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Core/MMAPs: Update recast

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Update recast to 42b96b7306
Previous MMAPs might still work but it's recommended to re-extract them.
This commit is contained in:
jackpoz
2014-06-21 00:00:54 +02:00
parent ff25736338
commit ed5e3fceed
13 changed files with 1514 additions and 3986 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
dep/PackageList.txt
View File

@@ -42,4 +42,4 @@ gSOAP (a portable development toolkit for C and C++ XML Web services and XML dat
recastnavigation (Recast is state of the art navigation mesh construction toolset for games)
https://github.com/memononen/recastnavigation
Version: 740a7ba51600a3c87ce5667ae276a38284a1ce75
Version: 42b96b7306d39bb7680ddb0f89d480a8296c83ff

19
dep/recastnavigation/Detour/Include/DetourNavMesh.h
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@@ -119,6 +119,25 @@ enum dtStraightPathOptions
DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02, ///< Add a vertex at every polygon edge crossing.
};
/// Options for dtNavMeshQuery::findPath
enum dtFindPathOptions
{
DT_FINDPATH_LOW_QUALITY_FAR = 0x01, ///< [provisional] trade quality for performance far from the origin. The idea is that by then a new query will be issued
DT_FINDPATH_ANY_ANGLE = 0x02, ///< use raycasts during pathfind to "shortcut" (raycast still consider costs)
};
/// Options for dtNavMeshQuery::raycast
enum dtRaycastOptions
{
DT_RAYCAST_USE_COSTS = 0x01, ///< Raycast should calculate movement cost along the ray and fill RaycastHit::cost
};
/// Limit raycasting during any angle pahfinding
/// The limit is given as a multiple of the character radius
static const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
/// Flags representing the type of a navigation mesh polygon.
enum dtPolyTypes
{

54
dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h
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@@ -41,6 +41,10 @@ class dtQueryFilter
public:
dtQueryFilter();
#ifdef DT_VIRTUAL_QUERYFILTER
virtual ~dtQueryFilter() { }
#endif
/// 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.
@@ -115,6 +119,34 @@ public:
};
/// Provides information about raycast hit
/// filled by dtNavMeshQuery::raycast
/// @ingroup detour
struct dtRaycastHit
{
/// The hit parameter. (FLT_MAX if no wall hit.)
float t;
/// hitNormal The normal of the nearest wall hit. [(x, y, z)]
float hitNormal[3];
/// Pointer to an array of reference ids of the visited polygons. [opt]
dtPolyRef* path;
/// The number of visited polygons. [opt]
int pathCount;
/// The maximum number of polygons the @p path array can hold.
int maxPath;
/// The cost of the path until hit.
float pathCost;
};
/// Provides the ability to perform pathfinding related queries against
/// a navigation mesh.
/// @ingroup detour
@@ -179,10 +211,11 @@ public:
/// @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[in] options query options (see: #dtFindPathOptions)
/// @returns The status flags for the query.
dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter);
const dtQueryFilter* filter, const unsigned int options = 0);
/// Updates an in-progress sliced path query.
/// @param[in] maxIter The maximum number of iterations to perform.
@@ -308,6 +341,7 @@ public:
/// Casts a 'walkability' ray along the surface of the navigation mesh from
/// the start position toward the end position.
/// @note A wrapper around raycast(..., RaycastHit*). Retained for backward compatibility.
/// @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)]
@@ -323,6 +357,22 @@ public:
const dtQueryFilter* filter,
float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) 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[in] filter The polygon filter to apply to the query.
/// @param[in] flags govern how the raycast behaves. See dtRaycastOptions
/// @param[out] hit Pointer to a raycast hit structure which will be filled by the results.
/// @param[in] prevRef parent of start ref. Used during for cost calculation [opt]
/// @returns The status flags for the query.
dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter, const unsigned int options,
dtRaycastHit* hit, dtPolyRef prevRef = 0) const;
/// 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)]
@@ -463,6 +513,8 @@ private:
dtPolyRef startRef, endRef;
float startPos[3], endPos[3];
const dtQueryFilter* filter;
unsigned int options;
float raycastLimitSqr;
};
dtQueryData m_query; ///< Sliced query state.

19
dep/recastnavigation/Detour/Include/DetourNode.h
View File

@@ -25,6 +25,7 @@ enum dtNodeFlags
{
DT_NODE_OPEN = 0x01,
DT_NODE_CLOSED = 0x02,
DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not adjacent. Found using raycast.
};
typedef unsigned short dtNodeIndex;
@@ -35,12 +36,17 @@ 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.
unsigned int pidx : 24; ///< Index to parent node.
unsigned int state : 2; ///< extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE
unsigned int flags : 3; ///< Node flags. A combination of dtNodeFlags.
dtPolyRef id; ///< Polygon ref the node corresponds to.
};
static const int DT_MAX_STATES_PER_NODE = 4; // number of extra states per node. See dtNode::state
class dtNodePool
{
public:
@@ -48,8 +54,12 @@ public:
~dtNodePool();
inline void operator=(const dtNodePool&) {}
void clear();
dtNode* getNode(dtPolyRef id);
dtNode* findNode(dtPolyRef id);
// Get a dtNode by ref and extra state information. If there is none then - allocate
// There can be more than one node for the same polyRef but with different extra state information
dtNode* getNode(dtPolyRef id, unsigned char state=0);
dtNode* findNode(dtPolyRef id, unsigned char state);
unsigned int findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes);
inline unsigned int getNodeIdx(const dtNode* node) const
{
@@ -82,6 +92,7 @@ public:
inline int getHashSize() const { return m_hashSize; }
inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; }
inline dtNodeIndex getNext(int i) const { return m_next[i]; }
inline int getNodeCount() const { return m_nodeCount; }
private:

354
dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
View File

@@ -1011,7 +1011,13 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
continue;
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
// deal explicitly with crossing tile boundaries
unsigned char crossSide = 0;
if (bestTile->links[i].side != 0xff)
crossSide = bestTile->links[i].side >> 1;
// get the node
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide);
if (!neighbourNode)
{
status |= DT_OUT_OF_NODES;
@@ -1139,7 +1145,7 @@ dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef,
///
dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter)
const dtQueryFilter* filter, const unsigned int options)
{
dtAssert(m_nav);
dtAssert(m_nodePool);
@@ -1153,6 +1159,8 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
dtVcopy(m_query.startPos, startPos);
dtVcopy(m_query.endPos, endPos);
m_query.filter = filter;
m_query.options = options;
m_query.raycastLimitSqr = FLT_MAX;
if (!startRef || !endRef)
return DT_FAILURE | DT_INVALID_PARAM;
@@ -1161,6 +1169,16 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef))
return DT_FAILURE | DT_INVALID_PARAM;
// trade quality with performance?
if (options & DT_FINDPATH_ANY_ANGLE)
{
// limiting to several times the character radius yields nice results. It is not sensitive
// so it is enough to compute it from the first tile.
const dtMeshTile* tile = m_nav->getTileByRef(startRef);
float agentRadius = tile->header->walkableRadius;
m_query.raycastLimitSqr = dtSqr(agentRadius * DT_RAY_CAST_LIMIT_PROPORTIONS);
}
if (startRef == endRef)
{
m_query.status = DT_SUCCESS;
@@ -1197,6 +1215,9 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
m_query.status = DT_FAILURE;
return DT_FAILURE;
}
dtRaycastHit rayHit;
rayHit.maxPath = 0;
int iter = 0;
while (iter < maxIter && !m_openList->empty())
@@ -1233,15 +1254,22 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
return m_query.status;
}
// Get parent poly and tile.
dtPolyRef parentRef = 0;
// Get parent and grand parent poly and tile.
dtPolyRef parentRef = 0, grandpaRef = 0;
const dtMeshTile* parentTile = 0;
const dtPoly* parentPoly = 0;
dtNode* parentNode = 0;
if (bestNode->pidx)
parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id;
{
parentNode = m_nodePool->getNodeAtIdx(bestNode->pidx);
parentRef = parentNode->id;
if (parentNode->pidx)
grandpaRef = m_nodePool->getNodeAtIdx(parentNode->pidx)->id;
}
if (parentRef)
{
if (dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly)))
bool invalidParent = dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly));
if (invalidParent || (grandpaRef && !m_nav->isValidPolyRef(grandpaRef)) )
{
// The polygon has disappeared during the sliced query, fail.
m_query.status = DT_FAILURE;
@@ -1250,6 +1278,14 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
return m_query.status;
}
}
// decide whether to test raycast to previous nodes
bool tryLOS = false;
if (m_query.options & DT_FINDPATH_ANY_ANGLE)
{
if ((parentRef != 0) && (dtVdistSqr(parentNode->pos, bestNode->pos) < m_query.raycastLimitSqr))
tryLOS = true;
}
for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next)
{
@@ -1268,13 +1304,22 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
if (!m_query.filter->passFilter(neighbourRef, neighbourTile, neighbourPoly))
continue;
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef);
// deal explicitly with crossing tile boundaries
unsigned char crossSide = 0;
if (bestTile->links[i].side != 0xff)
crossSide = bestTile->links[i].side >> 1;
dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide);
if (!neighbourNode)
{
m_query.status |= DT_OUT_OF_NODES;
continue;
}
// do not expand to nodes that were already visited from the same parent
if (neighbourNode->pidx != 0 && neighbourNode->pidx == bestNode->pidx)
continue;
// If the node is visited the first time, calculate node position.
if (neighbourNode->flags == 0)
{
@@ -1287,30 +1332,44 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
float cost = 0;
float heuristic = 0;
// raycast parent
bool foundShortCut = false;
rayHit.pathCost = rayHit.t = 0;
if (tryLOS)
{
raycast(parentRef, parentNode->pos, neighbourNode->pos, m_query.filter, DT_RAYCAST_USE_COSTS, &rayHit, grandpaRef);
foundShortCut = rayHit.t >= 1.0f;
}
// update move cost
if (foundShortCut)
{
// shortcut found using raycast. Using shorter cost instead
cost = parentNode->cost + rayHit.pathCost;
}
else
{
// No shortcut found.
const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
cost = bestNode->cost + curCost;
}
// Special case for last node.
if (neighbourRef == m_query.endRef)
{
// Cost
const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
const float endCost = m_query.filter->getCost(neighbourNode->pos, m_query.endPos,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly,
0, 0, 0);
cost = bestNode->cost + curCost + endCost;
cost = cost + endCost;
heuristic = 0;
}
else
{
// Cost
const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos,
parentRef, parentTile, parentPoly,
bestRef, bestTile, bestPoly,
neighbourRef, neighbourTile, neighbourPoly);
cost = bestNode->cost + curCost;
heuristic = dtVdist(neighbourNode->pos, m_query.endPos)*H_SCALE;
}
@@ -1324,11 +1383,13 @@ dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters)
continue;
// Add or update the node.
neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode);
neighbourNode->pidx = foundShortCut ? bestNode->pidx : m_nodePool->getNodeIdx(bestNode);
neighbourNode->id = neighbourRef;
neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED);
neighbourNode->flags = (neighbourNode->flags & ~(DT_NODE_CLOSED | DT_NODE_PARENT_DETACHED));
neighbourNode->cost = cost;
neighbourNode->total = total;
if (foundShortCut)
neighbourNode->flags = (neighbourNode->flags | DT_NODE_PARENT_DETACHED);
if (neighbourNode->flags & DT_NODE_OPEN)
{
@@ -1392,11 +1453,15 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
dtNode* prev = 0;
dtNode* node = m_query.lastBestNode;
int prevRay = 0;
do
{
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
node->pidx = m_nodePool->getNodeIdx(prev);
prev = node;
int nextRay = node->flags & DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent (i.e. due to raycast shortcut)
node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed path's node
prevRay = nextRay;
node = next;
}
while (node);
@@ -1405,13 +1470,31 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
node = prev;
do
{
path[n++] = node->id;
if (n >= maxPath)
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
dtStatus status = 0;
if (node->flags & DT_NODE_PARENT_DETACHED)
{
m_query.status |= DT_BUFFER_TOO_SMALL;
float t, normal[3];
int m;
status = raycast(node->id, node->pos, next->pos, m_query.filter, &t, normal, path+n, &m, maxPath-n);
n += m;
// raycast ends on poly boundary and the path might include the next poly boundary.
if (path[n-1] == next->id)
n--; // remove to avoid duplicates
}
else
{
path[n++] = node->id;
if (n >= maxPath)
status = DT_BUFFER_TOO_SMALL;
}
if (status & DT_STATUS_DETAIL_MASK)
{
m_query.status |= status & DT_STATUS_DETAIL_MASK;
break;
}
node = m_nodePool->getNodeAtIdx(node->pidx);
node = next;
}
while (node);
}
@@ -1457,7 +1540,7 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
dtNode* node = 0;
for (int i = existingSize-1; i >= 0; --i)
{
node = m_nodePool->findNode(existing[i]);
m_nodePool->findNodes(existing[i], &node, 1);
if (node)
break;
}
@@ -1470,11 +1553,15 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
}
// Reverse the path.
int prevRay = 0;
do
{
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
node->pidx = m_nodePool->getNodeIdx(prev);
prev = node;
int nextRay = node->flags & DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent (i.e. due to raycast shortcut)
node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed path's node
prevRay = nextRay;
node = next;
}
while (node);
@@ -1483,13 +1570,31 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing
node = prev;
do
{
path[n++] = node->id;
if (n >= maxPath)
dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
dtStatus status = 0;
if (node->flags & DT_NODE_PARENT_DETACHED)
{
m_query.status |= DT_BUFFER_TOO_SMALL;
float t, normal[3];
int m;
status = raycast(node->id, node->pos, next->pos, m_query.filter, &t, normal, path+n, &m, maxPath-n);
n += m;
// raycast ends on poly boundary and the path might include the next poly boundary.
if (path[n-1] == next->id)
n--; // remove to avoid duplicates
}
else
{
path[n++] = node->id;
if (n >= maxPath)
status = DT_BUFFER_TOO_SMALL;
}
if (status & DT_STATUS_DETAIL_MASK)
{
m_query.status |= status & DT_STATUS_DETAIL_MASK;
break;
}
node = m_nodePool->getNodeAtIdx(node->pidx);
node = next;
}
while (node);
}
@@ -2161,6 +2266,8 @@ dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly,
return DT_SUCCESS;
}
/// @par
///
/// This method is meant to be used for quick, short distance checks.
@@ -2202,74 +2309,145 @@ dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly,
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
{
dtRaycastHit hit;
hit.path = path;
hit.maxPath = maxPath;
dtStatus status = raycast(startRef, startPos, endPos, filter, 0, &hit);
*t = hit.t;
if (hitNormal)
dtVcopy(hitNormal, hit.hitNormal);
if (pathCount)
*pathCount = hit.pathCount;
return status;
}
/// @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 of RaycastHit</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, const unsigned int options,
dtRaycastHit* hit, dtPolyRef prevRef) const
{
dtAssert(m_nav);
*t = 0;
if (pathCount)
*pathCount = 0;
hit->t = 0;
hit->pathCount = 0;
hit->pathCost = 0;
// Validate input
if (!startRef || !m_nav->isValidPolyRef(startRef))
return DT_FAILURE | DT_INVALID_PARAM;
if (prevRef && !m_nav->isValidPolyRef(prevRef))
return DT_FAILURE | DT_INVALID_PARAM;
dtPolyRef curRef = startRef;
float verts[DT_VERTS_PER_POLYGON*3];
float dir[3], curPos[3], lastPos[3];
float verts[DT_VERTS_PER_POLYGON*3+3];
int n = 0;
hitNormal[0] = 0;
hitNormal[1] = 0;
hitNormal[2] = 0;
dtVcopy(curPos, startPos);
dtVsub(dir, endPos, startPos);
dtVset(hit->hitNormal, 0, 0, 0);
dtStatus status = DT_SUCCESS;
const dtMeshTile* prevTile, *tile, *nextTile;
const dtPoly* prevPoly, *poly, *nextPoly;
dtPolyRef curRef, nextRef;
// The API input has been checked already, skip checking internal data.
nextRef = curRef = startRef;
tile = 0;
poly = 0;
m_nav->getTileAndPolyByRefUnsafe(curRef, &tile, &poly);
nextTile = prevTile = tile;
nextPoly = prevPoly = poly;
if (prevRef)
m_nav->getTileAndPolyByRefUnsafe(prevRef, &prevTile, &prevPoly);
while (curRef)
{
// Cast ray against current polygon.
// The API input has been cheked already, skip checking internal data.
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
m_nav->getTileAndPolyByRefUnsafe(curRef, &tile, &poly);
// Collect vertices.
int nv = 0;
for (int i = 0; i < (int)poly->vertCount; ++i)
{
dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]);
nv++;
}
}
float tmin, tmax;
int segMin, segMax;
if (!dtIntersectSegmentPoly2D(startPos, endPos, verts, nv, tmin, tmax, segMin, segMax))
{
// Could not hit the polygon, keep the old t and report hit.
if (pathCount)
*pathCount = n;
hit->pathCount = n;
return status;
}
// Keep track of furthest t so far.
if (tmax > *t)
*t = tmax;
if (tmax > hit->t)
hit->t = tmax;
// Store visited polygons.
if (n < maxPath)
path[n++] = curRef;
if (n < hit->maxPath)
hit->path[n++] = curRef;
else
status |= DT_BUFFER_TOO_SMALL;
// Ray end is completely inside the polygon.
if (segMax == -1)
{
*t = FLT_MAX;
if (pathCount)
*pathCount = n;
hit->t = FLT_MAX;
hit->pathCount = n;
// add the cost
if (options & DT_RAYCAST_USE_COSTS)
hit->pathCost += filter->getCost(curPos, endPos, prevRef, prevTile, prevPoly, curRef, tile, poly, curRef, tile, poly);
return status;
}
// Follow neighbours.
dtPolyRef nextRef = 0;
nextRef = 0;
for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next)
{
@@ -2280,8 +2458,8 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
continue;
// Get pointer to the next polygon.
const dtMeshTile* nextTile = 0;
const dtPoly* nextPoly = 0;
nextTile = 0;
nextPoly = 0;
m_nav->getTileAndPolyByRefUnsafe(link->ref, &nextTile, &nextPoly);
// Skip off-mesh connections.
@@ -2349,6 +2527,24 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
}
}
// add the cost
if (options & DT_RAYCAST_USE_COSTS)
{
// compute the intersection point at the furthest end of the polygon
// and correct the height (since the raycast moves in 2d)
dtVcopy(lastPos, curPos);
dtVmad(curPos, startPos, dir, hit->t);
float* e1 = &verts[segMax*3];
float* e2 = &verts[((segMax+1)%nv)*3];
float eDir[3], diff[3];
dtVsub(eDir, e2, e1);
dtVsub(diff, curPos, e1);
float s = dtSqr(eDir[0]) > dtSqr(eDir[2]) ? diff[0] / eDir[0] : diff[2] / eDir[2];
curPos[1] = e1[1] + eDir[1] * s;
hit->pathCost += filter->getCost(lastPos, curPos, prevRef, prevTile, prevPoly, curRef, tile, poly, nextRef, nextTile, nextPoly);
}
if (!nextRef)
{
// No neighbour, we hit a wall.
@@ -2360,22 +2556,25 @@ dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, cons
const float* vb = &verts[b*3];
const float dx = vb[0] - va[0];
const float dz = vb[2] - va[2];
hitNormal[0] = dz;
hitNormal[1] = 0;
hitNormal[2] = -dx;
dtVnormalize(hitNormal);
hit->hitNormal[0] = dz;
hit->hitNormal[1] = 0;
hit->hitNormal[2] = -dx;
dtVnormalize(hit->hitNormal);
if (pathCount)
*pathCount = n;
hit->pathCount = n;
return status;
}
// No hit, advance to neighbour polygon.
prevRef = curRef;
curRef = nextRef;
prevTile = tile;
tile = nextTile;
prevPoly = poly;
poly = nextPoly;
}
if (pathCount)
*pathCount = n;
hit->pathCount = n;
return status;
}
@@ -3333,6 +3532,15 @@ bool dtNavMeshQuery::isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter)
bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const
{
if (!m_nodePool) return false;
const dtNode* node = m_nodePool->findNode(ref);
return node && node->flags & DT_NODE_CLOSED;
dtNode* nodes[DT_MAX_STATES_PER_NODE];
int n= m_nodePool->findNodes(ref, nodes, DT_MAX_STATES_PER_NODE);
for (int i=0; i<n; i++)
{
if (nodes[i]->flags & DT_NODE_CLOSED)
return true;
}
return false;
}

