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-rw-r--r--thirdparty/README.md4
-rw-r--r--thirdparty/recastnavigation/Recast/Include/Recast.h8
-rw-r--r--thirdparty/recastnavigation/Recast/Include/RecastAlloc.h288
-rw-r--r--thirdparty/recastnavigation/Recast/Source/Recast.cpp165
-rw-r--r--thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp26
-rw-r--r--thirdparty/recastnavigation/Recast/Source/RecastContour.cpp2
-rw-r--r--thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp12
-rw-r--r--thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp198
8 files changed, 471 insertions, 232 deletions
diff --git a/thirdparty/README.md b/thirdparty/README.md
index 77e837b3b7..47e22a6f23 100644
--- a/thirdparty/README.md
+++ b/thirdparty/README.md
@@ -490,12 +490,12 @@ Files extracted from upstream source:
## recastnavigation
- Upstream: https://github.com/recastnavigation/recastnavigation
-- Version: git (ef3ea40f, 2017)
+- Version: git (57610fa6ef31b39020231906f8c5d40eaa8294ae, 2019)
- License: zlib
Files extracted from upstream source:
-- `Recast/` folder
+- `Recast/` folder without `CMakeLists.txt`
- License.txt
diff --git a/thirdparty/recastnavigation/Recast/Include/Recast.h b/thirdparty/recastnavigation/Recast/Include/Recast.h
index e85c0d2e29..4d557389b5 100644
--- a/thirdparty/recastnavigation/Recast/Include/Recast.h
+++ b/thirdparty/recastnavigation/Recast/Include/Recast.h
@@ -332,6 +332,8 @@ struct rcCompactSpan
/// @ingroup recast
struct rcCompactHeightfield
{
+ rcCompactHeightfield();
+ ~rcCompactHeightfield();
int width; ///< The width of the heightfield. (Along the x-axis in cell units.)
int height; ///< The height of the heightfield. (Along the z-axis in cell units.)
int spanCount; ///< The number of spans in the heightfield.
@@ -376,6 +378,8 @@ struct rcHeightfieldLayer
/// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet
struct rcHeightfieldLayerSet
{
+ rcHeightfieldLayerSet();
+ ~rcHeightfieldLayerSet();
rcHeightfieldLayer* layers; ///< The layers in the set. [Size: #nlayers]
int nlayers; ///< The number of layers in the set.
};
@@ -395,6 +399,8 @@ struct rcContour
/// @ingroup recast
struct rcContourSet
{
+ rcContourSet();
+ ~rcContourSet();
rcContour* conts; ///< An array of the contours in the set. [Size: #nconts]
int nconts; ///< The number of contours in the set.
float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)]
@@ -411,6 +417,8 @@ struct rcContourSet
/// @ingroup recast
struct rcPolyMesh
{
+ rcPolyMesh();
+ ~rcPolyMesh();
unsigned short* verts; ///< The mesh vertices. [Form: (x, y, z) * #nverts]
unsigned short* polys; ///< Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp]
unsigned short* regs; ///< The region id assigned to each polygon. [Length: #maxpolys]
diff --git a/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h b/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h
index 3cdd450d42..e436af9a01 100644
--- a/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h
+++ b/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h
@@ -20,6 +20,9 @@
#define RECASTALLOC_H
#include <stddef.h>
+#include <stdint.h>
+
+#include <RecastAssert.h>
/// Provides hint values to the memory allocator on how long the
/// memory is expected to be used.
@@ -58,64 +61,257 @@ void* rcAlloc(size_t size, rcAllocHint hint);
/// @see rcAlloc
void rcFree(void* ptr);
+/// An implementation of operator new usable for placement new. The default one is part of STL (which we don't use).
+/// rcNewTag is a dummy type used to differentiate our operator from the STL one, in case users import both Recast
+/// and STL.
+struct rcNewTag {};
+inline void* operator new(size_t, const rcNewTag&, void* p) { return p; }
+inline void operator delete(void*, const rcNewTag&, void*) {}
-/// A simple dynamic array of integers.
