 0; i < na; ++i) - { - unsigned short va0 = pa[i]; - unsigned short va1 = pa[(i+1) % na]; - if (va0 > va1) - rcSwap(va0, va1); - for (int j = 0; j < nb; ++j) - { - unsigned short vb0 = pb[j]; - unsigned short vb1 = pb[(j+1) % nb]; - if (vb0 > vb1) - rcSwap(vb0, vb1); - if (va0 == vb0 && va1 == vb1) - { - ea = i; - eb = j; - break; - } - } - } - - // No common edge, cannot merge. - if (ea == -1 || eb == -1) - return -1; - - // Check to see if the merged polygon would be convex. - unsigned short va, vb, vc; - - va = pa[(ea+na-1) % na]; - vb = pa[ea]; - vc = pb[(eb+2) % nb]; - if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3])) - return -1; - - va = pb[(eb+nb-1) % nb]; - vb = pb[eb]; - vc = pa[(ea+2) % na]; - if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3])) - return -1; - - va = pa[ea]; - vb = pa[(ea+1)%na]; - - int dx = (int)verts[va*3+0] - (int)verts[vb*3+0]; - int dy = (int)verts[va*3+2] - (int)verts[vb*3+2]; - - return dx*dx + dy*dy; -} - -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); - const int nb = countPolyVerts(pb, nvp); - - // Merge polygons. - memset(tmp, 0xff, sizeof(unsigned short)*nvp); - int n = 0; - // Add pa - for (int i = 0; i < na-1; ++i) - tmp[n++] = pa[(ea+1+i) % na]; - // Add pb - for (int i = 0; i < nb-1; ++i) - tmp[n++] = pb[(eb+1+i) % nb]; - - memcpy(pa, tmp, sizeof(unsigned short)*nvp); -} - - -static void pushFront(int v, int* arr, int& an) -{ - an++; - for (int i = an-1; i > 0; --i) arr[i] = arr[i-1]; - arr[0] = v; -} - -static void pushBack(int v, int* arr, int& an) -{ - arr[an] = v; - an++; -} - -static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short rem) -{ - const int nvp = mesh.nvp; - - // Count number of polygons to remove. - int numRemovedVerts = 0; - int numTouchedVerts = 0; - int numRemainingEdges = 0; - for (int i = 0; i < mesh.npolys; ++i) - { - unsigned short* p = &mesh.polys[i*nvp*2]; - const int nv = countPolyVerts(p, nvp); - int numRemoved = 0; - int numVerts = 0; - for (int j = 0; j < nv; ++j) - { - if (p[j] == rem) - { - numTouchedVerts++; - numRemoved++; - } - numVerts++; - } - if (numRemoved) - { - numRemovedVerts += numRemoved; - numRemainingEdges += numVerts-(numRemoved+1); - } - } - - // There would be too few edges remaining to create a polygon. - // This can happen for example when a tip of a triangle is marked - // as deletion, but there are no other polys that share the vertex. - // In this case, the vertex should not be removed. - if (numRemainingEdges <= 2) - return false; - - // Find edges which share the removed vertex. - const int maxEdges = numTouchedVerts*2; - int nedges = 0; - rcScopedDelete 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); - return false; - } - - for (int i = 0; i < mesh.npolys; ++i) - { - unsigned short* p = &mesh.polys[i*nvp*2]; - const int nv = countPolyVerts(p, nvp); - - // Collect edges which touches the removed vertex. - for (int j = 0, k = nv-1; j < nv; k = j++) - { - if (p[j] == rem || p[k] == rem) - { - // Arrange edge so that a=rem. - int a = p[j], b = p[k]; - if (b == rem) - rcSwap(a,b); - - // Check if the edge exists - bool exists = false; - for (int m = 0; m < nedges; ++m) - { - int* e = &edges[m*3]; - if (e[1] == b) - { - // Exists, increment vertex share count. - e[2]++; - exists = true; - } - } - // Add new edge. - if (!exists) - { - int* e = &edges[nedges*3]; - e[0] = a; - e[1] = b; - e[2] = 1; - nedges++; - } - } - } - } - - // There should be no more than 2 open edges. - // This catches the case that two non-adjacent polygons - // share the removed vertex. In that case, do not remove the vertex. - int numOpenEdges = 0; - for (int i = 0; i < nedges; ++i) - { - if (edges[i*3+2] < 2) - numOpenEdges++; - } - if (numOpenEdges > 2) - return false; - - return true; -} - -static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short rem, const int maxTris) -{ - const int nvp = mesh.nvp; - - // Count number of polygons to remove. - int numRemovedVerts = 0; - for (int i = 0; i < mesh.npolys; ++i) - { - unsigned short* p = &mesh.polys[i*nvp*2]; - const int nv = countPolyVerts(p, nvp); - for (int j = 0; j < nv; ++j) - { - if (p[j] == rem) - numRemovedVerts++; - } - } - - int nedges = 0; - rcScopedDelete 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); - return false; - } - - int nhole = 0; - rcScopedDelete 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); - return false; - } - - int nhreg = 0; - rcScopedDelete 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); - return false; - } - - int nharea = 0; - rcScopedDelete 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); - return false; - } - - for (int i = 0; i < mesh.npolys; ++i) - { - unsigned short* p = &mesh.polys[i*nvp*2]; - const int nv = countPolyVerts(p, nvp); - bool hasRem = false; - for (int j = 0; j < nv; ++j) - if (p[j] == rem) hasRem = true; - if (hasRem) - { - // Collect edges which does not touch the removed vertex. - for (int j = 0, k = nv-1; j < nv; k = j++) - { - if (p[j] != rem && p[k] != rem) - { - int* e = &edges[nedges*4]; - e[0] = p[k]; - e[1] = p[j]; - e[2] = mesh.regs[i]; - e[3] = mesh.areas[i]; - nedges++; - } - } - // 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]; - mesh.areas[i] = mesh.areas[mesh.npolys-1]; - mesh.npolys--; - --i; - } - } - - // Remove vertex. - 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]; - mesh.verts[i*3+2] = mesh.verts[(i+1)*3+2]; - } - mesh.nverts--; - - // Adjust indices to match the removed vertex layout. - for (int i = 0; i < mesh.npolys; ++i) - { - unsigned short* p = &mesh.polys[i*nvp*2]; - const int nv = countPolyVerts(p, nvp); - for (int j = 0; j < nv; ++j) - if (p[j] > rem) p[j]--; - } - for (int i = 0; i < nedges; ++i) - { - if (edges[i*4+0] > rem) edges[i*4+0]--; - if (edges[i*4+1] > rem) edges[i*4+1]--; - } - - if (nedges == 0) - return true; - - // Start with one vertex, keep appending connected - // segments to the start and end of the hole. - pushBack(edges[0], hole, nhole); - pushBack(edges[2], hreg, nhreg); - pushBack(edges[3], harea, nharea); - - while (nedges) - { - bool match = false; - - for (int i = 0; i < nedges; ++i) - { - const int ea = edges[i*4+0]; - const int eb = edges[i*4+1]; - const int r = edges[i*4+2]; - const int a = edges[i*4+3]; - bool add = false; - if (hole[0] == eb) - { - // The segment matches the beginning of the hole boundary. - pushFront(ea, hole, nhole); - pushFront(r, hreg, nhreg); - pushFront(a, harea, nharea); - add = true; - } - else if (hole[nhole-1] == ea) - { - // The segment matches the end of the hole boundary. - pushBack(eb, hole, nhole); - pushBack(r, hreg, nhreg); - pushBack(a, harea, nharea); - add = true; - } - if (add) - { - // The edge segment was added, remove it. - edges[i*4+0] = edges[(nedges-1)*4+0]; - edges[i*4+1] = edges[(nedges-1)*4+1]; - edges[i*4+2] = edges[(nedges-1)*4+2]; - edges[i*4+3] = edges[(nedges-1)*4+3]; - --nedges; - match = true; - --i; - } - } - - if (!match) - break; - } - - rcScopedDelete 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 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 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; - } - - // Generate temp vertex array for triangulation. - for (int i = 0; i < nhole; ++i) - { - const int pi = hole[i]; - tverts[i*4+0] = mesh.verts[pi*3+0]; - tverts[i*4+1] = mesh.verts[pi*3+1]; - tverts[i*4+2] = mesh.verts[pi*3+2]; - tverts[i*4+3] = 0; - thole[i] = i; - } - - // Triangulate the hole. - int ntris = triangulate(nhole, &tverts[0], &thole[0], tris); - if (ntris < 0) - { - ntris = -ntris; - ctx->log(RC_LOG_WARNING, "removeVertex: triangulate() returned bad results."); - } - - // Merge the hole triangles back to polygons. - rcScopedDelete 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 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 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; - } - - unsigned short* tmpPoly = &polys[ntris*nvp]; - - // Build initial polygons. - int npolys = 0; - memset(polys, 0xff, ntris*nvp*sizeof(unsigned short)); - for (int j = 0; j < ntris; ++j) - { - int* t = &tris[j*3]; - if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2]) - { - 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++; - } - } - if (!npolys) - return true; - - // Merge polygons. - if (nvp > 3) - { - for (;;) - { - // Find best polygons to merge. - int bestMergeVal = 0; - int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0; - - for (int j = 0; j < npolys-1; ++j) - { - unsigned short* pj = &polys[j*nvp]; - for (int k = j+1; k < npolys; ++k) - { - unsigned short* pk = &polys[k*nvp]; - int ea, eb; - int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp); - if (v > bestMergeVal) - { - bestMergeVal = v; - bestPa = j; - bestPb = k; - bestEa = ea; - bestEb = eb; - } - } - } - - if (bestMergeVal > 0) - { - // Found best, merge. - unsigned short* pa = &polys[bestPa*nvp]; - unsigned short* pb = &polys[bestPb*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--; - } - else - { - // Could not merge any polygons, stop. - break; - } - } - } - - // Store polygons. - for (int i = 0; i < npolys; ++i) - { - if (mesh.npolys >= maxTris) break; - unsigned short* p = &mesh.polys[mesh.npolys*nvp*2]; - memset(p,0xff,sizeof(unsigned short)*nvp*2); - for (int j = 0; j < nvp; ++j) - p[j] = polys[i*nvp+j]; - mesh.regs[mesh.npolys] = pregs[i]; - mesh.areas[mesh.npolys] = pareas[i]; - mesh.npolys++; - if (mesh.npolys > maxTris) - { - ctx->log(RC_LOG_ERROR, "removeVertex: Too many polygons %d (max:%d).", mesh.npolys, maxTris); - return false; - } - } - - return true; -} - -/// @par -/// -/// @note If the mesh data is to be used to construct a Detour navigation mesh, then the upper -/// limit must be retricted to <= #DT_VERTS_PER_POLYGON. -/// -/// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig -bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh) -{ - rcAssert(ctx); - - 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; - int maxVertsPerCont = 0; - for (int i = 0; i < cset.nconts; ++i) - { - // Skip null contours. - if (cset.conts[i].nverts < 3) continue; - maxVertices += cset.conts[i].nverts; - maxTris += cset.conts[i].nverts - 2; - maxVertsPerCont = rcMax(maxVertsPerCont, cset.conts[i].nverts); - } - - if (maxVertices >= 0xfffe) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many vertices %d.", maxVertices); - return false; - } - - rcScopedDelete vflags((unsigned char*)rcAlloc(sizeof(unsigned char)*maxVertices, RC_ALLOC_TEMP)); - if (!vflags) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'vflags' (%d).", maxVertices); - return false; - } - memset(vflags, 0, maxVertices); - - mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertices*3, RC_ALLOC_PERM); - if (!mesh.verts) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices); - return false; - } - mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris*nvp*2, RC_ALLOC_PERM); - if (!mesh.polys) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.polys' (%d).", maxTris*nvp*2); - return false; - } - mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris, RC_ALLOC_PERM); - if (!mesh.regs) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.regs' (%d).", maxTris); - return false; - } - mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris, RC_ALLOC_PERM); - if (!mesh.areas) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.areas' (%d).", maxTris); - return false; - } - - mesh.nverts = 0; - mesh.npolys = 0; - mesh.nvp = nvp; - mesh.maxpolys = maxTris; - - memset(mesh.verts, 0, sizeof(unsigned short)*maxVertices*3); - memset(mesh.polys, 0xff, sizeof(unsigned short)*maxTris*nvp*2); - memset(mesh.regs, 0, sizeof(unsigned short)*maxTris); - memset(mesh.areas, 0, sizeof(unsigned char)*maxTris); - - rcScopedDelete nextVert((int*)rcAlloc(sizeof(int)*maxVertices, RC_ALLOC_TEMP)); - if (!nextVert) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'nextVert' (%d).", maxVertices); - return false; - } - memset(nextVert, 0, sizeof(int)*maxVertices); - - rcScopedDelete 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); - return false; - } - for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i) - firstVert[i] = -1; - - rcScopedDelete 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 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 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); - return false; - } - unsigned short* tmpPoly = &polys[maxVertsPerCont*nvp]; - - for (int i = 0; i < cset.nconts; ++i) - { - rcContour& cont = cset.conts[i]; - - // Skip null contours. - if (cont.nverts < 3) - continue; - - // Triangulate contour - for (int j = 0; j < cont.nverts; ++j) - indices[j] = j; - - int ntris = triangulate(cont.nverts, cont.verts, &indices[0], &tris[0]); - if (ntris <= 0) - { - // Bad triangulation, should not happen. -/* printf("\tconst float bmin[3] = {%ff,%ff,%ff};\n", cset.bmin[0], cset.bmin[1], cset.bmin[2]); - printf("\tconst float cs = %ff;\n", cset.cs); - printf("\tconst float ch = %ff;\n", cset.ch); - printf("\tconst int verts[] = {\n"); - for (int k = 0; k < cont.nverts; ++k) - { - const int* v = &cont.verts[k*4]; - printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]); - } - printf("\t};\n\tconst int nverts = sizeof(verts)/(sizeof(int)*4);\n");*/ - ctx->log(RC_LOG_WARNING, "rcBuildPolyMesh: Bad triangulation Contour %d.", i); - ntris = -ntris; - } - - // Add and merge vertices. - for (int j = 0; j < cont.nverts; ++j) - { - const int* v = &cont.verts[j*4]; - indices[j] = addVertex((unsigned short)v[0], (unsigned short)v[1], (unsigned short)v[2], - mesh.verts, firstVert, nextVert, mesh.nverts); - if (v[3] & RC_BORDER_VERTEX) - { - // This vertex should be removed. - vflags[indices[j]] = 1; - } - } - - // Build initial polygons. - int npolys = 0; - memset(polys, 0xff, maxVertsPerCont*nvp*sizeof(unsigned short)); - for (int j = 0; j < ntris; ++j) - { - int* t = &tris[j*3]; - if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2]) - { - polys[npolys*nvp+0] = (unsigned short)indices[t[0]]; - polys[npolys*nvp+1] = (unsigned short)indices[t[1]]; - polys[npolys*nvp+2] = (unsigned short)indices[t[2]]; - npolys++; - } - } - if (!npolys) - continue; - - // Merge polygons. - if (nvp > 3) - { - for(;;) - { - // Find best polygons to merge. - int bestMergeVal = 0; - int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0; - - for (int j = 0; j < npolys-1; ++j) - { - unsigned short* pj = &polys[j*nvp]; - for (int k = j+1; k < npolys; ++k) - { - unsigned short* pk = &polys[k*nvp]; - int ea, eb; - int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp); - if (v > bestMergeVal) - { - bestMergeVal = v; - bestPa = j; - bestPb = k; - bestEa = ea; - bestEb = eb; - } - } - } - - if (bestMergeVal > 0) - { - // Found best, merge. - unsigned short* pa = &polys[bestPa*nvp]; - unsigned short* pb = &polys[bestPb*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 - { - // Could not merge any polygons, stop. - break; - } - } - } - - // Store polygons. - for (int j = 0; j < npolys; ++j) - { - unsigned short* p = &mesh.polys[mesh.npolys*nvp*2]; - unsigned short* q = &polys[j*nvp]; - for (int k = 0; k < nvp; ++k) - p[k] = q[k]; - mesh.regs[mesh.npolys] = cont.reg; - mesh.areas[mesh.npolys] = cont.area; - mesh.npolys++; - if (mesh.npolys > maxTris) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many polygons %d (max:%d).", mesh.npolys, maxTris); - return false; - } - } - } - - - // Remove edge vertices. - for (int i = 0; i < mesh.nverts; ++i) - { - if (vflags[i]) - { - if (!canRemoveVertex(ctx, mesh, (unsigned short)i)) - continue; - if (!removeVertex(ctx, mesh, (unsigned short)i, maxTris)) - { - // Failed to remove vertex - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Failed to remove edge vertex %d.", i); - return false; - } - // 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; - } - } - - // Calculate adjacency. - if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, nvp)) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Adjacency failed."); - return false; - } - - // Find portal edges - if (mesh.borderSize > 0) - { - const int w = cset.width; - const int h = cset.height; - for (int i = 0; i < mesh.npolys; ++i) - { - unsigned short* p = &mesh.polys[i*2*nvp]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - // Skip connected edges. - if (p[nvp+j] != RC_MESH_NULL_IDX) - continue; - int nj = j+1; - if (nj >= nvp || p[nj] == RC_MESH_NULL_IDX) nj = 0; - const unsigned short* va = &mesh.verts[p[j]*3]; - const unsigned short* vb = &mesh.verts[p[nj]*3]; - - if ((int)va[0] == 0 && (int)vb[0] == 0) - p[nvp+j] = 0x8000 | 0; - else if ((int)va[2] == h && (int)vb[2] == h) - p[nvp+j] = 0x8000 | 1; - else if ((int)va[0] == w && (int)vb[0] == w) - p[nvp+j] = 0x8000 | 2; - else if ((int)va[2] == 0 && (int)vb[2] == 0) - p[nvp+j] = 0x8000 | 3; - } - } - } - - // Just allocate the mesh flags array. The user is resposible to fill it. - mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*mesh.npolys, RC_ALLOC_PERM); - if (!mesh.flags) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.flags' (%d).", mesh.npolys); - return false; - } - memset(mesh.flags, 0, sizeof(unsigned short) * mesh.npolys); - - if (mesh.nverts > 0xffff) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff); - } - if (mesh.npolys > 0xffff) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff); - } - - return true; -} - -/// @see rcAllocPolyMesh, rcPolyMesh -bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh) -{ - rcAssert(ctx); - - if (!nmeshes || !meshes) - return true; - - rcScopedTimer timer(ctx, RC_TIMER_MERGE_POLYMESH); - - mesh.nvp = meshes[0]->nvp; - mesh.cs = meshes[0]->cs; - mesh.ch = meshes[0]->ch; - rcVcopy(mesh.bmin, meshes[0]->bmin); - rcVcopy(mesh.bmax, meshes[0]->bmax); - - int maxVerts = 0; - int maxPolys = 0; - int maxVertsPerMesh = 0; - for (int i = 0; i < nmeshes; ++i) - { - rcVmin(mesh.bmin, meshes[i]->bmin); - rcVmax(mesh.bmax, meshes[i]->bmax); - maxVertsPerMesh = rcMax(maxVertsPerMesh, meshes[i]->nverts); - maxVerts += meshes[i]->nverts; - maxPolys += meshes[i]->npolys; - } - - mesh.nverts = 0; - mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVerts*3, RC_ALLOC_PERM); - if (!mesh.verts) - { - ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.verts' (%d).", maxVerts*3); - return false; - } - - mesh.npolys = 0; - mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys*2*mesh.nvp, RC_ALLOC_PERM); - if (!mesh.polys) - { - ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.polys' (%d).", maxPolys*2*mesh.nvp); - return false; - } - memset(mesh.polys, 0xff, sizeof(unsigned short)*maxPolys*2*mesh.nvp); - - mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM); - if (!mesh.regs) - { - ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.regs' (%d).", maxPolys); - return false; - } - memset(mesh.regs, 0, sizeof(unsigned short)*maxPolys); - - mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxPolys, RC_ALLOC_PERM); - if (!mesh.areas) - { - ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.areas' (%d).", maxPolys); - return false; - } - memset(mesh.areas, 0, sizeof(unsigned char)*maxPolys); - - mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM); - if (!mesh.flags) - { - ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.flags' (%d).", maxPolys); - return false; - } - memset(mesh.flags, 0, sizeof(unsigned short)*maxPolys); - - rcScopedDelete nextVert((int*)rcAlloc(sizeof(int)*maxVerts, RC_ALLOC_TEMP)); - if (!nextVert) - { - ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'nextVert' (%d).", maxVerts); - return false; - } - memset(nextVert, 0, sizeof(int)*maxVerts); - - rcScopedDelete 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); - return