Scarfski/recastnavigation
1
0
Fork 0
mirror of https://github.com/recastnavigation/recastnavigation.git synced 2026-10-30 20:45:49 +00:00
Code Issues Packages Projects Releases Wiki Activity

Implement more complex area modifications (#260)

Browse Source 
This implements rcAreaModification which allows combining of area types when they overlap
and otherwise usage of the area type as a bit mask.
This commit is contained in:
Domenico Albani
2017-03-12 12:18:29 +01:00
committed by Jakob Botsch Nielsen
parent ef3ea40f7a
commit 433986a5a4
15 changed files with 200 additions and 134 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Recast/Include/Recast.h
+33 -10
View File
@@ -441,6 +441,29 @@ struct rcPolyMeshDetail
int ntris; ///< The number of triangles in #tris.
};
static const unsigned char RC_AREA_FLAGS_MASK = 0x3F;
/// @ingroup recast
class rcAreaModification
{
public:
/// Mask is set to all available bits, which means value is fully applied
/// @param[in] value The area id to apply. [Limit: <= #RC_AREA_FLAGS_MASK]
rcAreaModification(unsigned char value);
/// @param[in] value The area id to apply. [Limit: <= #RC_AREA_FLAGS_MASK]
/// @param[in] mask Bitwise mask used when applying value. [Limit: <= #RC_AREA_FLAGS_MASK]
rcAreaModification(unsigned char value, unsigned char mask);
rcAreaModification(const rcAreaModification& other);
void operator = (const rcAreaModification& other);
bool operator == (const rcAreaModification& other) const;
bool operator != (const rcAreaModification& other) const;
void apply(unsigned char& area) const;
unsigned char getMaskedValue() const;
unsigned char m_value; ///< Value to apply to target area id
unsigned char m_mask; ///< Bitwise mask used when applying value to target area id
};
/// @name Allocation Functions
/// Functions used to allocate and de-allocate Recast objects.
/// @see rcAllocSetCustom
@@ -790,8 +813,7 @@ bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int heigh
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.
/// Modifies the area id of all triangles with a slope below the specified value.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable.
@@ -801,10 +823,11 @@ bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int heigh
/// @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]
/// @param[in] areaMod The area modification to apply.
void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv,
const int* tris, int nt, unsigned char* areas);
const int* tris, int nt, unsigned char* areas, rcAreaModification areaMod);
/// Sets the area id of all triangles with a slope greater than or equal to the specified value to #RC_NULL_AREA.
/// Modifies the area id of all triangles with a slope greater than or equal to the specified value.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable.
@@ -966,9 +989,9 @@ bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf);
/// @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] areaMod The area modification to apply.
/// @param[in,out] chf A populated compact heightfield.
void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, rcAreaModification areaMod,
rcCompactHeightfield& chf);
/// Applies the area id to the all spans within the specified convex polygon.
@@ -978,10 +1001,10 @@ void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigne
/// @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] areaMod The area modification to apply.
/// @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,
const float hmin, const float hmax, rcAreaModification areaMod,
rcCompactHeightfield& chf);
/// Helper function to offset voncex polygons for rcMarkConvexPolyArea.
@@ -1000,10 +1023,10 @@ int rcOffsetPoly(const float* verts, const int nverts, const float offset,
/// @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] areaMod The area modification to apply.
/// @param[in,out] chf A populated compact heightfield.
void rcMarkCylinderArea(rcContext* ctx, const float* pos,
const float r, const float h, unsigned char areaId,
const float r, const float h, rcAreaModification areaMod,
rcCompactHeightfield& chf);
/// Builds the distance field for the specified compact heightfield.
Recast/Source/Recast.cpp
+47 -2
View File
@@ -71,6 +71,50 @@ void rcContext::log(const rcLogCategory category, const char* format, ...)
