mirror of
https://github.com/TrinityCore/TrinityCore.git
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006d72a828
Fix invisible wall issues in MMAPS caused by tile connections not being extracted correctly. This revertsaa645683b8and restores an old version of recastnavigation, most likely1be9de72d8. Re-extracting MMAPS is required.
439 lines
12 KiB
C++
439 lines
12 KiB
C++
//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#include <float.h>
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#define _USE_MATH_DEFINES
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#include <math.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include "Recast.h"
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#include "RecastAlloc.h"
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#include "RecastAssert.h"
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/// @par
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///
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/// Basically, any spans that are closer to a boundary or obstruction than the specified radius
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/// are marked as unwalkable.
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///
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/// This method is usually called immediately after the heightfield has been built.
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///
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/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
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bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
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{
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rcAssert(ctx);
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const int w = chf.width;
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const int h = chf.height;
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ctx->startTimer(RC_TIMER_ERODE_AREA);
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unsigned char* dist = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
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if (!dist)
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{
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ctx->log(RC_LOG_ERROR, "erodeWalkableArea: Out of memory 'dist' (%d).", chf.spanCount);
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return false;
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}
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// Init distance.
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memset(dist, 0xff, sizeof(unsigned char)*chf.spanCount);
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// Mark boundary cells.
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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const rcCompactCell& c = chf.cells[x+y*w];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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if (chf.areas[i] != RC_NULL_AREA)
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{
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const rcCompactSpan& s = chf.spans[i];
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int nc = 0;
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for (int dir = 0; dir < 4; ++dir)
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{
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if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
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nc++;
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}
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// At least one missing neighbour.
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if (nc != 4)
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dist[i] = 0;
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}
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}
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}
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}
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unsigned char nd;
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// Pass 1
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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const rcCompactCell& c = chf.cells[x+y*w];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
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{
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// (-1,0)
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const int ax = x + rcGetDirOffsetX(0);
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const int ay = y + rcGetDirOffsetY(0);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
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const rcCompactSpan& as = chf.spans[ai];
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nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
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if (nd < dist[i])
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dist[i] = nd;
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// (-1,-1)
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if (rcGetCon(as, 3) != RC_NOT_CONNECTED)
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{
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const int aax = ax + rcGetDirOffsetX(3);
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const int aay = ay + rcGetDirOffsetY(3);
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const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3);
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nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
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if (nd < dist[i])
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dist[i] = nd;
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}
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}
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if (rcGetCon(s, 3) != RC_NOT_CONNECTED)
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{
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// (0,-1)
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const int ax = x + rcGetDirOffsetX(3);
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const int ay = y + rcGetDirOffsetY(3);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
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const rcCompactSpan& as = chf.spans[ai];
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nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
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if (nd < dist[i])
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dist[i] = nd;
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// (1,-1)
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if (rcGetCon(as, 2) != RC_NOT_CONNECTED)
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{
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const int aax = ax + rcGetDirOffsetX(2);
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const int aay = ay + rcGetDirOffsetY(2);
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const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2);
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nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
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if (nd < dist[i])
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dist[i] = nd;
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}
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}
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}
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}
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}
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// Pass 2
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for (int y = h-1; y >= 0; --y)
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{
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for (int x = w-1; x >= 0; --x)
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{
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const rcCompactCell& c = chf.cells[x+y*w];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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if (rcGetCon(s, 2) != RC_NOT_CONNECTED)
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{
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// (1,0)
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const int ax = x + rcGetDirOffsetX(2);
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const int ay = y + rcGetDirOffsetY(2);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2);
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const rcCompactSpan& as = chf.spans[ai];
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nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
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if (nd < dist[i])
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dist[i] = nd;
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// (1,1)
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if (rcGetCon(as, 1) != RC_NOT_CONNECTED)
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{
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const int aax = ax + rcGetDirOffsetX(1);
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const int aay = ay + rcGetDirOffsetY(1);
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const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1);
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nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
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if (nd < dist[i])
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dist[i] = nd;
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}
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}
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if (rcGetCon(s, 1) != RC_NOT_CONNECTED)
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{
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// (0,1)
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const int ax = x + rcGetDirOffsetX(1);
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const int ay = y + rcGetDirOffsetY(1);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1);
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const rcCompactSpan& as = chf.spans[ai];
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nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
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if (nd < dist[i])
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dist[i] = nd;
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// (-1,1)
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if (rcGetCon(as, 0) != RC_NOT_CONNECTED)
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{
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const int aax = ax + rcGetDirOffsetX(0);
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const int aay = ay + rcGetDirOffsetY(0);
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const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0);
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nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
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if (nd < dist[i])
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dist[i] = nd;
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}
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}
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}
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}
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}
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const unsigned char thr = (unsigned char)(radius*2);
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for (int i = 0; i < chf.spanCount; ++i)
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if (dist[i] < thr)
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chf.areas[i] = RC_NULL_AREA;
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rcFree(dist);
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ctx->stopTimer(RC_TIMER_ERODE_AREA);
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return true;
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}
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static void insertSort(unsigned char* a, const int n)
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{
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int i, j;
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for (i = 1; i < n; i++)
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{
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const unsigned char value = a[i];
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for (j = i - 1; j >= 0 && a[j] > value; j--)
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a[j+1] = a[j];
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a[j+1] = value;
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}
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}
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/// @par
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///
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/// This filter is usually applied after applying area id's using functions
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/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
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///
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/// @see rcCompactHeightfield
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bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
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{
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rcAssert(ctx);
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const int w = chf.width;
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const int h = chf.height;
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ctx->startTimer(RC_TIMER_MEDIAN_AREA);
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unsigned char* areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
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if (!areas)
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{
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ctx->log(RC_LOG_ERROR, "medianFilterWalkableArea: Out of memory 'areas' (%d).", chf.spanCount);
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return false;
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}
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// Init distance.
