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Core/MMAPs: Update recast

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Update recast from 1be9de72d8 to 740a7ba516 .
This differs from aa645683b8 because it includes a fix 77ebf64353 which correctly extract tile connections when using rcMergePolyMeshes(), used by mmaps_generator.
MMAPs version is now set to 5.

Re-extract MMAPs using mmaps_generator , any old extracted MMAPs will not work.
This commit is contained in:
jackpoz
2014-02-21 23:06:27 +01:00
parent 66b4b5e055
commit f7bc86a17c
25 changed files with 2562 additions and 1030 deletions
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5
dep/recastnavigation/Detour/DetourCommon.h
View File

@@ -32,6 +32,11 @@ 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<class T> void dtIgnoreUnused(const T&) { }
/// Swaps the values of the two parameters.
/// @param[in,out] a Value A
/// @param[in,out] b Value B

403
dep/recastnavigation/Detour/DetourNavMesh.cpp
View File

@@ -297,6 +297,7 @@ int dtNavMesh::findConnectingPolys(const float* va, const float* vb,
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];
@@ -316,6 +317,13 @@ int dtNavMesh::findConnectingPolys(const float* va, const float* vb,
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;
@@ -334,9 +342,11 @@ int dtNavMesh::findConnectingPolys(const float* va, const float* vb,
return n;
}
void dtNavMesh::unconnectExtLinks(dtMeshTile* tile, int side)
void dtNavMesh::unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target)
{
if (!tile) return;
if (!tile || !target) return;
const unsigned int targetNum = decodePolyIdTile(getTileRef(target));
for (int i = 0; i < tile->header->polyCount; ++i)
{
@@ -345,7 +355,8 @@ void dtNavMesh::unconnectExtLinks(dtMeshTile* tile, int side)
unsigned int pj = DT_NULL_LINK;
while (j != DT_NULL_LINK)
{
if (tile->links[j].side == side)
if (tile->links[j].side != 0xff &&
decodePolyIdTile(tile->links[j].ref) == targetNum)
{
// Revove link.
unsigned int nj = tile->links[j].next;
@@ -376,20 +387,25 @@ void dtNavMesh::connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side)
dtPoly* poly = &tile->polys[i];
// Create new links.
unsigned short m = DT_EXT_LINK | (unsigned short)side;
// 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] != m) continue;
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(side), nei,neia,4);
int nnei = findConnectingPolys(va,vb, target, dtOppositeTile(dir), nei,neia,4);
for (int k = 0; k < nnei; ++k)
{
unsigned int idx = allocLink(tile);
@@ -398,13 +414,13 @@ void dtNavMesh::connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side)
dtLink* link = &tile->links[idx];
link->ref = nei[k];
link->edge = (unsigned char)j;
link->side = (unsigned char)side;
link->side = (unsigned char)dir;
link->next = poly->firstLink;
poly->firstLink = idx;
// Compress portal limits to a byte value.
if (side == 0 || side == 4)
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]);
@@ -413,7 +429,7 @@ void dtNavMesh::connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side)
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 (side == 2 || side == 6)
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]);
@@ -434,7 +450,7 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
// Connect off-mesh links.
// We are interested on links which land from target tile to this tile.
const unsigned char oppositeSide = (unsigned char)dtOppositeTile(side);
const unsigned char oppositeSide = (side == -1) ? 0xff : (unsigned char)dtOppositeTile(side);
for (int i = 0; i < target->header->offMeshConCount; ++i)
{
@@ -443,6 +459,9 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
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 };
@@ -476,19 +495,19 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
// Link target poly to off-mesh connection.
if (targetCon->flags & DT_OFFMESH_CON_BIDIR)
{
unsigned int idx = allocLink(tile);
if (idx != DT_NULL_LINK)
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[idx];
dtLink* link = &tile->links[tidx];
link->ref = getPolyRefBase(target) | (dtPolyRef)(targetCon->poly);
link->edge = 0xff;
link->side = (unsigned char)side;
link->side = (unsigned char)(side == -1 ? 0xff : side);
link->bmin = link->bmax = 0;
// Add to linked list.
link->next = landPoly->firstLink;
landPoly->firstLink = idx;
landPoly->firstLink = tidx;
}
}
}
@@ -532,13 +551,13 @@ void dtNavMesh::connectIntLinks(dtMeshTile* tile)
}
}
void dtNavMesh::connectIntOffMeshLinks(dtMeshTile* tile)
void dtNavMesh::baseOffMeshLinks(dtMeshTile* tile)
{
if (!tile) return;
dtPolyRef base = getPolyRefBase(tile);
// Find Off-mesh connection end points.
// Base off-mesh connection start points.
for (int i = 0; i < tile->header->offMeshConCount; ++i)
{
dtOffMeshConnection* con = &tile->offMeshCons[i];
@@ -546,72 +565,109 @@ void dtNavMesh::connectIntOffMeshLinks(dtMeshTile* tile)
const float ext[3] = { con->rad, tile->header->walkableClimb, con->rad };
for (int j = 0; j < 2; ++j)
// 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)
{
unsigned char side = j == 0 ? 0xff : con->side;
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;
}
if (side == 0xff)
{
// Find polygon to connect to.
const float* p = &con->pos[j*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(con->rad))
continue;
// Make sure the location is on current mesh.
float* v = &tile->verts[poly->verts[j]*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)j;
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,
// Destination end-point only if it is bidirectional link.
if (j == 0 || (j == 1 && (con->flags & DT_OFFMESH_CON_BIDIR)))
{
// Link target poly to off-mesh connection.
unsigned int idx = allocLink(tile);
if (idx != DT_NULL_LINK)
{
const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref);
dtPoly* landPoly = &tile->polys[landPolyIdx];
dtLink* link = &tile->links[idx];
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 = 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;
}
}
}
dtStatus dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
const float* pos, float* closest) const
void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const
{
const dtPoly* poly = &tile->polys[ip];
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
getTileAndPolyByRefUnsafe(ref, &tile, &poly);
float closestDistSqr = FLT_MAX;
// 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 = FLT_MAX;
int imin = -1;
for (int i = 0; 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];
@@ -623,17 +679,13 @@ dtStatus dtNavMesh::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned in
else
v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3];
}
float pt[3];
dtClosestPtPointTriangle(pt, pos, v[0], v[1], v[2]);
float d = dtVdistSqr(pos, pt);
if (d < closestDistSqr)
float h;
if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h))
{
dtVcopy(closest, pt);
closestDistSqr = d;
closest[1] = h;
break;
}
}
return DT_SUCCESS;
}
dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
@@ -655,13 +707,27 @@ dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
{
dtPolyRef ref = polys[i];
float closestPtPoly[3];
if (closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly) != DT_SUCCESS)
continue;
float d = dtVdistSqr(center, closestPtPoly);
float diff[3];
bool posOverPoly = false;
float d = 0;
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)
{
if (nearestPt)
dtVcopy(nearestPt, closestPtPoly);
dtVcopy(nearestPt, closestPtPoly);
nearestDistanceSqr = d;
nearest = ref;
}
@@ -730,8 +796,11 @@ int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, co
dtPolyRef base = getPolyRefBase(tile);
for (int i = 0; i < tile->header->polyCount; ++i)
{
// Calc polygon bounds.
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);
@@ -773,7 +842,7 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
return DT_FAILURE | DT_WRONG_VERSION;
// Make sure the location is free.
if (getTileAt(header->x, header->y))
if (getTileAt(header->x, header->y, header->layer))
return DT_FAILURE;
// Allocate a tile.
@@ -845,6 +914,10 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
tile->bvTree = (dtBVNode*)d; d += bvtreeSize;
tile->offMeshCons = (dtOffMeshConnection*)d; 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;
@@ -858,18 +931,36 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
tile->flags = flags;
connectIntLinks(tile);
connectIntOffMeshLinks(tile);
baseOffMeshLinks(tile);
// 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)
{
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)
{
dtMeshTile* nei = getNeighbourTileAt(header->x, header->y, i);
if (nei)
nneis = getNeighbourTilesAt(header->x, header->y, i, neis, MAX_NEIS);
for (int j = 0; j < nneis; ++j)
{
connectExtLinks(tile, nei, i);
connectExtLinks(nei, tile, dtOppositeTile(i));
connectExtOffMeshLinks(tile, nei, i);
connectExtOffMeshLinks(nei, tile, dtOppositeTile(i));
connectExtLinks(tile, neis[j], i);
connectExtLinks(neis[j], tile, dtOppositeTile(i));
connectExtOffMeshLinks(tile, neis[j], i);
connectExtOffMeshLinks(neis[j], tile, dtOppositeTile(i));
}
}
@@ -879,55 +970,106 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags,
return DT_SUCCESS;
}
const dtMeshTile* dtNavMesh::getTileAt(int x, int y) const
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)
if (tile->header &&
tile->header->x == x &&
tile->header->y == y &&
tile->header->layer == layer)
{
return tile;
}
tile = tile->next;
}
return 0;
}
dtMeshTile* dtNavMesh::getNeighbourTileAt(int x, int y, int side) const
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: x++; break;
case 1: x++; y++; break;
case 2: y++; break;
case 3: x--; y++; break;
case 4: x--; break;
case 5: x--; y--; break;
case 6: y--; break;
case 7: x++; y--; break;
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)
return tile;
if (tile->header &&
tile->header->x == x &&
tile->header->y == y)
{
if (n < maxTiles)
tiles[n++] = tile;
}
tile = tile->next;
}
return 0;
return n;
}
dtTileRef dtNavMesh::getTileRefAt(int x, int y) const
/// @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)
if (tile->header &&
tile->header->x == x &&
tile->header->y == y &&
tile->header->layer == layer)
{
return getTileRef(tile);
}
tile = tile->next;
}
return 0;
@@ -970,6 +1112,7 @@ void dtNavMesh::calcTileLoc(const float* pos, int* tx, int* ty) const
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;
@@ -995,6 +1138,7 @@ void dtNavMesh::getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile*
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;
@@ -1040,14 +1184,27 @@ dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSiz
}
// Remove connections to neighbour tiles.
for (int i = 0; i < 8; ++i)
// 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(tile->header->x, tile->header->y, neis, MAX_NEIS);
for (int j = 0; j < nneis; ++j)
{
dtMeshTile* nei = getNeighbourTileAt(tile->header->x,tile->header->y,i);
if (!nei) continue;
unconnectExtLinks(nei, dtOppositeTile(i));
if (neis[j] == tile) continue;
unconnectExtLinks(neis[j], tile);
}
// Connect with 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)
unconnectExtLinks(neis[j], tile);
}
// Reset tile.
if (tile->flags & DT_TILE_FREE_DATA)
{
@@ -1091,7 +1248,7 @@ dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSiz
dtTileRef dtNavMesh::getTileRef(const dtMeshTile* tile) const
{
if (!tile) return 0;
const unsigned int it = tile - m_tiles;
const unsigned int it = (unsigned int)(tile - m_tiles);
return (dtTileRef)encodePolyId(tile->salt, it, 0);
}
@@ -1112,7 +1269,7 @@ dtTileRef dtNavMesh::getTileRef(const dtMeshTile* tile) const
dtPolyRef dtNavMesh::getPolyRefBase(const dtMeshTile* tile) const
{
if (!tile) return 0;
const unsigned int it = tile - m_tiles;
const unsigned int it = (unsigned int)(tile - m_tiles);
return encodePolyId(tile->salt, it, 0);
}
@@ -1216,6 +1373,9 @@ dtStatus dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyR
{
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;
@@ -1256,6 +1416,9 @@ const dtOffMeshConnection* dtNavMesh::getOffMeshConnectionByRef(dtPolyRef ref) c
{
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;
@@ -1276,6 +1439,7 @@ const dtOffMeshConnection* dtNavMesh::getOffMeshConnectionByRef(dtPolyRef ref) c
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;
@@ -1292,6 +1456,7 @@ dtStatus dtNavMesh::setPolyFlags(dtPolyRef ref, unsigned short flags)
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;
@@ -1307,6 +1472,7 @@ dtStatus dtNavMesh::getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) con
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;
@@ -1322,6 +1488,7 @@ dtStatus dtNavMesh::setPolyArea(dtPolyRef ref, unsigned char area)
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;

