diff options
37 files changed, 5348 insertions, 1694 deletions
diff --git a/dep/recastnavigation/Detour/DetourAlloc.h b/dep/recastnavigation/Detour/DetourAlloc.h index 8693475419e..e814b62a716 100644 --- a/dep/recastnavigation/Detour/DetourAlloc.h +++ b/dep/recastnavigation/Detour/DetourAlloc.h @@ -19,18 +19,41 @@ #ifndef DETOURALLOCATOR_H #define DETOURALLOCATOR_H +/// Provides hint values to the memory allocator on how long the +/// memory is expected to be used. enum dtAllocHint { - DT_ALLOC_PERM, // Memory persist after a function call. - DT_ALLOC_TEMP // Memory used temporarily within a function. + DT_ALLOC_PERM, ///< Memory persist after a function call. + DT_ALLOC_TEMP ///< Memory used temporarily within a function. }; +/// A memory allocation function. +// @param[in] size The size, in bytes of memory, to allocate. +// @param[in] rcAllocHint A hint to the allocator on how long the memory is expected to be in use. +// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed. +/// @see dtAllocSetCustom typedef void* (dtAllocFunc)(int size, dtAllocHint hint); + +/// A memory deallocation function. +/// @param[in] ptr A pointer to a memory block previously allocated using #dtAllocFunc. +/// @see dtAllocSetCustom typedef void (dtFreeFunc)(void* ptr); +/// Sets the base custom allocation functions to be used by Detour. +/// @param[in] allocFunc The memory allocation function to be used by #dtAlloc +/// @param[in] freeFunc The memory de-allocation function to be used by #dtFree void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc); +/// Allocates a memory block. +/// @param[in] size The size, in bytes of memory, to allocate. +/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use. +/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed. +/// @see dtFree void* dtAlloc(int size, dtAllocHint hint); + +/// Deallocates a memory block. +/// @param[in] ptr A pointer to a memory block previously allocated using #dtAlloc. +/// @see dtAlloc void dtFree(void* ptr); #endif diff --git a/dep/recastnavigation/Detour/DetourAssert.h b/dep/recastnavigation/Detour/DetourAssert.h index 709ebd9f5f8..3cf652288fa 100644 --- a/dep/recastnavigation/Detour/DetourAssert.h +++ b/dep/recastnavigation/Detour/DetourAssert.h @@ -24,7 +24,7 @@ #ifdef NDEBUG // From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/ -# define dtAssert(x) do { (void)sizeof(x); } while(__LINE__==-1,false) +# define dtAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false) #else # include <assert.h> # define dtAssert assert diff --git a/dep/recastnavigation/Detour/DetourCommon.cpp b/dep/recastnavigation/Detour/DetourCommon.cpp index c0b973e4a75..b5700f5930b 100644 --- a/dep/recastnavigation/Detour/DetourCommon.cpp +++ b/dep/recastnavigation/Detour/DetourCommon.cpp @@ -238,6 +238,9 @@ bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b return false; } +/// @par +/// +/// All points are projected onto the xz-plane, so the y-values are ignored. bool dtPointInPolygon(const float* pt, const float* verts, const int nverts) { // TODO: Replace pnpoly with triArea2D tests? @@ -291,6 +294,9 @@ inline bool overlapRange(const float amin, const float amax, return ((amin+eps) > bmax || (amax-eps) < bmin) ? false : true; } +/// @par +/// +/// All vertices are projected onto the xz-plane, so the y-values are ignored. bool dtOverlapPolyPoly2D(const float* polya, const int npolya, const float* polyb, const int npolyb) { @@ -327,3 +333,61 @@ bool dtOverlapPolyPoly2D(const float* polya, const int npolya, return true; } +// Returns a random point in a convex polygon. +// Adapted from Graphics Gems article. +void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas, + const float s, const float t, float* out) +{ + // Calc triangle araes + float areasum = 0.0f; + for (int i = 2; i < npts; i++) { + areas[i] = dtTriArea2D(&pts[0], &pts[(i-1)*3], &pts[i*3]); + areasum += dtMax(0.001f, areas[i]); + } + // Find sub triangle weighted by area. + const float thr = s*areasum; + float acc = 0.0f; + float u = 0.0f; + int tri = 0; + for (int i = 2; i < npts; i++) { + const float dacc = areas[i]; + if (thr >= acc && thr < (acc+dacc)) + { + u = (thr - acc) / dacc; + tri = i; + break; + } + acc += dacc; + } + + float v = dtSqrt(t); + + const float a = 1 - v; + const float b = (1 - u) * v; + const float c = u * v; + const float* pa = &pts[0]; + const float* pb = &pts[(tri-1)*3]; + const float* pc = &pts[tri*3]; + + out[0] = a*pa[0] + b*pb[0] + c*pc[0]; + out[1] = a*pa[1] + b*pb[1] + c*pc[1]; + out[2] = a*pa[2] + b*pb[2] + c*pc[2]; +} + +inline float vperpXZ(const float* a, const float* b) { return a[0]*b[2] - a[2]*b[0]; } + +bool dtIntersectSegSeg2D(const float* ap, const float* aq, + const float* bp, const float* bq, + float& s, float& t) +{ + float u[3], v[3], w[3]; + dtVsub(u,aq,ap); + dtVsub(v,bq,bp); + dtVsub(w,ap,bp); + float d = vperpXZ(u,v); + if (fabsf(d) < 1e-6f) return false; + s = vperpXZ(v,w) / d; + t = vperpXZ(u,w) / d; + return true; +} + diff --git a/dep/recastnavigation/Detour/DetourCommon.h b/dep/recastnavigation/Detour/DetourCommon.h index 3cee3f63510..ed7c5149db9 100644 --- a/dep/recastnavigation/Detour/DetourCommon.h +++ b/dep/recastnavigation/Detour/DetourCommon.h @@ -19,15 +19,66 @@ #ifndef DETOURCOMMON_H #define DETOURCOMMON_H +/** +@defgroup detour Detour + +Members in this module are used to create, manipulate, and query navigation +meshes. + +@note This is a summary list of members. Use the index or search +feature to find minor members. +*/ + +/// @name General helper functions +/// @{ + +/// Swaps the values of the two parameters. +/// @param[in,out] a Value A +/// @param[in,out] b Value B template<class T> inline void dtSwap(T& a, T& b) { T t = a; a = b; b = t; } + +/// Returns the minimum of two values. +/// @param[in] a Value A +/// @param[in] b Value B +/// @return The minimum of the two values. template<class T> inline T dtMin(T a, T b) { return a < b ? a : b; } + +/// Returns the maximum of two values. +/// @param[in] a Value A +/// @param[in] b Value B +/// @return The maximum of the two values. template<class T> inline T dtMax(T a, T b) { return a > b ? a : b; } + +/// Returns the absolute value. +/// @param[in] a The value. +/// @return The absolute value of the specified value. template<class T> inline T dtAbs(T a) { return a < 0 ? -a : a; } + +/// Returns the square of the value. +/// @param[in] a The value. +/// @return The square of the value. template<class T> inline T dtSqr(T a) { return a*a; } + +/// Clamps the value to the specified range. +/// @param[in] v The value to clamp. +/// @param[in] mn The minimum permitted return value. +/// @param[in] mx The maximum permitted return value. +/// @return The value, clamped to the specified range. template<class T> inline T dtClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } +/// Returns the square root of the value. +/// @param[in] x The value. +/// @return The square root of the vlaue. float dtSqrt(float x); +/// @} +/// @name Vector helper functions. +/// @{ + +/// Derives the cross product of two vectors. (@p v1 x @p v2) +/// @param[out] dest The cross product. [(x, y, z)] +/// @param[in] v1 A Vector [(x, y, z)] +/// @param[in] v2 A vector [(x, y, z)] inline void dtVcross(float* dest, const float* v1, const float* v2) { dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; @@ -35,11 +86,20 @@ inline void dtVcross(float* dest, const float* v1, const float* v2) dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; } +/// Derives the dot product of two vectors. (@p v1 . @p v2) +/// @param[in] v1 A Vector [(x, y, z)] +/// @param[in] v2 A vector [(x, y, z)] +/// @return The dot product. inline float dtVdot(const float* v1, const float* v2) { return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; } +/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s)) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)] +/// @param[in] s The amount to scale @p v2 by before adding to @p v1. inline void dtVmad(float* dest, const float* v1, const float* v2, const float s) { dest[0] = v1[0]+v2[0]*s; @@ -47,6 +107,11 @@ inline void dtVmad(float* dest, const float* v1, const float* v2, const float s) dest[2] = v1[2]+v2[2]*s; } +/// Performs a linear interpolation between two vectors. (@p v1 toward @p v2) +/// @param[out] dest The result vector. [(x, y, x)] +/// @param[in] v1 The starting vector. +/// @param[in] v2 The destination vector. +/// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0] inline void dtVlerp(float* dest, const float* v1, const float* v2, const float t) { dest[0] = v1[0]+(v2[0]-v1[0])*t; @@ -54,6 +119,10 @@ inline void dtVlerp(float* dest, const float* v1, const float* v2, const float t dest[2] = v1[2]+(v2[2]-v1[2])*t; } +/// Performs a vector addition. (@p v1 + @p v2) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to add to @p v1. [(x, y, z)] inline void dtVadd(float* dest, const float* v1, const float* v2) { dest[0] = v1[0]+v2[0]; @@ -61,6 +130,10 @@ inline void dtVadd(float* dest, const float* v1, const float* v2) dest[2] = v1[2]+v2[2]; } +/// Performs a vector subtraction. (@p v1 - @p v2) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)] inline void dtVsub(float* dest, const float* v1, const float* v2) { dest[0] = v1[0]-v2[0]; @@ -68,6 +141,10 @@ inline void dtVsub(float* dest, const float* v1, const float* v2) dest[2] = v1[2]-v2[2]; } +/// Scales the vector by the specified value. (@p v * @p t) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v The vector to scale. [(x, y, z)] +/// @param[in] t The scaling factor. inline void dtVscale(float* dest, const float* v, const float t) { dest[0] = v[0]*t; @@ -75,6 +152,9 @@ inline void dtVscale(float* dest, const float* v, const float t) dest[2] = v[2]*t; } +/// Selects the minimum value of each element from the specified vectors. +/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)] +/// @param[in] v A vector. [(x, y, z)] inline void dtVmin(float* mn, const float* v) { mn[0] = dtMin(mn[0], v[0]); @@ -82,6 +162,9 @@ inline void dtVmin(float* mn, const float* v) mn[2] = dtMin(mn[2], v[2]); } +/// Selects the maximum value of each element from the specified vectors. +/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)] +/// @param[in] v A vector. [(x, y, z)] inline void dtVmax(float* mx, const float* v) { mx[0] = dtMax(mx[0], v[0]); @@ -89,11 +172,19 @@ inline void dtVmax(float* mx, const float* v) mx[2] = dtMax(mx[2], v[2]); } +/// Sets the vector elements to the specified values. +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] x The x-value of the vector. +/// @param[in] y The y-value of the vector. +/// @param[in] z The z-value of the vector. inline void dtVset(float* dest, const float x, const float y, const float z) { dest[0] = x; dest[1] = y; dest[2] = z; } +/// Performs a vector copy. +/// @param[out] dest The result. [(x, y, z)] +/// @param[in] a The vector to copy. [(x, y, z)] inline void dtVcopy(float* dest, const float* a) { dest[0] = a[0]; @@ -101,16 +192,26 @@ inline void dtVcopy(float* dest, const float* a) dest[2] = a[2]; } +/// Derives the scalar length of the vector. +/// @param[in] v The vector. [(x, y, z)] +/// @return The scalar length of the vector. inline float dtVlen(const float* v) { return dtSqrt(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]); } +/// Derives the square of the scalar length of the vector. (len * len) +/// @param[in] v The vector. [(x, y, z)] +/// @return The square of the scalar length of the vector. inline float dtVlenSqr(const float* v) { return v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; } +/// Returns the distance between two points. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The distance between the two points. inline float dtVdist(const float* v1, const float* v2) { const float dx = v2[0] - v1[0]; @@ -119,6 +220,10 @@ inline float dtVdist(const float* v1, const float* v2) return dtSqrt(dx*dx + dy*dy + dz*dz); } +/// Returns the square of the distance between two points. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The square of the distance between the two points. inline float dtVdistSqr(const float* v1, const float* v2) { const float dx = v2[0] - v1[0]; @@ -127,6 +232,12 @@ inline float dtVdistSqr(const float* v1, const float* v2) return dx*dx + dy*dy + dz*dz; } +/// Derives the distance between the specified points on the xz-plane. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The distance between the point on the xz-plane. +/// +/// The vectors are projected onto the xz-plane, so the y-values are ignored. inline float dtVdist2D(const float* v1, const float* v2) { const float dx = v2[0] - v1[0]; @@ -134,6 +245,10 @@ inline float dtVdist2D(const float* v1, const float* v2) return dtSqrt(dx*dx + dz*dz); } +/// Derives the square of the distance between the specified points on the xz-plane. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The square of the distance between the point on the xz-plane. inline float dtVdist2DSqr(const float* v1, const float* v2) { const float dx = v2[0] - v1[0]; @@ -141,6 +256,8 @@ inline float dtVdist2DSqr(const float* v1, const float* v2) return dx*dx + dz*dz; } +/// Normalizes the vector. +/// @param[in,out] v The vector to normalize. [(x, y, z)] inline void dtVnormalize(float* v) { float d = 1.0f / dtSqrt(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2])); @@ -149,6 +266,13 @@ inline void dtVnormalize(float* v) v[2] *= d; } +/// Performs a 'sloppy' colocation check of the specified points. +/// @param[in] p0 A point. [(x, y, z)] +/// @param[in] p1 A point. [(x, y, z)] +/// @return True if the points are considered to be at the same location. +/// +/// Basically, this function will return true if the specified points are +/// close enough to eachother to be considered colocated. inline bool dtVequal(const float* p0, const float* p1) { static const float thr = dtSqr(1.0f/16384.0f); @@ -156,44 +280,37 @@ inline bool dtVequal(const float* p0, const float* p1) return d < thr; } -inline unsigned int dtNextPow2(unsigned int v) -{ - v--; - v |= v >> 1; - v |= v >> 2; - v |= v >> 4; - v |= v >> 8; - v |= v >> 16; - v++; - return v; -} - -inline unsigned int dtIlog2(unsigned int v) -{ - unsigned int r; - unsigned int shift; - r = (v > 0xffff) << 4; v >>= r; - shift = (v > 0xff) << 3; v >>= shift; r |= shift; - shift = (v > 0xf) << 2; v >>= shift; r |= shift; - shift = (v > 0x3) << 1; v >>= shift; r |= shift; - r |= (v >> 1); - return r; -} - -inline int dtAlign4(int x) { return (x+3) & ~3; } - -inline int dtOppositeTile(int side) { return (side+4) & 0x7; } - +/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v) +/// @param[in] u A vector [(x, y, z)] +/// @param[in] v A vector [(x, y, z)] +/// @return The dot product on the xz-plane. +/// +/// The vectors are projected onto the xz-plane, so the y-values are ignored. inline float dtVdot2D(const float* u, const float* v) { return u[0]*v[0] + u[2]*v[2]; } +/// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz) +/// @param[in] u The LHV vector [(x, y, z)] +/// @param[in] v The RHV vector [(x, y, z)] +/// @return The dot product on the xz-plane. +/// +/// The vectors are projected onto the xz-plane, so the y-values are ignored. inline float dtVperp2D(const float* u, const float* v) { return u[2]*v[0] - u[0]*v[2]; } +/// @} +/// @name Computational geometry helper functions. +/// @{ + +/// Derives the signed xz-plane area of the triangle ABC, or the relationship of line AB to point C. +/// @param[in] a Vertex A. [(x, y, z)] +/// @param[in] b Vertex B. [(x, y, z)] +/// @param[in] c Vertex C. [(x, y, z)] +/// @return The signed xz-plane area of the triangle. inline float dtTriArea2D(const float* a, const float* b, const float* c) { const float abx = b[0] - a[0]; @@ -203,6 +320,13 @@ inline float dtTriArea2D(const float* a, const float* b, const float* c) return acx*abz - abx*acz; } +/// Determines if two axis-aligned bounding boxes overlap. +/// @param[in] amin Minimum bounds of box A. [(x, y, z)] +/// @param[in] amax Maximum bounds of box A. [(x, y, z)] +/// @param[in] bmin Minimum bounds of box B. [(x, y, z)] +/// @param[in] bmax Maximum bounds of box B. [(x, y, z)] +/// @return True if the two AABB's overlap. +/// @see dtOverlapBounds inline bool dtOverlapQuantBounds(const unsigned short amin[3], const unsigned short amax[3], const unsigned short bmin[3], const unsigned short bmax[3]) { @@ -213,6 +337,13 @@ inline bool dtOverlapQuantBounds(const unsigned short amin[3], const unsigned sh return overlap; } +/// Determines if two axis-aligned bounding boxes overlap. +/// @param[in] amin Minimum bounds of box A. [(x, y, z)] +/// @param[in] amax Maximum bounds of box A. [(x, y, z)] +/// @param[in] bmin Minimum bounds of box B. [(x, y, z)] +/// @param[in] bmax Maximum bounds of box B. [(x, y, z)] +/// @return True if the two AABB's overlap. +/// @see dtOverlapQuantBounds inline bool dtOverlapBounds(const float* amin, const float* amax, const float* bmin, const float* bmax) { @@ -223,9 +354,21 @@ inline bool dtOverlapBounds(const float* amin, const float* amax, return overlap; } +/// Derives the closest point on a triangle from the specified reference point. +/// @param[out] closest The closest point on the triangle. +/// @param[in] p The reference point from which to test. [(x, y, z)] +/// @param[in] a Vertex A of triangle ABC. [(x, y, z)] +/// @param[in] b Vertex B of triangle ABC. [(x, y, z)] +/// @param[in] c Vertex C of triangle ABC. [(x, y, z)] void dtClosestPtPointTriangle(float* closest, const float* p, const float* a, const float* b, const float* c); +/// Derives the y-axis height of the closest point on the triangle from the specified reference point. +/// @param[in] p The reference point from which to test. [(x, y, z)] +/// @param[in] a Vertex A of triangle ABC. [(x, y, z)] +/// @param[in] b Vertex B of triangle ABC. [(x, y, z)] +/// @param[in] c Vertex C of triangle ABC. [(x, y, z)] +/// @param[out] h The resulting height. bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h); bool dtIntersectSegmentPoly2D(const float* p0, const float* p1, @@ -233,6 +376,15 @@ bool dtIntersectSegmentPoly2D(const float* p0, const float* p1, float& tmin, float& tmax, int& segMin, int& segMax); +bool dtIntersectSegSeg2D(const float* ap, const float* aq, + const float* bp, const float* bq, + float& s, float& t); + +/// Determines if the specified point is inside the convex polygon on the xz-plane. +/// @param[in] pt The point to check. [(x, y, z)] +/// @param[in] verts The polygon vertices. [(x, y, z) * @p nverts] +/// @param[in] nverts The number of vertices. [Limit: >= 3] +/// @return True if the point is inside the polygon. bool dtPointInPolygon(const float* pt, const float* verts, const int nverts); bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts, @@ -240,9 +392,139 @@ bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nve float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t); +/// Derives the centroid of a convex polygon. +/// @param[out] tc The centroid of the polgyon. [(x, y, z)] +/// @param[in] idx The polygon indices. [(vertIndex) * @p nidx] +/// @param[in] nidx The number of indices in the polygon. [Limit: >= 3] +/// @param[in] verts The polygon vertices. [(x, y, z) * vertCount] void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts); +/// Determines if the two convex polygons overlap on the xz-plane. +/// @param[in] polya Polygon A vertices. [(x, y, z) * @p npolya] +/// @param[in] npolya The number of vertices in polygon A. +/// @param[in] polyb Polygon B vertices. [(x, y, z) * @p npolyb] +/// @param[in] npolyb The number of vertices in polygon B. +/// @return True if the two polygons overlap. bool dtOverlapPolyPoly2D(const float* polya, const int npolya, const float* polyb, const int npolyb); +/// @} +/// @name Miscellanious functions. +/// @{ + +inline unsigned int dtNextPow2(unsigned int v) +{ + v--; + v |= v >> 1; + v |= v >> 2; + v |= v >> 4; + v |= v >> 8; + v |= v >> 16; + v++; + return v; +} + +inline unsigned int dtIlog2(unsigned int v) +{ + unsigned int r; + unsigned int shift; + r = (v > 0xffff) << 4; v >>= r; + shift = (v > 0xff) << 3; v >>= shift; r |= shift; + shift = (v > 0xf) << 2; v >>= shift; r |= shift; + shift = (v > 0x3) << 1; v >>= shift; r |= shift; + r |= (v >> 1); + return r; +} + +inline int dtAlign4(int x) { return (x+3) & ~3; } + +inline int dtOppositeTile(int side) { return (side+4) & 0x7; } + +inline void dtSwapByte(unsigned char* a, unsigned char* b) +{ + unsigned char tmp = *a; + *a = *b; + *b = tmp; +} + +inline void dtSwapEndian(unsigned short* v) +{ + unsigned char* x = (unsigned char*)v; + dtSwapByte(x+0, x+1); +} + +inline void dtSwapEndian(short* v) +{ + unsigned char* x = (unsigned char*)v; + dtSwapByte(x+0, x+1); +} + +inline void dtSwapEndian(unsigned int* v) +{ + unsigned char* x = (unsigned char*)v; + dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); +} + +inline void dtSwapEndian(int* v) +{ + unsigned char* x = (unsigned char*)v; + dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); +} + +inline void dtSwapEndian(float* v) +{ + unsigned char* x = (unsigned char*)v; + dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); +} + +void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas, + const float s, const float t, float* out); + +/// @} + #endif // DETOURCOMMON_H + +/////////////////////////////////////////////////////////////////////////// + +// This section contains detailed documentation for members that don't have +// a source file. It reduces clutter in the main section of the header. + +/** + +@fn float dtTriArea2D(const float* a, const float* b, const float* c) +@par + +The vertices are projected onto the xz-plane, so the y-values are ignored. + +This is a low cost function than can be used for various purposes. Its main purpose +is for point/line relationship testing. + +In all cases: A value of zero indicates that all vertices are collinear or represent the same point. +(On the xz-plane.) + +When used for point/line relationship tests, AB usually represents a line against which +the C point is to be tested. In this case: + +A positive value indicates that point C is to the left of line AB, looking from A toward B.<br/> +A negative value indicates that point C is to the right of lineAB, looking from A toward B. + +When used for evaluating a triangle: + +The absolute value of the return value is two times the area of the triangle when it is +projected onto the xz-plane. + +A positive return value indicates: + +<ul> +<li>The vertices are wrapped in the normal Detour wrap direction.</li> +<li>The triangle's 3D face normal is in the general up direction.</li> +</ul> + +A negative return value indicates: + +<ul> +<li>The vertices are reverse wrapped. (Wrapped opposite the normal Detour wrap direction.)</li> +<li>The triangle's 3D face normal is in the general down direction.</li> +</ul> + +*/ diff --git a/dep/recastnavigation/Detour/DetourNavMesh.cpp b/dep/recastnavigation/Detour/DetourNavMesh.cpp index e139e3f5c63..6b8e2d9d649 100644 --- a/dep/recastnavigation/Detour/DetourNavMesh.cpp +++ b/dep/recastnavigation/Detour/DetourNavMesh.cpp @@ -64,6 +64,15 @@ inline bool overlapSlabs(const float* amin, const float* amax, return false; } +static float getSlabCoord(const float* va, const int side) +{ + if (side == 0 || side == 4) + return va[0]; + else if (side == 2 || side == 6) + return va[2]; + return 0; +} + static void calcSlabEndPoints(const float* va, const float* vb, float* bmin, float* bmax, const int side) { if (side == 0 || side == 4) @@ -133,6 +142,10 @@ dtNavMesh* dtAllocNavMesh() return new(mem) dtNavMesh; } +/// @par +/// +/// This function will only free the memory for tiles with the #DT_TILE_FREE_DATA +/// flag set. void dtFreeNavMesh(dtNavMesh* navmesh) { if (!navmesh) return; @@ -141,6 +154,37 @@ void dtFreeNavMesh(dtNavMesh* navmesh) } ////////////////////////////////////////////////////////////////////////////////////////// + +/** +@class dtNavMesh + +The navigation mesh consists of one or more tiles defining three primary types of structural data: + +A polygon mesh which defines most of the navigation graph. (See rcPolyMesh for its structure.) +A detail mesh used for determining surface height on the polygon mesh. (See rcPolyMeshDetail for its structure.) +Off-mesh connections, which define custom point-to-point edges within the navigation graph. + +The general build process is as follows: + +-# Create rcPolyMesh and rcPolyMeshDetail data using the Recast build pipeline. +-# Optionally, create off-mesh connection data. +-# Combine the source data into a dtNavMeshCreateParams structure. +-# Create a tile data array using dtCreateNavMeshData(). +-# Allocate at dtNavMesh object and initialize it. (For single tile navigation meshes, + the tile data is loaded during this step.) +-# For multi-tile navigation meshes, load the tile data using dtNavMesh::addTile(). + +Notes: + +- This class is usually used in conjunction with the dtNavMeshQuery class for pathfinding. +- Technically, all navigation meshes are tiled. A 'solo' mesh is simply a navigation mesh initialized + to have only a single tile. +- This class does not implement any asynchronous methods. So the ::dtStatus result of all methods will + always contain either a success or failure flag. + +@see dtNavMeshQuery, dtCreateNavMeshData, dtNavMeshCreateParams, #dtAllocNavMesh, #dtFreeNavMesh +*/ + dtNavMesh::dtNavMesh() : m_tileWidth(0), m_tileHeight(0), @@ -154,6 +198,7 @@ dtNavMesh::dtNavMesh() : m_tileBits(0), m_polyBits(0) { + memset(&m_params, 0, sizeof(dtNavMeshParams)); m_orig[0] = 0; m_orig[1] = 0; m_orig[2] = 0; @@ -189,10 +234,10 @@ dtStatus dtNavMesh::init(const dtNavMeshParams* params) m_tiles = (dtMeshTile*)dtAlloc(sizeof(dtMeshTile)*m_maxTiles, DT_ALLOC_PERM); if (!m_tiles) - return DT_FAILURE; + return DT_FAILURE | DT_OUT_OF_MEMORY; m_posLookup = (dtMeshTile**)dtAlloc(sizeof(dtMeshTile*)*m_tileLutSize, DT_ALLOC_PERM); if (!m_posLookup) - return DT_FAILURE; + return DT_FAILURE | DT_OUT_OF_MEMORY; memset(m_tiles, 0, sizeof(dtMeshTile)*m_maxTiles); memset(m_posLookup, 0, sizeof(dtMeshTile*)*m_tileLutSize); m_nextFree = 0; @@ -203,13 +248,11 @@ dtStatus dtNavMesh::init(const dtNavMeshParams* params) m_nextFree = &m_tiles[i]; } - // Init ID generator values. - m_tileBits = STATIC_TILE_BITS; //dtIlog2(dtNextPow2((unsigned int)params->maxTiles)); - m_polyBits = STATIC_POLY_BITS; //dtIlog2(dtNextPow2((unsigned int)params->maxPolys)); - m_saltBits = STATIC_SALT_BITS; //sizeof(dtPolyRef)*8 - m_tileBits - m_polyBits; - //if (m_saltBits < SALT_MIN_BITS) - //return DT_FAILURE; - + // Edited by TC + m_tileBits = STATIC_TILE_BITS; + m_polyBits = STATIC_POLY_BITS; + m_saltBits = STATIC_SALT_BITS; + return DT_SUCCESS; } @@ -218,9 +261,9 @@ dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flag // Make sure the data is in right format. dtMeshHeader* header = (dtMeshHeader*)data; if (header->magic != DT_NAVMESH_MAGIC) - return DT_FAILURE; + return DT_FAILURE | DT_WRONG_MAGIC; if (header->version != DT_NAVMESH_VERSION) - return DT_FAILURE; + return DT_FAILURE | DT_WRONG_VERSION; dtNavMeshParams params; dtVcopy(params.orig, header->bmin); @@ -229,13 +272,17 @@ dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flag params.maxTiles = 1; params.maxPolys = header->polyCount; - dtStatus res = init(¶ms); - if (res != DT_SUCCESS) - return res; + dtStatus status = init(¶ms); + if (dtStatusFailed(status)) + return status; return addTile(data, dataSize, flags, 0, 0); } +/// @par +/// +/// @note The parameters are created automatically when the single tile +/// initialization is performed. const dtNavMeshParams* dtNavMesh::getParams() const { return &m_params; @@ -250,6 +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]; @@ -266,11 +314,18 @@ int dtNavMesh::findConnectingPolys(const float* va, const float* vb, { // Skip edges which do not point to the right side. if (poly->neis[j] != m) continue; - // Check if the segments touch. + const float* vc = &tile->verts[poly->verts[j]*3]; const float* vd = &tile->verts[poly->verts[(j+1) % nv]*3]; + const float bpos = getSlabCoord(vc, side); + + // Segments are not close enough. + if (dtAbs(apos-bpos) > 0.01f) + continue; + + // Check if the segments touch. calcSlabEndPoints(vc,vd, bmin,bmax, side); - + if (!overlapSlabs(amin,amax, bmin,bmax, 0.01f, tile->header->walkableClimb)) continue; // Add return value. @@ -287,9 +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) { @@ -298,7 +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; @@ -329,19 +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 edges which do not point to the right side. - if (poly->neis[j] != m) continue; + // Skip non-portal edges. + if ((poly->neis[j] & DT_EXT_LINK) == 0) + continue; + + const int dir = (int)(poly->neis[j] & 0xff); + if (side != -1 && dir != side) + continue; // Create new links const float* va = &tile->verts[poly->verts[j]*3]; const float* vb = &tile->verts[poly->verts[(j+1) % nv]*3]; dtPolyRef nei[4]; float neia[4*2]; - int nnei = findConnectingPolys(va,vb, target, dtOppositeTile(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); @@ -350,13 +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]); @@ -365,7 +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]); @@ -386,15 +450,18 @@ 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) { dtOffMeshConnection* targetCon = &target->offMeshCons[i]; if (targetCon->side != oppositeSide) continue; - + dtPoly* targetPoly = &target->polys[targetCon->poly]; + // Skip off-mesh connections which start location could not be connected at all. + if (targetPoly->firstLink == DT_NULL_LINK) + continue; const float ext[3] = { targetCon->rad, target->header->walkableClimb, targetCon->rad }; @@ -402,7 +469,8 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int const float* p = &targetCon->pos[3]; float nearestPt[3]; dtPolyRef ref = findNearestPolyInTile(tile, p, ext, nearestPt); - if (!ref) continue; + if (!ref) + continue; // findNearestPoly may return too optimistic results, further check to make sure. if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(targetCon->rad)) continue; @@ -427,19 +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; } } } @@ -483,13 +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]; @@ -497,72 +565,96 @@ void dtNavMesh::connectIntOffMeshLinks(dtMeshTile* tile) const float ext[3] = { con->rad, tile->header->walkableClimb, con->rad }; - for (int j = 0; j < 2; ++j) - { - unsigned char side = j == 0 ? 0xff : con->side; + // 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); - 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; - } + // Link off-mesh connection to target poly. + unsigned int idx = allocLink(tile); + if (idx != DT_NULL_LINK) + { + dtLink* link = &tile->links[idx]; + link->ref = ref; + link->edge = (unsigned char)0; + link->side = 0xff; + link->bmin = link->bmax = 0; + // Add to linked list. + link->next = poly->firstLink; + poly->firstLink = idx; + } - // Start end-point is always connect back to off-mesh connection, - // 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::closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip, + const float* pos, float* closest) const { const dtPoly* poly = &tile->polys[ip]; + // 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); + return; + } - float closestDistSqr = FLT_MAX; 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]); + } + + // Find height at the location. for (int j = 0; j < pd->triCount; ++j) { const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; @@ -574,17 +666,13 @@ 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, @@ -606,8 +694,7 @@ dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile, { dtPolyRef ref = polys[i]; float closestPtPoly[3]; - if (closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly) != DT_SUCCESS) - continue; + closestPointOnPolyInTile(tile, decodePolyIdPoly(ref), center, closestPtPoly); float d = dtVdistSqr(center, closestPtPoly); if (d < nearestDistanceSqr) { @@ -681,8 +768,11 @@ 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); @@ -702,18 +792,29 @@ int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, co } } +/// @par +/// +/// The add operation will fail if the data is in the wrong format, the allocated tile +/// space is full, or there is a tile already at the specified reference. +/// +/// The lastRef parameter is used to restore a tile with the same tile +/// reference it had previously used. In this case the #dtPolyRef's for the +/// tile will be restored to the same values they were before the tile was +/// removed. +/// +/// @see dtCreateNavMeshData, #removeTile dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result) { // Make sure the data is in right format. dtMeshHeader* header = (dtMeshHeader*)data; if (header->magic != DT_NAVMESH_MAGIC) - return DT_FAILURE_DATA_MAGIC; + return DT_FAILURE | DT_WRONG_MAGIC; if (header->version != DT_NAVMESH_VERSION) - return DT_FAILURE_DATA_VERSION; + 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. @@ -732,7 +833,7 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, // Try to relocate the tile to specific index with same salt. int tileIndex = (int)decodePolyIdTile((dtPolyRef)lastRef); if (tileIndex >= m_maxTiles) - return DT_FAILURE_OUT_OF_MEMORY; + return DT_FAILURE | DT_OUT_OF_MEMORY; // Try to find the specific tile id from the free list. dtMeshTile* target = &m_tiles[tileIndex]; dtMeshTile* prev = 0; @@ -744,7 +845,7 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, } // Could not find the correct location. if (tile != target) - return DT_FAILURE_OUT_OF_MEMORY; + return DT_FAILURE | DT_OUT_OF_MEMORY; // Remove from freelist if (!prev) m_nextFree = tile->next; @@ -757,7 +858,7 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, // Make sure we could allocate a tile. if (!tile) - return DT_FAILURE_OUT_OF_MEMORY; + return DT_FAILURE | DT_OUT_OF_MEMORY; // Insert tile into the position lut. int h = computeTileHash(header->x, header->y, m_tileLutMask); @@ -785,6 +886,10 @@ 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; @@ -798,18 +903,36 @@ dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, tile->flags = flags; connectIntLinks(tile); - connectIntOffMeshLinks(tile); + baseOffMeshLinks(tile); - // Create connections connections. + // 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)); } } @@ -819,55 +942,106 @@ 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 (tile->header && + tile->header->x == x && + tile->header->y == y) + { + if (n < maxTiles) + tiles[n++] = tile; + } + tile = tile->next; + } + + return n; +} + + +dtTileRef dtNavMesh::getTileRefAt(const int x, const int y, const int layer) const +{ + // Find tile based on hash. + int h = computeTileHash(x,y,m_tileLutMask); + dtMeshTile* tile = m_posLookup[h]; + while (tile) + { + if (tile->header && + tile->header->x == x && + tile->header->y == y && + tile->header->layer == layer) + { return getTileRef(tile); + } tile = tile->next; } return 0; @@ -910,16 +1084,22 @@ 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; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE; - if (ip >= (unsigned int)m_tiles[it].header->polyCount) return DT_FAILURE; + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; + if (ip >= (unsigned int)m_tiles[it].header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; *tile = &m_tiles[it]; *poly = &m_tiles[it].polys[ip]; return DT_SUCCESS; } +/// @par +/// +/// @warning Only use this function if it is known that the provided polygon +/// reference is valid. This function is faster than #getTileAndPolyByRef, but +/// it does not validate the reference. void dtNavMesh::getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const { unsigned int salt, it, ip; @@ -930,6 +1110,7 @@ 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; @@ -938,17 +1119,23 @@ bool dtNavMesh::isValidPolyRef(dtPolyRef ref) const return true; } +/// @par +/// +/// This function returns the data for the tile so that, if desired, +/// it can be added back to the navigation mesh at a later point. +/// +/// @see #addTile dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize) { if (!ref) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref); unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref); if ((int)tileIndex >= m_maxTiles) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; dtMeshTile* tile = &m_tiles[tileIndex]; if (tile->salt != tileSalt) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; // Remove tile from hash lookup. int h = computeTileHash(tile->header->x,tile->header->y,m_tileLutMask); @@ -969,14 +1156,27 @@ 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) { @@ -1020,14 +1220,28 @@ 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); } +/// @par +/// +/// Example use case: +/// @code +/// +/// const dtPolyRef base = navmesh->getPolyRefBase(tile); +/// for (int i = 0; i < tile->header->polyCount; ++i) +/// { +/// const dtPoly* p = &tile->polys[i]; +/// const dtPolyRef ref = base | (dtPolyRef)i; +/// +/// // Use the reference to access the polygon data. +/// } +/// @endcode dtPolyRef dtNavMesh::getPolyRefBase(const dtMeshTile* tile) const { if (!tile) return 0; - const unsigned int it = tile - m_tiles; + const unsigned int it = (unsigned int)(tile - m_tiles); return encodePolyId(tile->salt, it, 0); } @@ -1044,6 +1258,7 @@ struct dtPolyState unsigned char area; // Area ID of the polygon. }; +/// @see #storeTileState int dtNavMesh::getTileStateSize(const dtMeshTile* tile) const { if (!tile) return 0; @@ -1052,12 +1267,17 @@ int dtNavMesh::getTileStateSize(const dtMeshTile* tile) const return headerSize + polyStateSize; } +/// @par +/// +/// Tile state includes non-structural data such as polygon flags, area ids, etc. +/// @note The state data is only valid until the tile reference changes. +/// @see #getTileStateSize, #restoreTileState dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const { // Make sure there is enough space to store the state. const int sizeReq = getTileStateSize(tile); if (maxDataSize < sizeReq) - return DT_FAILURE; + return DT_FAILURE | DT_BUFFER_TOO_SMALL; dtTileState* tileState = (dtTileState*)data; data += dtAlign4(sizeof(dtTileState)); dtPolyState* polyStates = (dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount); @@ -1079,23 +1299,28 @@ dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data, return DT_SUCCESS; } +/// @par +/// +/// Tile state includes non-structural data such as polygon flags, area ids, etc. +/// @note This function does not impact the tile's #dtTileRef and #dtPolyRef's. +/// @see #storeTileState dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize) { // Make sure there is enough space to store the state. const int sizeReq = getTileStateSize(tile); if (maxDataSize < sizeReq) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; const dtTileState* tileState = (const dtTileState*)data; data += dtAlign4(sizeof(dtTileState)); const dtPolyState* polyStates = (const dtPolyState*)data; data += dtAlign4(sizeof(dtPolyState) * tile->header->polyCount); // Check that the restore is possible. if (tileState->magic != DT_NAVMESH_STATE_MAGIC) - return DT_FAILURE_DATA_MAGIC; + return DT_FAILURE | DT_WRONG_MAGIC; if (tileState->version != DT_NAVMESH_STATE_VERSION) - return DT_FAILURE_DATA_VERSION; + return DT_FAILURE | DT_WRONG_VERSION; if (tileState->ref != getTileRef(tile)) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; // Restore per poly state. for (int i = 0; i < tile->header->polyCount; ++i) @@ -1109,17 +1334,26 @@ dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data return DT_SUCCESS; } -// Returns start and end location of an off-mesh link polygon. +/// @par +/// +/// Off-mesh connections are stored in the navigation mesh as special 2-vertex +/// polygons with a single edge. At least one of the vertices is expected to be +/// inside a normal polygon. So an off-mesh connection is "entered" from a +/// normal polygon at one of its endpoints. This is the polygon identified by +/// the prevRef parameter. dtStatus dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const { unsigned int salt, it, ip; + if (!polyRef) + return DT_FAILURE; + // Get current polygon decodePolyId(polyRef, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE; + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; const dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE; + if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; const dtPoly* poly = &tile->polys[ip]; // Make sure that the current poly is indeed off-mesh link. @@ -1154,6 +1388,9 @@ 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; @@ -1174,12 +1411,13 @@ 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; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE; + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE; + if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; dtPoly* poly = &tile->polys[ip]; // Change flags. @@ -1190,12 +1428,13 @@ 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; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE; + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; const dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE; + if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; const dtPoly* poly = &tile->polys[ip]; *resultFlags = poly->flags; @@ -1205,12 +1444,13 @@ 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; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE; + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE; + if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; dtPoly* poly = &tile->polys[ip]; poly->setArea(area); @@ -1220,12 +1460,13 @@ 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; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE; + if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; + if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; const dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE; + if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; const dtPoly* poly = &tile->polys[ip]; *resultArea = poly->getArea(); diff --git a/dep/recastnavigation/Detour/DetourNavMesh.h b/dep/recastnavigation/Detour/DetourNavMesh.h index b146631127a..c094e4134d5 100644 --- a/dep/recastnavigation/Detour/DetourNavMesh.h +++ b/dep/recastnavigation/Detour/DetourNavMesh.h @@ -20,9 +20,12 @@ #define DETOURNAVMESH_H #include "DetourAlloc.h" +#include "DetourStatus.h" + +// Edited by TC #if defined(WIN32) && !defined(__MINGW32__) - typedef unsigned __int64 uint64; +typedef unsigned __int64 uint64; #else #include <stdint.h> #ifndef uint64_t @@ -30,312 +33,473 @@ #include <linux/types.h> #endif #endif - typedef uint64_t uint64; -#endif +typedef uint64_t uint64; +#endif // Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef. -// It is also recommended to change dtHashRef() to proper 64-bit hash too. +// It is also recommended that you change dtHashRef() to a proper 64-bit hash. + +// Edited by TC +// We cannot have over 31 bits for either tile nor poly +// without changing polyCount to use 64bits too. +static const int STATIC_SALT_BITS = 12; +static const int STATIC_TILE_BITS = 21; +static const int STATIC_POLY_BITS = 31; -// Reference to navigation polygon. -typedef uint64 dtPolyRef; +/// A handle to a polygon within a navigation mesh tile. +/// @ingroup detour +typedef uint64 dtPolyRef; // Edited by TC -// Reference to navigation mesh tile. -typedef uint64 dtTileRef; +/// A handle to a tile within a navigation mesh. +/// @ingroup detour +typedef uint64 dtTileRef; // Edited by TC -// Maximum number of vertices per navigation polygon. +/// The maximum number of vertices per navigation polygon. +/// @ingroup detour static const int DT_VERTS_PER_POLYGON = 6; -static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V'; //'DNAV'; -static const int DT_NAVMESH_VERSION = 6; +/// @{ +/// @name Tile Serialization Constants +/// These constants are used to detect whether a navigation tile's data +/// and state format is compatible with the current build. +/// + +/// A magic number used to detect compatibility of navigation tile data. +static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V'; + +/// A version number used to detect compatibility of navigation tile data. +static const int DT_NAVMESH_VERSION = 7; -static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S'; //'DNMS'; +/// A magic number used to detect the compatibility of navigation tile states. +static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S'; + +/// A version number used to detect compatibility of navigation tile states. static const int DT_NAVMESH_STATE_VERSION = 1; +/// @} + +/// A flag that indicates that an entity links to an external entity. +/// (E.g. A polygon edge is a portal that links to another polygon.) static const unsigned short DT_EXT_LINK = 0x8000; + +/// A value that indicates the entity does not link to anything. static const unsigned int DT_NULL_LINK = 0xffffffff; + +/// A flag that indicates that an off-mesh connection can be traversed in both directions. (Is bidirectional.) static const unsigned int DT_OFFMESH_CON_BIDIR = 1; +/// The maximum number of user defined area ids. +/// @ingroup detour static const int DT_MAX_AREAS = 64; -static const int STATIC_SALT_BITS = 12; -static const int STATIC_TILE_BITS = 21; -static const int STATIC_POLY_BITS = 31; -// we cannot have over 31 bits for either tile nor poly -// without changing polyCount to use 64bits too. - -// Flags for addTile +/// Tile flags used for various functions and fields. +/// For an example, see dtNavMesh::addTile(). enum dtTileFlags { - DT_TILE_FREE_DATA = 0x01, // Navmesh owns the tile memory and should free it. + /// The navigation mesh owns the tile memory and is responsible for freeing it. + DT_TILE_FREE_DATA = 0x01, }; -// Flags returned by findStraightPath(). +/// Vertex flags returned by dtNavMeshQuery::findStraightPath. enum dtStraightPathFlags { - DT_STRAIGHTPATH_START = 0x01, // The vertex is the start position. - DT_STRAIGHTPATH_END = 0x02, // The vertex is the end position. - DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04, // The vertex is start of an off-mesh link. + DT_STRAIGHTPATH_START = 0x01, ///< The vertex is the start position in the path. + DT_STRAIGHTPATH_END = 0x02, ///< The vertex is the end position in the path. + DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04, ///< The vertex is the start of an off-mesh connection. }; -// Flags describing polygon properties. -enum dtPolyTypes +/// Options for dtNavMeshQuery::findStraightPath. +enum dtStraightPathOptions { - DT_POLYTYPE_GROUND = 0, // Regular ground polygons. - DT_POLYTYPE_OFFMESH_CONNECTION = 1, // Off-mesh connections. + 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. }; -enum dtStatus +/// Flags representing the type of a navigation mesh polygon. +enum dtPolyTypes { - DT_FAILURE = 0, // Operation failed. - DT_FAILURE_DATA_MAGIC, - DT_FAILURE_DATA_VERSION, - DT_FAILURE_OUT_OF_MEMORY, - DT_SUCCESS, // Operation succeed. - DT_IN_PROGRESS, // Operation still in progress. + /// The polygon is a standard convex polygon that is part of the surface of the mesh. + DT_POLYTYPE_GROUND = 0, + /// The polygon is an off-mesh connection consisting of two vertices. + DT_POLYTYPE_OFFMESH_CONNECTION = 1, }; -// Structure describing the navigation polygon data. +/// Defines a polyogn within a dtMeshTile object. +/// @ingroup detour struct dtPoly { - unsigned int firstLink; // Index to first link in linked list. - unsigned short verts[DT_VERTS_PER_POLYGON]; // Indices to vertices of the poly. - unsigned short neis[DT_VERTS_PER_POLYGON]; // Refs to neighbours of the poly. - unsigned short flags; // Flags (see dtPolyFlags). - unsigned char vertCount; // Number of vertices. - unsigned char areaAndtype; // Bit packed: Area ID of the polygon, and Polygon type, see dtPolyTypes.. + /// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.) + unsigned int firstLink; + + /// The indices of the polygon's vertices. + /// The actual vertices are located in dtMeshTile::verts. + unsigned short verts[DT_VERTS_PER_POLYGON]; + + /// Packed data representing neighbor polygons references and flags for each edge. + unsigned short neis[DT_VERTS_PER_POLYGON]; + + /// The user defined polygon flags. + unsigned short flags; + + /// The number of vertices in the polygon. + unsigned char vertCount; + + /// The bit packed area id and polygon type. + /// @note Use the structure's set and get methods to acess this value. + unsigned char areaAndtype; + + /// Sets the user defined area id. [Limit: < #DT_MAX_AREAS] inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); } + + /// Sets the polygon type. (See: #dtPolyTypes.) inline void setType(unsigned char t) { areaAndtype = (areaAndtype & 0x3f) | (t << 6); } + + /// Gets the user defined area id. inline unsigned char getArea() const { return areaAndtype & 0x3f; } + + /// Gets the polygon type. (See: #dtPolyTypes) inline unsigned char getType() const { return areaAndtype >> 6; } }; -// Stucture describing polygon detail triangles. +/// Defines the location of detail sub-mesh data within a dtMeshTile. struct dtPolyDetail { - unsigned int vertBase; // Offset to detail vertex array. - unsigned int triBase; // Offset to detail triangle array. - unsigned char vertCount; // Number of vertices in the detail mesh. - unsigned char triCount; // Number of triangles. + unsigned int vertBase; ///< The offset of the vertices in the dtMeshTile::detailVerts array. + unsigned int triBase; ///< The offset of the triangles in the dtMeshTile::detailTris array. + unsigned char vertCount; ///< The number of vertices in the sub-mesh. + unsigned char triCount; ///< The number of triangles in the sub-mesh. }; -// Stucture describing a link to another polygon. +/// Defines a link between polygons. +/// @note This structure is rarely if ever used by the end user. +/// @see dtMeshTile struct dtLink { - dtPolyRef ref; // Neighbour reference. - unsigned int next; // Index to next link. - unsigned char edge; // Index to polygon edge which owns this link. - unsigned char side; // If boundary link, defines on which side the link is. - unsigned char bmin, bmax; // If boundary link, defines the sub edge area. + dtPolyRef ref; ///< Neighbour reference. (The neighbor that is linked to.) + unsigned int next; ///< Index of the next link. + unsigned char edge; ///< Index of the polygon edge that owns this link. + unsigned char side; ///< If a boundary link, defines on which side the link is. + unsigned char bmin; ///< If a boundary link, defines the minimum sub-edge area. + unsigned char bmax; ///< If a boundary link, defines the maximum sub-edge area. }; +/// Bounding volume node. +/// @note This structure is rarely if ever used by the end user. +/// @see dtMeshTile struct dtBVNode { - unsigned short bmin[3], bmax[3]; // BVnode bounds - int i; // Index to item or if negative, escape index. + unsigned short bmin[3]; ///< Minimum bounds of the node's AABB. [(x, y, z)] + unsigned short bmax[3]; ///< Maximum bounds of the node's AABB. [(x, y, z)] + int i; ///< The node's index. (Negative for escape sequence.) }; +/// Defines an navigation mesh off-mesh connection within a dtMeshTile object. +/// An off-mesh connection is a user defined traversable connection made up to two vertices. struct dtOffMeshConnection { - float pos[6]; // Both end point locations. - float rad; // Link connection radius. - unsigned short poly; // Poly Id - unsigned char flags; // Link flags - unsigned char side; // End point side. - unsigned int userId; // User ID to identify this connection. + /// The endpoints of the connection. [(ax, ay, az, bx, by, bz)] + float pos[6]; + + /// The radius of the endpoints. [Limit: >= 0] + float rad; + + /// The polygon reference of the connection within the tile. + unsigned short poly; + + /// Link flags. + /// @note These are not the connection's user defined flags. Those are assigned via the + /// connection's dtPoly definition. These are link flags used for internal purposes. + unsigned char flags; + + /// End point side. + unsigned char side; + + /// The id of the offmesh connection. (User assigned when the navigation mesh is built.) + unsigned int userId; }; +/// Provides high level information related to a dtMeshTile object. +/// @ingroup detour struct dtMeshHeader { - int magic; // Magic number, used to identify the data. - int version; // Data version number. - int x, y; // Location of the time on the grid. - unsigned int userId; // User ID of the tile. - int polyCount; // Number of polygons in the tile. - int vertCount; // Number of vertices in the tile. - int maxLinkCount; // Number of allocated links. - int detailMeshCount; // Number of detail meshes. - int detailVertCount; // Number of detail vertices. - int detailTriCount; // Number of detail triangles. - int bvNodeCount; // Number of BVtree nodes. - int offMeshConCount; // Number of Off-Mesh links. - int offMeshBase; // Index to first polygon which is Off-Mesh link. - float walkableHeight; // Height of the agent. - float walkableRadius; // Radius of the agent - float walkableClimb; // Max climb height of the agent. - float bmin[3], bmax[3]; // Bounding box of the tile. - float bvQuantFactor; // BVtree quantization factor (world to bvnode coords) + int magic; ///< Tile magic number. (Used to identify the data format.) + int version; ///< Tile data format version number. + int x; ///< The x-position of the tile within the dtNavMesh tile grid. (x, y, layer) + int y; ///< The y-position of the tile within the dtNavMesh tile grid. (x, y, layer) + int layer; ///< The layer of the tile within the dtNavMesh tile grid. (x, y, layer) + unsigned int userId; ///< The user defined id of the tile. + int polyCount; ///< The number of polygons in the tile. + int vertCount; ///< The number of vertices in the tile. + int maxLinkCount; ///< The number of allocated links. + int detailMeshCount; ///< The number of sub-meshes in the detail mesh. + + /// The number of unique vertices in the detail mesh. (In addition to the polygon vertices.) + int detailVertCount; + + int detailTriCount; ///< The number of triangles in the detail mesh. + int bvNodeCount; ///< The number of bounding volume nodes. (Zero if bounding volumes are disabled.) + int offMeshConCount; ///< The number of off-mesh connections. + int offMeshBase; ///< The index of the first polygon which is an off-mesh connection. + float walkableHeight; ///< The height of the agents using the tile. + float walkableRadius; ///< The radius of the agents using the tile. + float walkableClimb; ///< The maximum climb height of the agents using the tile. + float bmin[3]; ///< The minimum bounds of the tile's AABB. [(x, y, z)] + float bmax[3]; ///< The maximum bounds of the tile's AABB. [(x, y, z)] + + /// The bounding volume quantization factor. + float bvQuantFactor; }; +/// Defines a navigation mesh tile. +/// @ingroup detour struct dtMeshTile { - unsigned int salt; // Counter describing modifications to the tile. - - unsigned int linksFreeList; // Index to next free link. - dtMeshHeader* header; // Pointer to tile header. - dtPoly* polys; // Pointer to the polygons (will be updated when tile is added). - float* verts; // Pointer to the vertices (will be updated when tile added). - dtLink* links; // Pointer to the links (will be updated when tile added). - dtPolyDetail* detailMeshes; // Pointer to detail meshes (will be updated when tile added). - float* detailVerts; // Pointer to detail vertices (will be updated when tile added). - unsigned char* detailTris; // Pointer to detail triangles (will be updated when tile added). - dtBVNode* bvTree; // Pointer to BVtree nodes (will be updated when tile added). - dtOffMeshConnection* offMeshCons; // Pointer to Off-Mesh links. (will be updated when tile added). + unsigned int salt; ///< Counter describing modifications to the tile. + + unsigned int linksFreeList; ///< Index to the next free link. + dtMeshHeader* header; ///< The tile header. + dtPoly* polys; ///< The tile polygons. [Size: dtMeshHeader::polyCount] + float* verts; ///< The tile vertices. [Size: dtMeshHeader::vertCount] + dtLink* links; ///< The tile links. [Size: dtMeshHeader::maxLinkCount] + dtPolyDetail* detailMeshes; ///< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount] + + /// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount] + float* detailVerts; + + /// The detail mesh's triangles. [(vertA, vertB, vertC) * dtMeshHeader::detailTriCount] + unsigned char* detailTris; + + /// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount] + /// (Will be null if bounding volumes are disabled.) + dtBVNode* bvTree; + + dtOffMeshConnection* offMeshCons; ///< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount] - unsigned char* data; // Pointer to tile data. - int dataSize; // Size of the tile data. - int flags; // Tile flags, see dtTileFlags. - dtMeshTile* next; // Next free tile or, next tile in spatial grid. + unsigned char* data; ///< The tile data. (Not directly accessed under normal situations.) + int dataSize; ///< Size of the tile data. + int flags; ///< Tile flags. (See: #dtTileFlags) + dtMeshTile* next; ///< The next free tile, or the next tile in the spatial grid. }; +/// Configuration parameters used to define multi-tile navigation meshes. +/// The values are used to allocate space during the initialization of a navigation mesh. +/// @see dtNavMesh::init() +/// @ingroup detour struct dtNavMeshParams { - float orig[3]; // Origin of the nav mesh tile space. - float tileWidth, tileHeight; // Width and height of each tile. - int maxTiles; // Maximum number of tiles the navmesh can contain. - int maxPolys; // Maximum number of polygons each tile can contain. + float orig[3]; ///< The world space origin of the navigation mesh's tile space. [(x, y, z)] + float tileWidth; ///< The width of each tile. (Along the x-axis.) + float tileHeight; ///< The height of each tile. (Along the z-axis.) + int maxTiles; ///< The maximum number of tiles the navigation mesh can contain. + int maxPolys; ///< The maximum number of polygons each tile can contain. }; - +/// A navigation mesh based on tiles of convex polygons. +/// @ingroup detour class dtNavMesh { public: dtNavMesh(); ~dtNavMesh(); - // Initializes the nav mesh for tiled use. - // Params: - // params - (in) navmesh initialization params, see dtNavMeshParams. - // Returns: True if succeed, else false. + /// @{ + /// @name Initialization and Tile Management + + /// Initializes the navigation mesh for tiled use. + /// @param[in] params Initialization parameters. + /// @return The status flags for the operation. dtStatus init(const dtNavMeshParams* params); - // Initializes the nav mesh for single tile use. - // Params: - // data - (in) Data of the new tile mesh. - // dataSize - (in) Data size of the new tile mesh. - // flags - (in) Tile flags, see dtTileFlags. - // Returns: True if succeed, else false. + /// Initializes the navigation mesh for single tile use. + /// @param[in] data Data of the new tile. (See: #dtCreateNavMeshData) + /// @param[in] dataSize The data size of the new tile. + /// @param[in] flags The tile flags. (See: #dtTileFlags) + /// @return The status flags for the operation. + /// @see dtCreateNavMeshData dtStatus init(unsigned char* data, const int dataSize, const int flags); - // Returns pointer to navmesh initialization params. + /// The navigation mesh initialization params. const dtNavMeshParams* getParams() const; - - // Adds new tile into the navmesh. - // The add will fail if the data is in wrong format, - // there is not enough tiles left, or if there is a tile already at the location. - // Params: - // data - (in) Data of the new tile mesh. - // dataSize - (in) Data size of the new tile mesh. - // flags - (in) Tile flags, see dtTileFlags. - // lastRef - (in,optional) Last tile ref, the tile will be restored so that - // the reference (as well as poly references) will be the same. Default: 0. - // result - (out,optional) tile ref if the tile was succesfully added. + + /// Adds a tile to the navigation mesh. + /// @param[in] data Data for the new tile mesh. (See: #dtCreateNavMeshData) + /// @param[in] dataSize Data size of the new tile mesh. + /// @param[in] flags Tile flags. (See: #dtTileFlags) + /// @param[in] lastRef The desired reference for the tile. (When reloading a tile.) [opt] [Default: 0] + /// @param[out] result The tile reference. (If the tile was succesfully added.) [opt] + /// @return The status flags for the operation. dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result); - // Removes specified tile. - // Params: - // ref - (in) Reference to the tile to remove. - // data - (out) Data associated with deleted tile. - // dataSize - (out) Size of the data associated with deleted tile. + /// Removes the specified tile from the navigation mesh. + /// @param[in] ref The reference of the tile to remove. + /// @param[out] data Data associated with deleted tile. + /// @param[out] dataSize Size of the data associated with deleted tile. + /// @return The status flags for the operation. dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize); - // Calculates tile location based in input world position. - // Params: - // pos - (in) world position of the query. - // tx - (out) tile x location. - // ty - (out) tile y location. + /// @} + + /// @{ + /// @name Query Functions + + /// Calculates the tile grid location for the specified world position. + /// @param[in] pos The world position for the query. [(x, y, z)] + /// @param[out] tx The tile's x-location. (x, y) + /// @param[out] ty The tile's y-location. (x, y) void calcTileLoc(const float* pos, int* tx, int* ty) const; - // Returns pointer to tile at specified 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; - - // 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 the tile at the specified grid location. + /// @param[in] x The tile's x-location. (x, y, layer) + /// @param[in] y The tile's y-location. (x, y, layer) + /// @param[in] layer The tile's layer. (x, y, layer) + /// @return The tile, or null if the tile does not exist. + const dtMeshTile* getTileAt(const int x, const int y, const int layer) const; + + /// Gets all tiles at the specified grid location. (All layers.) + /// @param[in] x The tile's x-location. (x, y) + /// @param[in] y The tile's y-location. (x, y) + /// @param[out] tiles A pointer to an array of tiles that will hold the result. + /// @param[in] maxTiles The maximum tiles the tiles parameter can hold. + /// @return The number of tiles returned in the tiles array. + int getTilesAt(const int x, const int y, + dtMeshTile const** tiles, const int maxTiles) const; - // 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; - // Returns tile based on references. + /// Gets the tile for the specified tile reference. + /// @param[in] ref The tile reference of the tile to retrieve. + /// @return The tile for the specified reference, or null if the + /// reference is invalid. const dtMeshTile* getTileByRef(dtTileRef ref) const; - // Returns max number of tiles. + /// The maximum number of tiles supported by the navigation mesh. + /// @return The maximum number of tiles supported by the navigation mesh. int getMaxTiles() const; - // Returns pointer to tile in the tile array. - // Params: - // i - (in) Index to the tile to retrieve, max index is getMaxTiles()-1. - // Returns: Pointer to specified tile. + /// Gets the tile at the specified index. + /// @param[in] i The tile index. [Limit: 0 >= index < #getMaxTiles()] + /// @return The tile at the specified index. const dtMeshTile* getTile(int i) const; - // Returns pointer to tile and polygon pointed by the polygon reference. - // Params: - // ref - (in) reference to a polygon. - // tile - (out) pointer to the tile containing the polygon. - // poly - (out) pointer to the polygon. + /// Gets the tile and polygon for the specified polygon reference. + /// @param[in] ref The reference for the a polygon. + /// @param[out] tile The tile containing the polygon. + /// @param[out] poly The polygon. + /// @return The status flags for the operation. dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const; - // Returns pointer to tile and polygon pointed by the polygon reference. - // Note: this function does not check if 'ref' s valid, and is thus faster. Use only with valid refs! - // Params: - // ref - (in) reference to a polygon. - // tile - (out) pointer to the tile containing the polygon. - // poly - (out) pointer to the polygon. + /// Returns the tile and polygon for the specified polygon reference. + /// @param[in] ref A known valid reference for a polygon. + /// @param[out] tile The tile containing the polygon. + /// @param[out] poly The polygon. void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const; - // Returns true if polygon reference points to valid data. + /// Checks the validity of a polygon reference. + /// @param[in] ref The polygon reference to check. + /// @return True if polygon reference is valid for the navigation mesh. bool isValidPolyRef(dtPolyRef ref) const; - // Returns base poly id for specified tile, polygon refs can be deducted from this. + /// Gets the polygon reference for the tile's base polygon. + /// @param[in] tile The tile. + /// @return The polygon reference for the base polygon in the specified tile. dtPolyRef getPolyRefBase(const dtMeshTile* tile) const; - // 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. + /// Gets the endpoints for an off-mesh connection, ordered by "direction of travel". + /// @param[in] prevRef The reference of the polygon before the connection. + /// @param[in] polyRef The reference of the off-mesh connection polygon. + /// @param[out] startPos The start position of the off-mesh connection. [(x, y, z)] + /// @param[out] endPos The end position of the off-mesh connection. [(x, y, z)] + /// @return The status flags for the operation. dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const; - // Returns pointer to off-mesh connection based on polyref, or null if ref not valid. + /// Gets the specified off-mesh connection. + /// @param[in] ref The polygon reference of the off-mesh connection. + /// @return The specified off-mesh connection, or null if the polygon reference is not valid. const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const; - // Sets polygon flags. + /// @} + + /// @{ + /// @name State Management + /// These functions do not effect #dtTileRef or #dtPolyRef's. + + /// Sets the user defined flags for the specified polygon. + /// @param[in] ref The polygon reference. + /// @param[in] flags The new flags for the polygon. + /// @return The status flags for the operation. dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags); - // Return polygon flags. + /// Gets the user defined flags for the specified polygon. + /// @param[in] ref The polygon reference. + /// @param[out] resultFlags The polygon flags. + /// @return The status flags for the operation. dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const; - // Set polygon type. + /// Sets the user defined area for the specified polygon. + /// @param[in] ref The polygon reference. + /// @param[in] area The new area id for the polygon. [Limit: < #DT_MAX_AREAS] + /// @return The status flags for the operation. dtStatus setPolyArea(dtPolyRef ref, unsigned char area); - // Return polygon area type. + /// Gets the user defined area for the specified polygon. + /// @param[in] ref The polygon reference. + /// @param[out] resultArea The area id for the polygon. + /// @return The status flags for the operation. dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const; - - // Returns number of bytes required to store tile state. + /// Gets the size of the buffer required by #storeTileState to store the specified tile's state. + /// @param[in] tile The tile. + /// @return The size of the buffer required to store the state. int getTileStateSize(const dtMeshTile* tile) const; - // Stores tile state to buffer. + /// Stores the non-structural state of the tile in the specified buffer. (Flags, area ids, etc.) + /// @param[in] tile The tile. + /// @param[out] data The buffer to store the tile's state in. + /// @param[in] maxDataSize The size of the data buffer. [Limit: >= #getTileStateSize] + /// @return The status flags for the operation. dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const; - // Restores tile state. + /// Restores the state of the tile. + /// @param[in] tile The tile. + /// @param[in] data The new state. (Obtained from #storeTileState.) + /// @param[in] maxDataSize The size of the state within the data buffer. + /// @return The status flags for the operation. dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize); + /// @} - // Encodes a tile id. + /// @{ + /// @name Encoding and Decoding + /// These functions are generally meant for internal use only. + + /// Derives a standard polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] salt The tile's salt value. + /// @param[in] it The index of the tile. + /// @param[in] ip The index of the polygon within the tile. inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const { return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip; } - // Decodes a tile id. + /// Decodes a standard polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference to decode. + /// @param[out] salt The tile's salt value. + /// @param[out] it The index of the tile. + /// @param[out] ip The index of the polygon within the tile. + /// @see #encodePolyId inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const { const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1; @@ -346,83 +510,201 @@ public: ip = (unsigned int)(ref & polyMask); } - // Decodes a tile salt. + /// Extracts a tile's salt value from the specified polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference. + /// @see #encodePolyId inline unsigned int decodePolyIdSalt(dtPolyRef ref) const { const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1; return (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask); } - // Decodes a tile id. + /// Extracts the tile's index from the specified polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference. + /// @see #encodePolyId inline unsigned int decodePolyIdTile(dtPolyRef ref) const { const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1; return (unsigned int)((ref >> m_polyBits) & tileMask); } - // Decodes a poly id. + /// Extracts the polygon's index (within its tile) from the specified polygon reference. + /// @note This function is generally meant for internal use only. + /// @param[in] ref The polygon reference. + /// @see #encodePolyId inline unsigned int decodePolyIdPoly(dtPolyRef ref) const { const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1; return (unsigned int)(ref & polyMask); } + + /// @} private: - // Returns pointer to tile in the tile array. + /// Returns pointer to tile in the tile array. dtMeshTile* getTile(int i); - // Returns neighbour tile based on side. - dtMeshTile* getNeighbourTileAt(int x, int y, int side) const; - // Returns all polygons in neighbour tile based on portal defined by the segment. + /// Returns neighbour tile based on side. + 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, dtPolyRef* con, float* conarea, int maxcon) const; - // Builds internal polygons links for a tile. + /// Builds internal polygons links for a tile. void connectIntLinks(dtMeshTile* tile); - // Builds internal polygons links for a tile. - void connectIntOffMeshLinks(dtMeshTile* tile); + /// Builds internal polygons links for a tile. + void baseOffMeshLinks(dtMeshTile* tile); - // Builds external polygon links for a tile. + /// Builds external polygon links for a tile. void connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side); - // Builds external polygon links for a tile. + /// Builds external polygon links for a tile. void connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side); - // Removes external links at specified side. - void unconnectExtLinks(dtMeshTile* tile, int side); + /// Removes external links at specified side. + void unconnectExtLinks(dtMeshTile* tile, dtMeshTile* target); // TODO: These methods are duplicates from dtNavMeshQuery, but are needed for off-mesh connection finding. - // Queries polygons within a tile. + /// Queries polygons within a tile. int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, dtPolyRef* polys, const int maxPolys) const; - // Find nearest polygon within a tile. + /// Find nearest polygon within a tile. 