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memset(areas, 0xff, sizeof(unsigned char)*chf.spanCount);
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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const rcCompactCell& c = chf.cells[x+y*w];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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if (chf.areas[i] == RC_NULL_AREA)
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{
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areas[i] = chf.areas[i];
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continue;
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}
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unsigned char nei[9];
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for (int j = 0; j < 9; ++j)
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nei[j] = chf.areas[i];
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for (int dir = 0; dir < 4; ++dir)
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{
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if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
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{
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const int ax = x + rcGetDirOffsetX(dir);
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const int ay = y + rcGetDirOffsetY(dir);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
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if (chf.areas[ai] != RC_NULL_AREA)
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nei[dir*2+0] = chf.areas[ai];
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const rcCompactSpan& as = chf.spans[ai];
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const int dir2 = (dir+1) & 0x3;
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if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
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{
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const int ax2 = ax + rcGetDirOffsetX(dir2);
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const int ay2 = ay + rcGetDirOffsetY(dir2);
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const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
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if (chf.areas[ai2] != RC_NULL_AREA)
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nei[dir*2+1] = chf.areas[ai2];
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}
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}
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}
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insertSort(nei, 9);
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areas[i] = nei[4];
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}
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}
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}
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memcpy(chf.areas, areas, sizeof(unsigned char)*chf.spanCount);
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rcFree(areas);
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ctx->stopTimer(RC_TIMER_MEDIAN_AREA);
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return true;
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}
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/// @par
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///
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/// The value of spacial parameters are in world units.
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///
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/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
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void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
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rcCompactHeightfield& chf)
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{
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rcAssert(ctx);
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ctx->startTimer(RC_TIMER_MARK_BOX_AREA);
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int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
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int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
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int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
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int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
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int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
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int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
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if (maxx < 0) return;
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if (minx >= chf.width) return;
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if (maxz < 0) return;
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if (minz >= chf.height) return;
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if (minx < 0) minx = 0;
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if (maxx >= chf.width) maxx = chf.width-1;
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if (minz < 0) minz = 0;
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if (maxz >= chf.height) maxz = chf.height-1;
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for (int z = minz; z <= maxz; ++z)
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{
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for (int x = minx; x <= maxx; ++x)
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{
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const rcCompactCell& c = chf.cells[x+z*chf.width];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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rcCompactSpan& s = chf.spans[i];
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if ((int)s.y >= miny && (int)s.y <= maxy)
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{
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chf.areas[i] = areaId;
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}
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}
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}
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}
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ctx->stopTimer(RC_TIMER_MARK_BOX_AREA);
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}
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static int pointInPoly(int nvert, const float* verts, const float* p)
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{
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int i, j, c = 0;
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for (i = 0, j = nvert-1; i < nvert; j = i++)
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{
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const float* vi = &verts[i*3];
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const float* vj = &verts[j*3];
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if (((vi[2] > p[2]) != (vj[2] > p[2])) &&
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(p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
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c = !c;
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}
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return c;
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}
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/// @par
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///
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/// The value of spacial parameters are in world units.
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///
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/// The y-values of the polygon vertices are ignored. So the polygon is effectively
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/// projected onto the xz-plane at @p hmin, then extruded to @p hmax.
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///
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/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
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void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
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const float hmin, const float hmax, unsigned char areaId,
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rcCompactHeightfield& chf)
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{
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rcAssert(ctx);
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ctx->startTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
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float bmin[3], bmax[3];
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rcVcopy(bmin, verts);
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rcVcopy(bmax, verts);
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for (int i = 1; i < nverts; ++i)
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{
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rcVmin(bmin, &verts[i*3]);
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rcVmax(bmax, &verts[i*3]);
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}
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bmin[1] = hmin;
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bmax[1] = hmax;
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int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
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int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
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int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
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int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
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int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
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int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
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if (maxx < 0) return;
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if (minx >= chf.width) return;
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if (maxz < 0) return;
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if (minz >= chf.height) return;
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if (minx < 0) minx = 0;
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if (maxx >= chf.width) maxx = chf.width-1;
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if (minz < 0) minz = 0;
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if (maxz >= chf.height) maxz = chf.height-1;
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// TODO: Optimize.
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for (int z = minz; z <= maxz; ++z)
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{
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for (int x = minx; x <= maxx; ++x)
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{
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const rcCompactCell& c = chf.cells[x+z*chf.width];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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rcCompactSpan& s = chf.spans[i];
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if ((int)s.y >= miny && (int)s.y <= maxy)
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{
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float p[3];
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p[0] = chf.bmin[0] + (x+0.5f)*chf.cs;
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p[1] = 0;
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p[2] = chf.bmin[2] + (z+0.5f)*chf.cs;
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if (pointInPoly(nverts, verts, p))
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{
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chf.areas[i] = areaId;
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}
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}
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}
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}
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}
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ctx->stopTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
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}
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