false; - } - for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i) - firstVert[i] = -1; - - rcScopedDelete 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(vremap, 0, sizeof(unsigned short)*maxVertsPerMesh); - - for (int i = 0; i < nmeshes; ++i) - { - const rcPolyMesh* pmesh = meshes[i]; - - 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]; - vremap[j] = addVertex(v[0]+ox, v[1], v[2]+oz, - mesh.verts, firstVert, nextVert, mesh.nverts); - } - - for (int j = 0; j < pmesh->npolys; ++j) - { - unsigned short* tgt = &mesh.polys[mesh.npolys*2*mesh.nvp]; - unsigned short* src = &pmesh->polys[j*2*mesh.nvp]; - mesh.regs[mesh.npolys] = pmesh->regs[j]; - mesh.areas[mesh.npolys] = pmesh->areas[j]; - mesh.flags[mesh.npolys] = pmesh->flags[j]; - mesh.npolys++; - for (int k = 0; k < mesh.nvp; ++k) - { - 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; - } - } - } - } - } - } - - // Calculate adjacency. - if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, mesh.nvp)) - { - ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Adjacency failed."); - return false; - } - - if (mesh.nverts > 0xffff) - { - ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff); - } - if (mesh.npolys > 0xffff) - { - ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff); - } - - 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; -} diff --git a/libs/recast/recast/src/RecastMeshDetail.cpp b/libs/recast/recast/src/RecastMeshDetail.cpp deleted file mode 100644 index f953132f7..000000000 --- a/libs/recast/recast/src/RecastMeshDetail.cpp +++ /dev/null @@ -1,1462 +0,0 @@ -// -// Copyright (c) 2009-2010 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 -#define _USE_MATH_DEFINES -#include -#include -#include -#include -#include "Recast.h" -#include "RecastAlloc.h" -#include "RecastAssert.h" - - -static const unsigned RC_UNSET_HEIGHT = 0xffff; - -struct rcHeightPatch -{ - inline rcHeightPatch() : data(0), xmin(0), ymin(0), width(0), height(0) {} - inline ~rcHeightPatch() { rcFree(data); } - unsigned short* data; - int xmin, ymin, width, height; -}; - - -inline float vdot2(const float* a, const float* b) -{ - return a[0]*b[0] + a[2]*b[2]; -} - -inline float vdistSq2(const float* p, const float* q) -{ - const float dx = q[0] - p[0]; - const float dy = q[2] - p[2]; - return dx*dx + dy*dy; -} - -inline float vdist2(const float* p, const float* q) -{ - return sqrtf(vdistSq2(p,q)); -} - -inline float vcross2(const float* p1, const float* p2, const float* p3) -{ - const float u1 = p2[0] - p1[0]; - const float v1 = p2[2] - p1[2]; - const float u2 = p3[0] - p1[0]; - const float v2 = p3[2] - p1[2]; - return u1 * v2 - v1 * u2; -} - -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(v1, v2, v3); - if (fabsf(cp) > EPS) - { - 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; - } - - rcVcopy(c, p1); - r = 0; - return false; -} - -static float distPtTri(const float* p, const float* a, const float* b, const float* c) -{ - float v0[3], v1[3], v2[3]; - rcVsub(v0, c,a); - rcVsub(v1, b,a); - rcVsub(v2, p,a); - - const float dot00 = vdot2(v0, v0); - const float dot01 = vdot2(v0, v1); - const float dot02 = vdot2(v0, v2); - const float dot11 = vdot2(v1, v1); - const float dot12 = vdot2(v1, v2); - - // Compute barycentric coordinates - const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01); - const float u = (dot11 * dot02 - dot01 * dot12) * invDenom; - float v = (dot00 * dot12 - dot01 * dot02) * invDenom; - - // If point lies inside the triangle, return interpolated y-coord. - static const float EPS = 1e-4f; - if (u >= -EPS && v >= -EPS && (u+v) <= 1+EPS) - { - const float y = a[1] + v0[1]*u + v1[1]*v; - return fabsf(y-p[1]); - } - return FLT_MAX; -} - -static float distancePtSeg(const float* pt, const float* p, const float* q) -{ - float pqx = q[0] - p[0]; - float pqy = q[1] - p[1]; - float pqz = q[2] - p[2]; - float dx = pt[0] - p[0]; - float dy = pt[1] - p[1]; - float dz = pt[2] - p[2]; - 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 = p[0] + t*pqx - pt[0]; - dy = p[1] + t*pqy - pt[1]; - dz = p[2] + t*pqz - pt[2]; - - return dx*dx + dy*dy + dz*dz; -} - -static float distancePtSeg2d(const float* pt, const float* p, const float* q) -{ - float pqx = q[0] - p[0]; - float pqz = q[2] - p[2]; - float dx = pt[0] - p[0]; - float dz = pt[2] - p[2]; - float d = pqx*pqx + pqz*pqz; - float t = pqx*dx + pqz*dz; - if (d > 0) - t /= d; - if (t < 0) - t = 0; - else if (t > 1) - t = 1; - - dx = p[0] + t*pqx - pt[0]; - dz = p[2] + t*pqz - pt[2]; - - return dx*dx + dz*dz; -} - -static float distToTriMesh(const float* p, const float* verts, const int /*nverts*/, const int* tris, const int ntris) -{ - float dmin = FLT_MAX; - for (int i = 0; i < ntris; ++i) - { - const float* va = &verts[tris[i*4+0]*3]; - const float* vb = &verts[tris[i*4+1]*3]; - const float* vc = &verts[tris[i*4+2]*3]; - float d = distPtTri(p, va,vb,vc); - if (d < dmin) - dmin = d; - } - if (dmin == FLT_MAX) return -1; - return dmin; -} - -static float distToPoly(int nvert, const float* verts, const float* p) -{ - - float dmin = FLT_MAX; - int i, j, c = 0; - for (i = 0, j = nvert-1; i < nvert; j = i++) - { - const float* vi = &verts[i*3]; - const float* vj = &verts[j*3]; - if (((vi[2] > p[2]) != (vj[2] > p[2])) && - (p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) ) - c = !c; - dmin = rcMin(dmin, distancePtSeg2d(p, vj, vi)); - } - return c ? -dmin : dmin; -} - - -static unsigned short getHeight(const float fx, const float fy, const float fz, - const float /*cs*/, const float ics, const float ch, - 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 - 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. - // 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; - } - } - } - - // 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) - { - 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; -} - - -enum EdgeValues -{ - EV_UNDEF = -1, - EV_HULL = -2, -}; - -static int findEdge(const int* edges, int nedges, int s, int t) -{ - for (int i = 0; i < nedges; i++) - { - const int* e = &edges[i*4]; - if ((e[0] == s && e[1] == t) || (e[0] == t && e[1] == s)) - return i; - } - return EV_UNDEF; -} - -static int addEdge(rcContext* ctx, int* edges, int& nedges, const int maxEdges, int s, int t, int l, int r) -{ - if (nedges >= maxEdges) - { - ctx->log(RC_LOG_ERROR, "addEdge: Too many edges (%d/%d).", nedges, maxEdges); - return EV_UNDEF; - } - - // Add edge if not already in the triangulation. - int e = findEdge(edges, nedges, s, t); - if (e == EV_UNDEF) - { - int* edge = &edges[nedges*4]; - edge[0] = s; - edge[1] = t; - edge[2] = l; - edge[3] = r; - return nedges++; - } - else - { - return EV_UNDEF; - } -} - -static void updateLeftFace(int* e, int s, int t, int f) -{ - if (e[0] == s && e[1] == t && e[2] == EV_UNDEF) - e[2] = f; - else if (e[1] == s && e[0] == t && e[3] == EV_UNDEF) - e[3] = f; -} - -static int overlapSegSeg2d(const float* a, const float* b, const float* c, const float* d) -{ - const float a1 = vcross2(a, b, d); - const float a2 = vcross2(a, b, c); - if (a1*a2 < 0.0f) - { - float a3 = vcross2(c, d, a); - float a4 = a3 + a2 - a1; - if (a3 * a4 < 0.0f) - return 1; - } - return 0; -} - -static bool overlapEdges(const float* pts, const int* edges, int nedges, int s1, int t1) -{ - for (int i = 0; i < nedges; ++i) - { - const int s0 = edges[i*4+0]; - const int t0 = edges[i*4+1]; - // Same or connected edges do not overlap. - if (s0 == s1 || s0 == t1 || t0 == s1 || t0 == t1) - continue; - if (overlapSegSeg2d(&pts[s0*3],&pts[t0*3], &pts[s1*3],&pts[t1*3])) - return true; - } - return false; -} - -static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges, int& nedges, const int maxEdges, int& nfaces, int e) -{ - static const float EPS = 1e-5f; - - int* edge = &edges[e*4]; - - // Cache s and t. - int s,t; - if (edge[2] == EV_UNDEF) - { - s = edge[0]; - t = edge[1]; - } - else if (edge[3] == EV_UNDEF) - { - s = edge[1]; - t = edge[0]; - } - else - { - // Edge already completed. - return; - } - - // Find best point on left of edge. - int pt = npts; - float c[3] = {0,0,0}; - float r = -1; - for (int u = 0; u < npts; ++u) - { - if (u == s || u == t) continue; - if (vcross2(&pts[s*3], &pts[t*3], &pts[u*3]) > EPS) - { - if (r < 0) - { - // The circle is not updated yet, do it now. - pt = u; - circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r); - continue; - } - const float d = vdist2(c, &pts[u*3]); - const float tol = 0.001f; - if (d > r*(1+tol)) - { - // Outside current circumcircle, skip. - continue; - } - else if (d < r*(1-tol)) - { - // Inside safe circumcircle, update circle. - pt = u; - circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r); - } - else - { - // Inside epsilon circum circle, do extra tests to make sure the edge is valid. - // s-u and t-u cannot overlap with s-pt nor t-pt if they exists. - if (overlapEdges(pts, edges, nedges, s,u)) - continue; - if (overlapEdges(pts, edges, nedges, t,u)) - continue; - // Edge is valid. - pt = u; - circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r); - } - } - } - - // Add new triangle or update edge info if s-t is on hull. - if (pt < npts) - { - // Update face information of edge being completed. - updateLeftFace(&edges[e*4], s, t, nfaces); - - // Add new edge or update face info of old edge. - e = findEdge(edges, nedges, pt, s); - 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 == EV_UNDEF) - addEdge(ctx, edges, nedges, maxEdges, t, pt, nfaces, EV_UNDEF); - else - updateLeftFace(&edges[e*4], t, pt, nfaces); - - nfaces++; - } - else - { - updateLeftFace(&edges[e*4], s, t, EV_HULL); - } -} - -static void delaunayHull(rcContext* ctx, const int npts, const float* pts, - const int nhull, const int* hull, - rcIntArray& tris, rcIntArray& edges) -{ - int nfaces = 0; - int nedges = 0; - const