57
dep/recastnavigation/Detour/DetourNavMesh.h
View File

@@ -66,7 +66,7 @@ static const int DT_VERTS_PER_POLYGON = 6;
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 = 6;
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';
@@ -112,6 +112,12 @@ enum dtStraightPathFlags
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.
};
/// Flags representing the type of a navigation mesh polygon.
enum dtPolyTypes
@@ -225,6 +231,7 @@ struct dtMeshHeader
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.
@@ -347,18 +354,31 @@ public:
void calcTileLoc(const float* pos, int* tx, int* ty) const;
/// Gets the tile at the specified grid location.
// Params:
// x,y - (in) Location of the tile to get.
// Returns: pointer to tile if tile exists or 0 tile does not exists.
const dtMeshTile* getTileAt(int x, int y) const;
/// @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;
// Returns reference to tile at specified location.
// Params:
// x,y - (in) Location of the tile to get.
// Returns: reference to tile if tile exists or 0 tile does not exists.
dtTileRef getTileRefAt(int x, int y) 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;
// Returns tile references of a tile based on tile pointer.
/// 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.
@@ -532,7 +552,13 @@ private:
dtMeshTile* getTile(int i);
/// Returns neighbour tile based on side.
dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
int getTilesAt(const int x, const int y,
dtMeshTile** tiles, const int maxTiles) const;
/// Returns neighbour tile based on side.
int getNeighbourTilesAt(const int x, const int y, const int side,
dtMeshTile** tiles, const int maxTiles) const;
/// Returns all polygons in neighbour tile based on portal defined by the segment.
int findConnectingPolys(const float* va, const float* vb,
const dtMeshTile* tile, int side,
@@ -541,7 +567,7 @@ private:
/// Builds internal polygons links for a tile.
void connectIntLinks(dtMeshTile* tile);
/// Builds internal polygons links for a tile.
void connectIntOffMeshLinks(dtMeshTile* tile);
void baseOffMeshLinks(dtMeshTile* tile);
/// Builds external polygon links for a tile.
void connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);
@@ -549,7 +575,7 @@ private:
void connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side);
/// Removes external links at specified side.
void unconnectExtLinks(dtMeshTile* tile, int side);
void unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target);
// TODO: These methods are duplicates from dtNavMeshQuery, but are needed for off-mesh connection finding.
@@ -561,8 +587,7 @@ private:
dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center,
const float* extents, float* nearestPt) const;
/// Returns closest point on polygon.
dtStatus closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
const float* pos, float* closest) const;
void closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const;
dtNavMeshParams m_params; ///< Current initialization params. TODO: do not store this info twice.
float m_orig[3]; ///< Origin of the tile (0,0)

347
dep/recastnavigation/Detour/DetourNavMeshBuilder.cpp
View File

@@ -261,8 +261,6 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
return false;
if (!params->polyCount || !params->polys)
return false;
if (!params->detailMeshes || !params->detailVerts || !params->detailTris)
return false;
const int nvp = params->nvp;
@@ -278,10 +276,50 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
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 = &params->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)
{
offMeshConClass[i*2+0] = classifyOffMeshPoint(&params->offMeshConVerts[(i*2+0)*3], params->bmin, params->bmax);
offMeshConClass[i*2+1] = classifyOffMeshPoint(&params->offMeshConVerts[(i*2+1)*3], params->bmin, params->bmax);
const float* p0 = &params->offMeshConVerts[(i*2+0)*3];
const float* p1 = &params->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)
@@ -307,23 +345,13 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
for (int j = 0; j < nvp; ++j)
{
if (p[j] == MESH_NULL_IDX) break;
int nj = j+1;
if (nj >= nvp || p[nj] == MESH_NULL_IDX) nj = 0;
const unsigned short* va = &params->verts[p[j]*3];
const unsigned short* vb = &params->verts[p[nj]*3];
edgeCount++;
if (params->tileSize > 0)
if (p[nvp+j] & 0x8000)
{
if (va[0] == params->tileSize && vb[0] == params->tileSize)
portalCount++; // x+
else if (va[2] == params->tileSize && vb[2] == params->tileSize)
portalCount++; // z+
else if (va[0] == 0 && vb[0] == 0)
portalCount++; // x-
else if (va[2] == 0 && vb[2] == 0)
portalCount++; // z-
unsigned short dir = p[nvp+j] & 0xf;
if (dir != 0xf)
portalCount++;
}
}
}
@@ -332,18 +360,41 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
// Find unique detail vertices.
int uniqueDetailVertCount = 0;
for (int i = 0; i < params->polyCount; ++i)
int detailTriCount = 0;
if (params->detailMeshes)
{
const unsigned short* p = &params->polys[i*nvp*2];
int ndv = params->detailMeshes[i*4+1];
int nv = 0;
for (int j = 0; j < nvp; ++j)
// 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)
{
if (p[j] == MESH_NULL_IDX) break;
nv++;
const unsigned short* p = &params->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 = &params->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;
}
ndv -= nv;
uniqueDetailVertCount += ndv;
}
// Calculate data size
@@ -353,8 +404,8 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
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*params->detailTriCount);
const int bvTreeSize = dtAlign4(sizeof(dtBVNode)*params->polyCount*2);
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 +
@@ -386,6 +437,7 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
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;
@@ -394,14 +446,14 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
dtVcopy(header->bmax, params->bmax);
header->detailMeshCount = params->polyCount;
header->detailVertCount = uniqueDetailVertCount;
header->detailTriCount = params->detailTriCount;
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->polyCount*2;
header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0;
const int offMeshVertsBase = params->vertCount;
const int offMeshPolyBase = params->polyCount;
@@ -445,7 +497,27 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
{
if (src[j] == MESH_NULL_IDX) break;
p->verts[j] = src[j];
p->neis[j] = (src[nvp+j]+1) & 0xffff;
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;
@@ -467,61 +539,68 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
n++;
}
}
// Store portal edges.
if (params->tileSize > 0)
{
for (int i = 0; i < params->polyCount; ++i)
{
dtPoly* poly = &navPolys[i];
for (int j = 0; j < poly->vertCount; ++j)
{
int nj = j+1;
if (nj >= poly->vertCount) nj = 0;
const unsigned short* va = &params->verts[poly->verts[j]*3];
const unsigned short* vb = &params->verts[poly->verts[nj]*3];
if (va[0] == params->tileSize && vb[0] == params->tileSize) // x+
poly->neis[j] = DT_EXT_LINK | 0;
else if (va[2] == params->tileSize && vb[2] == params->tileSize) // z+
poly->neis[j] = DT_EXT_LINK | 2;
else if (va[0] == 0 && vb[0] == 0) // x-
poly->neis[j] = DT_EXT_LINK | 4;
else if (va[2] == 0 && vb[2] == 0) // z-
poly->neis[j] = DT_EXT_LINK | 6;
}
}
}
// 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.
unsigned short vbase = 0;
for (int i = 0; i < params->polyCount; ++i)
if (params->detailMeshes)
{
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)
unsigned short vbase = 0;
for (int i = 0; i < params->polyCount; ++i)
{
memcpy(&navDVerts[vbase*3], &params->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv));
vbase += (unsigned short)(ndv-nv);
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], &params->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 triangles.
memcpy(navDTris, params->detailTris, sizeof(unsigned char)*4*params->detailTriCount);
// Store and create BVtree.
// TODO: take detail mesh into account! use byte per bbox extent?
createBVTree(params->verts, params->vertCount, params->polys, params->polyCount,
nvp, params->cs, params->ch, params->polyCount*2, navBvtree);
if (params->buildBvTree)
{
createBVTree(params->verts, params->vertCount, params->polys, params->polyCount,
nvp, params->cs, params->ch, params->polyCount*2, navBvtree);
}
// Store Off-Mesh connections.
n = 0;
@@ -553,51 +632,14 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
return true;
}
inline void swapByte(unsigned char* a, unsigned char* b)
{
unsigned char tmp = *a;
*a = *b;
*b = tmp;
}
inline void swapEndian(unsigned short* v)
{
unsigned char* x = (unsigned char*)v;
swapByte(x+0, x+1);
}
inline void swapEndian(short* v)
{
unsigned char* x = (unsigned char*)v;
swapByte(x+0, x+1);
}
inline void swapEndian(unsigned int* v)
{
unsigned char* x = (unsigned char*)v;
swapByte(x+0, x+3); swapByte(x+1, x+2);
}
inline void swapEndian(int* v)
{
unsigned char* x = (unsigned char*)v;
swapByte(x+0, x+3); swapByte(x+1, x+2);
}
inline void swapEndian(float* v)
{
unsigned char* x = (unsigned char*)v;
swapByte(x+0, x+3); swapByte(x+1, x+2);
}
bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int /*dataSize*/)
{
dtMeshHeader* header = (dtMeshHeader*)data;
int swappedMagic = DT_NAVMESH_MAGIC;
int swappedVersion = DT_NAVMESH_VERSION;
swapEndian(&swappedMagic);
swapEndian(&swappedVersion);
dtSwapEndian(&swappedMagic);
dtSwapEndian(&swappedVersion);
if ((header->magic != DT_NAVMESH_MAGIC || header->version != DT_NAVMESH_VERSION) &&
(header->magic != swappedMagic || header->version != swappedVersion))
@@ -605,30 +647,31 @@ bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int /*dataSize*/)
return false;
}
swapEndian(&header->magic);
swapEndian(&header->version);
swapEndian(&header->x);
swapEndian(&header->y);
swapEndian(&header->userId);
swapEndian(&header->polyCount);
swapEndian(&header->vertCount);
swapEndian(&header->maxLinkCount);
swapEndian(&header->detailMeshCount);
swapEndian(&header->detailVertCount);
swapEndian(&header->detailTriCount);
swapEndian(&header->bvNodeCount);
swapEndian(&header->offMeshConCount);
swapEndian(&header->offMeshBase);
swapEndian(&header->walkableHeight);
swapEndian(&header->walkableRadius);
swapEndian(&header->walkableClimb);
swapEndian(&header->bmin[0]);
swapEndian(&header->bmin[1]);
swapEndian(&header->bmin[2]);
swapEndian(&header->bmax[0]);
swapEndian(&header->bmax[1]);
swapEndian(&header->bmax[2]);
swapEndian(&header->bvQuantFactor);
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.
@@ -674,7 +717,7 @@ bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
// Vertices
for (int i = 0; i < header->vertCount*3; ++i)
{
swapEndian(&verts[i]);
dtSwapEndian(&verts[i]);
}
// Polys
@@ -684,10 +727,10 @@ bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
// poly->firstLink is update when tile is added, no need to swap.
for (int j = 0; j < DT_VERTS_PER_POLYGON; ++j)
{
swapEndian(&p->verts[j]);
swapEndian(&p->neis[j]);
dtSwapEndian(&p->verts[j]);
dtSwapEndian(&p->neis[j]);
}
swapEndian(&p->flags);
dtSwapEndian(&p->flags);
}
// Links are rebuild when tile is added, no need to swap.
@@ -696,14 +739,14 @@ bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
for (int i = 0; i < header->detailMeshCount; ++i)
{
dtPolyDetail* pd = &detailMeshes[i];
swapEndian(&pd->vertBase);
swapEndian(&pd->triBase);
dtSwapEndian(&pd->vertBase);
dtSwapEndian(&pd->triBase);
}
// Detail verts
for (int i = 0; i < header->detailVertCount*3; ++i)
{
swapEndian(&detailVerts[i]);
dtSwapEndian(&detailVerts[i]);
}
// BV-tree
@@ -712,10 +755,10 @@ bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
dtBVNode* node = &bvTree[i];
for (int j = 0; j < 3; ++j)
{
swapEndian(&node->bmin[j]);
swapEndian(&node->bmax[j]);
dtSwapEndian(&node->bmin[j]);
dtSwapEndian(&node->bmax[j]);
}
swapEndian(&node->i);
dtSwapEndian(&node->i);
}
// Off-mesh Connections.
@@ -723,9 +766,9 @@ bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
{
dtOffMeshConnection* con = &offMeshCons[i];
for (int j = 0; j < 6; ++j)
swapEndian(&con->pos[j]);
swapEndian(&con->rad);
swapEndian(&con->poly);
dtSwapEndian(&con->pos[j]);
dtSwapEndian(&con->rad);
dtSwapEndian(&con->poly);
}
return true;