doLog(category, msg, len);
}
rcAreaModification::rcAreaModification(unsigned char value) :
m_value(value),
m_mask(RC_AREA_FLAGS_MASK)
{
}
rcAreaModification::rcAreaModification(unsigned char value, unsigned char mask) :
m_value(value),
m_mask(mask)
{
}
rcAreaModification::rcAreaModification(const rcAreaModification& other) :
m_value(other.m_value),
m_mask(other.m_mask)
{
}
void rcAreaModification::operator = (const rcAreaModification& other)
{
m_value = other.m_value;
m_mask = other.m_mask;
}
bool rcAreaModification::operator == (const rcAreaModification& other) const
{
return ((m_value == other.m_value) && (m_mask == other.m_mask));
}
bool rcAreaModification::operator != (const rcAreaModification& other) const
{
return ((m_value == other.m_value) && (m_mask == other.m_mask));
}
void rcAreaModification::apply(unsigned char& area) const
{
area = ((m_value & m_mask) | (area & ~m_mask));
}
unsigned char rcAreaModification::getMaskedValue() const
{
return (m_value & m_mask);
}
rcHeightfield* rcAllocHeightfield()
{
return new (rcAlloc(sizeof(rcHeightfield), RC_ALLOC_PERM)) rcHeightfield;
@@ -263,7 +307,8 @@ static void calcTriNormal(const float* v0, const float* v1, const float* v2, flo
void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
const float* verts, int nv,
const int* tris, int nt,
unsigned char* areas)
unsigned char* areas,
rcAreaModification areaMod)
{
rcIgnoreUnused(ctx);
rcIgnoreUnused(nv);
@@ -278,7 +323,7 @@ void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
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;
areaMod.apply(areas[i]);
}
}
Recast/Source/RecastArea.cpp
+6 -6
View File
@@ -313,7 +313,7 @@ bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
/// 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,
void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, rcAreaModification areaMod,
rcCompactHeightfield& chf)
{
rcAssert(ctx);
@@ -348,7 +348,7 @@ void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigne
if ((int)s.y >= miny && (int)s.y <= maxy)
{
if (chf.areas[i] != RC_NULL_AREA)
chf.areas[i] = areaId;
areaMod.apply(chf.areas[i]);
}
}
}
@@ -379,7 +379,7 @@ static int pointInPoly(int nvert, const float* verts, const float* p)
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
const float hmin, const float hmax, unsigned char areaId,
const float hmin, const float hmax, rcAreaModification areaMod,
rcCompactHeightfield& chf)
{
rcAssert(ctx);
@@ -435,7 +435,7 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
if (pointInPoly(nverts, verts, p))
{
chf.areas[i] = areaId;
areaMod.apply(chf.areas[i]);
}
}
}
@@ -527,7 +527,7 @@ int rcOffsetPoly(const float* verts, const int nverts, const float offset,
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
void rcMarkCylinderArea(rcContext* ctx, const float* pos,
const float r, const float h, unsigned char areaId,
const float r, const float h, rcAreaModification areaMod,
rcCompactHeightfield& chf)
{
rcAssert(ctx);
@@ -582,7 +582,7 @@ void rcMarkCylinderArea(rcContext* ctx, const float* pos,
if (dx*dx + dz*dz < r2)
{
chf.areas[i] = areaId;
areaMod.apply(chf.areas[i]);
}
}
}
RecastDemo/Include/ConvexVolumeTool.h
+1 -1
View File
@@ -26,7 +26,7 @@
class ConvexVolumeTool : public SampleTool
{
Sample* m_sample;
int m_areaType;
rcAreaModification m_areaMod;
float m_polyOffset;
float m_boxHeight;
float m_boxDescent;
RecastDemo/Include/InputGeom.h
+4 -2
View File
@@ -21,14 +21,16 @@
#include "ChunkyTriMesh.h"
#include "MeshLoaderObj.h"
#include "Recast.h"
static const int MAX_CONVEXVOL_PTS = 12;
struct ConvexVolume
{
ConvexVolume(): areaMod(RC_AREA_FLAGS_MASK) {}
float verts[MAX_CONVEXVOL_PTS*3];
float hmin, hmax;
int nverts;
int area;
rcAreaModification areaMod;
};
struct BuildSettings
@@ -136,7 +138,7 @@ public:
int getConvexVolumeCount() const { return m_volumeCount; }
const ConvexVolume* getConvexVolumes() const { return m_volumes; }
void addConvexVolume(const float* verts, const int nverts,
const float minh, const float maxh, unsigned char area);
const float minh, const float maxh, rcAreaModification areaMod);
void deleteConvexVolume(int i);
void drawConvexVolumes(struct duDebugDraw* dd, bool hilight = false);
///@}
RecastDemo/Include/Sample.h
+20 -11
View File
@@ -38,17 +38,24 @@ enum SampleToolType
MAX_TOOLS
};
/// These are just sample areas to use consistent values across the samples.