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; + /// Returns closest point on polygon. + void closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip, + const float* pos, float* closest) const; - dtNavMeshParams m_params; // Current initialization params. TODO: do not store this info twice. - float m_orig[3]; // Origin of the tile (0,0) - float m_tileWidth, m_tileHeight; // Dimensions of each tile. - int m_maxTiles; // Max number of tiles. - int m_tileLutSize; // Tile hash lookup size (must be pot). - int m_tileLutMask; // Tile hash lookup mask. - - dtMeshTile** m_posLookup; // Tile hash lookup. - dtMeshTile* m_nextFree; // Freelist of tiles. - dtMeshTile* m_tiles; // List of tiles. + dtNavMeshParams m_params; ///< Current initialization params. TODO: do not store this info twice. + float m_orig[3]; ///< Origin of the tile (0,0) + float m_tileWidth, m_tileHeight; ///< Dimensions of each tile. + int m_maxTiles; ///< Max number of tiles. + int m_tileLutSize; ///< Tile hash lookup size (must be pot). + int m_tileLutMask; ///< Tile hash lookup mask. + + dtMeshTile** m_posLookup; ///< Tile hash lookup. + dtMeshTile* m_nextFree; ///< Freelist of tiles. + dtMeshTile* m_tiles; ///< List of tiles. - unsigned int m_saltBits; // Number of salt bits in the tile ID. - unsigned int m_tileBits; // Number of tile bits in the tile ID. - unsigned int m_polyBits; // Number of poly bits in the tile ID. + unsigned int m_saltBits; ///< Number of salt bits in the tile ID. + unsigned int m_tileBits; ///< Number of tile bits in the tile ID. + unsigned int m_polyBits; ///< Number of poly bits in the tile ID. }; -// Helper function to allocate navmesh class using Detour allocator. +/// Allocates a navigation mesh object using the Detour allocator. +/// @return A navigation mesh that is ready for initialization, or null on failure. +/// @ingroup detour dtNavMesh* dtAllocNavMesh(); + +/// Frees the specified navigation mesh object using the Detour allocator. +/// @param[in] navmesh A navigation mesh allocated using #dtAllocNavMesh +/// @ingroup detour void dtFreeNavMesh(dtNavMesh* navmesh); #endif // DETOURNAVMESH_H + +/////////////////////////////////////////////////////////////////////////// + +// This section contains detailed documentation for members that don't have +// a source file. It reduces clutter in the main section of the header. + +/** + +@typedef dtPolyRef +@par + +Polygon references are subject to the same invalidate/preserve/restore +rules that apply to #dtTileRef's. If the #dtTileRef for the polygon's +tile changes, the polygon reference becomes invalid. + +Changing a polygon's flags, area id, etc. does not impact its polygon +reference. + +@typedef dtTileRef +@par + +The following changes will invalidate a tile reference: + +- The referenced tile has been removed from the navigation mesh. +- The navigation mesh has been initialized using a different set + of #dtNavMeshParams. + +A tile reference is preserved/restored if the tile is added to a navigation +mesh initialized with the original #dtNavMeshParams and is added at the +original reference location. (E.g. The lastRef parameter is used with +dtNavMesh::addTile.) + +Basically, if the storage structure of a tile changes, its associated +tile reference changes. + + +@var unsigned short dtPoly::neis[DT_VERTS_PER_POLYGON] +@par + +Each entry represents data for the edge starting at the vertex of the same index. +E.g. The entry at index n represents the edge data for vertex[n] to vertex[n+1]. + +A value of zero indicates the edge has no polygon connection. (It makes up the +border of the navigation mesh.) + +The information can be extracted as follows: +@code +neighborRef = neis[n] & 0xff; // Get the neighbor polygon reference. + +if (neis[n] & #DT_EX_LINK) +{ + // The edge is an external (portal) edge. +} +@endcode + +@var float dtMeshHeader::bvQuantFactor +@par + +This value is used for converting between world and bounding volume coordinates. +For example: +@code +const float cs = 1.0f / tile->header->bvQuantFactor; +const dtBVNode* n = &tile->bvTree[i]; +if (n->i >= 0) +{ + // This is a leaf node. + float worldMinX = tile->header->bmin[0] + n->bmin[0]*cs; + float worldMinY = tile->header->bmin[0] + n->bmin[1]*cs; + // Etc... +} +@endcode + +@struct dtMeshTile +@par + +Tiles generally only exist within the context of a dtNavMesh object. + +Some tile content is optional. For example, a tile may not contain any +off-mesh connections. In this case the associated pointer will be null. + +If a detail mesh exists it will share vertices with the base polygon mesh. +Only the vertices unique to the detail mesh will be stored in #detailVerts. + +@warning Tiles returned by a dtNavMesh object are not guarenteed to be populated. +For example: The tile at a location might not have been loaded yet, or may have been removed. +In this case, pointers will be null. So if in doubt, check the polygon count in the +tile's header to determine if a tile has polygons defined. + +@var float dtOffMeshConnection::pos[6] +@par + +For a properly built navigation mesh, vertex A will always be within the bounds of the mesh. +Vertex B is not required to be within the bounds of the mesh. + +*/ diff --git a/dep/recastnavigation/Detour/DetourNavMeshBuilder.cpp b/dep/recastnavigation/Detour/DetourNavMeshBuilder.cpp index f64857160db..9d8471b96a1 100644 --- a/dep/recastnavigation/Detour/DetourNavMeshBuilder.cpp +++ b/dep/recastnavigation/Detour/DetourNavMeshBuilder.cpp @@ -20,6 +20,7 @@ #include <stdio.h> #include <stdlib.h> #include <string.h> +#include <float.h> #include "DetourNavMesh.h" #include "DetourCommon.h" #include "DetourNavMeshBuilder.h" @@ -237,11 +238,19 @@ static unsigned char classifyOffMeshPoint(const float* pt, const float* bmin, co case ZM: return 6; case XP|ZM: return 7; }; + return 0xff; } // TODO: Better error handling. +/// @par +/// +/// The output data array is allocated using the detour allocator (dtAlloc()). The method +/// used to free the memory will be determined by how the tile is added to the navigation +/// mesh. +/// +/// @see dtNavMesh, dtNavMesh::addTile() bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize) { if (params->nvp > DT_VERTS_PER_POLYGON) @@ -252,8 +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; @@ -269,10 +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 = ¶ms->verts[i*3]; + const float h = params->bmin[1] + iv[1] * params->ch; + hmin = dtMin(hmin,h); + hmax = dtMax(hmax,h); + } + } + hmin -= params->walkableClimb; + hmax += params->walkableClimb; + float bmin[3], bmax[3]; + dtVcopy(bmin, params->bmin); + dtVcopy(bmax, params->bmax); + bmin[1] = hmin; + bmax[1] = hmax; + for (int i = 0; i < params->offMeshConCount; ++i) { - offMeshConClass[i*2+0] = classifyOffMeshPoint(¶ms->offMeshConVerts[(i*2+0)*3], params->bmin, params->bmax); - offMeshConClass[i*2+1] = classifyOffMeshPoint(¶ms->offMeshConVerts[(i*2+1)*3], params->bmin, params->bmax); + const float* p0 = ¶ms->offMeshConVerts[(i*2+0)*3]; + const float* p1 = ¶ms->offMeshConVerts[(i*2+1)*3]; + offMeshConClass[i*2+0] = classifyOffMeshPoint(p0, bmin, bmax); + offMeshConClass[i*2+1] = classifyOffMeshPoint(p1, bmin, bmax); + + // Zero out off-mesh start positions which are not even potentially touching the mesh. + if (offMeshConClass[i*2+0] == 0xff) + { + if (p0[1] < bmin[1] || p0[1] > bmax[1]) + offMeshConClass[i*2+0] = 0; + } // Cound how many links should be allocated for off-mesh connections. if (offMeshConClass[i*2+0] == 0xff) @@ -298,23 +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 = ¶ms->verts[p[j]*3]; - const unsigned short* vb = ¶ms->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++; } } } @@ -323,18 +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 = ¶ms->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 = ¶ms->polys[i*nvp*2]; + int ndv = params->detailMeshes[i*4+1]; + int nv = 0; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == MESH_NULL_IDX) break; + nv++; + } + ndv -= nv; + uniqueDetailVertCount += ndv; + } + } + else + { + // No input detail mesh, build detail mesh from nav polys. + uniqueDetailVertCount = 0; // No extra detail verts. + detailTriCount = 0; + for (int i = 0; i < params->polyCount; ++i) + { + const unsigned short* p = ¶ms->polys[i*nvp*2]; + int nv = 0; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == MESH_NULL_IDX) break; + nv++; + } + detailTriCount += nv-2; } - ndv -= nv; - uniqueDetailVertCount += ndv; } // Calculate data size @@ -344,8 +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 + @@ -377,6 +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; @@ -385,14 +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; @@ -436,7 +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; @@ -458,61 +539,68 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, n++; } } - - // Store portal edges. - if (params->tileSize > 0) + + // Store detail meshes and vertices. + // The nav polygon vertices are stored as the first vertices on each mesh. + // We compress the mesh data by skipping them and using the navmesh coordinates. + if (params->detailMeshes) { + unsigned short vbase = 0; for (int i = 0; i < params->polyCount; ++i) { - dtPoly* poly = &navPolys[i]; - for (int j = 0; j < poly->vertCount; ++j) + 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) { - int nj = j+1; - if (nj >= poly->vertCount) nj = 0; - - const unsigned short* va = ¶ms->verts[poly->verts[j]*3]; - const unsigned short* vb = ¶ms->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; + memcpy(&navDVerts[vbase*3], ¶ms->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv)); + vbase += (unsigned short)(ndv-nv); } } + // Store triangles. + memcpy(navDTris, params->detailTris, sizeof(unsigned char)*4*params->detailTriCount); } - - // 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) + else { - 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) + // Create dummy detail mesh by triangulating polys. + int tbase = 0; + for (int i = 0; i < params->polyCount; ++i) { - memcpy(&navDVerts[vbase*3], ¶ms->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv)); - vbase += (unsigned short)(ndv-nv); + 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; @@ -544,51 +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)) @@ -596,36 +647,43 @@ 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. return true; } +/// @par +/// +/// @warning This function assumes that the header is in the correct endianess already. +/// Call #dtNavMeshHeaderSwapEndian() first on the data if the data is expected to be in wrong endianess +/// to start with. Call #dtNavMeshHeaderSwapEndian() after the data has been swapped if converting from +/// native to foreign endianess. bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/) { // Make sure the data is in right format. @@ -659,7 +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 @@ -669,10 +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. @@ -681,14 +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 @@ -697,10 +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. @@ -708,9 +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; diff --git a/dep/recastnavigation/Detour/DetourNavMeshBuilder.h b/dep/recastnavigation/Detour/DetourNavMeshBuilder.h index 8d8ef2e6546..c80d1717630 100644 --- a/dep/recastnavigation/Detour/DetourNavMeshBuilder.h +++ b/dep/recastnavigation/Detour/DetourNavMeshBuilder.h @@ -21,57 +21,128 @@ #include "DetourAlloc.h" - -// The units of the parameters are specified in parenthesis as follows: -// (vx) voxels, (wu) world units +/// Represents the source data used to build an navigation mesh tile. +/// @ingroup detour struct dtNavMeshCreateParams { - // Navmesh vertices. - const unsigned short* verts; // Array of vertices, each vertex has 3 components. (vx). - int vertCount; // Vertex count - // Navmesh polygons - const unsigned short* polys; // Array of polygons, uses same format as rcPolyMesh. - const unsigned short* polyFlags; // Array of flags per polygon. - const unsigned char* polyAreas; // Array of area ids per polygon. - int polyCount; // Number of polygons - int nvp; // Number of verts per polygon. - // Navmesh Detail - const unsigned int* detailMeshes; // Detail meshes, uses same format as rcPolyMeshDetail. - const float* detailVerts; // Detail mesh vertices, uses same format as rcPolyMeshDetail (wu). - int detailVertsCount; // Total number of detail vertices - const unsigned char* detailTris; // Array of detail tris per detail mesh. - int detailTriCount; // Total number of detail triangles. - // Off-Mesh Connections. - const float* offMeshConVerts; // Off-mesh connection vertices (wu). - const float* offMeshConRad; // Off-mesh connection radii (wu). - const unsigned short* offMeshConFlags; // Off-mesh connection flags. - const unsigned char* offMeshConAreas; // Off-mesh connection area ids. - const unsigned char* offMeshConDir; // Off-mesh connection direction flags (1 = bidir, 0 = oneway). - const unsigned int* offMeshConUserID; // Off-mesh connection user id (optional). - int offMeshConCount; // Number of off-mesh connections - // Tile location - unsigned int userId; // User ID bound to the tile. - int tileX, tileY; // Tile location (tile coords). - float bmin[3], bmax[3]; // Tile bounds (wu). - // Settings - float walkableHeight; // Agent height (wu). - float walkableRadius; // Agent radius (wu). - float walkableClimb; // Agent max climb (wu). - float cs; // Cell size (xz) (wu). - float ch; // Cell height (y) (wu). - int tileSize; // Tile size (width & height) (vx). + + /// @name Polygon Mesh Attributes + /// Used to create the base navigation graph. + /// See #rcPolyMesh for details related to these attributes. + /// @{ + + const unsigned short* verts; ///< The polygon mesh vertices. [(x, y, z) * #vertCount] [Unit: vx] + int vertCount; ///< The number vertices in the polygon mesh. [Limit: >= 3] + const unsigned short* polys; ///< The polygon data. [Size: #polyCount * 2 * #nvp] + const unsigned short* polyFlags; ///< The user defined flags assigned to each polygon. [Size: #polyCount] + const unsigned char* polyAreas; ///< The user defined area ids assigned to each polygon. [Size: #polyCount] + int polyCount; ///< Number of polygons in the mesh. [Limit: >= 1] + int nvp; ///< Number maximum number of vertices per polygon. [Limit: >= 3] + + /// @} + /// @name Height Detail Attributes (Optional) + /// See #rcPolyMeshDetail for details related to these attributes. + /// @{ + + const unsigned int* detailMeshes; ///< The height detail sub-mesh data. [Size: 4 * #polyCount] + const float* detailVerts; ///< The detail mesh vertices. [Size: 3 * #detailVertsCount] [Unit: wu] + int detailVertsCount; ///< The number of vertices in the detail mesh. + const unsigned char* detailTris; ///< The detail mesh triangles. [Size: 4 * #detailTriCount] + int detailTriCount; ///< The number of triangles in the detail mesh. + + /// @} + /// @name Off-Mesh Connections Attributes (Optional) + /// Used to define a custom point-to-point edge within the navigation graph, an + /// off-mesh connection is a user defined traversable connection made up to two vertices, + /// at least one of which resides within a navigation mesh polygon. + /// @{ + + /// Off-mesh connection vertices. [(ax, ay, az, bx, by, bz) * #offMeshConCount] [Unit: wu] + const float* offMeshConVerts; + /// Off-mesh connection radii. [Size: #offMeshConCount] [Unit: wu] + const float* offMeshConRad; + /// User defined flags assigned to the off-mesh connections. [Size: #offMeshConCount] + const unsigned short* offMeshConFlags; + /// User defined area ids assigned to the off-mesh connections. [Size: #offMeshConCount] + const unsigned char* offMeshConAreas; + /// The permitted travel direction of the off-mesh connections. [Size: #offMeshConCount] + /// + /// 0 = Travel only from endpoint A to endpoint B.<br/> + /// #DT_OFFMESH_CON_BIDIR = Bidirectional travel. + const unsigned char* offMeshConDir; + /// The user defined ids of the off-mesh connection. [Size: #offMeshConCount] + const unsigned int* offMeshConUserID; + /// The number of off-mesh connections. [Limit: >= 0] + int offMeshConCount; + + /// @} + /// @name Tile Attributes + /// @note The tile grid/layer data can be left at zero if the destination is a single tile mesh. + /// @{ + + unsigned int userId; ///< The user defined id of the tile. + int tileX; ///< The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.) + int tileY; ///< The tile's y-grid location within the multi-tile desitation mesh. (Along the z-axis.) + int tileLayer; ///< The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.) + float bmin[3]; ///< The minimum bounds of the tile. [(x, y, z)] [Unit: wu] + float bmax[3]; ///< The maximum bounds of the tile. [(x, y, z)] [Unit: wu] + + /// @} + /// @name General Configuration Attributes + /// @{ + + float walkableHeight; ///< The agent height. [Unit: wu] + float walkableRadius; ///< The agent radius. [Unit: wu] + float walkableClimb; ///< The agent maximum traversable ledge. (Up/Down) [Unit: wu] + float cs; ///< The xz-plane cell size of the polygon mesh. [Limit: > 0] [Unit: wu] + float ch; ///< The y-axis cell height of the polygon mesh. [Limit: > 0] [Unit: wu] + + /// True if a bounding volume tree should be built for the tile. + /// @note The BVTree is not normally needed for layered navigation meshes. + bool buildBvTree; + + /// @} }; -// Build navmesh data from given input data. +/// Builds navigation mesh tile data from the provided tile creation data. +/// @ingroup detour +/// @param[in] params Tile creation data. +/// @param[out] outData The resulting tile data. +/// @param[out] outDataSize The size of the tile data array. +/// @return True if the tile data was successfully created. bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize); -// Swaps endianess of navmesh header. +/// Swaps the endianess of the tile data's header (#dtMeshHeader). +/// @param[in,out] data The tile data array. +/// @param[in] dataSize The size of the data array. bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int dataSize); -// Swaps endianess of the navmesh data. This function assumes that the header is in correct -// endianess already. Call dtNavMeshHeaderSwapEndian() first on the data if the data is -// assumed to be in wrong endianess to start with. If converting from native endianess to foreign, -// call dtNavMeshHeaderSwapEndian() after the data has been swapped. +/// Swaps endianess of the tile data. +/// @param[in,out] data The tile data array. +/// @param[in] dataSize The size of the data array. bool dtNavMeshDataSwapEndian(unsigned char* data, const int dataSize); #endif // DETOURNAVMESHBUILDER_H + +// This section contains detailed documentation for members that don't have +// a source file. It reduces clutter in the main section of the header. + +/** + +@struct dtNavMeshCreateParams +@par + +This structure is used to marshal data between the Recast mesh generation pipeline and Detour navigation components. + +See the rcPolyMesh and rcPolyMeshDetail documentation for detailed information related to mesh structure. + +Units are usually in voxels (vx) or world units (wu). The units for voxels, grid size, and cell size +are all based on the values of #cs and #ch. + +The standard navigation mesh build process is to create tile data using dtCreateNavMeshData, then add the tile +to a navigation mesh using either the dtNavMesh single tile <tt>init()</tt> function or the dtNavMesh::addTile() +function. + +@see dtCreateNavMeshData + +*/
\ No newline at end of file diff --git a/dep/recastnavigation/Detour/DetourNavMeshQuery.cpp b/dep/recastnavigation/Detour/DetourNavMeshQuery.cpp index 6a6eb94b6d4..e6557cf707e 100644 --- a/dep/recastnavigation/Detour/DetourNavMeshQuery.cpp +++ b/dep/recastnavigation/Detour/DetourNavMeshQuery.cpp @@ -27,6 +27,38 @@ #include "DetourAssert.h" #include <new> +/// @class dtQueryFilter +/// +/// <b>The Default Implementation</b> +/// +/// At construction: All area costs default to 1.0. All flags are included +/// and none are excluded. +/// +/// If a polygon has both an include and an exclude flag, it will be excluded. +/// +/// The way filtering works, a navigation mesh polygon must have at least one flag +/// set to ever be considered by a query. So a polygon with no flags will never +/// be considered. +/// +/// Setting the include flags to 0 will result in all polygons being excluded. +/// +/// <b>Custom Implementations</b> +/// +/// DT_VIRTUAL_QUERYFILTER must be defined in order to extend this class. +/// +/// Implement a custom query filter by overriding the virtual passFilter() +/// and getCost() functions. If this is done, both functions should be as +/// fast as possible. Use cached local copies of data rather than accessing +/// your own objects where possible. +/// +/// Custom implementations do not need to adhere to the flags or cost logic +/// used by the default implementation. +/// +/// In order for A* searches to work properly, the cost should be proportional to +/// the travel distance. Implementing a cost modifier less than 1.0 is likely +/// to lead to problems during pathfinding. +/// +/// @see dtNavMeshQuery dtQueryFilter::dtQueryFilter() : m_includeFlags(0xffff), @@ -49,7 +81,7 @@ float dtQueryFilter::getCost(const float* pa, const float* pb, const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly, const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const { - return dtVdist(pa, pb) * m_areaCost[curPoly->area]; + return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()]; } #else inline bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/, @@ -67,8 +99,9 @@ inline float dtQueryFilter::getCost(const float* pa, const float* pb, return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()]; } #endif - -static const float H_SCALE = 2.0f; // Search heuristic scale. + +// Edited by TC +static const float H_SCALE = 2.0f; // Search heuristic scale. dtNavMeshQuery* dtAllocNavMeshQuery() @@ -86,7 +119,25 @@ void dtFreeNavMeshQuery(dtNavMeshQuery* navmesh) } ////////////////////////////////////////////////////////////////////////////////////////// + +/// @class dtNavMeshQuery +/// +/// For methods that support undersized buffers, if the buffer is too small +/// to hold the entire result set the return status of the method will include +/// the #DT_BUFFER_TOO_SMALL flag. +/// +/// Constant member functions can be used by multiple clients without side +/// effects. (E.g. No change to the closed list. No impact on an in-progress +/// sliced path query. Etc.) +/// +/// Walls and portals: A @e wall is a polygon segment that is +/// considered impassable. A @e portal is a passable segment between polygons. +/// A portal may be treated as a wall based on the dtQueryFilter used for a query. +/// +/// @see dtNavMesh, dtQueryFilter, #dtAllocNavMeshQuery(), #dtAllocNavMeshQuery() + dtNavMeshQuery::dtNavMeshQuery() : + m_nav(0), m_tinyNodePool(0), m_nodePool(0), m_openList(0) @@ -107,6 +158,12 @@ dtNavMeshQuery::~dtNavMeshQuery() dtFree(m_openList); } +/// @par +/// +/// Must be the first function called after construction, before other +/// functions are used. +/// +/// This function can be used multiple times. dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes) { m_nav = nav; @@ -121,7 +178,7 @@ dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes) } m_nodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(maxNodes, dtNextPow2(maxNodes/4)); if (!m_nodePool) - return DT_FAILURE_OUT_OF_MEMORY; + return DT_FAILURE | DT_OUT_OF_MEMORY; } else { @@ -132,7 +189,7 @@ dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes) { m_tinyNodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(64, 32); if (!m_tinyNodePool) - return DT_FAILURE_OUT_OF_MEMORY; + return DT_FAILURE | DT_OUT_OF_MEMORY; } else { @@ -150,7 +207,7 @@ dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes) } m_openList = new (dtAlloc(sizeof(dtNodeQueue), DT_ALLOC_PERM)) dtNodeQueue(maxNodes); if (!m_openList) - return DT_FAILURE_OUT_OF_MEMORY; + return DT_FAILURE | DT_OUT_OF_MEMORY; } else { @@ -160,33 +217,328 @@ dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes) return DT_SUCCESS; } +dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*frand)(), + dtPolyRef* randomRef, float* randomPt) const +{ + dtAssert(m_nav); + + // Randomly pick one tile. Assume that all tiles cover roughly the same area. + const dtMeshTile* tile = 0; + float tsum = 0.0f; + for (int i = 0; i < m_nav->getMaxTiles(); i++) + { + const dtMeshTile* t = m_nav->getTile(i); + if (!t || !t->header) continue; + + // Choose random tile using reservoi sampling. + const float area = 1.0f; // Could be tile area too. + tsum += area; + const float u = frand(); + if (u*tsum <= area) + tile = t; + } + if (!tile) + return DT_FAILURE; + + // Randomly pick one polygon weighted by polygon area. + const dtPoly* poly = 0; + dtPolyRef polyRef = 0; + const dtPolyRef base = m_nav->getPolyRefBase(tile); + + float areaSum = 0.0f; + for (int i = 0; i < tile->header->polyCount; ++i) + { + const dtPoly* p = &tile->polys[i]; + // Do not return off-mesh connection polygons. + if (p->getType() != DT_POLYTYPE_GROUND) + continue; + // Must pass filter + const dtPolyRef ref = base | (dtPolyRef)i; + if (!filter->passFilter(ref, tile, p)) + continue; + + // Calc area of the polygon. + float polyArea = 0.0f; + for (int j = 2; j < p->vertCount; ++j) + { + const float* va = &tile->verts[p->verts[0]*3]; + const float* vb = &tile->verts[p->verts[j-1]*3]; + const float* vc = &tile->verts[p->verts[j]*3]; + polyArea += dtTriArea2D(va,vb,vc); + } + + // Choose random polygon weighted by area, using reservoi sampling. + areaSum += polyArea; + const float u = frand(); + if (u*areaSum <= polyArea) + { + poly = p; + polyRef = ref; + } + } + + if (!poly) + return DT_FAILURE; + + // Randomly pick point on polygon. + const float* v = &tile->verts[poly->verts[0]*3]; + float verts[3*DT_VERTS_PER_POLYGON]; + float areas[DT_VERTS_PER_POLYGON]; + dtVcopy(&verts[0*3],v); + for (int j = 1; j < poly->vertCount; ++j) + { + v = &tile->verts[poly->verts[j]*3]; + dtVcopy(&verts[j*3],v); + } + + const float s = frand(); + const float t = frand(); + + float pt[3]; + dtRandomPointInConvexPoly(verts, poly->vertCount, areas, s, t, pt); + + float h = 0.0f; + dtStatus status = getPolyHeight(polyRef, pt, &h); + if (dtStatusFailed(status)) + return status; + pt[1] = h; + + dtVcopy(randomPt, pt); + *randomRef = polyRef; + + return DT_SUCCESS; +} + +dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius, + const dtQueryFilter* filter, float (*frand)(), + dtPolyRef* randomRef, float* randomPt) const +{ + dtAssert(m_nav); + dtAssert(m_nodePool); + dtAssert(m_openList); + + // Validate input + if (!startRef || !m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; + + const dtMeshTile* startTile = 0; + const dtPoly* startPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(startRef, &startTile, &startPoly); + if (!filter->passFilter(startRef, startTile, startPoly)) + return DT_FAILURE | DT_INVALID_PARAM; + + m_nodePool->clear(); + m_openList->clear(); + + dtNode* startNode = m_nodePool->getNode(startRef); + dtVcopy(startNode->pos, centerPos); + startNode->pidx = 0; + startNode->cost = 0; + startNode->total = 0; + startNode->id = startRef; + startNode->flags = DT_NODE_OPEN; + m_openList->push(startNode); + + dtStatus status = DT_SUCCESS; + + const float radiusSqr = dtSqr(radius); + float areaSum = 0.0f; + + const dtMeshTile* randomTile = 0; + const dtPoly* randomPoly = 0; + dtPolyRef randomPolyRef = 0; + + while (!m_openList->empty()) + { + dtNode* bestNode = m_openList->pop(); + bestNode->flags &= ~DT_NODE_OPEN; + bestNode->flags |= DT_NODE_CLOSED; + + // Get poly and tile. + // The API input has been cheked already, skip checking internal data. + const dtPolyRef bestRef = bestNode->id; + const dtMeshTile* bestTile = 0; + const dtPoly* bestPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); + + // Place random locations on on ground. + if (bestPoly->getType() == DT_POLYTYPE_GROUND) + { + // Calc area of the polygon. + float polyArea = 0.0f; + for (int j = 2; j < bestPoly->vertCount; ++j) + { + const float* va = &bestTile->verts[bestPoly->verts[0]*3]; + const float* vb = &bestTile->verts[bestPoly->verts[j-1]*3]; + const float* vc = &bestTile->verts[bestPoly->verts[j]*3]; + polyArea += dtTriArea2D(va,vb,vc); + } + // Choose random polygon weighted by area, using reservoi sampling. + areaSum += polyArea; + const float u = frand(); + if (u*areaSum <= polyArea) + { + randomTile = bestTile; + randomPoly = bestPoly; + randomPolyRef = bestRef; + } + } + + + // Get parent poly and tile. + dtPolyRef parentRef = 0; + const dtMeshTile* parentTile = 0; + const dtPoly* parentPoly = 0; + if (bestNode->pidx) + parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; + if (parentRef) + m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); + + for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) + { + const dtLink* link = &bestTile->links[i]; + dtPolyRef neighbourRef = link->ref; + // Skip invalid neighbours and do not follow back to parent. + if (!neighbourRef || neighbourRef == parentRef) + continue; + + // Expand to neighbour + const dtMeshTile* neighbourTile = 0; + const dtPoly* neighbourPoly = 0; + m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); + + // Do not advance if the polygon is excluded by the filter. + if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) + continue; + + // Find edge and calc distance to the edge. + float va[3], vb[3]; + if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) + continue; + + // If the circle is not touching the next polygon, skip it. + float tseg; + float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); + if (distSqr > radiusSqr) + continue; + + dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); + if (!neighbourNode) + { + status |= DT_OUT_OF_NODES; + continue; + } + + if (neighbourNode->flags & DT_NODE_CLOSED) + continue; + + // Cost + if (neighbourNode->flags == 0) + dtVlerp(neighbourNode->pos, va, vb, 0.5f); + + const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos); + + // The node is already in open list and the new result is worse, skip. + if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) + continue; + + neighbourNode->id = neighbourRef; + neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); + neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); + neighbourNode->total = total; + + if (neighbourNode->flags & DT_NODE_OPEN) + { + m_openList->modify(neighbourNode); + } + else + { + neighbourNode->flags = DT_NODE_OPEN; + m_openList->push(neighbourNode); + } + } + } + + if (!randomPoly) + return DT_FAILURE; + + // Randomly pick point on polygon. + const float* v = &randomTile->verts[randomPoly->verts[0]*3]; + float verts[3*DT_VERTS_PER_POLYGON]; + float areas[DT_VERTS_PER_POLYGON]; + dtVcopy(&verts[0*3],v); + for (int j = 1; j < randomPoly->vertCount; ++j) + { + v = &randomTile->verts[randomPoly->verts[j]*3]; + dtVcopy(&verts[j*3],v); + } + + const float s = frand(); + const float t = frand(); + + float pt[3]; + dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt); + + float h = 0.0f; + dtStatus stat = getPolyHeight(randomPolyRef, pt, &h); + if (dtStatusFailed(status)) + return stat; + pt[1] = h; + + dtVcopy(randomPt, pt); + *randomRef = randomPolyRef; + + return DT_SUCCESS; +} + + ////////////////////////////////////////////////////////////////////////////////////////// + +/// @par +/// +/// Uses the detail polygons to find the surface height. (Most accurate.) +/// +/// @p pos does not have to be within the bounds of the polygon or navigation mesh. +/// +/// See closestPointOnPolyBoundary() for a limited but faster option. +/// dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const { dtAssert(m_nav); const dtMeshTile* tile = 0; const dtPoly* poly = 0; - if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS) - return DT_FAILURE; - if (!tile) return DT_FAILURE; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) + return DT_FAILURE | DT_INVALID_PARAM; + if (!tile) + return DT_FAILURE | DT_INVALID_PARAM; - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + // Edited by TC + if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) return DT_FAILURE; - if (closestPointOnPolyInTile(tile, poly, pos, closest) != DT_SUCCESS) - return DT_FAILURE; + closestPointOnPolyInTile(tile, poly, pos, closest); + return DT_SUCCESS; } -dtStatus dtNavMeshQuery::closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, - const float* pos, float* closest) const +void dtNavMeshQuery::closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, + const float* pos, float* closest) const { + // 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); + return; + } + const unsigned int ip = (unsigned int)(poly - tile->polys); const dtPolyDetail* pd = &tile->detailMeshes[ip]; - // TODO: The commented out version finds 'cylinder distance' instead of 'sphere distance' to the navmesh. - // Test and enable. -/* // Clamp point to be inside the polygon. float verts[DT_VERTS_PER_POLYGON*3]; float edged[DT_VERTS_PER_POLYGON]; @@ -233,8 +585,8 @@ dtStatus dtNavMeshQuery::closestPointOnPolyInTile(const dtMeshTile* tile, const break; } } -*/ - float closestDistSqr = FLT_MAX; + +/* float closestDistSqr = FLT_MAX; for (int j = 0; j < pd->triCount; ++j) { const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; @@ -256,19 +608,28 @@ dtStatus dtNavMeshQuery::closestPointOnPolyInTile(const dtMeshTile* tile, const dtVcopy(closest, pt); closestDistSqr = d; } - } - - return DT_SUCCESS; + }*/ } +/// @par +/// +/// Much faster than closestPointOnPoly(). +/// +/// If the provided position lies within the polygon's xz-bounds (above or below), +/// then @p pos and @p closest will be equal. +/// +/// The height of @p closest will be the polygon boundary. The height detail is not used. +/// +/// @p pos does not have to be within the bounds of the polybon or the navigation mesh. +/// dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const { dtAssert(m_nav); const dtMeshTile* tile = 0; const dtPoly* poly = 0; - if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS) - return DT_FAILURE; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) + return DT_FAILURE | DT_INVALID_PARAM; // Collect vertices. float verts[DT_VERTS_PER_POLYGON*3]; @@ -308,15 +669,19 @@ dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float* return DT_SUCCESS; } - +/// @par +/// +/// Will return #DT_FAILURE if the provided position is outside the xz-bounds +/// of the polygon. +/// dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* height) const { dtAssert(m_nav); const dtMeshTile* tile = 0; const dtPoly* poly = 0; - if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS) - return DT_FAILURE; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) + return DT_FAILURE | DT_INVALID_PARAM; if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) { @@ -354,9 +719,18 @@ dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* h } } - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; } +/// @par +/// +/// @note If the search box does not intersect any polygons the search will +/// return #DT_SUCCESS, but @p nearestRef will be zero. So if in doubt, check +/// @p nearestRef before using @p nearestPt. +/// +/// @warning This function is not suitable for large area searches. If the search +/// extents overlaps more than 128 polygons it may return an invalid result. +/// dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* extents, const dtQueryFilter* filter, dtPolyRef* nearestRef, float* nearestPt) const @@ -368,8 +742,8 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* exten // Get nearby polygons from proximity grid. dtPolyRef polys[128]; int polyCount = 0; - if (queryPolygons(center, extents, filter, polys, &polyCount, 128) != DT_SUCCESS) - return DT_FAILURE; + if (dtStatusFailed(queryPolygons(center, extents, filter, polys, &polyCount, 128))) + return DT_FAILURE | DT_INVALID_PARAM; // Find nearest polygon amongst the nearby polygons. dtPolyRef nearest = 0; @@ -378,8 +752,7 @@ dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* exten { dtPolyRef ref = polys[i]; float closestPtPoly[3]; - if (closestPointOnPoly(ref, center, closestPtPoly) != DT_SUCCESS) - continue; + closestPointOnPoly(ref, center, closestPtPoly); float d = dtVdistSqr(center, closestPtPoly); if (d < nearestDistanceSqr) { @@ -417,8 +790,7 @@ dtPolyRef dtNavMeshQuery::findNearestPolyInTile(const dtMeshTile* tile, const fl dtPolyRef ref = polys[i]; const dtPoly* poly = &tile->polys[m_nav->decodePolyIdPoly(ref)]; float closestPtPoly[3]; - if (closestPointOnPolyInTile(tile, poly, center, closestPtPoly) != DT_SUCCESS) - continue; + closestPointOnPolyInTile(tile, poly, center, closestPtPoly); float d = dtVdistSqr(center, closestPtPoly); if (d < nearestDistanceSqr) @@ -500,8 +872,15 @@ int dtNavMeshQuery::queryPolygonsInTile(const dtMeshTile* tile, const float* qmi const dtPolyRef base = m_nav->getPolyRefBase(tile); for (int i = 0; i < tile->header->polyCount; ++i) { + const dtPoly* p = &tile->polys[i]; + // Do not return off-mesh connection polygons. + if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) + continue; + // Must pass filter + const dtPolyRef ref = base | (dtPolyRef)i; + if (!filter->passFilter(ref, tile, p)) + continue; // Calc polygon bounds. - dtPoly* p = &tile->polys[i]; const float* v = &tile->verts[p->verts[0]*3]; dtVcopy(bmin, v); dtVcopy(bmax, v); @@ -513,18 +892,23 @@ int dtNavMeshQuery::queryPolygonsInTile(const dtMeshTile* tile, const float* qmi } if (dtOverlapBounds(qmin,qmax, bmin,bmax)) { - const dtPolyRef ref = base | (dtPolyRef)i; - if (filter->passFilter(ref, tile, p)) - { - if (n < maxPolys) - polys[n++] = ref; - } + if (n < maxPolys) + polys[n++] = ref; } } return n; } } +/// @par +/// +/// If no polygons are found, the function will return #DT_SUCCESS with a +/// @p polyCount of zero. +/// +/// If @p polys is too small to hold the entire result set, then the array will +/// be filled to capacity. The method of choosing which polygons from the +/// full set are included in the partial result set is undefined. +/// dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents, const dtQueryFilter* filter, dtPolyRef* polys, int* polyCount, const int maxPolys) const @@ -540,18 +924,23 @@ dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents m_nav->calcTileLoc(bmin, &minx, &miny); m_nav->calcTileLoc(bmax, &maxx, &maxy); + static const int MAX_NEIS = 32; + const dtMeshTile* neis[MAX_NEIS]; + int n = 0; for (int y = miny; y <= maxy; ++y) { for (int x = minx; x <= maxx; ++x) { - const dtMeshTile* tile = m_nav->getTileAt(x,y); - if (!tile) continue; - n += queryPolygonsInTile(tile, bmin, bmax, filter, polys+n, maxPolys-n); - if (n >= maxPolys) + const int nneis = m_nav->getTilesAt(x,y,neis,MAX_NEIS); + for (int j = 0; j < nneis; ++j) { - *polyCount = n; - return DT_SUCCESS; + n += queryPolygonsInTile(neis[j], bmin, bmax, filter, polys+n, maxPolys-n); + if (n >= maxPolys) + { + *polyCount = n; + return DT_SUCCESS | DT_BUFFER_TOO_SMALL; + } } } } @@ -560,6 +949,17 @@ dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* extents return DT_SUCCESS; } +/// @par +/// +/// If the end polygon cannot be reached through the navigation graph, +/// the last polygon in the path will be the nearest the end polygon. +/// +/// If the path array is to small to hold the full result, it will be filled as +/// far as possible from the start polygon toward the end polygon. +/// +/// The start and end positions are used to calculate traversal costs. +/// (The y-values impact the result.) +/// dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef, const float* startPos, const float* endPos, const dtQueryFilter* filter, @@ -572,14 +972,14 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef, *pathCount = 0; if (!startRef || !endRef) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; if (!maxPath) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; // Validate input if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef)) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; if (startRef == endRef) { @@ -603,6 +1003,8 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef, dtNode* lastBestNode = startNode; float lastBestNodeCost = startNode->total; + dtStatus status = DT_SUCCESS; + while (!m_openList->empty()) { // Remove node from open list and put it in closed list. @@ -652,7 +1054,10 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef, dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); if (!neighbourNode) + { + status |= DT_OUT_OF_NODES; continue; + } // If the node is visited the first time, calculate node position. if (neighbourNode->flags == 0) @@ -705,7 +1110,7 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef, // Add or update the node. neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); neighbourNode->id = neighbourRef; - neighbourNode->flags &= ~DT_NODE_CLOSED; + neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); neighbourNode->cost = cost; neighbourNode->total = total; @@ -730,6 +1135,9 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef, } } + if (lastBestNode->id != endRef) + status |= DT_PARTIAL_RESULT; + // Reverse the path. dtNode* prev = 0; dtNode* node = lastBestNode; @@ -748,15 +1156,28 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef, do { path[n++] = node->id; + if (n >= maxPath) + { + status |= DT_BUFFER_TOO_SMALL; + break; + } node = m_nodePool->getNodeAtIdx(node->pidx); } - while (node && n < maxPath); + while (node); *pathCount = n; - return DT_SUCCESS; + return status; } +/// @par +/// +/// @warning Calling any non-slice methods before calling finalizeSlicedFindPath() +/// or finalizeSlicedFindPathPartial() may result in corrupted data! +/// +/// The @p filter pointer is stored and used for the duration of the sliced +/// path query. +/// dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef, const float* startPos, const float* endPos, const dtQueryFilter* filter) @@ -775,11 +1196,11 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef m_query.filter = filter; if (!startRef || !endRef) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; // Validate input if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef)) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; if (startRef == endRef) { @@ -806,9 +1227,9 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef return m_query.status; } -dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter) +dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters) { - if (m_query.status!