aboutsummaryrefslogtreecommitdiff
path: root/dep/recastnavigation/Recast/RecastMesh.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'dep/recastnavigation/Recast/RecastMesh.cpp')
-rw-r--r--dep/recastnavigation/Recast/RecastMesh.cpp128
1 files changed, 117 insertions, 11 deletions
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;
+}