int maxEdges = npts*10; - 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], EV_HULL, EV_UNDEF); - - int currentEdge = 0; - while (currentEdge < nedges) - { - if (edges[currentEdge*4+2] == EV_UNDEF) - completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge); - if (edges[currentEdge*4+3] == EV_UNDEF) - completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge); - currentEdge++; - } - - // Create tris - tris.resize(nfaces*4); - for (int i = 0; i < nfaces*4; ++i) - tris[i] = -1; - - for (int i = 0; i < nedges; ++i) - { - const int* e = &edges[i*4]; - if (e[3] >= 0) - { - // Left face - int* t = &tris[e[3]*4]; - if (t[0] == -1) - { - t[0] = e[0]; - t[1] = e[1]; - } - else if (t[0] == e[1]) - t[2] = e[0]; - else if (t[1] == e[0]) - t[2] = e[1]; - } - if (e[2] >= 0) - { - // Right - int* t = &tris[e[2]*4]; - if (t[0] == -1) - { - t[0] = e[1]; - t[1] = e[0]; - } - else if (t[0] == e[0]) - t[2] = e[1]; - else if (t[1] == e[1]) - t[2] = e[0]; - } - } - - for (int i = 0; i < tris.size()/4; ++i) - { - int* t = &tris[i*4]; - if (t[0] == -1 || t[1] == -1 || t[2] == -1) - { - ctx->log(RC_LOG_WARNING, "delaunayHull: Removing dangling face %d [%d,%d,%d].", i, t[0],t[1],t[2]); - t[0] = tris[tris.size()-4]; - t[1] = tris[tris.size()-3]; - t[2] = tris[tris.size()-2]; - t[3] = tris[tris.size()-1]; - tris.resize(tris.size()-4); - --i; - } - } -} - -// 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) -{ - return (((i * 0x8da6b343) & 0xffff) / 65535.0f * 2.0f) - 1.0f; -} - -inline float getJitterY(const int i) -{ - return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f; -} - -static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin, - const float sampleDist, const float sampleMaxError, - 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). - static const int MAX_VERTS_PER_EDGE = 32; - float edge[(MAX_VERTS_PER_EDGE+1)*3]; - int hull[MAX_VERTS]; - int nhull = 0; - - nverts = nin; - - for (int i = 0; i < nin; ++i) - rcVcopy(&verts[i*3], &in[i*3]); - - 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. - if (sampleDist > 0) - { - for (int i = 0, j = nin-1; i < nin; j=i++) - { - const float* vj = &in[j*3]; - const float* vi = &in[i*3]; - bool swapped = false; - // Make sure the segments are always handled in same order - // using lexological sort or else there will be seams. - if (fabsf(vj[0]-vi[0]) < 1e-6f) - { - if (vj[2] > vi[2]) - { - rcSwap(vj,vi); - swapped = true; - } - } - else - { - if (vj[0] > vi[0]) - { - rcSwap(vj,vi); - swapped = true; - } - } - // Create samples along the edge. - float dx = vi[0] - vj[0]; - float dy = vi[1] - vj[1]; - float dz = vi[2] - vj[2]; - float d = sqrtf(dx*dx + dz*dz); - int nn = 1 + (int)floorf(d/sampleDist); - if (nn >= MAX_VERTS_PER_EDGE) nn = MAX_VERTS_PER_EDGE-1; - if (nverts+nn >= MAX_VERTS) - nn = MAX_VERTS-1-nverts; - - for (int k = 0; k <= nn; ++k) - { - float u = (float)k/(float)nn; - float* pos = &edge[k*3]; - 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, heightSearchRadius, hp)*chf.ch; - } - // Simplify samples. - int idx[MAX_VERTS_PER_EDGE] = {0,nn}; - int nidx = 2; - for (int k = 0; k < nidx-1; ) - { - const int a = idx[k]; - const int b = idx[k+1]; - const float* va = &edge[a*3]; - const float* vb = &edge[b*3]; - // Find maximum deviation along the segment. - float maxd = 0; - int maxi = -1; - for (int m = a+1; m < b; ++m) - { - float dev = distancePtSeg(&edge[m*3],va,vb); - if (dev > maxd) - { - maxd = dev; - maxi = m; - } - } - // If the max deviation is larger than accepted error, - // add new point, else continue to next segment. - if (maxi != -1 && maxd > rcSqr(sampleMaxError)) - { - for (int m = nidx; m > k; --m) - idx[m] = idx[m-1]; - idx[k+1] = maxi; - nidx++; - } - else - { - ++k; - } - } - - hull[nhull++] = j; - // Add new vertices. - if (swapped) - { - for (int k = nidx-2; k > 0; --k) - { - rcVcopy(&verts[nverts*3], &edge[idx[k]*3]); - hull[nhull++] = nverts; - nverts++; - } - } - else - { - for (int k = 1; k < nidx-1; ++k) - { - rcVcopy(&verts[nverts*3], &edge[idx[k]*3]); - hull[nhull++] = nverts; - nverts++; - } - } - } - } - - // 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. - // We're using the triangulateHull instead of delaunayHull as it tends to - // create a bit better triangulation for long thin 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 (%d verts).", nverts); - return true; - } - - if (sampleDist > 0) - { - // Create sample locations in a grid. - float bmin[3], bmax[3]; - rcVcopy(bmin, in); - rcVcopy(bmax, in); - for (int i = 1; i < nin; ++i) - { - rcVmin(bmin, &in[i*3]); - rcVmax(bmax, &in[i*3]); - } - int x0 = (int)floorf(bmin[0]/sampleDist); - int x1 = (int)ceilf(bmax[0]/sampleDist); - int z0 = (int)floorf(bmin[2]/sampleDist); - int z1 = (int)ceilf(bmax[2]/sampleDist); - samples.resize(0); - for (int z = z0; z < z1; ++z) - { - for (int x = x0; x < x1; ++x) - { - float pt[3]; - pt[0] = x*sampleDist; - pt[1] = (bmax[1]+bmin[1])*0.5f; - pt[2] = z*sampleDist; - // 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, heightSearchRadius, hp)); - samples.push(z); - samples.push(0); // Not added - } - } - - // Add the samples starting from the one that has the most - // error. The procedure stops when all samples are added - // or when the max error is within treshold. - const int nsamples = samples.size()/4; - for (int iter = 0; iter < nsamples; ++iter) - { - if (nverts >= MAX_VERTS) - break; - - // Find sample with most error. - float bestpt[3] = {0,0,0}; - float bestd = 0; - int besti = -1; - for (int i = 0; i < nsamples; ++i) - { - const int* s = &samples[i*4]; - if (s[3]) continue; // skip added. - float pt[3]; - // The sample location is jittered to get rid of some bad triangulations - // which are cause by symmetrical data from the grid structure. - pt[0] = s[0]*sampleDist + getJitterX(i)*cs*0.1f; - pt[1] = s[1]*chf.ch; - pt[2] = s[2]*sampleDist + getJitterY(i)*cs*0.1f; - float d = distToTriMesh(pt, verts, nverts, &tris[0], tris.size()/4); - if (d < 0) continue; // did not hit the mesh. - if (d > bestd) - { - bestd = d; - besti = i; - rcVcopy(bestpt,pt); - } - } - // If the max error is within accepted threshold, stop tesselating. - if (bestd <= sampleMaxError || besti == -1) - break; - // Mark sample as added. - samples[besti*4+3] = 1; - // Add the new sample point. - rcVcopy(&verts[nverts*3],bestpt); - nverts++; - - // Create new triangulation. - // TODO: Incremental add instead of full rebuild. - edges.resize(0); - tris.resize(0); - delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges); - } - } - - const int ntris = tris.size()/4; - if (ntris > MAX_TRIS) - { - tris.resize(MAX_TRIS*4); - ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Shrinking triangle count from %d to max %d.", ntris, MAX_TRIS); - } - - return true; -} - -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& array) -{ - // Note: Reads to the compact heightfield are offset by border size (bs) - // since border size offset is already removed from the polymesh vertices. - - static const int offset[9*2] = - { - 0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0, - }; - - // Find cell closest to a poly vertex - int startCellX = 0, startCellY = 0, startSpanIndex = -1; - int dmin = RC_UNSET_HEIGHT; - 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]; - const int az = (int)verts[poly[j]*3+2] + offset[k*2+1]; - if (ax < hp.xmin || ax >= hp.xmin+hp.width || - az < hp.ymin || az >= hp.ymin+hp.height) - 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 && dmin > 0; ++i) - { - const rcCompactSpan& s = chf.spans[i]; - int d = rcAbs(ay - (int)s.y); - if (d < dmin) - { - startCellX = ax; - startCellY = az; - startSpanIndex = i; - dmin = d; - } - } - } - } - - 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]; - pcy += (int)verts[poly[j]*3+2]; - } - pcx /= npoly; - pcy /= npoly; - - // Use seeds array as a stack for DFS - array.resize(0); - array.push(startCellX); - array.push(startCellY); - array.push(startSpanIndex); - - 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) - { - if (array.size() < 3) - { - 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 i = 0; i < 4; i++) - { - int dir = dirs[i]; - if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) - continue; - - 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; - - if (hp.data[hpx+hpy*hp.width] != 0) - continue; - - 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)); - } - - 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); - const rcCompactSpan& cs = chf.spans[ci]; - 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; - - // 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 = queue[head*3+0]; - int cy = queue[head*3+1]; - int ci = queue[head*3+2]; - head++; - if (head >= RETRACT_SIZE) - { - head = 0; - 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]; - for (int dir = 0; dir < 4; ++dir) - { - if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue; - - 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 ((unsigned int)hx >= (unsigned int)hp.width || (unsigned int)hy >= (unsigned int)hp.height) - continue; - - if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT) - continue; - - const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(cs, dir); - const rcCompactSpan& as = chf.spans[ai]; - - hp.data[hx + hy*hp.width] = as.y; - - push3(queue, ax, ay, ai); - } - } -} - -static unsigned char getEdgeFlags(const float* va, const float* vb, - const float* vpoly, const int npoly) -{ - // Return true if edge (va,vb) is part of the polygon. - static const float thrSqr = rcSqr(0.001f); - for (int i = 0, j = npoly-1; i < npoly; j=i++) - { - if (distancePtSeg2d(va, &vpoly[j*3], &vpoly[i*3]) < thrSqr && - distancePtSeg2d(vb, &vpoly[j*3], &vpoly[i*3]) < thrSqr) - return 1; - } - return 0; -} - -static unsigned char getTriFlags(const