= DT_IN_PROGRESS) + if (!dtStatusInProgress(m_query.status)) return m_query.status; // Make sure the request is still valid. @@ -832,7 +1253,10 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter) if (bestNode->id == m_query.endRef) { m_query.lastBestNode = bestNode; - m_query.status = DT_SUCCESS; + const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; + m_query.status = DT_SUCCESS | details; + if (doneIters) + *doneIters = iter; return m_query.status; } @@ -841,10 +1265,12 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter) const dtPolyRef bestRef = bestNode->id; const dtMeshTile* bestTile = 0; const dtPoly* bestPoly = 0; - if (m_nav->getTileAndPolyByRef(bestRef, &bestTile, &bestPoly) != DT_SUCCESS) + if (dtStatusFailed(m_nav->getTileAndPolyByRef(bestRef, &bestTile, &bestPoly))) { // The polygon has disappeared during the sliced query, fail. m_query.status = DT_FAILURE; + if (doneIters) + *doneIters = iter; return m_query.status; } @@ -856,10 +1282,12 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter) parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; if (parentRef) { - if (m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly) != DT_SUCCESS) + if (dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly))) { // The polygon has disappeared during the sliced query, fail. m_query.status = DT_FAILURE; + if (doneIters) + *doneIters = iter; return m_query.status; } } @@ -883,7 +1311,10 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter) dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); if (!neighbourNode) + { + m_query.status |= DT_OUT_OF_NODES; continue; + } // If the node is visited the first time, calculate node position. if (neighbourNode->flags == 0) @@ -936,7 +1367,7 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter) // Add or update the node. neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); neighbourNode->id = neighbourRef; - neighbourNode->flags &= ~DT_NODE_CLOSED; + neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); neighbourNode->cost = cost; neighbourNode->total = total; @@ -963,7 +1394,13 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter) // Exhausted all nodes, but could not find path. if (m_openList->empty()) - m_query.status = DT_SUCCESS; + { + const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; + m_query.status = DT_SUCCESS | details; + } + + if (doneIters) + *doneIters = iter; return m_query.status; } @@ -972,7 +1409,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, { *pathCount = 0; - if (m_query.status != DT_SUCCESS) + if (dtStatusFailed(m_query.status)) { // Reset query. memset(&m_query, 0, sizeof(dtQueryData)); @@ -990,6 +1427,10 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, { // Reverse the path. dtAssert(m_query.lastBestNode); + + if (m_query.lastBestNode->id != m_query.endRef) + m_query.status |= DT_PARTIAL_RESULT; + dtNode* prev = 0; dtNode* node = m_query.lastBestNode; do @@ -1006,17 +1447,24 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, do { path[n++] = node->id; + if (n >= maxPath) + { + m_query.status |= DT_BUFFER_TOO_SMALL; + break; + } node = m_nodePool->getNodeAtIdx(node->pidx); } - while (node && n < maxPath); + while (node); } + const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; + // Reset query. memset(&m_query, 0, sizeof(dtQueryData)); *pathCount = n; - return DT_SUCCESS; + return DT_SUCCESS | details; } dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize, @@ -1029,7 +1477,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing return DT_FAILURE; } - if (m_query.status != DT_SUCCESS && m_query.status != DT_IN_PROGRESS) + if (dtStatusFailed(m_query.status)) { // Reset query. memset(&m_query, 0, sizeof(dtQueryData)); @@ -1057,7 +1505,9 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing if (!node) { - return DT_FAILURE; + m_query.status |= DT_PARTIAL_RESULT; + dtAssert(m_query.lastBestNode); + node = m_query.lastBestNode; } // Reverse the path. @@ -1075,58 +1525,156 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing do { path[n++] = node->id; + if (n >= maxPath) + { + m_query.status |= DT_BUFFER_TOO_SMALL; + break; + } node = m_nodePool->getNodeAtIdx(node->pidx); } - while (node && n < maxPath); + while (node); } + const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; + // Reset query. memset(&m_query, 0, sizeof(dtQueryData)); *pathCount = n; - return DT_SUCCESS; + return DT_SUCCESS | details; } +dtStatus dtNavMeshQuery::appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref, + float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, + int* straightPathCount, const int maxStraightPath) const +{ + if ((*straightPathCount) > 0 && dtVequal(&straightPath[((*straightPathCount)-1)*3], pos)) + { + // The vertices are equal, update flags and poly. + if (straightPathFlags) + straightPathFlags[(*straightPathCount)-1] = flags; + if (straightPathRefs) + straightPathRefs[(*straightPathCount)-1] = ref; + } + else + { + // Append new vertex. + dtVcopy(&straightPath[(*straightPathCount)*3], pos); + if (straightPathFlags) + straightPathFlags[(*straightPathCount)] = flags; + if (straightPathRefs) + straightPathRefs[(*straightPathCount)] = ref; + (*straightPathCount)++; + // If reached end of path or there is no space to append more vertices, return. + if (flags == DT_STRAIGHTPATH_END || (*straightPathCount) >= maxStraightPath) + { + return DT_SUCCESS | (((*straightPathCount) >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0); + } + } + return DT_IN_PROGRESS; +} + +dtStatus dtNavMeshQuery::appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path, + float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, + int* straightPathCount, const int maxStraightPath, const int options) const +{ + const float* startPos = &straightPath[(*straightPathCount-1)*3]; + // Append or update last vertex + dtStatus stat = 0; + for (int i = startIdx; i < endIdx; i++) + { + // Calculate portal + const dtPolyRef from = path[i]; + const dtMeshTile* fromTile = 0; + const dtPoly* fromPoly = 0; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly))) + return DT_FAILURE | DT_INVALID_PARAM; + + const dtPolyRef to = path[i+1]; + const dtMeshTile* toTile = 0; + const dtPoly* toPoly = 0; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(to, &toTile, &toPoly))) + return DT_FAILURE | DT_INVALID_PARAM; + + float left[3], right[3]; + if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right))) + break; + + if (options & DT_STRAIGHTPATH_AREA_CROSSINGS) + { + // Skip intersection if only area crossings are requested. + if (fromPoly->getArea() == toPoly->getArea()) + continue; + } + + // Append intersection + float s,t; + if (dtIntersectSegSeg2D(startPos, endPos, left, right, s, t)) + { + float pt[3]; + dtVlerp(pt, left,right, t); + + stat = appendVertex(pt, 0, path[i+1], + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); + if (stat != DT_IN_PROGRESS) + return stat; + } + } + return DT_IN_PROGRESS; +} + +/// @par +/// +/// This method peforms what is often called 'string pulling'. +/// +/// The start position is clamped to the first polygon in the path, and the +/// end position is clamped to the last. So the start and end positions should +/// normally be within or very near the first and last polygons respectively. +/// +/// The returned polygon references represent the reference id of the polygon +/// that is entered at the associated path position. The reference id associated +/// with the end point will always be zero. This allows, for example, matching +/// off-mesh link points to their representative polygons. +/// +/// If the provided result buffers are too small for the entire result set, +/// they will be filled as far as possible from the start toward the end +/// position. +/// dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* endPos, const dtPolyRef* path, const int pathSize, float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath) const + int* straightPathCount, const int maxStraightPath, const int options) const { dtAssert(m_nav); *straightPathCount = 0; if (!maxStraightPath) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; if (!path[0]) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; - int n = 0; + dtStatus stat = 0; // TODO: Should this be callers responsibility? float closestStartPos[3]; - if (closestPointOnPolyBoundary(path[0], startPos, closestStartPos) != DT_SUCCESS) - return DT_FAILURE; + if (dtStatusFailed(closestPointOnPolyBoundary(path[0], startPos, closestStartPos))) + return DT_FAILURE | DT_INVALID_PARAM; + + float closestEndPos[3]; + if (dtStatusFailed(closestPointOnPolyBoundary(path[pathSize-1], endPos, closestEndPos))) + return DT_FAILURE | DT_INVALID_PARAM; // Add start point. - dtVcopy(&straightPath[n*3], closestStartPos); - if (straightPathFlags) - straightPathFlags[n] = DT_STRAIGHTPATH_START; - if (straightPathRefs) - straightPathRefs[n] = path[0]; - n++; - if (n >= maxStraightPath) - { - *straightPathCount = n; - return DT_SUCCESS; - } - - float closestEndPos[3]; - if (closestPointOnPolyBoundary(path[pathSize-1], endPos, closestEndPos) != DT_SUCCESS) - return DT_FAILURE; + stat = appendVertex(closestStartPos, DT_STRAIGHTPATH_START, path[0], + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); + if (stat != DT_IN_PROGRESS) + return stat; if (pathSize > 1) { @@ -1152,19 +1700,30 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en if (i+1 < pathSize) { // Next portal. - if (getPortalPoints(path[i], path[i+1], left, right, fromType, toType) != DT_SUCCESS) + if (dtStatusFailed(getPortalPoints(path[i], path[i+1], left, right, fromType, toType))) { - if (closestPointOnPolyBoundary(path[i], endPos, closestEndPos) != DT_SUCCESS) - return DT_FAILURE; + // Failed to get portal points, in practice this means that path[i+1] is invalid polygon. + // Clamp the end point to path[i], and return the path so far. - dtVcopy(&straightPath[n*3], closestEndPos); - if (straightPathFlags) - straightPathFlags[n] = 0; - if (straightPathRefs) - straightPathRefs[n] = path[i]; - n++; + if (dtStatusFailed(closestPointOnPolyBoundary(path[i], endPos, closestEndPos))) + { + // This should only happen when the first polygon is invalid. + return DT_FAILURE | DT_INVALID_PARAM; + } + + // Apeend portals along the current straight path segment. + if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) + { + stat = appendPortals(apexIndex, i, closestEndPos, path, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath, options); + } + + stat = appendVertex(closestEndPos, 0, path[i], + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); - return DT_SUCCESS; + return DT_SUCCESS | DT_PARTIAL_RESULT | ((*straightPathCount >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0); } // If starting really close the portal, advance. @@ -1196,6 +1755,16 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en } else { + // Append portals along the current straight path segment. + if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) + { + stat = appendPortals(apexIndex, leftIndex, portalLeft, path, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath, options); + if (stat != DT_IN_PROGRESS) + return stat; + } + dtVcopy(portalApex, portalLeft); apexIndex = leftIndex; @@ -1206,30 +1775,12 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION; dtPolyRef ref = leftPolyRef; - if (!dtVequal(&straightPath[(n-1)*3], portalApex)) - { - // Append new vertex. - dtVcopy(&straightPath[n*3], portalApex); - if (straightPathFlags) - straightPathFlags[n] = flags; - if (straightPathRefs) - straightPathRefs[n] = ref; - n++; - // If reached end of path or there is no space to append more vertices, return. - if (flags == DT_STRAIGHTPATH_END || n >= maxStraightPath) - { - *straightPathCount = n; - return DT_SUCCESS; - } - } - else - { - // The vertices are equal, update flags and poly. - if (straightPathFlags) - straightPathFlags[n-1] = flags; - if (straightPathRefs) - straightPathRefs[n-1] = ref; - } + // Append or update vertex + stat = appendVertex(portalApex, flags, ref, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); + if (stat != DT_IN_PROGRESS) + return stat; dtVcopy(portalLeft, portalApex); dtVcopy(portalRight, portalApex); @@ -1255,6 +1806,16 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en } else { + // Append portals along the current straight path segment. + if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) + { + stat = appendPortals(apexIndex, rightIndex, portalRight, path, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath, options); + if (stat != DT_IN_PROGRESS) + return stat; + } + dtVcopy(portalApex, portalRight); apexIndex = rightIndex; @@ -1264,31 +1825,13 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en else if (rightPolyType == DT_POLYTYPE_OFFMESH_CONNECTION) flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION; dtPolyRef ref = rightPolyRef; - - if (!dtVequal(&straightPath[(n-1)*3], portalApex)) - { - // Append new vertex. - dtVcopy(&straightPath[n*3], portalApex); - if (straightPathFlags) - straightPathFlags[n] = flags; - if (straightPathRefs) - straightPathRefs[n] = ref; - n++; - // If reached end of path or there is no space to append more vertices, return. - if (flags == DT_STRAIGHTPATH_END || n >= maxStraightPath) - { - *straightPathCount = n; - return DT_SUCCESS; - } - } - else - { - // The vertices are equal, update flags and poly. - if (straightPathFlags) - straightPathFlags[n-1] = flags; - if (straightPathRefs) - straightPathRefs[n-1] = ref; - } + + // Append or update vertex + stat = appendVertex(portalApex, flags, ref, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); + if (stat != DT_IN_PROGRESS) + return stat; dtVcopy(portalLeft, portalApex); dtVcopy(portalRight, portalApex); @@ -1302,27 +1845,45 @@ dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* en } } } + + // Append portals along the current straight path segment. + if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) + { + stat = appendPortals(apexIndex, pathSize-1, closestEndPos, path, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath, options); + if (stat != DT_IN_PROGRESS) + return stat; + } } + + stat = appendVertex(closestEndPos, DT_STRAIGHTPATH_END, 0, + straightPath, straightPathFlags, straightPathRefs, + straightPathCount, maxStraightPath); - // If the point already exists, remove it and add reappend the actual end location. - if (n > 0 && dtVequal(&straightPath[(n-1)*3], closestEndPos)) - n--; - - // Add end point. - if (n < maxStraightPath) - { - dtVcopy(&straightPath[n*3], closestEndPos); - if (straightPathFlags) - straightPathFlags[n] = DT_STRAIGHTPATH_END; - if (straightPathRefs) - straightPathRefs[n] = 0; - n++; - } - - *straightPathCount = n; - return DT_SUCCESS; + return DT_SUCCESS | ((*straightPathCount >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0); } +/// @par +/// +/// This method is optimized for small delta movement and a small number of +/// polygons. If used for too great a distance, the result set will form an +/// incomplete path. +/// +/// @p resultPos will equal the @p endPos if the end is reached. +/// Otherwise the closest reachable position will be returned. +/// +/// @p resultPos is not projected onto the surface of the navigation +/// mesh. Use #getPolyHeight if this is needed. +/// +/// This method treats the end position in the same manner as +/// the #raycast method. (As a 2D point.) See that method's documentation +/// for details. +/// +/// If the @p visited array is too small to hold the entire result set, it will +/// be filled as far as possible from the start position toward the end +/// position. +/// dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos, const dtQueryFilter* filter, float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const @@ -1333,8 +1894,12 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start *visitedCount = 0; // Validate input - if (!startRef) return DT_FAILURE; - if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE; + if (!startRef) + return DT_FAILURE | DT_INVALID_PARAM; + if (!m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; + + dtStatus status = DT_SUCCESS; static const int MAX_STACK = 48; dtNode* stack[MAX_STACK]; @@ -1499,16 +2064,21 @@ dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* start do { visited[n++] = node->id; + if (n >= maxVisitedSize) + { + status |= DT_BUFFER_TOO_SMALL; + break; + } node = m_tinyNodePool->getNodeAtIdx(node->pidx); } - while (node && n < maxVisitedSize); + while (node); } dtVcopy(resultPos, bestPos); *visitedCount = n; - return DT_SUCCESS; + return status; } @@ -1519,14 +2089,14 @@ dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, dtPolyRef to, float* le const dtMeshTile* fromTile = 0; const dtPoly* fromPoly = 0; - if (m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly) != DT_SUCCESS) - return DT_FAILURE; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly))) + return DT_FAILURE | DT_INVALID_PARAM; fromType = fromPoly->getType(); const dtMeshTile* toTile = 0; const dtPoly* toPoly = 0; - if (m_nav->getTileAndPolyByRef(to, &toTile, &toPoly) != DT_SUCCESS) - return DT_FAILURE; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(to, &toTile, &toPoly))) + return DT_FAILURE | DT_INVALID_PARAM; toType = toPoly->getType(); return getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right); @@ -1548,7 +2118,7 @@ dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, } } if (!link) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; // Handle off-mesh connections. if (fromPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) @@ -1564,7 +2134,7 @@ dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, return DT_SUCCESS; } } - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; } if (toPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) @@ -1579,7 +2149,7 @@ dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, return DT_SUCCESS; } } - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; } // Find portal vertices. @@ -1611,7 +2181,8 @@ dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mi { float left[3], right[3]; unsigned char fromType, toType; - if (!getPortalPoints(from, to, left,right, fromType, toType)) return DT_FAILURE; + if (dtStatusFailed(getPortalPoints(from, to, left,right, fromType, toType))) + return DT_FAILURE | DT_INVALID_PARAM; mid[0] = (left[0]+right[0])*0.5f; mid[1] = (left[1]+right[1])*0.5f; mid[2] = (left[2]+right[2])*0.5f; @@ -1623,14 +2194,52 @@ dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, float* mid) const { float left[3], right[3]; - if (getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right) != DT_SUCCESS) - return DT_FAILURE; + if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right))) + return DT_FAILURE | DT_INVALID_PARAM; mid[0] = (left[0]+right[0])*0.5f; mid[1] = (left[1]+right[1])*0.5f; mid[2] = (left[2]+right[2])*0.5f; return DT_SUCCESS; } +/// @par +/// +/// This method is meant to be used for quick, short distance checks. +/// +/// If the path array is too small to hold the result, it will be filled as +/// far as possible from the start postion toward the end position. +/// +/// <b>Using the Hit Parameter (t)</b> +/// +/// If the hit parameter is a very high value (FLT_MAX), then the ray has hit +/// the end position. In this case the path represents a valid corridor to the +/// end position and the value of @p hitNormal is undefined. +/// +/// If the hit parameter is zero, then the start position is on the wall that +/// was hit and the value of @p hitNormal is undefined. +/// +/// If 0 < t < 1.0 then the following applies: +/// +/// @code +/// distanceToHitBorder = distanceToEndPosition * t +/// hitPoint = startPos + (endPos - startPos) * t +/// @endcode +/// +/// <b>Use Case Restriction</b> +/// +/// The raycast ignores the y-value of the end position. (2D check.) This +/// places significant limits on how it can be used. For example: +/// +/// Consider a scene where there is a main floor with a second floor balcony +/// that hangs over the main floor. So the first floor mesh extends below the +/// balcony mesh. The start position is somewhere on the first floor. The end +/// position is on the balcony. +/// +/// The raycast will search toward the end position along the first floor mesh. +/// If it reaches the end position's xz-coordinates it will indicate FLT_MAX +/// (no wall hit), meaning it reached the end position. This is one example of why +/// this method is meant for short distance checks. +/// dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos, const dtQueryFilter* filter, float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const @@ -1643,7 +2252,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons // Validate input if (!startRef || !m_nav->isValidPolyRef(startRef)) - return DT_FAILURE; + return DT_FAILURE | DT_INVALID_PARAM; dtPolyRef curRef = startRef; float verts[DT_VERTS_PER_POLYGON*3]; @@ -1653,6 +2262,8 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons hitNormal[1] = 0; hitNormal[2] = 0; + dtStatus status = DT_SUCCESS; + while (curRef) { // Cast ray against current polygon. @@ -1677,7 +2288,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons // Could not hit the polygon, keep the old t and report hit. if (pathCount) *pathCount = n; - return DT_SUCCESS; + return status; } // Keep track of furthest t so far. if (tmax > *t) @@ -1686,6 +2297,8 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons // Store visited polygons. if (n < maxPath) path[n++] = curRef; + else + status |= DT_BUFFER_TOO_SMALL; // Ray end is completely inside the polygon. if (segMax == -1) @@ -1693,7 +2306,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons *t = FLT_MAX; if (pathCount) *pathCount = n; - return DT_SUCCESS; + return status; } // Follow neighbours. @@ -1795,7 +2408,7 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons if (pathCount) *pathCount = n; - return DT_SUCCESS; + return status; } // No hit, advance to neighbour polygon. @@ -1805,9 +2418,38 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons if (pathCount) *pathCount = n; - return DT_SUCCESS; + return status; } +/// @par +/// +/// At least one result array must be provided. +/// +/// The order of the result set is from least to highest cost to reach the polygon. +/// +/// A common use case for this method is to perform Dijkstra searches. +/// Candidate polygons are found by searching the graph beginning at the start polygon. +/// +/// If a polygon is not found via the graph search, even if it intersects the +/// search circle, it will not be included in the result set. For example: +/// +/// polyA is the start polygon. +/// polyB shares an edge with polyA. (Is adjacent.) +/// polyC shares an edge with polyB, but not with polyA +/// Even if the search circle overlaps polyC, it will not be included in the +/// result set unless polyB is also in the set. +/// +/// The value of the center point is used as the start position for cost +/// calculations. It is not projected onto the surface of the mesh, so its +/// y-value will effect the costs. +/// +/// Intersection tests occur in 2D. All polygons and the search circle are +/// projected onto the xz-plane. So the y-value of the center point does not +/// effect intersection tests. +/// +/// If the result arrays are to small to hold the entire result set, they will be +/// filled to capacity. +/// dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius, const dtQueryFilter* filter, dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, @@ -1820,8 +2462,8 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* *resultCount = 0; // Validate input - if (!startRef) return DT_FAILURE; - if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE; + if (!startRef || !m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; m_nodePool->clear(); m_openList->clear(); @@ -1835,6 +2477,8 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* startNode->flags = DT_NODE_OPEN; m_openList->push(startNode); + dtStatus status = DT_SUCCESS; + int n = 0; if (n < maxResult) { @@ -1846,6 +2490,10 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* resultCost[n] = 0; ++n; } + else + { + status |= DT_BUFFER_TOO_SMALL; + } const float radiusSqr = dtSqr(radius); @@ -1901,7 +2549,10 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); if (!neighbourNode) + { + status |= DT_OUT_OF_NODES; continue; + } if (neighbourNode->flags & DT_NODE_CLOSED) continue; @@ -1917,7 +2568,7 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* continue; neighbourNode->id = neighbourRef; - neighbourNode->flags &= ~DT_NODE_CLOSED; + neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); neighbourNode->total = total; @@ -1937,6 +2588,10 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* resultCost[n] = neighbourNode->total; ++n; } + else + { + status |= DT_BUFFER_TOO_SMALL; + } neighbourNode->flags = DT_NODE_OPEN; m_openList->push(neighbourNode); } @@ -1945,9 +2600,31 @@ dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* *resultCount = n; - return DT_SUCCESS; + return status; } +/// @par +/// +/// The order of the result set is from least to highest cost. +/// +/// At least one result array must be provided. +/// +/// A common use case for this method is to perform Dijkstra searches. +/// Candidate polygons are found by searching the graph beginning at the start +/// polygon. +/// +/// The same intersection test restrictions that apply to findPolysAroundCircle() +/// method apply to this method. +/// +/// The 3D centroid of the search polygon is used as the start position for cost +/// calculations. +/// +/// Intersection tests occur in 2D. All polygons are projected onto the +/// xz-plane. So the y-values of the vertices do not effect intersection tests. +/// +/// If the result arrays are is too small to hold the entire result set, they will +/// be filled to capacity. +/// dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts, const dtQueryFilter* filter, dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, @@ -1960,8 +2637,8 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v *resultCount = 0; // Validate input - if (!startRef) return DT_FAILURE; - if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE; + if (!startRef || !m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; m_nodePool->clear(); m_openList->clear(); @@ -1980,6 +2657,8 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v startNode->flags = DT_NODE_OPEN; m_openList->push(startNode); + dtStatus status = DT_SUCCESS; + int n = 0; if (n < maxResult) { @@ -1991,6 +2670,10 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v resultCost[n] = 0; ++n; } + else + { + status |= DT_BUFFER_TOO_SMALL; + } while (!m_openList->empty()) { @@ -2046,7 +2729,10 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); if (!neighbourNode) + { + status |= DT_OUT_OF_NODES; continue; + } if (neighbourNode->flags & DT_NODE_CLOSED) continue; @@ -2062,7 +2748,7 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v continue; neighbourNode->id = neighbourRef; - neighbourNode->flags &= ~DT_NODE_CLOSED; + neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); neighbourNode->total = total; @@ -2082,6 +2768,10 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v resultCost[n] = neighbourNode->total; ++n; } + else + { + status |= DT_BUFFER_TOO_SMALL; + } neighbourNode->flags = DT_NODE_OPEN; m_openList->push(neighbourNode); } @@ -2090,9 +2780,31 @@ dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* v *resultCount = n; - return DT_SUCCESS; + return status; } +/// @par +/// +/// This method is optimized for a small search radius and small number of result +/// polygons. +/// +/// Candidate polygons are found by searching the navigation graph beginning at +/// the start polygon. +/// +/// The same intersection test restrictions that apply to the findPolysAroundCircle +/// mehtod applies to this method. +/// +/// The value of the center point is used as the start point for cost calculations. +/// It is not projected onto the surface of the mesh, so its y-value will effect +/// the costs. +/// +/// Intersection tests occur in 2D. All polygons and the search circle are +/// projected onto the xz-plane. So the y-value of the center point does not +/// effect intersection tests. +/// +/// If the result arrays are is too small to hold the entire result set, they will +/// be filled to capacity. +/// dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius, const dtQueryFilter* filter, dtPolyRef* resultRef, dtPolyRef* resultParent, @@ -2104,8 +2816,8 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* *resultCount = 0; // Validate input - if (!startRef) return DT_FAILURE; - if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE; + if (!startRef || !m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; static const int MAX_STACK = 48; dtNode* stack[MAX_STACK]; @@ -2124,6 +2836,8 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* float pa[DT_VERTS_PER_POLYGON*3]; float pb[DT_VERTS_PER_POLYGON*3]; + dtStatus status = DT_SUCCESS; + int n = 0; if (n < maxResult) { @@ -2132,6 +2846,10 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* resultParent[n] = 0; ++n; } + else + { + status |= DT_BUFFER_TOO_SMALL; + } while (nstack) { @@ -2245,6 +2963,10 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* resultParent[n] = curRef; ++n; } + else + { + status |= DT_BUFFER_TOO_SMALL; + } if (nstack < MAX_STACK) { @@ -2255,17 +2977,18 @@ dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* *resultCount = n; - return DT_SUCCESS; + return status; } struct dtSegInterval { + dtPolyRef ref; short tmin, tmax; }; static void insertInterval(dtSegInterval* ints, int& nints, const int maxInts, - const short tmin, const short tmax) + const short tmin, const short tmax, const dtPolyRef ref) { if (nints+1 > maxInts) return; // Find insertion point. @@ -2280,13 +3003,26 @@ static void insertInterval(dtSegInterval* ints, int& nints, const int maxInts, if (nints-idx) memmove(ints+idx+1, ints+idx, sizeof(dtSegInterval)*(nints-idx)); // Store + ints[idx].ref = ref; ints[idx].tmin = tmin; ints[idx].tmax = tmax; nints++; } +/// @par +/// +/// If the @p segmentRefs parameter is provided, then all polygon segments will be returned. +/// Otherwise only the wall segments are returned. +/// +/// A segment that is normally a portal will be included in the result set as a +/// wall if the @p filter results in the neighbor polygon becoomming impassable. +/// +/// The @p segmentVerts and @p segmentRefs buffers should normally be sized for the +/// maximum segments per polygon of the source navigation mesh. +/// dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter, - float* segments, int* segmentCount, const int maxSegments) const + float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount, + const int maxSegments) const { dtAssert(m_nav); @@ -2294,14 +3030,18 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* const dtMeshTile* tile = 0; const dtPoly* poly = 0; - if (m_nav->getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS) - return DT_FAILURE; + if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) + return DT_FAILURE | DT_INVALID_PARAM; int n = 0; static const int MAX_INTERVAL = 16; dtSegInterval ints[MAX_INTERVAL]; int nints; + const bool storePortals = segmentRefs != 0; + + dtStatus status = DT_SUCCESS; + for (int i = 0, j = (int)poly->vertCount-1; i < (int)poly->vertCount; j = i++) { // Skip non-solid edges. @@ -2321,54 +3061,95 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly); if (filter->passFilter(link->ref, neiTile, neiPoly)) { - insertInterval(ints, nints, MAX_INTERVAL, link->bmin, link->bmax); + insertInterval(ints, nints, MAX_INTERVAL, link->bmin, link->bmax, link->ref); } } } } } - else if (poly->neis[j]) + else { // Internal edge - const unsigned int idx = (unsigned int)(poly->neis[j]-1); - const dtPolyRef ref = m_nav->getPolyRefBase(tile) | idx; - if (filter->passFilter(ref, tile, &tile->polys[idx])) + dtPolyRef neiRef = 0; + if (poly->neis[j]) + { + const unsigned int idx = (unsigned int)(poly->neis[j]-1); + neiRef = m_nav->getPolyRefBase(tile) | idx; + if (!filter->passFilter(neiRef, tile, &tile->polys[idx])) + neiRef = 0; + } + + // If the edge leads to another polygon and portals are not stored, skip. + if (neiRef != 0 && !storePortals) continue; + + if (n < maxSegments) + { + const float* vj = &tile->verts[poly->verts[j]*3]; + const float* vi = &tile->verts[poly->verts[i]*3]; + float* seg = &segmentVerts[n*6]; + dtVcopy(seg+0, vj); + dtVcopy(seg+3, vi); + if (segmentRefs) + segmentRefs[n] = neiRef; + n++; + } + else + { + status |= DT_BUFFER_TOO_SMALL; + } + + continue; } // Add sentinels - insertInterval(ints, nints, MAX_INTERVAL, -1, 0); - insertInterval(ints, nints, MAX_INTERVAL, 255, 256); + insertInterval(ints, nints, MAX_INTERVAL, -1, 0, 0); + insertInterval(ints, nints, MAX_INTERVAL, 255, 256, 