-class rcIntArray
-{
- int* m_data;
- int m_size, m_cap;
+/// Signed to avoid warnnings when comparing to int loop indexes, and common error with comparing to zero.
+/// MSVC2010 has a bug where ssize_t is unsigned (!!!).
+typedef intptr_t rcSizeType;
+#define RC_SIZE_MAX INTPTR_MAX
- void doResize(int n);
-
- // Explicitly disabled copy constructor and copy assignment operator.
- rcIntArray(const rcIntArray&);
- rcIntArray& operator=(const rcIntArray&);
+/// Macros to hint to the compiler about the likeliest branch. Please add a benchmark that demonstrates a performance
+/// improvement before introducing use cases.
+#if defined(__GNUC__) || defined(__clang__)
+#define rcLikely(x) __builtin_expect((x), true)
+#define rcUnlikely(x) __builtin_expect((x), false)
+#else
+#define rcLikely(x) (x)
+#define rcUnlikely(x) (x)
+#endif
-public:
- /// Constructs an instance with an initial array size of zero.
- rcIntArray() : m_data(0), m_size(0), m_cap(0) {}
+/// Variable-sized storage type. Mimics the interface of std::vector<T> with some notable differences:
+/// * Uses rcAlloc()/rcFree() to handle storage.
+/// * No support for a custom allocator.
+/// * Uses signed size instead of size_t to avoid warnings in for loops: "for (int i = 0; i < foo.size(); i++)"
+/// * Omits methods of limited utility: insert/erase, (bad performance), at (we don't use exceptions), operator=.
+/// * assign() and the pre-sizing constructor follow C++11 semantics -- they don't construct a temporary if no value is provided.
+/// * push_back() and resize() support adding values from the current vector. Range-based constructors and assign(begin, end) do not.
+/// * No specialization for bool.
+template <typename T, rcAllocHint H>
+class rcVectorBase {
+ rcSizeType m_size;
+ rcSizeType m_cap;
+ T* m_data;
+ // Constructs a T at the give address with either the copy constructor or the default.
+ static void construct(T* p, const T& v) { ::new(rcNewTag(), (void*)p) T(v); }
+ static void construct(T* p) { ::new(rcNewTag(), (void*)p) T; }
+ static void construct_range(T* begin, T* end);
+ static void construct_range(T* begin, T* end, const T& value);
+ static void copy_range(T* dst, const T* begin, const T* end);
+ void destroy_range(rcSizeType begin, rcSizeType end);
+ // Creates an array of the given size, copies all of this vector's data into it, and returns it.
+ T* allocate_and_copy(rcSizeType size);
+ void resize_impl(rcSizeType size, const T* value);
+ public:
+ typedef rcSizeType size_type;
+ typedef T value_type;
- /// Constructs an instance initialized to the specified size.
- /// @param[in] n The initial size of the integer array.
- rcIntArray(int n) : m_data(0), m_size(0), m_cap(0) { resize(n); }
- ~rcIntArray() { rcFree(m_data); }
+ rcVectorBase() : m_size(0), m_cap(0), m_data(0) {};
+ rcVectorBase(const rcVectorBase<T, H>& other) : m_size(0), m_cap(0), m_data(0) { assign(other.begin(), other.end()); }
+ explicit rcVectorBase(rcSizeType count) : m_size(0), m_cap(0), m_data(0) { resize(count); }
+ rcVectorBase(rcSizeType count, const T& value) : m_size(0), m_cap(0), m_data(0) { resize(count, value); }
+ rcVectorBase(const T* begin, const T* end) : m_size(0), m_cap(0), m_data(0) { assign(begin, end); }
+ ~rcVectorBase() { destroy_range(0, m_size); rcFree(m_data); }
- /// Specifies the new size of the integer array.
- /// @param[in] n The new size of the integer array.
- void resize(int n)
- {
- if (n > m_cap)
- doResize(n);
-
- m_size = n;
+ // Unlike in std::vector, we return a bool to indicate whether the alloc was successful.