26
dep/recastnavigation/Detour/Source/DetourNode.cpp
View File

@@ -71,27 +71,46 @@ void dtNodePool::clear()
m_nodeCount = 0;
}
dtNode* dtNodePool::findNode(dtPolyRef id)
unsigned int dtNodePool::findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes)
{
int n = 0;
unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
dtNodeIndex i = m_first[bucket];
while (i != DT_NULL_IDX)
{
if (m_nodes[i].id == id)
{
if (n >= maxNodes)
return n;
nodes[n++] = &m_nodes[i];
}
i = m_next[i];
}
return n;
}
dtNode* dtNodePool::findNode(dtPolyRef id, unsigned char state)
{
unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
dtNodeIndex i = m_first[bucket];
while (i != DT_NULL_IDX)
{
if (m_nodes[i].id == id && m_nodes[i].state == state)
return &m_nodes[i];
i = m_next[i];
}
return 0;
}
dtNode* dtNodePool::getNode(dtPolyRef id)
dtNode* dtNodePool::getNode(dtPolyRef id, unsigned char state)
{
unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
dtNodeIndex i = m_first[bucket];
dtNode* node = 0;
while (i != DT_NULL_IDX)
{
if (m_nodes[i].id == id)
if (m_nodes[i].id == id && m_nodes[i].state == state)
return &m_nodes[i];
i = m_next[i];
}
@@ -108,6 +127,7 @@ dtNode* dtNodePool::getNode(dtPolyRef id)
node->cost = 0;
node->total = 0;
node->id = id;
node->state = state;
node->flags = 0;
m_next[i] = m_first[bucket];

17
dep/recastnavigation/Recast/Include/Recast.h
View File

@@ -338,7 +338,7 @@ struct rcHeightfieldLayer
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* heights; ///< The heightfield. [Size: width * height]
unsigned char* areas; ///< Area ids. [Size: Same as #heights]
unsigned char* cons; ///< Packed neighbor connection information. [Size: Same as #heights]
};
@@ -969,7 +969,7 @@ void rcMarkCylinderArea(rcContext* ctx, const float* pos,
/// @returns True if the operation completed successfully.
bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf);
/// Builds region data for the heightfield using watershed partitioning.
/// 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.
@@ -983,6 +983,18 @@ bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf);
bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea);
/// Builds region data for the heightfield by partitioning the heightfield in non-overlapping layers.
/// @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].
/// @returns True if the operation completed successfully.
bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea);
/// Builds region data for the heightfield using simple monotone partitioning.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
@@ -997,7 +1009,6 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea);
/// 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]