8
dep/recastnavigation/Detour/DetourNavMeshBuilder.h
View File

@@ -83,6 +83,7 @@ struct dtNavMeshCreateParams
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]
@@ -95,7 +96,12 @@ struct dtNavMeshCreateParams
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]
int tileSize; // Tile size (width & height) (vx).
/// 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.

1066
dep/recastnavigation/Detour/DetourNavMeshQuery.cpp
View File

File diff suppressed because it is too large Load Diff

294
dep/recastnavigation/Detour/DetourNavMeshQuery.h
View File

@@ -130,30 +130,9 @@ public:
/// @returns The status flags for the query.
dtStatus init(const dtNavMesh* nav, const int maxNodes);
// Finds the nearest navigation polygon around the center location.
// Params:
// center[3] - (in) The center of the search box.
// extents[3] - (in) The extents of the search box.
// filter - (in) path polygon filter.
// nearestRef - (out) Reference to the nearest polygon.
// nearestPt[3] - (out, opt) The nearest point on found polygon, null if not needed.
// Returns: Reference identifier for the polygon, or 0 if no polygons found.
dtStatus findNearestPoly(const float* center, const float* extents,
const dtQueryFilter* filter,
dtPolyRef* nearestRef, float* nearestPt) const;
// Returns polygons which overlap the query box.
// Params:
// center[3] - (in) the center of the search box.
// extents[3] - (in) the extents of the search box.
// filter - (in) path polygon filter.
// polys - (out) array holding the search result.
// polyCount - (out) Number of polygons in search result array.
// maxPolys - (in) The max number of polygons the polys array can hold.
dtStatus queryPolygons(const float* center, const float* extents,
const dtQueryFilter* filter,
dtPolyRef* polys, int* polyCount, const int maxPolys) const;
/// @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.
@@ -169,6 +148,31 @@ public:
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.
@@ -181,10 +185,10 @@ public:
const dtQueryFilter* filter);
/// Updates an in-progress sliced path query.
// Params:
// maxIter - (in) max number of iterations to update.
// Returns: Path query state.
dtStatus updateSlicedFindPath(const int maxIter);
/// @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.)
@@ -196,8 +200,8 @@ public:
/// 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[out] existing An array of polygon references for the existing path.
/// @param[out] existingSize The number of polygon in the @p existing array.
/// @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.
@@ -205,74 +209,11 @@ public:
/// @returns The status flags for the query.
dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
dtPolyRef* path, int* pathCount, const int maxPath);
// Finds a straight path from start to end locations within the corridor
// described by the path polygons.
// Start and end locations will be clamped on the corridor.
// The returned polygon references are point to polygon which was entered when
// a path point was added. For the end point, zero will be returned. This allows
// to match for example off-mesh link points to their representative polygons.
// Params:
// startPos[3] - (in) Path start location.
// endPo[3] - (in) Path end location.
// path - (in) Array of connected polygons describing the corridor.
// pathSize - (in) Number of polygons in path array.
// straightPath - (out) Points describing the straight path.
// straightPathFlags - (out, opt) Flags describing each point type, see dtStraightPathFlags.
// straightPathRefs - (out, opt) References to polygons at point locations.
// straightPathCount - (out) Number of points in the path.
// maxStraightPath - (in) The max number of points the straight path array can hold. Must be at least 1.
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;
// Moves from startPos to endPos constrained to the navmesh.
// If the endPos is reachable, the resultPos will be endPos,
// or else the resultPos will be the nearest point in navmesh.
// Note: The resulting point is not projected to the ground, use getPolyHeight() to get height.
// Note: The algorithm is optimized for small delta movement and small number of polygons.
// Params:
// startRef - (in) ref to the polygon where startPos lies.
// startPos[3] - (in) start position of the mover.
// endPos[3] - (in) desired end position of the mover.
// filter - (in) path polygon filter.
// resultPos[3] - (out) new position of the mover.
// visited - (out) array of visited polygons.
// visitedCount - (out) Number of entries in the visited array.
// maxVisitedSize - (in) max number of polygons in the visited array.
dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter,
float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const;
// Casts 'walkability' ray along the navmesh surface from startPos towards the endPos.
// Params:
// startRef - (in) ref to the polygon where the start lies.
// startPos[3] - (in) start position of the query.
// endPos[3] - (in) end position of the query.
// t - (out) hit parameter along the segment, FLT_MAX if no hit.
// hitNormal[3] - (out) normal of the nearest hit.
// filter - (in) path polygon filter.
// path - (out,opt) visited path polygons.
// pathCount - (out,opt) Number of polygons visited.
// maxPath - (in) max number of polygons in the path array.
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;
// Returns distance to nearest wall from the specified location.
// Params:
// startRef - (in) ref to the polygon where the center lies.
// centerPos[3] - (in) center if the query circle.
// maxRadius - (in) max search radius.
// filter - (in) path polygon filter.
// hitDist - (out) distance to nearest wall from the test location.
// hitPos[3] - (out) location of the nearest hit.
// hitNormal[3] - (out) normal of the nearest hit.
dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
const dtQueryFilter* filter,
float* hitDist, float* hitPos, float* hitNormal) const;
///@}
/// @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)]
@@ -308,6 +249,33 @@ public:
dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
int* resultCount, const int maxResult) 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 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)]
@@ -323,23 +291,96 @@ public:
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.
/// @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;
/// 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.
// Params:
// ref - (in) ref to the polygon.
// filter - (in) path polygon filter.
// segments[6*maxSegments] - (out) wall segments (2 endpoints per segment).
// segmentCount - (out) number of wall segments.
// maxSegments - (in) max number of segments that can be stored in 'segments'.
/// @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* segments, int* segmentCount, const int maxSegments) const;
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) const;
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.
@@ -349,15 +390,6 @@ public:
/// @returns The status flags for the query.
dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
// Returns start and end location of an off-mesh link polygon.
// Params:
// prevRef - (in) ref to the polygon before the link (used to select direction).
// polyRef - (in) ref to the off-mesh link polygon.
// startPos[3] - (out) start point of the link.
// endPos[3] - (out) end point of the link.
// Returns: true if link is found.
dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) 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)]
@@ -365,6 +397,15 @@ public:
/// @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.
@@ -374,6 +415,12 @@ public:
/// @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:
/// Returns neighbour tile based on side.
@@ -382,12 +429,7 @@ private:
/// Queries polygons within a tile.
int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, const dtQueryFilter* filter,
dtPolyRef* polys, const int maxPolys) const;
/// Find nearest polygon within a tile.
dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents,
const dtQueryFilter* filter, float* nearestPt) const;
/// Returns closest point on polygon.
dtStatus closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) const;
/// Returns portal points between two polygons.
dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
unsigned char& fromType, unsigned char& toType) const;
@@ -401,6 +443,16 @@ private:
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;
const dtNavMesh* m_nav; ///< Pointer to navmesh data.
struct dtQueryData

16
dep/recastnavigation/Detour/DetourNode.cpp
View File

@@ -47,15 +47,15 @@ dtNodePool::dtNodePool(int maxNodes, int hashSize) :
dtAssert(m_maxNodes > 0);
m_nodes = (dtNode*)dtAlloc(sizeof(dtNode)*m_maxNodes, DT_ALLOC_PERM);
m_next = (unsigned short*)dtAlloc(sizeof(unsigned short)*m_maxNodes, DT_ALLOC_PERM);
m_first = (unsigned short*)dtAlloc(sizeof(unsigned short)*hashSize, 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(unsigned short)*m_hashSize);
memset(m_next, 0xff, sizeof(unsigned short)*m_maxNodes);
memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize);
memset(m_next, 0xff, sizeof(dtNodeIndex)*m_maxNodes);
}
dtNodePool::~dtNodePool()
@@ -67,14 +67,14 @@ dtNodePool::~dtNodePool()
void dtNodePool::clear()
{
memset(m_first, 0xff, sizeof(unsigned short)*m_hashSize);
memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize);
m_nodeCount = 0;
}
dtNode* dtNodePool::findNode(dtPolyRef id)
{
unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
unsigned short i = m_first[bucket];
dtNodeIndex i = m_first[bucket];
while (i != DT_NULL_IDX)
{
if (m_nodes[i].id == id)
@@ -87,7 +87,7 @@ dtNode* dtNodePool::findNode(dtPolyRef id)
dtNode* dtNodePool::getNode(dtPolyRef id)
{
unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
unsigned short i = m_first[bucket];
dtNodeIndex i = m_first[bucket];
dtNode* node = 0;
while (i != DT_NULL_IDX)
{
@@ -99,7 +99,7 @@ dtNode* dtNodePool::getNode(dtPolyRef id)
if (m_nodeCount >= m_maxNodes)
return 0;
i = (unsigned short)m_nodeCount;
i = (dtNodeIndex)m_nodeCount;
m_nodeCount++;
// Init node

