diff options
Diffstat (limited to 'thirdparty/recastnavigation/Recast/Source')
5 files changed, 219 insertions, 184 deletions
diff --git a/thirdparty/recastnavigation/Recast/Source/Recast.cpp b/thirdparty/recastnavigation/Recast/Source/Recast.cpp index 8308d1973e..1b71710cdc 100644 --- a/thirdparty/recastnavigation/Recast/Source/Recast.cpp +++ b/thirdparty/recastnavigation/Recast/Source/Recast.cpp @@ -23,11 +23,34 @@ #include <stdlib.h> #include <stdio.h> #include <stdarg.h> -#include <new> #include "Recast.h" #include "RecastAlloc.h" #include "RecastAssert.h" +namespace +{ +/// Allocates and constructs an object of the given type, returning a pointer. +/// TODO: Support constructor args. +/// @param[in] hint Hint to the allocator. +template <typename T> +T* rcNew(rcAllocHint hint) { + T* ptr = (T*)rcAlloc(sizeof(T), hint); + ::new(rcNewTag(), (void*)ptr) T(); + return ptr; +} + +/// Destroys and frees an object allocated with rcNew. +/// @param[in] ptr The object pointer to delete. +template <typename T> +void rcDelete(T* ptr) { + if (ptr) { + ptr->~T(); + rcFree((void*)ptr); + } +} +} // namespace + + float rcSqrt(float x) { return sqrtf(x); @@ -73,9 +96,8 @@ void rcContext::log(const rcLogCategory category, const char* format, ...) rcHeightfield* rcAllocHeightfield() { - return new (rcAlloc(sizeof(rcHeightfield), RC_ALLOC_PERM)) rcHeightfield; + return rcNew<rcHeightfield>(RC_ALLOC_PERM); } - rcHeightfield::rcHeightfield() : width() , height() @@ -104,84 +126,133 @@ rcHeightfield::~rcHeightfield() void rcFreeHeightField(rcHeightfield* hf) { - if (!hf) return; - hf->~rcHeightfield(); - rcFree(hf); + rcDelete(hf); } rcCompactHeightfield* rcAllocCompactHeightfield() { - rcCompactHeightfield* chf = (rcCompactHeightfield*)rcAlloc(sizeof(rcCompactHeightfield), RC_ALLOC_PERM); - memset(chf, 0, sizeof(rcCompactHeightfield)); - return chf; + return rcNew<rcCompactHeightfield>(RC_ALLOC_PERM); } void rcFreeCompactHeightfield(rcCompactHeightfield* chf) { - if (!chf) return; - rcFree(chf->cells); - rcFree(chf->spans); - rcFree(chf->dist); - rcFree(chf->areas); - rcFree(chf); + rcDelete(chf); } -rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet() +rcCompactHeightfield::rcCompactHeightfield() + : width(), + height(), + spanCount(), + walkableHeight(), + walkableClimb(), + borderSize(), + maxDistance(), + maxRegions(), + bmin(), + bmax(), + cs(), + ch(), + cells(), + spans(), + dist(), + areas() { - rcHeightfieldLayerSet* lset = (rcHeightfieldLayerSet*)rcAlloc(sizeof(rcHeightfieldLayerSet), RC_ALLOC_PERM); - memset(lset, 0, sizeof(rcHeightfieldLayerSet)); - return lset; +} +rcCompactHeightfield::~rcCompactHeightfield() +{ + rcFree(cells); + rcFree(spans); + rcFree(dist); + rcFree(areas); } +rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet() +{ + return rcNew<rcHeightfieldLayerSet>(RC_ALLOC_PERM); +} void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset) { - if (!lset) return; - for (int i = 0; i < lset->nlayers; ++i) + rcDelete(lset); +} + +rcHeightfieldLayerSet::rcHeightfieldLayerSet() + : layers(), nlayers() {} +rcHeightfieldLayerSet::~rcHeightfieldLayerSet() +{ + for (int i = 0; i < nlayers; ++i) { - rcFree(lset->layers[i].heights); - rcFree(lset->layers[i].areas); - rcFree(lset->layers[i].cons); + rcFree(layers[i].heights); + rcFree(layers[i].areas); + rcFree(layers[i].cons); } - rcFree(lset->layers); - rcFree(lset); + rcFree(layers); } rcContourSet* rcAllocContourSet() { - rcContourSet* cset = (rcContourSet*)rcAlloc(sizeof(rcContourSet), RC_ALLOC_PERM); - memset(cset, 