539
dep/recastnavigation/Recast/Source/RecastContour.cpp
View File

@@ -20,6 +20,7 @@
#include <math.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
@@ -36,7 +37,7 @@ static int getCornerHeight(int x, int y, int i, int dir,
unsigned int regs[4] = {0,0,0,0};
// Combine region and area codes in order to prevent
// border vertices which are in between two areas to be removed.
// border vertices which are in between two areas to be removed.
regs[0] = chf.spans[i].reg | (chf.areas[i] << 16);
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
@@ -187,27 +188,6 @@ static float distancePtSeg(const int x, const int z,
const int px, const int pz,
const int qx, const int qz)
{
/* float pqx = (float)(qx - px);
float pqy = (float)(qy - py);
float pqz = (float)(qz - pz);
float dx = (float)(x - px);
float dy = (float)(y - py);
float dz = (float)(z - pz);
float d = pqx*pqx + pqy*pqy + pqz*pqz;
float t = pqx*dx + pqy*dy + pqz*dz;
if (d > 0)
t /= d;
if (t < 0)
t = 0;
else if (t > 1)
t = 1;
dx = px + t*pqx - x;
dy = py + t*pqy - y;
dz = pz + t*pqz - z;
return dx*dx + dy*dy + dz*dz;*/
float pqx = (float)(qx - px);
float pqz = (float)(qz - pz);
float dx = (float)(x - px);
@@ -257,13 +237,13 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
simplified.push(points[i*4+2]);
simplified.push(i);
}
}
}
}
if (simplified.size() == 0)
{
// If there is no connections at all,
// create some initial points for the simplification process.
// create some initial points for the simplification process.
// Find lower-left and upper-right vertices of the contour.
int llx = points[0];
int lly = points[1];
@@ -311,19 +291,19 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
{
int ii = (i+1) % (simplified.size()/4);
const int ax = simplified[i*4+0];
const int az = simplified[i*4+2];
const int ai = simplified[i*4+3];
const int bx = simplified[ii*4+0];
const int bz = simplified[ii*4+2];
const int bi = simplified[ii*4+3];
int ax = simplified[i*4+0];
int az = simplified[i*4+2];
int ai = simplified[i*4+3];
int bx = simplified[ii*4+0];
int bz = simplified[ii*4+2];
int bi = simplified[ii*4+3];
// Find maximum deviation from the segment.
float maxd = 0;
int maxi = -1;
int ci, cinc, endi;
// Traverse the segment in lexilogical order so that the
// max deviation is calculated similarly when traversing
// opposite segments.
@@ -338,6 +318,8 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
cinc = pn-1;
ci = (bi+cinc) % pn;
endi = ai;
rcSwap(ax, bx);
rcSwap(az, bz);
}
// Tessellate only outer edges or edges between areas.
@@ -397,11 +379,11 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
const int bx = simplified[ii*4+0];
const int bz = simplified[ii*4+2];
const int bi = simplified[ii*4+3];
// Find maximum deviation from the segment.
int maxi = -1;
int ci = (ai+1) % pn;
// Tessellate only outer edges or edges between areas.
bool tess = false;
// Wall edges.
@@ -469,32 +451,6 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
}
static void removeDegenerateSegments(rcIntArray& simplified)
{
// Remove adjacent vertices which are equal on xz-plane,
// or else the triangulator will get confused.
for (int i = 0; i < simplified.size()/4; ++i)
{
int ni = i+1;
if (ni >= (simplified.size()/4))
ni = 0;
if (simplified[i*4+0] == simplified[ni*4+0] &&
simplified[i*4+2] == simplified[ni*4+2])
{
// Degenerate segment, remove.
for (int j = i; j < simplified.size()/4-1; ++j)
{
simplified[j*4+0] = simplified[(j+1)*4+0];
simplified[j*4+1] = simplified[(j+1)*4+1];
simplified[j*4+2] = simplified[(j+1)*4+2];
simplified[j*4+3] = simplified[(j+1)*4+3];
}
simplified.resize(simplified.size()-4);
}
}
}
static int calcAreaOfPolygon2D(const int* verts, const int nverts)
{
int area = 0;
@@ -507,54 +463,155 @@ static int calcAreaOfPolygon2D(const int* verts, const int nverts)
return (area+1) / 2;
}
inline bool ileft(const int* a, const int* b, const int* c)
// TODO: these are the same as in RecastMesh.cpp, consider using the same.
inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; }
inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
inline int area2(const int* a, const int* b, const int* c)
{
return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]) <= 0;
return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]);
}
static void getClosestIndices(const int* vertsa, const int nvertsa,
const int* vertsb, const int nvertsb,
int& ia, int& ib)
// Exclusive or: true iff exactly one argument is true.
// The arguments are negated to ensure that they are 0/1
// values. Then the bitwise Xor operator may apply.
// (This idea is due to Michael Baldwin.)
inline bool xorb(bool x, bool y)
{
int closestDist = 0xfffffff;
ia = -1, ib = -1;
for (int i = 0; i < nvertsa; ++i)
return !x ^ !y;
}
// Returns true iff c is strictly to the left of the directed
// line through a to b.
inline bool left(const int* a, const int* b, const int* c)
{
return area2(a, b, c) < 0;
}
inline bool leftOn(const int* a, const int* b, const int* c)
{
return area2(a, b, c) <= 0;
}
inline bool collinear(const int* a, const int* b, const int* c)
{
return area2(a, b, c) == 0;
}
// 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.
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) ||
collinear(c,d,a) || collinear(c,d,b))
return false;
return xorb(left(a,b,c), left(a,b,d)) && xorb(left(c,d,a), left(c,d,b));
}
// Returns T iff (a,b,c) are collinear and point c lies
// on the closed segement ab.
static bool between(const int* a, const int* b, const int* c)
{
if (!collinear(a, b, c))
return false;
// If ab not vertical, check betweenness on x; else on y.
if (a[0] != b[0])
return ((a[0] <= c[0]) && (c[0] <= b[0])) || ((a[0] >= c[0]) && (c[0] >= b[0]));
else
return ((a[2] <= c[2]) && (c[2] <= b[2])) || ((a[2] >= c[2]) && (c[2] >= b[2]));
}
// Returns true iff segments ab and cd intersect, properly or improperly.
static bool intersect(const int* a, const int* b, const int* c, const int* d)
{
if (intersectProp(a, b, c, d))
return true;
else if (between(a, b, c) || between(a, b, d) ||
between(c, d, a) || between(c, d, b))
return true;
else
return false;
}
static bool vequal(const int* a, const int* b)
{
return a[0] == b[0] && a[2] == b[2];
}
static bool intersectSegCountour(const int* d0, const int* d1, int i, int n, const int* verts)
{
// For each edge (k,k+1) of P
for (int k = 0; k < n; k++)
{
const int in = (i+1) % nvertsa;
const int ip = (i+nvertsa-1) % nvertsa;
const int* va = &vertsa[i*4];
const int* van = &vertsa[in*4];
const int* vap = &vertsa[ip*4];
int k1 = next(k, n);
// Skip edges incident to i.
if (i == k || i == k1)
continue;
const int* p0 = &verts[k * 4];
const int* p1 = &verts[k1 * 4];
if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1))
continue;
for (int j = 0; j < nvertsb; ++j)
if (intersect(d0, d1, p0, p1))
return true;
}
return false;
}
static bool inCone(int i, int n, const int* verts, const int* pj)
{
const int* pi = &verts[i * 4];
const int* pi1 = &verts[next(i, n) * 4];
const int* pin1 = &verts[prev(i, n) * 4];
// If P[i] is a convex vertex [ i+1 left or on (i-1,i) ].
if (leftOn(pin1, pi, pi1))
return left(pi, pj, pin1) && left(pj, pi, pi1);
// Assume (i-1,i,i+1) not collinear.
// else P[i] is reflex.
return !(leftOn(pi, pj, pi1) && leftOn(pj, pi, pin1));
}
static void removeDegenerateSegments(rcIntArray& simplified)
{
// Remove adjacent vertices which are equal on xz-plane,
// or else the triangulator will get confused.
int npts = simplified.size()/4;
for (int i = 0; i < npts; ++i)
{
int ni = next(i, npts);
if (vequal(&simplified[i*4], &simplified[ni*4]))
{
const int* vb = &vertsb[j*4];
// vb must be "infront" of va.
if (ileft(vap,va,vb) && ileft(va,van,vb))
// Degenerate segment, remove.
for (int j = i; j < simplified.size()/4-1; ++j)
{
const int dx = vb[0] - va[0];
const int dz = vb[2] - va[2];
const int d = dx*dx + dz*dz;
if (d < closestDist)
{
ia = i;
ib = j;
closestDist = d;
}
simplified[j*4+0] = simplified[(j+1)*4+0];
simplified[j*4+1] = simplified[(j+1)*4+1];
simplified[j*4+2] = simplified[(j+1)*4+2];
simplified[j*4+3] = simplified[(j+1)*4+3];
}
simplified.resize(simplified.size()-4);
npts--;
}
}
}
static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib)
{
const int maxVerts = ca.nverts + cb.nverts + 2;
int* verts = (int*)rcAlloc(sizeof(int)*maxVerts*4, RC_ALLOC_PERM);
if (!verts)
return false;
int nv = 0;
// Copy contour A.
for (int i = 0; i <= ca.nverts; ++i)
{
@@ -582,7 +639,7 @@ static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib)
rcFree(ca.verts);
ca.verts = verts;
ca.nverts = nv;
rcFree(cb.verts);
cb.verts = 0;
cb.nverts = 0;
@@ -590,18 +647,179 @@ static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib)
return true;
}
struct rcContourHole
{
rcContour* contour;
int minx, minz, leftmost;
};
struct rcContourRegion
{
rcContour* outline;
rcContourHole* holes;