/// The use should specify these base on his needs.
enum SamplePolyAreas
{
SAMPLE_POLYAREA_GROUND,
SAMPLE_POLYAREA_WATER,
SAMPLE_POLYAREA_ROAD,
SAMPLE_POLYAREA_DOOR,
SAMPLE_POLYAREA_GRASS,
SAMPLE_POLYAREA_JUMP,
};
/// Mask of the ceil part of the area id (3 lower bits)
/// the 0 value (RC_NULL_AREA) is left unused
static const unsigned char SAMPLE_POLYAREA_TYPE_MASK = 0x07;
/// Value for the kind of ceil "ground"
static const unsigned char SAMPLE_POLYAREA_TYPE_GROUND = 0x1;
/// Value for the kind of ceil "water"
static const unsigned char SAMPLE_POLYAREA_TYPE_WATER = 0x2;
/// Value for the kind of ceil "road"
static const unsigned char SAMPLE_POLYAREA_TYPE_ROAD = 0x3;
/// Value for the kind of ceil "grass"
static const unsigned char SAMPLE_POLYAREA_TYPE_GRASS = 0x4;
/// Flag for door area. Can be combined with area types and jump flag.
static const unsigned char SAMPLE_POLYAREA_FLAG_DOOR = 0x08;
/// Flag for jump area. Can be combined with area types and door flag.
static const unsigned char SAMPLE_POLYAREA_FLAG_JUMP = 0x10;
extern rcAreaModification const SAMPLE_AREAMOD_GROUND;
enum SamplePolyFlags
{
SAMPLE_POLYFLAGS_WALK = 0x01, // Ability to walk (ground, grass, road)
@@ -59,6 +66,8 @@ enum SamplePolyFlags
SAMPLE_POLYFLAGS_ALL = 0xffff // All abilities.
};
unsigned short sampleAreaToFlags(unsigned char area);
class SampleDebugDraw : public DebugDrawGL
{
public:
RecastDemo/Source/ConvexVolumeTool.cpp
+21 -15
View File
@@ -97,10 +97,16 @@ static int pointInPoly(int nvert, const float* verts, const float* p)
return c;
}
rcAreaModification const SAMPLE_AREAMOD_GROUND(SAMPLE_POLYAREA_TYPE_GROUND, SAMPLE_POLYAREA_TYPE_MASK);
static rcAreaModification const SAMPLE_AREAMOD_WATER(SAMPLE_POLYAREA_TYPE_WATER, SAMPLE_POLYAREA_TYPE_MASK);
static rcAreaModification const SAMPLE_AREAMOD_ROAD(SAMPLE_POLYAREA_TYPE_ROAD, SAMPLE_POLYAREA_TYPE_MASK);
static rcAreaModification const SAMPLE_AREAMOD_GRASS(SAMPLE_POLYAREA_TYPE_GRASS, SAMPLE_POLYAREA_TYPE_MASK);
static rcAreaModification const SAMPLE_AREAMOD_DOOR(SAMPLE_POLYAREA_FLAG_DOOR, SAMPLE_POLYAREA_FLAG_DOOR);
static rcAreaModification const SAMPLE_AREAMOD_JUMP(SAMPLE_POLYAREA_FLAG_JUMP, SAMPLE_POLYAREA_FLAG_JUMP);
ConvexVolumeTool::ConvexVolumeTool() :
m_sample(0),
m_areaType(SAMPLE_POLYAREA_GRASS),
m_areaMod(SAMPLE_AREAMOD_GRASS),
m_polyOffset(0.0f),
m_boxHeight(6.0f),
m_boxDescent(1.0f),
@@ -130,18 +136,18 @@ void ConvexVolumeTool::handleMenu()
imguiLabel("Area Type");
imguiIndent();
if (imguiCheck("Ground", m_areaType == SAMPLE_POLYAREA_GROUND))
m_areaType = SAMPLE_POLYAREA_GROUND;
if (imguiCheck("Water", m_areaType == SAMPLE_POLYAREA_WATER))
m_areaType = SAMPLE_POLYAREA_WATER;
if (imguiCheck("Road", m_areaType == SAMPLE_POLYAREA_ROAD))
m_areaType = SAMPLE_POLYAREA_ROAD;
if (imguiCheck("Door", m_areaType == SAMPLE_POLYAREA_DOOR))
m_areaType = SAMPLE_POLYAREA_DOOR;