0, sizeof(rcContourSet)); - return cset; + return rcNew<rcContourSet>(RC_ALLOC_PERM); } - void rcFreeContourSet(rcContourSet* cset) { - if (!cset) return; - for (int i = 0; i < cset->nconts; ++i) + rcDelete(cset); +} + +rcContourSet::rcContourSet() + : conts(), + nconts(), + bmin(), + bmax(), + cs(), + ch(), + width(), + height(), + borderSize(), + maxError() {} +rcContourSet::~rcContourSet() +{ + for (int i = 0; i < nconts; ++i) { - rcFree(cset->conts[i].verts); - rcFree(cset->conts[i].rverts); + rcFree(conts[i].verts); + rcFree(conts[i].rverts); } - rcFree(cset->conts); - rcFree(cset); + rcFree(conts); } + rcPolyMesh* rcAllocPolyMesh() { - rcPolyMesh* pmesh = (rcPolyMesh*)rcAlloc(sizeof(rcPolyMesh), RC_ALLOC_PERM); - memset(pmesh, 0, sizeof(rcPolyMesh)); - return pmesh; + return rcNew<rcPolyMesh>(RC_ALLOC_PERM); } - void rcFreePolyMesh(rcPolyMesh* pmesh) { - if (!pmesh) return; - rcFree(pmesh->verts); - rcFree(pmesh->polys); - rcFree(pmesh->regs); - rcFree(pmesh->flags); - rcFree(pmesh->areas); - rcFree(pmesh); + rcDelete(pmesh); +} + +rcPolyMesh::rcPolyMesh() + : verts(), + polys(), + regs(), + flags(), + areas(), + nverts(), + npolys(), + maxpolys(), + nvp(), + bmin(), + bmax(), + cs(), + ch(), + borderSize(), + maxEdgeError() {} + +rcPolyMesh::~rcPolyMesh() +{ + rcFree(verts); + rcFree(polys); + rcFree(regs); + rcFree(flags); + rcFree(areas); } rcPolyMeshDetail* rcAllocPolyMeshDetail() diff --git a/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp b/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp index 453b5fa6a6..bdc366116e 100644 --- a/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp +++ b/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp @@ -58,29 +58,3 @@ void rcFree(void* ptr) if (ptr) sRecastFreeFunc(ptr); } - -/// @class rcIntArray -/// -/// While it is possible to pre-allocate a specific array size during -/// construction or by using the #resize method, certain methods will -/// automatically resize the array as needed. -/// -/// @warning The array memory is not initialized to zero when the size is -/// manually set during construction or when using #resize. - -/// @par -/// -/// Using this method ensures the array is at least large enough to hold -/// the specified number of elements. This can improve performance by -/// avoiding auto-resizing during use. -void rcIntArray::doResize(int n) -{ - if (!m_cap) m_cap = n; - while (m_cap < n) m_cap *= 2; - int* newData = (int*)rcAlloc(m_cap*sizeof(int), RC_ALLOC_TEMP); - rcAssert(newData); - if (m_size && newData) memcpy(newData, m_data, m_size*sizeof(int)); - rcFree(m_data); - m_data = newData; -} - diff --git a/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp b/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp index 277ab01501..6574c11b6b 100644 --- a/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp +++ b/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp @@ -1009,7 +1009,7 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf, if (cset.nconts > 0) { // Calculate winding of all polygons. - rcScopedDelete<char> winding((char*)rcAlloc(sizeof(char)*cset.nconts, RC_ALLOC_TEMP)); + rcScopedDelete<signed char> winding((signed char*)rcAlloc(sizeof(signed char)*cset.nconts, RC_ALLOC_TEMP)); if (!winding) { ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'hole' (%d).", cset.nconts); diff --git a/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp b/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp index f953132f74..9a423cab8a 100644 --- a/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp +++ b/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp @@ -557,15 +557,16 @@ static float polyMinExtent(const float* verts, const int nverts) 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; } -static void triangulateHull(const int /*nverts*/, const float* verts, const int nhull, const int* hull, rcIntArray& tris) +static void triangulateHull(const int /*nverts*/, const float* verts, const int nhull, const int* hull, const int nin, 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; + float dmin = FLT_MAX; for (int i = 0; i < nhull; i++) { + if (hull[i] >= nin) continue; // Ears are triangles with original vertices as middle vertex while others are actually line segments on edges int pi = prev(i, nhull); int ni = next(i, nhull); const float* pv = &verts[hull[pi]*3]; @@ -770,7 +771,7 @@ 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); + triangulateHull(nverts, verts, nhull, hull, nin, tris); return true; } @@ -778,7 +779,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin, // We're using the triangulateHull instead of delaunayHull as it tends to // create a bit better triangulation for long thin triangles when there // are no internal points. - triangulateHull(nverts, verts, nhull, hull, tris); + triangulateHull(nverts, verts, nhull, hull, nin, tris); if (tris.size() == 0) { @@ -1140,7 +1141,8 @@ static void getHeightData(rcContext* ctx, const rcCompactHeightfield& chf, static unsigned char getEdgeFlags(const float* va, const float* vb, const float* vpoly, const int npoly) { - // Return true if edge (va,vb) is part of the polygon. + // The flag returned by this function matches dtDetailTriEdgeFlags in Detour. + // Figure out if edge (va,vb) is part of the polygon boundary. static const float thrSqr = rcSqr(0.001f); for (int i = 0, j = npoly-1; i < npoly; j=i++) { diff --git a/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp b/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp index 38a2bd6bfa..e1fc0ee788 100644 --- a/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp +++ b/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp @@ -25,8 +25,17 @@ #include "Recast.h" #include "RecastAlloc.h" #include "RecastAssert.h" -#include <new> +namespace +{ +struct LevelStackEntry +{ + LevelStackEntry(int x_, int y_, int index_) : x(x_), y(y_), index(index_) {} + int x; + int y; + int index; +}; +} // namespace static void calculateDistanceField(rcCompactHeightfield& chf, unsigned short* src, unsigned short& maxDist) { @@ -245,17 +254,15 @@ static bool floodRegion(int x, int y, int i, unsigned short level, unsigned short r, rcCompactHeightfield& chf, unsigned short* srcReg, unsigned short* srcDist, - rcIntArray& stack) + rcTempVector<LevelStackEntry>& stack) { const int w = chf.width; const unsigned char area = chf.areas[i]; // Flood fill mark region. - stack.resize(0); - stack.push((int)x); - stack.push((int)y); - stack.push((int)i); + stack.clear(); + stack.push_back(LevelStackEntry(x, y, i)); srcReg[i] = r; srcDist[i] = 0; @@ -264,9 +271,11 @@ static bool floodRegion(int x, int y, int i, while (stack.size() > 0) { - int ci = stack.pop(); - int cy = stack.pop(); - int cx = stack.pop(); + LevelStackEntry& back = stack.back(); + int cx = back.x; + int cy = back.y; + int ci = back.index; + stack.pop_back(); const rcCompactSpan& cs = chf.spans[ci]; @@ -332,9 +341,7 @@ static bool floodRegion(int x, int y, int i, { srcReg[ai] = r; srcDist[ai] = 0; - stack.push(ax); - stack.push(ay); - stack.push(ai); + stack.push_back(LevelStackEntry(ax, ay, ai)); } } } @@ -343,12 +350,20 @@ static bool floodRegion(int x, int y, int i, return count > 0; } -static unsigned short* expandRegions(int maxIter, unsigned short level, - rcCompactHeightfield& chf, - unsigned short* srcReg, unsigned short* srcDist, - unsigned short* dstReg, unsigned short* dstDist, - rcIntArray& stack, - bool fillStack) +// Struct to keep track of entries in the region table that have been changed. +struct DirtyEntry +{ + DirtyEntry(int index_, unsigned short region_, unsigned short distance2_) + : index(index_), region(region_), distance2(distance2_) {} + int index; + unsigned short region; + unsigned short distance2; +}; +static void expandRegions(int maxIter, unsigned short level, + rcCompactHeightfield& chf, + unsigned short* srcReg, unsigned short* srcDist, + rcTempVector<LevelStackEntry>& stack, + bool fillStack) { const int w = chf.width; const int h = chf.height; @@ -356,7 +371,7 @@ static unsigned short* expandRegions(int maxIter, unsigned short level, if (fillStack) { // Find cells revealed by the raised level. - stack.resize(0); + stack.clear(); for (int y = 0; y < h; ++y) { for (int x = 0; x < w; ++x) @@ -366,9 +381,7 @@ static unsigned short* expandRegions(int maxIter, unsigned short level, { if (chf.dist[i] >= level && srcReg[i] == 0 && chf.areas[i] != RC_NULL_AREA) { - stack.push(x); - stack.push(y); - stack.push(i); + stack.push_back(LevelStackEntry(x, y, i)); } } } @@ -377,27 +390,26 @@ static unsigned short* expandRegions(int maxIter, unsigned short level, else // use cells in the input stack { // mark all cells which already have a region - for (int j=0; j<stack.size(); j+=3) + for (int j=0; j<stack.size(); j++) { - int i = stack[j+2]; + int i = stack[j].index; if (srcReg[i] != 0) - stack[j+2] = -1; + stack[j].index = -1; } } + rcTempVector<DirtyEntry> dirtyEntries; int iter = 0; while (stack.size() > 0) { int failed = 0; + dirtyEntries.clear(); - memcpy(dstReg, srcReg, sizeof(unsigned short)*chf.spanCount); - memcpy(dstDist, srcDist, sizeof(unsigned short)*chf.spanCount); - - for (int j = 0; j < stack.size(); j += 3) + for (int j = 0; j < stack.size(); j++) { - int x = stack[j+0]; - int y = stack[j+1]; - int i = stack[j+2]; + int x = stack[j].x; + int y = stack[j].y; + int i = stack[j].index; if (i < 0) { failed++; @@ -426,9 +438,8 @@ static unsigned short* expandRegions(int maxIter, unsigned short level, } if (r) { - stack[j+2] = -1; // mark as used - dstReg[i] = r; - dstDist[i] = d2; + stack[j].index = -1; // mark as used + dirtyEntries.push_back(DirtyEntry(i, r, d2)); } else { @@ -436,11 +447,14 @@ static unsigned short* expandRegions(int maxIter, unsigned short level, } } - // rcSwap source and dest. - rcSwap(srcReg, dstReg); - rcSwap(srcDist, dstDist); + // Copy entries that differ between src and dst to keep them in sync. + for (int i = 0; i < dirtyEntries.size(); i++) { + int idx = dirtyEntries[i].index; + srcReg[idx] = dirtyEntries[i].region; + srcDist[idx] = dirtyEntries[i].distance2; + } - if (failed*3 == stack.size()) + if (failed == stack.size()) break; if (level > 0) @@ -450,16 +464,14 @@ static unsigned short* expandRegions(int maxIter, unsigned short level, break; } } - - return srcReg; } static void sortCellsByLevel(unsigned short startLevel, rcCompactHeightfield& chf, - unsigned short* srcReg, - unsigned int nbStacks, rcIntArray* stacks, + const unsigned short* srcReg, + unsigned int nbStacks, rcTempVector<LevelStackEntry>* stacks, unsigned short loglevelsPerStack) // the levels per stack (2 in our case) as a bit shift { const int w = chf.width; @@ -467,7 +479,7 @@ static void sortCellsByLevel(unsigned short startLevel, startLevel = startLevel >> loglevelsPerStack; for (unsigned int j=0; j<nbStacks; ++j) - stacks[j].resize(0); + stacks[j].clear(); // put all cells in the level range into the appropriate stacks for (int y = 0; y < h; ++y) @@ -487,26 +499,23 @@ static void sortCellsByLevel(unsigned short startLevel, if (sId < 0) sId = 0; - stacks[sId].push(x); - stacks[sId].push(y); - stacks[sId].push(i); + stacks[sId].push_back(LevelStackEntry(x, y, i)); } } } } -static void appendStacks(rcIntArray& srcStack, rcIntArray& dstStack, - unsigned short* srcReg) +static void appendStacks(const rcTempVector<LevelStackEntry>& srcStack, + rcTempVector<LevelStackEntry>& dstStack, + const unsigned short* srcReg) { - for (int j=0; j<srcStack.size(); j+=3) + for (int j=0; j<srcStack.size(); j++) { - int i = srcStack[j+2]; + int i = srcStack[j].index; if ((i < 0) || (srcReg[i] != 0)) continue; - dstStack.push(srcStack[j]); - dstStack.push(srcStack[j+1]); - dstStack.push(srcStack[j+2]); + dstStack.push_back(srcStack[j]); } } @@ -671,7 +680,7 @@ static bool isRegionConnectedToBorder(const rcRegion& reg) return false; } -static bool isSolidEdge(rcCompactHeightfield& chf, unsigned short* srcReg, +static bool isSolidEdge(rcCompactHeightfield& chf, const unsigned short* srcReg, int x, int y, int i, int dir) { const rcCompactSpan& s = chf.spans[i]; @@ -690,7 +699,7 @@ static bool isSolidEdge(rcCompactHeightfield& chf, unsigned short* srcReg, static void walkContour(int x, int y, int i, int dir, rcCompactHeightfield& chf, - unsigned short* srcReg, + const unsigned short* srcReg, rcIntArray& cont) { int startDir = dir; @@ -786,16 +795,15 @@ static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRe const int h = chf.height; const int nreg = maxRegionId+1; - rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP); - if (!regions) - { + rcTempVector<rcRegion> regions; + if (!regions.reserve(nreg)) { ctx->log(RC_LOG_ERROR, "mergeAndFilterRegions: Out of memory 'regions' (%d).", nreg); return false; } // Construct regions for (int i = 0; i < nreg; ++i) - new(®ions[i]) rcRegion((unsigned short)i); + regions.push_back(rcRegion((unsigned short) i)); // Find edge of a region and find connections around the contour. for (int y = 0; y < h; ++y) @@ -1021,11 +1029,6 @@ static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRe if (regions[i].overlap) overlaps.push(regions[i].id); - for (int i = 0; i < nreg; ++i) - regions[i].~rcRegion(); - rcFree(regions); - - return true; } @@ -1041,22 +1044,21 @@ static void addUniqueConnection(rcRegion& reg, int n) static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea, unsigned short& maxRegionId, rcCompactHeightfield& chf, - unsigned short* srcReg, rcIntArray& /*overlaps*/) + unsigned short* srcReg) { 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) - { + rcTempVector<rcRegion> regions; + + // Construct regions + if (!regions.reserve(nreg)) { ctx->log(RC_LOG_ERROR, "mergeAndFilterLayerRegions: Out of memory 'regions' (%d).", nreg); return false; } - - // Construct regions for (int i = 0; i < nreg; ++i) - new(®ions[i]) rcRegion((unsigned short)i); + regions.push_back(rcRegion((unsigned short) i)); // Find region neighbours and overlapping regions. rcIntArray lregs(32); @@ -1234,10 +1236,6 @@ static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea, srcReg[i] = regions[srcReg[i]].id; } - for (int i = 0; i < nreg; ++i) - regions[i].