int nholes;
};
struct rcPotentialDiagonal
{
int vert;
int dist;
};
// Finds the lowest leftmost vertex of a contour.
static void findLeftMostVertex(rcContour* contour, int* minx, int* minz, int* leftmost)
{
*minx = contour->verts[0];
*minz = contour->verts[2];
*leftmost = 0;
for (int i = 1; i < contour->nverts; i++)
{
const int x = contour->verts[i*4+0];
const int z = contour->verts[i*4+2];
if (x < *minx || (x == *minx && z < *minz))
{
*minx = x;
*minz = z;
*leftmost = i;
}
}
}
static int compareHoles(const void* va, const void* vb)
{
const rcContourHole* a = (const rcContourHole*)va;
const rcContourHole* b = (const rcContourHole*)vb;
if (a->minx == b->minx)
{
if (a->minz < b->minz)
return -1;
if (a->minz > b->minz)
return 1;
}
else
{
if (a->minx < b->minx)
return -1;
if (a->minx > b->minx)
return 1;
}
return 0;
}
static int compareDiagDist(const void* va, const void* vb)
{
const rcPotentialDiagonal* a = (const rcPotentialDiagonal*)va;
const rcPotentialDiagonal* b = (const rcPotentialDiagonal*)vb;
if (a->dist < b->dist)
return -1;
if (a->dist > b->dist)
return 1;
return 0;
}
static void mergeRegionHoles(rcContext* ctx, rcContourRegion& region)
{
// Sort holes from left to right.
for (int i = 0; i < region.nholes; i++)
findLeftMostVertex(region.holes[i].contour, &region.holes[i].minx, &region.holes[i].minz, &region.holes[i].leftmost);
qsort(region.holes, region.nholes, sizeof(rcContourHole), compareHoles);
int maxVerts = region.outline->nverts;
for (int i = 0; i < region.nholes; i++)
maxVerts += region.holes[i].contour->nverts;
rcScopedDelete<rcPotentialDiagonal> diags = (rcPotentialDiagonal*)rcAlloc(sizeof(rcPotentialDiagonal)*maxVerts, RC_ALLOC_TEMP);
if (!diags)
{
ctx->log(RC_LOG_WARNING, "mergeRegionHoles: Failed to allocated diags %d.", maxVerts);
return;
}
rcContour* outline = region.outline;
// Merge holes into the outline one by one.
for (int i = 0; i < region.nholes; i++)
{
rcContour* hole = region.holes[i].contour;
int index = -1;
int bestVertex = region.holes[i].leftmost;
for (int iter = 0; iter < hole->nverts; iter++)
{
// Find potential diagonals.
// The 'best' vertex must be in the cone described by 3 cosequtive vertices of the outline.
// ..o j-1
// |
// | * best
// |
// j o-----o j+1
// :
int ndiags = 0;
const int* corner = &hole->verts[bestVertex*4];
for (int j = 0; j < outline->nverts; j++)
{
if (inCone(j, outline->nverts, outline->verts, corner))
{
int dx = outline->verts[j*4+0] - corner[0];
int dz = outline->verts[j*4+2] - corner[2];
diags[ndiags].vert = j;
diags[ndiags].dist = dx*dx + dz*dz;
ndiags++;
}
}
// Sort potential diagonals by distance, we want to make the connection as short as possible.
qsort(diags, ndiags, sizeof(rcPotentialDiagonal), compareDiagDist);
// Find a diagonal that is not intersecting the outline not the remaining holes.
index = -1;
for (int j = 0; j < ndiags; j++)
{
const int* pt = &outline->verts[diags[j].vert*4];
bool intersect = intersectSegCountour(pt, corner, diags[i].vert, outline->nverts, outline->verts);
for (int k = i; k < region.nholes && !intersect; k++)
intersect |= intersectSegCountour(pt, corner, -1, region.holes[k].contour->nverts, region.holes[k].contour->verts);
if (!intersect)
{
index = diags[j].vert;
break;
}
}
// If found non-intersecting diagonal, stop looking.
if (index != -1)
break;
// All the potential diagonals for the current vertex were intersecting, try next vertex.
bestVertex = (bestVertex + 1) % hole->nverts;
}
if (index == -1)
{
ctx->log(RC_LOG_WARNING, "mergeHoles: Failed to find merge points for %p and %p.", region.outline, hole);
continue;
}
if (!mergeContours(*region.outline, *hole, index, bestVertex))
{
ctx->log(RC_LOG_WARNING, "mergeHoles: Failed to merge contours %p and %p.", region.outline, hole);
continue;
}
}
}
/// @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.
/// 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,
@@ -704,17 +922,17 @@ 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)
@@ -722,7 +940,7 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
if (cset.nconts >= maxContours)
{
// Allocate more contours.
// This can happen when there are tiny holes in the heightfield.
// This happens when a region has holes.
const int oldMax = maxContours;
maxContours *= 2;
rcContour* newConts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
@@ -735,10 +953,10 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
}
rcFree(cset.conts);
cset.conts = newConts;
ctx->log(RC_LOG_WARNING, "rcBuildContours: Expanding max contours from %d to %d.", oldMax, maxContours);
}
rcContour* cont = &cset.conts[cset.nconts++];
cont->nverts = simplified.size()/4;
@@ -779,17 +997,6 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
}
}
/* cont->cx = cont->cy = cont->cz = 0;
for (int i = 0; i < cont->nverts; ++i)
{
cont->cx += cont->verts[i*4+0];
cont->cy += cont->verts[i*4+1];
cont->cz += cont->verts[i*4+2];
}
cont->cx /= cont->nverts;
cont->cy /= cont->nverts;
cont->cz /= cont->nverts;*/
cont->reg = reg;
cont->area = area;
}
@@ -797,52 +1004,100 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
}
}
// Check and merge droppings.
// Sometimes the previous algorithms can fail and create several contours
// per area. This pass will try to merge the holes into the main region.
for (int i = 0; i < cset.nconts; ++i)
// Merge holes if needed.
if (cset.nconts > 0)
{
rcContour& cont = cset.conts[i];
// Check if the contour is would backwards.
if (calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0)
// Calculate winding of all polygons.
rcScopedDelete<char> winding = (char*)rcAlloc(sizeof(char)*cset.nconts, RC_ALLOC_TEMP);
if (!winding)
{
// Find another contour which has the same region ID.
int mergeIdx = -1;
for (int j = 0; j < cset.nconts; ++j)
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'hole' (%d).", cset.nconts);
return false;
}
int nholes = 0;
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
// If the contour is wound backwards, it is a hole.
winding[i] = calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0 ? -1 : 1;
if (winding[i] < 0)
nholes++;
}
if (nholes > 0)
{
// Collect outline contour and holes contours per region.
// We assume that there is one outline and multiple holes.
const int nregions = chf.maxRegions+1;
rcScopedDelete<rcContourRegion> regions = (rcContourRegion*)rcAlloc(sizeof(rcContourRegion)*nregions, RC_ALLOC_TEMP);
if (!regions)
{
if (i == j) continue;
if (cset.conts[j].nverts && cset.conts[j].reg == cont.reg)
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'regions' (%d).", nregions);
return false;
}
memset(regions, 0, sizeof(rcContourRegion)*nregions);
rcScopedDelete<rcContourHole> holes = (rcContourHole*)rcAlloc(sizeof(rcContourHole)*cset.nconts, RC_ALLOC_TEMP);
if (!holes)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'holes' (%d).", cset.nconts);
return false;
}
memset(holes, 0, sizeof(rcContourHole)*cset.nconts);
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
// Positively would contours are outlines, negative holes.
if (winding[i] > 0)
{
// Make sure the polygon is correctly oriented.
if (calcAreaOfPolygon2D(cset.conts[j].verts, cset.conts[j].nverts))
{
mergeIdx = j;
break;
}
if (regions[cont.reg].outline)
ctx->log(RC_LOG_ERROR, "rcBuildContours: Multiple outlines for region %d.", cont.reg);
regions[cont.reg].outline = &cont;
}
else
{
regions[cont.reg].nholes++;
}
}
if (mergeIdx == -1)
int index = 0;
for (int i = 0; i < nregions; i++)
{
ctx->log(RC_LOG_WARNING, "rcBuildContours: Could not find merge target for bad contour %d.", i);
}
else
{
rcContour& mcont = cset.conts[mergeIdx];
// Merge by closest points.
int ia = 0, ib = 0;
getClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ia, ib);
if (ia == -1 || ib == -1)
if (regions[i].nholes > 0)
{
ctx->log(RC_LOG_WARNING, "rcBuildContours: Failed to find merge points for %d and %d.", i, mergeIdx);
continue;
regions[i].holes = &holes[index];
index += regions[i].nholes;
regions[i].nholes = 0;
}
if (!mergeContours(mcont, cont, ia, ib))
}
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
rcContourRegion& reg = regions[cont.reg];
if (winding[i] < 0)
reg.holes[reg.nholes++].contour = &cont;
}
// Finally merge each regions holes into the outline.
for (int i = 0; i < nregions; i++)
{
rcContourRegion& reg = regions[i];
if (!reg.nholes) continue;
if (reg.outline)
{
ctx->log(RC_LOG_WARNING, "rcBuildContours: Failed to merge contours %d and %d.", i, mergeIdx);
continue;
mergeRegionHoles(ctx, reg);
}
else
{
// The region does not have an outline.
// This can happen if the contour becaomes selfoverlapping because of
// too aggressive simplification settings.
ctx->log(RC_LOG_ERROR, "rcBuildContours: Bad outline for region %d, contour simplification is likely too aggressive.", i);
}
}
}
}
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS);

