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-//
-// 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 RECAST_H
-#define RECAST_H
-
-// Some math headers don't have PI defined.
-static const float RC_PI = 3.14159265f;
-
-enum rcLogCategory
-{
- RC_LOG_PROGRESS = 1,
- RC_LOG_WARNING,
- RC_LOG_ERROR,
-};
-
-enum rcTimerLabel
-{
- RC_TIMER_TOTAL,
- RC_TIMER_TEMP,
- RC_TIMER_RASTERIZE_TRIANGLES,
- RC_TIMER_BUILD_COMPACTHEIGHTFIELD,
- RC_TIMER_BUILD_CONTOURS,
- RC_TIMER_BUILD_CONTOURS_TRACE,
- RC_TIMER_BUILD_CONTOURS_SIMPLIFY,
- RC_TIMER_FILTER_BORDER,
- RC_TIMER_FILTER_WALKABLE,
- RC_TIMER_MEDIAN_AREA,
- RC_TIMER_FILTER_LOW_OBSTACLES,
- RC_TIMER_BUILD_POLYMESH,
- RC_TIMER_MERGE_POLYMESH,
- RC_TIMER_ERODE_AREA,
- RC_TIMER_MARK_BOX_AREA,
- RC_TIMER_MARK_CONVEXPOLY_AREA,
- RC_TIMER_BUILD_DISTANCEFIELD,
- RC_TIMER_BUILD_DISTANCEFIELD_DIST,
- RC_TIMER_BUILD_DISTANCEFIELD_BLUR,
- RC_TIMER_BUILD_REGIONS,
- RC_TIMER_BUILD_REGIONS_WATERSHED,
- RC_TIMER_BUILD_REGIONS_EXPAND,
- RC_TIMER_BUILD_REGIONS_FLOOD,
- RC_TIMER_BUILD_REGIONS_FILTER,
- RC_TIMER_BUILD_POLYMESHDETAIL,
- RC_TIMER_MERGE_POLYMESHDETAIL,
- RC_MAX_TIMERS
-};
-
-// Build context provides several optional utilities needed for the build process,
-// such as timing, logging, and build time collecting.
-class rcContext
-{
-public:
- inline rcContext(bool state = true) : m_logEnabled(state), m_timerEnabled(state) {}
- virtual ~rcContext() {}
-
- // Enables or disables logging.
- inline void enableLog(bool state) { m_logEnabled = state; }
- // Resets log.
- inline void resetLog() { if (m_logEnabled) doResetLog(); }
- // Logs a message.
- void log(const rcLogCategory category, const char* format, ...);
-
- // Enables or disables timer.
- inline void enableTimer(bool state) { m_timerEnabled = state; }
- // Resets all timers.
- inline void resetTimers() { if (m_timerEnabled) doResetTimers(); }
- // Starts timer, used for performance timing.
- inline void startTimer(const rcTimerLabel label) { if (m_timerEnabled) doStartTimer(label); }
- // Stops timer, used for performance timing.
- inline void stopTimer(const rcTimerLabel label) { if (m_timerEnabled) doStopTimer(label); }
- // Returns time accumulated between timer start/stop.
- inline int getAccumulatedTime(const rcTimerLabel label) const { return m_timerEnabled ? doGetAccumulatedTime(label) : -1; }
-
-protected:
- // Virtual functions to override for custom implementations.
- virtual void doResetLog() {}
- virtual void doLog(const rcLogCategory /*category*/, const char* /*msg*/, const int /*len*/) {}
- virtual void doResetTimers() {}
- virtual void doStartTimer(const rcTimerLabel /*label*/) {}
- virtual void doStopTimer(const rcTimerLabel /*label*/) {}
- virtual int doGetAccumulatedTime(const rcTimerLabel /*label*/) const { return -1; }
-
- bool m_logEnabled;
- bool m_timerEnabled;
-};
-
-
-// The units of the parameters are specified in parenthesis as follows:
-// (vx) voxels, (wu) world units
-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.
-};
-
-// 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;
-static const int RC_SPAN_MAX_HEIGHT = (1<<RC_SPAN_HEIGHT_BITS)-1;
-
-// Heightfield span.
-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.
-};
-
-// Number of spans allocated per pool.
-static const int RC_SPANS_PER_POOL = 2048;
-
-// Memory pool used for quick span allocation.
-struct rcSpanPool
-{
- rcSpanPool* next; // Pointer to next pool.
- rcSpan items[RC_SPANS_PER_POOL]; // Array of spans.
-};
-
-// Dynamic span-heightfield.
-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.
-};
-
-rcHeightfield* rcAllocHeightfield();
-void rcFreeHeightField(rcHeightfield* hf);
-
-
-struct rcCompactCell
-{
- unsigned int index : 24; // Index to first span in column.
- unsigned int count : 8; // Number of spans in this column.