0); - // Store segment. + // Store segments. const float* vj = &tile->verts[poly->verts[j]*3]; const float* vi = &tile->verts[poly->verts[i]*3]; for (int k = 1; k < nints; ++k) { - // Find the space inbetween the opening areas. - const int imin = ints[k-1].tmax; - const int imax = ints[k].tmin; - if (imin == imax) continue; - if (imin == 0 && imax == 255) + // Portal segment. + if (storePortals && ints[k].ref) { + const float tmin = ints[k].tmin/255.0f; + const float tmax = ints[k].tmax/255.0f; if (n < maxSegments) { - float* seg = &segments[n*6]; + float* seg = &segmentVerts[n*6]; + dtVlerp(seg+0, vj,vi, tmin); + dtVlerp(seg+3, vj,vi, tmax); + if (segmentRefs) + segmentRefs[n] = ints[k].ref; n++; - dtVcopy(seg+0, vj); - dtVcopy(seg+3, vi); + } + else + { + status |= DT_BUFFER_TOO_SMALL; } } - else + + // Wall segment. + const int imin = ints[k-1].tmax; + const int imax = ints[k].tmin; + if (imin != imax) { const float tmin = imin/255.0f; const float tmax = imax/255.0f; if (n < maxSegments) { - float* seg = &segments[n*6]; - n++; + float* seg = &segmentVerts[n*6]; dtVlerp(seg+0, vj,vi, tmin); dtVlerp(seg+3, vj,vi, tmax); + if (segmentRefs) + segmentRefs[n] = 0; + n++; + } + else + { + status |= DT_BUFFER_TOO_SMALL; } } } @@ -2376,9 +3157,19 @@ dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* *segmentCount = n; - return DT_SUCCESS; + return status; } +/// @par +/// +/// @p hitPos is not adjusted using the height detail data. +/// +/// @p hitDist will equal the search radius if there is no wall within the +/// radius. In this case the values of @p hitPos and @p hitNormal are +/// undefined. +/// +/// The normal will become unpredicable if @p hitDist is a very small number. +/// dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius, const dtQueryFilter* filter, float* hitDist, float* hitPos, float* hitNormal) const @@ -2388,8 +3179,8 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen dtAssert(m_openList); // Validate input - if (!startRef) return DT_FAILURE; - if (!m_nav->isValidPolyRef(startRef)) return DT_FAILURE; + if (!startRef || !m_nav->isValidPolyRef(startRef)) + return DT_FAILURE | DT_INVALID_PARAM; m_nodePool->clear(); m_openList->clear(); @@ -2405,6 +3196,8 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen float radiusSqr = dtSqr(maxRadius); + dtStatus status = DT_SUCCESS; + while (!m_openList->empty()) { dtNode* bestNode = m_openList->pop(); @@ -2512,7 +3305,10 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); if (!neighbourNode) + { + status |= DT_OUT_OF_NODES; continue; + } if (neighbourNode->flags & DT_NODE_CLOSED) continue; @@ -2531,7 +3327,7 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen continue; neighbourNode->id = neighbourRef; - neighbourNode->flags &= ~DT_NODE_CLOSED; + neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); neighbourNode->total = total; @@ -2551,11 +3347,30 @@ dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* cen dtVsub(hitNormal, centerPos, hitPos); dtVnormalize(hitNormal); - *hitDist = sqrtf(radiusSqr); + *hitDist = dtSqrt(radiusSqr); - return DT_SUCCESS; + return status; +} + +bool dtNavMeshQuery::isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const +{ + const dtMeshTile* tile = 0; + const dtPoly* poly = 0; + dtStatus status = m_nav->getTileAndPolyByRef(ref, &tile, &poly); + // If cannot get polygon, assume it does not exists and boundary is invalid. + if (dtStatusFailed(status)) + return false; + // If cannot pass filter, assume flags has changed and boundary is invalid. + if (!filter->passFilter(ref, tile, poly)) + return false; + return true; } +/// @par +/// +/// The closed list is the list of polygons that were fully evaluated during +/// the last navigation graph search. (A* or Dijkstra) +/// bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const { if (!m_nodePool) return false; diff --git a/dep/recastnavigation/Detour/DetourNavMeshQuery.h b/dep/recastnavigation/Detour/DetourNavMeshQuery.h index f5046d83290..d431bf177bd 100644 --- a/dep/recastnavigation/Detour/DetourNavMeshQuery.h +++ b/dep/recastnavigation/Detour/DetourNavMeshQuery.h @@ -20,39 +20,31 @@ #define DETOURNAVMESHQUERY_H #include "DetourNavMesh.h" +#include "DetourStatus.h" // Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter. // On certain platforms indirect or virtual function call is expensive. The default -// setting is to use non-virtual functions, the actualy implementations of the functions +// setting is to use non-virtual functions, the actual implementations of the functions // are declared as inline for maximum speed. //#define DT_VIRTUAL_QUERYFILTER 1 -// Class for polygon filtering and cost calculation during query operations. -// - It is possible to derive a custom query filter from dtQueryFilter by overriding -// the virtual functions passFilter() and getCost(). -// - Both functions should be as fast as possible. Use cached local copy of data -// instead of accessing your own objects where possible. -// - You do not need to adhere to the flags and cost logic provided by the default -// implementation. -// - In order for the A* to work properly, the cost should be proportional to -// the travel distance. Using cost modifier less than 1.0 is likely to lead -// to problems during pathfinding. +/// Defines polygon filtering and traversal costs for navigation mesh query operations. +/// @ingroup detour class dtQueryFilter { - float m_areaCost[DT_MAX_AREAS]; // Array storing cost per area type, used by default implementation. - unsigned short m_includeFlags; // Include poly flags, used by default implementation. - unsigned short m_excludeFlags; // Exclude poly flags, used by default implementation. + float m_areaCost[DT_MAX_AREAS]; ///< Cost per area type. (Used by default implementation.) + unsigned short m_includeFlags; ///< Flags for polygons that can be visited. (Used by default implementation.) + unsigned short m_excludeFlags; ///< Flags for polygons that should not be visted. (Used by default implementation.) public: dtQueryFilter(); - // Returns true if the polygon is can visited. - // Params: - // ref - (in) reference to the polygon test. - // tile - (in) pointer to the tile of the polygon test. - // poly - (in) pointer to the polygon test. + /// Returns true if the polygon can be visited. (I.e. Is traversable.) + /// @param[in] ref The reference id of the polygon test. + /// @param[in] tile The tile containing the polygon. + /// @param[in] poly The polygon to test. #ifdef DT_VIRTUAL_QUERYFILTER virtual bool passFilter(const dtPolyRef ref, const dtMeshTile* tile, @@ -63,16 +55,19 @@ public: const dtPoly* poly) const; #endif - // Returns cost to travel from 'pa' to 'pb'.' - // The segment is fully contained inside 'cur'. - // 'pa' lies on the edge between 'prev' and 'cur', - // 'pb' lies on the edge between 'cur' and 'next'. - // Params: - // pa - (in) segment start position. - // pb - (in) segment end position. - // prevRef, prevTile, prevPoly - (in) data describing the previous polygon, can be null. - // curRef, curTile, curPoly - (in) data describing the current polygon. - // nextRef, nextTile, nextPoly - (in) data describing the next polygon, can be null. + /// Returns cost to move from the beginning to the end of a line segment + /// that is fully contained within a polygon. + /// @param[in] pa The start position on the edge of the previous and current polygon. [(x, y, z)] + /// @param[in] pb The end position on the edge of the current and next polygon. [(x, y, z)] + /// @param[in] prevRef The reference id of the previous polygon. [opt] + /// @param[in] prevTile The tile containing the previous polygon. [opt] + /// @param[in] prevPoly The previous polygon. [opt] + /// @param[in] curRef The reference id of the current polygon. + /// @param[in] curTile The tile containing the current polygon. + /// @param[in] curPoly The current polygon. + /// @param[in] nextRef The refernece id of the next polygon. [opt] + /// @param[in] nextTile The tile containing the next polygon. [opt] + /// @param[in] nextPoly The next polygon. [opt] #ifdef DT_VIRTUAL_QUERYFILTER virtual float getCost(const float* pa, const float* pb, const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly, @@ -84,305 +79,385 @@ public: const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly, const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const; #endif - - // Getters and setters for the default implementation data. + + /// @name Getters and setters for the default implementation data. + ///@{ + + /// Returns the traversal cost of the area. + /// @param[in] i The id of the area. + /// @returns The traversal cost of the area. inline float getAreaCost(const int i) const { return m_areaCost[i]; } + + /// Sets the traversal cost of the area. + /// @param[in] i The id of the area. + /// @param[in] cost The new cost of traversing the area. inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; } + /// Returns the include flags for the filter. + /// Any polygons that include one or more of these flags will be + /// included in the operation. inline unsigned short getIncludeFlags() const { return m_includeFlags; } + + /// Sets the include flags for the filter. + /// @param[in] flags The new flags. inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; } + /// Returns the exclude flags for the filter. + /// Any polygons that include one ore more of these flags will be + /// excluded from the operation. inline unsigned short getExcludeFlags() const { return m_excludeFlags; } + + /// Sets the exclude flags for the filter. + /// @param[in] flags The new flags. inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; } + + ///@} + }; +/// Provides the ability to perform pathfinding related queries against +/// a navigation mesh. +/// @ingroup detour class dtNavMeshQuery { public: dtNavMeshQuery(); ~dtNavMeshQuery(); - // Initializes the nav mesh query. - // Params: - // nav - (in) pointer to navigation mesh data. - // maxNodes - (in) Maximum number of search nodes to use (max 65536). - // Returns: True if succeed, else false. + /// Initializes the query object. + /// @param[in] nav Pointer to the dtNavMesh object to use for all queries. + /// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65536] + /// @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; - - // Finds path from start polygon to end polygon. - // If target polygon canno be reached through the navigation graph, - // the last node on the array is nearest node to the end polygon. - // Start end end positions are needed to calculate more accurate - // traversal cost at start end end polygons. - // Params: - // startRef - (in) ref to path start polygon. - // endRef - (in) ref to path end polygon. - // startPos[3] - (in) Path start location. - // endPos[3] - (in) Path end location. - // filter - (in) path polygon filter. - // path - (out) array holding the search result. - // pathCount - (out) Number of polygons in search result array. - // maxPath - (in) The max number of polygons the path array can hold. Must be at least 1. + /// @name Standard Pathfinding Functions + // /@{ + + /// Finds a path from the start polygon to the end polygon. + /// @param[in] startRef The refrence id of the start polygon. + /// @param[in] endRef The reference id of the end polygon. + /// @param[in] startPos A position within the start polygon. [(x, y, z)] + /// @param[in] endPos A position within the end polygon. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @param[out] pathCount The number of polygons returned in the @p path array. + /// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 1] dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef, const float* startPos, const float* endPos, const dtQueryFilter* filter, dtPolyRef* path, int* pathCount, const int maxPath) const; - // Intializes sliced path find query. - // Note 1: calling any other dtNavMeshQuery method before calling findPathEnd() - // may results in corrupted data! - // Note 2: The pointer to filter is store, and used in subsequent - // calls to updateSlicedFindPath(). - // Params: - // startRef - (in) ref to path start polygon. - // endRef - (in) ref to path end polygon. - // startPos[3] - (in) Path start location. - // endPos[3] - (in) Path end location. - // filter - (in) path polygon filter. + /// Finds the straight path from the start to the end position within the polygon corridor. + /// @param[in] startPos Path start position. [(x, y, z)] + /// @param[in] endPos Path end position. [(x, y, z)] + /// @param[in] path An array of polygon references that represent the path corridor. + /// @param[in] pathSize The number of polygons in the @p path array. + /// @param[out] straightPath Points describing the straight path. [(x, y, z) * @p straightPathCount]. + /// @param[out] straightPathFlags Flags describing each point. (See: #dtStraightPathFlags) [opt] + /// @param[out] straightPathRefs The reference id of the polygon that is being entered at each point. [opt] + /// @param[out] straightPathCount The number of points in the straight path. + /// @param[in] maxStraightPath The maximum number of points the straight path arrays can hold. [Limit: > 0] + /// @param[in] options Query options. (see: #dtStraightPathOptions) + /// @returns The status flags for the query. + dtStatus findStraightPath(const float* startPos, const float* endPos, + const dtPolyRef* path, const int pathSize, + float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, + int* straightPathCount, const int maxStraightPath, const int options = 0) const; + + ///@} + /// @name Sliced Pathfinding Functions + /// Common use case: + /// -# Call initSlicedFindPath() to initialize the sliced path query. + /// -# Call updateSlicedFindPath() until it returns complete. + /// -# Call finalizeSlicedFindPath() to get the path. + ///@{ + + /// Intializes a sliced path query. + /// @param[in] startRef The refrence id of the start polygon. + /// @param[in] endRef The reference id of the end polygon. + /// @param[in] startPos A position within the start polygon. [(x, y, z)] + /// @param[in] endPos A position within the end polygon. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @returns The status flags for the query. dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef, const float* startPos, const float* endPos, const dtQueryFilter* filter); - // Updates sliced path find query. - // Params: - // maxIter - (in) max number of iterations to update. - // Returns: Path query state. - dtStatus updateSlicedFindPath(const int maxIter); + /// Updates an in-progress sliced path query. + /// @param[in] maxIter The maximum number of iterations to perform. + /// @param[out] doneIters The actual number of iterations completed. [opt] + /// @returns The status flags for the query. + dtStatus updateSlicedFindPath(const int maxIter, int* doneIters); - // Finalizes sliced path find query and returns found path. - // path - (out) array holding the search result. - // pathCount - (out) Number of polygons in search result array. - // maxPath - (in) The max number of polygons the path array can hold. + /// Finalizes and returns the results of a sliced path query. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @param[out] pathCount The number of polygons returned in the @p path array. + /// @param[in] maxPath The max number of polygons the path array can hold. [Limit: >= 1] + /// @returns The status flags for the query. dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath); - // Finalizes partial sliced path find query and returns path to the furthest - // polygon on the existing path that was visited during the search. - // existing - (out) Array of polygons in the existing path. - // existingSize - (out) Number of polygons in existing path array. - // path - (out) array holding the search result. - // pathCount - (out) Number of polygons in search result array. - // maxPath - (in) The max number of polygons the path array can hold. + /// 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[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @param[out] pathCount The number of polygons returned in the @p path array. + /// @param[in] maxPath The max number of polygons the @p path array can hold. [Limit: >= 1] + /// @returns The status flags for the query. dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize, dtPolyRef* path, int* pathCount, const int maxPath); - - // 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; - - // Finds polygons found along the navigation graph which touch the specified circle. - // Params: - // startRef - (in) ref to the polygon where the search starts. - // centerPos[3] - (in) center if the query circle. - // radius - (in) radius of the query circle. - // filter - (in) path polygon filter. - // resultRef - (out, opt) refs to the polygons touched by the circle. - // resultParent - (out, opt) parent of each result polygon. - // resultCost - (out, opt) search cost at each result polygon. - // resultCount - (out, opt) Number of results. - // maxResult - (int) maximum capacity of search results. + + ///@} + /// @name Dijkstra Search Functions + /// @{ + + /// Finds the polygons along the navigation graph that touch the specified circle. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] centerPos The center of the search circle. [(x, y, z)] + /// @param[in] radius The radius of the search circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt] + /// @param[out] resultParent The reference ids of the parent polygons for each result. + /// Zero if a result polygon has no parent. [opt] + /// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt] + /// @param[out] resultCount The number of polygons found. [opt] + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius, const dtQueryFilter* filter, dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, int* resultCount, const int maxResult) const; - // Finds polygons found along the navigation graph which touch the convex polygon shape. - // Params: - // startRef - (in) ref to the polygon where the search starts. - // verts[3*n] - (in) vertices describing convex polygon shape (CCW). - // nverts - (in) number of vertices in the polygon. - // filter - (in) path polygon filter. - // resultRef - (out, opt) refs to the polygons touched by the circle. - // resultParent - (out, opt) parent of each result polygon. - // resultCost - (out, opt) search cost at each result polygon. - // resultCount - (out) number of results. - // maxResult - (int) maximum capacity of search results. + /// Finds the polygons along the naviation graph that touch the specified convex polygon. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] verts The vertices describing the convex polygon. (CCW) + /// [(x, y, z) * @p nverts] + /// @param[in] nverts The number of vertices in the polygon. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt] + /// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a + /// result polygon has no parent. [opt] + /// @param[out] resultCost The search cost from the centroid point to the polygon. [opt] + /// @param[out] resultCount The number of polygons found. + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. dtStatus findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts, const dtQueryFilter* filter, dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, int* resultCount, const int maxResult) const; - // Finds non-overlapping local neighbourhood around center location. - // Note: The algorithm is optimized for small query radius and small number of polygons. - // Params: - // startRef - (in) ref to the polygon where the search starts. - // centerPos[3] - (in) center if the query circle. - // radius - (in) radius of the query circle. - // filter - (in) path polygon filter. - // resultRef - (out) refs to the polygons touched by the circle. - // resultParent - (out, opt) parent of each result polygon. - // resultCount - (out) number of results. - // maxResult - (int) maximum capacity of search results. + /// @} + /// @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)] + /// @param[in] radius The radius of the query circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the circle. + /// @param[out] resultParent The reference ids of the parent polygons for each result. + /// Zero if a result polygon has no parent. [opt] + /// @param[out] resultCount The number of polygons found. + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius, const dtQueryFilter* filter, dtPolyRef* resultRef, dtPolyRef* resultParent, int* resultCount, const int maxResult) const; + + /// Moves from the start to the end position constrained to the navigation mesh. + /// @param[in] startRef The reference id of the start polygon. + /// @param[in] startPos A position of the mover within the start polygon. [(x, y, x)] + /// @param[in] endPos The desired end position of the mover. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultPos The result position of the mover. [(x, y, z)] + /// @param[out] visited The reference ids of the polygons visited during the move. + /// @param[out] visitedCount The number of polygons visited during the move. + /// @param[in] maxVisitedSize The maximum number of polygons the @p visited array can hold. + /// @returns The status flags for the query. + dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos, + const dtQueryFilter* filter, + float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const; + + /// Casts a 'walkability' ray along the surface of the navigation mesh from + /// the start position toward the end position. + /// @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; - // Returns wall segments of specified polygon. - // 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'. + /// Finds the distance from the specified position to the nearest polygon wall. + /// @param[in] startRef The reference id of the polygon containing @p centerPos. + /// @param[in] centerPos The center of the search circle. [(x, y, z)] + /// @param[in] maxRadius The radius of the search circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] hitDist The distance to the nearest wall from @p centerPos. + /// @param[out] hitPos The nearest position on the wall that was hit. [(x, y, z)] + /// @param[out] hitNormal The normalized ray formed from the wall point to the + /// source point. [(x, y, z)] + /// @returns The status flags for the query. + dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius, + const dtQueryFilter* filter, + float* hitDist, float* hitPos, float* hitNormal) const; + + /// Returns the segments for the specified polygon, optionally including portals. + /// @param[in] ref The reference id of the polygon. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] segmentVerts The segments. [(ax, ay, az, bx, by, bz) * segmentCount] + /// @param[out] segmentRefs The reference ids of each segment's neighbor polygon. + /// Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount] + /// @param[out] segmentCount The number of segments returned. + /// @param[in] maxSegments The maximum number of segments the result arrays can hold. + /// @returns The status flags for the query. dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter, - float* 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; - // Returns closest point on navigation polygon. - // Uses detail polygons to find the closest point to the navigation polygon surface. - // Params: - // ref - (in) ref to the polygon. - // pos[3] - (in) the point to check. - // closest[3] - (out) closest point. - // Returns: true if closest point found. + /// 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)] + /// @returns The status flags for the query. dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const; - // Returns closest point on navigation polygon boundary. - // Uses the navigation polygon boundary to snap the point to poly boundary - // if it is outside the polygon. Much faster than closestPointToPoly. Does not affect height. - // Params: - // ref - (in) ref to the polygon. - // pos[3] - (in) the point to check. - // closest[3] - (out) closest point. - // Returns: true if closest point found. + /// Returns a point on the boundary closest to the source point if the source point is outside the + /// polygon's xz-bounds. + /// @param[in] ref The reference id to the polygon. + /// @param[in] pos The position to check. [(x, y, z)] + /// @param[out] closest The closest point. [(x, y, z)] + /// @returns The status flags for the query. dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const; - // 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; - - // Returns height of the polygon at specified location. - // Params: - // ref - (in) ref to the polygon. - // pos[3] - (in) the point where to locate the height. - // height - (out) height at the location. - // Returns: true if over polygon. + /// Gets the height of the polygon at the provided position using the height detail. (Most accurate.) + /// @param[in] ref The reference id of the polygon. + /// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)] + /// @param[out] height The height at the surface of the polygon. + /// @returns The status flags for the query. dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const; - - // Returns true if poly reference ins in closed list. + + /// @} + /// @name Miscellaneous Functions + /// @{ + + /// Returns true if the polygon reference is valid and passes the filter restrictions. + /// @param[in] ref The polygon reference to check. + /// @param[in] filter The filter to apply. + bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const; + + /// Returns true if the polygon reference is in the closed list. + /// @param[in] ref The reference id of the polygon to check. + /// @returns True if the polygon is in closed list. bool isInClosedList(dtPolyRef ref) const; + /// Gets the node pool. + /// @returns The node pool. class dtNodePool* getNodePool() const { return m_nodePool; } + /// Gets the navigation mesh the query object is using. + /// @return The navigation mesh the query object is using. + const dtNavMesh* getAttachedNavMesh() const { return m_nav; } + + /// @} + private: - // Returns neighbour tile based on side. + /// Returns neighbour tile based on side. dtMeshTile* getNeighbourTileAt(int x, int y, int side) const; - // Queries polygons within a tile. + /// 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. + /// 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 closest point on polygon. + void closestPointOnPolyInTile(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) const; - // Returns portal points between two polygons. + /// Returns portal points between two polygons. dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right, unsigned char& fromType, unsigned char& toType) const; dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, float* left, float* right) const; - // Returns edge mid point between two polygons. + /// Returns edge mid point between two polygons. dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const; dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, float* mid) const; - const dtNavMesh* m_nav; // Pointer to navmesh data. + // 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 { @@ -393,15 +468,21 @@ private: float startPos[3], endPos[3]; const dtQueryFilter* filter; }; - dtQueryData m_query; // Sliced query state. + dtQueryData m_query; ///< Sliced query state. - class dtNodePool* m_tinyNodePool; // Pointer to small node pool. - class dtNodePool* m_nodePool; // Pointer to node pool. - class dtNodeQueue* m_openList; // Pointer to open list queue. + class dtNodePool* m_tinyNodePool; ///< Pointer to small node pool. + class dtNodePool* m_nodePool; ///< Pointer to node pool. + class dtNodeQueue* m_openList; ///< Pointer to open list queue. }; -// Helper function to allocate navmesh query class using Detour allocator. +/// Allocates a query object using the Detour allocator. +/// @return An allocated query object, or null on failure. +/// @ingroup detour dtNavMeshQuery* dtAllocNavMeshQuery(); + +/// Frees the specified query object using the Detour allocator. +/// @param[in] query A query object allocated using #dtAllocNavMeshQuery +/// @ingroup detour void dtFreeNavMeshQuery(dtNavMeshQuery* query); #endif // DETOURNAVMESHQUERY_H diff --git a/dep/recastnavigation/Detour/DetourNode.cpp b/dep/recastnavigation/Detour/DetourNode.cpp index 0d1af837865..4c8215e20d0 100644 --- a/dep/recastnavigation/Detour/DetourNode.cpp +++ b/dep/recastnavigation/Detour/DetourNode.cpp @@ -24,6 +24,7 @@ inline unsigned int dtHashRef(dtPolyRef a) { + // Edited by TC a = (~a) + (a << 18); a = a ^ (a >> 31); a = a * 21; @@ -46,15 +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() @@ -66,14 +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) @@ -86,7 +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) { @@ -98,7 +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 diff --git a/dep/recastnavigation/Detour/DetourNode.h b/dep/recastnavigation/Detour/DetourNode.h index e893f784dcc..b68c922d038 100644 --- a/dep/recastnavigation/Detour/DetourNode.h +++ b/dep/recastnavigation/Detour/DetourNode.h @@ -27,18 +27,20 @@ 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 { - float pos[3]; // Position of the node. - float cost; // Cost from previous node to current node. - float total; // Cost up to the node. - unsigned int pidx : 30; // Index to parent node. - unsigned int flags : 2; // Node flags 0/open/closed. - dtPolyRef id; // Polygon ref the node corresponds to. + float pos[3]; ///< Position of the node. + float cost; ///< Cost from previous node to current node. + float total; ///< Cost up to the node. + unsigned int pidx : 30; ///< Index to parent node. + unsigned int flags : 2; ///< Node flags 0/open/closed. + dtPolyRef id; ///< Polygon ref the node corresponds to. }; + class dtNodePool { public: @@ -70,22 +72,22 @@ public: inline int getMemUsed() const { return sizeof(*this) + - sizeof(dtNode)*m_maxNodes + - sizeof(unsigned short)*m_maxNodes + - sizeof(unsigned short)*m_hashSize; + sizeof(dtNode)*m_maxNodes + + sizeof(dtNodeIndex)*m_maxNodes + + sizeof(dtNodeIndex)*m_hashSize; } inline int getMaxNodes() const { return m_maxNodes; } inline int getHashSize() const { return m_hashSize; } - inline 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; @@ -154,4 +156,4 @@ private: }; -#endif // DETOURNODE_H
\ No newline at end of file +#endif // DETOURNODE_H diff --git a/dep/recastnavigation/Detour/DetourStatus.h b/dep/recastnavigation/Detour/DetourStatus.h new file mode 100644 index 00000000000..af822c4a92d --- /dev/null +++ b/dep/recastnavigation/Detour/DetourStatus.h @@ -0,0 +1,64 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef DETOURSTATUS_H +#define DETOURSTATUS_H + +typedef unsigned int dtStatus; + +// High level status. +static const unsigned int DT_FAILURE = 1u << 31; // Operation failed. +static const unsigned int DT_SUCCESS = 1u << 30; // Operation succeed. +static const unsigned int DT_IN_PROGRESS = 1u << 29; // Operation still in progress. + +// Detail information for status. +static const unsigned int DT_STATUS_DETAIL_MASK = 0x0ffffff; +static const unsigned int DT_WRONG_MAGIC = 1 << 0; // Input data is not recognized. +static const unsigned int DT_WRONG_VERSION = 1 << 1; // Input data is in wrong version. +static const unsigned int DT_OUT_OF_MEMORY = 1 << 2; // Operation ran out of memory. +static const unsigned int DT_INVALID_PARAM = 1 << 3; // An input parameter was invalid. +static const unsigned int DT_BUFFER_TOO_SMALL = 1 << 4; // Result buffer for the query was too small to store all results. +static const unsigned int DT_OUT_OF_NODES = 1 << 5; // Query ran out of nodes during search. +static const unsigned int DT_PARTIAL_RESULT = 1 << 6; // Query did not reach the end location, returning best guess. + + +// Returns true of status is success. +inline bool dtStatusSucceed(dtStatus status) +{ + return (status & DT_SUCCESS) != 0; +} + +// Returns true of status is failure. +inline bool dtStatusFailed(dtStatus status) +{ + return (status & DT_FAILURE) != 0; +} + +// Returns true of status is in progress. +inline bool dtStatusInProgress(dtStatus status) +{ + return (status & DT_IN_PROGRESS) != 0; +} + +// Returns true if specific detail is set. +inline bool dtStatusDetail(dtStatus status, unsigned int detail) +{ + return (status & detail) != 0; +} + +#endif // DETOURSTATUS_H diff --git a/dep/recastnavigation/Recast/CMakeLists.txt b/dep/recastnavigation/Recast/CMakeLists.txt index 726aff72c0c..5f466a4b2e2 100644 --- a/dep/recastnavigation/Recast/CMakeLists.txt +++ b/dep/recastnavigation/Recast/CMakeLists.txt @@ -14,6 +14,7 @@ set(Recast_STAT_SRCS RecastArea.cpp RecastContour.cpp RecastFilter.cpp + RecastLayers.cpp RecastMesh.cpp RecastMeshDetail.cpp RecastRasterization.cpp diff --git a/dep/recastnavigation/Recast/Recast.cpp b/dep/recastnavigation/Recast/Recast.cpp index d051418e810..803daac3bcf 100644 --- a/dep/recastnavigation/Recast/Recast.cpp +++ b/dep/recastnavigation/Recast/Recast.cpp @@ -32,7 +32,26 @@ float rcSqrt(float x) return sqrtf(x); } +/// @class rcContext +/// @par +/// +/// This class does not provide logging or timer functionality on its +/// own. Both must be provided by a concrete implementation +/// by overriding the protected member functions. Also, this class does not +/// provide an interface for extracting log messages. (Only adding them.) +/// So concrete implementations must provide one. +/// +/// If no logging or timers are required, just pass an instance of this +/// class through the Recast build process. +/// +/// @par +/// +/// Example: +/// @code +/// // Where ctx is an instance of rcContext and filepath is a char array. +/// ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not load '%s'", filepath); +/// @endcode void rcContext::log(const rcLogCategory category, const char* format, ...) { if (!m_logEnabled) @@ -90,6 +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); @@ -143,7 +184,6 @@ void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh) rcFree(dmesh); } - void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax) { // Calculate bounding box. @@ -163,6 +203,11 @@ void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* *h = (int)((bmax[2] - bmin[2])/cs+0.5f); } +/// @par +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcAllocHeightfield, rcHeightfield bool rcCreateHeightfield(rcContext* /*ctx*/, rcHeightfield& hf, int width, int height, const float* bmin, const float* bmax, float cs, float ch) @@ -192,6 +237,14 @@ static void calcTriNormal(const float* v0, const float* v1, const float* v2, flo rcVnormalize(norm); } +/// @par +/// +/// Only sets the aread id's for the walkable triangles. Does not alter the +/// area id's for unwalkable triangles. +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles void rcMarkWalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle, const float* verts, int /*nv*/, const int* tris, int nt, @@ -214,6 +267,14 @@ void rcMarkWalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle, } } +/// @par +/// +/// Only sets the aread id's for the unwalkable triangles. Does not alter the +/// area id's for walkable triangles. +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles void rcClearUnwalkableTriangles(rcContext* /*ctx*/, const float walkableSlopeAngle, const float* verts, int /*nv*/, const int* tris, int nt, @@ -258,6 +319,15 @@ int rcGetHeightFieldSpanCount(rcContext* /*ctx*/, rcHeightfield& hf) return spanCount; } +/// @par +/// +/// This is just the beginning of the process of fully building a compact heightfield. +/// Various filters may be applied applied, then the distance field and regions built. +/// E.g: #rcBuildDistanceField and #rcBuildRegions +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb, rcHeightfield& hf, rcCompactHeightfield& chf) { @@ -369,13 +439,13 @@ 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; } } diff --git a/dep/recastnavigation/Recast/Recast.h b/dep/recastnavigation/Recast/Recast.h index 0e5f0742486..fb36aa4c5cf 100644 --- a/dep/recastnavigation/Recast/Recast.h +++ b/dep/recastnavigation/Recast/Recast.h @@ -19,327 +19,583 @@ #ifndef RECAST_H #define RECAST_H -// Some math headers don't have PI defined. +/// The value of PI used by Recast. static const float RC_PI = 3.14159265f; +/// Recast log categories. +/// @see rcContext enum rcLogCategory { - RC_LOG_PROGRESS = 1, - RC_LOG_WARNING, - RC_LOG_ERROR, + RC_LOG_PROGRESS = 1, ///< A progress log entry. + RC_LOG_WARNING, ///< A warning log entry. + RC_LOG_ERROR, ///< An error log entry. }; +/// Recast performance timer categories. +/// @see rcContext enum rcTimerLabel { + /// The user defined total time of the build. RC_TIMER_TOTAL, + /// A user defined build time. RC_TIMER_TEMP, + /// The time to rasterize the triangles. (See: #rcRasterizeTriangle) RC_TIMER_RASTERIZE_TRIANGLES, + /// The time to build the compact heightfield. (See: #rcBuildCompactHeightfield) RC_TIMER_BUILD_COMPACTHEIGHTFIELD, + /// The total time to build the