15
dep/recastnavigation/Detour/DetourNode.h
View File

@@ -27,7 +27,8 @@ enum dtNodeFlags
DT_NODE_CLOSED = 0x02,
};
static const unsigned short DT_NULL_IDX = 0xffff;
typedef unsigned short dtNodeIndex;
static const dtNodeIndex DT_NULL_IDX = (dtNodeIndex)~0;
struct dtNode
{
@@ -72,21 +73,21 @@ public:
{
return sizeof(*this) +
sizeof(dtNode)*m_maxNodes +
sizeof(unsigned short)*m_maxNodes +
sizeof(unsigned short)*m_hashSize;
sizeof(dtNodeIndex)*m_maxNodes +
sizeof(dtNodeIndex)*m_hashSize;
}
inline int getMaxNodes() const { return m_maxNodes; }
inline int getHashSize() const { return m_hashSize; }
inline unsigned short getFirst(int bucket) const { return m_first[bucket]; }
inline unsigned short getNext(int i) const { return m_next[i]; }
inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; }
inline dtNodeIndex getNext(int i) const { return m_next[i]; }
private:
dtNode* m_nodes;
unsigned short* m_first;
unsigned short* m_next;
dtNodeIndex* m_first;
dtNodeIndex* m_next;
const int m_maxNodes;
const int m_hashSize;
int m_nodeCount;

96
dep/recastnavigation/Detour/DetourObstacleAvoidance.cpp
View File

@@ -25,6 +25,7 @@
#include <float.h>
#include <new>
static const float DT_PI = 3.14159265f;
static int sweepCircleCircle(const float* c0, const float r0, const float* v,
const float* c1, const float r1,
@@ -206,12 +207,6 @@ void dtFreeObstacleAvoidanceQuery(dtObstacleAvoidanceQuery* ptr)
dtObstacleAvoidanceQuery::dtObstacleAvoidanceQuery() :
m_velBias(0.0f),
m_weightDesVel(0.0f),
m_weightCurVel(0.0f),
m_weightSide(0.0f),
m_weightToi(0.0f),
m_horizTime(0.0f),
m_maxCircles(0),
m_circles(0),
m_ncircles(0),
@@ -318,11 +313,11 @@ void dtObstacleAvoidanceQuery::prepare(const float* pos, const float* dvel)
float dtObstacleAvoidanceQuery::processSample(const float* vcand, const float cs,
const float* pos, const float rad,
const float vmax, const float* vel, const float* dvel,
const float* vel, const float* dvel,
dtObstacleAvoidanceDebugData* debug)
{
// Find min time of impact and exit amongst all obstacles.
float tmin = m_horizTime;
float tmin = m_params.horizTime;
float side = 0;
int nside = 0;
@@ -395,11 +390,10 @@ float dtObstacleAvoidanceQuery::processSample(const float* vcand, const float cs
if (nside)
side /= nside;
const float ivmax = 1.0f / vmax;
const float vpen = m_weightDesVel * (dtVdist2D(vcand, dvel) * ivmax);
const float vcpen = m_weightCurVel * (dtVdist2D(vcand, vel) * ivmax);
const float spen = m_weightSide * side;
const float tpen = m_weightToi * (1.0f/(0.1f+tmin / m_horizTime));
const float vpen = m_params.weightDesVel * (dtVdist2D(vcand, dvel) * m_invVmax);
const float vcpen = m_params.weightCurVel * (dtVdist2D(vcand, vel) * m_invVmax);
const float spen = m_params.weightSide * side;
const float tpen = m_params.weightToi * (1.0f/(0.1f+tmin*m_invHorizTime));
const float penalty = vpen + vcpen + spen + tpen;
@@ -410,28 +404,34 @@ float dtObstacleAvoidanceQuery::processSample(const float* vcand, const float cs
return penalty;
}
void dtObstacleAvoidanceQuery::sampleVelocityGrid(const float* pos, const float rad, const float vmax,
const float* vel, const float* dvel,
float* nvel, const int gsize,
dtObstacleAvoidanceDebugData* debug)
int dtObstacleAvoidanceQuery::sampleVelocityGrid(const float* pos, const float rad, const float vmax,
const float* vel, const float* dvel, float* nvel,
const dtObstacleAvoidanceParams* params,
dtObstacleAvoidanceDebugData* debug)
{
prepare(pos, dvel);
memcpy(&m_params, params, sizeof(dtObstacleAvoidanceParams));
m_invHorizTime = 1.0f / m_params.horizTime;
m_vmax = vmax;
m_invVmax = 1.0f / vmax;
dtVset(nvel, 0,0,0);
if (debug)
debug->reset();
const float cvx = dvel[0] * m_velBias;
const float cvz = dvel[2] * m_velBias;
const float cs = vmax * 2 * (1 - m_velBias) / (float)(gsize-1);
const float half = (gsize-1)*cs*0.5f;
const float cvx = dvel[0] * m_params.velBias;
const float cvz = dvel[2] * m_params.velBias;
const float cs = vmax * 2 * (1 - m_params.velBias) / (float)(m_params.gridSize-1);
const float half = (m_params.gridSize-1)*cs*0.5f;
float minPenalty = FLT_MAX;
int ns = 0;
for (int y = 0; y < gsize; ++y)
for (int y = 0; y < m_params.gridSize; ++y)
{
for (int x = 0; x < gsize; ++x)
for (int x = 0; x < m_params.gridSize; ++x)
{
float vcand[3];
vcand[0] = cvx + x*cs - half;
@@ -440,7 +440,8 @@ void dtObstacleAvoidanceQuery::sampleVelocityGrid(const float* pos, const float
if (dtSqr(vcand[0])+dtSqr(vcand[2]) > dtSqr(vmax+cs/2)) continue;
const float penalty = processSample(vcand, cs, pos,rad,vmax,vel,dvel, debug);
const float penalty = processSample(vcand, cs, pos,rad,vel,dvel, debug);
ns++;
if (penalty < minPenalty)
{
minPenalty = penalty;
@@ -448,31 +449,38 @@ void dtObstacleAvoidanceQuery::sampleVelocityGrid(const float* pos, const float
}
}
}
return ns;
}
static const float DT_PI = 3.14159265f;
void dtObstacleAvoidanceQuery::sampleVelocityAdaptive(const float* pos, const float rad, const float vmax,
const float* vel, const float* dvel, float* nvel,
const int ndivs, const int nrings, const int depth,
dtObstacleAvoidanceDebugData* debug)
int dtObstacleAvoidanceQuery::sampleVelocityAdaptive(const float* pos, const float rad, const float vmax,
const float* vel, const float* dvel, float* nvel,
const dtObstacleAvoidanceParams* params,
dtObstacleAvoidanceDebugData* debug)
{
prepare(pos, dvel);
memcpy(&m_params, params, sizeof(dtObstacleAvoidanceParams));
m_invHorizTime = 1.0f / m_params.horizTime;
m_vmax = vmax;
m_invVmax = 1.0f / vmax;
dtVset(nvel, 0,0,0);
if (debug)
debug->reset();
// Build sampling pattern aligned to desired velocity.
static const int MAX_PATTERN_DIVS = 32;
static const int MAX_PATTERN_RINGS = 4;
float pat[(MAX_PATTERN_DIVS*MAX_PATTERN_RINGS+1)*2];
float pat[(DT_MAX_PATTERN_DIVS*DT_MAX_PATTERN_RINGS+1)*2];
int npat = 0;
const int nd = dtClamp(ndivs, 1, MAX_PATTERN_DIVS);
const int nr = dtClamp(nrings, 1, MAX_PATTERN_RINGS);
const int ndivs = (int)m_params.adaptiveDivs;
const int nrings= (int)m_params.adaptiveRings;
const int depth = (int)m_params.adaptiveDepth;
const int nd = dtClamp(ndivs, 1, DT_MAX_PATTERN_DIVS);
const int nr = dtClamp(nrings, 1, DT_MAX_PATTERN_RINGS);
const float da = (1.0f/nd) * DT_PI*2;
const float dang = atan2f(dvel[2], dvel[0]);
@@ -483,21 +491,22 @@ void dtObstacleAvoidanceQuery::sampleVelocityAdaptive(const float* pos, const fl
for (int j = 0; j < nr; ++j)
{
const float rad = (float)(nr-j)/(float)nr;
const float r = (float)(nr-j)/(float)nr;
float a = dang + (j&1)*0.5f*da;
for (int i = 0; i < nd; ++i)
{
pat[npat*2+0] = cosf(a)*rad;
pat[npat*2+1] = sinf(a)*rad;
pat[npat*2+0] = cosf(a)*r;
pat[npat*2+1] = sinf(a)*r;
npat++;
a += da;
}
}
// Start sampling.
float cr = vmax * (1.0f-m_velBias);
float cr = vmax * (1.0f - m_params.velBias);
float res[3];
dtVset(res, dvel[0] * m_velBias, 0, dvel[2] * m_velBias);
dtVset(res, dvel[0] * m_params.velBias, 0, dvel[2] * m_params.velBias);
int ns = 0;
for (int k = 0; k < depth; ++k)
{
@@ -514,7 +523,8 @@ void dtObstacleAvoidanceQuery::sampleVelocityAdaptive(const float* pos, const fl
if (dtSqr(vcand[0])+dtSqr(vcand[2]) > dtSqr(vmax+0.001f)) continue;
const float penalty = processSample(vcand,cr/10, pos,rad,vmax,vel,dvel, debug);
const float penalty = processSample(vcand,cr/10, pos,rad,vel,dvel, debug);
ns++;
if (penalty < minPenalty)
{
minPenalty = penalty;
@@ -528,5 +538,7 @@ void dtObstacleAvoidanceQuery::sampleVelocityAdaptive(const float* pos, const fl
}
dtVcopy(nvel, res);
return ns;
}