2
dep/recastnavigation/Recast/Source/RecastLayers.cpp
View File

@@ -38,7 +38,7 @@ struct rcLayerRegion
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.
unsigned char base; // Flag indicating if the region is the base of merged regions.
};

86
dep/recastnavigation/Recast/Source/RecastMesh.cpp
View File

@@ -288,6 +288,53 @@ static bool diagonal(int i, int j, int n, const int* verts, int* indices)
return inCone(i, j, n, verts, indices) && diagonalie(i, j, n, verts, indices);
}
static bool diagonalieLoose(int i, int j, int n, const int* verts, int* indices)
{
const int* d0 = &verts[(indices[i] & 0x0fffffff) * 4];
const int* d1 = &verts[(indices[j] & 0x0fffffff) * 4];
// For each edge (k,k+1) of P
for (int k = 0; k < n; k++)
{
int k1 = next(k, n);
// Skip edges incident to i or j
if (!((k == i) || (k1 == i) || (k == j) || (k1 == j)))
{
const int* p0 = &verts[(indices[k] & 0x0fffffff) * 4];
const int* p1 = &verts[(indices[k1] & 0x0fffffff) * 4];
if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1))
continue;
if (intersectProp(d0, d1, p0, p1))
return false;
}
}
return true;
}
static bool inConeLoose(int i, int j, int n, const int* verts, int* indices)
{
const int* pi = &verts[(indices[i] & 0x0fffffff) * 4];
const int* pj = &verts[(indices[j] & 0x0fffffff) * 4];
const int* pi1 = &verts[(indices[next(i, n)] & 0x0fffffff) * 4];
const int* pin1 = &verts[(indices[prev(i, n)] & 0x0fffffff) * 4];
// If P[i] is a convex vertex [ i+1 left or on (i-1,i) ].
if (leftOn(pin1, pi, pi1))
return leftOn(pi, pj, pin1) && leftOn(pj, pi, pi1);
// Assume (i-1,i,i+1) not collinear.
// else P[i] is reflex.
return !(leftOn(pi, pj, pi1) && leftOn(pj, pi, pin1));
}
static bool diagonalLoose(int i, int j, int n, const int* verts, int* indices)
{
return inConeLoose(i, j, n, verts, indices) && diagonalieLoose(i, j, n, verts, indices);
}
static int triangulate(int n, const int* verts, int* indices, int* tris)
{
int ntris = 0;
@@ -328,14 +375,41 @@ static int triangulate(int n, const int* verts, int* indices, int* tris)
if (mini == -1)
{
// Should not happen.
/* printf("mini == -1 ntris=%d n=%d\n", ntris, n);
// We might get here because the contour has overlapping segments, like this:
//
// A o-o=====o---o B
// / |C D| \
// o o o o
// : : : :
// We'll try to recover by loosing up the inCone test a bit so that a diagonal
// like A-B or C-D can be found and we can continue.
minLen = -1;
mini = -1;
for (int i = 0; i < n; i++)
{
printf("%d ", indices[i] & 0x0fffffff);
int i1 = next(i, n);
int i2 = next(i1, n);
if (diagonalLoose(i, i2, n, verts, indices))
{
const int* p0 = &verts[(indices[i] & 0x0fffffff) * 4];
const int* p2 = &verts[(indices[next(i2, n)] & 0x0fffffff) * 4];
int dx = p2[0] - p0[0];
int dy = p2[2] - p0[2];
int len = dx*dx + dy*dy;
if (minLen < 0 || len < minLen)
{
minLen = len;
mini = i;
}
}
}
if (mini == -1)
{
// The contour is messed up. This sometimes happens
// if the contour simplification is too aggressive.
return -ntris;
}
printf("\n");*/
return -ntris;
}
int i = mini;
@@ -1463,7 +1537,7 @@ bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst)
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);
memcpy(dst.flags, src.flags, sizeof(unsigned short)*src.npolys);
return true;
}