+ bool reserve(rcSizeType size);
+
+ void assign(rcSizeType count, const T& value) { clear(); resize(count, value); }
+ void assign(const T* begin, const T* end);
+
+ void resize(rcSizeType size) { resize_impl(size, NULL); }
+ void resize(rcSizeType size, const T& value) { resize_impl(size, &value); }
+ // Not implemented as resize(0) because resize requires T to be default-constructible.
+ void clear() { destroy_range(0, m_size); m_size = 0; }
+
+ void push_back(const T& value);
+ void pop_back() { rcAssert(m_size > 0); back().~T(); m_size--; }
+
+ rcSizeType size() const { return m_size; }
+ rcSizeType capacity() const { return m_cap; }
+ bool empty() const { return size() == 0; }
+
+ const T& operator[](rcSizeType i) const { rcAssert(i >= 0 && i < m_size); return m_data[i]; }
+ T& operator[](rcSizeType i) { rcAssert(i >= 0 && i < m_size); return m_data[i]; }
+
+ const T& front() const { rcAssert(m_size); return m_data[0]; }
+ T& front() { rcAssert(m_size); return m_data[0]; }
+ const T& back() const { rcAssert(m_size); return m_data[m_size - 1]; };
+ T& back() { rcAssert(m_size); return m_data[m_size - 1]; };
+ const T* data() const { return m_data; }
+ T* data() { return m_data; }
+
+ T* begin() { return m_data; }
+ T* end() { return m_data + m_size; }
+ const T* begin() const { return m_data; }
+ const T* end() const { return m_data + m_size; }
+
+ void swap(rcVectorBase<T, H>& other);
+
+ // Explicitly deleted.
+ rcVectorBase& operator=(const rcVectorBase<T, H>& other);
+};
+
+template<typename T, rcAllocHint H>
+bool rcVectorBase<T, H>::reserve(rcSizeType count) {
+ if (count <= m_cap) {
+ return true;
+ }
+ T* new_data = allocate_and_copy(count);
+ if (!new_data) {
+ return false;
+ }
+ destroy_range(0, m_size);
+ rcFree(m_data);
+ m_data = new_data;
+ m_cap = count;
+ return true;
+}
+template <typename T, rcAllocHint H>
+T* rcVectorBase<T, H>::allocate_and_copy(rcSizeType size) {
+ rcAssert(RC_SIZE_MAX / static_cast<rcSizeType>(sizeof(T)) >= size);
+ T* new_data = static_cast<T*>(rcAlloc(sizeof(T) * size, H));
+ if (new_data) {
+ copy_range(new_data, m_data, m_data + m_size);
+ }
+ return new_data;
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::assign(const T* begin, const T* end) {
+ clear();
+ reserve(end - begin);
+ m_size = end - begin;
+ copy_range(m_data, begin, end);
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::push_back(const T& value) {
+ // rcLikely increases performance by ~50% on BM_rcVector_PushPreallocated,
+ // and by ~2-5% on BM_rcVector_Push.
+ if (rcLikely(m_size < m_cap)) {
+ construct(m_data + m_size++, value);
+ return;
}
- /// Push the specified integer onto the end of the array and increases the size by one.
- /// @param[in] item The new value.
- void push(int item) { resize(m_size+1); m_data[m_size-1] = item; }
+ rcAssert(RC_SIZE_MAX / 2 >= m_size);
+ rcSizeType new_cap = m_size ? 2*m_size : 1;
+ T* data = allocate_and_copy(new_cap);
+ // construct between allocate and destroy+free in case value is
+ // in this vector.
+ construct(data + m_size, value);
+ destroy_range(0, m_size);
+ m_size++;
+ m_cap = new_cap;
+ rcFree(m_data);
+ m_data = data;
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::resize_impl(rcSizeType size, const T* value) {
+ if (size < m_size) {
+ destroy_range(size, m_size);
+ m_size = size;
+ } else if (size > m_size) {
+ T* new_data = allocate_and_copy(size);
+ // We defer deconstructing/freeing old data until after constructing
+ // new elements in case "value" is there.