float* va, const float* vb, const float* vc, - const float* vpoly, const int npoly) -{ - unsigned char flags = 0; - flags |= getEdgeFlags(va,vb,vpoly,npoly) << 0; - flags |= getEdgeFlags(vb,vc,vpoly,npoly) << 2; - flags |= getEdgeFlags(vc,va,vpoly,npoly) << 4; - return flags; -} - -/// @par -/// -/// See the #rcConfig documentation for more information on the configuration parameters. -/// -/// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig -bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf, - const float sampleDist, const float sampleMaxError, - rcPolyMeshDetail& dmesh) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_BUILD_POLYMESHDETAIL); - - if (mesh.nverts == 0 || mesh.npolys == 0) - return true; - - const int nvp = mesh.nvp; - const float cs = mesh.cs; - 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 arr(512); - rcIntArray samples(512); - float verts[256*3]; - rcHeightPatch hp; - int nPolyVerts = 0; - int maxhw = 0, maxhh = 0; - - rcScopedDelete 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 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); - return false; - } - - // Find max size for a polygon area. - for (int i = 0; i < mesh.npolys; ++i) - { - const unsigned short* p = &mesh.polys[i*nvp*2]; - int& xmin = bounds[i*4+0]; - int& xmax = bounds[i*4+1]; - int& ymin = bounds[i*4+2]; - int& ymax = bounds[i*4+3]; - xmin = chf.width; - xmax = 0; - ymin = chf.height; - ymax = 0; - for (int j = 0; j < nvp; ++j) - { - if(p[j] == RC_MESH_NULL_IDX) break; - const unsigned short* v = &mesh.verts[p[j]*3]; - xmin = rcMin(xmin, (int)v[0]); - xmax = rcMax(xmax, (int)v[0]); - ymin = rcMin(ymin, (int)v[2]); - ymax = rcMax(ymax, (int)v[2]); - nPolyVerts++; - } - xmin = rcMax(0,xmin-1); - xmax = rcMin(chf.width,xmax+1); - ymin = rcMax(0,ymin-1); - ymax = rcMin(chf.height,ymax+1); - if (xmin >= xmax || ymin >= ymax) continue; - maxhw = rcMax(maxhw, xmax-xmin); - maxhh = rcMax(maxhh, ymax-ymin); - } - - hp.data = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxhw*maxhh, RC_ALLOC_TEMP); - if (!hp.data) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'hp.data' (%d).", maxhw*maxhh); - return false; - } - - dmesh.nmeshes = mesh.npolys; - dmesh.nverts = 0; - dmesh.ntris = 0; - dmesh.meshes = (unsigned int*)rcAlloc(sizeof(unsigned int)*dmesh.nmeshes*4, RC_ALLOC_PERM); - if (!dmesh.meshes) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.meshes' (%d).", dmesh.nmeshes*4); - return false; - } - - int vcap = nPolyVerts+nPolyVerts/2; - int tcap = vcap*2; - - dmesh.nverts = 0; - dmesh.verts = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM); - if (!dmesh.verts) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", vcap*3); - return false; - } - dmesh.ntris = 0; - 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); - return false; - } - - for (int i = 0; i < mesh.npolys; ++i) - { - const unsigned short* p = &mesh.polys[i*nvp*2]; - - // Store polygon vertices for processing. - int npoly = 0; - for (int j = 0; j < nvp; ++j) - { - if(p[j] == RC_MESH_NULL_IDX) break; - const unsigned short* v = &mesh.verts[p[j]*3]; - poly[j*3+0] = v[0]*cs; - poly[j*3+1] = v[1]*ch; - poly[j*3+2] = v[2]*cs; - npoly++; - } - - // Get the height data from the area of the polygon. - hp.xmin = bounds[i*4+0]; - 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(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, - heightSearchRadius, chf, hp, - verts, nverts, tris, - edges, samples)) - { - return false; - } - - // Move detail verts to world space. - for (int j = 0; j < nverts; ++j) - { - verts[j*3+0] += orig[0]; - verts[j*3+1] += orig[1] + chf.ch; // Is this offset necessary? - verts[j*3+2] += orig[2]; - } - // Offset poly too, will be used to flag checking. - for (int j = 0; j < npoly; ++j) - { - poly[j*3+0] += orig[0]; - poly[j*3+1] += orig[1]; - poly[j*3+2] += orig[2]; - } - - // Store detail submesh. - const int ntris = tris.size()/4; - - dmesh.meshes[i*4+0] = (unsigned int)dmesh.nverts; - dmesh.meshes[i*4+1] = (unsigned int)nverts; - dmesh.meshes[i*4+2] = (unsigned int)dmesh.ntris; - dmesh.meshes[i*4+3] = (unsigned int)ntris; - - // Store vertices, allocate more memory if necessary. - if (dmesh.nverts+nverts > vcap) - { - while (dmesh.nverts+nverts > vcap) - vcap += 256; - - float* newv = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM); - if (!newv) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newv' (%d).", vcap*3); - return false; - } - if (dmesh.nverts) - memcpy(newv, dmesh.verts, sizeof(float)*3*dmesh.nverts); - rcFree(dmesh.verts); - dmesh.verts = newv; - } - for (int j = 0; j < nverts; ++j) - { - dmesh.verts[dmesh.nverts*3+0] = verts[j*3+0]; - dmesh.verts[dmesh.nverts*3+1] = verts[j*3+1]; - dmesh.verts[dmesh.nverts*3+2] = verts[j*3+2]; - dmesh.nverts++; - } - - // Store triangles, allocate more memory if necessary. - if (dmesh.ntris+ntris > tcap) - { - while (dmesh.ntris+ntris > tcap) - tcap += 256; - unsigned char* newt = (unsigned char*)rcAlloc(sizeof(unsigned char)*tcap*4, RC_ALLOC_PERM); - if (!newt) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newt' (%d).", tcap*4); - return false; - } - if (dmesh.ntris) - memcpy(newt, dmesh.tris, sizeof(unsigned char)*4*dmesh.ntris); - rcFree(dmesh.tris); - dmesh.tris = newt; - } - for (int j = 0; j < ntris; ++j) - { - const int* t = &tris[j*4]; - dmesh.tris[dmesh.ntris*4+0] = (unsigned char)t[0]; - dmesh.tris[dmesh.ntris*4+1] = (unsigned char)t[1]; - dmesh.tris[dmesh.ntris*4+2] = (unsigned char)t[2]; - dmesh.tris[dmesh.ntris*4+3] = getTriFlags(&verts[t[0]*3], &verts[t[1]*3], &verts[t[2]*3], poly, npoly); - dmesh.ntris++; - } - } - - return true; -} - -/// @see rcAllocPolyMeshDetail, rcPolyMeshDetail -bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_MERGE_POLYMESHDETAIL); - - int maxVerts = 0; - int maxTris = 0; - int maxMeshes = 0; - - for (int i = 0; i < nmeshes; ++i) - { - if (!meshes[i]) continue; - maxVerts += meshes[i]->nverts; - maxTris += meshes[i]->ntris; - maxMeshes += meshes[i]->nmeshes; - } - - mesh.nmeshes = 0; - mesh.meshes = (unsigned int*)rcAlloc(sizeof(unsigned int)*maxMeshes*4, RC_ALLOC_PERM); - if (!mesh.meshes) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'pmdtl.meshes' (%d).", maxMeshes*4); - return false; - } - - mesh.ntris = 0; - mesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris*4, RC_ALLOC_PERM); - if (!mesh.tris) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", maxTris*4); - return false; - } - - mesh.nverts = 0; - mesh.verts = (float*)rcAlloc(sizeof(float)*maxVerts*3, RC_ALLOC_PERM); - if (!mesh.verts) - { - ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", maxVerts*3); - return false; - } - - // Merge datas. - for (int i = 0; i < nmeshes; ++i) - { - rcPolyMeshDetail* dm = meshes[i]; - if (!dm) continue; - for (int j = 0; j < dm->nmeshes; ++j) - { - unsigned int* dst = &mesh.meshes[mesh.nmeshes*4]; - unsigned int* src = &dm->meshes[j*4]; - dst[0] = (unsigned int)mesh.nverts+src[0]; - dst[1] = src[1]; - dst[2] = (unsigned int)mesh.ntris+src[2]; - dst[3] = src[3]; - mesh.nmeshes++; - } - - for (int k = 0; k < dm->nverts; ++k) - { - rcVcopy(&mesh.verts[mesh.nverts*3], &dm->verts[k*3]); - mesh.nverts++; - } - for (int k = 0; k < dm->ntris; ++k) - { - mesh.tris[mesh.ntris*4+0] = dm->tris[k*4+0]; - mesh.tris[mesh.ntris*4+1] = dm->tris[k*4+1]; - mesh.tris[mesh.ntris*4+2] = dm->tris[k*4+2]; - mesh.tris[mesh.ntris*4+3] = dm->tris[k*4+3]; - mesh.ntris++; - } - } - - return true; -} diff --git a/libs/recast/recast/src/RecastRasterization.cpp b/libs/recast/recast/src/RecastRasterization.cpp deleted file mode 100644 index a4cef7490..000000000 --- a/libs/recast/recast/src/RecastRasterization.cpp +++ /dev/null @@ -1,454 +0,0 @@ -// -// Copyright (c) 2009-2010 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. -// - -#define _USE_MATH_DEFINES -#include -#include -#include "Recast.h" -#include "RecastAlloc.h" -#include "RecastAssert.h" - -inline bool overlapBounds(const float* amin, const float* amax, const float* bmin, const float* bmax) -{ - bool overlap = true; - overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; - overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; - overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; - return overlap; -} - -inline bool overlapInterval(unsigned short amin, unsigned short amax, - unsigned short bmin, unsigned short bmax) -{ - if (amax < bmin) return false; - if (amin > bmax) return false; - return true; -} - - -static rcSpan* allocSpan(rcHeightfield& hf) -{ - // If running out of memory, allocate new page and update the freelist. - if (!hf.freelist || !hf.freelist->next) - { - // Create new page. - // Allocate memory for the new pool. - rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM); - if (!pool) return 0; - - // Add the pool into the list of pools. - pool->next = hf.pools; - hf.pools = pool; - // Add new items to the free list. - rcSpan* freelist = hf.freelist; - rcSpan* head = &pool->items[0]; - rcSpan* it = &pool->items[RC_SPANS_PER_POOL]; - do - { - --it; - it->next = freelist; - freelist = it; - } - while (it != head); - hf.freelist = it; - } - - // Pop item from in front of the free list. - rcSpan* it = hf.freelist; - hf.freelist = hf.freelist->next; - return it; -} - -static void freeSpan(rcHeightfield& hf, rcSpan* ptr) -{ - if (!ptr) return; - // Add the node in front of the free list. - ptr->next = hf.freelist; - hf.freelist = ptr; -} - -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) -{ - - 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 the first span. - if (!hf.spans[idx]) - { - hf.spans[idx] = s; - return true; - } - rcSpan* prev = 0; - rcSpan* cur = hf.spans[idx]; - - // Insert and merge spans. - while (cur) - { - if (cur->smin > s->smax) - { - // Current span is further than the new span, break. - break; - } - else