70
dep/recastnavigation/Detour/DetourObstacleAvoidance.h
View File

@@ -21,21 +21,19 @@
struct dtObstacleCircle
{
float p[3]; // Position of the obstacle
float vel[3]; // Velocity of the obstacle
float dvel[3]; // Velocity of the obstacle
float rad; // Radius of the obstacle
float dp[3], np[3]; // Use for side selection during sampling.
float p[3]; ///< Position of the obstacle
float vel[3]; ///< Velocity of the obstacle
float dvel[3]; ///< Velocity of the obstacle
float rad; ///< Radius of the obstacle
float dp[3], np[3]; ///< Use for side selection during sampling.
};
struct dtObstacleSegment
{
float p[3], q[3]; // End points of the obstacle segment
float p[3], q[3]; ///< End points of the obstacle segment
bool touch;
};
static const int RVO_SAMPLE_RAD = 15;
static const int MAX_RVO_SAMPLES = (RVO_SAMPLE_RAD*2+1)*(RVO_SAMPLE_RAD*2+1) + 100;
class dtObstacleAvoidanceDebugData
{
@@ -75,6 +73,23 @@ dtObstacleAvoidanceDebugData* dtAllocObstacleAvoidanceDebugData();
void dtFreeObstacleAvoidanceDebugData(dtObstacleAvoidanceDebugData* ptr);
static const int DT_MAX_PATTERN_DIVS = 32; ///< Max numver of adaptive divs.
static const int DT_MAX_PATTERN_RINGS = 4; ///< Max number of adaptive rings.
struct dtObstacleAvoidanceParams
{
float velBias;
float weightDesVel;
float weightCurVel;
float weightSide;
float weightToi;
float horizTime;
unsigned char gridSize; ///< grid
unsigned char adaptiveDivs; ///< adaptive
unsigned char adaptiveRings; ///< adaptive
unsigned char adaptiveDepth; ///< adaptive
};
class dtObstacleAvoidanceQuery
{
public:
@@ -90,22 +105,15 @@ public:
void addSegment(const float* p, const float* q);
inline void setVelocitySelectionBias(float v) { m_velBias = v; }
inline void setDesiredVelocityWeight(float w) { m_weightDesVel = w; }
inline void setCurrentVelocityWeight(float w) { m_weightCurVel = w; }
inline void setPreferredSideWeight(float w) { m_weightSide = w; }
inline void setCollisionTimeWeight(float w) { m_weightToi = w; }
inline void setTimeHorizon(float t) { m_horizTime = t; }
int sampleVelocityGrid(const float* pos, const float rad, const float vmax,
const float* vel, const float* dvel, float* nvel,
const dtObstacleAvoidanceParams* params,
dtObstacleAvoidanceDebugData* debug = 0);
void sampleVelocityGrid(const float* pos, const float rad, const float vmax,
const float* vel, const float* dvel, float* nvel,
const int gsize,
dtObstacleAvoidanceDebugData* debug = 0);
void sampleVelocityAdaptive(const float* pos, const float rad, const float vmax,
const float* vel, const float* dvel, float* nvel,
const int ndivs, const int nrings, const int depth,
dtObstacleAvoidanceDebugData* debug = 0);
int sampleVelocityAdaptive(const float* pos, const float rad, const float vmax,
const float* vel, const float* dvel, float* nvel,
const dtObstacleAvoidanceParams* params,
dtObstacleAvoidanceDebugData* debug = 0);
inline int getObstacleCircleCount() const { return m_ncircles; }
const dtObstacleCircle* getObstacleCircle(const int i) { return &m_circles[i]; }
@@ -119,19 +127,17 @@ private:
float processSample(const float* vcand, const float cs,
const float* pos, const float rad,
const float vmax, const float* vel, const float* dvel,
const float* vel, const float* dvel,
dtObstacleAvoidanceDebugData* debug);
dtObstacleCircle* insertCircle(const float dist);
dtObstacleSegment* insertSegment(const float dist);
float m_velBias;
float m_weightDesVel;
float m_weightCurVel;
float m_weightSide;
float m_weightToi;
float m_horizTime;
dtObstacleAvoidanceParams m_params;
float m_invHorizTime;
float m_vmax;
float m_invVmax;
int m_maxCircles;
dtObstacleCircle* m_circles;
int m_ncircles;
@@ -145,4 +151,4 @@ dtObstacleAvoidanceQuery* dtAllocObstacleAvoidanceQuery();
void dtFreeObstacleAvoidanceQuery(dtObstacleAvoidanceQuery* ptr);
#endif // DETOUROBSTACLEAVOIDANCE_H
#endif // DETOUROBSTACLEAVOIDANCE_H

1
dep/recastnavigation/Recast/CMakeLists.txt
View File

@@ -14,6 +14,7 @@ set(Recast_STAT_SRCS
RecastArea.cpp
RecastContour.cpp
RecastFilter.cpp
RecastLayers.cpp
RecastMesh.cpp
RecastMeshDetail.cpp
RecastRasterization.cpp

50
dep/recastnavigation/Recast/Recast.cpp
View File

@@ -109,6 +109,28 @@ void rcFreeCompactHeightfield(rcCompactHeightfield* chf)
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);
@@ -186,12 +208,11 @@ void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int*
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfield, rcHeightfield
bool rcCreateHeightfield(rcContext* /*ctx*/, rcHeightfield& hf, int width, int height,
bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height,
const float* bmin, const float* bmax,
float cs, float ch)
{
// TODO: VC complains about unref formal variable, figure out a way to handle this better.
// rcAssert(ctx);
rcIgnoreUnused(ctx);
hf.width = width;
hf.height = height;
@@ -223,13 +244,12 @@ static void calcTriNormal(const float* v0, const float* v1, const float* v2, flo
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
void rcMarkWalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle,
void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
const float* verts, int /*nv*/,
const int* tris, int nt,
unsigned char* areas)
{
// TODO: VC complains about unref formal variable, figure out a way to handle this better.
// rcAssert(ctx);
rcIgnoreUnused(ctx);
const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
@@ -253,13 +273,12 @@ void rcMarkWalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle,
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
void rcClearUnwalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle,
void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
const float* verts, int /*nv*/,
const int* tris, int nt,
unsigned char* areas)
{
// TODO: VC complains about unref formal variable, figure out a way to handle this better.
// rcAssert(ctx);
rcIgnoreUnused(ctx);
const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
@@ -275,10 +294,9 @@ void rcClearUnwalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAng
}
}
int rcGetHeightFieldSpanCount(rcContext* /*ctx*/, rcHeightfield& hf)
int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf)
{
// TODO: VC complains about unref formal variable, figure out a way to handle this better.
// rcAssert(ctx);
rcIgnoreUnused(ctx);
const int w = hf.width;
const int h = hf.height;
@@ -417,13 +435,13 @@ bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const i
if ((top - bot) >= walkableHeight && rcAbs((int)ns.y - (int)s.y) <= walkableClimb)
{
// Mark direction as walkable.
const int idx = k - (int)nc.index;
if (idx < 0 || idx > MAX_LAYERS)
const int lidx = k - (int)nc.index;
if (lidx < 0 || lidx > MAX_LAYERS)
{
tooHighNeighbour = rcMax(tooHighNeighbour, idx);
tooHighNeighbour = rcMax(tooHighNeighbour, lidx);
continue;
}
rcSetCon(s, dir, idx);
rcSetCon(s, dir, lidx);
break;
}
}

287
dep/recastnavigation/Recast/Recast.h
View File

@@ -65,6 +65,8 @@ enum rcTimerLabel
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)
@@ -83,6 +85,8 @@ enum rcTimerLabel
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)
@@ -215,7 +219,7 @@ struct rcConfig
int maxEdgeLen;
/// The maximum distance a simplfied contour's border edges should deviate
/// the original raw contour. [Limit: >=0] [Units: wu]
/// the original raw contour. [Limit: >=0] [Units: vx]
float maxSimplificationError;
/// The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx]
@@ -280,9 +284,6 @@ struct rcHeightfield
rcSpan* freelist; ///< The next free span.
};
rcHeightfield* rcAllocHeightfield();
void rcFreeHeightField(rcHeightfield* hf);
/// Provides information on the content of a cell column in a compact heightfield.
struct rcCompactCell
{
@@ -308,6 +309,7 @@ struct rcCompactHeightfield
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)]
@@ -320,9 +322,35 @@ struct rcCompactHeightfield
unsigned char* areas; ///< Array containing area id data. [Size: #spanCount]
};
rcCompactHeightfield* rcAllocCompactHeightfield();
void rcFreeCompactHeightfield(rcCompactHeightfield* chf);
/// 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 - borderSize*2) * (h - borderSize*2)]
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
@@ -345,12 +373,11 @@ struct rcContourSet
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.
};
rcContourSet* rcAllocContourSet();
void rcFreeContourSet(rcContourSet* cset);
/// Represents a polygon mesh suitable for use in building a navigation mesh.
/// @ingroup recast
struct rcPolyMesh
@@ -368,12 +395,9 @@ struct rcPolyMesh
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.
};
rcPolyMesh* rcAllocPolyMesh();
void rcFreePolyMesh(rcPolyMesh* pmesh);
/// Contains triangle meshes that represent detailed height data associated
/// with the polygons in its associated polygon mesh object.
/// @ingroup recast
@@ -387,6 +411,71 @@ struct rcPolyMeshDetail
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
@@ -457,35 +546,14 @@ static const unsigned char RC_WALKABLE_AREA = 63;
/// to another span. (Has no neighbor.)
static const int RC_NOT_CONNECTED = 0x3f;
// Compact span neighbour helpers.
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);
}
inline int rcGetCon(const rcCompactSpan& s, int dir)
{
const unsigned int shift = (unsigned int)dir*6;
return (s.con >> shift) & 0x3f;
}
inline int rcGetDirOffsetX(int dir)
{
const int offset[4] = { -1, 0, 1, 0, };
return offset[dir&0x03];
}
inline int rcGetDirOffsetY(int dir)
{
const int offset[4] = { 0, 1, 0, -1 };
return offset[dir&0x03];
}
/// @name General helper functions
/// @{
/// Used to ignore a function parameter. VS complains about unused parameters
/// and this silences the warning.
/// @param [in] _ Unused parameter
template<class T> void rcIgnoreUnused(const T&) { }
/// Swaps the values of the two parameters.
/// @param[in,out] a Value A
/// @param[in,out] b Value B
@@ -647,13 +715,6 @@ inline void rcVnormalize(float* v)
v[2] *= d;
}
inline bool rcVequal(const float* p0, const float* p1)
{
static const float thr = rcSqr(1.0f/16384.0f);
const float d = rcVdistSqr(p0, p1);
return d < thr;
}
/// @}
/// @name Heightfield Functions
/// @see rcHeightfield
@@ -718,18 +779,20 @@ void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
const int* tris, int nt, unsigned char* areas);
/// Adds a span to the specified heightfield.
// The span addition can set to favor flags. If the span is merged to
// another span and the new smax is within 'flagMergeThr' units away
// from the existing span the span flags are merged and stored.
// Params:
// solid - (in) heightfield where the spans is added to
// x,y - (in) location on the heightfield where the span is added
// smin,smax - (in) spans min/max height
// flags - (in) span flags (zero or WALKABLE)
// flagMergeThr - (in) merge threshold.
void rcAddSpan(rcContext* ctx, rcHeightfield& solid, const int x, const int y,
/// @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]
void rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned short area, const int flagMergeThr);
const unsigned char area, const int flagMergeThr);
/// Rasterizes a triangle into the specified heightfield.
/// @ingroup recast
@@ -877,6 +940,28 @@ 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.
@@ -912,6 +997,68 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
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)
{
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)
{
const int offset[4] = { 0, 1, 0, -1 };
return offset[dir&0x03];
}
/// @}
/// @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.
@@ -927,13 +1074,15 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
const float maxError, const int maxEdgeLen,
rcContourSet& cset, const int flags = RC_CONTOUR_TESS_WALL_EDGES);
// Builds connected convex polygon mesh from contour polygons.
// Params:
// cset - (in) contour set.
// nvp - (in) maximum number of vertices per polygon.
// mesh - (out) poly mesh.
// Returns false if operation ran out of memory.
bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& mesh);
/// 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
@@ -958,6 +1107,14 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
const float sampleDist, const float sampleMaxError,
rcPolyMeshDetail& dmesh);
/// Copies the poly mesh data from src to dst.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] src The source mesh to copy from.
/// @param[out] dst The resulting detail mesh. (Must be pre-allocated, must be empty mesh.)
/// @returns True if the operation completed successfully.
bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst);
/// Merges multiple detail meshes into a single detail mesh.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.