279
dep/recastnavigation/Recast/Source/RecastMeshDetail.cpp
View File

@@ -56,7 +56,7 @@ inline float vdist2(const float* p, const float* q)
}
inline float vcross2(const float* p1, const float* p2, const float* p3)
{
{
const float u1 = p2[0] - p1[0];
const float v1 = p2[2] - p1[2];
const float u2 = p3[0] - p1[0];
@@ -68,21 +68,27 @@ static bool circumCircle(const float* p1, const float* p2, const float* p3,
float* c, float& r)
{
static const float EPS = 1e-6f;
// Calculate the circle relative to p1, to avoid some precision issues.
const float v1[3] = {0,0,0};
float v2[3], v3[3];
rcVsub(v2, p2,p1);
rcVsub(v3, p3,p1);
const float cp = vcross2(p1, p2, p3);
const float cp = vcross2(v1, v2, v3);
if (fabsf(cp) > EPS)
{
const float p1Sq = vdot2(p1,p1);
const float p2Sq = vdot2(p2,p2);
const float p3Sq = vdot2(p3,p3);
c[0] = (p1Sq*(p2[2]-p3[2]) + p2Sq*(p3[2]-p1[2]) + p3Sq*(p1[2]-p2[2])) / (2*cp);
c[2] = (p1Sq*(p3[0]-p2[0]) + p2Sq*(p1[0]-p3[0]) + p3Sq*(p2[0]-p1[0])) / (2*cp);
r = vdist2(c, p1);
const float v1Sq = vdot2(v1,v1);
const float v2Sq = vdot2(v2,v2);
const float v3Sq = vdot2(v3,v3);
c[0] = (v1Sq*(v2[2]-v3[2]) + v2Sq*(v3[2]-v1[2]) + v3Sq*(v1[2]-v2[2])) / (2*cp);
c[1] = 0;
c[2] = (v1Sq*(v3[0]-v2[0]) + v2Sq*(v1[0]-v3[0]) + v3Sq*(v2[0]-v1[0])) / (2*cp);
r = vdist2(c, v1);
rcVadd(c, c, p1);
return true;
}
c[0] = p1[0];
c[2] = p1[2];
rcVcopy(c, p1);
r = 0;
return false;
}
@@ -93,7 +99,7 @@ static float distPtTri(const float* p, const float* a, const float* b, const flo
rcVsub(v0, c,a);
rcVsub(v1, b,a);
rcVsub(v2, p,a);
const float dot00 = vdot2(v0, v0);
const float dot01 = vdot2(v0, v1);
const float dot02 = vdot2(v0, v2);
@@ -178,7 +184,7 @@ static float distToTriMesh(const float* p, const float* verts, const int /*nvert
static float distToPoly(int nvert, const float* verts, const float* p)
{
float dmin = FLT_MAX;
int i, j, c = 0;
for (i = 0, j = nvert-1; i < nvert; j = i++)
@@ -216,22 +222,13 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
if (nx < 0 || nz < 0 || nx >= hp.width || nz >= hp.height) continue;
const unsigned short nh = hp.data[nx+nz*hp.width];
if (nh == RC_UNSET_HEIGHT) continue;
const float d = fabsf(nh*ch - fy);
if (d < dmin)
{
h = nh;
dmin = d;
}
/* const float dx = (nx+0.5f)*cs - fx;
const float dz = (nz+0.5f)*cs - fz;
const float d = dx*dx+dz*dz;
if (d < dmin)
{
h = nh;
dmin = d;
} */
}
}
return h;
@@ -263,7 +260,7 @@ static int addEdge(rcContext* ctx, int* edges, int& nedges, const int maxEdges,
return UNDEF;
}
// Add edge if not already in the triangulation.
// Add edge if not already in the triangulation.
int e = findEdge(edges, nedges, s, t);
if (e == UNDEF)
{
@@ -286,7 +283,7 @@ static void updateLeftFace(int* e, int s, int t, int f)
e[2] = f;
else if (e[1] == s && e[0] == t && e[3] == UNDEF)
e[3] = f;
}
}
static int overlapSegSeg2d(const float* a, const float* b, const float* c, const float* d)
{
@@ -298,7 +295,7 @@ static int overlapSegSeg2d(const float* a, const float* b, const float* c, const
float a4 = a3 + a2 - a1;
if (a3 * a4 < 0.0f)
return 1;
}
}
return 0;
}
@@ -320,7 +317,7 @@ static bool overlapEdges(const float* pts, const int* edges, int nedges, int s1,
static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges, int& nedges, const int maxEdges, int& nfaces, int e)
{
static const float EPS = 1e-5f;
int* edge = &edges[e*4];
// Cache s and t.
@@ -337,11 +334,11 @@ static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges
}
else
{
// Edge already completed.
// Edge already completed.
return;
}
// Find best point on left of edge.
// Find best point on left of edge.
int pt = npts;
float c[3] = {0,0,0};
float r = -1;
@@ -385,20 +382,20 @@ static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges
}
}
// Add new triangle or update edge info if s-t is on hull.
// Add new triangle or update edge info if s-t is on hull.
if (pt < npts)
{
// Update face information of edge being completed.
// Update face information of edge being completed.
updateLeftFace(&edges[e*4], s, t, nfaces);
// Add new edge or update face info of old edge.
// Add new edge or update face info of old edge.
e = findEdge(edges, nedges, pt, s);
if (e == UNDEF)
addEdge(ctx, edges, nedges, maxEdges, pt, s, nfaces, UNDEF);
else
updateLeftFace(&edges[e*4], pt, s, nfaces);
// Add new edge or update face info of old edge.
// Add new edge or update face info of old edge.
e = findEdge(edges, nedges, t, pt);
if (e == UNDEF)
addEdge(ctx, edges, nedges, maxEdges, t, pt, nfaces, UNDEF);
@@ -434,7 +431,7 @@ static void delaunayHull(rcContext* ctx, const int npts, const float* pts,
completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
currentEdge++;
}
// Create tris
tris.resize(nfaces*4);
for (int i = 0; i < nfaces*4; ++i)
@@ -489,6 +486,103 @@ static void delaunayHull(rcContext* ctx, const int npts, const float* pts,
}
}
// Calculate minimum extend of the polygon.
static float polyMinExtent(const float* verts, const int nverts)
{
float minDist = FLT_MAX;
for (int i = 0; i < nverts; i++)
{
const int ni = (i+1) % nverts;
const float* p1 = &verts[i*3];
const float* p2 = &verts[ni*3];
float maxEdgeDist = 0;
for (int j = 0; j < nverts; j++)
{
if (j == i || j == ni) continue;
float d = distancePtSeg2d(&verts[j*3], p1,p2);
maxEdgeDist = rcMax(maxEdgeDist, d);
}
minDist = rcMin(minDist, maxEdgeDist);
}
return rcSqrt(minDist);
}
inline int next(int i, int n)
{
return (i+1) % n;
}
inline int prev(int i, int n)
{
return (i + n-1) % n;
}
static void triangulateHull(const int nverts, const float* verts, const int nhull, const int* hull, rcIntArray& tris)
{
int start = 0, left = 1, right = nhull-1;
// Start from an ear with shortest perimeter.
// This tends to favor well formed triangles as starting point.
float dmin = 0;
for (int i = 0; i < nhull; i++)
{
int pi = prev(i, nhull);
int ni = next(i, nhull);
const float* pv = &verts[hull[pi]*3];
const float* cv = &verts[hull[i]*3];
const float* nv = &verts[hull[ni]*3];
const float d = vdist2(pv,cv) + vdist2(cv,nv) + vdist2(nv,pv);
if (d < dmin)
{
start = i;
left = ni;
right = pi;
dmin = d;
}
}
// Add first triangle
tris.push(hull[start]);
tris.push(hull[left]);
tris.push(hull[right]);
tris.push(0);
// Triangulate the polygon by moving left or right,
// depending on which triangle has shorter perimeter.
// This heuristic was chose emprically, since it seems
// handle tesselated straight edges well.
while (next(left, nhull) != right)
{
// Check to see if se should advance left or right.
int nleft = next(left, nhull);
int nright = prev(right, nhull);
const float* cvleft = &verts[hull[left]*3];
const float* nvleft = &verts[hull[nleft]*3];
const float* cvright = &verts[hull[right]*3];
const float* nvright = &verts[hull[nright]*3];
const float dleft = vdist2(cvleft, nvleft) + vdist2(nvleft, cvright);
const float dright = vdist2(cvright, nvright) + vdist2(cvleft, nvright);
if (dleft < dright)
{
tris.push(hull[left]);
tris.push(hull[nleft]);
tris.push(hull[right]);
tris.push(0);
left = nleft;
}
else
{
tris.push(hull[left]);
tris.push(hull[nright]);
tris.push(hull[right]);
tris.push(0);
right = nright;
}
}
}
inline float getJitterX(const int i)
{
@@ -512,16 +606,22 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
float edge[(MAX_VERTS_PER_EDGE+1)*3];
int hull[MAX_VERTS];
int nhull = 0;
nverts = 0;
for (int i = 0; i < nin; ++i)
rcVcopy(&verts[i*3], &in[i*3]);
nverts = nin;
edges.resize(0);
tris.resize(0);
const float cs = chf.cs;
const float ics = 1.0f/cs;
// Calculate minimum extents of the polygon based on input data.
float minExtent = polyMinExtent(verts, nverts);
// Tessellate outlines.
// This is done in separate pass in order to ensure
// seamless height values across the ply boundaries.
@@ -628,27 +728,26 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
}
}
// If the polygon minimum extent is small (sliver or small triangle), do not try to add internal points.
if (minExtent < sampleDist*2)
{
triangulateHull(nverts, verts, nhull, hull, tris);
return true;
}
// Tessellate the base mesh.
edges.resize(0);
tris.resize(0);
delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges);
// We're using the triangulateHull instead of delaunayHull as it tends to
// create a bit better triangulation for long thing triangles when there
// are no internal points.
triangulateHull(nverts, verts, nhull, hull, tris);
if (tris.size() == 0)
{
// Could not triangulate the poly, make sure there is some valid data there.
ctx->log(RC_LOG_WARNING, "buildPolyDetail: Could not triangulate polygon, adding default data.");
for (int i = 2; i < nverts; ++i)
{
tris.push(0);
tris.push(i-1);
tris.push(i);
tris.push(0);
}
ctx->log(RC_LOG_WARNING, "buildPolyDetail: Could not triangulate polygon (%d verts).", nverts);
return true;
}
if (sampleDist > 0)
{
// Create sample locations in a grid.
@@ -681,7 +780,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
samples.push(0); // Not added
}
}
// Add the samples starting from the one that has the most
// error. The procedure stops when all samples are added
// or when the max error is within treshold.
@@ -690,7 +789,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
{
if (nverts >= MAX_VERTS)
break;
// Find sample with most error.
float bestpt[3] = {0,0,0};
float bestd = 0;
@@ -728,24 +827,24 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
edges.resize(0);
tris.resize(0);
delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges);
}
}
}
const int ntris = tris.size()/4;
if (ntris > MAX_TRIS)
{
tris.resize(MAX_TRIS*4);
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Shrinking triangle count from %d to max %d.", ntris, MAX_TRIS);
}
return true;
}
static void getHeightDataSeedsFromVertices(const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& stack)
const unsigned short* poly, const int npoly,
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.
@@ -849,7 +948,7 @@ static void getHeightDataSeedsFromVertices(const rcCompactHeightfield& chf,
continue;
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;
@@ -858,9 +957,9 @@ static void getHeightDataSeedsFromVertices(const rcCompactHeightfield& chf,
stack.push(ai);
}
}
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
// Mark start locations.
for (int i = 0; i < stack.size(); i += 3)
{
@@ -870,8 +969,8 @@ static void getHeightDataSeedsFromVertices(const rcCompactHeightfield& chf,
int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
const rcCompactSpan& cs = chf.spans[ci];
hp.data[idx] = cs.y;
// getHeightData seeds are given in coordinates with borders
// getHeightData seeds are given in coordinates with borders
stack[i+0] += bs;
stack[i+1] += bs;
}
@@ -888,12 +987,12 @@ static void getHeightData(const rcCompactHeightfield& chf,
{
// Note: Reads to the compact heightfield are offset by border size (bs)
// since border size offset is already removed from the polymesh vertices.
stack.resize(0);
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
bool empty = true;
// Copy the height from the same region, and mark region borders
// as seed points to fill the rest.
for (int hy = 0; hy < hp.height; hy++)
@@ -911,7 +1010,7 @@ static void getHeightData(const rcCompactHeightfield& chf,
// Store height
hp.data[hx + hy*hp.width] = s.y;
empty = false;
// If any of the neighbours is not in same region,
// add the current location as flood fill start
bool border = false;
@@ -940,8 +1039,8 @@ static void getHeightData(const rcCompactHeightfield& chf,
}
}
}
}
}
// if the polygon does not contian any points from the current region (rare, but happens)
// then use the cells closest to the polygon vertices as seeds to fill the height field
if (empty)
@@ -963,7 +1062,7 @@ static void getHeightData(const rcCompactHeightfield& chf,
memmove(&stack[0], &stack[RETRACT_SIZE*3], sizeof(int)*(stack.size()-RETRACT_SIZE*3));
stack.resize(stack.size()-RETRACT_SIZE*3);
}
const rcCompactSpan& cs = chf.spans[ci];
for (int dir = 0; dir < 4; ++dir)
{
@@ -982,9 +1081,9 @@ static void getHeightData(const rcCompactHeightfield& chf,
const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(cs, dir);
const rcCompactSpan& as = chf.spans[ai];
hp.data[hx + hy*hp.width] = as.y;
stack.push(ax);
stack.push(ay);
stack.push(ai);
@@ -999,7 +1098,7 @@ static unsigned char getEdgeFlags(const float* va, const float* vb,
static const float thrSqr = rcSqr(0.001f);
for (int i = 0, j = npoly-1; i < npoly; j=i++)
{
if (distancePtSeg2d(va, &vpoly[j*3], &vpoly[i*3]) < thrSqr &&
if (distancePtSeg2d(va, &vpoly[j*3], &vpoly[i*3]) < thrSqr &&
distancePtSeg2d(vb, &vpoly[j*3], &vpoly[i*3]) < thrSqr)
return 1;
}
@@ -1028,7 +1127,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_POLYMESHDETAIL);
if (mesh.nverts == 0 || mesh.npolys == 0)
return true;
@@ -1107,10 +1206,10 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.meshes' (%d).", dmesh.nmeshes*4);
return false;
}
int vcap = nPolyVerts+nPolyVerts/2;
int tcap = vcap*2;
dmesh.nverts = 0;
dmesh.verts = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM);
if (!dmesh.verts)
@@ -1119,7 +1218,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
return false;
}
dmesh.ntris = 0;
dmesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char*)*tcap*4, RC_ALLOC_PERM);
dmesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*tcap*4, RC_ALLOC_PERM);
if (!dmesh.tris)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", tcap*4);
@@ -1158,7 +1257,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
{
return false;
}
// Move detail verts to world space.
for (int j = 0; j < nverts; ++j)
{
@@ -1173,21 +1272,21 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
poly[j*3+1] += orig[1];
poly[j*3+2] += orig[2];
}
// Store detail submesh.
const int ntris = tris.size()/4;
dmesh.meshes[i*4+0] = (unsigned int)dmesh.nverts;
dmesh.meshes[i*4+1] = (unsigned int)nverts;
dmesh.meshes[i*4+2] = (unsigned int)dmesh.ntris;
dmesh.meshes[i*4+3] = (unsigned int)ntris;
dmesh.meshes[i*4+3] = (unsigned int)ntris;
// Store vertices, allocate more memory if necessary.
if (dmesh.nverts+nverts > vcap)
{
while (dmesh.nverts+nverts > vcap)
vcap += 256;
float* newv = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM);
if (!newv)
{
@@ -1233,9 +1332,9 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
dmesh.ntris++;
}
}
ctx->stopTimer(RC_TIMER_BUILD_POLYMESHDETAIL);
return true;
}
@@ -1245,11 +1344,11 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
rcAssert(ctx);
ctx->startTimer(RC_TIMER_MERGE_POLYMESHDETAIL);
int maxVerts = 0;
int maxTris = 0;
int maxMeshes = 0;
for (int i = 0; i < nmeshes; ++i)
{
if (!meshes[i]) continue;
@@ -1257,7 +1356,7 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
maxTris += meshes[i]->ntris;
maxMeshes += meshes[i]->nmeshes;
}
mesh.nmeshes = 0;
mesh.meshes = (unsigned int*)rcAlloc(sizeof(unsigned int)*maxMeshes*4, RC_ALLOC_PERM);
if (!mesh.meshes)
@@ -1265,7 +1364,7 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'pmdtl.meshes' (%d).", maxMeshes*4);
return false;
}
mesh.ntris = 0;
mesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris*4, RC_ALLOC_PERM);
if (!mesh.tris)
@@ -1273,7 +1372,7 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", maxTris*4);
return false;
}
mesh.nverts = 0;
mesh.verts = (float*)rcAlloc(sizeof(float)*maxVerts*3, RC_ALLOC_PERM);
if (!mesh.verts)
@@ -1297,7 +1396,7 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
dst[3] = src[3];
mesh.nmeshes++;
}
for (int k = 0; k < dm->nverts; ++k)
{
rcVcopy(&mesh.verts[mesh.nverts*3], &dm->verts[k*3]);
@@ -1312,7 +1411,7 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
mesh.ntris++;
}
}
ctx->stopTimer(RC_TIMER_MERGE_POLYMESHDETAIL);
return true;