contours. (See: #rcBuildContours) RC_TIMER_BUILD_CONTOURS, + /// The time to trace the boundaries of the contours. (See: #rcBuildContours) RC_TIMER_BUILD_CONTOURS_TRACE, + /// The time to simplify the contours. (See: #rcBuildContours) RC_TIMER_BUILD_CONTOURS_SIMPLIFY, + /// The time to filter ledge spans. (See: #rcFilterLedgeSpans) RC_TIMER_FILTER_BORDER, + /// The time to filter low height spans. (See: #rcFilterWalkableLowHeightSpans) RC_TIMER_FILTER_WALKABLE, + /// The time to apply the median filter. (See: #rcMedianFilterWalkableArea) RC_TIMER_MEDIAN_AREA, + /// The time to filter low obstacles. (See: #rcFilterLowHangingWalkableObstacles) RC_TIMER_FILTER_LOW_OBSTACLES, + /// The time to build the polygon mesh. (See: #rcBuildPolyMesh) RC_TIMER_BUILD_POLYMESH, + /// The time to merge polygon meshes. (See: #rcMergePolyMeshes) RC_TIMER_MERGE_POLYMESH, + /// The time to erode the walkable area. (See: #rcErodeWalkableArea) RC_TIMER_ERODE_AREA, + /// The time to mark a box area. (See: #rcMarkBoxArea) RC_TIMER_MARK_BOX_AREA, + /// The time to mark a cylinder area. (See: #rcMarkCylinderArea) + RC_TIMER_MARK_CYLINDER_AREA, + /// The time to mark a convex polygon area. (See: #rcMarkConvexPolyArea) RC_TIMER_MARK_CONVEXPOLY_AREA, + /// The total time to build the distance field. (See: #rcBuildDistanceField) RC_TIMER_BUILD_DISTANCEFIELD, + /// The time to build the distances of the distance field. (See: #rcBuildDistanceField) RC_TIMER_BUILD_DISTANCEFIELD_DIST, + /// The time to blur the distance field. (See: #rcBuildDistanceField) RC_TIMER_BUILD_DISTANCEFIELD_BLUR, + /// The total time to build the regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone) RC_TIMER_BUILD_REGIONS, + /// The total time to apply the watershed algorithm. (See: #rcBuildRegions) RC_TIMER_BUILD_REGIONS_WATERSHED, + /// The time to expand regions while applying the watershed algorithm. (See: #rcBuildRegions) RC_TIMER_BUILD_REGIONS_EXPAND, + /// The time to flood regions while applying the watershed algorithm. (See: #rcBuildRegions) RC_TIMER_BUILD_REGIONS_FLOOD, + /// The time to filter out small regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone) RC_TIMER_BUILD_REGIONS_FILTER, + /// The time to build heightfield layers. (See: #rcBuildHeightfieldLayers) + RC_TIMER_BUILD_LAYERS, + /// The time to build the polygon mesh detail. (See: #rcBuildPolyMeshDetail) RC_TIMER_BUILD_POLYMESHDETAIL, + /// The time to merge polygon mesh details. (See: #rcMergePolyMeshDetails) RC_TIMER_MERGE_POLYMESHDETAIL, + /// The maximum number of timers. (Used for iterating timers.) RC_MAX_TIMERS }; -// Build context provides several optional utilities needed for the build process, -// such as timing, logging, and build time collecting. +/// Provides an interface for optional logging and performance tracking of the Recast +/// build process. +/// @ingroup recast class rcContext { public: + + /// Contructor. + /// @param[in] state TRUE if the logging and performance timers should be enabled. [Default: true] inline rcContext(bool state = true) : m_logEnabled(state), m_timerEnabled(state) {} virtual ~rcContext() {} - // Enables or disables logging. + /// Enables or disables logging. + /// @param[in] state TRUE if logging should be enabled. inline void enableLog(bool state) { m_logEnabled = state; } - // Resets log. + + /// Clears all log entries. inline void resetLog() { if (m_logEnabled) doResetLog(); } - // Logs a message. + + /// Logs a message. + /// @param[in] category The category of the message. + /// @param[in] format The message. void log(const rcLogCategory category, const char* format, ...); - // Enables or disables timer. + /// Enables or disables the performance timers. + /// @param[in] state TRUE if timers should be enabled. inline void enableTimer(bool state) { m_timerEnabled = state; } - // Resets all timers. + + /// Clears all peformance timers. (Resets all to unused.) inline void resetTimers() { if (m_timerEnabled) doResetTimers(); } - // Starts timer, used for performance timing. + + /// Starts the specified performance timer. + /// @param label The category of timer. inline void startTimer(const rcTimerLabel label) { if (m_timerEnabled) doStartTimer(label); } - // Stops timer, used for performance timing. + + /// Stops the specified performance timer. + /// @param label The category of the timer. inline void stopTimer(const rcTimerLabel label) { if (m_timerEnabled) doStopTimer(label); } - // Returns time accumulated between timer start/stop. + + /// Returns the total accumulated time of the specified performance timer. + /// @param label The category of the timer. + /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. inline int getAccumulatedTime(const rcTimerLabel label) const { return m_timerEnabled ? doGetAccumulatedTime(label) : -1; } protected: - // Virtual functions to override for custom implementations. + + /// Clears all log entries. virtual void doResetLog() {} + + /// Logs a message. + /// @param[in] category The category of the message. + /// @param[in] msg The formatted message. + /// @param[in] len The length of the formatted message. virtual void doLog(const rcLogCategory /*category*/, const char* /*msg*/, const int /*len*/) {} + + /// Clears all timers. (Resets all to unused.) virtual void doResetTimers() {} + + /// Starts the specified performance timer. + /// @param[in] label The category of timer. virtual void doStartTimer(const rcTimerLabel /*label*/) {} + + /// Stops the specified performance timer. + /// @param[in] label The category of the timer. virtual void doStopTimer(const rcTimerLabel /*label*/) {} + + /// Returns the total accumulated time of the specified performance timer. + /// @param[in] label The category of the timer. + /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. virtual int doGetAccumulatedTime(const rcTimerLabel /*label*/) const { return -1; } + /// True if logging is enabled. bool m_logEnabled; + + /// True if the performance timers are enabled. bool m_timerEnabled; }; - -// The units of the parameters are specified in parenthesis as follows: -// (vx) voxels, (wu) world units +/// Specifies a configuration to use when performing Recast builds. +/// @ingroup recast struct rcConfig { - int width, height; // Dimensions of the rasterized heightfield (vx) - int tileSize; // Width and Height of a tile (vx) - int borderSize; // Non-navigable Border around the heightfield (vx) - float cs, ch; // Grid cell size and height (wu) - float bmin[3], bmax[3]; // Grid bounds (wu) - float walkableSlopeAngle; // Maximum walkable slope angle in degrees. - int walkableHeight; // Minimum height where the agent can still walk (vx) - int walkableClimb; // Maximum height between grid cells the agent can climb (vx) - int walkableRadius; // Radius of the agent in cells (vx) - int maxEdgeLen; // Maximum contour edge length (vx) - float maxSimplificationError; // Maximum distance error from contour to cells (vx) - int minRegionArea; // Regions whose area is smaller than this threshold will be removed. (vx) - int mergeRegionArea; // Regions whose area is smaller than this threshold will be merged (vx) - int maxVertsPerPoly; // Max number of vertices per polygon - float detailSampleDist; // Detail mesh sample spacing. - float detailSampleMaxError; // Detail mesh simplification max sample error. + /// The width of the field along the x-axis. [Limit: >= 0] [Units: vx] + int width; + + /// The height of the field along the z-axis. [Limit: >= 0] [Units: vx] + int height; + + /// The width/height size of tile's on the xz-plane. [Limit: >= 0] [Units: vx] + int tileSize; + + /// The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx] + int borderSize; + + /// The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu] + float cs; + + /// The y-axis cell size to use for fields. [Limit: > 0] [Units: wu] + float ch; + + /// The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] + float bmin[3]; + + /// The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] + float bmax[3]; + + /// The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees] + float walkableSlopeAngle; + + /// Minimum floor to 'ceiling' height that will still allow the floor area to + /// be considered walkable. [Limit: >= 3] [Units: vx] + int walkableHeight; + + /// Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx] + int walkableClimb; + + /// The distance to erode/shrink the walkable area of the heightfield away from + /// obstructions. [Limit: >=0] [Units: vx] + int walkableRadius; + + /// The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx] + int maxEdgeLen; + + /// The maximum distance a simplfied contour's border edges should deviate + /// the original raw contour. [Limit: >=0] [Units: wu] + float maxSimplificationError; + + /// The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx] + int minRegionArea; + + /// Any regions with a span count smaller than this value will, if possible, + /// be merged with larger regions. [Limit: >=0] [Units: vx] + int mergeRegionArea; + + /// The maximum number of vertices allowed for polygons generated during the + /// contour to polygon conversion process. [Limit: >= 3] + int maxVertsPerPoly; + + /// Sets the sampling distance to use when generating the detail mesh. + /// (For height detail only.) [Limits: 0 or >= 0.9] [Units: wu] + float detailSampleDist; + + /// The maximum distance the detail mesh surface should deviate from heightfield + /// data. (For height detail only.) [Limit: >=0] [Units: wu] + float detailSampleMaxError; }; -// Define number of bits in the above structure for smin/smax. -// The max height is used for clamping rasterized values. -static const int RC_SPAN_HEIGHT_BITS = 16; +/// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax. +static const int RC_SPAN_HEIGHT_BITS = 16; // EDITED BY TC +/// Defines the maximum value for rcSpan::smin and rcSpan::smax. static const int RC_SPAN_MAX_HEIGHT = (1<<RC_SPAN_HEIGHT_BITS)-1; -// Heightfield span. +/// The number of spans allocated per span spool. +/// @see rcSpanPool +static const int RC_SPANS_PER_POOL = 2048; + +/// Represents a span in a heightfield. +/// @see rcHeightfield struct rcSpan { - unsigned int smin : 16; // Span min height. - unsigned int smax : 16; // Span max height. - unsigned char area; // Span area type. - rcSpan* next; // Next span in column. + unsigned int smin : 16; ///< The lower limit of the span. [Limit: < #smax] + unsigned int smax : 16; ///< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] + unsigned char area; ///< The area id assigned to the span. + rcSpan* next; ///< The next span higher up in column. }; -// Number of spans allocated per pool. -static const int RC_SPANS_PER_POOL = 2048; - -// Memory pool used for quick span allocation. +/// A memory pool used for quick allocation of spans within a heightfield. +/// @see rcHeightfield struct rcSpanPool { - rcSpanPool* next; // Pointer to next pool. - rcSpan items[RC_SPANS_PER_POOL]; // Array of spans. + rcSpanPool* next; ///< The next span pool. + rcSpan items[RC_SPANS_PER_POOL]; ///< Array of spans in the pool. }; -// Dynamic span-heightfield. +/// A dynamic heightfield representing obstructed space. +/// @ingroup recast struct rcHeightfield { - int width, height; // Dimension of the heightfield. - float bmin[3], bmax[3]; // Bounding box of the heightfield - float cs, ch; // Cell size and height. - rcSpan** spans; // Heightfield of spans (width*height). - rcSpanPool* pools; // Linked list of span pools. - rcSpan* freelist; // Pointer to next free span. + int width; ///< The width of the heightfield. (Along the x-axis in cell units.) + int height; ///< The height of the heightfield. (Along the z-axis in cell units.) + float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] + float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] + float cs; ///< The size of each cell. (On the xz-plane.) + float ch; ///< The height of each cell. (The minimum increment along the y-axis.) + rcSpan** spans; ///< Heightfield of spans (width*height). + rcSpanPool* pools; ///< Linked list of span pools. + rcSpan* freelist; ///< The next free span. }; -rcHeightfield* rcAllocHeightfield(); -void rcFreeHeightField(rcHeightfield* hf); - - +/// Provides information on the content of a cell column in a compact heightfield. struct rcCompactCell { - unsigned int index : 24; // Index to first span in column. - unsigned int count : 8; // Number of spans in this column. + unsigned int index : 24; ///< Index to the first span in the column. + unsigned int count : 8; ///< Number of spans in the column. }; +/// Represents a span of unobstructed space within a compact heightfield. struct rcCompactSpan { - unsigned short y; // Bottom coordinate of the span. - unsigned short reg; - unsigned int con : 24; // Connections to neighbour cells. - unsigned int h : 8; // Height of the span. + unsigned short y; ///< The lower extent of the span. (Measured from the heightfield's base.) + unsigned short reg; ///< The id of the region the span belongs to. (Or zero if not in a region.) + unsigned int con : 24; ///< Packed neighbor connection data. + unsigned int h : 8; ///< The height of the span. (Measured from #y.) }; -// Compact static heightfield. +/// A compact, static heightfield representing unobstructed space. +/// @ingroup recast struct rcCompactHeightfield { - int width, height; // Width and height of the heightfield. - int spanCount; // Number of spans in the heightfield. - int walkableHeight, walkableClimb; // Agent properties. - unsigned short maxDistance; // Maximum distance value stored in heightfield. - unsigned short maxRegions; // Maximum Region Id stored in heightfield. - float bmin[3], bmax[3]; // Bounding box of the heightfield. - float cs, ch; // Cell size and height. - rcCompactCell* cells; // Pointer to width*height cells. - rcCompactSpan* spans; // Pointer to spans. - unsigned short* dist; // Pointer to per span distance to border. - unsigned char* areas; // Pointer to per span area ID. + int width; ///< The width of the heightfield. (Along the x-axis in cell units.) + int height; ///< The height of the heightfield. (Along the z-axis in cell units.) + int spanCount; ///< The number of spans in the heightfield. + int walkableHeight; ///< The walkable height used during the build of the field. (See: rcConfig::walkableHeight) + int walkableClimb; ///< The walkable climb used during the build of the field. (See: rcConfig::walkableClimb) + int borderSize; ///< The AABB border size used during the build of the field. (See: rcConfig::borderSize) + unsigned short maxDistance; ///< The maximum distance value of any span within the field. + unsigned short maxRegions; ///< The maximum region id of any span within the field. + float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] + float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] + float cs; ///< The size of each cell. (On the xz-plane.) + float ch; ///< The height of each cell. (The minimum increment along the y-axis.) + rcCompactCell* cells; ///< Array of cells. [Size: #width*#height] + rcCompactSpan* spans; ///< Array of spans. [Size: #spanCount] + unsigned short* dist; ///< Array containing border distance data. [Size: #spanCount] + unsigned char* areas; ///< Array containing area id data. [Size: #spanCount] }; -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 { - int* verts; // Vertex coordinates, each vertex contains 4 components. - int nverts; // Number of vertices. - int* rverts; // Raw vertex coordinates, each vertex contains 4 components. - int nrverts; // Number of raw vertices. - unsigned short reg; // Region ID of the contour. - unsigned char area; // Area ID of the contour. + int* verts; ///< Simplified contour vertex and connection data. [Size: 4 * #nverts] + int nverts; ///< The number of vertices in the simplified contour. + int* rverts; ///< Raw contour vertex and connection data. [Size: 4 * #nrverts] + int nrverts; ///< The number of vertices in the raw contour. + unsigned short reg; ///< The region id of the contour. + unsigned char area; ///< The area id of the contour. }; +/// Represents a group of related contours. +/// @ingroup recast struct rcContourSet { - rcContour* conts; // Pointer to all contours. - int nconts; // Number of contours. - float bmin[3], bmax[3]; // Bounding box of the heightfield. - float cs, ch; // Cell size and height. + rcContour* conts; ///< An array of the contours in the set. [Size: #nconts] + int nconts; ///< The number of contours in the set. + float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] + float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] + float cs; ///< The size of each cell. (On the xz-plane.) + float ch; ///< The height of each cell. (The minimum increment along the y-axis.) + int width; ///< The width of the set. (Along the x-axis in cell units.) + int height; ///< The height of the set. (Along the z-axis in cell units.) + int borderSize; ///< The AABB border size used to generate the source data from which the contours were derived. }; -rcContourSet* rcAllocContourSet(); -void rcFreeContourSet(rcContourSet* cset); - - -// Polymesh store a connected mesh of polygons. -// The polygons are store in an array where each polygons takes -// 'nvp*2' elements. The first 'nvp' elements are indices to vertices -// and the second 'nvp' elements are indices to neighbour polygons. -// If a polygon has less than 'bvp' vertices, the remaining indices -// are set to RC_MESH_NULL_IDX. If an polygon edge does not have a neighbour -// the neighbour index is set to RC_MESH_NULL_IDX. -// Vertices can be transformed into world space as follows: -// x = bmin[0] + verts[i*3+0]*cs; -// y = bmin[1] + verts[i*3+1]*ch; -// z = bmin[2] + verts[i*3+2]*cs; +/// Represents a polygon mesh suitable for use in building a navigation mesh. +/// @ingroup recast struct rcPolyMesh -{ - unsigned short* verts; // Vertices of the mesh, 3 elements per vertex. - unsigned short* polys; // Polygons of the mesh, nvp*2 elements per polygon. - unsigned short* regs; // Region ID of the polygons. - unsigned short* flags; // Per polygon flags. - unsigned char* areas; // Area ID of polygons. - int nverts; // Number of vertices. - int npolys; // Number of polygons. - int maxpolys; // Number of allocated polygons. - int nvp; // Max number of vertices per polygon. - float bmin[3], bmax[3]; // Bounding box of the mesh. - float cs, ch; // Cell size and height. +{ + unsigned short* verts; ///< The mesh vertices. [Form: (x, y, z) * #nverts] + unsigned short* polys; ///< Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp] + unsigned short* regs; ///< The region id assigned to each polygon. [Length: #maxpolys] + unsigned short* flags; ///< The user defined flags for each polygon. [Length: #maxpolys] + unsigned char* areas; ///< The area id assigned to each polygon. [Length: #maxpolys] + int nverts; ///< The number of vertices. + int npolys; ///< The number of polygons. + int maxpolys; ///< The number of allocated polygons. + int nvp; ///< The maximum number of vertices per polygon. + float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] + float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] + float cs; ///< The size of each cell. (On the xz-plane.) + float ch; ///< The height of each cell. (The minimum increment along the y-axis.) + int borderSize; ///< The AABB border size used to generate the source data from which the mesh was derived. }; -rcPolyMesh* rcAllocPolyMesh(); -void rcFreePolyMesh(rcPolyMesh* pmesh); - - -// Detail mesh generated from a rcPolyMesh. -// Each submesh represents a polygon in the polymesh and they are stored in -// exactly same order. Each submesh is described as 4 values: -// base vertex, vertex count, base triangle, triangle count. That is, -// const unsigned char* t = &dmesh.tris[(tbase+i)*3]; and -// const float* v = &dmesh.verts[(vbase+t[j])*3]; -// If the input polygon has 'n' vertices, those vertices are first in the -// submesh vertex list. This allows to compres the mesh by not storing the -// first vertices and using the polymesh vertices instead. -// Max number of vertices per submesh is 127 and -// max number of triangles per submesh is 255. - +/// Contains triangle meshes that represent detailed height data associated +/// with the polygons in its associated polygon mesh object. +/// @ingroup recast struct rcPolyMeshDetail { - unsigned int* meshes; // Pointer to all mesh data. - float* verts; // Pointer to all vertex data. - unsigned char* tris; // Pointer to all triangle data. - int nmeshes; // Number of meshes. - int nverts; // Number of total vertices. - int ntris; // Number of triangles. + unsigned int* meshes; ///< The sub-mesh data. [Size: 4*#nmeshes] + float* verts; ///< The mesh vertices. [Size: 3*#nverts] + unsigned char* tris; ///< The mesh triangles. [Size: 4*#ntris] + int nmeshes; ///< The number of sub-meshes defined by #meshes. + int nverts; ///< The number of vertices in #verts. + int ntris; ///< The number of triangles in #tris. }; +/// @name Allocation Functions +/// Functions used to allocate and de-allocate Recast objects. +/// @see rcAllocSetCustom +/// @{ + +/// Allocates a heightfield object using the Recast allocator. +/// @return A heightfield that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcCreateHeightfield, rcFreeHeightField +rcHeightfield* rcAllocHeightfield(); + +/// Frees the specified heightfield object using the Recast allocator. +/// @param[in] hf A heightfield allocated using #rcAllocHeightfield +/// @ingroup recast +/// @see rcAllocHeightfield +void rcFreeHeightField(rcHeightfield* hf); + +/// Allocates a compact heightfield object using the Recast allocator. +/// @return A compact heightfield that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildCompactHeightfield, rcFreeCompactHeightfield +rcCompactHeightfield* rcAllocCompactHeightfield(); + +/// Frees the specified compact heightfield object using the Recast allocator. +/// @param[in] chf A compact heightfield allocated using #rcAllocCompactHeightfield +/// @ingroup recast +/// @see rcAllocCompactHeightfield +void rcFreeCompactHeightfield(rcCompactHeightfield* chf); + +/// Allocates a heightfield layer set using the Recast allocator. +/// @return A heightfield layer set that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet +rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet(); + +/// Frees the specified heightfield layer set using the Recast allocator. +/// @param[in] lset A heightfield layer set allocated using #rcAllocHeightfieldLayerSet +/// @ingroup recast +/// @see rcAllocHeightfieldLayerSet +void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset); + +/// Allocates a contour set object using the Recast allocator. +/// @return A contour set that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildContours, rcFreeContourSet +rcContourSet* rcAllocContourSet(); + +/// Frees the specified contour set using the Recast allocator. +/// @param[in] cset A contour set allocated using #rcAllocContourSet +/// @ingroup recast +/// @see rcAllocContourSet +void rcFreeContourSet(rcContourSet* cset); + +/// Allocates a polygon mesh object using the Recast allocator. +/// @return A polygon mesh that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildPolyMesh, rcFreePolyMesh +rcPolyMesh* rcAllocPolyMesh(); + +/// Frees the specified polygon mesh using the Recast allocator. +/// @param[in] pmesh A polygon mesh allocated using #rcAllocPolyMesh +/// @ingroup recast +/// @see rcAllocPolyMesh +void rcFreePolyMesh(rcPolyMesh* pmesh); + +/// Allocates a detail mesh object using the Recast allocator. +/// @return A detail mesh that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildPolyMeshDetail, rcFreePolyMeshDetail rcPolyMeshDetail* rcAllocPolyMeshDetail(); + +/// Frees the specified detail mesh using the Recast allocator. +/// @param[in] dmesh A detail mesh allocated using #rcAllocPolyMeshDetail +/// @ingroup recast +/// @see rcAllocPolyMeshDetail void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh); +/// @} -// If heightfield region ID has the following bit set, the region is on border area -// and excluded from many calculations. +/// Heighfield border flag. +/// If a heightfield region ID has this bit set, then the region is a border +/// region and its spans are considered unwalkable. +/// (Used during the region and contour build process.) +/// @see rcCompactSpan::reg static const unsigned short RC_BORDER_REG = 0x8000; -// If contour region ID has the following bit set, the vertex will be later -// removed in order to match the segments and vertices at tile boundaries. +/// Border vertex flag. +/// If a region ID has this bit set, then the associated element lies on +/// a tile border. If a contour vertex's region ID has this bit set, the +/// vertex will later be removed in order to match the segments and vertices +/// at tile boundaries. +/// (Used during the build process.) +/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts static const int RC_BORDER_VERTEX = 0x10000; +/// Area border flag. +/// If a region ID has this bit set, then the associated element lies on +/// the border of an area. +/// (Used during the region and contour build process.) +/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts static const int RC_AREA_BORDER = 0x20000; +/// Contour build flags. +/// @see rcBuildContours enum rcBuildContoursFlags { - RC_CONTOUR_TESS_WALL_EDGES = 0x01, // Tessellate wall edges - RC_CONTOUR_TESS_AREA_EDGES = 0x02, // Tessellate edges between areas. + RC_CONTOUR_TESS_WALL_EDGES = 0x01, ///< Tessellate solid (impassable) edges during contour simplification. + RC_CONTOUR_TESS_AREA_EDGES = 0x02, ///< Tessellate edges between areas during contour simplification. }; -// Mask used with contours to extract region id. +/// Applied to the region id field of contour vertices in order to extract the region id. +/// The region id field of a vertex may have several flags applied to it. So the +/// fields value can't be used directly. +/// @see rcContour::verts, rcContour::rverts static const int RC_CONTOUR_REG_MASK = 0xffff; -// Null index which is used with meshes to mark unset or invalid indices. +/// An value which indicates an invalid index within a mesh. +/// @note This does not necessarily indicate an error. +/// @see rcPolyMesh::polys static const unsigned short RC_MESH_NULL_IDX = 0xffff; -// Area ID that is considered empty. +/// Represents the null area. +/// When a data element is given this value it is considered to no longer be +/// assigned to a usable area. (E.g. It is unwalkable.) static const unsigned char RC_NULL_AREA = 0; -// Area ID that is considered generally walkable. +/// The default area id used to indicate a walkable polygon. +/// This is also the maximum allowed area id, and the only non-null area id +/// recognized by some steps in the build process. static const unsigned char RC_WALKABLE_AREA = 63; -// Value returned by rcGetCon() if the direction is not connected. +/// The value returned by #rcGetCon if the specified direction is not connected +/// to another span. (Has no neighbor.) static const int RC_NOT_CONNECTED = 0x3f; -// 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; -} +/// @name General helper functions +/// @{ -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]; -} - -// Common helper functions +/// Swaps the values of the two parameters. +/// @param[in,out] a Value A +/// @param[in,out] b Value B template<class T> inline void rcSwap(T& a, T& b) { T t = a; a = b; b = t; } + +/// Returns the minimum of two values. +/// @param[in] a Value A +/// @param[in] b Value B +/// @return The minimum of the two values. template<class T> inline T rcMin(T a, T b) { return a < b ? a : b; } + +/// Returns the maximum of two values. +/// @param[in] a Value A +/// @param[in] b Value B +/// @return The maximum of the two values. template<class T> inline T rcMax(T a, T b) { return a > b ? a : b; } + +/// Returns the absolute value. +/// @param[in] a The value. +/// @return The absolute value of the specified value. template<class T> inline T rcAbs(T a) { return a < 0 ? -a : a; } + +/// Returns the square of the value. +/// @param[in] a The value. +/// @return The square of the value. template<class T> inline T rcSqr(T a) { return a*a; } + +/// Clamps the value to the specified range. +/// @param[in] v The value to clamp. +/// @param[in] mn The minimum permitted return value. +/// @param[in] mx The maximum permitted return value. +/// @return The value, clamped to the specified range. template<class T> inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } + +/// Returns the square root of the value. +/// @param[in] x The value. +/// @return The square root of the vlaue. float rcSqrt(float x); -// Common vector helper functions. +/// @} +/// @name Vector helper functions. +/// @{ + +/// Derives the cross product of two vectors. (@p v1 x @p v2) +/// @param[out] dest The cross product. [(x, y, z)] +/// @param[in] v1 A Vector [(x, y, z)] +/// @param[in] v2 A vector [(x, y, z)] inline void rcVcross(float* dest, const float* v1, const float* v2) { dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; @@ -347,11 +603,20 @@ inline void rcVcross(float* dest, const float* v1, const float* v2) dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; } +/// Derives the dot product of two vectors. (@p v1 . @p v2) +/// @param[in] v1 A Vector [(x, y, z)] +/// @param[in] v2 A vector [(x, y, z)] +/// @return The dot product. inline float rcVdot(const float* v1, const float* v2) { return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; } +/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s)) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)] +/// @param[in] s The amount to scale @p v2 by before adding to @p v1. inline void rcVmad(float* dest, const float* v1, const float* v2, const float s) { dest[0] = v1[0]+v2[0]*s; @@ -359,6 +624,10 @@ inline void rcVmad(float* dest, const float* v1, const float* v2, const float s) dest[2] = v1[2]+v2[2]*s; } +/// Performs a vector addition. (@p v1 + @p v2) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to add to @p v1. [(x, y, z)] inline void rcVadd(float* dest, const float* v1, const float* v2) { dest[0] = v1[0]+v2[0]; @@ -366,6 +635,10 @@ inline void rcVadd(float* dest, const float* v1, const float* v2) dest[2] = v1[2]+v2[2]; } +/// Performs a vector subtraction. (@p v1 - @p v2) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)] inline void rcVsub(float* dest, const float* v1, const float* v2) { dest[0] = v1[0]-v2[0]; @@ -373,6 +646,9 @@ inline void rcVsub(float* dest, const float* v1, const float* v2) dest[2] = v1[2]-v2[2]; } +/// Selects the minimum value of each element from the specified vectors. +/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)] +/// @param[in] v A vector. [(x, y, z)] inline void rcVmin(float* mn, const float* v) { mn[0] = rcMin(mn[0], v[0]); @@ -380,6 +656,9 @@ inline void rcVmin(float* mn, const float* v) mn[2] = rcMin(mn[2], v[2]); } +/// Selects the maximum value of each element from the specified vectors. +/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)] +/// @param[in] v A vector. [(x, y, z)] inline void rcVmax(float* mx, const float* v) { mx[0] = rcMax(mx[0], v[0]); @@ -387,6 +666,9 @@ inline void rcVmax(float* mx, const float* v) mx[2] = rcMax(mx[2], v[2]); } +/// Performs a vector copy. +/// @param[out] dest The result. [(x, y, z)] +/// @param[in] v The vector to copy. [(x, y, z)] inline void rcVcopy(float* dest, const float* v) { dest[0] = v[0]; @@ -394,6 +676,10 @@ inline void rcVcopy(float* dest, const float* v) dest[2] = v[2]; } +/// Returns the distance between two points. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The distance between the two points. inline float rcVdist(const float* v1, const float* v2) { float dx = v2[0] - v1[0]; @@ -402,6 +688,10 @@ inline float rcVdist(const float* v1, const float* v2) return rcSqrt(dx*dx + dy*dy + dz*dz); } +/// Returns the square of the distance between two points. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The square of the distance between the two points. inline float rcVdistSqr(const float* v1, const float* v2) { float dx = v2[0] - v1[0]; @@ -410,6 +700,8 @@ inline float rcVdistSqr(const float* v1, const float* v2) return dx*dx + dy*dy + dz*dz; } +/// Normalizes the vector. +/// @param[in,out] v The vector to normalize. [(x, y, z)] inline void rcVnormalize(float* v) { float d = 1.0f / rcSqrt(rcSqr(v[0]) + rcSqr(v[1]) + rcSqr(v[2])); @@ -418,271 +710,421 @@ 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; -} - -// Calculated bounding box of array of vertices. -// Params: -// verts - (in) array of vertices -// nv - (in) vertex count -// bmin, bmax - (out) bounding box +/// @} +/// @name Heightfield Functions +/// @see rcHeightfield +/// @{ + +/// Calculates the bounding box of an array of vertices. +/// @ingroup recast +/// @param[in] verts An array of vertices. [(x, y, z) * @p nv] +/// @param[in] nv The number of vertices in the @p verts array. +/// @param[out] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu] +/// @param[out] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu] void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax); -// Calculates grid size based on bounding box and grid cell size. -// Params: -// bmin, bmax - (in) bounding box -// cs - (in) grid cell size -// w - (out) grid width -// h - (out) grid height +/// Calculates the grid size based on the bounding box and grid cell size. +/// @ingroup recast +/// @param[in] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu] +/// @param[in] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu] +/// @param[in] cs The xz-plane cell size. [Limit: > 0] [Units: wu] +/// @param[out] w The width along the x-axis. [Limit: >= 0] [Units: vx] +/// @param[out] h The height along the z-axis. [Limit: >= 0] [Units: vx] void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h); -// Creates and initializes new heightfield. -// Params: -// hf - (in/out) heightfield to initialize. -// width - (in) width of the heightfield. -// height - (in) height of the heightfield. -// bmin, bmax - (in) bounding box of the heightfield -// cs - (in) grid cell size -// ch - (in) grid cell height +/// Initializes a new heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] hf The allocated heightfield to initialize. +/// @param[in] width The width of the field along the x-axis. [Limit: >= 0] [Units: vx] +/// @param[in] height The height of the field along the z-axis. [Limit: >= 0] [Units: vx] +/// @param[in] bmin The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] +/// @param[in] bmax The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] +/// @param[in] cs The xz-plane cell size to use for the field. [Limit: > 0] [Units: wu] +/// @param[in] ch The y-axis cell size to use for field. [Limit: > 0] [Units: wu] bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height, const float* bmin, const float* bmax, float cs, float ch); -// Sets the RC_WALKABLE_AREA for every triangle whose slope is below -// the maximum walkable slope angle. -// Params: -// walkableSlopeAngle - (in) maximum slope angle in degrees. -// verts - (in) array of vertices -// nv - (in) vertex count -// tris - (in) array of triangle vertex indices -// nt - (in) triangle count -// areas - (out) array of triangle area types +/// Sets the area id of all triangles with a slope below the specified value +/// to #RC_WALKABLE_AREA. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. +/// [Limits: 0 <= value < 90] [Units: Degrees] +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] nv The number of vertices. +/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] nt The number of triangles. +/// @param[out] areas The triangle area ids. [Length: >= @p nt] void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv, const int* tris, int nt, unsigned char* areas); -// Sets the RC_NULL_AREA for every triangle whose slope is steeper than -// the maximum walkable slope angle. -// Params: -// walkableSlopeAngle - (in) maximum slope angle in degrees. -// verts - (in) array of vertices -// nv - (in) vertex count -// tris - (in) array of triangle vertex indices -// nt - (in) triangle count -// areas - (out) array of triangle are types +/// Sets the area id of all triangles with a slope greater than or equal to the specified value to #RC_NULL_AREA. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. +/// [Limits: 0 <= value < 90] [Units: Degrees] +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] nv The number of vertices. +/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] nt The number of triangles. +/// @param[out] areas The triangle area ids. [Length: >= @p nt] void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv, const int* tris, int nt, unsigned char* areas); -// Adds span to 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, +/// Adds a span to the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] hf An initialized heightfield. +/// @param[in] x The width index where the span is to be added. +/// [Limits: 0 <= value < rcHeightfield::width] +/// @param[in] y The height index where the span is to be added. +/// [Limits: 0 <= value < rcHeightfield::height] +/// @param[in] smin The minimum height of the span. [Limit: < @p smax] [Units: vx] +/// @param[in] smax The maximum height of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] [Units: vx] +/// @param[in] area The area id of the span. [Limit: <= #RC_WALKABLE_AREA) +/// @param[in] flagMergeThr The merge theshold. [Limit: >= 0] [Units: vx] +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); - -// Rasterizes a triangle into heightfield spans. -// Params: -// v0,v1,v2 - (in) the vertices of the triangle. -// area - (in) area type of the triangle. -// solid - (in) heightfield where the triangle is rasterized -// flagMergeThr - (in) distance in voxel where walkable flag is favored over non-walkable. + const unsigned char area, const int flagMergeThr); + +/// Rasterizes a triangle into the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] v0 Triangle vertex 0 [(x, y, z)] +/// @param[in] v1 Triangle vertex 1 [(x, y, z)] +/// @param[in] v2 Triangle vertex 2 [(x, y, z)] +/// @param[in] area The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] solid An initialized heightfield. +/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2, const unsigned char area, rcHeightfield& solid, const int flagMergeThr = 1); -// Rasterizes indexed triangle mesh into heightfield spans. -// Params: -// verts - (in) array of vertices -// nv - (in) vertex count -// tris - (in) array of triangle vertex indices -// area - (in) array of triangle area types. -// nt - (in) triangle count -// solid - (in) heightfield where the triangles are rasterized -// flagMergeThr - (in) distance in voxel where walkable flag is favored over non-walkable. +/// Rasterizes an indexed triangle mesh into the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] nv The number of vertices. +/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] +/// @param[in] nt The number of triangles. +/// @param[in,out] solid An initialized heightfield. +/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv, const int* tris, const unsigned char* areas, const int nt, rcHeightfield& solid, const int flagMergeThr = 1); -// Rasterizes indexed triangle mesh into heightfield spans. -// Params: -// verts - (in) array of vertices -// nv - (in) vertex count -// tris - (in) array of triangle vertex indices -// area - (in) array of triangle area types. -// nt - (in) triangle count -// solid - (in) heightfield where the triangles are rasterized -// flagMergeThr - (in) distance in voxel where walkable flag is favored over non-walkable. +/// Rasterizes an indexed triangle mesh into the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] nv The number of vertices. +/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] +/// @param[in] nt The number of triangles. +/// @param[in,out] solid An initialized heightfield. +/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv, const unsigned short* tris, const unsigned char* areas, const int nt, rcHeightfield& solid, const int flagMergeThr = 1); -// Rasterizes the triangles into heightfield spans. -// Params: -// verts - (in) array of vertices -// area - (in) array of triangle area types. -// nt - (in) triangle count -// solid - (in) heightfield where the triangles are rasterized +/// Rasterizes triangles into the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] verts The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt] +/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] +/// @param[in] nt The number of triangles. +/// @param[in,out] solid An initialized heightfield. +/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] void rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt, rcHeightfield& solid, const int flagMergeThr = 1); -// Marks non-walkable low obstacles as walkable if they are closer than walkableClimb -// from a walkable surface. Applying this filter allows to step over low hanging -// low obstacles. -// Params: -// walkableHeight - (in) minimum height where the agent can still walk -// solid - (in/out) heightfield describing the solid space -// TODO: Missuses ledge flag, must be called before rcFilterLedgeSpans! +/// Marks non-walkable spans as walkable if their maximum is within @p walkableClimp of a walkable neihbor. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. +/// [Limit: >=0] [Units: vx] +/// @param[in,out] solid A fully built heightfield. (All spans have been added.) void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid); -// Removes WALKABLE flag from all spans that are at ledges. This filtering -// removes possible overestimation of the conservative voxelization so that -// the resulting mesh will not have regions hanging in air over ledges. -// Params: -// walkableHeight - (in) minimum height where the agent can still walk -// walkableClimb - (in) maximum height between grid cells the agent can climb -// solid - (in/out) heightfield describing the solid space +/// Marks spans that are ledges as not-walkable. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to +/// be considered walkable. [Limit: >= 3] [Units: vx] +/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. +/// [Limit: >=0] [Units: vx] +/// @param[in,out] solid A fully built heightfield. (All spans have been added.) void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walkableClimb, rcHeightfield& solid); -// Removes WALKABLE flag from all spans which have smaller than -// 'walkableHeight' clearance above them. -// Params: -// walkableHeight - (in) minimum height where the agent can still walk -// solid - (in/out) heightfield describing the solid space +/// Marks walkable spans as not walkable if the clearence above the span is less than the specified height. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to +/// be considered walkable. [Limit: >= 3] [Units: vx] +/// @param[in,out] solid A fully built heightfield. (All spans have been added.) void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid); -// Returns number of spans contained in a heightfield. -// Params: -// hf - (in) heightfield to be compacted -// Returns number of spans. +/// Returns the number of spans contained in the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] hf An initialized heightfield. +/// @returns The number of spans in the heightfield. int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf); -// Builds compact representation of the heightfield. -// Params: -// walkableHeight - (in) minimum height where the agent can still walk -// walkableClimb - (in) maximum height between grid cells the agent can climb -// flags - (in) require flags for a cell to be included in the compact heightfield. -// hf - (in) heightfield to be compacted -// chf - (out) compact heightfield representing the open space. -// Returns false if operation ran out of memory. +/// @} +/// @name Compact Heightfield Functions +/// @see rcCompactHeightfield +/// @{ + +/// Builds a compact heightfield representing open space, from a heightfield representing solid space. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area +/// to be considered walkable. [Limit: >= 3] [Units: vx] +/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. +/// [Limit: >=0] [Units: vx] +/// @param[in] hf The heightfield to be compacted. +/// @param[out] chf The resulting compact heightfield. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb, rcHeightfield& hf, rcCompactHeightfield& chf); -// Erodes walkable area. -// Params: -// radius - (in) radius of erosion (max 255). -// chf - (in/out) compact heightfield to erode. -// Returns false if operation ran out of memory. +/// Erodes the walkable area within the heightfield by the specified radius. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] radius The radius of erosion. [Limits: 0 < value < 255] [Units: vx] +/// @param[in,out] chf The populated compact heightfield to erode. +/// @returns True if the operation completed successfully. bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf); -// Applies median filter to walkable area types, removing noise. -// Params: -// chf - (in/out) compact heightfield to erode. -// Returns false if operation ran out of memory. +/// Applies a median filter to walkable area types (based on area id), removing noise. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] chf A populated compact heightfield. +/// @returns True if the operation completed successfully. bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf); -// Marks the area of the convex polygon into the area type of the compact heightfield. -// Params: -// bmin/bmax - (in) bounds of the axis aligned box. -// areaId - (in) area ID to mark. -// chf - (in/out) compact heightfield to mark. +/// Applies an area id to all spans within the specified bounding box. (AABB) +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] bmin The minimum of the bounding box. [(x, y, z)] +/// @param[in] bmax The maximum of the bounding box. [(x, y, z)] +/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] chf A populated compact heightfield. void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId, rcCompactHeightfield& chf); -// Marks the area of the convex polygon into the area type of the compact heightfield. -// Params: -// verts - (in) vertices of the convex polygon. -// nverts - (in) number of vertices in the polygon. -// hmin/hmax - (in) min and max height of the polygon. -// areaId - (in) area ID to mark. -// chf - (in/out) compact heightfield to mark. +/// Applies the area id to the all spans within the specified convex polygon. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] verts The vertices of the polygon [Fomr: (x, y, z) * @p nverts] +/// @param[in] nverts The number of vertices in the polygon. +/// @param[in] hmin The height of the base of the polygon. +/// @param[in] hmax The height of the top of the polygon. +/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] chf A populated compact heightfield. void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts, const float hmin, const float hmax, unsigned char areaId, rcCompactHeightfield& chf); -// Builds distance field and stores it into the combat heightfield. -// Params: -// chf - (in/out) compact heightfield representing the open space. -// Returns false if operation ran out of memory. +/// Helper function to offset voncex polygons for rcMarkConvexPolyArea. +/// @ingroup recast +/// @param[in] verts The vertices of the polygon [Form: (x, y, z) * @p nverts] +/// @param[in] nverts The number of vertices in the polygon. +/// @param[out] outVerts The offset vertices (should hold up to 2 * @p nverts) [Form: (x, y, z) * return value] +/// @param[in] maxOutVerts The max number of vertices that can be stored to @p outVerts. +/// @returns Number of vertices in the offset polygon or 0 if too few vertices in @p outVerts. +int rcOffsetPoly(const float* verts, const int nverts, const float offset, + float* outVerts, const int maxOutVerts); + +/// Applies the area id to all spans within the specified cylinder. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] pos The center of the base of the cylinder. [Form: (x, y, z)] +/// @param[in] r The radius of the cylinder. +/// @param[in] h The height of the cylinder. +/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] chf A populated compact heightfield. +void rcMarkCylinderArea(rcContext* ctx, const float* pos, + const float r, const float h, unsigned char areaId, + rcCompactHeightfield& chf); + +/// Builds the distance field for the specified compact heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] chf A populated compact heightfield. +/// @returns True if the operation completed successfully. bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf); -// Divides the walkable heighfied into simple regions using watershed partitioning. -// Each region has only one contour and no overlaps. -// The regions are stored in the compact heightfield 'reg' field. -// The process sometimes creates small regions. If the area of a regions is -// smaller than 'mergeRegionArea' then the region will be merged with a neighbour -// region if possible. If multiple regions form an area which is smaller than -// 'minRegionArea' all the regions belonging to that area will be removed. -// Here area means the count of spans in an area. -// Params: -// chf - (in/out) compact heightfield representing the open space. -// minRegionArea - (in) the smallest allowed region area. -// maxMergeRegionArea - (in) the largest allowed region area which can be merged. -// Returns false if operation ran out of memory. +/// Builds region data for the heightfield using watershed partitioning. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] chf A populated compact heightfield. +/// @param[in] borderSize The size of the non-navigable border around the heightfield. +/// [Limit: >=0] [Units: vx] +/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. +/// [Limit: >=0] [Units: vx]. +/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible, +/// be merged with larger regions. [Limit: >=0] [Units: vx] +/// @returns True if the operation completed successfully. bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, const int borderSize, const int minRegionArea, const int mergeRegionArea); -// Divides the walkable heighfied into simple regions using simple monotone partitioning. -// Each region has only one contour and no overlaps. -// The regions are stored in the compact heightfield 'reg' field. -// The process sometimes creates small regions. If the area of a regions is -// smaller than 'mergeRegionArea' then the region will be merged with a neighbour -// region if possible. If multiple regions form an area which is smaller than -// 'minRegionArea' all the regions belonging to that area will be removed. -// Here area means the count of spans in an area. -// Params: -// chf - (in/out) compact heightfield representing the open space. -// minRegionArea - (in) the smallest allowed regions size. -// maxMergeRegionArea - (in) the largest allowed regions size which can be merged. -// Returns false if operation ran out of memory. +/// Builds region data for the heightfield using simple monotone partitioning. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] chf A populated compact heightfield. +/// @param[in] borderSize The size of the non-navigable border around the heightfield. +/// [Limit: >=0] [Units: vx] +/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. +/// [Limit: >=0] [Units: vx]. +/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible, +/// be merged with larger regions. [Limit: >=0] [Units: vx] +/// @returns True if the operation completed successfully. bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf, const int borderSize, const int minRegionArea, const int mergeRegionArea); -// Builds simplified contours from the regions outlines. -// Params: -// chf - (in) compact heightfield which has regions set. -// maxError - (in) maximum allowed distance between simplified contour and cells. -// maxEdgeLen - (in) maximum allowed contour edge length in cells. -// cset - (out) Resulting contour set. -// flags - (in) build flags, see rcBuildContoursFlags. -// Returns false if operation ran out of memory. + +/// 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. +/// @param[in] chf A fully built compact heightfield. +/// @param[in] maxError The maximum distance a simplfied contour's border edges should deviate +/// the original raw contour. [Limit: >=0] [Units: wu] +/// @param[in] maxEdgeLen The maximum allowed length for contour edges along the border of the mesh. +/// [Limit: >=0] [Units: vx] +/// @param[out] cset The resulting contour set. (Must be pre-allocated.) +/// @param[in] buildFlags The build flags. (See: #rcBuildContoursFlags) +/// @returns True if the operation completed successfully. bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf, const float maxError, const int maxEdgeLen, rcContourSet& cset, const int 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 +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] meshes An array of polygon meshes to merge. [Size: @p nmeshes] +/// @param[in] nmeshes The number of polygon meshes in the meshes array. +/// @param[in] mesh The resulting polygon mesh. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh); -// Builds detail triangle mesh for each polygon in the poly mesh. -// Params: -// mesh - (in) poly mesh to detail. -// chf - (in) compact height field, used to query height for new vertices. -// sampleDist - (in) spacing between height samples used to generate more detail into mesh. -// sampleMaxError - (in) maximum allowed distance between simplified detail mesh and height sample. -// pmdtl - (out) detail mesh. -// Returns false if operation ran out of memory. +/// Builds a detail mesh from the provided polygon mesh. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] mesh A fully built polygon mesh. +/// @param[in] chf The compact heightfield used to build the polygon mesh. +/// @param[in] sampleDist Sets the distance to use when samping the heightfield. [Limit: >=0] [Units: wu] +/// @param[in] sampleMaxError The maximum distance the detail mesh surface should deviate from +/// heightfield data. [Limit: >=0] [Units: wu] +/// @param[out] dmesh The resulting detail mesh. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf, const float sampleDist, const float sampleMaxError, rcPolyMeshDetail& dmesh); +/// Copies the poly mesh data from src to dst. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] src The source mesh to copy from. +/// @param[out] dst The resulting detail mesh. (Must be pre-allocated, must be empty mesh.) +/// @returns True if the operation completed successfully. +bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst); + +/// Merges multiple detail meshes into a single detail mesh. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] meshes An array of detail meshes to merge. [Size: @p nmeshes] +/// @param[in] nmeshes The number of detail meshes in the meshes array. +/// @param[out] mesh The resulting detail mesh. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh); +/// @} #endif // RECAST_H + +/////////////////////////////////////////////////////////////////////////// + +// Due to the large amount of detail documentation for this file, +// the content normally located at the end of the header file has been separated +// out to a file in /Docs/Extern. diff --git a/dep/recastnavigation/Recast/RecastAlloc.cpp b/dep/recastnavigation/Recast/RecastAlloc.cpp index 2c7396a1bfa..b5ec1516146 100644 --- a/dep/recastnavigation/Recast/RecastAlloc.cpp +++ b/dep/recastnavigation/Recast/RecastAlloc.cpp @@ -33,24 +33,45 @@ static void rcFreeDefault(void *ptr) static rcAllocFunc* sRecastAllocFunc = rcAllocDefault; static rcFreeFunc* sRecastFreeFunc = rcFreeDefault; +/// @see rcAlloc, rcFree void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc) { sRecastAllocFunc = allocFunc ? allocFunc : rcAllocDefault; sRecastFreeFunc = freeFunc ? freeFunc : rcFreeDefault; } +/// @see rcAllocSetCustom void* rcAlloc(int size, rcAllocHint hint) { return sRecastAllocFunc(size, hint); } +/// @par +/// +/// @warning This function leaves the value of @p ptr unchanged. So it still +/// points to the same (now invalid) location, and not to null. +/// +/// @see rcAllocSetCustom void rcFree(void* ptr) { if (ptr) sRecastFreeFunc(ptr); } +/// @class rcIntArray +/// +/// While it is possible to pre-allocate a specific array size during +/// construction or by using the #resize method, certain methods will +/// automatically resize the array as needed. +/// +/// @warning The array memory is not initialized to zero when the size is +/// manually set during construction or when using #resize. +/// @par +/// +/// Using this method ensures the array is at least large enough to hold +/// the specified number of elements. This can improve performance by +/// avoiding auto-resizing during use. void rcIntArray::resize(int n) { if (n > m_cap) diff --git a/dep/recastnavigation/Recast/RecastAlloc.h b/dep/recastnavigation/Recast/RecastAlloc.h index 9a316374a73..438be9ea56b 100644 --- a/dep/recastnavigation/Recast/RecastAlloc.h +++ b/dep/recastnavigation/Recast/RecastAlloc.h @@ -19,23 +19,45 @@ #ifndef RECASTALLOC_H #define RECASTALLOC_H +/// Provides hint values to the memory allocator on how long the +/// memory is expected to be used. enum rcAllocHint { - RC_ALLOC_PERM, // Memory persist after a function call. - RC_ALLOC_TEMP // Memory used temporarily within a function. + RC_ALLOC_PERM, ///< Memory will persist after a function call. + RC_ALLOC_TEMP ///< Memory used temporarily within a function. }; +/// A memory allocation function. +// @param[in] size The size, in bytes of memory, to allocate. +// @param[in] rcAllocHint A hint to the allocator on how long the memory is expected to be in use. +// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed. +/// @see rcAllocSetCustom typedef void* (rcAllocFunc)(int size, rcAllocHint hint); + +/// A memory deallocation function. +/// @param[in] ptr A pointer to a memory block previously allocated using #rcAllocFunc. +/// @see rcAllocSetCustom typedef void (rcFreeFunc)(void* ptr); +/// Sets the base custom allocation functions to be used by Recast. +/// @param[in] allocFunc The memory allocation function to be used by #rcAlloc +/// @param[in] freeFunc The memory de-allocation function to be used by #rcFree void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc); +/// Allocates a memory block. +/// @param[in] size The size, in bytes of memory, to allocate. +/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use. +/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed. +/// @see rcFree void* rcAlloc(int size, rcAllocHint hint); -void rcFree(void* ptr); +/// Deallocates a memory block. +/// @param[in] ptr A pointer to a memory block previously allocated using #rcAlloc. +/// @see rcAlloc +void rcFree(void* ptr); -// Simple dynamic array ints. +/// A simple dynamic array of integers. class rcIntArray { int* m_data; @@ -43,26 +65,59 @@ class rcIntArray inline rcIntArray(const rcIntArray&); inline rcIntArray& operator=(const rcIntArray&); public: + + /// Constructs an instance with an initial array size of zero. inline rcIntArray() : m_data(0), m_size(0), m_cap(0) {} + + /// Constructs an instance initialized to the specified size. + /// @param[in] n The initial size of the integer array. inline rcIntArray(int n) : m_data(0), m_size(0), m_cap(0) { resize(n); } inline ~rcIntArray() { rcFree(m_data); } + + /// Specifies the new size of the integer array. + /// @param[in] n The new size of the integer array. void resize(int n); + + /// Push the specified integer onto the end of the array and increases the size by one. + /// @param[in] item The new value. inline void push(int item) { resize(m_size+1); m_data[m_size-1] = item; } + + /// Returns the value at the end of the array and reduces the size by one. + /// @return The value at the end of the array. inline int pop() { if (m_size > 0) m_size--; return m_data[m_size]; } + + /// The value at the specified array index. + /// @warning Does not provide overflow protection. + /// @param[in] i The index of the value. inline const int& operator[](int i) const { return m_data[i]; } + + /// The value at the specified array index. + /// @warning Does not provide overflow protection. + /// @param[in] i The index of the value. inline int& operator[](int i) { return m_data[i]; } + + /// The current size of the integer array. inline int size() const { return m_size; } }; -// Simple internal helper class to delete array in scope +/// A simple helper class used to delete an array when it goes out of scope. +/// @note This class is rarely if ever used by the end user. template<class T> class rcScopedDelete { T* ptr; inline T* operator=(T* p); public: + + /// Constructs an instance with a null pointer. inline rcScopedDelete() : ptr(0) {} + + /// Constructs an instance with the specified pointer. + /// @param[in] p An pointer to an allocated array. inline rcScopedDelete(T* p) : ptr(p) {} inline ~rcScopedDelete() { rcFree(ptr); } + + /// The root array pointer. + /// @return The root array pointer. inline operator T*() { return ptr; } }; diff --git a/dep/recastnavigation/Recast/RecastArea.cpp b/dep/recastnavigation/Recast/RecastArea.cpp index e89caee2a49..1a338cd9b8c 100644 --- a/dep/recastnavigation/Recast/RecastArea.cpp +++ b/dep/recastnavigation/Recast/RecastArea.cpp @@ -26,7 +26,14 @@ #include "RecastAlloc.h" #include "RecastAssert.h" - +/// @par +/// +/// Basically, any spans that are closer to a boundary or obstruction than the specified radius +/// are marked as unwalkable. +/// +/// This method is usually called immediately after the heightfield has been built. +/// +/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf) { rcAssert(ctx); @@ -54,14 +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) @@ -213,7 +232,12 @@ static void insertSort(unsigned char* a, const int n) } } - +/// @par +/// +/// This filter is usually applied after applying area id's using functions +/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea. +/// +/// @see rcCompactHeightfield bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf) { rcAssert(ctx); @@ -288,6 +312,11 @@ bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf) return true; } +/// @par +/// +/// The value of spacial parameters are in world units. +/// +/// @see rcCompactHeightfield, rcMedianFilterWalkableArea void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId, rcCompactHeightfield& chf) { @@ -322,7 +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; } } } @@ -347,6 +377,14 @@ static int pointInPoly(int nvert, const float* verts, const float* p) return c; } +/// @par +/// +/// The value of spacial parameters are in world units. +/// +/// The y-values of the polygon vertices are ignored. So the polygon is effectively +/// projected onto the xz-plane at @p hmin, then extruded to @p hmax. +/// +/// @see rcCompactHeightfield, rcMedianFilterWalkableArea void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts, const float hmin, const float hmax, unsigned char areaId, rcCompactHeightfield& chf) @@ -393,6 +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]; @@ -411,3 +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); +} diff --git a/dep/recastnavigation/Recast/RecastAssert.h b/dep/recastnavigation/Recast/RecastAssert.h index b58b8fcd286..2aca0d9a14f 100644 --- a/dep/recastnavigation/Recast/RecastAssert.h +++ b/dep/recastnavigation/Recast/RecastAssert.h @@ -24,7 +24,7 @@ #ifdef NDEBUG // From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/ -# define rcAssert(x) do { (void)sizeof(x); } while(__LINE__==-1,false) +# define rcAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false) #else # include <assert.h> # define rcAssert assert diff --git a/dep/recastnavigation/Recast/RecastContour.cpp b/dep/recastnavigation/Recast/RecastContour.cpp index 1906b6e6f44..5c324bcedfe 100644 --- a/dep/recastnavigation/Recast/RecastContour.cpp +++ b/dep/recastnavigation/Recast/RecastContour.cpp @@ -340,7 +340,7 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified, endi = ai; } - // Tessellate only outer edges oredges between areas. + // Tessellate only outer edges or edges between areas. if ((points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0 || (points[ci*4+3] & RC_AREA_BORDER)) { @@ -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); } } @@ -592,6 +590,19 @@ static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib) return true; } +/// @par +/// +/// The raw contours will match the region outlines exactly. The @p maxError and @p maxEdgeLen +/// parameters control how closely the simplified contours will match the raw contours. +/// +/// Simplified contours are generated such that the vertices for portals between areas match up. +/// (They are considered mandatory vertices.) +/// +/// Setting @p maxEdgeLength to zero will disabled the edge length feature. +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf, const float maxError, const int maxEdgeLen, rcContourSet& cset, const int buildFlags) @@ -600,13 +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); @@ -658,8 +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); @@ -682,10 +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) @@ -720,6 +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); @@ -729,6 +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) @@ -796,8 +845,6 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf, } } - ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY); - ctx->stopTimer(RC_TIMER_BUILD_CONTOURS); return true; diff --git a/dep/recastnavigation/Recast/RecastFilter.cpp b/dep/recastnavigation/Recast/RecastFilter.cpp index d01808a79a8..bf985c362c9 100644 --- a/dep/recastnavigation/Recast/RecastFilter.cpp +++ b/dep/recastnavigation/Recast/RecastFilter.cpp @@ -22,7 +22,17 @@ #include "Recast.h" #include "RecastAssert.h" - +/// @par +/// +/// Allows the formation of walkable regions that will flow over low lying +/// objects such as curbs, and up structures such as stairways. +/// +/// Two neighboring spans are walkable if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb</tt> +/// +/// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call +/// #rcFilterLedgeSpans after calling this filter. +/// +/// @see rcHeightfield, rcConfig void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid) { rcAssert(ctx); @@ -38,6 +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) { @@ -47,18 +58,29 @@ 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; } } } ctx->stopTimer(RC_TIMER_FILTER_LOW_OBSTACLES); } - + +/// @par +/// +/// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb +/// from the current span's maximum. +/// This method removes the impact of the overestimation of conservative voxelization +/// so the resulting mesh will not have regions hanging in the air over ledges. +/// +/// A span is a ledge if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt> +/// +/// @see rcHeightfield, rcConfig void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walkableClimb, rcHeightfield& solid) { @@ -149,6 +171,12 @@ void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walk ctx->stopTimer(RC_TIMER_FILTER_BORDER); } +/// @par +/// +/// For this filter, the clearance above the span is the distance from the span's +/// maximum to the next higher span's minimum. (Same grid column.) +/// +/// @see rcHeightfield, rcConfig void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid) { rcAssert(ctx); diff --git a/dep/recastnavigation/Recast/RecastLayers.cpp b/dep/recastnavigation/Recast/RecastLayers.cpp new file mode 100644 index 00000000000..5ea6cb79d16 --- /dev/null +++ b/dep/recastnavigation/Recast/RecastLayers.cpp @@ -0,0 +1,620 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include <float.h> +#define _USE_MATH_DEFINES +#include <math.h> +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include "Recast.h" +#include "RecastAlloc.h" +#include "RecastAssert.h" + + +static const int RC_MAX_LAYERS = RC_NOT_CONNECTED; +static const int RC_MAX_NEIS = 16; + +struct rcLayerRegion +{ + unsigned char layers[RC_MAX_LAYERS]; + unsigned char neis[RC_MAX_NEIS]; + unsigned short ymin, ymax; + unsigned char layerId; // Layer ID + unsigned char nlayers; // Layer count + unsigned char nneis; // Neighbour count + unsigned char base; // Flag indicating if the region is hte base of merged regions. +}; + + +static void addUnique(unsigned char* a, unsigned char& an, unsigned char v) +{ + const int n = (int)an; + for (int i = 0; i < n; ++i) + if (a[i] == v) + return; + a[an] = v; + an++; +} + +static bool contains(const unsigned char* a, const unsigned char an, const unsigned char v) +{ + const int n = (int)an; + for (int i = 0; i < n; ++i) + if (a[i] == v) + return true; + return false; +} + +inline bool overlapRange(const unsigned short amin, const unsigned short amax, + const unsigned short bmin, const unsigned short bmax) +{ + return (amin > bmax || amax < bmin) ? false : true; +} + + + +struct rcLayerSweepSpan +{ + unsigned short ns; // number samples + unsigned char id; // region id + unsigned char nei; // neighbour id +}; + +/// @par +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig +bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, + const int borderSize, const int walkableHeight, + rcHeightfieldLayerSet& lset) +{ + rcAssert(ctx); + + ctx->startTimer(RC_TIMER_BUILD_LAYERS); + + const int w = chf.width; + const int h = chf.height; + + rcScopedDelete<unsigned char> srcReg = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP); + if (!srcReg) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' (%d).", chf.spanCount); + return false; + } + memset(srcReg,0xff,sizeof(unsigned char)*chf.spanCount); + + const int nsweeps = chf.width; + rcScopedDelete<rcLayerSweepSpan> sweeps = (rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP); + if (!sweeps) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps); + return false; + } + + + // Partition walkable area into monotone regions. + int prevCount[256]; + unsigned char regId = 0; + + for (int y = borderSize; y < h-borderSize; ++y) + { + memset(prevCount,0,sizeof(int)*regId); + unsigned char sweepId = 0; + + for (int x = borderSize; x < w-borderSize; ++x) + { + const rcCompactCell& c = chf.cells[x+y*w]; + + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + { + const rcCompactSpan& s = chf.spans[i]; + if (chf.areas[i] == RC_NULL_AREA) continue; + + unsigned char sid = 0xff; + + // -x + if (rcGetCon(s, 0) != RC_NOT_CONNECTED) + { + const int ax = x + rcGetDirOffsetX(0); + const int ay = y + rcGetDirOffsetY(0); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0); + if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff) + sid = srcReg[ai]; + } + + if (sid == 0xff) + { + sid = sweepId++; + sweeps[sid].nei = 0xff; + sweeps[sid].ns = 0; + } + + // -y + if (rcGetCon(s,3) != RC_NOT_CONNECTED) + { + const int ax = x + rcGetDirOffsetX(3); + const int ay = y + rcGetDirOffsetY(3); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3); + const unsigned char nr = srcReg[ai]; + if (nr != 0xff) + { + // Set neighbour when first valid neighbour is encoutered. + if (sweeps[sid].ns == 0) + sweeps[sid].nei = nr; + + if (sweeps[sid].nei == nr) + { + // Update existing neighbour + sweeps[sid].ns++; + prevCount[nr]++; + } + else + { + // This is hit if there is nore than one neighbour. + // Invalidate the neighbour. + sweeps[sid].nei = 0xff; + } + } + } + + srcReg[i] = sid; + } + } + + // Create unique ID. + for (int i = 0; i < sweepId; ++i) + { + // If the neighbour is set and there is only one continuous connection to it, + // the sweep will be merged with the previous one, else new region is created. + if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns) + { + sweeps[i].id = sweeps[i].nei; + } + else + { + if (regId == 255) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow."); + return false; + } + sweeps[i].id = regId++; + } + } + + // Remap local sweep ids to region ids. + for (int x = borderSize; x < w-borderSize; ++x) + { + const rcCompactCell& c = chf.cells[x+y*w]; + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + { + if (srcReg[i] != 0xff) + srcReg[i] = sweeps[srcReg[i]].id; + } + } + } + + // Allocate and init layer regions. + const int nregs = (int)regId; + rcScopedDelete<rcLayerRegion> regs = (rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP); + if (!regs) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs); + return false; + } + memset(regs, 0, sizeof(rcLayerRegion)*nregs); + for (int i = 0; i < nregs; ++i) + { + regs[i].layerId = 0xff; + regs[i].ymin = 0xffff; + regs[i].ymax = 0; + } + + // Find region neighbours and overlapping regions. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + const rcCompactCell& c = chf.cells[x+y*w]; + + unsigned char lregs[RC_MAX_LAYERS]; + int nlregs = 0; + + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + { + const rcCompactSpan& s = chf.spans[i]; + const unsigned char ri = srcReg[i]; + if (ri == 0xff) continue; + + regs[ri].ymin = rcMin(regs[ri].ymin, s.y); + regs[ri].ymax = rcMax(regs[ri].ymax, s.y); + + // Collect all region layers. + if (nlregs < RC_MAX_LAYERS) + lregs[nlregs++] = ri; + + // Update neighbours + for (int dir = 0; dir < 4; ++dir) + { + if (rcGetCon(s, dir) != RC_NOT_CONNECTED) + { + const int ax = x + rcGetDirOffsetX(dir); + const int ay = y + rcGetDirOffsetY(dir); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir); + const unsigned char rai = srcReg[ai]; + if (rai != 0xff && rai != ri) + addUnique(regs[ri].neis, regs[ri].nneis, rai); + } + } + + } + + // Update overlapping regions. + for (int i = 0; i < nlregs-1; ++i) + { + for (int j = i+1; j < nlregs; ++j) + { + if (lregs[i] != lregs[j]) + { + rcLayerRegion& ri = regs[lregs[i]]; + rcLayerRegion& rj = regs[lregs[j]]; + addUnique(ri.layers, ri.nlayers, lregs[j]); + addUnique(rj.layers, rj.nlayers, lregs[i]); + } + } + } + + } + } + + // Create 2D layers from regions. + unsigned char layerId = 0; + + static const int MAX_STACK = 64; + unsigned char stack[MAX_STACK]; + int nstack = 0; + + for (int i = 0; i < nregs; ++i) + { + rcLayerRegion& root = regs[i]; + // Skip alreadu visited. + if (root.layerId != 0xff) + continue; + + // Start search. + root.layerId = layerId; + root.base = 1; + + nstack = 0; + stack[nstack++] = (unsigned char)i; + + while (nstack) + { + // Pop front + rcLayerRegion& reg = regs[stack[0]]; + nstack--; + for (int j = 0; j < nstack; ++j) + stack[j] = stack[j+1]; + + const int nneis = (int)reg.nneis; + for (int j = 0; j < nneis; ++j) + { + const unsigned char nei = reg.neis[j]; + rcLayerRegion& regn = regs[nei]; + // Skip already visited. + if (regn.layerId != 0xff) + continue; + // Skip if the neighbour is overlapping root region. + if (contains(root.layers, root.nlayers, nei)) + continue; + // Skip if the height range would become too large. + const int ymin = rcMin(root.ymin, regn.ymin); + const int ymax = rcMax(root.ymax, regn.ymax); // Edited by TC + if ((ymax - ymin) >= 255) + continue; + + if (nstack < MAX_STACK) + { + // Deepen + stack[nstack++] = (unsigned char)nei; + + // Mark layer id + regn.layerId = layerId; + // Merge current layers to root. + for (int k = 0; k < regn.nlayers; ++k) + addUnique(root.layers, root.nlayers, regn.layers[k]); + root.ymin = rcMin(root.ymin, regn.ymin); + root.ymax = rcMax(root.ymax, regn.ymax); + } + } + } + + layerId++; + } + + // Merge non-overlapping regions that are close in height. + const unsigned short mergeHeight = (unsigned short)walkableHeight * 4; + + for (int i = 0; i < nregs; ++i) + { + rcLayerRegion& ri = regs[i]; + if (!ri.base) continue; + + unsigned char newId = ri.layerId; + + for (;;) + { + unsigned char oldId = 0xff; + + for (int j = 0; j < nregs; ++j) + { + if (i == j) continue; + rcLayerRegion& rj = regs[j]; + if (!rj.base) continue; + + // Skip if teh regions are not close to each other. + if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight)) + continue; + // Skip if the height range would become too large. + const int ymin = rcMin(ri.ymin, rj.ymin); + const int ymax = rcMax(ri.ymax, rj.ymax); // Edited by TC + if ((ymax - ymin) >= 255) + continue; + + // Make sure that there is no overlap when mergin 'ri' and 'rj'. + bool overlap = false; + // Iterate over all regions which have the same layerId as 'rj' + for (int k = 0; k < nregs; ++k) + { + if (regs[k].layerId != rj.layerId) + continue; + // Check if region 'k' is overlapping region 'ri' + // Index to 'regs' is the same as region id. + if (contains(ri.layers,ri.nlayers, (unsigned char)k)) + { + overlap = true; + break; + } + } + // Cannot merge of regions overlap. + if (overlap) + continue; + + // Can merge i and j. + oldId = rj.layerId; + break; + } + + // Could not find anything to merge with, stop. + if (oldId == 0xff) + break; + + // Merge + for (int j = 0; j < nregs; ++j) + { + rcLayerRegion& rj = regs[j]; + if (rj.layerId == oldId) + { + rj.base = 0; + // Remap layerIds. + rj.layerId = newId; + // Add overlaid layers from 'rj' to 'ri'. + for (int k = 0; k < rj.nlayers; ++k) + addUnique(ri.layers, ri.nlayers, rj.layers[k]); + // Update heigh bounds. + ri.ymin = rcMin(ri.ymin, rj.ymin); + ri.ymax = rcMax(ri.ymax, rj.ymax); + } + } + } + } + + // Compact layerIds + unsigned char remap[256]; + memset(remap, 0, 256); + + // Find number of unique layers. + layerId = 0; + for (int i = 0; i < nregs; ++i) + remap[regs[i].layerId] = 1; + for (int i = 0; i < 256; ++i) + { + if (remap[i]) + remap[i] = layerId++; + else + remap[i] = 0xff; + } + // Remap ids. + for (int i = 0; i < nregs; ++i) + regs[i].layerId = remap[regs[i].layerId]; + + // No layers, return empty. + if (layerId == 0) + { + ctx->stopTimer(RC_TIMER_BUILD_LAYERS); + return true; + } + + // Create layers. + rcAssert(lset.layers == 0); + + const int lw = w - borderSize*2; + const int lh = h - borderSize*2; + + // Build contracted bbox for layers. + float bmin[3], bmax[3]; + rcVcopy(bmin, chf.bmin); + rcVcopy(bmax, chf.bmax); + bmin[0] += borderSize*chf.cs; + bmin[2] += borderSize*chf.cs; + bmax[0] -= borderSize*chf.cs; + bmax[2] -= borderSize*chf.cs; + + lset.nlayers = (int)layerId; + + lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM); + if (!lset.layers) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' (%d).", lset.nlayers); + return false; + } + memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers); + + + // Store layers. + for (int i = 0; i < lset.nlayers; ++i) + { + unsigned char curId = (unsigned char)i; + + // Allocate memory for the current layer. + rcHeightfieldLayer* layer = &lset.layers[i]; + memset(layer, 0, sizeof(rcHeightfieldLayer)); + + const int gridSize = sizeof(unsigned char)*lw*lh; + + layer->heights = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM); + if (!layer->heights) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' (%d).", gridSize); + return false; + } + memset(layer->heights, 0xff, gridSize); + + layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM); + if (!layer->areas) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' (%d).", gridSize); + return false; + } + memset(layer->areas, 0, gridSize); + + layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM); + if (!layer->cons) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' (%d).", gridSize); + return false; + } + memset(layer->cons, 0, gridSize); + + // Find layer height bounds. + int hmin = 0, hmax = 0; + for (int j = 0; j < nregs; ++j) + { + if (regs[j].base && regs[j].layerId == curId) + { + hmin = (int)regs[j].ymin; + hmax = (int)regs[j].ymax; + } + } + + layer->width = lw; + layer->height = lh; + layer->cs = chf.cs; + layer->ch = chf.ch; + + // Adjust the bbox to fit the heighfield. + rcVcopy(layer->bmin, bmin); + rcVcopy(layer->bmax, bmax); + layer->bmin[1] = bmin[1] + hmin*chf.ch; + layer->bmax[1] = bmin[1] + hmax*chf.ch; + layer->hmin = hmin; + layer->hmax = hmax; + + // Update usable data region. + layer->minx = layer->width; + layer->maxx = 0; + layer->miny = layer->height; + layer->maxy = 0; + + // Copy height and area from compact heighfield. + for (int y = 0; y < lh; ++y) + { + for (int x = 0; x < lw; ++x) + { + const int cx = borderSize+x; + const int cy = borderSize+y; + const rcCompactCell& c = chf.cells[cx+cy*w]; + for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j) + { + const rcCompactSpan& s = chf.spans[j]; + // Skip unassigned regions. + if (srcReg[j] == 0xff) + continue; + // Skip of does nto belong to current layer. + unsigned char lid = regs[srcReg[j]].layerId; + if (lid != curId) + continue; + + // Update data bounds. + layer->minx = rcMin(layer->minx, x); + layer->maxx = rcMax(layer->maxx, x); + layer->miny = rcMin(layer->miny, y); + layer->maxy = rcMax(layer->maxy, y); + + // Store height and area type. + const int idx = x+y*lw; + layer->heights[idx] = (unsigned char)(s.y - hmin); + layer->areas[idx] = chf.areas[j]; + + // Check connection. + unsigned char portal = 0; + unsigned char con = 0; + for (int dir = 0; dir < 4; ++dir) + { + if (rcGetCon(s, dir) != RC_NOT_CONNECTED) + { + const int ax = cx + rcGetDirOffsetX(dir); + const int ay = cy + rcGetDirOffsetY(dir); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir); + unsigned char alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff; + // Portal mask + if (chf.areas[ai] != RC_NULL_AREA && lid != alid) + { + portal |= (unsigned char)(1<<dir); + // Update height so that it matches on both sides of the portal. + const rcCompactSpan& as = chf.spans[ai]; + if (as.y > hmin) + layer->heights[idx] = rcMax(layer->heights[idx], (unsigned char)(as.y - hmin)); + } + // Valid connection mask + if (chf.areas[ai] != RC_NULL_AREA && lid == alid) + { + const int nx = ax - borderSize; + const int ny = ay - borderSize; + if (nx >= 0 && ny >= 0 && nx < lw && ny < lh) + con |= (unsigned char)(1<<dir); + } + } + } + + layer->cons[idx] = (portal << 4) | con; + } + } + } + + if (layer->minx > layer->maxx) + layer->minx = layer->maxx = 0; + if (layer->miny > layer->maxy) + layer->miny = layer->maxy = 0; + } + + ctx->stopTimer(RC_TIMER_BUILD_LAYERS); + + return true; +} diff --git a/dep/recastnavigation/Recast/RecastMesh.cpp b/dep/recastnavigation/Recast/RecastMesh.cpp index 4b33c106d10..13aad2af01c 100644 --- a/dep/recastnavigation/Recast/RecastMesh.cpp +++ b/dep/recastnavigation/Recast/RecastMesh.cpp @@ -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) || @@ -470,6 +472,7 @@ static void mergePolys(unsigned short* pa, unsigned short* pb, int ea, int eb, memcpy(pa, tmp, sizeof(unsigned short)*nvp); } + static void pushFront(int v, int* arr, int& an) { an++; @@ -547,9 +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. @@ -892,8 +895,13 @@ 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); @@ -903,6 +911,7 @@ 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; @@ -925,7 +934,7 @@ 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); @@ -936,7 +945,7 @@ 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); @@ -1044,7 +1053,7 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& me vflags[indices[j]] = 1; } } - + // Build initial polygons. int npolys = 0; memset(polys, 0xff, maxVertsPerCont*nvp*sizeof(unsigned short)); @@ -1141,6 +1150,7 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& me } // Remove vertex // Note: mesh.nverts is already decremented inside removeVertex()! + // Fixup vertex flags for (int j = i; j < mesh.nverts; ++j) vflags[j] = vflags[j+1]; --i; @@ -1153,6 +1163,37 @@ 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); @@ -1165,11 +1206,11 @@ 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); @@ -1177,6 +1218,7 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& me return true; } +/// @see rcAllocPolyMesh, rcPolyMesh bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh) { rcAssert(ctx); @@ -1268,7 +1310,7 @@ 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) { @@ -1320,3 +1362,67 @@ 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; +} diff --git a/dep/recastnavigation/Recast/RecastMeshDetail.cpp b/dep/recastnavigation/Recast/RecastMeshDetail.cpp index ffb4b58ee9c..f49d67400c2 100644 --- a/dep/recastnavigation/Recast/RecastMeshDetail.cpp +++ b/dep/recastnavigation/Recast/RecastMeshDetail.cpp @@ -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 @@ -554,7 +554,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin, float dx = vi[0] - vj[0]; float dy = vi[1] - vj[1]; float dz = vi[2] - vj[2]; - float d = sqrtf(dx*dx + dz*dz); + float d = rcSqrt(dx*dx + dz*dz); int nn = 1 + (int)floorf(d/sampleDist); if (nn >= MAX_VERTS_PER_EDGE) nn = MAX_VERTS_PER_EDGE-1; if (nverts+nn >= MAX_VERTS) @@ -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; } } @@ -743,12 +743,15 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin, static void getHeightData(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, // starting at vertex locations as seeds. + // Note: Reads to the compact heightfield are offset by border size (bs) + // since border size offset is already removed from the polymesh vertices. + memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height); stack.resize(0); @@ -772,7 +775,7 @@ 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]; @@ -844,7 +847,7 @@ 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; @@ -900,7 +903,7 @@ static void getHeightData(const rcCompactHeightfield& chf, if (hp.data[ax-hp.xmin+(ay-hp.ymin)*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+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir); const rcCompactSpan& as = chf.spans[ai]; int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width; @@ -938,8 +941,11 @@ static unsigned char getTriFlags(const float* va, const float* vb, const float* return flags; } - - +/// @par +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf, const float sampleDist, const float sampleMaxError, rcPolyMeshDetail& dmesh) @@ -955,6 +961,7 @@ 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); @@ -1065,7 +1072,7 @@ 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); // Build detail mesh. int nverts = 0; @@ -1157,6 +1164,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa return true; } +/// @see rcAllocPolyMeshDetail, rcPolyMeshDetail bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh) { rcAssert(ctx); diff --git a/dep/recastnavigation/Recast/RecastRasterization.cpp b/dep/recastnavigation/Recast/RecastRasterization.cpp index 71adfb67322..d2bb7c98f18 100644 --- a/dep/recastnavigation/Recast/RecastRasterization.cpp +++ b/dep/recastnavigation/Recast/RecastRasterization.cpp @@ -154,6 +154,13 @@ static void addSpan(rcHeightfield& hf, const int x, const int y, } } +/// @par +/// +/// The span addition can be set to favor flags. If the span is merged to +/// another span and the new @p smax is within @p flagMergeThr units +/// from the existing span, the span flags are merged. +/// +/// @see rcHeightfield, rcSpan. void rcAddSpan(rcContext* /*ctx*/, rcHeightfield& hf, const int x, const int y, const unsigned short smin, const unsigned short smax, const unsigned char area, const int flagMergeThr) @@ -276,6 +283,11 @@ static void rasterizeTri(const float* v0, const float* v1, const float* v2, } } +/// @par +/// +/// No spans will be added if the triangle does not overlap the heightfield grid. +/// +/// @see rcHeightfield void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2, const unsigned char area, rcHeightfield& solid, const int flagMergeThr) @@ -291,6 +303,11 @@ void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES); } +/// @par +/// +/// Spans will only be added for triangles that overlap the heightfield grid. +/// +/// @see rcHeightfield void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/, const int* tris, const unsigned char* areas, const int nt, rcHeightfield& solid, const int flagMergeThr) @@ -314,6 +331,11 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/, ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES); } +/// @par +/// +/// Spans will only be added for triangles that overlap the heightfield grid. +/// +/// @see rcHeightfield void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/, const unsigned short* tris, const unsigned char* areas, const int nt, rcHeightfield& solid, const int flagMergeThr) @@ -337,6 +359,11 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/, ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES); } +/// @par +/// +/// Spans will only be added for triangles that overlap the heightfield grid. +/// +/// @see rcHeightfield void rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt, rcHeightfield& solid, const int flagMergeThr) { diff --git a/dep/recastnavigation/Recast/RecastRegion.cpp b/dep/recastnavigation/Recast/RecastRegion.cpp index 6ad9fa53186..76e631cc5fb 100644 --- a/dep/recastnavigation/Recast/RecastRegion.cpp +++ b/dep/recastnavigation/Recast/RecastRegion.cpp @@ -283,6 +283,8 @@ 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; @@ -296,9 +298,9 @@ 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; } } } @@ -319,16 +321,13 @@ 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); } } } @@ -679,17 +678,17 @@ 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 +806,14 @@ 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; } } @@ -937,7 +936,16 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio return true; } - +/// @par +/// +/// This is usually the second to the last step in creating a fully built +/// compact heightfield. This step is required before regions are built +/// using #rcBuildRegions or #rcBuildRegionsMonotone. +/// +/// After this step, the distance data is available via the rcCompactHeightfield::maxDistance +/// and rcCompactHeightfield::dist fields. +/// +/// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf) { rcAssert(ctx); @@ -1020,6 +1028,25 @@ struct rcSweepSpan unsigned short nei; // neighbour id }; +/// @par +/// +/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour. +/// Contours will form simple polygons. +/// +/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be +/// re-assigned to the zero (null) region. +/// +/// Partitioning can result in smaller than necessary regions. @p mergeRegionArea helps +/// reduce unecessarily small regions. +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// The region data will be available via the rcCompactHeightfield::maxRegions +/// and rcCompactSpan::reg fields. +/// +/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions. +/// +/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf, const int borderSize, const int minRegionArea, const int mergeRegionArea) { @@ -1059,6 +1086,8 @@ 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); @@ -1170,6 +1199,25 @@ bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf, return true; } +/// @par +/// +/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour. +/// Contours will form simple polygons. +/// +/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be +/// re-assigned to the zero (null) region. +/// +/// Watershed partitioning can result in smaller than necessary regions, especially in diagonal corridors. +/// @p mergeRegionArea helps reduce unecessarily small regions. +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// The region data will be available via the rcCompactHeightfield::maxRegions +/// and rcCompactSpan::reg fields. +/// +/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions. +/// +/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, const int borderSize, const int minRegionArea, const int mergeRegionArea) { @@ -1209,11 +1257,19 @@ 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; + } while (level > 0) { @@ -1242,7 +1298,6 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, { 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++; } @@ -1250,7 +1305,6 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, } ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FLOOD); - } // Expand current regions until no empty connected cells found. diff --git a/src/server/collision/Management/MMapManager.cpp b/src/server/collision/Management/MMapManager.cpp index a3f89f42443..65c13c07e66 100644 --- a/src/server/collision/Management/MMapManager.cpp +++ b/src/server/collision/Management/MMapManager.cpp @@ -63,7 +63,7 @@ namespace MMAP dtNavMesh* mesh = dtAllocNavMesh(); ASSERT(mesh); - if (DT_SUCCESS != mesh->init(¶ms)) + if (dtStatusFailed(mesh->init(¶ms))) { dtFreeNavMesh(mesh); TC_LOG_ERROR(LOG_FILTER_MAPS, "MMAP:loadMapData: Failed to initialize dtNavMesh for mmap %03u from file %s", mapId, fileName); @@ -152,7 +152,7 @@ namespace MMAP dtTileRef tileRef = 0; // memory allocated for data is now managed by detour, and will be deallocated when the tile is removed - if (DT_SUCCESS == mmap->navMesh->addTile(data, fileHeader.size, DT_TILE_FREE_DATA, 0, &tileRef)) + if (dtStatusSucceed(mmap->navMesh->addTile(data, fileHeader.size, DT_TILE_FREE_DATA, 0, &tileRef))) { mmap->mmapLoadedTiles.insert(std::pair<uint32, dtTileRef>(packedGridPos, tileRef)); ++loadedTiles; @@ -193,7 +193,7 @@ namespace MMAP dtTileRef tileRef = mmap->mmapLoadedTiles[packedGridPos]; // unload, and mark as non loaded - if (DT_SUCCESS != mmap->navMesh->removeTile(tileRef, NULL, NULL)) + if (dtStatusFailed(mmap->navMesh->removeTile(tileRef, NULL, NULL))) { // this is technically a memory leak // if the grid is later reloaded, dtNavMesh::addTile will return error but no extra memory is used @@ -227,7 +227,7 @@ namespace MMAP { uint32 x = (i->first >> 16); uint32 y = (i->first & 0x0000FFFF); - if (DT_SUCCESS != mmap->navMesh->removeTile(i->second, NULL, NULL)) + if (dtStatusFailed(mmap->navMesh->removeTile(i->second, NULL, NULL))) TC_LOG_ERROR(LOG_FILTER_MAPS, "MMAP:unloadMap: Could not unload %03u%02i%02i.mmtile from navmesh", mapId, x, y); else { @@ -288,7 +288,7 @@ namespace MMAP // allocate mesh query dtNavMeshQuery* query = dtAllocNavMeshQuery(); ASSERT(query); - if (DT_SUCCESS != query->init(mmap->navMesh, 1024)) + if (dtStatusFailed(query->init(mmap->navMesh, 1024))) { dtFreeNavMeshQuery(query); TC_LOG_ERROR(LOG_FILTER_MAPS, "MMAP:GetNavMeshQuery: Failed to initialize dtNavMeshQuery for mapId %03u instanceId %u", mapId, instanceId); diff --git a/src/server/game/Grids/GridDefines.h b/src/server/game/Grids/GridDefines.h index ad48e4fd128..9250c784dd9 100644 --- a/src/server/game/Grids/GridDefines.h +++ b/src/server/game/Grids/GridDefines.h @@ -35,7 +35,7 @@ class Player; #define MAX_NUMBER_OF_GRIDS 64 -#define SIZE_OF_GRIDS 533.33333f +#define SIZE_OF_GRIDS 533.3333f #define CENTER_GRID_ID (MAX_NUMBER_OF_GRIDS/2) #define CENTER_GRID_OFFSET (SIZE_OF_GRIDS/2) diff --git a/src/server/game/Miscellaneous/SharedDefines.h b/src/server/game/Miscellaneous/SharedDefines.h index caf504944c6..4d5245cffb1 100644 --- a/src/server/game/Miscellaneous/SharedDefines.h +++ b/src/server/game/Miscellaneous/SharedDefines.h @@ -3540,7 +3540,7 @@ enum PartyResult }; const uint32 MMAP_MAGIC = 0x4d4d4150; // 'MMAP' -#define MMAP_VERSION 3 +#define MMAP_VERSION 4 struct MmapTileHeader { diff --git a/src/server/game/Movement/PathGenerator.cpp b/src/server/game/Movement/PathGenerator.cpp index 6ef93402606..ed30b59f0ec 100644 --- a/src/server/game/Movement/PathGenerator.cpp +++ b/src/server/game/Movement/PathGenerator.cpp @@ -97,7 +97,7 @@ dtPolyRef PathGenerator::GetPathPolyByPosition(dtPolyRef const* polyPath, uint32 for (uint32 i = 0; i < polyPathSize; ++i) { float closestPoint[VERTEX_SIZE]; - if (DT_SUCCESS != _navMeshQuery->closestPointOnPoly(polyPath[i], point, closestPoint)) + if (dtStatusFailed(_navMeshQuery->closestPointOnPoly(polyPath[i], point, closestPoint))) continue; float d = dtVdist2DSqr(point, closestPoint); @@ -132,8 +132,7 @@ dtPolyRef PathGenerator::GetPolyByLocation(float const* point, float* distance) // first try with low search box float extents[VERTEX_SIZE] = {3.0f, 5.0f, 3.0f}; // bounds of poly search area float closestPoint[VERTEX_SIZE] = {0.0f, 0.0f, 0.0f}; - dtStatus result = _navMeshQuery->findNearestPoly(point, extents, &_filter, &polyRef, closestPoint); - if (DT_SUCCESS == result && polyRef != INVALID_POLYREF) + if (dtStatusSucceed(_navMeshQuery->findNearestPoly(point, extents, &_filter, &polyRef, closestPoint)) && polyRef != INVALID_POLYREF) { *distance = dtVdist(closestPoint, point); return polyRef; @@ -141,9 +140,10 @@ dtPolyRef PathGenerator::GetPolyByLocation(float const* point, float* distance) // still nothing .. // try with bigger search box - extents[1] = 200.0f; - result = _navMeshQuery->findNearestPoly(point, extents, &_filter, &polyRef, closestPoint); - if (DT_SUCCESS == result && polyRef != INVALID_POLYREF) + // Note that the extent should not overlap more than 128 polygons in the navmesh (see dtNavMeshQuery::findNearestPoly) + extents[1] = 50.0f; + + if (dtStatusSucceed(_navMeshQuery->findNearestPoly(point, extents, &_filter, &polyRef, closestPoint)) && polyRef != INVALID_POLYREF) { *distance = dtVdist(closestPoint, point); return polyRef; @@ -228,7 +228,7 @@ void PathGenerator::BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 con { float closestPoint[VERTEX_SIZE]; // we may want to use closestPointOnPolyBoundary instead - if (DT_SUCCESS == _navMeshQuery->closestPointOnPoly(endPoly, endPoint, closestPoint)) + if (dtStatusSucceed(_navMeshQuery->closestPointOnPoly(endPoly, endPoint, closestPoint))) { dtVcopy(endPoint, closestPoint); SetActualEndPosition(G3D::Vector3(endPoint[2], endPoint[0], endPoint[1])); @@ -319,13 +319,13 @@ 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 (DT_SUCCESS != _navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint)) + if (dtStatusFailed(_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint))) { // 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 (DT_SUCCESS != _navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint)) + if (dtStatusFailed(_navMeshQuery->closestPointOnPoly(suffixStartPoly, endPoint, suffixEndPoint))) { // suffixStartPoly is still invalid, error state BuildShortcut(); @@ -346,7 +346,7 @@ void PathGenerator::BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 con (int*)&suffixPolyLength, MAX_PATH_LENGTH-prefixPolyLength); // max number of polygons in output path - if (!suffixPolyLength || dtResult != DT_SUCCESS) + if (!suffixPolyLength || dtStatusFailed(dtResult)) { // this is probably an error state, but we'll leave it // and hopefully recover on the next Update @@ -380,7 +380,7 @@ void PathGenerator::BuildPolyPath(G3D::Vector3 const& startPos, G3D::Vector3 con (int*)&_polyLength, MAX_PATH_LENGTH); // max number of polygons in output path - if (!_polyLength || dtResult != DT_SUCCESS) + if (!_polyLength || dtStatusFailed(dtResult)) { // only happens if we passed bad data to findPath(), or navmesh is messed up TC_LOG_ERROR(LOG_FILTER_MAPS, "%u's Path Build failed: 0 length path", _sourceUnit->GetGUIDLow()); @@ -430,7 +430,7 @@ void PathGenerator::BuildPointPath(const float *startPoint, const float *endPoin _pointPathLimit); // maximum number of points } - if (pointCount < 2 || dtResult != DT_SUCCESS) + if (pointCount < 2 || dtStatusFailed(dtResult)) { // only happens if pass bad data to findStraightPath or navmesh is broken // single point paths can be generated here @@ -577,7 +577,7 @@ 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) @@ -637,7 +637,7 @@ bool PathGenerator::GetSteerTarget(float const* startPos, float const* endPos, uint32 nsteerPath = 0; dtStatus dtResult = _navMeshQuery->findStraightPath(startPos, endPos, path, pathSize, steerPath, steerPathFlags, steerPathPolys, (int*)&nsteerPath, MAX_STEER_POINTS); - if (!nsteerPath || DT_SUCCESS != dtResult) + if (!nsteerPath || dtStatusFailed(dtResult)) return false; // Find vertex far enough to steer to. @@ -674,10 +674,10 @@ dtStatus PathGenerator::FindSmoothPath(float const* startPos, float const* endPo uint32 npolys = polyPathSize; float iterPos[VERTEX_SIZE], targetPos[VERTEX_SIZE]; - if (DT_SUCCESS != _navMeshQuery->closestPointOnPolyBoundary(polys[0], startPos, iterPos)) + if (dtStatusFailed(_navMeshQuery->closestPointOnPolyBoundary(polys[0], startPos, iterPos))) return DT_FAILURE; - if (DT_SUCCESS != _navMeshQuery->closestPointOnPolyBoundary(polys[npolys-1], endPos, targetPos)) + if (dtStatusFailed(_navMeshQuery->closestPointOnPolyBoundary(polys[npolys-1], endPos, targetPos))) return DT_FAILURE; dtVcopy(&smoothPath[nsmoothPath*VERTEX_SIZE], iterPos); @@ -756,7 +756,7 @@ dtStatus PathGenerator::FindSmoothPath(float const* startPos, float const* endPo // Handle the connection. float startPos[VERTEX_SIZE], endPos[VERTEX_SIZE]; - if (DT_SUCCESS == _navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos)) + if (dtStatusSucceed(_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos))) { if (nsmoothPath < maxSmoothPathSize) { diff --git a/src/server/scripts/Commands/cs_mmaps.cpp b/src/server/scripts/Commands/cs_mmaps.cpp index 49fa87b5d68..2428cb0a239 100644 --- a/src/server/scripts/Commands/cs_mmaps.cpp +++ b/src/server/scripts/Commands/cs_mmaps.cpp @@ -153,7 +153,11 @@ public: // navmesh poly -> navmesh tile location dtQueryFilter filter = dtQueryFilter(); dtPolyRef polyRef = INVALID_POLYREF; - navmeshquery->findNearestPoly(location, extents, &filter, &polyRef, NULL); + if (dtStatusFailed(navmeshquery->findNearestPoly(location, extents, &filter, &polyRef, NULL))) + { + handler->PSendSysMessage("Dt [??,??] (invalid poly, probably no tile loaded)"); + return true; + } if (polyRef == INVALID_POLYREF) handler->PSendSysMessage("Dt [??, ??] (invalid poly, probably no tile loaded)"); @@ -161,11 +165,16 @@ public: { dtMeshTile const* tile; dtPoly const* poly; - navmesh->getTileAndPolyByRef(polyRef, &tile, &poly); - if (tile) - handler->PSendSysMessage("Dt [%02i, %02i]", tile->header->x, tile->header->y); - else - handler->PSendSysMessage("Dt [??, ??] (no tile loaded)"); + if (dtStatusSucceed(navmesh->getTileAndPolyByRef(polyRef, &tile, &poly))) + { + if (tile) + { + handler->PSendSysMessage("Dt [%02i,%02i]", tile->header->x, tile->header->y); + return false; + } + } + + handler->PSendSysMessage("Dt [??,??] (no tile loaded)"); } return true; diff --git a/src/tools/mmaps_generator/Info/readme.txt b/src/tools/mmaps_generator/Info/readme.txt index ff3f2f43526..bde8e61b080 100644 --- a/src/tools/mmaps_generator/Info/readme.txt +++ b/src/tools/mmaps_generator/Info/readme.txt @@ -8,7 +8,7 @@ Generator command line args "map_id tile_x,tile_y (start_x start_y start_z) (end_x end_y end_z) size //optional comments" Single mesh connection per line. ---silent Make us script friendly. Do not wait for user input +--silent [] Make us script friendly. Do not wait for user input on error or completion. --bigBaseUnit [true|false] Generate tile/map using bigger basic unit. @@ -20,7 +20,7 @@ Generator command line args float between 45 and 90 degrees (default 60) ---skipLiquid liquid data for maps +--skipLiquid [true|false] extract liquid data for maps false: include liquid data (default) diff --git a/src/tools/mmaps_generator/MapBuilder.cpp b/src/tools/mmaps_generator/MapBuilder.cpp index cd85d926125..d4192571454 100644 --- a/src/tools/mmaps_generator/MapBuilder.cpp +++ b/src/tools/mmaps_generator/MapBuilder.cpp @@ -36,7 +36,7 @@ namespace DisableMgr } #define MMAP_MAGIC 0x4d4d4150 // 'MMAP' -#define MMAP_VERSION 3 +#define MMAP_VERSION 4 struct MmapTileHeader { @@ -332,12 +332,12 @@ namespace MMAP buildNavMesh(mapID, navMesh); if (!navMesh) { - printf("[Map %i] Failed creating navmesh!\n", mapID); + printf("[Map %03i] Failed creating navmesh!\n", mapID); return; } // now start building mmtiles for each tile - printf("[Map %i] We have %u tiles. \n", mapID, (unsigned int)tiles->size()); + printf("[Map %03i] We have %u tiles. \n", mapID, (unsigned int)tiles->size()); for (std::set<uint32>::iterator it = tiles->begin(); it != tiles->end(); ++it) { uint32 tileX, tileY; @@ -354,13 +354,13 @@ namespace MMAP dtFreeNavMesh(navMesh); } - printf("[Map %i] Complete!\n", mapID); + printf("[Map %03i] Complete!\n", mapID); } /**************************************************************************/ void MapBuilder::buildTile(uint32 mapID, uint32 tileX, uint32 tileY, dtNavMesh* navMesh) { - printf("[Map %i] Building tile [%02u,%02u]\n", mapID, tileX, tileY); + printf("[Map %03i] Building tile [%02u,%02u]\n", mapID, tileX, tileY); MeshData meshData; @@ -446,10 +446,10 @@ namespace MMAP navMeshParams.maxPolys = maxPolysPerTile; navMesh = dtAllocNavMesh(); - printf("[Map %i] Creating navMesh...\n", mapID); + printf("[Map %03i] Creating navMesh...\n", mapID); if (!navMesh->init(&navMeshParams)) { - printf("[Map %i] Failed creating navmesh! \n", mapID); + printf("[Map %03i] Failed creating navmesh! \n", mapID); return; } @@ -461,7 +461,7 @@ namespace MMAP { dtFreeNavMesh(navMesh); char message[1024]; - sprintf(message, "[Map %i] Failed to open %s for writing!\n", mapID, fileName); + sprintf(message, "[Map %03i] Failed to open %s for writing!\n", mapID, fileName); perror(message); return; } @@ -496,8 +496,8 @@ namespace MMAP // these are WORLD UNIT based metrics // this are basic unit dimentions - // value have to divide GRID_SIZE(533.33333f) ( aka: 0.5333, 0.2666, 0.3333, 0.1333, etc ) - const static float BASE_UNIT_DIM = m_bigBaseUnit ? 0.533333f : 0.266666f; + // value have to divide GRID_SIZE(533.3333f) ( aka: 0.5333, 0.2666, 0.3333, 0.1333, etc ) + const static float BASE_UNIT_DIM = m_bigBaseUnit ? 0.5333333f : 0.2666666f; // All are in UNIT metrics! const static int VERTEX_PER_MAP = int(GRID_SIZE/BASE_UNIT_DIM + 0.5f); @@ -517,12 +517,12 @@ namespace MMAP config.tileSize = VERTEX_PER_TILE; config.walkableRadius = m_bigBaseUnit ? 1 : 2; config.borderSize = config.walkableRadius + 3; - config.maxEdgeLen = VERTEX_PER_TILE + 1; //anything bigger than tileSize - config.walkableHeight = m_bigBaseUnit ? 3 : 6; - config.walkableClimb = m_bigBaseUnit ? 2 : 4; // keep less than walkableHeight + config.maxEdgeLen = VERTEX_PER_TILE + 1; // anything bigger than tileSize + config.walkableHeight = m_bigBaseUnit ? 2 : 4; + config.walkableClimb = m_bigBaseUnit ? 1 : 2; // keep less than walkableHeight config.minRegionArea = rcSqr(60); config.mergeRegionArea = rcSqr(50); - config.maxSimplificationError = 2.0f; // eliminates most jagged edges (tinny polygons) + config.maxSimplificationError = 1.8f; // eliminates most jagged edges (tiny polygons) config.detailSampleDist = config.cs * 64; config.detailSampleMaxError = config.ch * 2; @@ -677,14 +677,6 @@ namespace MMAP 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) @@ -723,8 +715,9 @@ 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; + // will hold final navmesh unsigned char* navData = NULL; int navDataSize = 0; @@ -792,7 +785,7 @@ namespace MMAP if (!file) { char message[1024]; - sprintf(message, "[Map %i] Failed to open %s for writing!\n", mapID, fileName); + sprintf(message, "[Map %03i] Failed to open %s for writing!\n", mapID, fileName); perror(message); navMesh->removeTile(tileRef, NULL, NULL); continue; @@ -854,50 +847,50 @@ namespace MMAP { if (m_skipContinents) switch (mapID) - { - case 0: - case 1: - case 530: - case 571: - return true; - default: - break; - } + { + case 0: + case 1: + case 530: + case 571: + return true; + default: + break; + } if (m_skipJunkMaps) switch (mapID) - { - case 13: // test.wdt - case 25: // ScottTest.wdt - case 29: // Test.wdt - case 42: // Colin.wdt - case 169: // EmeraldDream.wdt (unused, and very large) - case 451: // development.wdt - case 573: // ExteriorTest.wdt - case 597: // CraigTest.wdt - case 605: // development_nonweighted.wdt - case 606: // QA_DVD.wdt - return true; - default: - if (isTransportMap(mapID)) + { + case 13: // test.wdt + case 25: // ScottTest.wdt + case 29: // Test.wdt + case 42: // Colin.wdt + case 169: // EmeraldDream.wdt (unused, and very large) + case 451: // development.wdt + case 573: // ExteriorTest.wdt + case 597: // CraigTest.wdt + case 605: // development_nonweighted.wdt + case 606: // QA_DVD.wdt return true; - break; - } + default: + if (isTransportMap(mapID)) + return true; + break; + } if (m_skipBattlegrounds) switch (mapID) - { - case 30: // AV - case 37: // ? - case 489: // WSG - case 529: // AB - case 566: // EotS - case 607: // SotA - case 628: // IoC - return true; - default: - break; - } + { + case 30: // AV + case 37: // ? + case 489: // WSG + case 529: // AB + case 566: // EotS + case 607: // SotA + case 628: // IoC + return true; + default: + break; + } return false; } @@ -908,37 +901,37 @@ namespace MMAP switch (mapID) { // transport maps - case 582: - case 584: - case 586: - case 587: - case 588: - case 589: - case 590: - case 591: - case 592: - case 593: - case 594: - case 596: - case 610: - case 612: - case 613: - case 614: - case 620: - case 621: - case 622: - case 623: - case 641: - case 642: - case 647: - case 672: - case 673: - case 712: - case 713: - case 718: - return true; - default: - return false; + case 582: + case 584: + case 586: + case 587: + case 588: + case 589: + case 590: + case 591: + case 592: + case 593: + case 594: + case 596: + case 610: + case 612: + case 613: + case 614: + case 620: + case 621: + case 622: + case 623: + case 641: + case 642: + case 647: + case 672: + case 673: + case 712: + case 713: + case 718: + return true; + default: + return false; } } diff --git a/src/tools/mmaps_generator/MapBuilder.h b/src/tools/mmaps_generator/MapBuilder.h index 3ffaea0ab66..6ab0b312af8 100644 --- a/src/tools/mmaps_generator/MapBuilder.h +++ b/src/tools/mmaps_generator/MapBuilder.h @@ -61,7 +61,7 @@ namespace MMAP class MapBuilder { public: - MapBuilder(float maxWalkableAngle = 60.f, + MapBuilder(float maxWalkableAngle = 55.f, bool skipLiquid = false, bool skipContinents = false, bool skipJunkMaps = true, diff --git a/src/tools/mmaps_generator/PathGenerator.cpp b/src/tools/mmaps_generator/PathGenerator.cpp index 47d35b517d5..ed114491b27 100644 --- a/src/tools/mmaps_generator/PathGenerator.cpp +++ b/src/tools/mmaps_generator/PathGenerator.cpp @@ -242,7 +242,7 @@ int finish(const char* message, int returnValue) int main(int argc, char** argv) { int threads = 3, mapnum = -1; - float maxAngle = 60.0f; + float maxAngle = 55.0f; int tileX = -1, tileY = -1; bool skipLiquid = false, skipContinents = false, diff --git a/src/tools/mmaps_generator/TerrainBuilder.h b/src/tools/mmaps_generator/TerrainBuilder.h index 069a5a94c84..e9ff2a3c175 100644 --- a/src/tools/mmaps_generator/TerrainBuilder.h +++ b/src/tools/mmaps_generator/TerrainBuilder.h @@ -47,7 +47,7 @@ namespace MMAP static const int V9_SIZE_SQ = V9_SIZE*V9_SIZE; static const int V8_SIZE = 128; static const int V8_SIZE_SQ = V8_SIZE*V8_SIZE; - static const float GRID_SIZE = 533.33333f; + static const float GRID_SIZE = 533.3333f; static const float GRID_PART_SIZE = GRID_SIZE/V8_SIZE; // see contrib/extractor/system.cpp, CONF_use_minHeight |