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Diffstat (limited to 'thirdparty')
19 files changed, 9891 insertions, 7 deletions
diff --git a/thirdparty/README.md b/thirdparty/README.md index 76d51d7066..80fab9442b 100644 --- a/thirdparty/README.md +++ b/thirdparty/README.md @@ -59,10 +59,10 @@ Files extracted from upstream source: Use UI font if exists, because it has tight vertial metrix and good for UI. -### Adobe Source Code Pro Regular +### Mononoki Regular -- Upstream: https://github.com/adobe-fonts/source-code-pro -- Version: 2.030 +- Upstream: https://github.com/madmalik/mononoki +- Version: 1.2 - License: OFL-1.1 ### DroidSans*.ttf @@ -359,6 +359,11 @@ Files extracted from upstream source: - all .cpp and .h files apart from `main.cpp` - LICENSE.TXT +## recastnavigation + +- Upstream: https://github.com/recastnavigation/recastnavigation +- version: git commit ef3ea40f - 2016-02-06 +- License: zlib ## rtaudio diff --git a/thirdparty/fonts/LICENSE.SourceCodePro.txt b/thirdparty/fonts/LICENSE_Mononoki index f430ee5dbe..6ef130c5ef 100644 --- a/thirdparty/fonts/LICENSE.SourceCodePro.txt +++ b/thirdparty/fonts/LICENSE_Mononoki @@ -1,8 +1,9 @@ -Copyright 2010, 2012 Adobe Systems Incorporated (http://www.adobe.com/), with Reserved Font Name 'Source'. All Rights Reserved. Source is a trademark of Adobe Systems Incorporated in the United States and/or other countries. +Copyright (c) 2013, Matthias Tellen matthias.tellen@googlemail.com, +with Reserved Font Name monoOne. This Font Software is licensed under the SIL Open Font License, Version 1.1. - -This license is copied below, and is also available with a FAQ at: http://scripts.sil.org/OFL +This license is copied below, and is also available with a FAQ at: +http://scripts.sil.org/OFL ----------------------------------------------------------- @@ -91,4 +92,3 @@ INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM OTHER DEALINGS IN THE FONT SOFTWARE. - diff --git a/thirdparty/fonts/mononoki_Regular.ttf b/thirdparty/fonts/mononoki_Regular.ttf Binary files differnew file mode 100644 index 0000000000..9510ac85d1 --- /dev/null +++ b/thirdparty/fonts/mononoki_Regular.ttf diff --git a/thirdparty/fonts/source_code_pro.otf b/thirdparty/fonts/source_code_pro.otf Binary files differdeleted file mode 100644 index 1bae0027ff..0000000000 --- a/thirdparty/fonts/source_code_pro.otf +++ /dev/null diff --git a/thirdparty/recastnavigation/License.txt b/thirdparty/recastnavigation/License.txt new file mode 100644 index 0000000000..95f4bfc965 --- /dev/null +++ b/thirdparty/recastnavigation/License.txt @@ -0,0 +1,18 @@ +Copyright (c) 2009 Mikko Mononen memon@inside.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. + +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not +claim that you wrote the original software. If you use this software +in a product, an acknowledgment in the product documentation would be +appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be +misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. + diff --git a/thirdparty/recastnavigation/Recast/Include/Recast.h b/thirdparty/recastnavigation/Recast/Include/Recast.h new file mode 100644 index 0000000000..e85c0d2e29 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Include/Recast.h @@ -0,0 +1,1200 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef RECAST_H +#define RECAST_H + +/// The value of PI used by Recast. +static const float RC_PI = 3.14159265f; + +/// Recast log categories. +/// @see rcContext +enum rcLogCategory +{ + RC_LOG_PROGRESS = 1, ///< A progress log entry. + RC_LOG_WARNING, ///< A warning log entry. + RC_LOG_ERROR, ///< An error log entry. +}; + +/// Recast performance timer categories. +/// @see rcContext +enum rcTimerLabel +{ + /// The user defined total time of the build. + RC_TIMER_TOTAL, + /// A user defined build time. + RC_TIMER_TEMP, + /// The time to rasterize the triangles. (See: #rcRasterizeTriangle) + RC_TIMER_RASTERIZE_TRIANGLES, + /// The time to build the compact heightfield. (See: #rcBuildCompactHeightfield) + RC_TIMER_BUILD_COMPACTHEIGHTFIELD, + /// The total time to build the contours. (See: #rcBuildContours) + RC_TIMER_BUILD_CONTOURS, + /// The time to trace the boundaries of the contours. (See: #rcBuildContours) + RC_TIMER_BUILD_CONTOURS_TRACE, + /// The time to simplify the contours. (See: #rcBuildContours) + RC_TIMER_BUILD_CONTOURS_SIMPLIFY, + /// The time to filter ledge spans. (See: #rcFilterLedgeSpans) + RC_TIMER_FILTER_BORDER, + /// The time to filter low height spans. (See: #rcFilterWalkableLowHeightSpans) + RC_TIMER_FILTER_WALKABLE, + /// The time to apply the median filter. (See: #rcMedianFilterWalkableArea) + RC_TIMER_MEDIAN_AREA, + /// The time to filter low obstacles. (See: #rcFilterLowHangingWalkableObstacles) + RC_TIMER_FILTER_LOW_OBSTACLES, + /// The time to build the polygon mesh. (See: #rcBuildPolyMesh) + RC_TIMER_BUILD_POLYMESH, + /// The time to merge polygon meshes. (See: #rcMergePolyMeshes) + RC_TIMER_MERGE_POLYMESH, + /// The time to erode the walkable area. (See: #rcErodeWalkableArea) + RC_TIMER_ERODE_AREA, + /// The time to mark a box area. (See: #rcMarkBoxArea) + RC_TIMER_MARK_BOX_AREA, + /// The time to mark a cylinder area. (See: #rcMarkCylinderArea) + RC_TIMER_MARK_CYLINDER_AREA, + /// The time to mark a convex polygon area. (See: #rcMarkConvexPolyArea) + RC_TIMER_MARK_CONVEXPOLY_AREA, + /// The total time to build the distance field. (See: #rcBuildDistanceField) + RC_TIMER_BUILD_DISTANCEFIELD, + /// The time to build the distances of the distance field. (See: #rcBuildDistanceField) + RC_TIMER_BUILD_DISTANCEFIELD_DIST, + /// The time to blur the distance field. (See: #rcBuildDistanceField) + RC_TIMER_BUILD_DISTANCEFIELD_BLUR, + /// The total time to build the regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone) + RC_TIMER_BUILD_REGIONS, + /// The total time to apply the watershed algorithm. (See: #rcBuildRegions) + RC_TIMER_BUILD_REGIONS_WATERSHED, + /// The time to expand regions while applying the watershed algorithm. (See: #rcBuildRegions) + RC_TIMER_BUILD_REGIONS_EXPAND, + /// The time to flood regions while applying the watershed algorithm. (See: #rcBuildRegions) + RC_TIMER_BUILD_REGIONS_FLOOD, + /// The time to filter out small regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone) + RC_TIMER_BUILD_REGIONS_FILTER, + /// The time to build heightfield layers. (See: #rcBuildHeightfieldLayers) + RC_TIMER_BUILD_LAYERS, + /// The time to build the polygon mesh detail. (See: #rcBuildPolyMeshDetail) + RC_TIMER_BUILD_POLYMESHDETAIL, + /// The time to merge polygon mesh details. (See: #rcMergePolyMeshDetails) + RC_TIMER_MERGE_POLYMESHDETAIL, + /// The maximum number of timers. (Used for iterating timers.) + RC_MAX_TIMERS +}; + +/// Provides an interface for optional logging and performance tracking of the Recast +/// build process. +/// @ingroup recast +class rcContext +{ +public: + + /// Contructor. + /// @param[in] state TRUE if the logging and performance timers should be enabled. [Default: true] + inline rcContext(bool state = true) : m_logEnabled(state), m_timerEnabled(state) {} + virtual ~rcContext() {} + + /// Enables or disables logging. + /// @param[in] state TRUE if logging should be enabled. + inline void enableLog(bool state) { m_logEnabled = state; } + + /// Clears all log entries. + inline void resetLog() { if (m_logEnabled) doResetLog(); } + + /// Logs a message. + /// @param[in] category The category of the message. + /// @param[in] format The message. + void log(const rcLogCategory category, const char* format, ...); + + /// Enables or disables the performance timers. + /// @param[in] state TRUE if timers should be enabled. + inline void enableTimer(bool state) { m_timerEnabled = state; } + + /// Clears all peformance timers. (Resets all to unused.) + inline void resetTimers() { if (m_timerEnabled) doResetTimers(); } + + /// Starts the specified performance timer. + /// @param label The category of the timer. + inline void startTimer(const rcTimerLabel label) { if (m_timerEnabled) doStartTimer(label); } + + /// Stops the specified performance timer. + /// @param label The category of the timer. + inline void stopTimer(const rcTimerLabel label) { if (m_timerEnabled) doStopTimer(label); } + + /// Returns the total accumulated time of the specified performance timer. + /// @param label The category of the timer. + /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. + inline int getAccumulatedTime(const rcTimerLabel label) const { return m_timerEnabled ? doGetAccumulatedTime(label) : -1; } + +protected: + + /// Clears all log entries. + virtual void doResetLog() {} + + /// Logs a message. + /// @param[in] category The category of the message. + /// @param[in] msg The formatted message. + /// @param[in] len The length of the formatted message. + virtual void doLog(const rcLogCategory /*category*/, const char* /*msg*/, const int /*len*/) {} + + /// Clears all timers. (Resets all to unused.) + virtual void doResetTimers() {} + + /// Starts the specified performance timer. + /// @param[in] label The category of timer. + virtual void doStartTimer(const rcTimerLabel /*label*/) {} + + /// Stops the specified performance timer. + /// @param[in] label The category of the timer. + virtual void doStopTimer(const rcTimerLabel /*label*/) {} + + /// Returns the total accumulated time of the specified performance timer. + /// @param[in] label The category of the timer. + /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. + virtual int doGetAccumulatedTime(const rcTimerLabel /*label*/) const { return -1; } + + /// True if logging is enabled. + bool m_logEnabled; + + /// True if the performance timers are enabled. + bool m_timerEnabled; +}; + +/// A helper to first start a timer and then stop it when this helper goes out of scope. +/// @see rcContext +class rcScopedTimer +{ +public: + /// Constructs an instance and starts the timer. + /// @param[in] ctx The context to use. + /// @param[in] label The category of the timer. + inline rcScopedTimer(rcContext* ctx, const rcTimerLabel label) : m_ctx(ctx), m_label(label) { m_ctx->startTimer(m_label); } + inline ~rcScopedTimer() { m_ctx->stopTimer(m_label); } + +private: + // Explicitly disabled copy constructor and copy assignment operator. + rcScopedTimer(const rcScopedTimer&); + rcScopedTimer& operator=(const rcScopedTimer&); + + rcContext* const m_ctx; + const rcTimerLabel m_label; +}; + +/// Specifies a configuration to use when performing Recast builds. +/// @ingroup recast +struct rcConfig +{ + /// The width of the field along the x-axis. [Limit: >= 0] [Units: vx] + int width; + + /// The height of the field along the z-axis. [Limit: >= 0] [Units: vx] + int height; + + /// The width/height size of tile's on the xz-plane. [Limit: >= 0] [Units: vx] + int tileSize; + + /// The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx] + int borderSize; + + /// The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu] + float cs; + + /// The y-axis cell size to use for fields. [Limit: > 0] [Units: wu] + float ch; + + /// The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] + float bmin[3]; + + /// The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] + float bmax[3]; + + /// The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees] + float walkableSlopeAngle; + + /// Minimum floor to 'ceiling' height that will still allow the floor area to + /// be considered walkable. [Limit: >= 3] [Units: vx] + int walkableHeight; + + /// Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx] + int walkableClimb; + + /// The distance to erode/shrink the walkable area of the heightfield away from + /// obstructions. [Limit: >=0] [Units: vx] + int walkableRadius; + + /// The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx] + int maxEdgeLen; + + /// The maximum distance a simplfied contour's border edges should deviate + /// the original raw contour. [Limit: >=0] [Units: vx] + float maxSimplificationError; + + /// The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx] + int minRegionArea; + + /// Any regions with a span count smaller than this value will, if possible, + /// be merged with larger regions. [Limit: >=0] [Units: vx] + int mergeRegionArea; + + /// The maximum number of vertices allowed for polygons generated during the + /// contour to polygon conversion process. [Limit: >= 3] + int maxVertsPerPoly; + + /// Sets the sampling distance to use when generating the detail mesh. + /// (For height detail only.) [Limits: 0 or >= 0.9] [Units: wu] + float detailSampleDist; + + /// The maximum distance the detail mesh surface should deviate from heightfield + /// data. (For height detail only.) [Limit: >=0] [Units: wu] + float detailSampleMaxError; +}; + +/// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax. +static const int RC_SPAN_HEIGHT_BITS = 13; +/// Defines the maximum value for rcSpan::smin and rcSpan::smax. +static const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1; + +/// The number of spans allocated per span spool. +/// @see rcSpanPool +static const int RC_SPANS_PER_POOL = 2048; + +/// Represents a span in a heightfield. +/// @see rcHeightfield +struct rcSpan +{ + unsigned int smin : RC_SPAN_HEIGHT_BITS; ///< The lower limit of the span. [Limit: < #smax] + unsigned int smax : RC_SPAN_HEIGHT_BITS; ///< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] + unsigned int area : 6; ///< The area id assigned to the span. + rcSpan* next; ///< The next span higher up in column. +}; + +/// A memory pool used for quick allocation of spans within a heightfield. +/// @see rcHeightfield +struct rcSpanPool +{ + rcSpanPool* next; ///< The next span pool. + rcSpan items[RC_SPANS_PER_POOL]; ///< Array of spans in the pool. +}; + +/// A dynamic heightfield representing obstructed space. +/// @ingroup recast +struct rcHeightfield +{ + rcHeightfield(); + ~rcHeightfield(); + + 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.) + float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] + float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] + float cs; ///< The size of each cell. (On the xz-plane.) + float ch; ///< The height of each cell. (The minimum increment along the y-axis.) + rcSpan** spans; ///< Heightfield of spans (width*height). + rcSpanPool* pools; ///< Linked list of span pools. + rcSpan* freelist; ///< The next free span. + +private: + // Explicitly-disabled copy constructor and copy assignment operator. + rcHeightfield(const rcHeightfield&); + rcHeightfield& operator=(const rcHeightfield&); +}; + +/// Provides information on the content of a cell column in a compact heightfield. +struct rcCompactCell +{ + unsigned int index : 24; ///< Index to the first span in the column. + unsigned int count : 8; ///< Number of spans in the column. +}; + +/// Represents a span of unobstructed space within a compact heightfield. +struct rcCompactSpan +{ + unsigned short y; ///< The lower extent of the span. (Measured from the heightfield's base.) + unsigned short reg; ///< The id of the region the span belongs to. (Or zero if not in a region.) + unsigned int con : 24; ///< Packed neighbor connection data. + unsigned int h : 8; ///< The height of the span. (Measured from #y.) +}; + +/// A compact, static heightfield representing unobstructed space. +/// @ingroup recast +struct 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. + int walkableHeight; ///< The walkable height used during the build of the field. (See: rcConfig::walkableHeight) + int walkableClimb; ///< The walkable climb used during the build of the field. (See: rcConfig::walkableClimb) + int borderSize; ///< The AABB border size used during the build of the field. (See: rcConfig::borderSize) + unsigned short maxDistance; ///< The maximum distance value of any span within the field. + unsigned short maxRegions; ///< The maximum region id of any span within the field. + float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] + float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] + float cs; ///< The size of each cell. (On the xz-plane.) + float ch; ///< The height of each cell. (The minimum increment along the y-axis.) + rcCompactCell* cells; ///< Array of cells. [Size: #width*#height] + rcCompactSpan* spans; ///< Array of spans. [Size: #spanCount] + unsigned short* dist; ///< Array containing border distance data. [Size: #spanCount] + unsigned char* areas; ///< Array containing area id data. [Size: #spanCount] +}; + +/// Represents a heightfield layer within a layer set. +/// @see rcHeightfieldLayerSet +struct rcHeightfieldLayer +{ + float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] + float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] + float cs; ///< The size of each cell. (On the xz-plane.) + float ch; ///< The height of each cell. (The minimum increment along the y-axis.) + 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 minx; ///< The minimum x-bounds of usable data. + int maxx; ///< The maximum x-bounds of usable data. + int miny; ///< The minimum y-bounds of usable data. (Along the z-axis.) + 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 * height] + unsigned char* areas; ///< Area ids. [Size: Same as #heights] + unsigned char* cons; ///< Packed neighbor connection information. [Size: Same as #heights] +}; + +/// Represents a set of heightfield layers. +/// @ingroup recast +/// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet +struct rcHeightfieldLayerSet +{ + rcHeightfieldLayer* layers; ///< The layers in the set. [Size: #nlayers] + int nlayers; ///< The number of layers in the set. +}; + +/// Represents a simple, non-overlapping contour in field space. +struct rcContour +{ + int* verts; ///< Simplified contour vertex and connection data. [Size: 4 * #nverts] + int nverts; ///< The number of vertices in the simplified contour. + int* rverts; ///< Raw contour vertex and connection data. [Size: 4 * #nrverts] + int nrverts; ///< The number of vertices in the raw contour. + unsigned short reg; ///< The region id of the contour. + unsigned char area; ///< The area id of the contour. +}; + +/// Represents a group of related contours. +/// @ingroup recast +struct 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)] + float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] + float cs; ///< The size of each cell. (On the xz-plane.) + float ch; ///< The height of each cell. (The minimum increment along the y-axis.) + int width; ///< The width of the set. (Along the x-axis in cell units.) + int height; ///< The height of the set. (Along the z-axis in cell units.) + int borderSize; ///< The AABB border size used to generate the source data from which the contours were derived. + float maxError; ///< The max edge error that this contour set was simplified with. +}; + +/// Represents a polygon mesh suitable for use in building a navigation mesh. +/// @ingroup recast +struct 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] + unsigned short* flags; ///< The user defined flags for each polygon. [Length: #maxpolys] + unsigned char* areas; ///< The area id assigned to each polygon. [Length: #maxpolys] + int nverts; ///< The number of vertices. + int npolys; ///< The number of polygons. + int maxpolys; ///< The number of allocated polygons. + int nvp; ///< The maximum number of vertices per polygon. + float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] + float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] + float cs; ///< The size of each cell. (On the xz-plane.) + float ch; ///< The height of each cell. (The minimum increment along the y-axis.) + int borderSize; ///< The AABB border size used to generate the source data from which the mesh was derived. + float maxEdgeError; ///< The max error of the polygon edges in the mesh. +}; + +/// Contains triangle meshes that represent detailed height data associated +/// with the polygons in its associated polygon mesh object. +/// @ingroup recast +struct rcPolyMeshDetail +{ + unsigned int* meshes; ///< The sub-mesh data. [Size: 4*#nmeshes] + float* verts; ///< The mesh vertices. [Size: 3*#nverts] + unsigned char* tris; ///< The mesh triangles. [Size: 4*#ntris] + int nmeshes; ///< The number of sub-meshes defined by #meshes. + int nverts; ///< The number of vertices in #verts. + int ntris; ///< The number of triangles in #tris. +}; + +/// @name Allocation Functions +/// Functions used to allocate and de-allocate Recast objects. +/// @see rcAllocSetCustom +/// @{ + +/// Allocates a heightfield object using the Recast allocator. +/// @return A heightfield that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcCreateHeightfield, rcFreeHeightField +rcHeightfield* rcAllocHeightfield(); + +/// Frees the specified heightfield object using the Recast allocator. +/// @param[in] hf A heightfield allocated using #rcAllocHeightfield +/// @ingroup recast +/// @see rcAllocHeightfield +void rcFreeHeightField(rcHeightfield* hf); + +/// Allocates a compact heightfield object using the Recast allocator. +/// @return A compact heightfield that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildCompactHeightfield, rcFreeCompactHeightfield +rcCompactHeightfield* rcAllocCompactHeightfield(); + +/// Frees the specified compact heightfield object using the Recast allocator. +/// @param[in] chf A compact heightfield allocated using #rcAllocCompactHeightfield +/// @ingroup recast +/// @see rcAllocCompactHeightfield +void rcFreeCompactHeightfield(rcCompactHeightfield* chf); + +/// Allocates a heightfield layer set using the Recast allocator. +/// @return A heightfield layer set that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet +rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet(); + +/// Frees the specified heightfield layer set using the Recast allocator. +/// @param[in] lset A heightfield layer set allocated using #rcAllocHeightfieldLayerSet +/// @ingroup recast +/// @see rcAllocHeightfieldLayerSet +void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset); + +/// Allocates a contour set object using the Recast allocator. +/// @return A contour set that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildContours, rcFreeContourSet +rcContourSet* rcAllocContourSet(); + +/// Frees the specified contour set using the Recast allocator. +/// @param[in] cset A contour set allocated using #rcAllocContourSet +/// @ingroup recast +/// @see rcAllocContourSet +void rcFreeContourSet(rcContourSet* cset); + +/// Allocates a polygon mesh object using the Recast allocator. +/// @return A polygon mesh that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildPolyMesh, rcFreePolyMesh +rcPolyMesh* rcAllocPolyMesh(); + +/// Frees the specified polygon mesh using the Recast allocator. +/// @param[in] pmesh A polygon mesh allocated using #rcAllocPolyMesh +/// @ingroup recast +/// @see rcAllocPolyMesh +void rcFreePolyMesh(rcPolyMesh* pmesh); + +/// Allocates a detail mesh object using the Recast allocator. +/// @return A detail mesh that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildPolyMeshDetail, rcFreePolyMeshDetail +rcPolyMeshDetail* rcAllocPolyMeshDetail(); + +/// Frees the specified detail mesh using the Recast allocator. +/// @param[in] dmesh A detail mesh allocated using #rcAllocPolyMeshDetail +/// @ingroup recast +/// @see rcAllocPolyMeshDetail +void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh); + +/// @} + +/// Heighfield border flag. +/// If a heightfield region ID has this bit set, then the region is a border +/// region and its spans are considered unwalkable. +/// (Used during the region and contour build process.) +/// @see rcCompactSpan::reg +static const unsigned short RC_BORDER_REG = 0x8000; + +/// Polygon touches multiple regions. +/// If a polygon has this region ID it was merged with or created +/// from polygons of different regions during the polymesh +/// build step that removes redundant border vertices. +/// (Used during the polymesh and detail polymesh build processes) +/// @see rcPolyMesh::regs +static const unsigned short RC_MULTIPLE_REGS = 0; + +/// Border vertex flag. +/// If a region ID has this bit set, then the associated element lies on +/// a tile border. If a contour vertex's region ID has this bit set, the +/// vertex will later be removed in order to match the segments and vertices +/// at tile boundaries. +/// (Used during the build process.) +/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts +static const int RC_BORDER_VERTEX = 0x10000; + +/// Area border flag. +/// If a region ID has this bit set, then the associated element lies on +/// the border of an area. +/// (Used during the region and contour build process.) +/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts +static const int RC_AREA_BORDER = 0x20000; + +/// Contour build flags. +/// @see rcBuildContours +enum rcBuildContoursFlags +{ + RC_CONTOUR_TESS_WALL_EDGES = 0x01, ///< Tessellate solid (impassable) edges during contour simplification. + RC_CONTOUR_TESS_AREA_EDGES = 0x02, ///< Tessellate edges between areas during contour simplification. +}; + +/// Applied to the region id field of contour vertices in order to extract the region id. +/// The region id field of a vertex may have several flags applied to it. So the +/// fields value can't be used directly. +/// @see rcContour::verts, rcContour::rverts +static const int RC_CONTOUR_REG_MASK = 0xffff; + +/// An value which indicates an invalid index within a mesh. +/// @note This does not necessarily indicate an error. +/// @see rcPolyMesh::polys +static const unsigned short RC_MESH_NULL_IDX = 0xffff; + +/// Represents the null area. +/// When a data element is given this value it is considered to no longer be +/// assigned to a usable area. (E.g. It is unwalkable.) +static const unsigned char RC_NULL_AREA = 0; + +/// The default area id used to indicate a walkable polygon. +/// This is also the maximum allowed area id, and the only non-null area id +/// recognized by some steps in the build process. +static const unsigned char RC_WALKABLE_AREA = 63; + +/// The value returned by #rcGetCon if the specified direction is not connected +/// to another span. (Has no neighbor.) +static const int RC_NOT_CONNECTED = 0x3f; + +/// @name General helper functions +/// @{ + +/// Used to ignore a function parameter. VS complains about unused parameters +/// and this silences the warning. +/// @param [in] _ Unused parameter +template<class T> void rcIgnoreUnused(const T&) { } + +/// Swaps the values of the two parameters. +/// @param[in,out] a Value A +/// @param[in,out] b Value B +template<class T> inline void rcSwap(T& a, T& b) { T t = a; a = b; b = t; } + +/// Returns the minimum of two values. +/// @param[in] a Value A +/// @param[in] b Value B +/// @return The minimum of the two values. +template<class T> inline T rcMin(T a, T b) { return a < b ? a : b; } + +/// Returns the maximum of two values. +/// @param[in] a Value A +/// @param[in] b Value B +/// @return The maximum of the two values. +template<class T> inline T rcMax(T a, T b) { return a > b ? a : b; } + +/// Returns the absolute value. +/// @param[in] a The value. +/// @return The absolute value of the specified value. +template<class T> inline T rcAbs(T a) { return a < 0 ? -a : a; } + +/// Returns the square of the value. +/// @param[in] a The value. +/// @return The square of the value. +template<class T> inline T rcSqr(T a) { return a*a; } + +/// Clamps the value to the specified range. +/// @param[in] v The value to clamp. +/// @param[in] mn The minimum permitted return value. +/// @param[in] mx The maximum permitted return value. +/// @return The value, clamped to the specified range. +template<class T> inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } + +/// Returns the square root of the value. +/// @param[in] x The value. +/// @return The square root of the vlaue. +float rcSqrt(float x); + +/// @} +/// @name Vector helper functions. +/// @{ + +/// Derives the cross product of two vectors. (@p v1 x @p v2) +/// @param[out] dest The cross product. [(x, y, z)] +/// @param[in] v1 A Vector [(x, y, z)] +/// @param[in] v2 A vector [(x, y, z)] +inline void rcVcross(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; + dest[1] = v1[2]*v2[0] - v1[0]*v2[2]; + dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; +} + +/// Derives the dot product of two vectors. (@p v1 . @p v2) +/// @param[in] v1 A Vector [(x, y, z)] +/// @param[in] v2 A vector [(x, y, z)] +/// @return The dot product. +inline float rcVdot(const float* v1, const float* v2) +{ + return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; +} + +/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s)) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)] +/// @param[in] s The amount to scale @p v2 by before adding to @p v1. +inline void rcVmad(float* dest, const float* v1, const float* v2, const float s) +{ + dest[0] = v1[0]+v2[0]*s; + dest[1] = v1[1]+v2[1]*s; + dest[2] = v1[2]+v2[2]*s; +} + +/// Performs a vector addition. (@p v1 + @p v2) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to add to @p v1. [(x, y, z)] +inline void rcVadd(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[0]+v2[0]; + dest[1] = v1[1]+v2[1]; + dest[2] = v1[2]+v2[2]; +} + +/// Performs a vector subtraction. (@p v1 - @p v2) +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)] +inline void rcVsub(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[0]-v2[0]; + dest[1] = v1[1]-v2[1]; + dest[2] = v1[2]-v2[2]; +} + +/// Selects the minimum value of each element from the specified vectors. +/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)] +/// @param[in] v A vector. [(x, y, z)] +inline void rcVmin(float* mn, const float* v) +{ + mn[0] = rcMin(mn[0], v[0]); + mn[1] = rcMin(mn[1], v[1]); + mn[2] = rcMin(mn[2], v[2]); +} + +/// Selects the maximum value of each element from the specified vectors. +/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)] +/// @param[in] v A vector. [(x, y, z)] +inline void rcVmax(float* mx, const float* v) +{ + mx[0] = rcMax(mx[0], v[0]); + mx[1] = rcMax(mx[1], v[1]); + mx[2] = rcMax(mx[2], v[2]); +} + +/// Performs a vector copy. +/// @param[out] dest The result. [(x, y, z)] +/// @param[in] v The vector to copy. [(x, y, z)] +inline void rcVcopy(float* dest, const float* v) +{ + dest[0] = v[0]; + dest[1] = v[1]; + dest[2] = v[2]; +} + +/// Returns the distance between two points. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The distance between the two points. +inline float rcVdist(const float* v1, const float* v2) +{ + float dx = v2[0] - v1[0]; + float dy = v2[1] - v1[1]; + float dz = v2[2] - v1[2]; + return rcSqrt(dx*dx + dy*dy + dz*dz); +} + +/// Returns the square of the distance between two points. +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] +/// @return The square of the distance between the two points. +inline float rcVdistSqr(const float* v1, const float* v2) +{ + float dx = v2[0] - v1[0]; + float dy = v2[1] - v1[1]; + float dz = v2[2] - v1[2]; + return dx*dx + dy*dy + dz*dz; +} + +/// Normalizes the vector. +/// @param[in,out] v The vector to normalize. [(x, y, z)] +inline void rcVnormalize(float* v) +{ + float d = 1.0f / rcSqrt(rcSqr(v[0]) + rcSqr(v[1]) + rcSqr(v[2])); + v[0] *= d; + v[1] *= d; + v[2] *= d; +} + +/// @} +/// @name Heightfield Functions +/// @see rcHeightfield +/// @{ + +/// Calculates the bounding box of an array of vertices. +/// @ingroup recast +/// @param[in] verts An array of vertices. [(x, y, z) * @p nv] +/// @param[in] nv The number of vertices in the @p verts array. +/// @param[out] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu] +/// @param[out] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu] +void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax); + +/// Calculates the grid size based on the bounding box and grid cell size. +/// @ingroup recast +/// @param[in] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu] +/// @param[in] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu] +/// @param[in] cs The xz-plane cell size. [Limit: > 0] [Units: wu] +/// @param[out] w The width along the x-axis. [Limit: >= 0] [Units: vx] +/// @param[out] h The height along the z-axis. [Limit: >= 0] [Units: vx] +void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h); + +/// Initializes a new heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] hf The allocated heightfield to initialize. +/// @param[in] width The width of the field along the x-axis. [Limit: >= 0] [Units: vx] +/// @param[in] height The height of the field along the z-axis. [Limit: >= 0] [Units: vx] +/// @param[in] bmin The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] +/// @param[in] bmax The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] +/// @param[in] cs The xz-plane cell size to use for the field. [Limit: > 0] [Units: wu] +/// @param[in] ch The y-axis cell size to use for field. [Limit: > 0] [Units: wu] +/// @returns True if the operation completed successfully. +bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height, + const float* bmin, const float* bmax, + float cs, float ch); + +/// Sets the area id of all triangles with a slope below the specified value +/// to #RC_WALKABLE_AREA. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. +/// [Limits: 0 <= value < 90] [Units: Degrees] +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] nv The number of vertices. +/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] nt The number of triangles. +/// @param[out] areas The triangle area ids. [Length: >= @p nt] +void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv, + const int* tris, int nt, unsigned char* areas); + +/// Sets the area id of all triangles with a slope greater than or equal to the specified value to #RC_NULL_AREA. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. +/// [Limits: 0 <= value < 90] [Units: Degrees] +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] nv The number of vertices. +/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] nt The number of triangles. +/// @param[out] areas The triangle area ids. [Length: >= @p nt] +void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv, + const int* tris, int nt, unsigned char* areas); + +/// Adds a span to the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] hf An initialized heightfield. +/// @param[in] x The width index where the span is to be added. +/// [Limits: 0 <= value < rcHeightfield::width] +/// @param[in] y The height index where the span is to be added. +/// [Limits: 0 <= value < rcHeightfield::height] +/// @param[in] smin The minimum height of the span. [Limit: < @p smax] [Units: vx] +/// @param[in] smax The maximum height of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] [Units: vx] +/// @param[in] area The area id of the span. [Limit: <= #RC_WALKABLE_AREA) +/// @param[in] flagMergeThr The merge theshold. [Limit: >= 0] [Units: vx] +/// @returns True if the operation completed successfully. +bool rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y, + const unsigned short smin, const unsigned short smax, + const unsigned char area, const int flagMergeThr); + +/// Rasterizes a triangle into the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] v0 Triangle vertex 0 [(x, y, z)] +/// @param[in] v1 Triangle vertex 1 [(x, y, z)] +/// @param[in] v2 Triangle vertex 2 [(x, y, z)] +/// @param[in] area The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] solid An initialized heightfield. +/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] +/// @returns True if the operation completed successfully. +bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2, + const unsigned char area, rcHeightfield& solid, + const int flagMergeThr = 1); + +/// Rasterizes an indexed triangle mesh into the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] nv The number of vertices. +/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] +/// @param[in] nt The number of triangles. +/// @param[in,out] solid An initialized heightfield. +/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] +/// @returns True if the operation completed successfully. +bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv, + const int* tris, const unsigned char* areas, const int nt, + rcHeightfield& solid, const int flagMergeThr = 1); + +/// Rasterizes an indexed triangle mesh into the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] nv The number of vertices. +/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] +/// @param[in] nt The number of triangles. +/// @param[in,out] solid An initialized heightfield. +/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] +/// @returns True if the operation completed successfully. +bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv, + const unsigned short* tris, const unsigned char* areas, const int nt, + rcHeightfield& solid, const int flagMergeThr = 1); + +/// Rasterizes triangles into the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] verts The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt] +/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] +/// @param[in] nt The number of triangles. +/// @param[in,out] solid An initialized heightfield. +/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] +/// @returns True if the operation completed successfully. +bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt, + rcHeightfield& solid, const int flagMergeThr = 1); + +/// Marks non-walkable spans as walkable if their maximum is within @p walkableClimp of a walkable neighbor. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. +/// [Limit: >=0] [Units: vx] +/// @param[in,out] solid A fully built heightfield. (All spans have been added.) +void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid); + +/// Marks spans that are ledges as not-walkable. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to +/// be considered walkable. [Limit: >= 3] [Units: vx] +/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. +/// [Limit: >=0] [Units: vx] +/// @param[in,out] solid A fully built heightfield. (All spans have been added.) +void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, + const int walkableClimb, rcHeightfield& solid); + +/// Marks walkable spans as not walkable if the clearence above the span is less than the specified height. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to +/// be considered walkable. [Limit: >= 3] [Units: vx] +/// @param[in,out] solid A fully built heightfield. (All spans have been added.) +void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid); + +/// Returns the number of spans contained in the specified heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] hf An initialized heightfield. +/// @returns The number of spans in the heightfield. +int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf); + +/// @} +/// @name Compact Heightfield Functions +/// @see rcCompactHeightfield +/// @{ + +/// Builds a compact heightfield representing open space, from a heightfield representing solid space. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area +/// to be considered walkable. [Limit: >= 3] [Units: vx] +/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. +/// [Limit: >=0] [Units: vx] +/// @param[in] hf The heightfield to be compacted. +/// @param[out] chf The resulting compact heightfield. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. +bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb, + rcHeightfield& hf, rcCompactHeightfield& chf); + +/// Erodes the walkable area within the heightfield by the specified radius. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] radius The radius of erosion. [Limits: 0 < value < 255] [Units: vx] +/// @param[in,out] chf The populated compact heightfield to erode. +/// @returns True if the operation completed successfully. +bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf); + +/// Applies a median filter to walkable area types (based on area id), removing noise. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] chf A populated compact heightfield. +/// @returns True if the operation completed successfully. +bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf); + +/// Applies an area id to all spans within the specified bounding box. (AABB) +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] bmin The minimum of the bounding box. [(x, y, z)] +/// @param[in] bmax The maximum of the bounding box. [(x, y, z)] +/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] chf A populated compact heightfield. +void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId, + rcCompactHeightfield& chf); + +/// Applies the area id to the all spans within the specified convex polygon. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] verts The vertices of the polygon [Fomr: (x, y, z) * @p nverts] +/// @param[in] nverts The number of vertices in the polygon. +/// @param[in] hmin The height of the base of the polygon. +/// @param[in] hmax The height of the top of the polygon. +/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] chf A populated compact heightfield. +void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts, + const float hmin, const float hmax, unsigned char areaId, + rcCompactHeightfield& chf); + +/// Helper function to offset voncex polygons for rcMarkConvexPolyArea. +/// @ingroup recast +/// @param[in] verts The vertices of the polygon [Form: (x, y, z) * @p nverts] +/// @param[in] nverts The number of vertices in the polygon. +/// @param[out] outVerts The offset vertices (should hold up to 2 * @p nverts) [Form: (x, y, z) * return value] +/// @param[in] maxOutVerts The max number of vertices that can be stored to @p outVerts. +/// @returns Number of vertices in the offset polygon or 0 if too few vertices in @p outVerts. +int rcOffsetPoly(const float* verts, const int nverts, const float offset, + float* outVerts, const int maxOutVerts); + +/// Applies the area id to all spans within the specified cylinder. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] pos The center of the base of the cylinder. [Form: (x, y, z)] +/// @param[in] r The radius of the cylinder. +/// @param[in] h The height of the cylinder. +/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] chf A populated compact heightfield. +void rcMarkCylinderArea(rcContext* ctx, const float* pos, + const float r, const float h, unsigned char areaId, + rcCompactHeightfield& chf); + +/// Builds the distance field for the specified compact heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] chf A populated compact heightfield. +/// @returns True if the operation completed successfully. +bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf); + +/// 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. +/// @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]. +/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible, +/// be merged with larger regions. [Limit: >=0] [Units: vx] +/// @returns True if the operation completed successfully. +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. +/// @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]. +/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible, +/// be merged with larger regions. [Limit: >=0] [Units: vx] +/// @returns True if the operation completed successfully. +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] +/// @param[in] i The index of the neighbor span. +inline void rcSetCon(rcCompactSpan& s, int dir, int i) +{ + const unsigned int shift = (unsigned int)dir*6; + unsigned int con = s.con; + s.con = (con & ~(0x3f << shift)) | (((unsigned int)i & 0x3f) << shift); +} + +/// Gets neighbor connection data for the specified direction. +/// @param[in] s The span to check. +/// @param[in] dir The direction to check. [Limits: 0 <= value < 4] +/// @return The neighbor connection data for the specified direction, +/// or #RC_NOT_CONNECTED if there is no connection. +inline int rcGetCon(const rcCompactSpan& s, int dir) +{ + const unsigned int shift = (unsigned int)dir*6; + return (s.con >> shift) & 0x3f; +} + +/// Gets the standard width (x-axis) offset for the specified direction. +/// @param[in] dir The direction. [Limits: 0 <= value < 4] +/// @return The width offset to apply to the current cell position to move +/// in the direction. +inline int rcGetDirOffsetX(int dir) +{ + static const int offset[4] = { -1, 0, 1, 0, }; + return offset[dir&0x03]; +} + +/// Gets the standard height (z-axis) offset for the specified direction. +/// @param[in] dir The direction. [Limits: 0 <= value < 4] +/// @return The height offset to apply to the current cell position to move +/// in the direction. +inline int rcGetDirOffsetY(int dir) +{ + static const int offset[4] = { 0, 1, 0, -1 }; + return offset[dir&0x03]; +} + +/// Gets the direction for the specified offset. One of x and y should be 0. +/// @param[in] x The x offset. [Limits: -1 <= value <= 1] +/// @param[in] y The y offset. [Limits: -1 <= value <= 1] +/// @return The direction that represents the offset. +inline int rcGetDirForOffset(int x, int y) +{ + static const int dirs[5] = { 3, 0, -1, 2, 1 }; + return dirs[((y+1)<<1)+x]; +} + +/// @} +/// @name Layer, Contour, Polymesh, and Detail Mesh Functions +/// @see rcHeightfieldLayer, rcContourSet, rcPolyMesh, rcPolyMeshDetail +/// @{ + +/// Builds a layer set from the specified compact heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] chf A fully built compact heightfield. +/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0] +/// [Units: vx] +/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area +/// to be considered walkable. [Limit: >= 3] [Units: vx] +/// @param[out] lset The resulting layer set. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. +bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, + const int borderSize, const int walkableHeight, + rcHeightfieldLayerSet& lset); + +/// Builds a contour set from the region outlines in the provided compact heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] chf A fully built compact heightfield. +/// @param[in] maxError The maximum distance a simplfied contour's border edges should deviate +/// the original raw contour. [Limit: >=0] [Units: wu] +/// @param[in] maxEdgeLen The maximum allowed length for contour edges along the border of the mesh. +/// [Limit: >=0] [Units: vx] +/// @param[out] cset The resulting contour set. (Must be pre-allocated.) +/// @param[in] buildFlags The build flags. (See: #rcBuildContoursFlags) +/// @returns True if the operation completed successfully. +bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf, + const float maxError, const int maxEdgeLen, + rcContourSet& cset, const int buildFlags = RC_CONTOUR_TESS_WALL_EDGES); + +/// Builds a polygon mesh from the provided contours. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] cset A fully built contour set. +/// @param[in] nvp The maximum number of vertices allowed for polygons generated during the +/// contour to polygon conversion process. [Limit: >= 3] +/// @param[out] mesh The resulting polygon mesh. (Must be re-allocated.) +/// @returns True if the operation completed successfully. +bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh); + +/// Merges multiple polygon meshes into a single mesh. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] meshes An array of polygon meshes to merge. [Size: @p nmeshes] +/// @param[in] nmeshes The number of polygon meshes in the meshes array. +/// @param[in] mesh The resulting polygon mesh. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. +bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh); + +/// Builds a detail mesh from the provided polygon mesh. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] mesh A fully built polygon mesh. +/// @param[in] chf The compact heightfield used to build the polygon mesh. +/// @param[in] sampleDist Sets the distance to use when samping the heightfield. [Limit: >=0] [Units: wu] +/// @param[in] sampleMaxError The maximum distance the detail mesh surface should deviate from +/// heightfield data. [Limit: >=0] [Units: wu] +/// @param[out] dmesh The resulting detail mesh. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. +bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf, + const float sampleDist, const float sampleMaxError, + rcPolyMeshDetail& dmesh); + +/// Copies the poly mesh data from src to dst. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] src The source mesh to copy from. +/// @param[out] dst The resulting detail mesh. (Must be pre-allocated, must be empty mesh.) +/// @returns True if the operation completed successfully. +bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst); + +/// Merges multiple detail meshes into a single detail mesh. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] meshes An array of detail meshes to merge. [Size: @p nmeshes] +/// @param[in] nmeshes The number of detail meshes in the meshes array. +/// @param[out] mesh The resulting detail mesh. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. +bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh); + +/// @} + +#endif // RECAST_H + +/////////////////////////////////////////////////////////////////////////// + +// Due to the large amount of detail documentation for this file, +// the content normally located at the end of the header file has been separated +// out to a file in /Docs/Extern. diff --git a/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h b/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h new file mode 100644 index 0000000000..3cdd450d42 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Include/RecastAlloc.h @@ -0,0 +1,146 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef RECASTALLOC_H +#define RECASTALLOC_H + +#include <stddef.h> + +/// Provides hint values to the memory allocator on how long the +/// memory is expected to be used. +enum rcAllocHint +{ + RC_ALLOC_PERM, ///< Memory will persist after a function call. + RC_ALLOC_TEMP ///< Memory used temporarily within a function. +}; + +/// A memory allocation function. +// @param[in] size The size, in bytes of memory, to allocate. +// @param[in] rcAllocHint A hint to the allocator on how long the memory is expected to be in use. +// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed. +/// @see rcAllocSetCustom +typedef void* (rcAllocFunc)(size_t size, rcAllocHint hint); + +/// A memory deallocation function. +/// @param[in] ptr A pointer to a memory block previously allocated using #rcAllocFunc. +/// @see rcAllocSetCustom +typedef void (rcFreeFunc)(void* ptr); + +/// Sets the base custom allocation functions to be used by Recast. +/// @param[in] allocFunc The memory allocation function to be used by #rcAlloc +/// @param[in] freeFunc The memory de-allocation function to be used by #rcFree +void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc); + +/// Allocates a memory block. +/// @param[in] size The size, in bytes of memory, to allocate. +/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use. +/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed. +/// @see rcFree +void* rcAlloc(size_t size, rcAllocHint hint); + +/// Deallocates a memory block. +/// @param[in] ptr A pointer to a memory block previously allocated using #rcAlloc. +/// @see rcAlloc +void rcFree(void* ptr); + + +/// A simple dynamic array of integers. +class rcIntArray +{ + int* m_data; + int m_size, m_cap; + + void doResize(int n); + + // Explicitly disabled copy constructor and copy assignment operator. + rcIntArray(const rcIntArray&); + rcIntArray& operator=(const rcIntArray&); + +public: + /// Constructs an instance with an initial array size of zero. + rcIntArray() : m_data(0), m_size(0), m_cap(0) {} + + /// 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); } + + /// 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; + } + + /// 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; } + + /// 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]; + } + + /// 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]; } + + /// 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; } +}; + +/// A simple helper class used to delete an array when it goes out of scope. +/// @note This class is rarely if ever used by the end user. +template<class T> class rcScopedDelete +{ + T* ptr; +public: + + /// Constructs an instance with a null pointer. + inline rcScopedDelete() : ptr(0) {} + + /// Constructs an instance with the specified pointer. + /// @param[in] p An pointer to an allocated array. + inline rcScopedDelete(T* p) : ptr(p) {} + inline ~rcScopedDelete() { rcFree(ptr); } + + /// The root array pointer. + /// @return The root array pointer. + inline operator T*() { return ptr; } + +private: + // Explicitly disabled copy constructor and copy assignment operator. + rcScopedDelete(const rcScopedDelete&); + rcScopedDelete& operator=(const rcScopedDelete&); +}; + +#endif diff --git a/thirdparty/recastnavigation/Recast/Include/RecastAssert.h b/thirdparty/recastnavigation/Recast/Include/RecastAssert.h new file mode 100644 index 0000000000..e7cc10e496 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Include/RecastAssert.h @@ -0,0 +1,56 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef RECASTASSERT_H +#define RECASTASSERT_H + +// Note: This header file's only purpose is to include define assert. +// Feel free to change the file and include your own implementation instead. + +#ifdef NDEBUG + +// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/ +# define rcAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false) + +#else + +/// An assertion failure function. +// @param[in] expression asserted expression. +// @param[in] file Filename of the failed assertion. +// @param[in] line Line number of the failed assertion. +/// @see rcAssertFailSetCustom +typedef void (rcAssertFailFunc)(const char* expression, const char* file, int line); + +/// Sets the base custom assertion failure function to be used by Recast. +/// @param[in] assertFailFunc The function to be used in case of failure of #dtAssert +void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc); + +/// Gets the base custom assertion failure function to be used by Recast. +rcAssertFailFunc* rcAssertFailGetCustom(); + +# include <assert.h> +# define rcAssert(expression) \ + { \ + rcAssertFailFunc* failFunc = rcAssertFailGetCustom(); \ + if(failFunc == NULL) { assert(expression); } \ + else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \ + } + +#endif + +#endif // RECASTASSERT_H diff --git a/thirdparty/recastnavigation/Recast/Source/Recast.cpp b/thirdparty/recastnavigation/Recast/Source/Recast.cpp new file mode 100644 index 0000000000..8308d1973e --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Source/Recast.cpp @@ -0,0 +1,504 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include <float.h> +#define _USE_MATH_DEFINES +#include <math.h> +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include <stdarg.h> +#include <new> +#include "Recast.h" +#include "RecastAlloc.h" +#include "RecastAssert.h" + +float rcSqrt(float x) +{ + return sqrtf(x); +} + +/// @class rcContext +/// @par +/// +/// This class does not provide logging or timer functionality on its +/// own. Both must