170
dep/recastnavigation/Recast/RecastArea.cpp
View File

@@ -61,14 +61,26 @@ bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
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)
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)
nc++;
{
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)
@@ -339,7 +351,8 @@ void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigne
rcCompactSpan& s = chf.spans[i];
if ((int)s.y >= miny && (int)s.y <= maxy)
{
chf.areas[i] = areaId;
if (chf.areas[i] != RC_NULL_AREA)
chf.areas[i] = areaId;
}
}
}
@@ -418,6 +431,8 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
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];
@@ -436,3 +451,152 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
ctx->stopTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
}
int rcOffsetPoly(const float* verts, const int nverts, const float offset,
float* outVerts, const int maxOutVerts)
{
const float MITER_LIMIT = 1.20f;
int n = 0;
for (int i = 0; i < nverts; i++)
{
const int a = (i+nverts-1) % nverts;
const int b = i;
const int c = (i+1) % nverts;
const float* va = &verts[a*3];
const float* vb = &verts[b*3];
const float* vc = &verts[c*3];
float dx0 = vb[0] - va[0];
float dy0 = vb[2] - va[2];
float d0 = dx0*dx0 + dy0*dy0;
if (d0 > 1e-6f)
{
d0 = 1.0f/rcSqrt(d0);
dx0 *= d0;
dy0 *= d0;
}
float dx1 = vc[0] - vb[0];
float dy1 = vc[2] - vb[2];
float d1 = dx1*dx1 + dy1*dy1;
if (d1 > 1e-6f)
{
d1 = 1.0f/rcSqrt(d1);
dx1 *= d1;
dy1 *= d1;
}
const float dlx0 = -dy0;
const float dly0 = dx0;
const float dlx1 = -dy1;
const float dly1 = dx1;
float cross = dx1*dy0 - dx0*dy1;
float dmx = (dlx0 + dlx1) * 0.5f;
float dmy = (dly0 + dly1) * 0.5f;
float dmr2 = dmx*dmx + dmy*dmy;
bool bevel = dmr2 * MITER_LIMIT*MITER_LIMIT < 1.0f;
if (dmr2 > 1e-6f)
{
const float scale = 1.0f / dmr2;
dmx *= scale;
dmy *= scale;
}
if (bevel && cross < 0.0f)
{
if (n+2 >= maxOutVerts)
return 0;
float d = (1.0f - (dx0*dx1 + dy0*dy1))*0.5f;
outVerts[n*3+0] = vb[0] + (-dlx0+dx0*d)*offset;
outVerts[n*3+1] = vb[1];
outVerts[n*3+2] = vb[2] + (-dly0+dy0*d)*offset;
n++;
outVerts[n*3+0] = vb[0] + (-dlx1-dx1*d)*offset;
outVerts[n*3+1] = vb[1];
outVerts[n*3+2] = vb[2] + (-dly1-dy1*d)*offset;
n++;
}
else
{
if (n+1 >= maxOutVerts)
return 0;
outVerts[n*3+0] = vb[0] - dmx*offset;
outVerts[n*3+1] = vb[1];
outVerts[n*3+2] = vb[2] - dmy*offset;
n++;
}
}
return n;
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
void rcMarkCylinderArea(rcContext* ctx, const float* pos,
const float r, const float h, unsigned char areaId,
rcCompactHeightfield& chf)
{
rcAssert(ctx);
ctx->startTimer(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;
}
}
}
}
}
ctx->stopTimer(RC_TIMER_MARK_CYLINDER_AREA);
}

60
dep/recastnavigation/Recast/RecastContour.cpp
View File

@@ -420,15 +420,13 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
// Round based on the segments in lexilogical order so that the
// max tesselation is consistent regardles in which direction
// segments are traversed.
if (bx > ax || (bx == ax && bz > az))
const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
if (n > 1)
{
const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
maxi = (ai + n/2) % pn;
}
else
{
const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
maxi = (ai + (n+1)/2) % pn;
if (bx > ax || (bx == ax && bz > az))
maxi = (ai + n/2) % pn;
else
maxi = (ai + (n+1)/2) % pn;
}
}
}
@@ -466,7 +464,7 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
// and the neighbour region is take from the next raw point.
const int ai = (simplified[i*4+3]+1) % pn;
const int bi = simplified[i*4+3];
simplified[i*4+3] = (points[ai*4+3] & RC_CONTOUR_REG_MASK) | (points[bi*4+3] & RC_BORDER_VERTEX);
simplified[i*4+3] = (points[ai*4+3] & (RC_CONTOUR_REG_MASK|RC_AREA_BORDER)) | (points[bi*4+3] & RC_BORDER_VERTEX);
}
}
@@ -613,13 +611,26 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
const int w = chf.width;
const int h = chf.height;
const int borderSize = chf.borderSize;
ctx->startTimer(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;
int maxContours = rcMax((int)chf.maxRegions, 8);
cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
@@ -671,8 +682,6 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
ctx->startTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
rcIntArray verts(256);
rcIntArray simplified(64);
@@ -695,10 +704,17 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
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)
@@ -733,6 +749,16 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
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);
@@ -742,6 +768,16 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
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->cx = cont->cy = cont->cz = 0;
for (int i = 0; i < cont->nverts; ++i)
@@ -809,8 +845,6 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
}
}
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS);
return true;

4
dep/recastnavigation/Recast/RecastFilter.cpp
View File

@@ -48,6 +48,7 @@ void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb
{
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)
{
@@ -57,11 +58,12 @@ void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb
if (!walkable && previousWalkable)
{
if (rcAbs((int)s->smax - (int)ps->smax) <= walkableClimb)
s->area = RC_NULL_AREA;
s->area = previousArea;
}
// Copy walkable flag so that it cannot propagate
// past multiple non-walkable objects.
previousWalkable = walkable;
previousArea = s->area;
}
}
}

4
dep/recastnavigation/Recast/RecastLayers.cpp
View File

@@ -325,7 +325,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(root.ymin, regn.ymin);
const int ymax = rcMax(root.ymax, regn.ymax); // Edited by TC
const int ymax = rcMax(root.ymax, regn.ymax);
if ((ymax - ymin) >= 255)
continue;
@@ -373,7 +373,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(ri.ymin, rj.ymin);
const int ymax = rcMax(ri.ymax, rj.ymax); // Edited by TC
const int ymax = rcMax(ri.ymax, rj.ymax);
if ((ymax - ymin) >= 255)
continue;

170
dep/recastnavigation/Recast/RecastMesh.cpp
View File

@@ -59,6 +59,7 @@ static bool buildMeshAdjacency(unsigned short* polys, const int npolys,
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)
@@ -83,6 +84,7 @@ static bool buildMeshAdjacency(unsigned short* polys, const int npolys,
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)
@@ -195,7 +197,7 @@ inline bool collinear(const int* a, const int* b, const int* c)
// 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.
bool intersectProp(const int* a, const int* b, const int* c, const int* d)
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) ||
@@ -548,9 +550,9 @@ static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned sho
// Check if the edge exists
bool exists = false;
for (int k = 0; k < nedges; ++k)
for (int m = 0; m < nedges; ++m)
{
int* e = &edges[k*3];
int* e = &edges[m*3];
if (e[1] == b)
{
// Exists, increment vertex share count.
@@ -659,7 +661,8 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
}
// Remove the polygon.
unsigned short* p2 = &mesh.polys[(mesh.npolys-1)*nvp*2];
memcpy(p,p2,sizeof(unsigned short)*nvp);
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];
@@ -859,7 +862,9 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
unsigned short* pa = &polys[bestPa*nvp];
unsigned short* pb = &polys[bestPb*nvp];
mergePolys(pa, pb, bestEa, bestEb, tmpPoly, nvp);
memcpy(pb, &polys[(npolys-1)*nvp], sizeof(unsigned short)*nvp);
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--;
@@ -893,8 +898,13 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
return true;
}
bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& mesh)
/// @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);
@@ -904,6 +914,7 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& me
rcVcopy(mesh.bmax, cset.bmax);
mesh.cs = cset.cs;
mesh.ch = cset.ch;
mesh.borderSize = cset.borderSize;
int maxVertices = 0;
int maxTris = 0;
@@ -926,7 +937,7 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& me
rcScopedDelete<unsigned char> vflags = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxVertices, RC_ALLOC_TEMP);
if (!vflags)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices);
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'vflags' (%d).", maxVertices);
return false;
}
memset(vflags, 0, maxVertices);
@@ -937,7 +948,7 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& me
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*2, RC_ALLOC_PERM);
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);
@@ -1097,7 +1108,9 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& me
unsigned short* pa = &polys[bestPa*nvp];
unsigned short* pb = &polys[bestPb*nvp];
mergePolys(pa, pb, bestEa, bestEb, tmpPoly, nvp);
memcpy(pb, &polys[(npolys-1)*nvp], sizeof(unsigned short)*nvp);
unsigned short* lastPoly = &polys[(npolys-1)*nvp];
if (pb != lastPoly)
memcpy(pb, lastPoly, sizeof(unsigned short)*nvp);
npolys--;
}
else
@@ -1155,6 +1168,37 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& me
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);
@@ -1167,11 +1211,11 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& me
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);
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, "rcMergePolyMeshes: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", 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);
}
ctx->stopTimer(RC_TIMER_BUILD_POLYMESH);
@@ -1271,7 +1315,7 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'vremap' (%d).", maxVertsPerMesh);
return false;
}
memset(nextVert, 0, sizeof(int)*maxVerts);
memset(vremap, 0, sizeof(unsigned short)*maxVertsPerMesh);
for (int i = 0; i < nmeshes; ++i)
{
@@ -1280,6 +1324,12 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
const unsigned short ox = (unsigned short)floorf((pmesh->bmin[0]-mesh.bmin[0])/mesh.cs+0.5f);
const unsigned short oz = (unsigned short)floorf((pmesh->bmin[2]-mesh.bmin[2])/mesh.cs+0.5f);
bool isMinX = (ox == 0);
bool isMinZ = (oz == 0);
bool isMaxX = ((unsigned short)floorf((mesh.bmax[0] - pmesh->bmax[0]) / mesh.cs + 0.5f)) == 0;
bool isMaxZ = ((unsigned short)floorf((mesh.bmax[2] - pmesh->bmax[2]) / mesh.cs + 0.5f)) == 0;
bool isOnBorder = (isMinX || isMinZ || isMaxX || isMaxZ);
for (int j = 0; j < pmesh->nverts; ++j)
{
unsigned short* v = &pmesh->verts[j*3];
@@ -1300,6 +1350,36 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
if (src[k] == RC_MESH_NULL_IDX) break;
tgt[k] = vremap[src[k]];
}
if (isOnBorder)
{
for (int k = mesh.nvp; k < mesh.nvp * 2; ++k)
{
if (src[k] & 0x8000 && src[k] != 0xffff)
{
unsigned short dir = src[k] & 0xf;
switch (dir)
{
case 0: // Portal x-
if (isMinX)
tgt[k] = src[k];
break;
case 1: // Portal z+
if (isMaxZ)
tgt[k] = src[k];
break;
case 2: // Portal x+
if (isMaxX)
tgt[k] = src[k];
break;
case 3: // Portal z-
if (isMinZ)
tgt[k] = src[k];
break;
}
}
}
}
}
}
@@ -1323,3 +1403,67 @@ bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, r
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.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 char)*src.npolys);
return true;
}