if (cur->smax < s->smin) - { - // Current span is before the new span advance. - prev = cur; - cur = cur->next; - } - else - { - // Merge spans. - if (cur->smin < s->smin) - s->smin = cur->smin; - if (cur->smax > s->smax) - s->smax = cur->smax; - - // Merge flags. - if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr) - s->area = rcMax(s->area, cur->area); - - // Remove current span. - rcSpan* next = cur->next; - freeSpan(hf, cur); - if (prev) - prev->next = next; - else - hf.spans[idx] = next; - cur = next; - } - } - - // Insert new span. - if (prev) - { - s->next = prev->next; - prev->next = s; - } - else - { - s->next = hf.spans[idx]; - hf.spans[idx] = s; - } - - return true; -} - -/// @par -/// -/// The span addition can be set to favor flags. If the span is merged to -/// another span and the new @p smax is within @p flagMergeThr units -/// from the existing span, the span flags are merged. -/// -/// @see rcHeightfield, rcSpan. -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); - - if (!addSpan(hf, x, y, smin, smax, area, flagMergeThr)) - { - ctx->log(RC_LOG_ERROR, "rcAddSpan: Out of memory."); - return false; - } - - 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 < nin; ++i) - d[i] = x - in[i*3+axis]; - - 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]); - 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++; - 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) - { - 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++; - } - } - - *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, - const int flagMergeThr) -{ - const int w = hf.width; - const int h = hf.height; - float tmin[3], tmax[3]; - const float by = bmax[1] - bmin[1]; - - // Calculate the bounding box of the triangle. - rcVcopy(tmin, v0); - rcVcopy(tmax, v0); - rcVmin(tmin, v1); - rcVmin(tmin, v2); - rcVmax(tmax, v1); - rcVmax(tmax, v2); - - // If the triangle does not touch the bbox of the heightfield, skip the triagle. - if (!overlapBounds(bmin, bmax, tmin, tmax)) - return true; - - // Calculate the footprint of the triangle on the grid's y-axis - int y0 = (int)((tmin[2] - bmin[2])*ics); - int y1 = (int)((tmax[2] - bmin[2])*ics); - y0 = rcClamp(y0, 0, h-1); - y1 = rcClamp(y1, 0, h-1); - - // Clip the triangle into all grid cells it touches. - float buf[7*3*4]; - float *in = buf, *inrow = buf+7*3, *p1 = inrow+7*3, *p2 = p1+7*3; - - rcVcopy(&in[0], v0); - rcVcopy(&in[1*3], v1); - rcVcopy(&in[2*3], v2); - 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; - 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 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. store the remaining polygon as well - const float cx = bmin[0] + x*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 = p1[1], smax = p1[1]; - for (int i = 1; i < nv; ++i) - { - smin = rcMin(smin, p1[i*3+1]); - smax = rcMax(smax, p1[i*3+1]); - } - smin -= bmin[1]; - smax -= bmin[1]; - // Skip the span if it is outside the heightfield bbox - if (smax < 0.0f) continue; - if (smin > by) continue; - // Clamp the span to the heightfield bbox. - if (smin < 0.0f) smin = 0; - if (smax > by) smax = by; - - // Snap the span to the heightfield height grid. - 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); - - if (!addSpan(hf, x, y, ismin, ismax, area, flagMergeThr)) - return false; - } - } - - return true; -} - -/// @par -/// -/// No spans will be added if the triangle does not overlap the heightfield grid. -/// -/// @see rcHeightfield -bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2, - const unsigned char area, rcHeightfield& solid, - const int flagMergeThr) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES); - - const float ics = 1.0f/solid.cs; - const float ich = 1.0f/solid.ch; - 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; - } - - return true; -} - -/// @par -/// -/// Spans will only be added for triangles that overlap the heightfield grid. -/// -/// @see rcHeightfield -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); - - rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES); - - const float ics = 1.0f/solid.cs; - const float ich = 1.0f/solid.ch; - // Rasterize triangles. - for (int i = 0; i < nt; ++i) - { - const float* v0 = &verts[tris[i*3+0]*3]; - const float* v1 = &verts[tris[i*3+1]*3]; - const float* v2 = &verts[tris[i*3+2]*3]; - // Rasterize. - 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; - } - } - - return true; -} - -/// @par -/// -/// Spans will only be added for triangles that overlap the heightfield grid. -/// -/// @see rcHeightfield -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); - - rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES); - - const float ics = 1.0f/solid.cs; - const float ich = 1.0f/solid.ch; - // Rasterize triangles. - for (int i = 0; i < nt; ++i) - { - const float* v0 = &verts[tris[i*3+0]*3]; - const float* v1 = &verts[tris[i*3+1]*3]; - const float* v2 = &verts[tris[i*3+2]*3]; - // Rasterize. - 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; - } - } - - return true; -} - -/// @par -/// -/// Spans will only be added for triangles that overlap the heightfield grid. -/// -/// @see rcHeightfield -bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt, - rcHeightfield& solid, const int flagMergeThr) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES); - - const float ics = 1.0f/solid.cs; - const float ich = 1.0f/solid.ch; - // Rasterize triangles. - for (int i = 0; i < nt; ++i) - { - const float* v0 = &verts[(i*3+0)*3]; - const float* v1 = &verts[(i*3+1)*3]; - const float* v2 = &verts[(i*3+2)*3]; - // Rasterize. - 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; - } - } - - return true; -} diff --git a/libs/recast/recast/src/RecastRegion.cpp b/libs/recast/recast/src/RecastRegion.cpp deleted file mode 100644 index 38a2bd6bf..000000000 --- a/libs/recast/recast/src/RecastRegion.cpp +++ /dev/null @@ -1,1824 +0,0 @@ -// -// Copyright (c) 2009-2010 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 -#define _USE_MATH_DEFINES -#include -#include -#include -#include -#include "Recast.h" -#include "RecastAlloc.h" -#include "RecastAssert.h" -#include - - -static void calculateDistanceField(rcCompactHeightfield& chf, unsigned short* src, unsigned short& maxDist) -{ - const int w = chf.width; - const int h = chf.height; - - // Init distance and points. - for (int i = 0; i < chf.spanCount; ++i) - src[i] = 0xffff; - - // Mark boundary cells. - 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) - { - const rcCompactSpan& s = chf.spans[i]; - const unsigned char area = chf.areas[i]; - - int nc = 0; - 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); - if (area == chf.areas[ai]) - nc++; - } - } - if (nc != 4) - src[i] = 0; - } - } - } - - - // Pass 1 - 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) - { - const rcCompactSpan& s = chf.spans[i]; - - if (rcGetCon(s, 0) != RC_NOT_CONNECTED) - { - // (-1,0) - 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); - const rcCompactSpan& as = chf.spans[ai]; - if (src[ai]+2 < src[i]) - src[i] = src[ai]+2; - - // (-1,-1) - if (rcGetCon(as, 3) != RC_NOT_CONNECTED) - { - const int aax = ax + rcGetDirOffsetX(3); - const int aay = ay + rcGetDirOffsetY(3); - const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3); - if (src[aai]+3 < src[i]) - src[i] = src[aai]+3; - } - } - if (rcGetCon(s, 3) != RC_NOT_CONNECTED) - { - // (0,-1) - 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); - const rcCompactSpan& as = chf.spans[ai]; - if (src[ai]+2 < src[i]) - src[i] = src[ai]+2; - - // (1,-1) - if (rcGetCon(as, 2) != RC_NOT_CONNECTED) - { - const int aax = ax + rcGetDirOffsetX(2); - const int aay = ay + rcGetDirOffsetY(2); - const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2); - if (src[aai]+3 < src[i]) - src[i] = src[aai]+3; - } - } - } - } - } - - // Pass 2 - for (int y = h-1; y >= 0; --y) - { - for (int x = w-1; x >= 0; --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 (rcGetCon(s, 2) != RC_NOT_CONNECTED) - { - // (1,0) - const int ax = x + rcGetDirOffsetX(2); - const int ay = y + rcGetDirOffsetY(2); - const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2); - const rcCompactSpan& as = chf.spans[ai]; - if (src[ai]+2 < src[i]) - src[i] = src[ai]+2; - - // (1,1) - if (rcGetCon(as, 1) != RC_NOT_CONNECTED) - { - const int aax = ax + rcGetDirOffsetX(1); - const int aay = ay + rcGetDirOffsetY(1); - const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1); - if (src[aai]+3 < src[i]) - src[i] = src[aai]+3; - } - } - if (rcGetCon(s, 1) != RC_NOT_CONNECTED) - { - // (0,1) - const int ax = x + rcGetDirOffsetX(1); - const int ay = y + rcGetDirOffsetY(1); - const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1); - const rcCompactSpan& as = chf.spans[ai]; - if (src[ai]+2 < src[i]) - src[i] = src[ai]+2; - - // (-1,1) - if (rcGetCon(as, 0) != RC_NOT_CONNECTED) - { - const int aax = ax + rcGetDirOffsetX(0); - const int aay = ay + rcGetDirOffsetY(0); - const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0); - if (src[aai]+3 < src[i]) - src[i] = src[aai]+3; - } - } - } - } - } - - maxDist = 0; - for (int i = 0; i < chf.spanCount; ++i) - maxDist = rcMax(src[i], maxDist); - -} - -static unsigned short* boxBlur(rcCompactHeightfield& chf, int thr, - unsigned short* src, unsigned short* dst) -{ - const int w = chf.width; - const int h = chf.height; - - thr *= 2; - - 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) - { - const rcCompactSpan& s = chf.spans[i]; - const unsigned short cd = src[i]; - if (cd <= thr) - { - dst[i] = cd; - continue; - } - - int d = (int)cd; - 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); - d += (int)src[ai]; - - const rcCompactSpan& as = chf.spans[ai]; - const int dir2 = (dir+1) & 0x3; - if (rcGetCon(as, dir2) != RC_NOT_CONNECTED) - { - const int ax2 = ax + rcGetDirOffsetX(dir2); - const int ay2 = ay + rcGetDirOffsetY(dir2); - const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2); - d += (int)src[ai2]; - } - else - { - d += cd; - } - } - else - { - d += cd*2; - } - } - dst[i] = (unsigned short)((d+5)/9); - } - } - } - return dst; -} - - -static bool floodRegion(int x, int y, int i, - unsigned short level, unsigned short r, - rcCompactHeightfield& chf, - unsigned short* srcReg, unsigned short* srcDist, - rcIntArray& stack) -{ - const int w = chf.width; - - const unsigned char area = chf.areas[i]; - - // Flood fill mark region. - stack.resize(0); - stack.push((int)x); - stack.push((int)y); - stack.push((int)i); - srcReg[i] = r; - srcDist[i] = 0; - - unsigned short lev = level >= 2 ? level-2 : 0; - int count = 0; - - while (stack.size() > 0) - { - int ci = stack.pop(); - int cy = stack.pop(); - int cx = stack.pop(); - - const rcCompactSpan& cs = chf.spans[ci]; - - // Check if any of the neighbours already have a valid region set. - unsigned short ar = 0; - for (int dir = 0; dir < 4; ++dir) - { - // 8 connected - if (rcGetCon(cs, dir) != RC_NOT_CONNECTED) - { - const int ax = cx + rcGetDirOffsetX(dir); - const int ay = cy + rcGetDirOffsetY(dir); - const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir); - if (chf.areas[ai] != area) - continue; - unsigned short nr = srcReg[ai]; - 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]; - - const int dir2 = (dir+1) & 0x3; - if (rcGetCon(as, dir2) != RC_NOT_CONNECTED) - { - const int ax2 = ax + rcGetDirOffsetX(dir2); - const int ay2 = ay + rcGetDirOffsetY(dir2); - const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2); - if (chf.areas[ai2] != area) - continue; - unsigned short nr2 = srcReg[ai2]; - if (nr2 != 0 && nr2 != r) - { - ar = nr2; - break; - } - } - } - } - if (ar != 0) - { - srcReg[ci] = 0; - continue; - } - - count++; - - // Expand neighbours. - for (int dir = 0; dir < 4; ++dir) - { - if (rcGetCon(cs, dir) != RC_NOT_CONNECTED) - { - const int ax = cx + rcGetDirOffsetX(dir); - const int ay = cy + rcGetDirOffsetY(dir); - const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir); - if (chf.areas[ai] != area) - continue; - if (chf.dist[ai] >= lev && srcReg[ai] == 0) - { - srcReg[ai] = r; - srcDist[ai] = 0; - stack.push(ax); - stack.push(ay); - stack.push(ai); - } - } - } - } - - return count > 0; -} - -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, - 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) - { - 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.dist[i] >= level && srcReg[i] == 0 && chf.areas[i] != RC_NULL_AREA) - { - stack.push(x); - stack.push(y); - stack.push(i); - } - } - } - } - } - else // use cells in the input stack - { - // mark all cells which already have a region - for (int j=0; j 0) - { - int failed = 0; - - memcpy(dstReg, srcReg, sizeof(unsigned short)*chf.spanCount); - memcpy(dstDist, srcDist, sizeof(unsigned short)*chf.spanCount); - - for (int j = 0; j < stack.size(); j += 3) - { - int x = stack[j+0]; - int y = stack[j+1]; - int i = stack[j+2]; - if (i < 0) - { - failed++; - continue; - } - - unsigned short r = srcReg[i]; - unsigned short d2 = 0xffff; - const unsigned char area = chf.areas[i]; - const rcCompactSpan& s = chf.spans[i]; - for (int dir = 0; dir < 4; ++dir) - { - if (rcGetCon(s, dir) == RC_NOT_CONNECTED) continue; - 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); - if (chf.areas[ai] != area) continue; - if (srcReg[ai] > 0 && (srcReg[ai] & RC_BORDER_REG) == 0) - { - if ((int)srcDist[ai]+2 < (int)d2) - { - r = srcReg[ai]; - d2 = srcDist[ai]+2; - } - } - } - if (r) - { - stack[j+2] = -1; // mark as used - dstReg[i] = r; - dstDist[i] = d2; - } - else - { - failed++; - } - } - - // rcSwap source and dest. - rcSwap(srcReg, dstReg); - rcSwap(srcDist, dstDist); - - if (failed*3 == stack.size()) - break; - - if (level > 0) - { - ++iter; - if (iter >= maxIter) - break; - } - } - - return srcReg; -} - - - -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> 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 1; ) - { - int ni = (i+1) % reg.connections.size(); - if (reg.connections[i] == reg.connections[ni]) - { - // Remove duplicate - for (int j = i; j < reg.connections.size()-1; ++j) - reg.connections[j] = reg.connections[j+1]; - reg.connections.pop(); - } - else - ++i; - } -} - -static void replaceNeighbour(rcRegion& reg, unsigned short oldId, unsigned short newId) -{ - bool neiChanged = false; - for (int i = 0; i < reg.connections.size(); ++i) - { - if (reg.connections[i] == oldId) - { - reg.connections[i] = newId; - neiChanged = true; - } - } - for (int i = 0; i < reg.floors.size(); ++i) - { - if (reg.floors[i] == oldId) - reg.floors[i] = newId; - } - if (neiChanged) - removeAdjacentNeighbours(reg); -} - -static bool canMergeWithRegion(const rcRegion& rega, const rcRegion& regb) -{ - if (rega.areaType != regb.areaType) - return false; - int n = 0; - for (int i = 0; i < rega.connections.size(); ++i) - { - if (rega.connections[i] == regb.id) - n++; - } - if (n > 1) - return false; - for (int i = 0; i < rega.floors.size(); ++i) - { - if (rega.floors[i] == regb.id) - return false; - } - return true; -} - -static void addUniqueFloorRegion(rcRegion& reg, int n) -{ - for (int i = 0; i < reg.floors.size(); ++i) - if (reg.floors[i] == n) - return; - reg.floors.push(n); -} - -static bool mergeRegions(rcRegion& rega, rcRegion& regb) -{ - unsigned short aid = rega.id; - unsigned short bid = regb.id; - - // Duplicate current neighbourhood. - rcIntArray acon; - acon.resize(rega.connections.size()); - for (int i = 0; i < rega.connections.size(); ++i) - acon[i] = rega.connections[i]; - rcIntArray& bcon = regb.connections; - - // Find insertion point on A. - int insa = -1; - for (int i = 0; i < acon.size(); ++i) - { - if (acon[i] == bid) - { - insa = i; - break; - } - } - if (insa == -1) - return false; - - // Find insertion point on B. - int insb = -1; - for (int i = 0; i < bcon.size(); ++i) - { - if (bcon[i] == aid) - { - insb = i; - break; - } - } - if (insb == -1) - return false; - - // Merge neighbours. - rega.connections.resize(0); - for (int i = 0, ni = acon.size(); i < ni-1; ++i) - rega.connections.push(acon[(insa+1+i) % ni]); - - for (int i = 0, ni = bcon.size(); i < ni-1; ++i) - rega.connections.push(bcon[(insb+1+i) % ni]); - - removeAdjacentNeighbours(rega); - - for (int j = 0; j < regb.floors.size(); ++j) - addUniqueFloorRegion(rega, regb.floors[j]); - rega.spanCount += regb.spanCount; - regb.spanCount = 0; - regb.connections.resize(0); - - return true; -} - -static bool isRegionConnectedToBorder(const rcRegion& reg) -{ - // Region is connected to border if - // one of the neighbours is null id. - for (int i = 0; i < reg.connections.size(); ++i) - { - if (reg.connections[i] == 0) - return true; - } - return false; -} - -static bool isSolidEdge(rcCompactHeightfield& chf, unsigned short* srcReg, - int x, int y, int i, int dir) -{ - const rcCompactSpan& s = chf.spans[i]; - unsigned short r = 0; - 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); - r = srcReg[ai]; - } - if (r == srcReg[i]) - return false; - return true; -} - -static void walkContour(int x, int y, int i, int dir, - rcCompactHeightfield& chf, - unsigned short* srcReg, - rcIntArray& cont) -{ - int startDir = dir; - int starti = i; - - const rcCompactSpan& ss = chf.spans[i]; - unsigned short curReg = 0; - if (rcGetCon(ss, 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(ss, dir); - curReg = srcReg[ai]; - } - cont.push(curReg); - - int iter = 0; - while (++iter < 40000) - { - const rcCompactSpan& s = chf.spans[i]; - - if (isSolidEdge(chf, srcReg, x, y, i, dir)) - { - // Choose the edge corner - unsigned short r = 0; - 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); - r = srcReg[ai]; - } - if (r != curReg) - { - curReg = r; - cont.push(curReg); - } - - dir = (dir+1) & 0x3; // Rotate CW - } - else - { - int ni = -1; - const int nx = x + rcGetDirOffsetX(dir); - const int ny = y + rcGetDirOffsetY(dir); - if (rcGetCon(s, dir) != RC_NOT_CONNECTED) - { - const rcCompactCell& nc = chf.cells[nx+ny*chf.width]; - ni = (int)nc.index + rcGetCon(s, dir); - } - if (ni == -1) - { - // Should not happen. - return; - } - x = nx; - y = ny; - i = ni; - dir = (dir+3) & 0x3; // Rotate CCW - } - - if (starti == i && startDir == dir) - { - break; - } - } - - // Remove adjacent duplicates. - if (cont.size() > 1) - { - for (int j = 0; j < cont.size(); ) - { - int nj = (j+1) % cont.size(); - if (cont[j] == cont[nj]) - { - for (int k = j; k < cont.size()-1; ++k) - cont[k] = cont[k+1]; - cont.pop(); - } - else - ++j; - } - } -} - - -static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRegionSize, - 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, "mergeAndFilterRegions: Out of memory 'regions' (%d).", nreg); - return false; - } - - // Construct regions - for (int i = 0; i < nreg; ++i) - new(®ions[i]) rcRegion((unsigned short)i); - - // Find edge of a region and find connections around the contour. - 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) - { - unsigned short r = srcReg[i]; - if (r == 0 || r >= nreg) - continue; - - rcRegion& reg = regions[r]; - reg.spanCount++; - - // Update floors. - for (int j = (int)c.index; j < ni; ++j) - { - if (i == j) continue; - unsigned short floorId = srcReg[j]; - if (floorId == 0 || floorId >= nreg) - continue; - if (floorId == r) - reg.overlap = true; - addUniqueFloorRegion(reg, floorId); - } - - // Have found contour - if (reg.connections.size() > 0) - continue; - - reg.areaType = chf.areas[i]; - - // Check if this cell is next to a border. - int ndir = -1; - for (int dir = 0; dir < 4; ++dir) - { - if (isSolidEdge(chf, srcReg, x, y, i, dir)) - { - ndir = dir; - break; - } - } - - if (ndir != -1) - { - // The cell is at border. - // Walk around the contour to find all