be provided by a concrete implementation +/// by overriding the protected member functions. Also, this class does not +/// provide an interface for extracting log messages. (Only adding them.) +/// So concrete implementations must provide one. +/// +/// If no logging or timers are required, just pass an instance of this +/// class through the Recast build process. +/// + +/// @par +/// +/// Example: +/// @code +/// // Where ctx is an instance of rcContext and filepath is a char array. +/// ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not load '%s'", filepath); +/// @endcode +void rcContext::log(const rcLogCategory category, const char* format, ...) +{ + if (!m_logEnabled) + return; + static const int MSG_SIZE = 512; + char msg[MSG_SIZE]; + va_list ap; + va_start(ap, format); + int len = vsnprintf(msg, MSG_SIZE, format, ap); + if (len >= MSG_SIZE) + { + len = MSG_SIZE-1; + msg[MSG_SIZE-1] = '\0'; + } + va_end(ap); + doLog(category, msg, len); +} + +rcHeightfield* rcAllocHeightfield() +{ + return new (rcAlloc(sizeof(rcHeightfield), RC_ALLOC_PERM)) rcHeightfield; +} + +rcHeightfield::rcHeightfield() + : width() + , height() + , bmin() + , bmax() + , cs() + , ch() + , spans() + , pools() + , freelist() +{ +} + +rcHeightfield::~rcHeightfield() +{ + // Delete span array. + rcFree(spans); + // Delete span pools. + while (pools) + { + rcSpanPool* next = pools->next; + rcFree(pools); + pools = next; + } +} + +void rcFreeHeightField(rcHeightfield* hf) +{ + if (!hf) return; + hf->~rcHeightfield(); + rcFree(hf); +} + +rcCompactHeightfield* rcAllocCompactHeightfield() +{ + rcCompactHeightfield* chf = (rcCompactHeightfield*)rcAlloc(sizeof(rcCompactHeightfield), RC_ALLOC_PERM); + memset(chf, 0, sizeof(rcCompactHeightfield)); + return chf; +} + +void rcFreeCompactHeightfield(rcCompactHeightfield* chf) +{ + if (!chf) return; + rcFree(chf->cells); + rcFree(chf->spans); + rcFree(chf->dist); + rcFree(chf->areas); + rcFree(chf); +} + +rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet() +{ + rcHeightfieldLayerSet* lset = (rcHeightfieldLayerSet*)rcAlloc(sizeof(rcHeightfieldLayerSet), RC_ALLOC_PERM); + memset(lset, 0, sizeof(rcHeightfieldLayerSet)); + return lset; +} + +void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset) +{ + if (!lset) return; + for (int i = 0; i < lset->nlayers; ++i) + { + rcFree(lset->layers[i].heights); + rcFree(lset->layers[i].areas); + rcFree(lset->layers[i].cons); + } + rcFree(lset->layers); + rcFree(lset); +} + + +rcContourSet* rcAllocContourSet() +{ + rcContourSet* cset = (rcContourSet*)rcAlloc(sizeof(rcContourSet), RC_ALLOC_PERM); + memset(cset, 0, sizeof(rcContourSet)); + return cset; +} + +void rcFreeContourSet(rcContourSet* cset) +{ + if (!cset) return; + for (int i = 0; i < cset->nconts; ++i) + { + rcFree(cset->conts[i].verts); + rcFree(cset->conts[i].rverts); + } + rcFree(cset->conts); + rcFree(cset); +} + +rcPolyMesh* rcAllocPolyMesh() +{ + rcPolyMesh* pmesh = (rcPolyMesh*)rcAlloc(sizeof(rcPolyMesh), RC_ALLOC_PERM); + memset(pmesh, 0, sizeof(rcPolyMesh)); + return pmesh; +} + +void rcFreePolyMesh(rcPolyMesh* pmesh) +{ + if (!pmesh) return; + rcFree(pmesh->verts); + rcFree(pmesh->polys); + rcFree(pmesh->regs); + rcFree(pmesh->flags); + rcFree(pmesh->areas); + rcFree(pmesh); +} + +rcPolyMeshDetail* rcAllocPolyMeshDetail() +{ + rcPolyMeshDetail* dmesh = (rcPolyMeshDetail*)rcAlloc(sizeof(rcPolyMeshDetail), RC_ALLOC_PERM); + memset(dmesh, 0, sizeof(rcPolyMeshDetail)); + return dmesh; +} + +void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh) +{ + if (!dmesh) return; + rcFree(dmesh->meshes); + rcFree(dmesh->verts); + rcFree(dmesh->tris); + rcFree(dmesh); +} + +void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax) +{ + // Calculate bounding box. + rcVcopy(bmin, verts); + rcVcopy(bmax, verts); + for (int i = 1; i < nv; ++i) + { + const float* v = &verts[i*3]; + rcVmin(bmin, v); + rcVmax(bmax, v); + } +} + +void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h) +{ + *w = (int)((bmax[0] - bmin[0])/cs+0.5f); + *h = (int)((bmax[2] - bmin[2])/cs+0.5f); +} + +/// @par +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcAllocHeightfield, rcHeightfield +bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height, + const float* bmin, const float* bmax, + float cs, float ch) +{ + rcIgnoreUnused(ctx); + + hf.width = width; + hf.height = height; + rcVcopy(hf.bmin, bmin); + rcVcopy(hf.bmax, bmax); + hf.cs = cs; + hf.ch = ch; + hf.spans = (rcSpan**)rcAlloc(sizeof(rcSpan*)*hf.width*hf.height, RC_ALLOC_PERM); + if (!hf.spans) + return false; + memset(hf.spans, 0, sizeof(rcSpan*)*hf.width*hf.height); + return true; +} + +static void calcTriNormal(const float* v0, const float* v1, const float* v2, float* norm) +{ + float e0[3], e1[3]; + rcVsub(e0, v1, v0); + rcVsub(e1, v2, v0); + rcVcross(norm, e0, e1); + rcVnormalize(norm); +} + +/// @par +/// +/// Only sets the area id's for the walkable triangles. Does not alter the +/// area id's for unwalkable triangles. +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles +void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, + const float* verts, int nv, + const int* tris, int nt, + unsigned char* areas) +{ + rcIgnoreUnused(ctx); + rcIgnoreUnused(nv); + + const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI); + + float norm[3]; + + for (int i = 0; i < nt; ++i) + { + const int* tri = &tris[i*3]; + calcTriNormal(&verts[tri[0]*3], &verts[tri[1]*3], &verts[tri[2]*3], norm); + // Check if the face is walkable. + if (norm[1] > walkableThr) + areas[i] = RC_WALKABLE_AREA; + } +} + +/// @par +/// +/// Only sets the area id's for the unwalkable triangles. Does not alter the +/// area id's for walkable triangles. +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles +void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, + const float* verts, int /*nv*/, + const int* tris, int nt, + unsigned char* areas) +{ + rcIgnoreUnused(ctx); + + const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI); + + float norm[3]; + + for (int i = 0; i < nt; ++i) + { + const int* tri = &tris[i*3]; + calcTriNormal(&verts[tri[0]*3], &verts[tri[1]*3], &verts[tri[2]*3], norm); + // Check if the face is walkable. + if (norm[1] <= walkableThr) + areas[i] = RC_NULL_AREA; + } +} + +int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf) +{ + rcIgnoreUnused(ctx); + + const int w = hf.width; + const int h = hf.height; + int spanCount = 0; + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + for (rcSpan* s = hf.spans[x + y*w]; s; s = s->next) + { + if (s->area != RC_NULL_AREA) + spanCount++; + } + } + } + return spanCount; +} + +/// @par +/// +/// This is just the beginning of the process of fully building a compact heightfield. +/// Various filters may be applied, then the distance field and regions built. +/// E.g: #rcBuildDistanceField and #rcBuildRegions +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig +bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb, + rcHeightfield& hf, rcCompactHeightfield& chf) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD); + + const int w = hf.width; + const int h = hf.height; + const int spanCount = rcGetHeightFieldSpanCount(ctx, hf); + + // Fill in header. + chf.width = w; + chf.height = h; + chf.spanCount = spanCount; + chf.walkableHeight = walkableHeight; + chf.walkableClimb = walkableClimb; + chf.maxRegions = 0; + rcVcopy(chf.bmin, hf.bmin); + rcVcopy(chf.bmax, hf.bmax); + chf.bmax[1] += walkableHeight*hf.ch; + chf.cs = hf.cs; + chf.ch = hf.ch; + chf.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell)*w*h, RC_ALLOC_PERM); + if (!chf.cells) + { + ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", w*h); + return false; + } + memset(chf.cells, 0, sizeof(rcCompactCell)*w*h); + chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*spanCount, RC_ALLOC_PERM); + if (!chf.spans) + { + ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.spans' (%d)", spanCount); + return false; + } + memset(chf.spans, 0, sizeof(rcCompactSpan)*spanCount); + chf.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*spanCount, RC_ALLOC_PERM); + if (!chf.areas) + { + ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.areas' (%d)", spanCount); + return false; + } + memset(chf.areas, RC_NULL_AREA, sizeof(unsigned char)*spanCount); + + const int MAX_HEIGHT = 0xffff; + + // Fill in cells and spans. + int idx = 0; + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + const rcSpan* s = hf.spans[x + y*w]; + // If there are no spans at this cell, just leave the data to index=0, count=0. + if (!s) continue; + rcCompactCell& c = chf.cells[x+y*w]; + c.index = idx; + c.count = 0; + while (s) + { + if (s->area != RC_NULL_AREA) + { + const int bot = (int)s->smax; + const int top = s->next ? (int)s->next->smin : MAX_HEIGHT; + chf.spans[idx].y = (unsigned short)rcClamp(bot, 0, 0xffff); + chf.spans[idx].h = (unsigned char)rcClamp(top - bot, 0, 0xff); + chf.areas[idx] = s->area; + idx++; + c.count++; + } + s = s->next; + } + } + } + + // Find neighbour connections. + const int MAX_LAYERS = RC_NOT_CONNECTED-1; + int tooHighNeighbour = 0; + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + const rcCompactCell& c = chf.cells[x+y*w]; + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + { + rcCompactSpan& s = chf.spans[i]; + + for (int dir = 0; dir < 4; ++dir) + { + rcSetCon(s, dir, RC_NOT_CONNECTED); + const int nx = x + rcGetDirOffsetX(dir); + const int ny = y + rcGetDirOffsetY(dir); + // First check that the neighbour cell is in bounds. + if (nx < 0 || ny < 0 || nx >= w || ny >= h) + continue; + + // Iterate over all neighbour spans and check if any of the is + // accessible from current cell. + const rcCompactCell& nc = chf.cells[nx+ny*w]; + for (int k = (int)nc.index, nk = (int)(nc.index+nc.count); k < nk; ++k) + { + const rcCompactSpan& ns = chf.spans[k]; + const int bot = rcMax(s.y, ns.y); + const int top = rcMin(s.y+s.h, ns.y+ns.h); + + // Check that the gap between the spans is walkable, + // and that the climb height between the gaps is not too high. + if ((top - bot) >= walkableHeight && rcAbs((int)ns.y - (int)s.y) <= walkableClimb) + { + // Mark direction as walkable. + const int lidx = k - (int)nc.index; + if (lidx < 0 || lidx > MAX_LAYERS) + { + tooHighNeighbour = rcMax(tooHighNeighbour, lidx); + continue; + } + rcSetCon(s, dir, lidx); + break; + } + } + + } + } + } + } + + if (tooHighNeighbour > MAX_LAYERS) + { + ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)", + tooHighNeighbour, MAX_LAYERS); + } + + return true; +} + +/* +static int getHeightfieldMemoryUsage(const rcHeightfield& hf) +{ + int size = 0; + size += sizeof(hf); + size += hf.width * hf.height * sizeof(rcSpan*); + + rcSpanPool* pool = hf.pools; + while (pool) + { + size += (sizeof(rcSpanPool) - sizeof(rcSpan)) + sizeof(rcSpan)*RC_SPANS_PER_POOL; + pool = pool->next; + } + return size; +} + +static int getCompactHeightFieldMemoryusage(const rcCompactHeightfield& chf) +{ + int size = 0; + size += sizeof(rcCompactHeightfield); + size += sizeof(rcCompactSpan) * chf.spanCount; + size += sizeof(rcCompactCell) * chf.width * chf.height; + return size; +} +*/ diff --git a/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp b/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp new file mode 100644 index 0000000000..453b5fa6a6 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp @@ -0,0 +1,86 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include <stdlib.h> +#include <string.h> +#include "RecastAlloc.h" +#include "RecastAssert.h" + +static void *rcAllocDefault(size_t size, rcAllocHint) +{ + return malloc(size); +} + +static void rcFreeDefault(void *ptr) +{ + free(ptr); +} + +static rcAllocFunc* sRecastAllocFunc = rcAllocDefault; +static rcFreeFunc* sRecastFreeFunc = rcFreeDefault; + +/// @see rcAlloc, rcFree +void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc) +{ + sRecastAllocFunc = allocFunc ? allocFunc : rcAllocDefault; + sRecastFreeFunc = freeFunc ? freeFunc : rcFreeDefault; +} + +/// @see rcAllocSetCustom +void* rcAlloc(size_t size, rcAllocHint hint) +{ + return sRecastAllocFunc(size, hint); +} + +/// @par +/// +/// @warning This function leaves the value of @p ptr unchanged. So it still +/// points to the same (now invalid) location, and not to null. +/// +/// @see rcAllocSetCustom +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/RecastArea.cpp b/thirdparty/recastnavigation/Recast/Source/RecastArea.cpp new file mode 100644 index 0000000000..97139cf996 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Source/RecastArea.cpp @@ -0,0 +1,591 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include <float.h> +#define _USE_MATH_DEFINES +#include <math.h> +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include "Recast.h" +#include "RecastAlloc.h" +#include "RecastAssert.h" + +/// @par +/// +/// Basically, any spans that are closer to a boundary or obstruction than the specified radius +/// are marked as unwalkable. +/// +/// This method is usually called immediately after the heightfield has been built. +/// +/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius +bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf) +{ + rcAssert(ctx); + + const int w = chf.width; + const int h = chf.height; + + rcScopedTimer timer(ctx, RC_TIMER_ERODE_AREA); + + unsigned char* dist = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP); + if (!dist) + { + ctx->log(RC_LOG_ERROR, "erodeWalkableArea: Out of memory 'dist' (%d).", chf.spanCount); + return false; + } + + // Init distance. + memset(dist, 0xff, sizeof(unsigned char)*chf.spanCount); + + // Mark boundary cells. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++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 (chf.areas[i] == RC_NULL_AREA) + { + dist[i] = 0; + } + else + { + const rcCompactSpan& s = chf.spans[i]; + int nc = 0; + for (int dir = 0; dir < 4; ++dir) + { + if (rcGetCon(s, dir) != RC_NOT_CONNECTED) + { + const int nx = x + rcGetDirOffsetX(dir); + const int ny = y + rcGetDirOffsetY(dir); + const int nidx = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir); + if (chf.areas[nidx] != RC_NULL_AREA) + { + nc++; + } + } + } + // At least one missing neighbour. + if (nc != 4) + dist[i] = 0; + } + } + } + } + + unsigned char nd; + + // Pass 1 + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++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 (rcGetCon(s, 0) != RC_NOT_CONNECTED) + { + // (-1,0) + 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); + const rcCompactSpan& as = chf.spans[ai]; + nd = (unsigned char)rcMin((int)dist[ai]+2, 255); + if (nd < dist[i]) + dist[i] = nd; + + // (-1,-1) + if (rcGetCon(as, 3) != RC_NOT_CONNECTED) + { + const int aax = ax + rcGetDirOffsetX(3); + const int aay = ay + rcGetDirOffsetY(3); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3); + nd = (unsigned char)rcMin((int)dist[aai]+3, 255); + if (nd < dist[i]) + dist[i] = nd; + } + } + if (rcGetCon(s, 3) != RC_NOT_CONNECTED) + { + // (0,-1) + 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); + const rcCompactSpan& as = chf.spans[ai]; + nd = (unsigned char)rcMin((int)dist[ai]+2, 255); + if (nd < dist[i]) + dist[i] = nd; + + // (1,-1) + if (rcGetCon(as, 2) != RC_NOT_CONNECTED) + { + const int aax = ax + rcGetDirOffsetX(2); + const int aay = ay + rcGetDirOffsetY(2); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2); + nd = (unsigned char)rcMin((int)dist[aai]+3, 255); + if (nd < dist[i]) + dist[i] = nd; + } + } + } + } + } + + // Pass 2 + for (int y = h-1; y >= 0; --y) + { + for (int x = w-1; x >= 0; --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 (rcGetCon(s, 2) != RC_NOT_CONNECTED) + { + // (1,0) + const int ax = x + rcGetDirOffsetX(2); + const int ay = y + rcGetDirOffsetY(2); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2); + const rcCompactSpan& as = chf.spans[ai]; + nd = (unsigned char)rcMin((int)dist[ai]+2, 255); + if (nd < dist[i]) + dist[i] = nd; + + // (1,1) + if (rcGetCon(as, 1) != RC_NOT_CONNECTED) + { + const int aax = ax + rcGetDirOffsetX(1); + const int aay = ay + rcGetDirOffsetY(1); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1); + nd = (unsigned char)rcMin((int)dist[aai]+3, 255); + if (nd < dist[i]) + dist[i] = nd; + } + } + if (rcGetCon(s, 1) != RC_NOT_CONNECTED) + { + // (0,1) + const int ax = x + rcGetDirOffsetX(1); + const int ay = y + rcGetDirOffsetY(1); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1); + const rcCompactSpan& as = chf.spans[ai]; + nd = (unsigned char)rcMin((int)dist[ai]+2, 255); + if (nd < dist[i]) + dist[i] = nd; + + // (-1,1) + if (rcGetCon(as, 0) != RC_NOT_CONNECTED) + { + const int aax = ax + rcGetDirOffsetX(0); + const int aay = ay + rcGetDirOffsetY(0); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0); + nd = (unsigned char)rcMin((int)dist[aai]+3, 255); + if (nd < dist[i]) + dist[i] = nd; + } + } + } + } + } + + const unsigned char thr = (unsigned char)(radius*2); + for (int i = 0; i < chf.spanCount; ++i) + if (dist[i] < thr) + chf.areas[i] = RC_NULL_AREA; + + rcFree(dist); + + return true; +} + +static void insertSort(unsigned char* a, const int n) +{ + int i, j; + for (i = 1; i < n; i++) + { + const unsigned char value = a[i]; + for (j = i - 1; j >= 0 && a[j] > value; j--) + a[j+1] = a[j]; + a[j+1] = value; + } +} + +/// @par +/// +/// This filter is usually applied after applying area id's using functions +/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea. +/// +/// @see rcCompactHeightfield +bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf) +{ + rcAssert(ctx); + + const int w = chf.width; + const int h = chf.height; + + rcScopedTimer timer(ctx, RC_TIMER_MEDIAN_AREA); + + unsigned char* areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP); + if (!areas) + { + ctx->log(RC_LOG_ERROR, "medianFilterWalkableArea: Out of memory 'areas' (%d).", chf.spanCount); + return false; + } + + // Init distance. + memset(areas, 0xff, sizeof(unsigned char)*chf.spanCount); + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++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) + { + areas[i] = chf.areas[i]; + continue; + } + + unsigned char nei[9]; + for (int j = 0; j < 9; ++j) + nei[j] = chf.areas[i]; + + 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); + if (chf.areas[ai] != RC_NULL_AREA) + nei[dir*2+0] = chf.areas[ai]; + + const rcCompactSpan& as = chf.spans[ai]; + const int dir2 = (dir+1) & 0x3; + if (rcGetCon(as, dir2) != RC_NOT_CONNECTED) + { + const int ax2 = ax + rcGetDirOffsetX(dir2); + const int ay2 = ay + rcGetDirOffsetY(dir2); + const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2); + if (chf.areas[ai2] != RC_NULL_AREA) + nei[dir*2+1] = chf.areas[ai2]; + } + } + } + insertSort(nei, 9); + areas[i] = nei[4]; + } + } + } + + memcpy(chf.areas, areas, sizeof(unsigned char)*chf.spanCount); + + rcFree(areas); + + return true; +} + +/// @par +/// +/// The value of spacial parameters are in world units. +/// +/// @see rcCompactHeightfield, rcMedianFilterWalkableArea +void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId, + rcCompactHeightfield& chf) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_MARK_BOX_AREA); + + int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs); + int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch); + int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs); + int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs); + int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch); + int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs); + + if (maxx < 0) return; + if (minx >= chf.width) return; + if (maxz < 0) return; + if (minz >= chf.height) return; + + if (minx < 0) minx = 0; + if (maxx >= chf.width) maxx = chf.width-1; + if (minz < 0) minz = 0; + if (maxz >= chf.height) maxz = chf.height-1; + + for (int z = minz; z <= maxz; ++z) + { + for (int x = minx; x <= maxx; ++x) + { + const rcCompactCell& c = chf.cells[x+z*chf.width]; + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + { + rcCompactSpan& s = chf.spans[i]; + if ((int)s.y >= miny && (int)s.y <= maxy) + { + if (chf.areas[i] != RC_NULL_AREA) + chf.areas[i] = areaId; + } + } + } + } +} + + +static int pointInPoly(int nvert, const float* verts, const float* p) +{ + int i, j, c = 0; + for (i = 0, j = nvert-1; i < nvert; j = i++) + { + const float* vi = &verts[i*3]; + const float* vj = &verts[j*3]; + if (((vi[2] > p[2]) != (vj[2] > p[2])) && + (p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) ) + c = !c; + } + return c; +} + +/// @par +/// +/// The value of spacial parameters are in world units. +/// +/// The y-values of the polygon vertices are ignored. So the polygon is effectively +/// projected onto the xz-plane at @p hmin, then extruded to @p hmax. +/// +/// @see rcCompactHeightfield, rcMedianFilterWalkableArea +void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts, + const float hmin, const float hmax, unsigned char areaId, + rcCompactHeightfield& chf) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA); + + float bmin[3], bmax[3]; + rcVcopy(bmin, verts); + rcVcopy(bmax, verts); + for (int i = 1; i < nverts; ++i) + { + rcVmin(bmin, &verts[i*3]); + rcVmax(bmax, &verts[i*3]); + } + bmin[1] = hmin; + bmax[1] = hmax; + + int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs); + int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch); + int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs); + int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs); + int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch); + int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs); + + if (maxx < 0) return; + if (minx >= chf.width) return; + if (maxz < 0) return; + if (minz >= chf.height) return; + + if (minx < 0) minx = 0; + if (maxx >= chf.width) maxx = chf.width-1; + if (minz < 0) minz = 0; + if (maxz >= chf.height) maxz = chf.height-1; + + + // TODO: Optimize. + for (int z = minz; z <= maxz; ++z) + { + for (int x = minx; x <= maxx; ++x) + { + const rcCompactCell& c = chf.cells[x+z*chf.width]; + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + { + rcCompactSpan& s = chf.spans[i]; + if (chf.areas[i] == RC_NULL_AREA) + continue; + if ((int)s.y >= miny && (int)s.y <= maxy) + { + float p[3]; + p[0] = chf.bmin[0] + (x+0.5f)*chf.cs; + p[1] = 0; + p[2] = chf.bmin[2] + (z+0.5f)*chf.cs; + + if (pointInPoly(nverts, verts, p)) + { + chf.areas[i] = areaId; + } + } + } + } + } +} + +int rcOffsetPoly(const float* verts, const int nverts, const float offset, + float* outVerts, const int maxOutVerts) +{ + const float MITER_LIMIT = 1.20f; + + int n = 0; + + for (int i = 0; i < nverts; i++) + { + const int a = (i+nverts-1) % nverts; + const int b = i; + const int c = (i+1) % nverts; + const float* va = &verts[a*3]; + const float* vb = &verts[b*3]; + const float* vc = &verts[c*3]; + float dx0 = vb[0] - va[0]; + float dy0 = vb[2] - va[2]; + float d0 = dx0*dx0 + dy0*dy0; + if (d0 > 1e-6f) + { + d0 = 1.0f/rcSqrt(d0); + dx0 *= d0; + dy0 *= d0; + } + float dx1 = vc[0] - vb[0]; + float dy1 = vc[2] - vb[2]; + float d1 = dx1*dx1 + dy1*dy1; + if (d1 > 1e-6f) + { + d1 = 1.0f/rcSqrt(d1); + dx1 *= d1; + dy1 *= d1; + } + const float dlx0 = -dy0; + const float dly0 = dx0; + const float dlx1 = -dy1; + const float dly1 = dx1; + float cross = dx1*dy0 - dx0*dy1; + float dmx = (dlx0 + dlx1) * 0.5f; + float dmy = (dly0 + dly1) * 0.5f; + float dmr2 = dmx*dmx + dmy*dmy; + bool bevel = dmr2 * MITER_LIMIT*MITER_LIMIT < 1.0f; + if (dmr2 > 1e-6f) + { + const float scale = 1.0f / dmr2; + dmx *= scale; + dmy *= scale; + } + + if (bevel && cross < 0.0f) + { + if (n+2 >= maxOutVerts) + return 0; + float d = (1.0f - (dx0*dx1 + dy0*dy1))*0.5f; + outVerts[n*3+0] = vb[0] + (-dlx0+dx0*d)*offset; + outVerts[n*3+1] = vb[1]; + outVerts[n*3+2] = vb[2] + (-dly0+dy0*d)*offset; + n++; + outVerts[n*3+0] = vb[0] + (-dlx1-dx1*d)*offset; + outVerts[n*3+1] = vb[1]; + outVerts[n*3+2] = vb[2] + (-dly1-dy1*d)*offset; + n++; + } + else + { + if (n+1 >= maxOutVerts) + return 0; + outVerts[n*3+0] = vb[0] - dmx*offset; + outVerts[n*3+1] = vb[1]; + outVerts[n*3+2] = vb[2] - dmy*offset; + n++; + } + } + + return n; +} + + +/// @par +/// +/// The value of spacial parameters are in world units. +/// +/// @see rcCompactHeightfield, rcMedianFilterWalkableArea +void rcMarkCylinderArea(rcContext* ctx, const float* pos, + const float r, const float h, unsigned char areaId, + rcCompactHeightfield& chf) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_MARK_CYLINDER_AREA); + + float bmin[3], bmax[3]; + bmin[0] = pos[0] - r; + bmin[1] = pos[1]; + bmin[2] = pos[2] - r; + bmax[0] = pos[0] + r; + bmax[1] = pos[1] + h; + bmax[2] = pos[2] + r; + const float r2 = r*r; + + int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs); + int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch); + int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs); + int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs); + int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch); + int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs); + + if (maxx < 0) return; + if (minx >= chf.width) return; + if (maxz < 0) return; + if (minz >= chf.height) return; + + if (minx < 0) minx = 0; + if (maxx >= chf.width) maxx = chf.width-1; + if (minz < 0) minz = 0; + if (maxz >= chf.height) maxz = chf.height-1; + + + for (int z = minz; z <= maxz; ++z) + { + for (int x = minx; x <= maxx; ++x) + { + const rcCompactCell& c = chf.cells[x+z*chf.width]; + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + { + rcCompactSpan& s = chf.spans[i]; + + if (chf.areas[i] == RC_NULL_AREA) + continue; + + if ((int)s.y >= miny && (int)s.y <= maxy) + { + const float sx = chf.bmin[0] + (x+0.5f)*chf.cs; + const float sz = chf.bmin[2] + (z+0.5f)*chf.cs; + const float dx = sx - pos[0]; + const float dz = sz - pos[2]; + + if (dx*dx + dz*dz < r2) + { + chf.areas[i] = areaId; + } + } + } + } + } +} diff --git a/thirdparty/recastnavigation/Recast/Source/RecastAssert.cpp b/thirdparty/recastnavigation/Recast/Source/RecastAssert.cpp new file mode 100644 index 0000000000..6297d42023 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Source/RecastAssert.cpp @@ -0,0 +1,35 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include "RecastAssert.h" + +#ifndef NDEBUG + +static rcAssertFailFunc* sRecastAssertFailFunc = 0; + +void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc) +{ + sRecastAssertFailFunc = assertFailFunc; +} + +rcAssertFailFunc* rcAssertFailGetCustom() +{ + return sRecastAssertFailFunc; +} + +#endif diff --git a/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp b/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp new file mode 100644 index 0000000000..277ab01501 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Source/RecastContour.cpp @@ -0,0 +1,1105 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include <math.h> +#include <string.h> +#include <stdio.h> +#include <stdlib.h> +#include "Recast.h" +#include "RecastAlloc.h" +#include "RecastAssert.h" + + +static int getCornerHeight(int x, int y, int i, int dir, + const rcCompactHeightfield& chf, + bool& isBorderVertex) +{ + const rcCompactSpan& s = chf.spans[i]; + int ch = (int)s.y; + int dirp = (dir+1) & 0x3; + + 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. + regs[0] = chf.spans[i].reg | (chf.areas[i] << 16); + + 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*chf.width].index + rcGetCon(s, dir); + const rcCompactSpan& as = chf.spans[ai]; + ch = rcMax(ch, (int)as.y); + regs[1] = chf.spans[ai].reg | (chf.areas[ai] << 16); + if (rcGetCon(as, dirp) != RC_NOT_CONNECTED) + { + const int ax2 = ax + rcGetDirOffsetX(dirp); + const int