1 files changed, 3 insertions, 167 deletions

diff --git a/dep/recastnavigation/Recast/RecastArea.cpp b/dep/recastnavigation/Recast/RecastArea.cpp
index 1a338cd9b8c..4e7b79d301d 100644
--- a/dep/recastnavigation/Recast/RecastArea.cpp
+++ b/dep/recastnavigation/Recast/RecastArea.cpp
@@ -61,26 +61,14 @@ 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)
-				{
-					dist[i] = 0;
-				}
-				else
+				if (chf.areas[i] != RC_NULL_AREA)
 				{
 					const rcCompactSpan& s = chf.spans[i];
 					int nc = 0;
 					for (int dir = 0; dir < 4; ++dir)
 					{
 						if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
-						{
-							const int nx = x + rcGetDirOffsetX(dir);
-							const int ny = y + rcGetDirOffsetY(dir);
-							const int nidx = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
-							if (chf.areas[nidx] != RC_NULL_AREA)
-							{
-								nc++;
-							}
-						}
+							nc++;
 					}
 					// At least one missing neighbour.
 					if (nc != 4)
@@ -351,8 +339,7 @@ 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)
 				{
-					if (chf.areas[i] != RC_NULL_AREA)
-						chf.areas[i] = areaId;
+					chf.areas[i] = areaId;
 				}
 			}
 		}
@@ -431,8 +418,6 @@ 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];
@@ -451,152 +436,3 @@ 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);
-}