the neighbours. - walkContour(x, y, i, ndir, chf, srcReg, reg.connections); - } - } - } - } - - // Remove too small regions. - rcIntArray stack(32); - rcIntArray trace(32); - for (int i = 0; i < nreg; ++i) - { - rcRegion& reg = regions[i]; - if (reg.id == 0 || (reg.id & RC_BORDER_REG)) - continue; - if (reg.spanCount == 0) - continue; - if (reg.visited) - continue; - - // Count the total size of all the connected regions. - // Also keep track of the regions connects to a tile border. - bool connectsToBorder = false; - int spanCount = 0; - stack.resize(0); - trace.resize(0); - - reg.visited = true; - stack.push(i); - - while (stack.size()) - { - // Pop - int ri = stack.pop(); - - rcRegion& creg = regions[ri]; - - spanCount += creg.spanCount; - trace.push(ri); - - for (int j = 0; j < creg.connections.size(); ++j) - { - if (creg.connections[j] & RC_BORDER_REG) - { - connectsToBorder = true; - continue; - } - rcRegion& neireg = regions[creg.connections[j]]; - if (neireg.visited) - continue; - if (neireg.id == 0 || (neireg.id & RC_BORDER_REG)) - continue; - // Visit - stack.push(neireg.id); - neireg.visited = true; - } - } - - // If the accumulated regions size is too small, remove it. - // Do not remove areas which connect to tile borders - // as their size cannot be estimated correctly and removing them - // can potentially remove necessary areas. - if (spanCount < minRegionArea && !connectsToBorder) - { - // Kill all visited regions. - for (int j = 0; j < trace.size(); ++j) - { - regions[trace[j]].spanCount = 0; - regions[trace[j]].id = 0; - } - } - } - - // Merge too small regions to neighbour regions. - int mergeCount = 0 ; - do - { - mergeCount = 0; - for (int i = 0; i < nreg; ++i) - { - rcRegion& reg = regions[i]; - if (reg.id == 0 || (reg.id & RC_BORDER_REG)) - continue; - if (reg.overlap) - continue; - if (reg.spanCount == 0) - continue; - - // Check to see if the region should be merged. - if (reg.spanCount > mergeRegionSize && isRegionConnectedToBorder(reg)) - continue; - - // Small region with more than 1 connection. - // Or region which is not connected to a border at all. - // Find smallest neighbour region that connects to this one. - int smallest = 0xfffffff; - unsigned short mergeId = reg.id; - for (int j = 0; j < reg.connections.size(); ++j) - { - if (reg.connections[j] & RC_BORDER_REG) continue; - rcRegion& mreg = regions[reg.connections[j]]; - if (mreg.id == 0 || (mreg.id & RC_BORDER_REG) || mreg.overlap) continue; - if (mreg.spanCount < smallest && - canMergeWithRegion(reg, mreg) && - canMergeWithRegion(mreg, reg)) - { - smallest = mreg.spanCount; - mergeId = mreg.id; - } - } - // Found new id. - if (mergeId != reg.id) - { - unsigned short oldId = reg.id; - rcRegion& target = regions[mergeId]; - - // Merge neighbours. - if (mergeRegions(target, reg)) - { - // Fixup regions pointing to current region. - for (int j = 0; j < nreg; ++j) - { - if (regions[j].id == 0 || (regions[j].id & RC_BORDER_REG)) continue; - // If another region was already merged into current region - // change the nid of the previous region too. - if (regions[j].id == oldId) - regions[j].id = mergeId; - // Replace the current region with the new one if the - // current regions is neighbour. - replaceNeighbour(regions[j], oldId, mergeId); - } - mergeCount++; - } - } - } - } - while (mergeCount > 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; - } - - // 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(®ions[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); - - return true; -} - - - -/// @par -/// -/// This is usually the second to the last step in creating a fully built -/// compact heightfield. This step is required before regions are built -/// using #rcBuildRegions or #rcBuildRegionsMonotone. -/// -/// After this step, the distance data is available via the rcCompactHeightfield::maxDistance -/// and rcCompactHeightfield::dist fields. -/// -/// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone -bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_BUILD_DISTANCEFIELD); - - if (chf.dist) - { - rcFree(chf.dist); - chf.dist = 0; - } - - unsigned short* src = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP); - if (!src) - { - ctx->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'src' (%d).", chf.spanCount); - return false; - } - unsigned short* dst = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP); - if (!dst) - { - ctx->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'dst' (%d).", chf.spanCount); - rcFree(src); - return false; - } - - unsigned short maxDist = 0; - - { - rcScopedTimer timerDist(ctx, RC_TIMER_BUILD_DISTANCEFIELD_DIST); - - calculateDistanceField(chf, src, maxDist); - chf.maxDistance = maxDist; - } - - { - rcScopedTimer timerBlur(ctx, RC_TIMER_BUILD_DISTANCEFIELD_BLUR); - - // Blur - if (boxBlur(chf, 1, src, dst) != src) - rcSwap(src, dst); - - // Store distance. - chf.dist = src; - } - - rcFree(dst); - - return true; -} - -static void paintRectRegion(int minx, int maxx, int miny, int maxy, unsigned short regId, - rcCompactHeightfield& chf, unsigned short* srcReg) -{ - const int w = chf.width; - for (int y = miny; y < maxy; ++y) - { - for (int x = minx; x < maxx; ++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] = regId; - } - } - } -} - - -static const unsigned short RC_NULL_NEI = 0xffff; - -struct rcSweepSpan -{ - unsigned short rid; // row id - unsigned short id; // region id - unsigned short ns; // number samples - unsigned short nei; // neighbour id -}; - -/// @par -/// -/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour. -/// Contours will form simple polygons. -/// -/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be -/// re-assigned to the zero (null) region. -/// -/// Partitioning can result in smaller than necessary regions. @p mergeRegionArea helps -/// reduce unecessarily small regions. -/// -/// See the #rcConfig documentation for more information on the configuration parameters. -/// -/// The region data will be available via the rcCompactHeightfield::maxRegions -/// and rcCompactSpan::reg fields. -/// -/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions. -/// -/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig -bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int minRegionArea, const int mergeRegionArea) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_BUILD_REGIONS); - - const int w = chf.width; - const int h = chf.height; - unsigned short id = 1; - - rcScopedDelete 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 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 regions and filter out small regions. - rcIntArray overlaps; - chf.maxRegions = id; - if (!mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg, overlaps)) - return false; - - // 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]; - - return true; -} - -/// @par -/// -/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour. -/// Contours will form simple polygons. -/// -/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be -/// re-assigned to the zero (null) region. -/// -/// Watershed partitioning can result in smaller than necessary regions, especially in diagonal corridors. -/// @p mergeRegionArea helps reduce unecessarily small regions. -/// -/// See the #rcConfig documentation for more information on the configuration parameters. -/// -/// The region data will be available via the rcCompactHeightfield::maxRegions -/// and rcCompactSpan::reg fields. -/// -/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions. -/// -/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig -bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int minRegionArea, const int mergeRegionArea) -{ - rcAssert(ctx); - - rcScopedTimer timer(ctx, RC_TIMER_BUILD_REGIONS); - - const int w = chf.width; - const int h = chf.height; - - rcScopedDelete 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); - return false; - } - - 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 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, regionId|RC_BORDER_REG, chf, srcReg); regionId++; - paintRectRegion(w-bw, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++; - paintRectRegion(0, w, 0, bh, regionId|RC_BORDER_REG, chf, srcReg); regionId++; - paintRectRegion(0, w, h-bh, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++; - - 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_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, lvlStacks[sId], false) != srcReg) - { - rcSwap(srcReg, dstReg); - rcSwap(srcDist, dstDist); - } - } - - { - rcScopedTimer timerFloor(ctx, RC_TIMER_BUILD_REGIONS_FLOOD); - - // Mark new regions with IDs. - for (int j = 0; j= 0 && srcReg[i] == 0) - { - 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++; - } - } - } - } - } - - // Expand current regions until no empty connected cells found. - if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack, true) != srcReg) - { - rcSwap(srcReg, dstReg); - rcSwap(srcDist, dstDist); - } - - ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED); - - { - rcScopedTimer timerFilter(ctx, RC_TIMER_BUILD_REGIONS_FILTER); - - // Merge regions and filter out smalle regions. - rcIntArray overlaps; - chf.maxRegions = regionId; - if (!mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg, overlaps)) - return false; - - // 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]; - - 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 srcReg((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP)); - if (!srcReg) - { - ctx->log(RC_LOG_ERROR, "rcBuildLayerRegions: 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 sweeps((rcSweepSpan*)rcAlloc(sizeof(rcSweepSpan)*nsweeps, RC_ALLOC_TEMP)); - if (!sweeps) - { - ctx->log(RC_LOG_ERROR, "rcBuildLayerRegions: 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; -}