ay2 = ay + rcGetDirOffsetY(dirp); + const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dirp); + const rcCompactSpan& as2 = chf.spans[ai2]; + ch = rcMax(ch, (int)as2.y); + regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16); + } + } + if (rcGetCon(s, dirp) != RC_NOT_CONNECTED) + { + const int ax = x + rcGetDirOffsetX(dirp); + const int ay = y + rcGetDirOffsetY(dirp); + const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dirp); + const rcCompactSpan& as = chf.spans[ai]; + ch = rcMax(ch, (int)as.y); + regs[3] = chf.spans[ai].reg | (chf.areas[ai] << 16); + if (rcGetCon(as, dir) != RC_NOT_CONNECTED) + { + const int ax2 = ax + rcGetDirOffsetX(dir); + const int ay2 = ay + rcGetDirOffsetY(dir); + const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dir); + const rcCompactSpan& as2 = chf.spans[ai2]; + ch = rcMax(ch, (int)as2.y); + regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16); + } + } + + // Check if the vertex is special edge vertex, these vertices will be removed later. + for (int j = 0; j < 4; ++j) + { + const int a = j; + const int b = (j+1) & 0x3; + const int c = (j+2) & 0x3; + const int d = (j+3) & 0x3; + + // The vertex is a border vertex there are two same exterior cells in a row, + // followed by two interior cells and none of the regions are out of bounds. + const bool twoSameExts = (regs[a] & regs[b] & RC_BORDER_REG) != 0 && regs[a] == regs[b]; + const bool twoInts = ((regs[c] | regs[d]) & RC_BORDER_REG) == 0; + const bool intsSameArea = (regs[c]>>16) == (regs[d]>>16); + const bool noZeros = regs[a] != 0 && regs[b] != 0 && regs[c] != 0 && regs[d] != 0; + if (twoSameExts && twoInts && intsSameArea && noZeros) + { + isBorderVertex = true; + break; + } + } + + return ch; +} + +static void walkContour(int x, int y, int i, + rcCompactHeightfield& chf, + unsigned char* flags, rcIntArray& points) +{ + // Choose the first non-connected edge + unsigned char dir = 0; + while ((flags[i] & (1 << dir)) == 0) + dir++; + + unsigned char startDir = dir; + int starti = i; + + const unsigned char area = chf.areas[i]; + + int iter = 0; + while (++iter < 40000) + { + if (flags[i] & (1 << dir)) + { + // Choose the edge corner + bool isBorderVertex = false; + bool isAreaBorder = false; + int px = x; + int py = getCornerHeight(x, y, i, dir, chf, isBorderVertex); + int pz = y; + switch(dir) + { + case 0: pz++; break; + case 1: px++; pz++; break; + case 2: px++; break; + } + int r = 0; + const rcCompactSpan& s = chf.spans[i]; + 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*chf.width].index + rcGetCon(s, dir); + r = (int)chf.spans[ai].reg; + if (area != chf.areas[ai]) + isAreaBorder = true; + } + if (isBorderVertex) + r |= RC_BORDER_VERTEX; + if (isAreaBorder) + r |= RC_AREA_BORDER; + points.push(px); + points.push(py); + points.push(pz); + points.push(r); + + flags[i] &= ~(1 << dir); // Remove visited edges + dir = (dir+1) & 0x3; // Rotate CW + } + else + { + int ni = -1; + const int nx = x + rcGetDirOffsetX(dir); + const int ny = y + rcGetDirOffsetY(dir); + const rcCompactSpan& s = chf.spans[i]; + if (rcGetCon(s, dir) != RC_NOT_CONNECTED) + { + const rcCompactCell& nc = chf.cells[nx+ny*chf.width]; + ni = (int)nc.index + rcGetCon(s, dir); + } + if (ni == -1) + { + // Should not happen. + return; + } + x = nx; + y = ny; + i = ni; + dir = (dir+3) & 0x3; // Rotate CCW + } + + if (starti == i && startDir == dir) + { + break; + } + } +} + +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 pqz = (float)(qz - pz); + float dx = (float)(x - px); + float dz = (float)(z - pz); + float d = pqx*pqx + pqz*pqz; + float t = pqx*dx + pqz*dz; + if (d > 0) + t /= d; + if (t < 0) + t = 0; + else if (t > 1) + t = 1; + + dx = px + t*pqx - x; + dz = pz + t*pqz - z; + + return dx*dx + dz*dz; +} + +static void simplifyContour(rcIntArray& points, rcIntArray& simplified, + const float maxError, const int maxEdgeLen, const int buildFlags) +{ + // Add initial points. + bool hasConnections = false; + for (int i = 0; i < points.size(); i += 4) + { + if ((points[i+3] & RC_CONTOUR_REG_MASK) != 0) + { + hasConnections = true; + break; + } + } + + if (hasConnections) + { + // The contour has some portals to other regions. + // Add a new point to every location where the region changes. + for (int i = 0, ni = points.size()/4; i < ni; ++i) + { + int ii = (i+1) % ni; + const bool differentRegs = (points[i*4+3] & RC_CONTOUR_REG_MASK) != (points[ii*4+3] & RC_CONTOUR_REG_MASK); + const bool areaBorders = (points[i*4+3] & RC_AREA_BORDER) != (points[ii*4+3] & RC_AREA_BORDER); + if (differentRegs || areaBorders) + { + simplified.push(points[i*4+0]); + simplified.push(points[i*4+1]); + 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. + // Find lower-left and upper-right vertices of the contour. + int llx = points[0]; + int lly = points[1]; + int llz = points[2]; + int lli = 0; + int urx = points[0]; + int ury = points[1]; + int urz = points[2]; + int uri = 0; + for (int i = 0; i < points.size(); i += 4) + { + int x = points[i+0]; + int y = points[i+1]; + int z = points[i+2]; + if (x < llx || (x == llx && z < llz)) + { + llx = x; + lly = y; + llz = z; + lli = i/4; + } + if (x > urx || (x == urx && z > urz)) + { + urx = x; + ury = y; + urz = z; + uri = i/4; + } + } + simplified.push(llx); + simplified.push(lly); + simplified.push(llz); + simplified.push(lli); + + simplified.push(urx); + simplified.push(ury); + simplified.push(urz); + simplified.push(uri); + } + + // Add points until all raw points are within + // error tolerance to the simplified shape. + const int pn = points.size()/4; + for (int i = 0; i < simplified.size()/4; ) + { + int ii = (i+1) % (simplified.size()/4); + + 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. + if (bx > ax || (bx == ax && bz > az)) + { + cinc = 1; + ci = (ai+cinc) % pn; + endi = bi; + } + else + { + cinc = pn-1; + ci = (bi+cinc) % pn; + endi = ai; + rcSwap(ax, bx); + rcSwap(az, bz); + } + + // Tessellate only outer edges or edges between areas. + if ((points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0 || + (points[ci*4+3] & RC_AREA_BORDER)) + { + while (ci != endi) + { + float d = distancePtSeg(points[ci*4+0], points[ci*4+2], ax, az, bx, bz); + if (d > maxd) + { + maxd = d; + maxi = ci; + } + ci = (ci+cinc) % pn; + } + } + + + // If the max deviation is larger than accepted error, + // add new point, else continue to next segment. + if (maxi != -1 && maxd > (maxError*maxError)) + { + // Add space for the new point. + simplified.resize(simplified.size()+4); + const int n = simplified.size()/4; + for (int j = n-1; j > i; --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]; + } + // Add the point. + simplified[(i+1)*4+0] = points[maxi*4+0]; + simplified[(i+1)*4+1] = points[maxi*4+1]; + simplified[(i+1)*4+2] = points[maxi*4+2]; + simplified[(i+1)*4+3] = maxi; + } + else + { + ++i; + } + } + + // Split too long edges. + if (maxEdgeLen > 0 && (buildFlags & (RC_CONTOUR_TESS_WALL_EDGES|RC_CONTOUR_TESS_AREA_EDGES)) != 0) + { + for (int i = 0; i < simplified.size()/4; ) + { + const 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]; + + // 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. + if ((buildFlags & RC_CONTOUR_TESS_WALL_EDGES) && (points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0) + tess = true; + // Edges between areas. + if ((buildFlags & RC_CONTOUR_TESS_AREA_EDGES) && (points[ci*4+3] & RC_AREA_BORDER)) + tess = true; + + if (tess) + { + int dx = bx - ax; + int dz = bz - az; + if (dx*dx + dz*dz > maxEdgeLen*maxEdgeLen) + { + // Round based on the segments in lexilogical order so that the + // max tesselation is consistent regardles in which direction + // segments are traversed. + const int n = bi < ai ? (bi+pn - ai) : (bi - ai); + if (n > 1) + { + if (bx > ax || (bx == ax && bz > az)) + maxi = (ai + n/2) % pn; + else + maxi = (ai + (n+1)/2) % pn; + } + } + } + + // If the max deviation is larger than accepted error, + // add new point, else continue to next segment. + if (maxi != -1) + { + // Add space for the new point. + simplified.resize(simplified.size()+4); + const int n = simplified.size()/4; + for (int j = n-1; j > i; --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]; + } + // Add the point. + simplified[(i+1)*4+0] = points[maxi*4+0]; + simplified[(i+1)*4+1] = points[maxi*4+1]; + simplified[(i+1)*4+2] = points[maxi*4+2]; + simplified[(i+1)*4+3] = maxi; + } + else + { + ++i; + } + } + } + + for (int i = 0; i < simplified.size()/4; ++i) + { + // The edge vertex flag is take from the current raw point, + // and the neighbour region is take from the next raw point. + const int ai = (simplified[i*4+3]+1) % pn; + const int bi = simplified[i*4+3]; + simplified[i*4+3] = (points[ai*4+3] & (RC_CONTOUR_REG_MASK|RC_AREA_BORDER)) | (points[bi*4+3] & RC_BORDER_VERTEX); + } + +} + +static int calcAreaOfPolygon2D(const int* verts, const int nverts) +{ + int area = 0; + for (int i = 0, j = nverts-1; i < nverts; j=i++) + { + const int* vi = &verts[i*4]; + const int* vj = &verts[j*4]; + area += vi[0] * vj[2] - vj[0] * vi[2]; + } + return (area+1) / 2; +} + +// TODO: these are the same as in RecastMesh.cpp, consider using the same. +// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv). +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]); +} + +// 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) +{ + 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++) + { + 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; + + 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])) + { + // 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); + 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) + { + int* dst = &verts[nv*4]; + const int* src = &ca.verts[((ia+i)%ca.nverts)*4]; + dst[0] = src[0]; + dst[1] = src[1]; + dst[2] = src[2]; + dst[3] = src[3]; + nv++; + } + + // Copy contour B + for (int i = 0; i <= cb.nverts; ++i) + { + int* dst = &verts[nv*4]; + const int* src = &cb.verts[((ib+i)%cb.nverts)*4]; + dst[0] = src[0]; + dst[1] = src[1]; + dst[2] = src[2]; + dst[3] = src[3]; + nv++; + } + + rcFree(ca.verts); + ca.verts = verts; + ca.nverts = nv; + + rcFree(cb.verts); + cb.verts = 0; + cb.nverts = 0; + + 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, ®ion.holes[i].minx, ®ion.holes[i].minz, ®ion.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. +/// (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, + rcContourSet& cset, const int buildFlags) +{ + rcAssert(ctx); + + const int w = chf.width; + const int h = chf.height; + const int borderSize = chf.borderSize; + + rcScopedTimer timer(ctx, RC_TIMER_BUILD_CONTOURS); + + rcVcopy(cset.bmin, chf.bmin); + rcVcopy(cset.bmax, chf.bmax); + if (borderSize > 0) + { + // If the heightfield was build with bordersize, remove the offset. + const float pad = borderSize*chf.cs; + cset.bmin[0] += pad; + cset.bmin[2] += pad; + cset.bmax[0] -= pad; + cset.bmax[2] -= pad; + } + cset.cs = chf.cs; + cset.ch = chf.ch; + cset.width = chf.width - chf.borderSize*2; + cset.height = chf.height - chf.borderSize*2; + cset.borderSize = chf.borderSize; + cset.maxError = maxError; + + int maxContours = rcMax((int)chf.maxRegions, 8); + cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM); + if (!cset.conts) + return false; + cset.nconts = 0; + + rcScopedDelete<unsigned char> flags((unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP)); + if (!flags) + { + ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags' (%d).", chf.spanCount); + return false; + } + + ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE); + + // Mark boundaries. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + const rcCompactCell& c = chf.cells[x+y*w]; + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + { + unsigned char res = 0; + const rcCompactSpan& s = chf.spans[i]; + if (!chf.spans[i].reg || (chf.spans[i].reg & RC_BORDER_REG)) + { + flags[i] = 0; + continue; + } + for (int dir = 0; dir < 4; ++dir) + { + unsigned short r = 0; + 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); + r = chf.spans[ai].reg; + } + if (r == chf.spans[i].reg) + res |= (1 << dir); + } + flags[i] = res ^ 0xf; // Inverse, mark non connected edges. + } + } + } + + ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE); + + rcIntArray verts(256); + rcIntArray simplified(64); + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++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 (flags[i] == 0 || flags[i] == 0xf) + { + flags[i] = 0; + continue; + } + const unsigned short reg = chf.spans[i].reg; + if (!reg || (reg & RC_BORDER_REG)) + continue; + const unsigned char area = chf.areas[i]; + + 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) + { + if (cset.nconts >= maxContours) + { + // Allocate more contours. + // This happens when a region has holes. + const int oldMax = maxContours; + maxContours *= 2; + rcContour* newConts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM); + for (int j = 0; j < cset.nconts; ++j) + { + newConts[j] = cset.conts[j]; + // Reset source pointers to prevent data deletion. + cset.conts[j].verts = 0; + cset.conts[j].rverts = 0; + } + 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; + cont->verts = (int*)rcAlloc(sizeof(int)*cont->nverts*4, RC_ALLOC_PERM); + if (!cont->verts) + { + ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'verts' (%d).", cont->nverts); + return false; + } + memcpy(cont->verts, &simplified[0], sizeof(int)*cont->nverts*4); + if (borderSize > 0) + { + // If the heightfield was build with bordersize, remove the offset. + for (int j = 0; j < cont->nverts; ++j) + { + int* v = &cont->verts[j*4]; + v[0] -= borderSize; + v[2] -= borderSize; + } + } + + cont->nrverts = verts.size()/4; + cont->rverts = (int*)rcAlloc(sizeof(int)*cont->nrverts*4, RC_ALLOC_PERM); + if (!cont->rverts) + { + ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'rverts' (%d).", cont->nrverts); + return false; + } + memcpy(cont->rverts, &verts[0], sizeof(int)*cont->nrverts*4); + if (borderSize > 0) + { + // If the heightfield was build with bordersize, remove the offset. + for (int j = 0; j < cont->nrverts; ++j) + { + int* v = &cont->rverts[j*4]; + v[0] -= borderSize; + v[2] -= borderSize; + } + } + + cont->reg = reg; + cont->area = area; + } + } + } + } + + // Merge holes if needed. + if (cset.nconts > 0) + { + // Calculate winding of all polygons. + rcScopedDelete<char> winding((char*)rcAlloc(sizeof(char)*cset.nconts, RC_ALLOC_TEMP)); + if (!winding) + { + 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) + { + 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) + { + 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++; + } + } + int index = 0; + for (int i = 0; i < nregions; i++) + { + if (regions[i].nholes > 0) + { + regions[i].holes = &holes[index]; + index += regions[i].nholes; + regions[i].nholes = 0; + } + } + 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) + { + 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); + } + } + } + + } + + return true; +} diff --git a/thirdparty/recastnavigation/Recast/Source/RecastFilter.cpp b/thirdparty/recastnavigation/Recast/Source/RecastFilter.cpp new file mode 100644 index 0000000000..9d3e63c482 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Source/RecastFilter.cpp @@ -0,0 +1,202 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include <math.h> +#include <stdio.h> +#include "Recast.h" +#include "RecastAssert.h" + +/// @par +/// +/// Allows the formation of walkable regions that will flow over low lying +/// objects such as curbs, and up structures such as stairways. +/// +/// Two neighboring spans are walkable if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb</tt> +/// +/// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call +/// #rcFilterLedgeSpans after calling this filter. +/// +/// @see rcHeightfield, rcConfig +void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_FILTER_LOW_OBSTACLES); + + const int w = solid.width; + const int h = solid.height; + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + rcSpan* ps = 0; + bool previousWalkable = false; + unsigned char previousArea = RC_NULL_AREA; + + for (rcSpan* s = solid.spans[x + y*w]; s; ps = s, s = s->next) + { + const bool walkable = s->area != RC_NULL_AREA; + // If current span is not walkable, but there is walkable + // span just below it, mark the span above it walkable too. + if (!walkable && previousWalkable) + { + if (rcAbs((int)s->smax - (int)ps->smax) <= walkableClimb) + s->area = previousArea; + } + // Copy walkable flag so that it cannot propagate + // past multiple non-walkable objects. + previousWalkable = walkable; + previousArea = s->area; + } + } + } +} + +/// @par +/// +/// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb +/// from the current span's maximum. +/// This method removes the impact of the overestimation of conservative voxelization +/// so the resulting mesh will not have regions hanging in the air over ledges. +/// +/// A span is a ledge if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt> +/// +/// @see rcHeightfield, rcConfig +void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walkableClimb, + rcHeightfield& solid) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_FILTER_BORDER); + + const int w = solid.width; + const int h = solid.height; + const int MAX_HEIGHT = 0xffff; + + // Mark border spans. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next) + { + // Skip non walkable spans. + if (s->area == RC_NULL_AREA) + continue; + + const int bot = (int)(s->smax); + const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT; + + // Find neighbours minimum height. + int minh = MAX_HEIGHT; + + // Min and max height of accessible neighbours. + int asmin = s->smax; + int asmax = s->smax; + + for (int dir = 0; dir < 4; ++dir) + { + int dx = x + rcGetDirOffsetX(dir); + int dy = y + rcGetDirOffsetY(dir); + // Skip neighbours which are out of bounds. + if (dx < 0 || dy < 0 || dx >= w || dy >= h) + { + minh = rcMin(minh, -walkableClimb - bot); + continue; + } + + // From minus infinity to the first span. + rcSpan* ns = solid.spans[dx + dy*w]; + int nbot = -walkableClimb; + int ntop = ns ? (int)ns->smin : MAX_HEIGHT; + // Skip neightbour if the gap between the spans is too small. + if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight) + minh = rcMin(minh, nbot - bot); + + // Rest of the spans. + for (ns = solid.spans[dx + dy*w]; ns; ns = ns->next) + { + nbot = (int)ns->smax; + ntop = ns->next ? (int)ns->next->smin : MAX_HEIGHT; + // Skip neightbour if the gap between the spans is too small. + if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight) + { + minh = rcMin(minh, nbot - bot); + + // Find min/max accessible neighbour height. + if (rcAbs(nbot - bot) <= walkableClimb) + { + if (nbot < asmin) asmin = nbot; + if (nbot > asmax) asmax = nbot; + } + + } + } + } + + // The current span is close to a ledge if the drop to any + // neighbour span is less than the walkableClimb. + if (minh < -walkableClimb) + { + s->area = RC_NULL_AREA; + } + // If the difference between all neighbours is too large, + // we are at steep slope, mark the span as ledge. + else if ((asmax - asmin) > walkableClimb) + { + s->area = RC_NULL_AREA; + } + } + } + } +} + +/// @par +/// +/// For this filter, the clearance above the span is the distance from the span's +/// maximum to the next higher span's minimum. (Same grid column.) +/// +/// @see rcHeightfield, rcConfig +void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_FILTER_WALKABLE); + + const int w = solid.width; + const int h = solid.height; + const int MAX_HEIGHT = 0xffff; + + // Remove walkable flag from spans which do not have enough + // space above them for the agent to stand there. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next) + { + const int bot = (int)(s->smax); + const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT; + if ((top - bot) <= walkableHeight) + s->area = RC_NULL_AREA; + } + } + } +} diff --git a/thirdparty/recastnavigation/Recast/Source/RecastLayers.cpp b/thirdparty/recastnavigation/Recast/Source/RecastLayers.cpp new file mode 100644 index 0000000000..acc97e44f0 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Source/RecastLayers.cpp @@ -0,0 +1,644 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include <float.h> +#define _USE_MATH_DEFINES +#include <math.h> +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include "Recast.h" +#include "RecastAlloc.h" +#include "RecastAssert.h" + + +// Must be 255 or smaller (not 256) because layer IDs are stored as +// a byte where 255 is a special value. +static const int RC_MAX_LAYERS = 63; +static const int RC_MAX_NEIS = 16; + +struct rcLayerRegion +{ + unsigned char layers[RC_MAX_LAYERS]; + unsigned char neis[RC_MAX_NEIS]; + unsigned short ymin, ymax; + unsigned char layerId; // Layer ID + unsigned char nlayers; // Layer count + unsigned char nneis; // Neighbour count + unsigned char base; // Flag indicating if the region is the base of merged regions. +}; + + +static bool contains(const unsigned char* a, const unsigned char an, const unsigned char v) +{ + const int n = (int)an; + for (int i = 0; i < n; ++i) + { + if (a[i] == v) + return true; + } + return false; +} + +static bool addUnique(unsigned char* a, unsigned char& an, int anMax, unsigned char v) +{ + if (contains(a, an, v)) + return true; + + if ((int)an >= anMax) + return false; + + a[an] = v; + an++; + return true; +} + + +inline bool overlapRange(const unsigned short amin, const unsigned short amax, + const unsigned short bmin, const unsigned short bmax) +{ + return (amin > bmax || amax < bmin) ? false : true; +} + + + +struct rcLayerSweepSpan +{ + unsigned short ns; // number samples + unsigned char id; // region id + unsigned char nei; // neighbour id +}; + +/// @par +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig +bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, + const int borderSize, const int walkableHeight, + rcHeightfieldLayerSet& lset) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_BUILD_LAYERS); + + const int w = chf.width; + const int h = chf.height; + + rcScopedDelete<unsigned char> srcReg((unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP)); + if (!srcReg) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' (%d).", chf.spanCount); + return false; + } + memset(srcReg,0xff,sizeof(unsigned char)*chf.spanCount); + + const int nsweeps = chf.width; + rcScopedDelete<rcLayerSweepSpan> sweeps((rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP)); + if (!sweeps) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps); + return false; + } + + + // Partition walkable area into monotone regions. + int prevCount[256]; + unsigned char regId = 0; + + for (int y = borderSize; y < h-borderSize; ++y) + { + memset(prevCount,0,sizeof(int)*regId); + unsigned char sweepId = 0; + + 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; + + unsigned char sid = 0xff; + + // -x + 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 (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff) + sid = srcReg[ai]; + } + + if (sid == 0xff) + { + sid = sweepId++; + sweeps[sid].nei = 0xff; + sweeps[sid].ns = 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); + const unsigned char nr = srcReg[ai]; + if (nr != 0xff) + { + // Set neighbour when first valid neighbour is encoutered. + if (sweeps[sid].ns == 0) + sweeps[sid].nei = nr; + + if (sweeps[sid].nei == nr) + { + // Update existing neighbour + sweeps[sid].ns++; + prevCount[nr]++; + } + else + { + // This is hit if there is nore than one neighbour. + // Invalidate the neighbour. + sweeps[sid].nei = 0xff; + } + } + } + + srcReg[i] = sid; + } + } + + // Create unique ID. + for (int i = 0; i < sweepId; ++i) + { + // If the neighbour is set and there is only one continuous connection to it, + // the sweep will be merged with the previous one, else new region is created. + if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns) + { + sweeps[i].id = sweeps[i].nei; + } + else + { + if (regId == 255) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow."); + return false; + } + sweeps[i].id = regId++; + } + } + + // Remap local sweep ids to region 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] != 0xff) + srcReg[i] = sweeps[srcReg[i]].id; + } + } + } + + // Allocate and init layer regions. + const int nregs = (int)regId; + rcScopedDelete<rcLayerRegion> regs((rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP)); + if (!regs) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs); + return false; + } + memset(regs, 0, sizeof(rcLayerRegion)*nregs); + for (int i = 0; i < nregs; ++i) + { + regs[i].layerId = 0xff; + regs[i].ymin = 0xffff; + regs[i].ymax = 0; + } + + // Find region neighbours and overlapping regions. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + const rcCompactCell& c = chf.cells[x+y*w]; + + unsigned char lregs[RC_MAX_LAYERS]; + int nlregs = 0; + + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + { + const rcCompactSpan& s = chf.spans[i]; + const unsigned char ri = srcReg[i]; + if (ri == 0xff) continue; + + regs[ri].ymin = rcMin(regs[ri].ymin, s.y); + regs[ri].ymax = rcMax(regs[ri].ymax, s.y); + + // Collect all region layers. + if (nlregs < RC_MAX_LAYERS) + lregs[nlregs++] = 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 char rai = srcReg[ai]; + if (rai != 0xff && rai != ri) + { + // Don't check return value -- if we cannot add the neighbor + // it will just cause a few more regions to be created, which + // is fine. + addUnique(regs[ri].neis, regs[ri].nneis, RC_MAX_NEIS, rai); + } + } + } + + } + + // Update overlapping regions. + for (int i = 0; i < nlregs-1; ++i) + { + for (int j = i+1; j < nlregs; ++j) + { + if (lregs[i] != lregs[j]) + { + rcLayerRegion& ri = regs[lregs[i]]; + rcLayerRegion& rj = regs[lregs[j]]; + + if (!addUnique(ri.layers, ri.nlayers, RC_MAX_LAYERS, lregs[j]) || + !addUnique(rj.layers, rj.nlayers, RC_MAX_LAYERS, lregs[i])) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS."); + return false; + } + } + } + } + + } + } + + // Create 2D layers from regions. + unsigned char layerId = 0; + + static const int MAX_STACK = 64; + unsigned char stack[MAX_STACK]; + int nstack = 0; + + for (int i = 0; i < nregs; ++i) + { + rcLayerRegion& root = regs[i]; + // Skip already visited. + if (root.layerId != 0xff) + continue; + + // Start search. + root.layerId = layerId; + root.base = 1; + + nstack = 0; + stack[nstack++] = (unsigned char)i; + + while (nstack) + { + // Pop front + rcLayerRegion& reg = regs[stack[0]]; + nstack--; + for (int j = 0; j < nstack; ++j) + stack[j] = stack[j+1]; + + const int nneis = (int)reg.nneis; + for (int j = 0; j < nneis; ++j) + { + const unsigned char nei = reg.neis[j]; + rcLayerRegion& regn = regs[nei]; + // Skip already visited. + if (regn.layerId != 0xff) + continue; + // Skip if the neighbour is overlapping root region. + if (contains(root.layers, root.nlayers, nei)) + continue; + // Skip if the height range would become too large. + const int ymin = rcMin(root.ymin, regn.ymin); + const int ymax = rcMax(root.ymax, regn.ymax); + if ((ymax - ymin) >= 255) + continue; + + if (nstack < MAX_STACK) + { + // Deepen + stack[nstack++] = (unsigned char)nei; + + // Mark layer id + regn.layerId = layerId; + // Merge current layers to root. + for (int k = 0; k < regn.nlayers; ++k) + { + if (!addUnique(root.layers, root.nlayers, RC_MAX_LAYERS, regn.layers[k])) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS."); + return false; + } + } + root.ymin = rcMin(root.ymin, regn.ymin); + root.ymax = rcMax(root.ymax, regn.ymax); + } + } + } + + layerId++; + } + + // Merge non-overlapping regions that are close in height. + const unsigned short mergeHeight = (unsigned short)walkableHeight * 4; + + for (int i = 0; i < nregs; ++i) + { + rcLayerRegion& ri = regs[i]; + if (!ri.base) continue; + + unsigned char newId = ri.layerId; + + for (;;) + { + unsigned char oldId = 0xff; + + for (int j = 0; j < nregs; ++j) + { + if (i == j) continue; + rcLayerRegion& rj = regs[j]; + if (!rj.base) continue; + + // Skip if the regions are not close to each other. + if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight)) + continue; + // Skip if the height range would become too large. + const int ymin = rcMin(ri.ymin, rj.ymin); + const int ymax = rcMax(ri.ymax, rj.ymax); + if ((ymax - ymin) >= 255) + continue; + + // Make sure that there is no overlap when merging 'ri' and 'rj'. + bool overlap = false; + // Iterate over all regions which have the same layerId as 'rj' + for (int k = 0; k < nregs; ++k) + { + if (regs[k].layerId != rj.layerId) + continue; + // Check if region 'k' is overlapping region 'ri' + // Index to 'regs' is the same as region id. + if (contains(ri.layers,ri.nlayers, (unsigned char)k)) + { + overlap = true; + break; + } + } + // Cannot merge of regions overlap. + if (overlap) + continue; + + // Can merge i and j. + oldId = rj.layerId; + break; + } + + // Could not find anything to merge with, stop. + if (oldId == 0xff) + break; + + // Merge + for (int j = 0; j < nregs; ++j) + { + rcLayerRegion& rj = regs[j]; + if (rj.layerId == oldId) + { + rj.base = 0; + // Remap layerIds. + rj.layerId = newId; + // Add overlaid layers from 'rj' to 'ri'. + for (int k = 0; k < rj.nlayers; ++k) + { + if (!addUnique(ri.layers, ri.nlayers, RC_MAX_LAYERS, rj.layers[k])) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS."); + return false; + } + } + + // Update height bounds. + ri.ymin = rcMin(ri.ymin, rj.ymin); + ri.ymax = rcMax(ri.ymax, rj.ymax); + } + } + } + } + + // Compact layerIds + unsigned char remap[256]; + memset(remap, 0, 256); + + // Find number of unique layers. + layerId = 0; + for (int i = 0; i < nregs; ++i) + remap[regs[i].layerId] = 1; + for (int i = 0; i < 256; ++i) + { + if (remap[i]) + remap[i] = layerId++; + else + remap[i] = 0xff; + } + // Remap ids. + for (int i = 0; i < nregs; ++i) + regs[i].layerId = remap[regs[i].layerId]; + + // No layers, return empty. + if (layerId == 0) + return true; + + // Create layers. + rcAssert(lset.layers == 0); + + const int lw = w - borderSize*2; + const int lh = h - borderSize*2; + + // Build contracted bbox for layers. + float bmin[3], bmax[3]; + rcVcopy(bmin, chf.bmin); + rcVcopy(bmax, chf.bmax); + bmin[0] += borderSize*chf.cs; + bmin[2] += borderSize*chf.cs; + bmax[0] -= borderSize*chf.cs; + bmax[2] -= borderSize*chf.cs; + + lset.nlayers = (int)layerId; + + lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM); + if (!lset.layers) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' (%d).", lset.nlayers); + return false; + } + memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers); + + + // Store layers. + for (int i = 0; i < lset.nlayers; ++i) + { + unsigned char curId = (unsigned char)i; + + rcHeightfieldLayer* layer = &lset.layers[i]; + + const int gridSize = sizeof(unsigned char)*lw*lh; + + layer->heights = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM); + if (!layer->heights) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' (%d).", gridSize); + return false; + } + memset(layer->heights, 0xff, gridSize); + + layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM); + if (!layer->areas) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' (%d).", gridSize); + return false; + } + memset(layer->areas, 0, gridSize); + + layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM); + if (!layer->cons) + { + ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' (%d).", gridSize); + return false; + } + memset(layer->cons, 0, gridSize); + + // Find layer height bounds. + int hmin = 0, hmax = 0; + for (int j = 0; j < nregs; ++j) + { + if (regs[j].base && regs[j].layerId == curId) + { + hmin = (int)regs[j].ymin; + hmax = (int)regs[j].ymax; + } + } + + layer->width = lw; + layer->height = lh; + layer->cs = chf.cs; + layer->ch = chf.ch; + + // Adjust the bbox to fit the heightfield. + rcVcopy(layer->bmin, bmin); + rcVcopy(layer->bmax, bmax); + layer->bmin[1] = bmin[1] + hmin*chf.ch; + layer->bmax[1] = bmin[1] + hmax*chf.ch; + layer->hmin = hmin; + layer->hmax = hmax; + + // Update usable data region. + layer->minx = layer->width; + layer->maxx = 0; + layer->miny = layer->height; + layer->maxy = 0; + + // Copy height and area from compact heightfield. + for (int y = 0; y < lh; ++y) + { + for (int x = 0; x < lw; ++x) + { + const int cx = borderSize+x; + const int cy = borderSize+y; + const rcCompactCell& c = chf.cells[cx+cy*w]; + for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j) + { + const rcCompactSpan& s = chf.spans[j]; + // Skip unassigned regions. + if (srcReg[j] == 0xff) + continue; + // Skip of does nto belong to current layer. + unsigned char lid = regs[srcReg[j]].layerId; + if (lid != curId) + continue; + + // Update data bounds. + layer->minx = rcMin(layer->minx, x); + layer->maxx = rcMax(layer->maxx, x); + layer->miny = rcMin(layer->miny, y); + layer->maxy = rcMax(layer->maxy, y); + + // Store height and area type. + const int idx = x+y*lw; + layer->heights[idx] = (unsigned char)(s.y - hmin); + layer->areas[idx] = chf.areas[j]; + + // Check connection. + unsigned char portal = 0; + unsigned char con = 0; + for (int dir = 0; dir < 4; ++dir) + { + if (rcGetCon(s, dir) != RC_NOT_CONNECTED) + { + const int ax = cx + rcGetDirOffsetX(dir); + const int ay = cy + rcGetDirOffsetY(dir); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir); + unsigned char alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff; + // Portal mask + if (chf.areas[ai] != RC_NULL_AREA && lid != alid) + { + portal |= (unsigned char)(1<<dir); + // Update height so that it matches on both sides of the portal. + const rcCompactSpan& as = chf.spans[ai]; + if (as.y > hmin) + layer->heights[idx] = rcMax(layer->heights[idx], (unsigned char)(as.y - hmin)); + } + // Valid connection mask + if (chf.areas[ai] != RC_NULL_AREA && lid == alid) + { + const int nx = ax - borderSize; + const int ny = ay - borderSize; + if (nx >= 0 && ny >= 0 && nx < lw && ny < lh) + con |= (unsigned char)(1<<dir); + } + } + } + + layer->cons[idx] = (portal << 4) | con; + } + } + } + + if (layer->minx > layer->maxx) + layer->minx = layer->maxx = 0; + if (layer->miny > layer->maxy) + layer->miny = layer->maxy = 0; + } + + return true; +} diff --git a/thirdparty/recastnavigation/Recast/Source/RecastMesh.cpp b/thirdparty/recastnavigation/Recast/Source/RecastMesh.cpp new file mode 100644 index 0000000000..e99eaebb79 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Source/RecastMesh.cpp @@ -0,0 +1,1552 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include <math.h> +#include <string.h> +#include <stdio.h> +#include "Recast.h" +#include "RecastAlloc.h" +#include "RecastAssert.h" + +struct rcEdge +{ + unsigned short vert[2]; + unsigned short polyEdge[2]; + unsigned short poly[2]; +}; + +static bool buildMeshAdjacency(unsigned short* polys, const int npolys, + const int nverts, const int vertsPerPoly) +{ + // Based on code by Eric Lengyel from: + // http://www.terathon.com/code/edges.php + + int maxEdgeCount = npolys*vertsPerPoly; + unsigned short* firstEdge = (unsigned short*)rcAlloc(sizeof(unsigned short)*(nverts + maxEdgeCount), RC_ALLOC_TEMP); + if (!firstEdge) + return false; + unsigned short* nextEdge = firstEdge + nverts; + int edgeCount = 0; + + rcEdge* edges = (rcEdge*)rcAlloc(sizeof(rcEdge)*maxEdgeCount, RC_ALLOC_TEMP); + if (!edges) + { + rcFree(firstEdge); + return false; + } + + for (int i = 0; i < nverts; i++) + firstEdge[i] = RC_MESH_NULL_IDX; + + for (int i = 0; i < npolys; ++i) + { + unsigned short* t = &polys[i*vertsPerPoly*2]; + for (int j = 0; j < vertsPerPoly; ++j) + { + if (t[j] == RC_MESH_NULL_IDX) break; + unsigned short v0 = t[j]; + unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == RC_MESH_NULL_IDX) ? t[0] : t[j+1]; + if (v0 < v1) + { + rcEdge& edge = edges[edgeCount]; + edge.vert[0] = v0; + edge.vert[1] = v1; + edge.poly[0] = (unsigned short)i; + edge.polyEdge[0] = (unsigned short)j; + edge.poly[1] = (unsigned short)i; + edge.polyEdge[1] = 0; + // Insert edge + nextEdge[edgeCount] = firstEdge[v0]; + firstEdge[v0] = (unsigned short)edgeCount; + edgeCount++; + } + } + } + + for (int i = 0; i < npolys; ++i) + { + unsigned short* t = &polys[i*vertsPerPoly*2]; + for (int j = 0; j < vertsPerPoly; ++j) + { + if (t[j] == RC_MESH_NULL_IDX) break; + unsigned short v0 = t[j]; + unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == RC_MESH_NULL_IDX) ? t[0] : t[j+1]; + if (v0 > v1) + { + for (unsigned short e = firstEdge[v1]; e != RC_MESH_NULL_IDX; e = nextEdge[e]) + { + rcEdge& edge = edges[e]; + if (edge.vert[1] == v0 && edge.poly[0] == edge.poly[1]) + { + edge.poly[1] = (unsigned short)i; + edge.polyEdge[1] = (unsigned short)j; + break; + } + } + } + } + } + + // Store adjacency + for (int i = 0; i < edgeCount; ++i) + { + const rcEdge& e = edges[i]; + if (e.poly[0] != e.poly[1]) + { + unsigned short* p0 = &polys[e.poly[0]*vertsPerPoly*2]; + unsigned short* p1 = &polys[e.poly[1]*vertsPerPoly*2]; + p0[vertsPerPoly + e.polyEdge[0]] = e.poly[1]; + p1[vertsPerPoly + e.polyEdge[1]] = e.poly[0]; + } + } + + rcFree(firstEdge); + rcFree(edges); + + return true; +} + + +static const int VERTEX_BUCKET_COUNT = (1<<12); + +inline int computeVertexHash(int x, int y, int z) +{ + const unsigned int h1 = 0x8da6b343; // Large multiplicative constants; + const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes + const unsigned int h3 = 0xcb1ab31f; + unsigned int n = h1 * x + h2 * y + h3 * z; + return (int)(n & (VERTEX_BUCKET_COUNT-1)); +} + +static unsigned short addVertex(unsigned short x, unsigned short y, unsigned short z, + unsigned short* verts, int* firstVert, int* nextVert, int& nv) +{ + int bucket = computeVertexHash(x, 0, z); + int i = firstVert[bucket]; + + while (i != -1) + { + const unsigned short* v = &verts[i*3]; + if (v[0] == x && (rcAbs(v[1] - y) <= 2) && v[2] == z) + return (unsigned short)i; + i = nextVert[i]; // next + } + + // Could not find, create new. + i = nv; nv++; + unsigned short* v = &verts[i*3]; + v[0] = x; + v[1] = y; + v[2] = z; + nextVert[i] = firstVert[bucket]; + firstVert[bucket] = i; + + return (unsigned short)i; +} + +// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv). +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]); +} + +// 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) +{ + 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]; +} + +// Returns T iff (v_i, v_j) is a proper internal *or* external +// diagonal of P, *ignoring edges incident to v_i and v_j*. +static bool diagonalie(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 (intersect(d0, d1, p0, p1)) + return false; + } + } + return true; +} + +// Returns true iff the diagonal (i,j) is strictly internal to the +// polygon P in the neighborhood of the i endpoint. +static bool inCone(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 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)); +} + +// Returns T iff (v_i, v_j) is a proper internal +// diagonal of P. +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; + int* dst = tris; + + // The last bit of the index is used to indicate if the vertex can be removed. + for (int i = 0; i < n; i++) + { + int i1 = next(i, n); + int i2 = next(i1, n); + if (diagonal(i, i2, n, verts, indices)) + indices[i1] |= 0x80000000; + } + + while (n > 3) + { + int minLen = -1; + int mini = -1; + for (int i = 0; i < n; i++) + { + int i1 = next(i, n); + if (indices[i1] & 0x80000000) + { + const int* p0 = &verts[(indices[i] & 0x0fffffff) * 4]; + const int* p2 = &verts[(indices[next(i1, 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) + { + // 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++) + { + 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; + } + } + + int i = mini; + int i1 = next(i, n); + int i2 = next(i1, n); + + *dst++ = indices[i] & 0x0fffffff; + *dst++ = indices[i1] & 0x0fffffff; + *dst++ = indices[i2] & 0x0fffffff; + ntris++; + + // Removes P[i1] by copying P[i+1]...P[n-1] left one index. + n--; + for (int k = i1; k < n; k++) + indices[k] = indices[k+1]; + + if (i1 >= n) i1 = 0; + i = prev(i1,n); + // Update diagonal flags. + if (diagonal(prev(i, n), i1, n, verts, indices)) + indices[i] |= 0x80000000; + else + indices[i] &= 0x0fffffff; + + if (diagonal(i, next(i1, n), n, verts, indices)) + indices[i1] |= 0x80000000; + else + indices[i1] &= 0x0fffffff; + } + + // Append the remaining triangle. + *dst++ = indices[0] & 0x0fffffff; + *dst++ = indices[1] & 0x0fffffff; + *dst++ = indices[2] & 0x0fffffff; + ntris++; + + return ntris; +} + +static int countPolyVerts(const unsigned short* p, const int nvp) +{ + for (int i = 0; i < nvp; ++i) + if (p[i] == RC_MESH_NULL_IDX) + return i; + return nvp; +} + +inline bool uleft(const unsigned short* a, const unsigned short* b, const unsigned short* c) +{ + return ((int)b[0] - (int)a[0]) * ((int)c[2] - (int)a[2]) - + ((int)c[0] - (int)a[0]) * ((int)b[2] - (int)a[2]) < 0; +} + +static int getPolyMergeValue(unsigned short* pa, unsigned short* pb, + const unsigned short* verts, int& ea, int& eb, + const int nvp) +{ + const int na = countPolyVerts(pa, nvp); + const int nb = countPolyVerts(pb, nvp); + + // If the merged polygon would be too big, do not merge. + if (na+nb-2 > nvp) + return -1; + + // Check if the polygons share an edge. + ea = -1; + eb = -1; + + for (int i = 0; i < na; ++i) + { + unsigned short va0 = pa[i]; + unsigned short va1 = pa[(i+1) % na]; + if (va0 > va1) + rcSwap(va0, va1); + for (int j = 0; j < nb; ++j) + { + unsigned short vb0 = pb[j]; + unsigned short vb1 = pb[(j+1) % nb]; + if (vb0 > vb1) + rcSwap(vb0, vb1); + if (va0 == vb0 && va1 == vb1) + { + ea = i; + eb = j; + break; + } + } + } + + // No common edge, cannot merge. + if (ea == -1 || eb == -1) + return -1; + + // Check to see if the merged polygon would be convex. + unsigned short va, vb, vc; + + va = pa[(ea+na-1) % na]; + vb = pa[ea]; + vc = pb[(eb+2) % nb]; + if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3])) + return -1; + + va = pb[(eb+nb-1) % nb]; + vb = pb[eb]; + vc = pa[(ea+2) % na]; + if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3])) + return -1; + + va = pa[ea]; + vb = pa[(ea+1)%na]; + + int dx = (int)verts[va*3+0] - (int)verts[vb*3+0]; + int dy = (int)verts[va*3+2] - (int)verts[vb*3+2]; + + return dx*dx + dy*dy; +} + +static void mergePolyVerts(unsigned short* pa, unsigned short* pb, int ea, int eb, + unsigned short* tmp, const int nvp) +{ + const int na = countPolyVerts(pa, nvp); + const int nb = countPolyVerts(pb, nvp); + + // Merge polygons. + memset(tmp, 0xff, sizeof(unsigned short)*nvp); + int n = 0; + // Add pa + for (int i = 0; i < na-1; ++i) + tmp[n++] = pa[(ea+1+i) % na]; + // Add pb + for (int i = 0; i < nb-1; ++i) + tmp[n++] = pb[(eb+1+i) % nb]; + + memcpy(pa, tmp, sizeof(unsigned short)*nvp); +} + + +static void pushFront(int v, int* arr, int& an) +{ + an++; + for (int i = an-1; i > 0; --i) arr[i] = arr[i-1]; + arr[0] = v; +} + +static void pushBack(int v, int* arr, int& an) +{ + arr[an] = v; + an++; +} + +static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short rem) +{ + const int nvp = mesh.nvp; + + // Count number of polygons to remove. + int numRemovedVerts = 0; + int numTouchedVerts = 0; + int numRemainingEdges = 0; + for (int i = 0; i < mesh.npolys; ++i) + { + unsigned short* p = &mesh.polys[i*nvp*2]; + const int nv = countPolyVerts(p, nvp); + int numRemoved = 0; + int numVerts = 0; + for (int j = 0; j < nv; ++j) + { + if (p[j] == rem) + { + numTouchedVerts++; + numRemoved++; + } + numVerts++; + } + if (numRemoved) + { + numRemovedVerts += numRemoved; + numRemainingEdges += numVerts-(numRemoved+1); + } + } + + // There would be too few edges remaining to create a polygon. + // This can happen for example when a tip of a triangle is marked + // as deletion, but there are no other polys that share the vertex. + // In this case, the vertex should not be removed. + if (numRemainingEdges <= 2) + return false; + + // Find edges which share the removed vertex. + const int maxEdges = numTouchedVerts*2; + int nedges = 0; + rcScopedDelete<int> edges((int*)rcAlloc(sizeof(int)*maxEdges*3, RC_ALLOC_TEMP)); + if (!edges) + { + ctx->log(RC_LOG_WARNING, "canRemoveVertex: Out of memory 'edges' (%d).", maxEdges*3); + return false; + } + + for (int i = 0; i < mesh.npolys; ++i) + { + unsigned short* p = &mesh.polys[i*nvp*2]; + const int nv = countPolyVerts(p, nvp); + + // Collect edges which touches the removed vertex. + for (int j = 0, k = nv-1; j < nv; k = j++) + { + if (p[j] == rem || p[k] == rem) + { + // Arrange edge so that a=rem. + int a = p[j], b = p[k]; + if (b == rem) + rcSwap(a,b); + + // Check if the edge exists + bool exists = false; + for (int m = 0; m < nedges; ++m) + { + int* e = &edges[m*3]; + if (e[1] == b) + { + // Exists, increment vertex share count. + e[2]++; + exists = true; + } + } + // Add new edge. + if (!exists) + { + int* e = &edges[nedges*3]; + e[0] = a; + e[1] = b; + e[2] = 1; + nedges++; + } + } + } + } + + // There should be no more than 2 open edges. + // This catches the case that two non-adjacent polygons + // share the removed vertex. In that case, do not remove the vertex. + int numOpenEdges = 0; + for (int i = 0; i < nedges; ++i) + { + if (edges[i*3+2] < 2) + numOpenEdges++; + } + if (numOpenEdges > 2) + return false; + + return true; +} + +static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short rem, const int maxTris) +{ + const int nvp = mesh.nvp; + + // Count number of polygons to remove. + int numRemovedVerts = 0; + for (int i = 0; i < mesh.npolys; ++i) + { + unsigned short* p = &mesh.polys[i*nvp*2]; + const int nv = countPolyVerts(p, nvp); + for (int j = 0; j < nv; ++j) + { + if (p[j] == rem) + numRemovedVerts++; + } + } + + int nedges = 0; + rcScopedDelete<int> edges((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp*4, RC_ALLOC_TEMP)); + if (!edges) + { + ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'edges' (%d).", numRemovedVerts*nvp*4); + return false; + } + + int nhole = 0; + rcScopedDelete<int> hole((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP)); + if (!hole) + { + ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hole' (%d).", numRemovedVerts*nvp); + return false; + } + + int nhreg = 0; + rcScopedDelete<int> hreg((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP)); + if (!hreg) + { + ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hreg' (%d).", numRemovedVerts*nvp); + return false; + } + + int nharea = 0; + rcScopedDelete<int> harea((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP)); + if (!harea) + { + ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'harea' (%d).", numRemovedVerts*nvp); + return false; + } + + for (int i = 0; i < mesh.npolys; ++i) + { + unsigned short* p = &mesh.polys[i*nvp*2]; + const int nv = countPolyVerts(p, nvp); + bool hasRem = false; + for (int j = 0; j < nv; ++j) + if (p[j] == rem) hasRem = true; + if (hasRem) + { + // Collect edges which does not touch the removed vertex. + for (int j = 0, k = nv-1; j < nv; k = j++) + { + if (p[j] != rem && p[k] != rem) + { + int* e = &edges[nedges*4]; + e[0] = p[k]; + e[1] = p[j]; + e[2] = mesh.regs[i]; + e[3] = mesh.areas[i]; + nedges++; + } + } + // Remove the polygon. + unsigned short* p2 = &mesh.polys[(mesh.npolys-1)*nvp*2]; + if (p != p2) + memcpy(p,p2,sizeof(unsigned short)*nvp); + memset(p+nvp,0xff,sizeof(unsigned short)*nvp); + mesh.regs[i] = mesh.regs[mesh.npolys-1]; + mesh.areas[i] = mesh.areas[mesh.npolys-1]; + mesh.npolys--; + --i; + } + } + + // Remove vertex. + for (int i = (int)rem; i < mesh.nverts - 1; ++i) + { + mesh.verts[i*3+0] = mesh.verts[(i+1)*3+0]; + mesh.verts[i*3+1] = mesh.verts[(i+1)*3+1]; + mesh.verts[i*3+2] = mesh.verts[(i+1)*3+2]; + } + mesh.nverts--; + + // Adjust indices to match the removed vertex layout. + for (int i = 0; i < mesh.npolys; ++i) + { + unsigned short* p = &mesh.polys[i*nvp*2]; + const int nv = countPolyVerts(p, nvp); + for (int j = 0; j < nv; ++j) + if (p[j] > rem) p[j]--; + } + for (int i = 0; i < nedges; ++i) + { + if (edges[i*4+0] > rem) edges[i*4+0]--; + if (edges[i*4+1] > rem) edges[i*4+1]--; + } + + if (nedges == 0) + return true; + + // Start with one vertex, keep appending connected + // segments to the start and end of the hole. + pushBack(edges[0], hole, nhole); + pushBack(edges[2], hreg, nhreg); + pushBack(edges[3], harea, nharea); + + while (nedges) + { + bool match = false; + + for (int i = 0; i < nedges; ++i) + { + const int ea = edges[i*4+0]; + const int eb = edges[i*4+1]; + const int r = edges[i*4+2]; + const int a = edges[i*4+3]; + bool add = false; + if (hole[0] == eb) + { + // The segment matches the beginning of the hole boundary. + pushFront(ea, hole, nhole); + pushFront(r, hreg, nhreg); + pushFront(a, harea, nharea); + add = true; + } + else if (hole[nhole-1] == ea) + { + // The segment matches the end of the hole boundary. + pushBack(eb, hole, nhole); + pushBack(r, hreg, nhreg); + pushBack(a, harea, nharea); + add = true; + } + if (add) + { + // The edge segment was added, remove it. + edges[i*4+0] = edges[(nedges-1)*4+0]; + edges[i*4+1] = edges[(nedges-1)*4+1]; + edges[i*4+2] = edges[(nedges-1)*4+2]; + edges[i*4+3] = edges[(nedges-1)*4+3]; + --nedges; + match = true; + --i; + } + } + + if (!match) + break; + } + + rcScopedDelete<int> tris((int*)rcAlloc(sizeof(int)*nhole*3, RC_ALLOC_TEMP)); + if (!tris) + { + ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tris' (%d).", nhole*3); + return false; + } + + rcScopedDelete<int> tverts((int*)rcAlloc(sizeof(int)*nhole*4, RC_ALLOC_TEMP)); + if (!tverts) + { + ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tverts' (%d).", nhole*4); + return false; + } + + rcScopedDelete<int> thole((int*)rcAlloc(sizeof(int)*nhole, RC_ALLOC_TEMP)); + if (!thole) + { + ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'thole' (%d).", nhole); + return false; + } + + // Generate temp vertex array for triangulation. + for (int i = 0; i < nhole; ++i) + { + const int pi = hole[i]; + tverts[i*4+0] = mesh.verts[pi*3+0]; + tverts[i*4+1] = mesh.verts[pi*3+1]; + tverts[i*4+2] = mesh.verts[pi*3+2]; + tverts[i*4+3] = 0; + thole[i] = i; + } + + // Triangulate the hole. + int ntris = triangulate(nhole, &tverts[0], &thole[0], tris); + if (ntris < 0) + { + ntris = -ntris; + ctx->log(RC_LOG_WARNING, "removeVertex: triangulate() returned bad results."); + } + + // Merge the hole triangles back to polygons. + rcScopedDelete<unsigned short> polys((unsigned short*)rcAlloc(sizeof(unsigned short)*(ntris+1)*nvp, RC_ALLOC_TEMP)); + if (!polys) + { + ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'polys' (%d).", (ntris+1)*nvp); + return false; + } + rcScopedDelete<unsigned short> pregs((unsigned short*)rcAlloc(sizeof(unsigned short)*ntris, RC_ALLOC_TEMP)); + if (!pregs) + { + ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pregs' (%d).", ntris); + return false; + } + rcScopedDelete<unsigned char> pareas((unsigned char*)rcAlloc(sizeof(unsigned char)*ntris, RC_ALLOC_TEMP)); + if (!pareas) + { + ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pareas' (%d).", ntris); + return false; + } + + unsigned short* tmpPoly = &polys[ntris*nvp]; + + // Build initial polygons. + int npolys = 0; + memset(polys, 0xff, ntris*nvp*sizeof(unsigned short)); + for (int j = 0; j < ntris; ++j) + { + int* t = &tris[j*3]; + if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2]) + { + polys[npolys*nvp+0] = (unsigned short)hole[t[0]]; + polys[npolys*nvp+1] = (unsigned short)hole[t[1]]; + polys[npolys*nvp+2] = (unsigned short)hole[t[2]]; + + // If this polygon covers multiple region types then + // mark it as such + if (hreg[t[0]] != hreg[t[1]] || hreg[t[1]] != hreg[t[2]]) + pregs[npolys] = RC_MULTIPLE_REGS; + else + pregs[npolys] = (unsigned short)hreg[t[0]]; + + pareas[npolys] = (unsigned char)harea[t[0]]; + npolys++; + } + } + if (!npolys) + return true; + + // Merge polygons. + if (nvp > 3) + { + for (;;) + { + // Find best polygons to merge. + int bestMergeVal = 0; + int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0; + + for (int j = 0; j < npolys-1; ++j) + { + unsigned short* pj = &polys[j*nvp]; + for (int k = j+1; k < npolys; ++k) + { + unsigned short* pk = &polys[k*nvp]; + int ea, eb; + int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp); + if (v > bestMergeVal) + { + bestMergeVal = v; + bestPa = j; + bestPb = k; + bestEa = ea; + bestEb = eb; + } + } + } + + if (bestMergeVal > 0) + { + // Found best, merge. + unsigned short* pa = &polys[bestPa*nvp]; + unsigned short* pb = &polys[bestPb*nvp]; + mergePolyVerts(pa, pb, bestEa, bestEb, tmpPoly, nvp); + if (pregs[bestPa] != pregs[bestPb]) + pregs[bestPa] = RC_MULTIPLE_REGS; + + unsigned short* last = &polys[(npolys-1)*nvp]; + if (pb != last) + memcpy(pb, last, sizeof(unsigned short)*nvp); + pregs[bestPb] = pregs[npolys-1]; + pareas[bestPb] = pareas[npolys-1]; + npolys--; + } + else + { + // Could not merge any polygons, stop. + break; + } + } + } + + // Store polygons. + for (int i = 0; i < npolys; ++i) + { + if (mesh.npolys >= maxTris) break; + unsigned short* p = &mesh.polys[mesh.npolys*nvp*2]; + memset(p,0xff,sizeof(unsigned short)*nvp*2); + for (int j = 0; j < nvp; ++j) + p[j] = polys[i*nvp+j]; + mesh.regs[mesh.npolys] = pregs[i]; + mesh.areas[mesh.npolys] = pareas[i]; + mesh.npolys++; + if (mesh.npolys > maxTris) + { + ctx->log(RC_LOG_ERROR, "removeVertex: Too many polygons %d (max:%d).", mesh.npolys, maxTris); + return false; + } + } + + return true; +} + +/// @par +/// +/// @note If the mesh data is to be used to construct a Detour navigation mesh, then the upper +/// limit must be retricted to <= #DT_VERTS_PER_POLYGON. +/// +/// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig +bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_BUILD_POLYMESH); + + rcVcopy(mesh.bmin, cset.bmin); + rcVcopy(mesh.bmax, cset.bmax); + mesh.cs = cset.cs; + mesh.ch = cset.ch; + mesh.borderSize = cset.borderSize; + mesh.maxEdgeError = cset.maxError; + + int maxVertices = 0; + int maxTris = 0; + int maxVertsPerCont = 0; + for (int i = 0; i < cset.nconts; ++i) + { + // Skip null contours. + if (cset.conts[i].nverts < 3) continue; + maxVertices += cset.conts[i].nverts; + maxTris += cset.conts[i].nverts - 2; + maxVertsPerCont = rcMax(maxVertsPerCont, cset.conts[i].nverts); + } + + if (maxVertices >= 0xfffe) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many vertices %d.", maxVertices); + return false; + } + + rcScopedDelete<unsigned char> vflags((unsigned char*)rcAlloc(sizeof(unsigned char)*maxVertices, RC_ALLOC_TEMP)); + if (!vflags) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'vflags' (%d).", maxVertices); + return false; + } + memset(vflags, 0, maxVertices); + + mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertices*3, RC_ALLOC_PERM); + if (!mesh.verts) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices); + return false; + } + mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris*nvp*2, RC_ALLOC_PERM); + if (!mesh.polys) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.polys' (%d).", maxTris*nvp*2); + return false; + } + mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris, RC_ALLOC_PERM); + if (!mesh.regs) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.regs' (%d).", maxTris); + return false; + } + mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris, RC_ALLOC_PERM); + if (!mesh.areas) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.areas' (%d).", maxTris); + return false; + } + + mesh.nverts = 0; + mesh.npolys = 0; + mesh.nvp = nvp; + mesh.maxpolys = maxTris; + + memset(mesh.verts, 0, sizeof(unsigned short)*maxVertices*3); + memset(mesh.polys, 0xff, sizeof(unsigned short)*maxTris*nvp*2); + memset(mesh.regs, 0, sizeof(unsigned short)*maxTris); + memset(mesh.areas, 0, sizeof(unsigned char)*maxTris); + + rcScopedDelete<int> nextVert((int*)rcAlloc(sizeof(int)*maxVertices, RC_ALLOC_TEMP)); + if (!nextVert) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'nextVert' (%d).", maxVertices); + return false; + } + memset(nextVert, 0, sizeof(int)*maxVertices); + + rcScopedDelete<int> firstVert((int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP)); + if (!firstVert) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT); + return false; + } + for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i) + firstVert[i] = -1; + + rcScopedDelete<int> indices((int*)rcAlloc(sizeof(int)*maxVertsPerCont, RC_ALLOC_TEMP)); + if (!indices) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'indices' (%d).", maxVertsPerCont); + return false; + } + rcScopedDelete<int> tris((int*)rcAlloc(sizeof(int)*maxVertsPerCont*3, RC_ALLOC_TEMP)); + if (!tris) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'tris' (%d).", maxVertsPerCont*3); + return false; + } + rcScopedDelete<unsigned short> polys((unsigned short*)rcAlloc(sizeof(unsigned short)*(maxVertsPerCont+1)*nvp, RC_ALLOC_TEMP)); + if (!polys) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'polys' (%d).", maxVertsPerCont*nvp); + return false; + } + unsigned short* tmpPoly = &polys[maxVertsPerCont*nvp]; + + for (int i = 0; i < cset.nconts; ++i) + { + rcContour& cont = cset.conts[i]; + + // Skip null contours. + if (cont.nverts < 3) + continue; + + // Triangulate contour + for (int j = 0; j < cont.nverts; ++j) + indices[j] = j; + + int ntris = triangulate(cont.nverts, cont.verts, &indices[0], &tris[0]); + if (ntris <= 0) + { + // Bad triangulation, should not happen. +/* printf("\tconst float bmin[3] = {%ff,%ff,%ff};\n", cset.bmin[0], cset.bmin[1], cset.bmin[2]); + printf("\tconst float cs = %ff;\n", cset.cs); + printf("\tconst float ch = %ff;\n", cset.ch); + printf("\tconst int verts[] = {\n"); + for (int k = 0; k < cont.nverts; ++k) + { + const int* v = &cont.verts[k*4]; + printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]); + } + printf("\t};\n\tconst int nverts = sizeof(verts)/(sizeof(int)*4);\n");*/ + ctx->log(RC_LOG_WARNING, "rcBuildPolyMesh: Bad triangulation Contour %d.", i); + ntris = -ntris; + } + + // Add and merge vertices. + for (int j = 0; j < cont.nverts; ++j) + { + const int* v = &cont.verts[j*4]; + indices[j] = addVertex((unsigned short)v[0], (unsigned short)v[1], (unsigned short)v[2], + mesh.verts, firstVert, nextVert, mesh.nverts); + if (v[3] & RC_BORDER_VERTEX) + { + // This vertex should be removed. + vflags[indices[j]] = 1; + } + } + + // Build initial polygons. + int npolys = 0; + memset(polys, 0xff, maxVertsPerCont*nvp*sizeof(unsigned short)); + for (int j = 0; j < ntris; ++j) + { + int* t = &tris[j*3]; + if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2]) + { + polys[npolys*nvp+0] = (unsigned short)indices[t[0]]; + polys[npolys*nvp+1] = (unsigned short)indices[t[1]]; + polys[npolys*nvp+2] = (unsigned short)indices[t[2]]; + npolys++; + } + } + if (!npolys) + continue; + + // Merge polygons. + if (nvp > 3) + { + for(;;) + { + // Find best polygons to merge. + int bestMergeVal = 0; + int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0; + + for (int j = 0; j < npolys-1; ++j) + { + unsigned short* pj = &polys[j*nvp]; + for (int k = j+1; k < npolys; ++k) + { + unsigned short* pk = &polys[k*nvp]; + int ea, eb; + int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp); + if (v > bestMergeVal) + { + bestMergeVal = v; + bestPa = j; + bestPb = k; + bestEa = ea; + bestEb = eb; + } + } + } + + if (bestMergeVal > 0) + { + // Found best, merge. + unsigned short* pa = &polys[bestPa*nvp]; + unsigned short* pb = &polys[bestPb*nvp]; + mergePolyVerts(pa, pb, bestEa, bestEb, tmpPoly, nvp); + unsigned short* lastPoly = &polys[(npolys-1)*nvp]; + if (pb != lastPoly) + memcpy(pb, lastPoly, sizeof(unsigned short)*nvp); + npolys--; + } + else + { + // Could not merge any polygons, stop. + break; + } + } + } + + // Store polygons. + for (int j = 0; j < npolys; ++j) + { + unsigned short* p = &mesh.polys[mesh.npolys*nvp*2]; + unsigned short* q = &polys[j*nvp]; + for (int k = 0; k < nvp; ++k) + p[k] = q[k]; + mesh.regs[mesh.npolys] = cont.reg; + mesh.areas[mesh.npolys] = cont.area; + mesh.npolys++; + if (mesh.npolys > maxTris) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many polygons %d (max:%d).", mesh.npolys, maxTris); + return false; + } + } + } + + + // Remove edge vertices. + for (int i = 0; i < mesh.nverts; ++i) + { + if (vflags[i]) + { + if (!canRemoveVertex(ctx, mesh, (unsigned short)i)) + continue; + if (!removeVertex(ctx, mesh, (unsigned short)i, maxTris)) + { + // Failed to remove vertex + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Failed to remove edge vertex %d.", i); + return false; + } + // Remove vertex + // Note: mesh.nverts is already decremented inside removeVertex()! + // Fixup vertex flags + for (int j = i; j < mesh.nverts; ++j) + vflags[j] = vflags[j+1]; + --i; + } + } + + // Calculate adjacency. + if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, nvp)) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Adjacency failed."); + return false; + } + + // Find portal edges + if (mesh.borderSize > 0) + { + const int w = cset.width; + const int h = cset.height; + for (int i = 0; i < mesh.npolys; ++i) + { + unsigned short* p = &mesh.polys[i*2*nvp]; + for (int j = 0; j < nvp; ++j) + { + if (p[j] == RC_MESH_NULL_IDX) break; + // Skip connected edges. + if (p[nvp+j] != RC_MESH_NULL_IDX) + continue; + int nj = j+1; + if (nj >= nvp || p[nj] == RC_MESH_NULL_IDX) nj = 0; + const unsigned short* va = &mesh.verts[p[j]*3]; + const unsigned short* vb = &mesh.verts[p[nj]*3]; + + if ((int)va[0] == 0 && (int)vb[0] == 0) + p[nvp+j] = 0x8000 | 0; + else if ((int)va[2] == h && (int)vb[2] == h) + p[nvp+j] = 0x8000 | 1; + else if ((int)va[0] == w && (int)vb[0] == w) + p[nvp+j] = 0x8000 | 2; + else if ((int)va[2] == 0 && (int)vb[2] == 0) + p[nvp+j] = 0x8000 | 3; + } + } + } + + // Just allocate the mesh flags array. The user is resposible to fill it. + mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*mesh.npolys, RC_ALLOC_PERM); + if (!mesh.flags) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.flags' (%d).", mesh.npolys); + return false; + } + memset(mesh.flags, 0, sizeof(unsigned short) * mesh.npolys); + + if (mesh.nverts > 0xffff) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff); + } + if (mesh.npolys > 0xffff) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff); + } + + return true; +} + +/// @see rcAllocPolyMesh, rcPolyMesh +bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh) +{ + rcAssert(ctx); + + if (!nmeshes || !meshes) + return true; + + rcScopedTimer timer(ctx, RC_TIMER_MERGE_POLYMESH); + + mesh.nvp = meshes[0]->nvp; + mesh.cs = meshes[0]->cs; + mesh.ch = meshes[0]->ch; + rcVcopy(mesh.bmin, meshes[0]->bmin); + rcVcopy(mesh.bmax, meshes[0]->bmax); + + int maxVerts = 0; + int maxPolys = 0; + int maxVertsPerMesh = 0; + for (int i = 0; i < nmeshes; ++i) + { + rcVmin(mesh.bmin, meshes[i]->bmin); + rcVmax(mesh.bmax, meshes[i]->bmax); + maxVertsPerMesh = rcMax(maxVertsPerMesh, meshes[i]->nverts); + maxVerts += meshes[i]->nverts; + maxPolys += meshes[i]->npolys; + } + + mesh.nverts = 0; + mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVerts*3, RC_ALLOC_PERM); + if (!mesh.verts) + { + ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.verts' (%d).", maxVerts*3); + return false; + } + + mesh.npolys = 0; + mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys*2*mesh.nvp, RC_ALLOC_PERM); + if (!mesh.polys) + { + ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.polys' (%d).", maxPolys*2*mesh.nvp); + return false; + } + memset(mesh.polys, 0xff, sizeof(unsigned short)*maxPolys*2*mesh.nvp); + + mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM); + if (!mesh.regs) + { + ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.regs' (%d).", maxPolys); + return false; + } + memset(mesh.regs, 0, sizeof(unsigned short)*maxPolys); + + mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxPolys, RC_ALLOC_PERM); + if (!mesh.areas) + { + ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.areas' (%d).", maxPolys); + return false; + } + memset(mesh.areas, 0, sizeof(unsigned char)*maxPolys); + + mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM); + if (!mesh.flags) + { + ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.flags' (%d).", maxPolys); + return false; + } + memset(mesh.flags, 0, sizeof(unsigned short)*maxPolys); + + rcScopedDelete<int> nextVert((int*)rcAlloc(sizeof(int)*maxVerts, RC_ALLOC_TEMP)); + if (!nextVert) + { + ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'nextVert' (%d).", maxVerts); + return false; + } + memset(nextVert, 0, sizeof(int)*maxVerts); + + rcScopedDelete<int> firstVert((int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP)); + if (!firstVert) + { + ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT); + return false; + } + for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i) + firstVert[i] = -1; + + rcScopedDelete<unsigned short> vremap((unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertsPerMesh, RC_ALLOC_PERM)); + if (!vremap) + { + ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'vremap' (%d).", maxVertsPerMesh); + return false; + } + memset(vremap, 0, sizeof(unsigned short)*maxVertsPerMesh); + + for (int i = 0; i < nmeshes; ++i) + { + const rcPolyMesh* pmesh = meshes[i]; + + const unsigned short ox = (unsigned short)floorf((pmesh->bmin[0]-mesh.bmin[0])/mesh.cs+0.5f); + const unsigned short oz = (unsigned short)floorf((pmesh->bmin[2]-mesh.bmin[2])/mesh.cs+0.5f); + + bool isMinX = (ox == 0); + bool isMinZ = (oz == 0); + bool isMaxX = ((unsigned short)floorf((mesh.bmax[0] - pmesh->bmax[0]) / mesh.cs + 0.5f)) == 0; + bool isMaxZ = ((unsigned short)floorf((mesh.bmax[2] - pmesh->bmax[2]) / mesh.cs + 0.5f)) == 0; + bool isOnBorder = (isMinX || isMinZ || isMaxX || isMaxZ); + + for (int j = 0; j < pmesh->nverts; ++j) + { + unsigned short* v = &pmesh->verts[j*3]; + vremap[j] = addVertex(v[0]+ox, v[1], v[2]+oz, + mesh.verts, firstVert, nextVert, mesh.nverts); + } + + for (int j = 0; j < pmesh->npolys; ++j) + { + unsigned short* tgt = &mesh.polys[mesh.npolys*2*mesh.nvp]; + unsigned short* src = &pmesh->polys[j*2*mesh.nvp]; + mesh.regs[mesh.npolys] = pmesh->regs[j]; + mesh.areas[mesh.npolys] = pmesh->areas[j]; + mesh.flags[mesh.npolys] = pmesh->flags[j]; + mesh.npolys++; + for (int k = 0; k < mesh.nvp; ++k) + { + if (src[k] == RC_MESH_NULL_IDX) break; + tgt[k] = vremap[src[k]]; + } + + if (isOnBorder) + { + for (int k = mesh.nvp; k < mesh.nvp * 2; ++k) + { + if (src[k] & 0x8000 && src[k] != 0xffff) + { + unsigned short dir = src[k] & 0xf; + switch (dir) + { + case 0: // Portal x- + if (isMinX) + tgt[k] = src[k]; + break; + case 1: // Portal z+ + if (isMaxZ) + tgt[k] = src[k]; + break; + case 2: // Portal x+ + if (isMaxX) + tgt[k] = src[k]; + break; + case 3: // Portal z- + if (isMinZ) + tgt[k] = src[k]; + break; + } + } + } + } + } + } + + // Calculate adjacency. + if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, mesh.nvp)) + { + ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Adjacency failed."); + return false; + } + + if (mesh.nverts > 0xffff) + { + ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff); + } + if (mesh.npolys > 0xffff) + { + ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff); + } + + return true; +} + +bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst) +{ + rcAssert(ctx); + + // Destination must be empty. + rcAssert(dst.verts == 0); + rcAssert(dst.polys == 0); + rcAssert(dst.regs == 0); + rcAssert(dst.areas == 0); + rcAssert(dst.flags == 0); + + dst.nverts = src.nverts; + dst.npolys = src.npolys; + dst.maxpolys = src.npolys; + dst.nvp = src.nvp; + rcVcopy(dst.bmin, src.bmin); + rcVcopy(dst.bmax, src.bmax); + dst.cs = src.cs; + dst.ch = src.ch; + dst.borderSize = src.borderSize; + dst.maxEdgeError = src.maxEdgeError; + + dst.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.nverts*3, RC_ALLOC_PERM); + if (!dst.verts) + { + ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.verts' (%d).", src.nverts*3); + return false; + } + memcpy(dst.verts, src.verts, sizeof(unsigned short)*src.nverts*3); + + dst.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys*2*src.nvp, RC_ALLOC_PERM); + if (!dst.polys) + { + ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.polys' (%d).", src.npolys*2*src.nvp); + return false; + } + memcpy(dst.polys, src.polys, sizeof(unsigned short)*src.npolys*2*src.nvp); + + dst.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys, RC_ALLOC_PERM); + if (!dst.regs) + { + ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.regs' (%d).", src.npolys); + return false; + } + memcpy(dst.regs, src.regs, sizeof(unsigned short)*src.npolys); + + dst.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*src.npolys, RC_ALLOC_PERM); + if (!dst.areas) + { + ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.areas' (%d).", src.npolys); + return false; + } + memcpy(dst.areas, src.areas, sizeof(unsigned char)*src.npolys); + + dst.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys, RC_ALLOC_PERM); + if (!dst.flags) + { + ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.flags' (%d).", src.npolys); + return false; + } + memcpy(dst.flags, src.flags, sizeof(unsigned short)*src.npolys); + + return true; +} diff --git a/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp b/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp new file mode 100644 index 0000000000..f953132f74 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp @@ -0,0 +1,1462 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include <float.h> +#define _USE_MATH_DEFINES +#include <math.h> +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include "Recast.h" +#include "RecastAlloc.h" +#include "RecastAssert.h" + + +static const unsigned RC_UNSET_HEIGHT = 0xffff; + +struct rcHeightPatch +{ + inline rcHeightPatch() : data(0), xmin(0), ymin(0), width(0), height(0) {} + inline ~rcHeightPatch() { rcFree(data); } + unsigned short* data; + int xmin, ymin, width, height; +}; + + +inline float vdot2(const float* a, const float* b) +{ + return a[0]*b[0] + a[2]*b[2]; +} + +inline float vdistSq2(const float* p, const float* q) +{ + const float dx = q[0] - p[0]; + const float dy = q[2] - p[2]; + return dx*dx + dy*dy; +} + +inline float vdist2(const float* p, const float* q) +{ + return sqrtf(vdistSq2(p,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]; + const float v2 = p3[2] - p1[2]; + return u1 * v2 - v1 * u2; +} + +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(v1, v2, v3); + if (fabsf(cp) > EPS) + { + 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; + } + + rcVcopy(c, p1); + r = 0; + return false; +} + +static float distPtTri(const float* p, const float* a, const float* b, const float* c) +{ + float v0[3], v1[3], v2[3]; + 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); + const float dot11 = vdot2(v1, v1); + const float dot12 = vdot2(v1, v2); + + // Compute barycentric coordinates + const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01); + const float u = (dot11 * dot02 - dot01 * dot12) * invDenom; + float v = (dot00 * dot12 - dot01 * dot02) * invDenom; + + // If point lies inside the triangle, return interpolated y-coord. + static const float EPS = 1e-4f; + if (u >= -EPS && v >= -EPS && (u+v) <= 1+EPS) + { + const float y = a[1] + v0[1]*u + v1[1]*v; + return fabsf(y-p[1]); + } + return FLT_MAX; +} + +static float distancePtSeg(const float* pt, const float* p, const float* q) +{ + float pqx = q[0] - p[0]; + float pqy = q[1] - p[1]; + float pqz = q[2] - p[2]; + float dx = pt[0] - p[0]; + float dy = pt[1] - p[1]; + float dz = pt[2] - p[2]; + 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 = p[0] + t*pqx - pt[0]; + dy = p[1] + t*pqy - pt[1]; + dz = p[2] + t*pqz - pt[2]; + + return dx*dx + dy*dy + dz*dz; +} + +static float distancePtSeg2d(const float* pt, const float* p, const float* q) +{ + float pqx = q[0] - p[0]; + float pqz = q[2] - p[2]; + float dx = pt[0] - p[0]; + float dz = pt[2] - p[2]; + float d = pqx*pqx + pqz*pqz; + float t = pqx*dx + pqz*dz; + if (d > 0) + t /= d; + if (t < 0) + t = 0; + else if (t > 1) + t = 1; + + dx = p[0] + t*pqx - pt[0]; + dz = p[2] + t*pqz - pt[2]; + + return dx*dx + dz*dz; +} + +static float distToTriMesh(const float* p, const float* verts, const int /*nverts*/, const int* tris, const int ntris) +{ + float dmin = FLT_MAX; + for (int i = 0; i < ntris; ++i) + { + const float* va = &verts[tris[i*4+0]*3]; + const float* vb = &verts[tris[i*4+1]*3]; + const float* vc = &verts[tris[i*4+2]*3]; + float d = distPtTri(p, va,vb,vc); + if (d < dmin) + dmin = d; + } + if (dmin == FLT_MAX) return -1; + return dmin; +} + +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++) + { + const float* vi = &verts[i*3]; + const float* vj = &verts[j*3]; + if (((vi[2] > p[2]) != (vj[2] > p[2])) && + (p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) ) + c = !c; + dmin = rcMin(dmin, distancePtSeg2d(p, vj, vi)); + } + return c ? -dmin : dmin; +} + + +static unsigned short getHeight(const float fx, const float fy, const float fz, + const float /*cs*/, const float ics, const float ch, + const int radius, const rcHeightPatch& hp) +{ + int ix = (int)floorf(fx*ics + 0.01f); + int iz = (int)floorf(fz*ics + 0.01f); + ix = rcClamp(ix-hp.xmin, 0, hp.width - 1); + iz = rcClamp(iz-hp.ymin, 0, hp.height - 1); + unsigned short h = hp.data[ix+iz*hp.width]; + if (h == RC_UNSET_HEIGHT) + { + // Special case when data might be bad. + // Walk adjacent cells in a spiral up to 'radius', and look + // for a pixel which has a valid height. + int x = 1, z = 0, dx = 1, dz = 0; + int maxSize = radius * 2 + 1; + int maxIter = maxSize * maxSize - 1; + + int nextRingIterStart = 8; + int nextRingIters = 16; + + float dmin = FLT_MAX; + for (int i = 0; i < maxIter; i++) + { + const int nx = ix + x; + const int nz = iz + z; + + if (nx >= 0 && nz >= 0 && nx < hp.width && nz < hp.height) + { + const unsigned short nh = hp.data[nx + nz*hp.width]; + if (nh != RC_UNSET_HEIGHT) + { + const float d = fabsf(nh*ch - fy); + if (d < dmin) + { + h = nh; + dmin = d; + } + } + } + + // We are searching in a grid which looks approximately like this: + // __________ + // |2 ______ 2| + // | |1 __ 1| | + // | | |__| | | + // | |______| | + // |__________| + // We want to find the best height as close to the center cell as possible. This means that + // if we find a height in one of the neighbor cells to the center, we don't want to + // expand further out than the 8 neighbors - we want to limit our search to the closest + // of these "rings", but the best height in the ring. + // For example, the center is just 1 cell. We checked that at the entrance to the function. + // The next "ring" contains 8 cells (marked 1 above). Those are all the neighbors to the center cell. + // The next one again contains 16 cells (marked 2). In general each ring has 8 additional cells, which + // can be thought of as adding 2 cells around the "center" of each side when we expand the ring. + // Here we detect if we are about to enter the next ring, and if we are and we have found + // a height, we abort the search. + if (i + 1 == nextRingIterStart) + { + if (h != RC_UNSET_HEIGHT) + break; + + nextRingIterStart += nextRingIters; + nextRingIters += 8; + } + + if ((x == z) || ((x < 0) && (x == -z)) || ((x > 0) && (x == 1 - z))) + { + int tmp = dx; + dx = -dz; + dz = tmp; + } + x += dx; + z += dz; + } + } + return h; +} + + +enum EdgeValues +{ + EV_UNDEF = -1, + EV_HULL = -2, +}; + +static int findEdge(const int* edges, int nedges, int s, int t) +{ + for (int i = 0; i < nedges; i++) + { + const int* e = &edges[i*4]; + if ((e[0] == s && e[1] == t) || (e[0] == t && e[1] == s)) + return i; + } + return EV_UNDEF; +} + +static int addEdge(rcContext* ctx, int* edges, int& nedges, const int maxEdges, int s, int t, int l, int r) +{ + if (nedges >= maxEdges) + { + ctx->log(RC_LOG_ERROR, "addEdge: Too many edges (%d/%d).", nedges, maxEdges); + return EV_UNDEF; + } + + // Add edge if not already in the triangulation. + int e = findEdge(edges, nedges, s, t); + if (e == EV_UNDEF) + { + int* edge = &edges[nedges*4]; + edge[0] = s; + edge[1] = t; + edge[2] = l; + edge[3] = r; + return nedges++; + } + else + { + return EV_UNDEF; + } +} + +static void updateLeftFace(int* e, int s, int t, int f) +{ + if (e[0] == s && e[1] == t && e[2] == EV_UNDEF) + e[2] = f; + else if (e[1] == s && e[0] == t && e[3] == EV_UNDEF) + e[3] = f; +} + +static int overlapSegSeg2d(const float* a, const float* b, const float* c, const float* d) +{ + const float a1 = vcross2(a, b, d); + const float a2 = vcross2(a, b, c); + if (a1*a2 < 0.0f) + { + float a3 = vcross2(c, d, a); + float a4 = a3 + a2 - a1; + if (a3 * a4 < 0.0f) + return 1; + } + return 0; +} + +static bool overlapEdges(const float* pts, const int* edges, int nedges, int s1, int t1) +{ + for (int i = 0; i < nedges; ++i) + { + const int s0 = edges[i*4+0]; + const int t0 = edges[i*4+1]; + // Same or connected edges do not overlap. + if (s0 == s1 || s0 == t1 || t0 == s1 || t0 == t1) + continue; + if (overlapSegSeg2d(&pts[s0*3],&pts[t0*3], &pts[s1*3],&pts[t1*3])) + return true; + } + return false; +} + +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. + int s,t; + if (edge[2] == EV_UNDEF) + { + s = edge[0]; + t = edge[1]; + } + else if (edge[3] == EV_UNDEF) + { + s = edge[1]; + t = edge[0]; + } + else + { + // Edge already completed. + return; + } + + // Find best point on left of edge. + int pt = npts; + float c[3] = {0,0,0}; + float r = -1; + for (int u = 0; u < npts; ++u) + { + if (u == s || u == t) continue; + if (vcross2(&pts[s*3], &pts[t*3], &pts[u*3]) > EPS) + { + if (r < 0) + { + // The circle is not updated yet, do it now. + pt = u; + circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r); + continue; + } + const float d = vdist2(c, &pts[u*3]); + const float tol = 0.001f; + if (d > r*(1+tol)) + { + // Outside current circumcircle, skip. + continue; + } + else if (d < r*(1-tol)) + { + // Inside safe circumcircle, update circle. + pt = u; + circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r); + } + else + { + // Inside epsilon circum circle, do extra tests to make sure the edge is valid. + // s-u and t-u cannot overlap with s-pt nor t-pt if they exists. + if (overlapEdges(pts, edges, nedges, s,u)) + continue; + if (overlapEdges(pts, edges, nedges, t,u)) + continue; + // Edge is valid. + pt = u; + circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r); + } + } + } + + // Add new triangle or update edge info if s-t is on hull. + if (pt < npts) + { + // Update face information of edge being completed. + updateLeftFace(&edges[e*4], s, t, nfaces); + + // Add new edge or update face info of old edge. + e = findEdge(edges, nedges, pt, s); + if (e == EV_UNDEF) + addEdge(ctx, edges, nedges, maxEdges, pt, s, nfaces, EV_UNDEF); + else + updateLeftFace(&edges[e*4], pt, s, nfaces); + + // Add new edge or update face info of old edge. + e = findEdge(edges, nedges, t, pt); + if (e == EV_UNDEF) + addEdge(ctx, edges, nedges, maxEdges, t, pt, nfaces, EV_UNDEF); + else + updateLeftFace(&edges[e*4], t, pt, nfaces); + + nfaces++; + } + else + { + updateLeftFace(&edges[e*4], s, t, EV_HULL); + } +} + +static void delaunayHull(rcContext* ctx, const int npts, const float* pts, + const int nhull, const int* hull, + rcIntArray& tris, rcIntArray& edges) +{ + int nfaces = 0; + int nedges = 0; + const int maxEdges = npts*10; + edges.resize(maxEdges*4); + + for (int i = 0, j = nhull-1; i < nhull; j=i++) + addEdge(ctx, &edges[0], nedges, maxEdges, hull[j],hull[i], EV_HULL, EV_UNDEF); + + int currentEdge = 0; + while (currentEdge < nedges) + { + if (edges[currentEdge*4+2] == EV_UNDEF) + completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge); + if (edges[currentEdge*4+3] == EV_UNDEF) + 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) + tris[i] = -1; + + for (int i = 0; i < nedges; ++i) + { + const int* e = &edges[i*4]; + if (e[3] >= 0) + { + // Left face + int* t = &tris[e[3]*4]; + if (t[0] == -1) + { + t[0] = e[0]; + t[1] = e[1]; + } + else if (t[0] == e[1]) + t[2] = e[0]; + else if (t[1] == e[0]) + t[2] = e[1]; + } + if (e[2] >= 0) + { + // Right + int* t = &tris[e[2]*4]; + if (t[0] == -1) + { + t[0] = e[1]; + t[1] = e[0]; + } + else if (t[0] == e[0]) + t[2] = e[1]; + else if (t[1] == e[1]) + t[2] = e[0]; + } + } + + for (int i = 0; i < tris.size()/4; ++i) + { + int* t = &tris[i*4]; + if (t[0] == -1 || t[1] == -1 || t[2] == -1) + { + ctx->log(RC_LOG_WARNING, "delaunayHull: Removing dangling face %d [%d,%d,%d].", i, t[0],t[1],t[2]); + t[0] = tris[tris.size()-4]; + t[1] = tris[tris.size()-3]; + t[2] = tris[tris.size()-2]; + t[3] = tris[tris.size()-1]; + tris.resize(tris.size()-4); + --i; + } + } +} + +// 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); +} + +// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv). +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) +{ + 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) +{ + return (((i * 0x8da6b343) & 0xffff) / 65535.0f * 2.0f) - 1.0f; +} + +inline float getJitterY(const int i) +{ + return (((i * 0xd8163841) & 0xffff) / 65535.0f * 2.0f) - 1.0f; +} + +static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin, + const float sampleDist, const float sampleMaxError, + const int heightSearchRadius, const rcCompactHeightfield& chf, + const rcHeightPatch& hp, float* verts, int& nverts, + rcIntArray& tris, rcIntArray& edges, rcIntArray& samples) +{ + static const int MAX_VERTS = 127; + static const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts). + static const int MAX_VERTS_PER_EDGE = 32; + float edge[(MAX_VERTS_PER_EDGE+1)*3]; + int hull[MAX_VERTS]; + int nhull = 0; + + nverts = nin; + + for (int i = 0; i < nin; ++i) + rcVcopy(&verts[i*3], &in[i*3]); + + 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. + if (sampleDist > 0) + { + for (int i = 0, j = nin-1; i < nin; j=i++) + { + const float* vj = &in[j*3]; + const float* vi = &in[i*3]; + bool swapped = false; + // Make sure the segments are always handled in same order + // using lexological sort or else there will be seams. + if (fabsf(vj[0]-vi[0]) < 1e-6f) + { + if (vj[2] > vi[2]) + { + rcSwap(vj,vi); + swapped = true; + } + } + else + { + if (vj[0] > vi[0]) + { + rcSwap(vj,vi); + swapped = true; + } + } + // Create samples along the edge. + float dx = vi[0] - vj[0]; + float dy = vi[1] - vj[1]; + float dz = vi[2] - vj[2]; + float d = sqrtf(dx*dx + dz*dz); + int nn = 1 + (int)floorf(d/sampleDist); + if (nn >= MAX_VERTS_PER_EDGE) nn = MAX_VERTS_PER_EDGE-1; + if (nverts+nn >= MAX_VERTS) + nn = MAX_VERTS-1-nverts; + + for (int k = 0; k <= nn; ++k) + { + float u = (float)k/(float)nn; + float* pos = &edge[k*3]; + pos[0] = vj[0] + dx*u; + pos[1] = vj[1] + dy*u; + pos[2] = vj[2] + dz*u; + pos[1] = getHeight(pos[0],pos[1],pos[2], cs, ics, chf.ch, heightSearchRadius, hp)*chf.ch; + } + // Simplify samples. + int idx[MAX_VERTS_PER_EDGE] = {0,nn}; + int