123
dep/recastnavigation/Recast/RecastMeshDetail.cpp
View File

@@ -200,8 +200,8 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
{
int ix = (int)floorf(fx*ics + 0.01f);
int iz = (int)floorf(fz*ics + 0.01f);
ix = rcClamp(ix-hp.xmin, 0, hp.width);
iz = rcClamp(iz-hp.ymin, 0, hp.height);
ix = rcClamp(ix-hp.xmin, 0, hp.width - 1);
iz = rcClamp(iz-hp.ymin, 0, hp.height - 1);
unsigned short h = hp.data[ix+iz*hp.width];
if (h == RC_UNSET_HEIGHT)
{
@@ -267,11 +267,11 @@ static int addEdge(rcContext* ctx, int* edges, int& nedges, const int maxEdges,
int e = findEdge(edges, nedges, s, t);
if (e == UNDEF)
{
int* e = &edges[nedges*4];
e[0] = s;
e[1] = t;
e[2] = l;
e[3] = r;
int* edge = &edges[nedges*4];
edge[0] = s;
edge[1] = t;
edge[2] = l;
edge[3] = r;
return nedges++;
}
else
@@ -583,10 +583,10 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
int maxi = -1;
for (int m = a+1; m < b; ++m)
{
float d = distancePtSeg(&edge[m*3],va,vb);
if (d > maxd)
float dev = distancePtSeg(&edge[m*3],va,vb);
if (dev > maxd)
{
maxd = d;
maxd = dev;
maxi = m;
}
}
@@ -741,9 +741,10 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
return true;
}
static void getHeightData(const rcCompactHeightfield& chf,
static void getHeightDataSeedsFromVertices(const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& stack)
{
// Floodfill the heightfield to get 2D height data,
@@ -775,7 +776,7 @@ static void getHeightData(const rcCompactHeightfield& chf,
az < hp.ymin || az >= hp.ymin+hp.height)
continue;
const rcCompactCell& c = chf.cells[ax+az*chf.width];
const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
@@ -847,7 +848,7 @@ static void getHeightData(const rcCompactHeightfield& chf,
if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != 0)
continue;
const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(cs, dir);
const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir);
int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
hp.data[idx] = 1;
@@ -869,8 +870,83 @@ static void getHeightData(const rcCompactHeightfield& chf,
int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
const rcCompactSpan& cs = chf.spans[ci];
hp.data[idx] = cs.y;
// getHeightData seeds are given in coordinates with borders
stack[i+0] += bs;
stack[i+1] += bs;
}
}
static void getHeightData(const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& stack,
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.
stack.resize(0);
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
bool empty = true;
// 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)
{
stack.push(x);
stack.push(y);
stack.push(i);
}
break;
}
}
}
}
// if the polygon does not contian any points from the current region (rare, but happens)
// then use the cells closest to the polygon vertices as seeds to fill the height field
if (empty)
getHeightDataSeedsFromVertices(chf, poly, npoly, verts, bs, hp, stack);
static const int RETRACT_SIZE = 256;
int head = 0;
@@ -895,26 +971,25 @@ static void getHeightData(const rcCompactHeightfield& chf,
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int hx = ax - hp.xmin - bs;
const int hy = ay - hp.ymin - bs;
if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
ay < hp.ymin || ay >= (hp.ymin+hp.height))
if (hx < 0 || hx >= hp.width || hy < 0 || hy >= hp.height)
continue;
if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != RC_UNSET_HEIGHT)
if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT)
continue;
const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(cs, dir);
const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(cs, dir);
const rcCompactSpan& as = chf.spans[ai];
int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
hp.data[idx] = as.y;
hp.data[hx + hy*hp.width] = as.y;
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
}
}
static unsigned char getEdgeFlags(const float* va, const float* vb,
@@ -961,6 +1036,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
const float cs = mesh.cs;
const float ch = mesh.ch;
const float* orig = mesh.bmin;
const int borderSize = mesh.borderSize;
rcIntArray edges(64);
rcIntArray tris(512);
@@ -1071,7 +1147,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
hp.ymin = bounds[i*4+2];
hp.width = bounds[i*4+1]-bounds[i*4+0];
hp.height = bounds[i*4+3]-bounds[i*4+2];
getHeightData(chf, p, npoly, mesh.verts, hp, stack);
getHeightData(chf, p, npoly, mesh.verts, borderSize, hp, stack, mesh.regs[i]);
// Build detail mesh.
int nverts = 0;
@@ -1241,4 +1317,3 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
return true;
}

113
dep/recastnavigation/Recast/RecastRasterization.cpp
View File

@@ -95,7 +95,7 @@ static void addSpan(rcHeightfield& hf, const int x, const int y,
s->area = area;
s->next = 0;
// Empty cell, add he first span.
// Empty cell, add the first span.
if (!hf.spans[idx])
{
hf.spans[idx] = s;
@@ -169,36 +169,64 @@ void rcAddSpan(rcContext* /*ctx*/, rcHeightfield& hf, const int x, const int y,
addSpan(hf, x,y, smin, smax, area, flagMergeThr);
}
static int clipPoly(const float* in, int n, float* out, float pnx, float pnz, float pd)
// divides a convex polygons into two convex polygons on both sides of a line
static void dividePoly(const float* in, int nin,
float* out1, int* nout1,
float* out2, int* nout2,
float x, int axis)
{
float d[12];
for (int i = 0; i < n; ++i)
d[i] = pnx*in[i*3+0] + pnz*in[i*3+2] + pd;
int m = 0;
for (int i = 0, j = n-1; i < n; j=i, ++i)
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]);
out[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s;
out[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s;
out[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s;
out1[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s;
out1[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s;
out1[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s;
rcVcopy(out2 + n*3, out1 + m*3);
m++;
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++;
}
}
if (inb)
else // same side
{
out[m*3+0] = in[i*3+0];
out[m*3+1] = in[i*3+1];
out[m*3+2] = in[i*3+2];
m++;
// add the i'th point to the right polygon. Addition is done even for points on the dividing line
if (d[i] >= 0)
{
rcVcopy(out1 + m*3, in + i*3);
m++;
if (d[i] != 0)
continue;
}
rcVcopy(out2 + n*3, in + i*3);
n++;
}
}
return m;
*nout1 = m;
*nout2 = n;
}
static void rasterizeTri(const float* v0, const float* v1, const float* v2,
const unsigned char area, rcHeightfield& hf,
const float* bmin, const float* bmax,
@@ -222,48 +250,57 @@ static void rasterizeTri(const float* v0, const float* v1, const float* v2,
if (!overlapBounds(bmin, bmax, tmin, tmax))
return;
// Calculate the footpring of the triangle on the grid.
int x0 = (int)((tmin[0] - bmin[0])*ics);
// Calculate the footprint of the triangle on the grid's y-axis
int y0 = (int)((tmin[2] - bmin[2])*ics);
int x1 = (int)((tmax[0] - bmin[0])*ics);
int y1 = (int)((tmax[2] - bmin[2])*ics);
x0 = rcClamp(x0, 0, w-1);
y0 = rcClamp(y0, 0, h-1);
x1 = rcClamp(x1, 0, w-1);
y1 = rcClamp(y1, 0, h-1);
// Clip the triangle into all grid cells it touches.
float in[7*3], out[7*3], inrow[7*3];
float buf[7*3*4];
float *in = buf, *inrow = buf+7*3, *p1 = inrow+7*3, *p2 = p1+7*3;
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.
rcVcopy(&in[0], v0);
rcVcopy(&in[1*3], v1);
rcVcopy(&in[2*3], v2);
int nvrow = 3;
// Clip polygon to row. Store the remaining polygon as well
const float cz = bmin[2] + y*cs;
nvrow = clipPoly(in, nvrow, out, 0, 1, -cz);
if (nvrow < 3) continue;
nvrow = clipPoly(out, nvrow, inrow, 0, -1, cz+cs);
dividePoly(in, nvIn, inrow, &nvrow, p1, &nvIn, cz+cs, 2);
rcSwap(in, p1);
if (nvrow < 3) continue;
// find the horizontal bounds in the row
float minX = inrow[0], maxX = inrow[0];
for (int i=1; i<nvrow; ++i)
{
if (minX > inrow[i*3]) minX = inrow[i*3];
if (maxX < inrow[i*3]) maxX = inrow[i*3];
}
int x0 = (int)((minX - bmin[0])*ics);
int x1 = (int)((maxX - bmin[0])*ics);
x0 = rcClamp(x0, 0, w-1);
x1 = rcClamp(x1, 0, w-1);
int nv, nv2 = nvrow;
for (int x = x0; x <= x1; ++x)
{
// Clip polygon to column.
int nv = nvrow;
// Clip polygon to column. store the remaining polygon as well
const float cx = bmin[0] + x*cs;
nv = clipPoly(inrow, nv, out, 1, 0, -cx);
if (nv < 3) continue;
nv = clipPoly(out, nv, in, -1, 0, cx+cs);
dividePoly(inrow, nv2, p1, &nv, p2, &nv2, cx+cs, 0);
rcSwap(inrow, p2);
if (nv < 3) continue;
// Calculate min and max of the span.
float smin = in[1], smax = in[1];
float smin = p1[1], smax = p1[1];
for (int i = 1; i < nv; ++i)
{
smin = rcMin(smin, in[i*3+1]);
smax = rcMax(smax, in[i*3+1]);
smin = rcMin(smin, p1[i*3+1]);
smax = rcMax(smax, p1[i*3+1]);
}
smin -= bmin[1];
smax -= bmin[1];