~rcRegion(); - rcFree(regions); - return true; } @@ -1391,9 +1389,9 @@ bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf, 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; } + + chf.borderSize = borderSize; rcIntArray prev(256); @@ -1535,7 +1533,7 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, const int w = chf.width; const int h = chf.height; - rcScopedDelete<unsigned short> buf((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP)); + rcScopedDelete<unsigned short> buf((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*2, RC_ALLOC_TEMP)); if (!buf) { ctx->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' (%d).", chf.spanCount*4); @@ -1546,17 +1544,15 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, const int LOG_NB_STACKS = 3; const int NB_STACKS = 1 << LOG_NB_STACKS; - rcIntArray lvlStacks[NB_STACKS]; + rcTempVector<LevelStackEntry> lvlStacks[NB_STACKS]; for (int i=0; i<NB_STACKS; ++i) - lvlStacks[i].resize(1024); + lvlStacks[i].reserve(256); - rcIntArray stack(1024); - rcIntArray visited(1024); + rcTempVector<LevelStackEntry> stack; + stack.reserve(256); unsigned short* srcReg = buf; unsigned short* srcDist = buf+chf.spanCount; - unsigned short* dstReg = buf+chf.spanCount*2; - unsigned short* dstDist = buf+chf.spanCount*3; memset(srcReg, 0, sizeof(unsigned short)*chf.spanCount); memset(srcDist, 0, sizeof(unsigned short)*chf.spanCount); @@ -1581,9 +1577,9 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, paintRectRegion(w-bw, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++; paintRectRegion(0, w, 0, bh, regionId|RC_BORDER_REG, chf, srcReg); regionId++; paintRectRegion(0, w, h-bh, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++; - - chf.borderSize = borderSize; } + + chf.borderSize = borderSize; int sId = -1; while (level > 0) @@ -1604,22 +1600,19 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, rcScopedTimer timerExpand(ctx, RC_TIMER_BUILD_REGIONS_EXPAND); // Expand current regions until no empty connected cells found. - if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, lvlStacks[sId], false) != srcReg) - { - rcSwap(srcReg, dstReg); - rcSwap(srcDist, dstDist); - } + expandRegions(expandIters, level, chf, srcReg, srcDist, lvlStacks[sId], false); } { rcScopedTimer timerFloor(ctx, RC_TIMER_BUILD_REGIONS_FLOOD); // Mark new regions with IDs. - for (int j = 0; j<lvlStacks[sId].size(); j += 3) + for (int j = 0; j<lvlStacks[sId].size(); j++) { - int x = lvlStacks[sId][j]; - int y = lvlStacks[sId][j+1]; - int i = lvlStacks[sId][j+2]; + LevelStackEntry current = lvlStacks[sId][j]; + int x = current.x; + int y = current.y; + int i = current.index; if (i >= 0 && srcReg[i] == 0) { if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack)) @@ -1638,11 +1631,7 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, } // Expand current regions until no empty connected cells found. - if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack, true) != srcReg) - { - rcSwap(srcReg, dstReg); - rcSwap(srcDist, dstDist); - } + expandRegions(expandIters*8, 0, chf, srcReg, srcDist, stack, true); ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED); @@ -1709,9 +1698,9 @@ bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf, 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; } + + chf.borderSize = borderSize; rcIntArray prev(256); @@ -1809,9 +1798,8 @@ bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf, rcScopedTimer timerFilter(ctx, 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)) + if (!mergeAndFilterLayerRegions(ctx, minRegionArea, chf.maxRegions, chf, srcReg)) return false; } |