nidx = 2; + for (int k = 0; k < nidx-1; ) + { + const int a = idx[k]; + const int b = idx[k+1]; + const float* va = &edge[a*3]; + const float* vb = &edge[b*3]; + // Find maximum deviation along the segment. + float maxd = 0; + int maxi = -1; + for (int m = a+1; m < b; ++m) + { + float dev = distancePtSeg(&edge[m*3],va,vb); + if (dev > maxd) + { + maxd = dev; + maxi = m; + } + } + // If the max deviation is larger than accepted error, + // add new point, else continue to next segment. + if (maxi != -1 && maxd > rcSqr(sampleMaxError)) + { + for (int m = nidx; m > k; --m) + idx[m] = idx[m-1]; + idx[k+1] = maxi; + nidx++; + } + else + { + ++k; + } + } + + hull[nhull++] = j; + // Add new vertices. + if (swapped) + { + for (int k = nidx-2; k > 0; --k) + { + rcVcopy(&verts[nverts*3], &edge[idx[k]*3]); + hull[nhull++] = nverts; + nverts++; + } + } + else + { + for (int k = 1; k < nidx-1; ++k) + { + rcVcopy(&verts[nverts*3], &edge[idx[k]*3]); + hull[nhull++] = nverts; + nverts++; + } + } + } + } + + // 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. + // 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); + + 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 (%d verts).", nverts); + return true; + } + + if (sampleDist > 0) + { + // Create sample locations in a grid. + float bmin[3], bmax[3]; + rcVcopy(bmin, in); + rcVcopy(bmax, in); + for (int i = 1; i < nin; ++i) + { + rcVmin(bmin, &in[i*3]); + rcVmax(bmax, &in[i*3]); + } + int x0 = (int)floorf(bmin[0]/sampleDist); + int x1 = (int)ceilf(bmax[0]/sampleDist); + int z0 = (int)floorf(bmin[2]/sampleDist); + int z1 = (int)ceilf(bmax[2]/sampleDist); + samples.resize(0); + for (int z = z0; z < z1; ++z) + { + for (int x = x0; x < x1; ++x) + { + float pt[3]; + pt[0] = x*sampleDist; + pt[1] = (bmax[1]+bmin[1])*0.5f; + pt[2] = z*sampleDist; + // Make sure the samples are not too close to the edges. + if (distToPoly(nin,in,pt) > -sampleDist/2) continue; + samples.push(x); + samples.push(getHeight(pt[0], pt[1], pt[2], cs, ics, chf.ch, heightSearchRadius, hp)); + samples.push(z); + 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. + const int nsamples = samples.size()/4; + for (int iter = 0; iter < nsamples; ++iter) + { + if (nverts >= MAX_VERTS) + break; + + // Find sample with most error. + float bestpt[3] = {0,0,0}; + float bestd = 0; + int besti = -1; + for (int i = 0; i < nsamples; ++i) + { + const int* s = &samples[i*4]; + if (s[3]) continue; // skip added. + float pt[3]; + // The sample location is jittered to get rid of some bad triangulations + // which are cause by symmetrical data from the grid structure. + pt[0] = s[0]*sampleDist + getJitterX(i)*cs*0.1f; + pt[1] = s[1]*chf.ch; + pt[2] = s[2]*sampleDist + getJitterY(i)*cs*0.1f; + float d = distToTriMesh(pt, verts, nverts, &tris[0], tris.size()/4); + if (d < 0) continue; // did not hit the mesh. + if (d > bestd) + { + bestd = d; + besti = i; + rcVcopy(bestpt,pt); + } + } + // If the max error is within accepted threshold, stop tesselating. + if (bestd <= sampleMaxError || besti == -1) + break; + // Mark sample as added. + samples[besti*4+3] = 1; + // Add the new sample point. + rcVcopy(&verts[nverts*3],bestpt); + nverts++; + + // Create new triangulation. + // TODO: Incremental add instead of full rebuild. + 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 seedArrayWithPolyCenter(rcContext* ctx, const rcCompactHeightfield& chf, + const unsigned short* poly, const int npoly, + const unsigned short* verts, const int bs, + rcHeightPatch& hp, rcIntArray& array) +{ + // Note: Reads to the compact heightfield are offset by border size (bs) + // since border size offset is already removed from the polymesh vertices. + + static const int offset[9*2] = + { + 0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0, + }; + + // Find cell closest to a poly vertex + int startCellX = 0, startCellY = 0, startSpanIndex = -1; + int dmin = RC_UNSET_HEIGHT; + for (int j = 0; j < npoly && dmin > 0; ++j) + { + for (int k = 0; k < 9 && dmin > 0; ++k) + { + const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0]; + const int ay = (int)verts[poly[j]*3+1]; + const int az = (int)verts[poly[j]*3+2] + offset[k*2+1]; + if (ax < hp.xmin || ax >= hp.xmin+hp.width || + az < hp.ymin || az >= hp.ymin+hp.height) + continue; + + const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width]; + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni && dmin > 0; ++i) + { + const rcCompactSpan& s = chf.spans[i]; + int d = rcAbs(ay - (int)s.y); + if (d < dmin) + { + startCellX = ax; + startCellY = az; + startSpanIndex = i; + dmin = d; + } + } + } + } + + rcAssert(startSpanIndex != -1); + // Find center of the polygon + int pcx = 0, pcy = 0; + for (int j = 0; j < npoly; ++j) + { + pcx += (int)verts[poly[j]*3+0]; + pcy += (int)verts[poly[j]*3+2]; + } + pcx /= npoly; + pcy /= npoly; + + // Use seeds array as a stack for DFS + array.resize(0); + array.push(startCellX); + array.push(startCellY); + array.push(startSpanIndex); + + int dirs[] = { 0, 1, 2, 3 }; + memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height); + // DFS to move to the center. Note that we need a DFS here and can not just move + // directly towards the center without recording intermediate nodes, even though the polygons + // are convex. In very rare we can get stuck due to contour simplification if we do not + // record nodes. + int cx = -1, cy = -1, ci = -1; + while (true) + { + if (array.size() < 3) + { + ctx->log(RC_LOG_WARNING, "Walk towards polygon center failed to reach center"); + break; + } + + ci = array.pop(); + cy = array.pop(); + cx = array.pop(); + + if (cx == pcx && cy == pcy) + break; + + // If we are already at the correct X-position, prefer direction + // directly towards the center in the Y-axis; otherwise prefer + // direction in the X-axis + int directDir; + if (cx == pcx) + directDir = rcGetDirForOffset(0, pcy > cy ? 1 : -1); + else + directDir = rcGetDirForOffset(pcx > cx ? 1 : -1, 0); + + // Push the direct dir last so we start with this on next iteration + rcSwap(dirs[directDir], dirs[3]); + + const rcCompactSpan& cs = chf.spans[ci]; + for (int i = 0; i < 4; i++) + { + int dir = dirs[i]; + if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) + continue; + + int newX = cx + rcGetDirOffsetX(dir); + int newY = cy + rcGetDirOffsetY(dir); + + int hpx = newX - hp.xmin; + int hpy = newY - hp.ymin; + if (hpx < 0 || hpx >= hp.width || hpy < 0 || hpy >= hp.height) + continue; + + if (hp.data[hpx+hpy*hp.width] != 0) + continue; + + hp.data[hpx+hpy*hp.width] = 1; + array.push(newX); + array.push(newY); + array.push((int)chf.cells[(newX+bs)+(newY+bs)*chf.width].index + rcGetCon(cs, dir)); + } + + rcSwap(dirs[directDir], dirs[3]); + } + + array.resize(0); + // getHeightData seeds are given in coordinates with borders + array.push(cx+bs); + array.push(cy+bs); + array.push(ci); + + memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height); + const rcCompactSpan& cs = chf.spans[ci]; + hp.data[cx-hp.xmin+(cy-hp.ymin)*hp.width] = cs.y; +} + + +static void push3(rcIntArray& queue, int v1, int v2, int v3) +{ + queue.resize(queue.size() + 3); + queue[queue.size() - 3] = v1; + queue[queue.size() - 2] = v2; + queue[queue.size() - 1] = v3; +} + +static void getHeightData(rcContext* ctx, const rcCompactHeightfield& chf, + const unsigned short* poly, const int npoly, + const unsigned short* verts, const int bs, + rcHeightPatch& hp, rcIntArray& queue, + int region) +{ + // Note: Reads to the compact heightfield are offset by border size (bs) + // since border size offset is already removed from the polymesh vertices. + + queue.resize(0); + // Set all heights to RC_UNSET_HEIGHT. + memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height); + + bool empty = true; + + // We cannot sample from this poly if it was created from polys + // of different regions. If it was then it could potentially be overlapping + // with polys of that region and the heights sampled here could be wrong. + if (region != RC_MULTIPLE_REGS) + { + // 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++) + { + int y = hp.ymin + hy + bs; + for (int hx = 0; hx < hp.width; hx++) + { + int x = hp.xmin + hx + bs; + const rcCompactCell& c = chf.cells[x + y*chf.width]; + for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) + { + const rcCompactSpan& s = chf.spans[i]; + if (s.reg == region) + { + // 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; + 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*chf.width].index + rcGetCon(s, dir); + const rcCompactSpan& as = chf.spans[ai]; + if (as.reg != region) + { + border = true; + break; + } + } + } + if (border) + push3(queue, x, y, i); + break; + } + } + } + } + } + + // if the polygon does not contain any points from the current region (rare, but happens) + // or if it could potentially be overlapping polygons of the same region, + // then use the center as the seed point. + if (empty) + seedArrayWithPolyCenter(ctx, chf, poly, npoly, verts, bs, hp, queue); + + static const int RETRACT_SIZE = 256; + int head = 0; + + // We assume the seed is centered in the polygon, so a BFS to collect + // height data will ensure we do not move onto overlapping polygons and + // sample wrong heights. + while (head*3 < queue.size()) + { + int cx = queue[head*3+0]; + int cy = queue[head*3+1]; + int ci = queue[head*3+2]; + head++; + if (head >= RETRACT_SIZE) + { + head = 0; + if (queue.size() > RETRACT_SIZE*3) + memmove(&queue[0], &queue[RETRACT_SIZE*3], sizeof(int)*(queue.size()-RETRACT_SIZE*3)); + queue.resize(queue.size()-RETRACT_SIZE*3); + } + + const rcCompactSpan& cs = chf.spans[ci]; + for (int dir = 0; dir < 4; ++dir) + { + if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue; + + const int ax = cx + rcGetDirOffsetX(dir); + const int ay = cy + rcGetDirOffsetY(dir); + const int hx = ax - hp.xmin - bs; + const int hy = ay - hp.ymin - bs; + + if ((unsigned int)hx >= (unsigned int)hp.width || (unsigned int)hy >= (unsigned int)hp.height) + continue; + + if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT) + continue; + + 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; + + push3(queue, ax, ay, ai); + } + } +} + +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. + 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 && + distancePtSeg2d(vb, &vpoly[j*3], &vpoly[i*3]) < thrSqr) + return 1; + } + return 0; +} + +static unsigned char getTriFlags(const float* va, const float* vb, const float* vc, + const float* vpoly, const int npoly) +{ + unsigned char flags = 0; + flags |= getEdgeFlags(va,vb,vpoly,npoly) << 0; + flags |= getEdgeFlags(vb,vc,vpoly,npoly) << 2; + flags |= getEdgeFlags(vc,va,vpoly,npoly) << 4; + return flags; +} + +/// @par +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig +bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf, + const float sampleDist, const float sampleMaxError, + rcPolyMeshDetail& dmesh) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_BUILD_POLYMESHDETAIL); + + if (mesh.nverts == 0 || mesh.npolys == 0) + return true; + + const int nvp = mesh.nvp; + const float cs = mesh.cs; + const float ch = mesh.ch; + const float* orig = mesh.bmin; + const int borderSize = mesh.borderSize; + const int heightSearchRadius = rcMax(1, (int)ceilf(mesh.maxEdgeError)); + + rcIntArray edges(64); + rcIntArray tris(512); + rcIntArray arr(512); + rcIntArray samples(512); + float verts[256*3]; + rcHeightPatch hp; + int nPolyVerts = 0; + int maxhw = 0, maxhh = 0; + + rcScopedDelete<int> bounds((int*)rcAlloc(sizeof(int)*mesh.npolys*4, RC_ALLOC_TEMP)); + if (!bounds) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'bounds' (%d).", mesh.npolys*4); + return false; + } + rcScopedDelete<float> poly((float*)rcAlloc(sizeof(float)*nvp*3, RC_ALLOC_TEMP)); + if (!poly) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'poly' (%d).", nvp*3); + return false; + } + + // Find max size for a polygon area. + for (int i = 0; i < mesh.npolys; ++i) + { + const unsigned short* p = &mesh.polys[i*nvp*2]; + int& xmin = bounds[i*4+0]; + int& xmax = bounds[i*4+1]; + int& ymin = bounds[i*4+2]; + int& ymax = bounds[i*4+3]; + xmin = chf.width; + xmax = 0; + ymin = chf.height; + ymax = 0; + for (int j = 0; j < nvp; ++j) + { + if(p[j] == RC_MESH_NULL_IDX) break; + const unsigned short* v = &mesh.verts[p[j]*3]; + xmin = rcMin(xmin, (int)v[0]); + xmax = rcMax(xmax, (int)v[0]); + ymin = rcMin(ymin, (int)v[2]); + ymax = rcMax(ymax, (int)v[2]); + nPolyVerts++; + } + xmin = rcMax(0,xmin-1); + xmax = rcMin(chf.width,xmax+1); + ymin = rcMax(0,ymin-1); + ymax = rcMin(chf.height,ymax+1); + if (xmin >= xmax || ymin >= ymax) continue; + maxhw = rcMax(maxhw, xmax-xmin); + maxhh = rcMax(maxhh, ymax-ymin); + } + + hp.data = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxhw*maxhh, RC_ALLOC_TEMP); + if (!hp.data) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'hp.data' (%d).", maxhw*maxhh); + return false; + } + + dmesh.nmeshes = mesh.npolys; + dmesh.nverts = 0; + dmesh.ntris = 0; + dmesh.meshes = (unsigned int*)rcAlloc(sizeof(unsigned int)*dmesh.nmeshes*4, RC_ALLOC_PERM); + if (!dmesh.meshes) + { + 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) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", vcap*3); + return false; + } + dmesh.ntris = 0; + 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); + return false; + } + + for (int i = 0; i < mesh.npolys; ++i) + { + const unsigned short* p = &mesh.polys[i*nvp*2]; + + // Store polygon vertices for processing. + int npoly = 0; + for (int j = 0; j < nvp; ++j) + { + if(p[j] == RC_MESH_NULL_IDX) break; + const unsigned short* v = &mesh.verts[p[j]*3]; + poly[j*3+0] = v[0]*cs; + poly[j*3+1] = v[1]*ch; + poly[j*3+2] = v[2]*cs; + npoly++; + } + + // Get the height data from the area of the polygon. + hp.xmin = bounds[i*4+0]; + hp.ymin = bounds[i*4+2]; + hp.width = bounds[i*4+1]-bounds[i*4+0]; + hp.height = bounds[i*4+3]-bounds[i*4+2]; + getHeightData(ctx, chf, p, npoly, mesh.verts, borderSize, hp, arr, mesh.regs[i]); + + // Build detail mesh. + int nverts = 0; + if (!buildPolyDetail(ctx, poly, npoly, + sampleDist, sampleMaxError, + heightSearchRadius, chf, hp, + verts, nverts, tris, + edges, samples)) + { + return false; + } + + // Move detail verts to world space. + for (int j = 0; j < nverts; ++j) + { + verts[j*3+0] += orig[0]; + verts[j*3+1] += orig[1] + chf.ch; // Is this offset necessary? + verts[j*3+2] += orig[2]; + } + // Offset poly too, will be used to flag checking. + for (int j = 0; j < npoly; ++j) + { + poly[j*3+0] += orig[0]; + 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; + + // 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) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newv' (%d).", vcap*3); + return false; + } + if (dmesh.nverts) + memcpy(newv, dmesh.verts, sizeof(float)*3*dmesh.nverts); + rcFree(dmesh.verts); + dmesh.verts = newv; + } + for (int j = 0; j < nverts; ++j) + { + dmesh.verts[dmesh.nverts*3+0] = verts[j*3+0]; + dmesh.verts[dmesh.nverts*3+1] = verts[j*3+1]; + dmesh.verts[dmesh.nverts*3+2] = verts[j*3+2]; + dmesh.nverts++; + } + + // Store triangles, allocate more memory if necessary. + if (dmesh.ntris+ntris > tcap) + { + while (dmesh.ntris+ntris > tcap) + tcap += 256; + unsigned char* newt = (unsigned char*)rcAlloc(sizeof(unsigned char)*tcap*4, RC_ALLOC_PERM); + if (!newt) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newt' (%d).", tcap*4); + return false; + } + if (dmesh.ntris) + memcpy(newt, dmesh.tris, sizeof(unsigned char)*4*dmesh.ntris); + rcFree(dmesh.tris); + dmesh.tris = newt; + } + for (int j = 0; j < ntris; ++j) + { + const int* t = &tris[j*4]; + dmesh.tris[dmesh.ntris*4+0] = (unsigned char)t[0]; + dmesh.tris[dmesh.ntris*4+1] = (unsigned char)t[1]; + dmesh.tris[dmesh.ntris*4+2] = (unsigned char)t[2]; + dmesh.tris[dmesh.ntris*4+3] = getTriFlags(&verts[t[0]*3], &verts[t[1]*3], &verts[t[2]*3], poly, npoly); + dmesh.ntris++; + } + } + + return true; +} + +/// @see rcAllocPolyMeshDetail, rcPolyMeshDetail +bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_MERGE_POLYMESHDETAIL); + + int maxVerts = 0; + int maxTris = 0; + int maxMeshes = 0; + + for (int i = 0; i < nmeshes; ++i) + { + if (!meshes[i]) continue; + maxVerts += meshes[i]->nverts; + 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) + { + 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) + { + 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) + { + ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", maxVerts*3); + return false; + } + + // Merge datas. + for (int i = 0; i < nmeshes; ++i) + { + rcPolyMeshDetail* dm = meshes[i]; + if (!dm) continue; + for (int j = 0; j < dm->nmeshes; ++j) + { + unsigned int* dst = &mesh.meshes[mesh.nmeshes*4]; + unsigned int* src = &dm->meshes[j*4]; + dst[0] = (unsigned int)mesh.nverts+src[0]; + dst[1] = src[1]; + dst[2] = (unsigned int)mesh.ntris+src[2]; + dst[3] = src[3]; + mesh.nmeshes++; + } + + for (int k = 0; k < dm->nverts; ++k) + { + rcVcopy(&mesh.verts[mesh.nverts*3], &dm->verts[k*3]); + mesh.nverts++; + } + for (int k = 0; k < dm->ntris; ++k) + { + mesh.tris[mesh.ntris*4+0] = dm->tris[k*4+0]; + mesh.tris[mesh.ntris*4+1] = dm->tris[k*4+1]; + mesh.tris[mesh.ntris*4+2] = dm->tris[k*4+2]; + mesh.tris[mesh.ntris*4+3] = dm->tris[k*4+3]; + mesh.ntris++; + } + } + + return true; +} diff --git a/thirdparty/recastnavigation/Recast/Source/RecastRasterization.cpp b/thirdparty/recastnavigation/Recast/Source/RecastRasterization.cpp new file mode 100644 index 0000000000..a4cef74909 --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Source/RecastRasterization.cpp @@ -0,0 +1,454 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include <math.h> +#include <stdio.h> +#include "Recast.h" +#include "RecastAlloc.h" +#include "RecastAssert.h" + +inline bool overlapBounds(const float* amin, const float* amax, const float* bmin, const float* bmax) +{ + bool overlap = true; + overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; + overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; + overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; + return overlap; +} + +inline bool overlapInterval(unsigned short amin, unsigned short amax, + unsigned short bmin, unsigned short bmax) +{ + if (amax < bmin) return false; + if (amin > bmax) return false; + return true; +} + + +static rcSpan* allocSpan(rcHeightfield& hf) +{ + // If running out of memory, allocate new page and update the freelist. + if (!hf.freelist || !hf.freelist->next) + { + // Create new page. + // Allocate memory for the new pool. + rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM); + if (!pool) return 0; + + // Add the pool into the list of pools. + pool->next = hf.pools; + hf.pools = pool; + // Add new items to the free list. + rcSpan* freelist = hf.freelist; + rcSpan* head = &pool->items[0]; + rcSpan* it = &pool->items[RC_SPANS_PER_POOL]; + do + { + --it; + it->next = freelist; + freelist = it; + } + while (it != head); + hf.freelist = it; + } + + // Pop item from in front of the free list. + rcSpan* it = hf.freelist; + hf.freelist = hf.freelist->next; + return it; +} + +static void freeSpan(rcHeightfield& hf, rcSpan* ptr) +{ + if (!ptr) return; + // Add the node in front of the free list. + ptr->next = hf.freelist; + hf.freelist = ptr; +} + +static bool addSpan(rcHeightfield& hf, const int x, const int y, + const unsigned short smin, const unsigned short smax, + const unsigned char area, const int flagMergeThr) +{ + + int idx = x + y*hf.width; + + rcSpan* s = allocSpan(hf); + if (!s) + return false; + s->smin = smin; + s->smax = smax; + s->area = area; + s->next = 0; + + // Empty cell, add the first span. + if (!hf.spans[idx]) + { + hf.spans[idx] = s; + return true; + } + rcSpan* prev = 0; + rcSpan* cur = hf.spans[idx]; + + // Insert and merge spans. + while (cur) + { + if (cur->smin > s->smax) + { + // Current span is further than the new span, break. + break; + } + else if (cur->smax < s->smin) + { + // Current span is before the new span advance. + prev = cur; + cur = cur->next; + } + else + { + // Merge spans. + if (cur->smin < s->smin) + s->smin = cur->smin; + if (cur->smax > s->smax) + s->smax = cur->smax; + + // Merge flags. + if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr) + s->area = rcMax(s->area, cur->area); + + // Remove current span. + rcSpan* next = cur->next; + freeSpan(hf, cur); + if (prev) + prev->next = next; + else + hf.spans[idx] = next; + cur = next; + } + } + + // Insert new span. + if (prev) + { + s->next = prev->next; + prev->next = s; + } + else + { + s->next = hf.spans[idx]; + hf.spans[idx] = s; + } + + return true; +} + +/// @par +/// +/// The span addition can be set to favor flags. If the span is merged to +/// another span and the new @p smax is within @p flagMergeThr units +/// from the existing span, the span flags are merged. +/// +/// @see rcHeightfield, rcSpan. +bool rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y, + const unsigned short smin, const unsigned short smax, + const unsigned char area, const int flagMergeThr) +{ + rcAssert(ctx); + + if (!addSpan(hf, x, y, smin, smax, area, flagMergeThr)) + { + ctx->log(RC_LOG_ERROR, "rcAddSpan: Out of memory."); + return false; + } + + return true; +} + +// divides a convex polygons into two convex polygons on both sides of a line +static void dividePoly(const float* in, int nin, + float* out1, int* nout1, + float* out2, int* nout2, + float x, int axis) +{ + float d[12]; + for (int i = 0; i < nin; ++i) + d[i] = x - in[i*3+axis]; + + int m = 0, n = 0; + for (int i = 0, j = nin-1; i < nin; j=i, ++i) + { + bool ina = d[j] >= 0; + bool inb = d[i] >= 0; + if (ina != inb) + { + float s = d[j] / (d[j] - d[i]); + out1[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s; + out1[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s; + out1[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s; + rcVcopy(out2 + n*3, out1 + m*3); + m++; + n++; + // add the i'th point to the right polygon. Do NOT add points that are on the dividing line + // since these were already added above + if (d[i] > 0) + { + rcVcopy(out1 + m*3, in + i*3); + m++; + } + else if (d[i] < 0) + { + rcVcopy(out2 + n*3, in + i*3); + n++; + } + } + else // same side + { + // add the i'th point to the right polygon. Addition is done even for points on the dividing line + if (d[i] >= 0) + { + rcVcopy(out1 + m*3, in + i*3); + m++; + if (d[i] != 0) + continue; + } + rcVcopy(out2 + n*3, in + i*3); + n++; + } + } + + *nout1 = m; + *nout2 = n; +} + + + +static bool rasterizeTri(const float* v0, const float* v1, const float* v2, + const unsigned char area, rcHeightfield& hf, + const float* bmin, const float* bmax, + const float cs, const float ics, const float ich, + const int flagMergeThr) +{ + const int w = hf.width; + const int h = hf.height; + float tmin[3], tmax[3]; + const float by = bmax[1] - bmin[1]; + + // Calculate the bounding box of the triangle. + rcVcopy(tmin, v0); + rcVcopy(tmax, v0); + rcVmin(tmin, v1); + rcVmin(tmin, v2); + rcVmax(tmax, v1); + rcVmax(tmax, v2); + + // If the triangle does not touch the bbox of the heightfield, skip the triagle. + if (!overlapBounds(bmin, bmax, tmin, tmax)) + return true; + + // Calculate the footprint of the triangle on the grid's y-axis + int y0 = (int)((tmin[2] - bmin[2])*ics); + int y1 = (int)((tmax[2] - bmin[2])*ics); + y0 = rcClamp(y0, 0, h-1); + y1 = rcClamp(y1, 0, h-1); + + // Clip the triangle into all grid cells it touches. + float buf[7*3*4]; + float *in = buf, *inrow = buf+7*3, *p1 = inrow+7*3, *p2 = p1+7*3; + + rcVcopy(&in[0], v0); + rcVcopy(&in[1*3], v1); + rcVcopy(&in[2*3], v2); + int nvrow, nvIn = 3; + + for (int y = y0; y <= y1; ++y) + { + // Clip polygon to row. Store the remaining polygon as well + const float cz = bmin[2] + y*cs; + dividePoly(in, nvIn, inrow, &nvrow, p1, &nvIn, cz+cs, 2); + rcSwap(in, p1); + if (nvrow < 3) continue; + + // find the horizontal bounds in the row + float minX = inrow[0], maxX = inrow[0]; + for (int i=1; i<nvrow; ++i) + { + if (minX > inrow[i*3]) minX = inrow[i*3]; + if (maxX < inrow[i*3]) maxX = inrow[i*3]; + } + int x0 = (int)((minX - bmin[0])*ics); + int x1 = (int)((maxX - bmin[0])*ics); + x0 = rcClamp(x0, 0, w-1); + x1 = rcClamp(x1, 0, w-1); + + int nv, nv2 = nvrow; + + for (int x = x0; x <= x1; ++x) + { + // Clip polygon to column. store the remaining polygon as well + const float cx = bmin[0] + x*cs; + dividePoly(inrow, nv2, p1, &nv, p2, &nv2, cx+cs, 0); + rcSwap(inrow, p2); + if (nv < 3) continue; + + // Calculate min and max of the span. + float smin = p1[1], smax = p1[1]; + for (int i = 1; i < nv; ++i) + { + smin = rcMin(smin, p1[i*3+1]); + smax = rcMax(smax, p1[i*3+1]); + } + smin -= bmin[1]; + smax -= bmin[1]; + // Skip the span if it is outside the heightfield bbox + if (smax < 0.0f) continue; + if (smin > by) continue; + // Clamp the span to the heightfield bbox. + if (smin < 0.0f) smin = 0; + if (smax > by) smax = by; + + // Snap the span to the heightfield height grid. + unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, RC_SPAN_MAX_HEIGHT); + unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), (int)ismin+1, RC_SPAN_MAX_HEIGHT); + + if (!addSpan(hf, x, y, ismin, ismax, area, flagMergeThr)) + return false; + } + } + + return true; +} + +/// @par +/// +/// No spans will be added if the triangle does not overlap the heightfield grid. +/// +/// @see rcHeightfield +bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2, + const unsigned char area, rcHeightfield& solid, + const int flagMergeThr) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES); + + const float ics = 1.0f/solid.cs; + const float ich = 1.0f/solid.ch; + if (!rasterizeTri(v0, v1, v2, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr)) + { + ctx->log(RC_LOG_ERROR, "rcRasterizeTriangle: Out of memory."); + return false; + } + + return true; +} + +/// @par +/// +/// Spans will only be added for triangles that overlap the heightfield grid. +/// +/// @see rcHeightfield +bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/, + const int* tris, const unsigned char* areas, const int nt, + rcHeightfield& solid, const int flagMergeThr) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES); + + const float ics = 1.0f/solid.cs; + const float ich = 1.0f/solid.ch; + // Rasterize triangles. + for (int i = 0; i < nt; ++i) + { + const float* v0 = &verts[tris[i*3+0]*3]; + const float* v1 = &verts[tris[i*3+1]*3]; + const float* v2 = &verts[tris[i*3+2]*3]; + // Rasterize. + if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr)) + { + ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory."); + return false; + } + } + + return true; +} + +/// @par +/// +/// Spans will only be added for triangles that overlap the heightfield grid. +/// +/// @see rcHeightfield +bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/, + const unsigned short* tris, const unsigned char* areas, const int nt, + rcHeightfield& solid, const int flagMergeThr) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES); + + const float ics = 1.0f/solid.cs; + const float ich = 1.0f/solid.ch; + // Rasterize triangles. + for (int i = 0; i < nt; ++i) + { + const float* v0 = &verts[tris[i*3+0]*3]; + const float* v1 = &verts[tris[i*3+1]*3]; + const float* v2 = &verts[tris[i*3+2]*3]; + // Rasterize. + if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr)) + { + ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory."); + return false; + } + } + + return true; +} + +/// @par +/// +/// Spans will only be added for triangles that overlap the heightfield grid. +/// +/// @see rcHeightfield +bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt, + rcHeightfield& solid, const int flagMergeThr) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES); + + const float ics = 1.0f/solid.cs; + const float ich = 1.0f/solid.ch; + // Rasterize triangles. + for (int i = 0; i < nt; ++i) + { + const float* v0 = &verts[(i*3+0)*3]; + const float* v1 = &verts[(i*3+1)*3]; + const float* v2 = &verts[(i*3+2)*3]; + // Rasterize. + if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr)) + { + ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory."); + return false; + } + } + + return true; +} diff --git a/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp b/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp new file mode 100644 index 0000000000..38a2bd6bfa --- /dev/null +++ b/thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp @@ -0,0 +1,1824 @@ +// +// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include <float.h> +#define _USE_MATH_DEFINES +#include <math.h> +#include <string.h> +#include <stdlib.h> +#include <stdio.h> +#include "Recast.h" +#include "RecastAlloc.h" +#include "RecastAssert.h" +#include <new> + + +static void calculateDistanceField(rcCompactHeightfield& chf, unsigned short* src, unsigned short& maxDist) +{ + const int w = chf.width; + const int h = chf.height; + + // Init distance and points. + for (int i = 0; i < chf.spanCount; ++i) + src[i] = 0xffff; + + // Mark boundary cells. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++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]; + const unsigned char area = chf.areas[i]; + + int nc = 0; + 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); + if (area == chf.areas[ai]) + nc++; + } + } + if (nc != 4) + src[i] = 0; + } + } + } + + + // Pass 1 + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++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 (rcGetCon(s, 0) != RC_NOT_CONNECTED) + { + // (-1,0) + 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); + const rcCompactSpan& as = chf.spans[ai]; + if (src[ai]+2 < src[i]) + src[i] = src[ai]+2; + + // (-1,-1) + if (rcGetCon(as, 3) != RC_NOT_CONNECTED) + { + const int aax = ax + rcGetDirOffsetX(3); + const int aay = ay + rcGetDirOffsetY(3); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3); + if (src[aai]+3 < src[i]) + src[i] = src[aai]+3; + } + } + if (rcGetCon(s, 3) != RC_NOT_CONNECTED) + { + // (0,-1) + 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); + const rcCompactSpan& as = chf.spans[ai]; + if (src[ai]+2 < src[i]) + src[i] = src[ai]+2; + + // (1,-1) + if (rcGetCon(as, 2) != RC_NOT_CONNECTED) + { + const int aax = ax + rcGetDirOffsetX(2); + const int aay = ay + rcGetDirOffsetY(2); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2); + if (src[aai]+3 < src[i]) + src[i] = src[aai]+3; + } + } + } + } + } + + // Pass 2 + for (int y = h-1; y >= 0; --y) + { + for (int x = w-1; x >= 0; --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 (rcGetCon(s, 2) != RC_NOT_CONNECTED) + { + // (1,0) + const int ax = x + rcGetDirOffsetX(2); + const int ay = y + rcGetDirOffsetY(2); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2); + const rcCompactSpan& as = chf.spans[ai]; + if (src[ai]+2 < src[i]) + src[i] = src[ai]+2; + + // (1,1) + if (rcGetCon(as, 1) != RC_NOT_CONNECTED) + { + const int aax = ax + rcGetDirOffsetX(1); + const int aay = ay + rcGetDirOffsetY(1); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1); + if (src[aai]+3 < src[i]) + src[i] = src[aai]+3; + } + } + if (rcGetCon(s, 1) != RC_NOT_CONNECTED) + { + // (0,1) + const int ax = x + rcGetDirOffsetX(1); + const int ay = y + rcGetDirOffsetY(1); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1); + const rcCompactSpan& as = chf.spans[ai]; + if (src[ai]+2 < src[i]) + src[i] = src[ai]+2; + + // (-1,1) + if (rcGetCon(as, 0) != RC_NOT_CONNECTED) + { + const int aax = ax + rcGetDirOffsetX(0); + const int aay = ay + rcGetDirOffsetY(0); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0); + if (src[aai]+3 < src[i]) + src[i] = src[aai]+3; + } + } + } + } + } + + maxDist = 0; + for (int i = 0; i < chf.spanCount; ++i) + maxDist = rcMax(src[i], maxDist); + +} + +static unsigned short* boxBlur(rcCompactHeightfield& chf, int thr, + unsigned short* src, unsigned short* dst) +{ + const int w = chf.width; + const int h = chf.height; + + thr *= 2; + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++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]; + const unsigned short cd = src[i]; + if (cd <= thr) + { + dst[i] = cd; + continue; + } + + int d = (int)cd; + 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); + d += (int)src[ai]; + + const rcCompactSpan& as = chf.spans[ai]; + const int dir2 = (dir+1) & 0x3; + if (rcGetCon(as, dir2) != RC_NOT_CONNECTED) + { + const int ax2 = ax + rcGetDirOffsetX(dir2); + const int ay2 = ay + rcGetDirOffsetY(dir2); + const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2); + d += (int)src[ai2]; + } + else + { + d += cd; + } + } + else + { + d += cd*2; + } + } + dst[i] = (unsigned short)((d+5)/9); + } + } + } + return dst; +} + + +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) +{ + 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); + srcReg[i] = r; + srcDist[i] = 0; + + unsigned short lev = level >= 2 ? level-2 : 0; + int count = 0; + + while (stack.size() > 0) + { + int ci = stack.pop(); + int cy = stack.pop(); + int cx = stack.pop(); + + const rcCompactSpan& cs = chf.spans[ci]; + + // Check if any of the neighbours already have a valid region set. + unsigned short ar = 0; + for (int dir = 0; dir < 4; ++dir) + { + // 8 connected + if (rcGetCon(cs, dir) != RC_NOT_CONNECTED) + { + const int ax = cx + rcGetDirOffsetX(dir); + const int ay = cy + rcGetDirOffsetY(dir); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir); + if (chf.areas[ai] != area) + continue; + unsigned short nr = srcReg[ai]; + if (nr & RC_BORDER_REG) // Do not take borders into account. + continue; + if (nr != 0 && nr != r) + { + ar = nr; + break; + } + + const rcCompactSpan& as = chf.spans[ai]; + + const int dir2 = (dir+1) & 0x3; + if (rcGetCon(as, dir2) != RC_NOT_CONNECTED) + { + const int ax2 = ax + rcGetDirOffsetX(dir2); + const int ay2 = ay + rcGetDirOffsetY(dir2); + const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2); + if (chf.areas[ai2] != area) + continue; + unsigned short nr2 = srcReg[ai2]; + if (nr2 != 0 && nr2 != r) + { + ar = nr2; + break; + } + } + } + } + if (ar != 0) + { + srcReg[ci] = 0; + continue; + } + + count++; + + // Expand neighbours. + for (int dir = 0; dir < 4; ++dir) + { + if (rcGetCon(cs, dir) != RC_NOT_CONNECTED) + { + const int ax = cx + rcGetDirOffsetX(dir); + const int ay = cy + rcGetDirOffsetY(dir); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir); + if (chf.areas[ai] != area) + continue; + if (chf.dist[ai] >= lev && srcReg[ai] == 0) + { + srcReg[ai] = r; + srcDist[ai] = 0; + stack.push(ax); + stack.push(ay); + stack.push(ai); + } + } + } + } + + 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) +{ + const int w = chf.width; + const int h = chf.height; + + if (fillStack) + { + // Find cells revealed by the raised level. + stack.resize(0); + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++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 (chf.dist[i] >= level && srcReg[i] == 0 && chf.areas[i] != RC_NULL_AREA) + { + stack.push(x); + stack.push(y); + stack.push(i); + } + } + } + } + } + else // use cells in the input stack + { + // mark all cells which already have a region + for (int j=0; j<stack.size(); j+=3) + { + int i = stack[j+2]; + if (srcReg[i] != 0) + stack[j+2] = -1; + } + } + + int iter = 0; + while (stack.size() > 0) + { + int failed = 0; + + 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) + { + int x = stack[j+0]; + int y = stack[j+1]; + int i = stack[j+2]; + if (i < 0) + { + failed++; + continue; + } + + unsigned short r = srcReg[i]; + unsigned short d2 = 0xffff; + const unsigned char area = chf.areas[i]; + const rcCompactSpan& s = chf.spans[i]; + for (int dir = 0; dir < 4; ++dir) + { + if (rcGetCon(s, dir) == RC_NOT_CONNECTED) continue; + 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); + if (chf.areas[ai] != area) continue; + if (srcReg[ai] > 0 && (srcReg[ai] & RC_BORDER_REG) == 0) + { + if ((int)srcDist[ai]+2 < (int)d2) + { + r = srcReg[ai]; + d2 = srcDist[ai]+2; + } + } + } + if (r) + { + stack[j+2] = -1; // mark as used + dstReg[i] = r; + dstDist[i] = d2; + } + else + { + failed++; + } + } + + // rcSwap source and dest. + rcSwap(srcReg, dstReg); + rcSwap(srcDist, dstDist); + + if (failed*3 == stack.size()) + break; + + if (level > 0) + { + ++iter; + if (iter >= maxIter) + break; + } + } + + return srcReg; +} + + + +static void sortCellsByLevel(unsigned short startLevel, + rcCompactHeightfield& chf, + unsigned short* srcReg, + unsigned int nbStacks, rcIntArray* stacks, + unsigned short loglevelsPerStack) // the levels per stack (2 in our case) as a bit shift +{ + const int w = chf.width; + const int h = chf.height; + startLevel = startLevel >> loglevelsPerStack; + + for (unsigned int j=0; j<nbStacks; ++j) + stacks[j].resize(0); + + // put all cells in the level range into the appropriate stacks + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++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 (chf.areas[i] == RC_NULL_AREA || srcReg[i] != 0) + continue; + + int level = chf.dist[i] >> loglevelsPerStack; + int sId = startLevel - level; + if (sId >= (int)nbStacks) + continue; + if (sId < 0) + sId = 0; + + stacks[sId].push(x); + stacks[sId].push(y); + stacks[sId].push(i); + } + } + } +} + + +static void appendStacks(rcIntArray& srcStack, rcIntArray& dstStack, + unsigned short* srcReg) +{ + for (int j=0; j<srcStack.size(); j+=3) + { + int i = srcStack[j+2]; + if ((i < 0) || (srcReg[i] != 0)) + continue; + dstStack.push(srcStack[j]); + dstStack.push(srcStack[j+1]); + dstStack.push(srcStack[j+2]); + } +} + +struct rcRegion +{ + inline rcRegion(unsigned short i) : + spanCount(0), + id(i), + areaType(0), + remap(false), + visited(false), + overlap(false), + connectsToBorder(false), + ymin(0xffff), + ymax(0) + {} + + int spanCount; // Number of spans belonging to this region + unsigned short id; // ID of the region + unsigned char areaType; // Are type. + bool remap; + bool visited; + bool overlap; + bool connectsToBorder; + unsigned short ymin, ymax; + rcIntArray connections; + rcIntArray floors; +}; + +static void removeAdjacentNeighbours(rcRegion& reg) +{ + // Remove adjacent duplicates. + for (int i = 0; i < reg.connections.size() && reg.connections.size() > 1; ) + { + int ni = (i+1) % reg.connections.size(); + if (reg.connections[i] == reg.connections[ni]) + { + // Remove duplicate + for (int j = i; j < reg.connections.size()-1; ++j) + reg.connections[j] = reg.connections[j+1]; + reg.connections.pop(); + } + else + ++i; + } +} + +static void replaceNeighbour(rcRegion& reg, unsigned short oldId, unsigned short newId) +{ + bool neiChanged = false; + for (int i = 0; i < reg.connections.size(); ++i) + { + if (reg.connections[i] == oldId) + { + reg.connections[i] = newId; + neiChanged = true; + } + } + for (int i = 0; i < reg.floors.size(); ++i) + { + if (reg.floors[i] == oldId) + reg.floors[i] = newId; + } + if (neiChanged) + removeAdjacentNeighbours(reg); +} + +static bool canMergeWithRegion(const rcRegion& rega, const rcRegion& regb) +{ + if (rega.areaType != regb.areaType) + return false; + int n = 0; + for (int i = 0; i < rega.connections.size(); ++i) + { + if (rega.connections[i] == regb.id) + n++; + } + if (n > 1) + return false; + for (int i = 0; i < rega.floors.size(); ++i) + { + if (rega.floors[i] == regb.id) + return false; + } + return true; +} + +static void addUniqueFloorRegion(rcRegion& reg, int n) +{ + for (int i = 0; i < reg.floors.size(); ++i) + if (reg.floors[i] == n) + return; + reg.floors.push(n); +} + +static bool mergeRegions(rcRegion& rega, rcRegion& regb) +{ + unsigned short aid = rega.id; + unsigned short bid = regb.id; + + // Duplicate current neighbourhood. + rcIntArray acon; + acon.resize(rega.connections.size()); + for (int i = 0; i < rega.connections.size(); ++i) + acon[i] = rega.connections[i]; + rcIntArray& bcon = regb.connections; + + // Find insertion point on A. + int insa = -1; + for (int i = 0; i < acon.size(); ++i) + { + if (acon[i] == bid) + { + insa = i; + break; + } + } + if (insa == -1) + return false; + + // Find insertion point on B. + int insb = -1; + for (int i = 0; i < bcon.size(); ++i) + { + if (bcon[i] == aid) + { + insb = i; + break; + } + } + if (insb == -1) + return false; + + // Merge neighbours. + rega.connections.resize(0); + for (int i = 0, ni = acon.size(); i < ni-1; ++i) + rega.connections.push(acon[(insa+1+i) % ni]); + + for (int i = 0, ni = bcon.size(); i < ni-1; ++i) + rega.connections.push(bcon[(insb+1+i) % ni]); + + removeAdjacentNeighbours(rega); + + for (int j = 0; j < regb.floors.size(); ++j) + addUniqueFloorRegion(rega, regb.floors[j]); + rega.spanCount += regb.spanCount; + regb.spanCount = 0; + regb.connections.resize(0); + + return true; +} + +static bool isRegionConnectedToBorder(const rcRegion& reg) +{ + // Region is connected to border if + // one of the neighbours is null id. + for (int i = 0; i < reg.connections.size(); ++i) + { + if (reg.connections[i] == 0) + return true; + } + return false; +} + +static bool isSolidEdge(rcCompactHeightfield& chf, unsigned short* srcReg, + int x, int y, int i, int dir) +{ + const rcCompactSpan& s = chf.spans[i]; + unsigned short r = 0; + 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*chf.width].index + rcGetCon(s, dir); + r = srcReg[ai]; + } + if (r == srcReg[i]) + return false; + return true; +} + +static void walkContour(int x, int y, int i, int dir, + rcCompactHeightfield& chf, + unsigned short* srcReg, + rcIntArray& cont) +{ + int startDir = dir; + int starti = i; + + const rcCompactSpan& ss = chf.spans[i]; + unsigned short curReg = 0; + if (rcGetCon(ss, dir) != RC_NOT_CONNECTED) + { + const int ax = x + rcGetDirOffsetX(dir); + const int ay = y + rcGetDirOffsetY(dir); + const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(ss, dir); + curReg = srcReg[ai]; + } + cont.push(curReg); + + int iter = 0; + while (++iter < 40000) + { + const rcCompactSpan& s = chf.spans[i]; + + if (isSolidEdge(chf, srcReg, x, y, i, dir)) + { + // Choose the edge corner + unsigned short r = 0; + 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*chf.width].index + rcGetCon(s, dir); + r = srcReg[ai]; + } + if (r != curReg) + { + curReg = r; + cont.push(curReg); + } + + dir = (dir+1) & 0x3; // Rotate CW + } + else + { + int ni = -1; + const int nx = x + rcGetDirOffsetX(dir); + const int ny = y + rcGetDirOffsetY(dir); + if (rcGetCon(s, dir) != RC_NOT_CONNECTED) + { + const rcCompactCell& nc = chf.cells[nx+ny*chf.width]; + ni = (int)nc.index + rcGetCon(s, dir); + } + if (ni == -1) + { + // Should not happen. + return; + } + x = nx; + y = ny; + i = ni; + dir = (dir+3) & 0x3; // Rotate CCW + } + + if (starti == i && startDir == dir) + { + break; + } + } + + // Remove adjacent duplicates. + if (cont.size() > 1) + { + for (int j = 0; j < cont.size(); ) + { + int nj = (j+1) % cont.size(); + if (cont[j] == cont[nj]) + { + for (int k = j; k < cont.size()-1; ++k) + cont[k] = cont[k+1]; + cont.pop(); + } + else + ++j; + } + } +} + + +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; + + const int nreg = maxRegionId+1; + rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP); + if (!regions) + { + 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); + + // Find edge of a region and find connections around the contour. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + const rcCompactCell& c = chf.cells[x+y*w]; + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + { + unsigned short r = srcReg[i]; + if (r == 0 || r >= nreg) + continue; + + rcRegion& reg = regions[r]; + reg.spanCount++; + + // Update floors. + for (int j = (int)c.index; j < ni; ++j) + { + if (i == j) continue; + unsigned short floorId = srcReg[j]; + if (floorId == 0 || floorId >= nreg) + continue; + if (floorId == r) + reg.overlap = true; + addUniqueFloorRegion(reg, floorId); + } + + // Have found contour + if (reg.connections.size() > 0) + continue; + + reg.areaType = chf.areas[i]; + + // Check if this cell is next to a border. + int ndir = -1; + for (int dir = 0; dir < 4; ++dir) + { + if (isSolidEdge(chf, srcReg, x, y, i, dir)) + { + ndir = dir; + break; + } + } + + if (ndir != -1) + { + // The cell is at border. + // Walk around the contour to find all the neighbours. + walkContour(x, y, i, ndir, chf, srcReg, reg.connections); + } + } + } + } + + // Remove too small regions. + rcIntArray stack(32); + rcIntArray trace(32); + for (int i = 0; i < nreg; ++i) + { + rcRegion& reg = regions[i]; + if (reg.id == 0 || (reg.id & RC_BORDER_REG)) + continue; + if (reg.spanCount == 0) + continue; + if (reg.visited) + continue; + + // Count the total size of all the connected regions. + // Also keep track of the regions connects to a tile border. + bool connectsToBorder = false; + int spanCount = 0; + stack.resize(0); + trace.resize(0); + + reg.visited = true; + stack.push(i); + + while (stack.size()) + { + // Pop + int ri = stack.pop(); + + rcRegion& creg = regions[ri]; + + spanCount += creg.spanCount; + trace.push(ri); + + for (int j = 0; j < creg.connections.size(); ++j) + { + if (creg.connections[j] & RC_BORDER_REG) + { + connectsToBorder = true; + continue; + } + rcRegion& neireg = regions[creg.connections[j]]; + if (neireg.visited) + continue; + if (neireg.id == 0 || (neireg.id & RC_BORDER_REG)) + continue; + // Visit + stack.push(neireg.id); + neireg.visited = true; + } + } + + // If the accumulated regions size is too small, remove it. + // Do not remove areas which connect to tile borders + // as their size cannot be estimated correctly and removing them + // can potentially remove necessary areas. + if (spanCount < minRegionArea && !connectsToBorder) + { + // Kill all visited regions. + for (int j = 0; j < trace.size(); ++j) + { + regions[trace[j]].spanCount = 0; + regions[trace[j]].id = 0; + } + } + } + + // Merge too small regions to neighbour regions. + int mergeCount = 0 ; + do + { + mergeCount = 0; + for (int i = 0; i < nreg; ++i) + { + rcRegion& reg = regions[i]; + if (reg.id == 0 || (reg.id & RC_BORDER_REG)) + continue; + if (reg.overlap) + continue; + if (reg.spanCount == 0) + continue; + + // Check to see if the region should be merged. + if (reg.spanCount > mergeRegionSize && isRegionConnectedToBorder(reg)) + continue; + + // Small region with more than 1 connection. + // Or region which is not connected to a border at all. + // Find smallest neighbour region that connects to this one. + int smallest = 0xfffffff; + unsigned short mergeId = reg.id; + for (int j = 0; j < reg.connections.size(); ++j) + { + if (reg.connections[j] & RC_BORDER_REG) continue; + rcRegion& mreg = regions[reg.connections[j]]; + if (mreg.id == 0 || (mreg.id & RC_BORDER_REG) || mreg.overlap) continue; + if (mreg.spanCount < smallest && + canMergeWithRegion(reg, mreg) && + canMergeWithRegion(mreg, reg)) + { + smallest = mreg.spanCount; + mergeId = mreg.id; + } + } + // Found new id. + if (mergeId != reg.id) + { + unsigned short oldId = reg.id; + rcRegion& target = regions[mergeId]; + + // Merge neighbours. + if (mergeRegions(target, reg)) + { + // Fixup regions pointing to current region. + for (int j = 0; j < nreg; ++j) + { + if (regions[j].id == 0 || (regions[j].id & RC_BORDER_REG)) continue; + // If another region was already merged into current region + // change the nid of the previous region too. + if (regions[j].id == oldId) + regions[j].id = mergeId; + // Replace the current region with the new one if the + // current regions is neighbour. + replaceNeighbour(regions[j], oldId, mergeId); + } + mergeCount++; + } + } + } + } + while (mergeCount > 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) + { + 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(®ions[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) + { + if ((srcReg[i] & RC_BORDER_REG) == 0) + srcReg[i] = regions[srcReg[i]].id; + } + + for (int i = 0; i < nreg; ++i) + regions[i].~rcRegion(); + rcFree(regions); + + return true; +} + + + +/// @par +/// +/// This is usually the second to the last step in creating a fully built +/// compact heightfield. This step is required before regions are built +/// using #rcBuildRegions or #rcBuildRegionsMonotone. +/// +/// After this step, the distance data is available via the rcCompactHeightfield::maxDistance +/// and rcCompactHeightfield::dist fields. +/// +/// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone +bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_BUILD_DISTANCEFIELD); + + if (chf.dist) + { + rcFree(chf.dist); + chf.dist = 0; + } + + unsigned short* src = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP); + if (!src) + { + ctx->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'src' (%d).", chf.spanCount); + return false; + } + unsigned short* dst = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP); + if (!dst) + { + ctx->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'dst' (%d).", chf.spanCount); + rcFree(src); + return false; + } + + unsigned short maxDist = 0; + + { + rcScopedTimer timerDist(ctx, RC_TIMER_BUILD_DISTANCEFIELD_DIST); + + calculateDistanceField(chf, src, maxDist); + chf.maxDistance = maxDist; + } + + { + rcScopedTimer timerBlur(ctx, RC_TIMER_BUILD_DISTANCEFIELD_BLUR); + + // Blur + if (boxBlur(chf, 1, src, dst) != src) + rcSwap(src, dst); + + // Store distance. + chf.dist = src; + } + + rcFree(dst); + + return true; +} + +static void paintRectRegion(int minx, int maxx, int miny, int maxy, unsigned short regId, + rcCompactHeightfield& chf, unsigned short* srcReg) +{ + const int w = chf.width; + for (int y = miny; y < maxy; ++y) + { + for (int x = minx; x < maxx; ++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 (chf.areas[i] != RC_NULL_AREA) + srcReg[i] = regId; + } + } + } +} + + +static const unsigned short RC_NULL_NEI = 0xffff; + +struct rcSweepSpan +{ + unsigned short rid; // row id + unsigned short id; // region id + unsigned short ns; // number samples + unsigned short nei; // neighbour id +}; + +/// @par +/// +/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour. +/// Contours will form simple polygons. +/// +/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be +/// re-assigned to the zero (null) region. +/// +/// Partitioning can result in smaller than necessary regions. @p mergeRegionArea helps +/// reduce unecessarily small regions. +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// The region data will be available via the rcCompactHeightfield::maxRegions +/// and rcCompactSpan::reg fields. +/// +/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions. +/// +/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig +bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf, + const int borderSize, const int minRegionArea, const int mergeRegionArea) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, 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; + } + } + } + + + { + rcScopedTimer timerFilter(ctx, RC_TIMER_BUILD_REGIONS_FILTER); + + // Merge regions and filter out small regions. + rcIntArray overlaps; + chf.maxRegions = id; + if (!mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg, overlaps)) + return false; + + // Monotone partitioning does not generate overlapping regions. + } + + // Store the result out. + for (int i = 0; i < chf.spanCount; ++i) + chf.spans[i].reg = srcReg[i]; + + return true; +} + +/// @par +/// +/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour. +/// Contours will form simple polygons. +/// +/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be +/// re-assigned to the zero (null) region. +/// +/// Watershed partitioning can result in smaller than necessary regions, especially in diagonal corridors. +/// @p mergeRegionArea helps reduce unecessarily small regions. +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// The region data will be available via the rcCompactHeightfield::maxRegions +/// and rcCompactSpan::reg fields. +/// +/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions. +/// +/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig +bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, + const int borderSize, const int minRegionArea, const int mergeRegionArea) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, RC_TIMER_BUILD_REGIONS); + + 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)); + if (!buf) + { + ctx->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' (%d).", chf.spanCount*4); + return false; + } + + ctx->startTimer(RC_TIMER_BUILD_REGIONS_WATERSHED); + + const int LOG_NB_STACKS = 3; + const int NB_STACKS = 1 << LOG_NB_STACKS; + rcIntArray lvlStacks[NB_STACKS]; + for (int i=0; i<NB_STACKS; ++i) + lvlStacks[i].resize(1024); + + rcIntArray stack(1024); + rcIntArray visited(1024); + + 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); + + unsigned short regionId = 1; + unsigned short level = (chf.maxDistance+1) & ~1; + + // TODO: Figure better formula, expandIters defines how much the + // watershed "overflows" and simplifies the regions. Tying it to + // agent radius was usually good indication how greedy it could be. +// const int expandIters = 4 + walkableRadius * 2; + const int expandIters = 8; + + 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, regionId|RC_BORDER_REG, chf, srcReg); regionId++; + 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; + } + + int sId = -1; + while (level > 0) + { + level = level >= 2 ? level-2 : 0; + sId = (sId+1) & (NB_STACKS-1); + +// ctx->startTimer(RC_TIMER_DIVIDE_TO_LEVELS); + + if (sId == 0) + sortCellsByLevel(level, chf, srcReg, NB_STACKS, lvlStacks, 1); + else + appendStacks(lvlStacks[sId-1], lvlStacks[sId], srcReg); // copy left overs from last level + +// ctx->stopTimer(RC_TIMER_DIVIDE_TO_LEVELS); + + { + 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); + } + } + + { + rcScopedTimer timerFloor(ctx, RC_TIMER_BUILD_REGIONS_FLOOD); + + // Mark new regions with IDs. + for (int j = 0; j<lvlStacks[sId].size(); j += 3) + { + int x = lvlStacks[sId][j]; + int y = lvlStacks[sId][j+1]; + int i = lvlStacks[sId][j+2]; + if (i >= 0 && srcReg[i] == 0) + { + if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack)) + { + if (regionId == 0xFFFF) + { + ctx->log(RC_LOG_ERROR, "rcBuildRegions: Region ID overflow"); + return false; + } + + regionId++; + } + } + } + } + } + + // 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); + } + + ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED); + + { + rcScopedTimer timerFilter(ctx, RC_TIMER_BUILD_REGIONS_FILTER); + + // Merge regions and filter out smalle regions. + rcIntArray overlaps; + chf.maxRegions = regionId; + 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()); + } + } + + // Write the result out. + for (int i = 0; i < chf.spanCount; ++i) + chf.spans[i].reg = srcReg[i]; + + return true; +} + + +bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf, + const int borderSize, const int minRegionArea) +{ + rcAssert(ctx); + + rcScopedTimer timer(ctx, 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, "rcBuildLayerRegions: 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, "rcBuildLayerRegions: 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; + } + } + } + + + { + 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)) + return false; + } + + + // Store the result out. + for (int i = 0; i < chf.spanCount; ++i) + chf.spans[i].reg = srcReg[i]; + + return true; +} |