206
dep/recastnavigation/Recast/RecastRegion.cpp
View File

@@ -283,8 +283,13 @@ static bool floodRegion(int x, int y, int i,
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];
@@ -296,9 +301,12 @@ static bool floodRegion(int x, int y, int i,
const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
if (chf.areas[ai2] != area)
continue;
unsigned short nr = srcReg[ai2];
if (nr != 0 && nr != r)
ar = nr;
unsigned short nr2 = srcReg[ai2];
if (nr2 != 0 && nr2 != r)
{
ar = nr2;
break;
}
}
}
}
@@ -319,16 +327,13 @@ static bool floodRegion(int x, int y, int i,
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir);
if (chf.areas[ai] != area)
continue;
if (chf.dist[ai] >= lev)
if (chf.dist[ai] >= lev && srcReg[ai] == 0)
{
if (srcReg[ai] == 0)
{
srcReg[ai] = r;
srcDist[ai] = 0;
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
srcReg[ai] = r;
srcDist[ai] = 0;
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
}
}
@@ -341,30 +346,44 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
rcCompactHeightfield& chf,
unsigned short* srcReg, unsigned short* srcDist,
unsigned short* dstReg, unsigned short* dstDist,
rcIntArray& stack)
rcIntArray& stack,
bool fillStack)
{
const int w = chf.width;
const int h = chf.height;
// Find cells revealed by the raised level.
stack.resize(0);
for (int y = 0; y < h; ++y)
if (fillStack)
{
for (int x = 0; x < w; ++x)
// Find cells revealed by the raised level.
stack.resize(0);
for (int y = 0; y < h; ++y)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
for (int x = 0; x < w; ++x)
{
if (chf.dist[i] >= level && srcReg[i] == 0 && chf.areas[i] != RC_NULL_AREA)
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
stack.push(x);
stack.push(y);
stack.push(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<stack.size(); j+=3)
{
int i = stack[j+2];
if (srcReg[i] != 0)
stack[j+2] = -1;
}
}
int iter = 0;
while (stack.size() > 0)
{
@@ -435,6 +454,61 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
}
static void sortCellsByLevel(unsigned short startLevel,
rcCompactHeightfield& chf,
unsigned short* srcReg,
unsigned int nbStacks, rcIntArray* stacks,
unsigned short loglevelsPerStack) // the levels per stack (2 in our case) as a bit shift
{
const int w = chf.width;
const int h = chf.height;
startLevel = startLevel >> loglevelsPerStack;
for (unsigned int j=0; j<nbStacks; ++j)
stacks[j].resize(0);
// put all cells in the level range into the appropriate stacks
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (chf.areas[i] == RC_NULL_AREA || srcReg[i] != 0)
continue;
int level = chf.dist[i] >> loglevelsPerStack;
int sId = startLevel - level;
if (sId >= (int)nbStacks)
continue;
if (sId < 0)
sId = 0;
stacks[sId].push(x);
stacks[sId].push(y);
stacks[sId].push(i);
}
}
}
}
static void appendStacks(rcIntArray& srcStack, rcIntArray& dstStack,
unsigned short* srcReg)
{
for (int j=0; j<srcStack.size(); j+=3)
{
int i = srcStack[j+2];
if ((i < 0) || (srcReg[i] != 0))
continue;
dstStack.push(srcStack[j]);
dstStack.push(srcStack[j+1]);
dstStack.push(srcStack[j+2]);
}
}
struct rcRegion
{
inline rcRegion(unsigned short i) :
@@ -679,17 +753,17 @@ static void walkContour(int x, int y, int i, int dir,
// Remove adjacent duplicates.
if (cont.size() > 1)
{
for (int i = 0; i < cont.size(); )
for (int j = 0; j < cont.size(); )
{
int ni = (i+1) % cont.size();
if (cont[i] == cont[ni])
int nj = (j+1) % cont.size();
if (cont[j] == cont[nj])
{
for (int j = i; j < cont.size()-1; ++j)
cont[j] = cont[j+1];
for (int k = j; k < cont.size()-1; ++k)
cont[k] = cont[k+1];
cont.pop();
}
else
++i;
++j;
}
}
}
@@ -807,14 +881,14 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
connectsToBorder = true;
continue;
}
rcRegion& nreg = regions[creg.connections[j]];
if (nreg.visited)
rcRegion& neireg = regions[creg.connections[j]];
if (neireg.visited)
continue;
if (nreg.id == 0 || (nreg.id & RC_BORDER_REG))
if (neireg.id == 0 || (neireg.id & RC_BORDER_REG))
continue;
// Visit
stack.push(nreg.id);
nreg.visited = true;
stack.push(neireg.id);
neireg.visited = true;
}
}
@@ -1087,6 +1161,8 @@ bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
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);
@@ -1235,7 +1311,13 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
}
ctx->startTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
const int LOG_NB_STACKS = 3;
const int NB_STACKS = 1 << LOG_NB_STACKS;
rcIntArray lvlStacks[NB_STACKS];
for (int i=0; i<NB_STACKS; ++i)
lvlStacks[i].resize(1024);
rcIntArray stack(1024);
rcIntArray visited(1024);
@@ -1256,20 +1338,39 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
// const int expandIters = 4 + walkableRadius * 2;
const int expandIters = 8;
// Mark border regions.
paintRectRegion(0, borderSize, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(w-borderSize, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, 0, borderSize, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, h-borderSize, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
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, 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);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_EXPAND);
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, lvlStacks[sId], false) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);
@@ -1280,18 +1381,15 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FLOOD);
// Mark new regions with IDs.
for (int y = 0; y < h; ++y)
for (int j=0; j<lvlStacks[sId].size(); j+=3)
{
for (int x = 0; x < w; ++x)
int x = lvlStacks[sId][j];
int y = lvlStacks[sId][j+1];
int i = lvlStacks[sId][j+2];
if (i >= 0 && srcReg[i] == 0)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (chf.dist[i] < level || srcReg[i] != 0 || chf.areas[i] == RC_NULL_AREA)
continue;
if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
regionId++;
}
if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
regionId++;
}
}
@@ -1299,7 +1397,7 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
}
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack, true) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);

2
src/server/game/Miscellaneous/SharedDefines.h
View File

@@ -3550,7 +3550,7 @@ enum PartyResult
};
const uint32 MMAP_MAGIC = 0x4d4d4150; // 'MMAP'
#define MMAP_VERSION 3
#define MMAP_VERSION 5
struct MmapTileHeader
{

10
src/server/game/Movement/PathGenerator.cpp
View File

@@ -99,7 +99,7 @@ dtPolyRef PathGenerator::GetPathPolyByPosition(dtPolyRef const* polyPath, uint32
for (uint32 i = 0; i < polyPathSize; ++i)
{
float closestPoint[VERTEX_SIZE];
if (dtStatusFailed(_navMeshQuery->closestPointOnPoly(polyPath[i], point, closestPoint)))
if (dtStatusFailed(_navMeshQuery->closestPointOnPoly(polyPath[i], point, closestPoint, NULL)))
continue;
float d = dtVdist2DSqr(point, closestPoint);
@@ -230,7 +230,7 @@ void PathGenerator::BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 con
{
float closestPoint[VERTEX_SIZE];
// we may want to use closestPointOnPolyBoundary instead
if (dtStatusSucceed(_navMeshQuery->closestPointOnPoly(endPoly, endPoint, closestPoint)))
if (dtStatusSucceed(_navMeshQuery->closestPointOnPoly(endPoly, endPoint, closestPoint, NULL)))
{
dtVcopy(endPoint, closestPoint);
SetActualEndPosition(G3D::Vector3(endPoint[2], endPoint[0], endPoint[1]));
@@ -321,13 +321,13 @@ void PathGenerator::BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 con
// we need any point on our suffix start poly to generate poly-path, so we need last poly in prefix data
float suffixEndPoint[VERTEX_SIZE];
if (dtStatusFailed(_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint)))
if (dtStatusFailed(_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint, NULL)))
{
// we can hit offmesh connection as last poly - closestPointOnPoly() don't like that
// try to recover by using prev polyref
--prefixPolyLength;
suffixStartPoly = _pathPolyRefs[prefixPolyLength-1];
if (dtStatusFailed(_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint)))
if (dtStatusFailed(_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint, NULL)))
{
// suffixStartPoly is still invalid, error state
BuildShortcut();
@@ -581,7 +581,7 @@ bool PathGenerator::HaveTile(const G3D::Vector3& p) const
if (tx < 0 || ty < 0)
return false;
return (_navMesh->getTileAt(tx, ty) != NULL);
return (_navMesh->getTileAt(tx, ty, 0) != NULL);
}
uint32 PathGenerator::FixupCorridor(dtPolyRef* path, uint32 npath, uint32 maxPath, dtPolyRef const* visited, uint32 nvisited)

15
src/tools/mmaps_generator/MapBuilder.cpp
View File

@@ -36,7 +36,7 @@ namespace DisableMgr
}
#define MMAP_MAGIC 0x4d4d4150 // 'MMAP'
#define MMAP_VERSION 3
#define MMAP_VERSION 5
struct MmapTileHeader
{
@@ -701,14 +701,6 @@ namespace MMAP
delete[] dmmerge;
delete[] tiles;
// remove padding for extraction
for (int i = 0; i < iv.polyMesh->nverts; ++i)
{
unsigned short* v = &iv.polyMesh->verts[i * 3];
v[0] -= (unsigned short)config.borderSize;
v[2] -= (unsigned short)config.borderSize;
}
// set polygons as walkable
// TODO: special flags for DYNAMIC polygons, ie surfaces that can be turned on and off
for (int i = 0; i < iv.polyMesh->npolys; ++i)
@@ -747,9 +739,8 @@ namespace MMAP
rcVcopy(params.bmax, bmax);
params.cs = config.cs;
params.ch = config.ch;
params.tileSize = VERTEX_PER_MAP;
/*params.tileLayer = 0;
params.buildBvTree = true;*/
params.tileLayer = 0;
params.buildBvTree = true;
// will hold final navmesh
unsigned char* navData = NULL;