427
dep/recastnavigation/Recast/Source/RecastRegion.cpp
View File

@@ -315,6 +315,7 @@ static bool floodRegion(int x, int y, int i,
srcReg[ci] = 0;
continue;
}
count++;
// Expand neighbours.
@@ -516,7 +517,11 @@ struct rcRegion
id(i),
areaType(0),
remap(false),
visited(false)
visited(false),
overlap(false),
connectsToBorder(false),
ymin(0xffff),
ymax(0)
{}
int spanCount; // Number of spans belonging to this region
@@ -524,6 +529,9 @@ struct rcRegion
unsigned char areaType; // Are type.
bool remap;
bool visited;
bool overlap;
bool connectsToBorder;
unsigned short ymin, ymax;
rcIntArray connections;
rcIntArray floors;
};
@@ -768,10 +776,11 @@ static void walkContour(int x, int y, int i, int dir,
}
}
static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegionSize,
unsigned short& maxRegionId,
rcCompactHeightfield& chf,
unsigned short* srcReg)
static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRegionSize,
unsigned short& maxRegionId,
rcCompactHeightfield& chf,
unsigned short* srcReg, rcIntArray& overlaps)
{
const int w = chf.width;
const int h = chf.height;
@@ -780,7 +789,7 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
if (!regions)
{
ctx->log(RC_LOG_ERROR, "filterSmallRegions: Out of memory 'regions' (%d).", nreg);
ctx->log(RC_LOG_ERROR, "mergeAndFilterRegions: Out of memory 'regions' (%d).", nreg);
return false;
}
@@ -803,7 +812,6 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
rcRegion& reg = regions[r];
reg.spanCount++;
// Update floors.
for (int j = (int)c.index; j < ni; ++j)
{
@@ -811,6 +819,8 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
unsigned short floorId = srcReg[j];
if (floorId == 0 || floorId >= nreg)
continue;
if (floorId == r)
reg.overlap = true;
addUniqueFloorRegion(reg, floorId);
}
@@ -906,7 +916,7 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
}
}
}
// Merge too small regions to neighbour regions.
int mergeCount = 0 ;
do
@@ -916,7 +926,9 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
{
rcRegion& reg = regions[i];
if (reg.id == 0 || (reg.id & RC_BORDER_REG))
continue;
continue;
if (reg.overlap)
continue;
if (reg.spanCount == 0)
continue;
@@ -933,7 +945,7 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
{
if (reg.connections[j] & RC_BORDER_REG) continue;
rcRegion& mreg = regions[reg.connections[j]];
if (mreg.id == 0 || (mreg.id & RC_BORDER_REG)) continue;
if (mreg.id == 0 || (mreg.id & RC_BORDER_REG) || mreg.overlap) continue;
if (mreg.spanCount < smallest &&
canMergeWithRegion(reg, mreg) &&
canMergeWithRegion(mreg, reg))
@@ -997,6 +1009,224 @@ static bool filterSmallRegions(rcContext* ctx, int minRegionArea, int mergeRegio
}
maxRegionId = regIdGen;
// Remap regions.
for (int i = 0; i < chf.spanCount; ++i)
{
if ((srcReg[i] & RC_BORDER_REG) == 0)
srcReg[i] = regions[srcReg[i]].id;
}
// Return regions that we found to be overlapping.
for (int i = 0; i < nreg; ++i)
if (regions[i].overlap)
overlaps.push(regions[i].id);
for (int i = 0; i < nreg; ++i)
regions[i].~rcRegion();
rcFree(regions);
return true;
}
static void addUniqueConnection(rcRegion& reg, int n)
{
for (int i = 0; i < reg.connections.size(); ++i)
if (reg.connections[i] == n)
return;
reg.connections.push(n);
}
static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
unsigned short& maxRegionId,
rcCompactHeightfield& chf,
unsigned short* srcReg, rcIntArray& overlaps)
{
const int w = chf.width;
const int h = chf.height;
const int nreg = maxRegionId+1;
rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
if (!regions)
{
ctx->log(RC_LOG_ERROR, "mergeAndFilterLayerRegions: Out of memory 'regions' (%d).", nreg);
return false;
}
// Construct regions
for (int i = 0; i < nreg; ++i)
new(&regions[i]) rcRegion((unsigned short)i);
// Find region neighbours and overlapping regions.
rcIntArray lregs(32);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
lregs.resize(0);
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
const unsigned short ri = srcReg[i];
if (ri == 0 || ri >= nreg) continue;
rcRegion& reg = regions[ri];
reg.spanCount++;
reg.ymin = rcMin(reg.ymin, s.y);
reg.ymax = rcMax(reg.ymax, s.y);
// Collect all region layers.
lregs.push(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 short rai = srcReg[ai];
if (rai > 0 && rai < nreg && rai != ri)
addUniqueConnection(reg, rai);
if (rai & RC_BORDER_REG)
reg.connectsToBorder = true;
}
}
}
// Update overlapping regions.
for (int i = 0; i < lregs.size()-1; ++i)
{
for (int j = i+1; j < lregs.size(); ++j)
{
if (lregs[i] != lregs[j])
{
rcRegion& ri = regions[lregs[i]];
rcRegion& rj = regions[lregs[j]];
addUniqueFloorRegion(ri, lregs[j]);
addUniqueFloorRegion(rj, lregs[i]);
}
}
}
}
}
// Create 2D layers from regions.
unsigned short layerId = 1;
for (int i = 0; i < nreg; ++i)
regions[i].id = 0;
// Merge montone regions to create non-overlapping areas.
rcIntArray stack(32);
for (int i = 1; i < nreg; ++i)
{
rcRegion& root = regions[i];
// Skip already visited.
if (root.id != 0)
continue;
// Start search.
root.id = layerId;
stack.resize(0);
stack.push(i);
while (stack.size() > 0)
{
// Pop front
rcRegion& reg = regions[stack[0]];
for (int j = 0; j < stack.size()-1; ++j)
stack[j] = stack[j+1];
stack.resize(stack.size()-1);
const int ncons = (int)reg.connections.size();
for (int j = 0; j < ncons; ++j)
{
const int nei = reg.connections[j];
rcRegion& regn = regions[nei];
// Skip already visited.
if (regn.id != 0)
continue;
// Skip if the neighbour is overlapping root region.
bool overlap = false;
for (int k = 0; k < root.floors.size(); k++)
{
if (root.floors[k] == nei)
{
overlap = true;
break;
}
}
if (overlap)
continue;
// Deepen
stack.push(nei);
// Mark layer id
regn.id = layerId;
// Merge current layers to root.
for (int k = 0; k < regn.floors.size(); ++k)
addUniqueFloorRegion(root, regn.floors[k]);
root.ymin = rcMin(root.ymin, regn.ymin);
root.ymax = rcMax(root.ymax, regn.ymax);
root.spanCount += regn.spanCount;
regn.spanCount = 0;
root.connectsToBorder = root.connectsToBorder || regn.connectsToBorder;
}
}
layerId++;
}
// Remove small regions
for (int i = 0; i < nreg; ++i)
{
if (regions[i].spanCount > 0 && regions[i].spanCount < minRegionArea && !regions[i].connectsToBorder)
{
unsigned short reg = regions[i].id;
for (int j = 0; j < nreg; ++j)
if (regions[j].id == reg)
regions[j].id = 0;
}
}
// Compress region Ids.
for (int i = 0; i < nreg; ++i)
{
regions[i].remap = false;
if (regions[i].id == 0) continue; // Skip nil regions.
if (regions[i].id & RC_BORDER_REG) continue; // Skip external regions.
regions[i].remap = true;
}
unsigned short regIdGen = 0;
for (int i = 0; i < nreg; ++i)
{
if (!regions[i].remap)
continue;
unsigned short oldId = regions[i].id;
unsigned short newId = ++regIdGen;
for (int j = i; j < nreg; ++j)
{
if (regions[j].id == oldId)
{
regions[j].id = newId;
regions[j].remap = false;
}
}
}
maxRegionId = regIdGen;
// Remap regions.
for (int i = 0; i < chf.spanCount; ++i)
{
@@ -1011,6 +1241,8 @@ 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
@@ -1256,13 +1488,17 @@ bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
}
}
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Filter out small regions.
// Merge regions and filter out small regions.
rcIntArray overlaps;
chf.maxRegions = id;
if (!filterSmallRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg))
if (!mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg, overlaps))
return false;
// Monotone partitioning does not generate overlapping regions.
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Store the result out.
@@ -1407,11 +1643,18 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Filter out small regions.
// Merge regions and filter out smalle regions.
rcIntArray overlaps;
chf.maxRegions = regionId;
if (!filterSmallRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg))
if (!mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg, overlaps))
return false;
// If overlapping regions were found during merging, split those regions.
if (overlaps.size() > 0)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegions: %d overlapping regions.", overlaps.size());
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Write the result out.
@@ -1424,3 +1667,157 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
}
bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_REGIONS);
const int w = chf.width;
const int h = chf.height;
unsigned short id = 1;
rcScopedDelete<unsigned short> srcReg = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
if (!srcReg)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'src' (%d).", chf.spanCount);
return false;
}
memset(srcReg,0,sizeof(unsigned short)*chf.spanCount);
const int nsweeps = rcMax(chf.width,chf.height);
rcScopedDelete<rcSweepSpan> sweeps = (rcSweepSpan*)rcAlloc(sizeof(rcSweepSpan)*nsweeps, RC_ALLOC_TEMP);
if (!sweeps)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'sweeps' (%d).", nsweeps);
return false;
}
// Mark border regions.
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, id|RC_BORDER_REG, chf, srcReg); id++;
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);
// Sweep one line at a time.
for (int y = borderSize; y < h-borderSize; ++y)
{
// Collect spans from this row.
prev.resize(id+1);
memset(&prev[0],0,sizeof(int)*id);
unsigned short rid = 1;
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;
// -x
unsigned short previd = 0;
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 ((srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
previd = srcReg[ai];
}
if (!previd)
{
previd = rid++;
sweeps[previd].rid = previd;
sweeps[previd].ns = 0;
sweeps[previd].nei = 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);
if (srcReg[ai] && (srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
{
unsigned short nr = srcReg[ai];
if (!sweeps[previd].nei || sweeps[previd].nei == nr)
{
sweeps[previd].nei = nr;
sweeps[previd].ns++;
prev[nr]++;
}
else
{
sweeps[previd].nei = RC_NULL_NEI;
}
}
}
srcReg[i] = previd;
}
}
// Create unique ID.
for (int i = 1; i < rid; ++i)
{
if (sweeps[i].nei != RC_NULL_NEI && sweeps[i].nei != 0 &&
prev[sweeps[i].nei] == (int)sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
sweeps[i].id = id++;
}
}
// Remap 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] > 0 && srcReg[i] < rid)
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Merge monotone regions to layers and remove small regions.
rcIntArray overlaps;
chf.maxRegions = id;
if (!mergeAndFilterLayerRegions(ctx, minRegionArea, chf.maxRegions, chf, srcReg, overlaps))
return false;
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Store the result out.
for (int i = 0; i < chf.spanCount; ++i)
chf.spans[i].reg = srcReg[i];
ctx->stopTimer(RC_TIMER_BUILD_REGIONS);
return true;
}

3676
dep/recastnavigation/recastnavigation.diff
View File

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