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Merge branch 'master' of https://github.com/memononen/recastnavigation

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Mikko Mononen
2014-06-13 13:25:07 +03:00
parent a89bb843d7 d477061f83
commit 3cb87f2432
41 changed files with 6701 additions and 5246 deletions
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96
Recast/Source/RecastMeshDetail.cpp
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@@ -839,7 +839,8 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
return true;
}
static void getHeightData(const rcCompactHeightfield& chf,
static void getHeightDataSeedsFromVertices(const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& stack)
@@ -967,8 +968,83 @@ static void getHeightData(const rcCompactHeightfield& chf,
int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
const rcCompactSpan& cs = chf.spans[ci];
hp.data[idx] = cs.y;
// getHeightData seeds are given in coordinates with borders
stack[i+0] += bs;
stack[i+1] += bs;
}
}
static void getHeightData(const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& stack,
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.
stack.resize(0);
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
bool empty = true;
// Copy the height from the same region, and mark region borders
// as seed points to fill the rest.
for (int hy = 0; hy < hp.height; hy++)
{
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)
{
stack.push(x);
stack.push(y);
stack.push(i);
}
break;
}
}
}
}
// if the polygon does not contian any points from the current region (rare, but happens)
// then use the cells closest to the polygon vertices as seeds to fill the height field
if (empty)
getHeightDataSeedsFromVertices(chf, poly, npoly, verts, bs, hp, stack);
static const int RETRACT_SIZE = 256;
int head = 0;
@@ -993,26 +1069,25 @@ static void getHeightData(const rcCompactHeightfield& chf,
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 (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
ay < hp.ymin || ay >= (hp.ymin+hp.height))
if (hx < 0 || hx >= hp.width || hy < 0 || hy >= hp.height)
continue;
if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != RC_UNSET_HEIGHT)
if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT)
continue;
const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir);
const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(cs, dir);
const rcCompactSpan& as = chf.spans[ai];
int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
hp.data[idx] = as.y;
hp.data[hx + hy*hp.width] = as.y;
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
}
}
static unsigned char getEdgeFlags(const float* va, const float* vb,
@@ -1170,7 +1245,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
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(chf, p, npoly, mesh.verts, borderSize, hp, stack);
getHeightData(chf, p, npoly, mesh.verts, borderSize, hp, stack, mesh.regs[i]);
// Build detail mesh.
int nverts = 0;
@@ -1340,4 +1415,3 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
return true;
}