-};
-
-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.
-};
-
-// Compact static heightfield.
-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.
-};
-
-rcCompactHeightfield* rcAllocCompactHeightfield();
-void rcFreeCompactHeightfield(rcCompactHeightfield* chf);
-
-
-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.
-};
-
-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.
-};
-
-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;
-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.
-};
-
-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.
-
-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.
-};
-
-rcPolyMeshDetail* 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.
-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.
-static const int RC_BORDER_VERTEX = 0x10000;
-
-static const int RC_AREA_BORDER = 0x20000;
-
-enum rcBuildContoursFlags
-{
- RC_CONTOUR_TESS_WALL_EDGES = 0x01, // Tessellate wall edges
- RC_CONTOUR_TESS_AREA_EDGES = 0x02, // Tessellate edges between areas.
-};
-
-// Mask used with contours to extract region id.
-static const int RC_CONTOUR_REG_MASK = 0xffff;
-
-// Null index which is used with meshes to mark unset or invalid indices.
-static const unsigned short RC_MESH_NULL_IDX = 0xffff;
-
-// Area ID that is considered empty.
-static const unsigned char RC_NULL_AREA = 0;
-
-// Area ID that is considered generally walkable.
-static const unsigned char RC_WALKABLE_AREA = 63;
-
-// Value returned by rcGetCon() if the direction is not connected.
-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;
-}
-
-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
-template<class T> inline void rcSwap(T& a, T& b) { T t = a; a = b; b = t; }
-template<class T> inline T rcMin(T a, T b) { return a < b ? a : b; }
-template<class T> inline T rcMax(T a, T b) { return a > b ? a : b; }
-template<class T> inline T rcAbs(T a) { return a < 0 ? -a : a; }
-template<class T> inline T rcSqr(T a) { return a*a; }
-template<class T> inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
-float rcSqrt(float x);
-
-// Common vector helper functions.
-inline void rcVcross(float* dest, const float* v1, const float* v2)
-{
- dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
- dest[1] = v1[2]*v2[0] - v1[0]*v2[2];
- dest[2] = v1[0]*v2[1] - v1[1]*v2[0];
-}
-
-inline float rcVdot(const float* v1, const float* v2)
-{
- return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
-}
-
-inline void rcVmad(float* dest, const float* v1, const float* v2, const float s)
-{
- dest[0] = v1[0]+v2[0]*s;
- dest[1] = v1[1]+v2[1]*s;
- dest[2] = v1[2]+v2[2]*s;
-}
-
-inline void rcVadd(float* dest, const float* v1, const float* v2)
-{
- dest[0] = v1[0]+v2[0];
- dest[1] = v1[1]+v2[1];
- dest[2] = v1[2]+v2[2];
-}
-
-inline void rcVsub(float* dest, const float* v1, const float* v2)
-{
- dest[0] = v1[0]-v2[0];
- dest[1] = v1[1]-v2[1];
- dest[2] = v1[2]-v2[2];
-}
-
-inline void rcVmin(float* mn, const float* v)
-{
- mn[0] = rcMin(mn[0], v[0]);
- mn[1] = rcMin(mn[1], v[1]);
- mn[2] = rcMin(mn[2], v[2]);
-}
-
-inline void rcVmax(float* mx, const float* v)
-{
- mx[0] = rcMax(mx[0], v[0]);
- mx[1] = rcMax(mx[1], v[1]);
- mx[2] = rcMax(mx[2], v[2]);
-}
-
-inline void rcVcopy(float* dest, const float* v)
-{
- dest[0] = v[0];
- dest[1] = v[1];
- dest[2] = v[2];
-}
-
-inline float rcVdist(const float* v1, const float* v2)
-{
- float dx = v2[0] - v1[0];
- float dy = v2[1] - v1[1];
- float dz = v2[2] - v1[2];
- return rcSqrt(dx*dx + dy*dy + dz*dz);
-}
-
-inline float rcVdistSqr(const float* v1, const float* v2)
-{
- float dx = v2[0] - v1[0];
- float dy = v2[1] - v1[1];
- float dz = v2[2] - v1[2];
- return dx*dx + dy*dy + dz*dz;
-}
-
-inline void rcVnormalize(float* v)
-{
- float d = 1.0f / rcSqrt(rcSqr(v[0]) + rcSqr(v[1]) + rcSqr(v[2]));
- v[0] *= d;
- v[1] *= d;
- 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
-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
-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
-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
-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
-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,
- 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.
-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.
-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.
-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
-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!
-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
-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
-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.
-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.
-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.
-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.
-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.
-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.
-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.
-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.
-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.
-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.
-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);
-
-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.
-bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf,
- const float sampleDist, const float sampleMaxError,
- rcPolyMeshDetail& dmesh);
-
-bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh);
-
-
-#endif // RECAST_H