1 files changed, 75 insertions, 5 deletions

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;
 						}
 					}