+ if (value) {
+ construct_range(new_data + m_size, new_data + size, *value);
+ } else {
+ construct_range(new_data + m_size, new_data + size);
+ }
+ destroy_range(0, m_size);
+ rcFree(m_data);
+ m_data = new_data;
+ m_cap = size;
+ m_size = size;
+ }
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::swap(rcVectorBase<T, H>& other) {
+ // TODO: Reorganize headers so we can use rcSwap here.
+ rcSizeType tmp_cap = other.m_cap;
+ rcSizeType tmp_size = other.m_size;
+ T* tmp_data = other.m_data;
- /// Returns the value at the end of the array and reduces the size by one.
- /// @return The value at the end of the array.
- int pop()
- {
- if (m_size > 0)
- m_size--;
-
- return m_data[m_size];
+ other.m_cap = m_cap;
+ other.m_size = m_size;
+ other.m_data = m_data;
+
+ m_cap = tmp_cap;
+ m_size = tmp_size;
+ m_data = tmp_data;
+}
+// static
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::construct_range(T* begin, T* end) {
+ for (T* p = begin; p < end; p++) {
+ construct(p);
+ }
+}
+// static
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::construct_range(T* begin, T* end, const T& value) {
+ for (T* p = begin; p < end; p++) {
+ construct(p, value);
+ }
+}
+// static
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::copy_range(T* dst, const T* begin, const T* end) {
+ for (rcSizeType i = 0 ; i < end - begin; i++) {
+ construct(dst + i, begin[i]);
}
+}
+template <typename T, rcAllocHint H>
+void rcVectorBase<T, H>::destroy_range(rcSizeType begin, rcSizeType end) {
+ for (rcSizeType i = begin; i < end; i++) {
+ m_data[i].~T();
+ }
+}
- /// The value at the specified array index.
- /// @warning Does not provide overflow protection.
- /// @param[in] i The index of the value.
- const int& operator[](int i) const { return m_data[i]; }
+template <typename T>
+class rcTempVector : public rcVectorBase<T, RC_ALLOC_TEMP> {
+ typedef rcVectorBase<T, RC_ALLOC_TEMP> Base;
+public:
+ rcTempVector() : Base() {}
+ explicit rcTempVector(rcSizeType size) : Base(size) {}
+ rcTempVector(rcSizeType size, const T& value) : Base(size, value) {}
+ rcTempVector(const rcTempVector<T>& other) : Base(other) {}
+ rcTempVector(const T* begin, const T* end) : Base(begin, end) {}
+};
+template <typename T>
+class rcPermVector : public rcVectorBase<T, RC_ALLOC_PERM> {
+ typedef rcVectorBase<T, RC_ALLOC_PERM> Base;
+public:
+ rcPermVector() : Base() {}
+ explicit rcPermVector(rcSizeType size) : Base(size) {}
+ rcPermVector(rcSizeType size, const T& value) : Base(size, value) {}
+ rcPermVector(const rcPermVector<T>& other) : Base(other) {}
+ rcPermVector(const T* begin, const T* end) : Base(begin, end) {}
+};
- /// The value at the specified array index.
- /// @warning Does not provide overflow protection.
- /// @param[in] i The index of the value.
- int& operator[](int i) { return m_data[i]; }
- /// The current size of the integer array.
- int size() const { return m_size; }
+/// Legacy class. Prefer rcVector<int>.
+class rcIntArray
+{
+ rcTempVector<int> m_impl;
+public:
+ rcIntArray() {}
+ rcIntArray(int n) : m_impl(n, 0) {}
+ void push(int item) { m_impl.push_back(item); }
+ void resize(int size) { m_impl.resize(size); }
+ int pop()
+ {
+ int v = m_impl.back();
+ m_impl.pop_back();
+ return v;
+ }
+ int size() const { return static_cast<int>(m_impl.size()); }
+ int& operator[](int index) { return m_impl[index]; }
+ int operator[](int index) const { return m_impl[index]; }
};
/// A simple helper class used to delete an array when it goes out of scope.
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(&regions[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(&regions[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;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-25 16:20:32 +0000