if (imguiCheck("Grass", m_areaType == SAMPLE_POLYAREA_GRASS))
m_areaType = SAMPLE_POLYAREA_GRASS;
if (imguiCheck("Jump", m_areaType == SAMPLE_POLYAREA_JUMP))
m_areaType = SAMPLE_POLYAREA_JUMP;
if (imguiCheck("Ground", m_areaMod == SAMPLE_AREAMOD_GROUND))
m_areaMod = SAMPLE_AREAMOD_GROUND;
if (imguiCheck("Water", m_areaMod == SAMPLE_AREAMOD_WATER))
m_areaMod = SAMPLE_AREAMOD_WATER;
if (imguiCheck("Road", m_areaMod == SAMPLE_AREAMOD_ROAD))
m_areaMod = SAMPLE_AREAMOD_ROAD;
if (imguiCheck("Grass", m_areaMod == SAMPLE_AREAMOD_GRASS))
m_areaMod = SAMPLE_AREAMOD_GRASS;
if (imguiCheck("Door", m_areaMod == SAMPLE_AREAMOD_DOOR))
m_areaMod = SAMPLE_AREAMOD_DOOR;
if (imguiCheck("Jump", m_areaMod == SAMPLE_AREAMOD_JUMP))
m_areaMod = SAMPLE_AREAMOD_JUMP;
imguiUnindent();
imguiSeparator();
@@ -203,11 +209,11 @@ void ConvexVolumeTool::handleClick(const float* /*s*/, const float* p, bool shif
float offset[MAX_PTS*2*3];
int noffset = rcOffsetPoly(verts, m_nhull, m_polyOffset, offset, MAX_PTS*2);
if (noffset > 0)
geom->addConvexVolume(offset, noffset, minh, maxh, (unsigned char)m_areaType);
geom->addConvexVolume(offset, noffset, minh, maxh, m_areaMod);
}
else
{
geom->addConvexVolume(verts, m_nhull, minh, maxh, (unsigned char)m_areaType);
geom->addConvexVolume(verts, m_nhull, minh, maxh, m_areaMod);
}
}
RecastDemo/Source/InputGeom.cpp
+7 -7
View File
@@ -253,7 +253,7 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
if (m_volumeCount < MAX_VOLUMES)
{
ConvexVolume* vol = &m_volumes[m_volumeCount++];
sscanf(row+1, "%d %d %f %f", &vol->nverts, &vol->area, &vol->hmin, &vol->hmax);
sscanf(row+1, "%d %c %c %f %f", &vol->nverts, &vol->areaMod.m_value, &vol->areaMod.m_mask, &vol->hmin, &vol->hmax);
for (int i = 0; i < vol->nverts; ++i)
{
row[0] = '\0';
@@ -375,7 +375,7 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
for (int i = 0; i < m_volumeCount; ++i)
{
ConvexVolume* vol = &m_volumes[i];
fprintf(fp, "v %d %d %f %f\n", vol->nverts, vol->area, vol->hmin, vol->hmax);
fprintf(fp, "v %d %c %c %f %f\n", vol->nverts, vol->areaMod.m_value, vol->areaMod.m_mask, vol->hmin, vol->hmax);
for (int j = 0; j < vol->nverts; ++j)
fprintf(fp, "%f %f %f\n", vol->verts[j*3+0], vol->verts[j*3+1], vol->verts[j*3+2]);
}
@@ -529,7 +529,7 @@ void InputGeom::drawOffMeshConnections(duDebugDraw* dd, bool hilight)
}
void InputGeom::addConvexVolume(const float* verts, const int nverts,
const float minh, const float maxh, unsigned char area)
const float minh, const float maxh, rcAreaModification areaMod)
{
if (m_volumeCount >= MAX_VOLUMES) return;
ConvexVolume* vol = &m_volumes[m_volumeCount++];
@@ -538,7 +538,7 @@ void InputGeom::addConvexVolume(const float* verts, const int nverts,
vol->hmin = minh;
vol->hmax = maxh;
vol->nverts = nverts;
vol->area = area;
vol->areaMod = areaMod;
}
void InputGeom::deleteConvexVolume(int i)
@@ -556,7 +556,7 @@ void InputGeom::drawConvexVolumes(struct duDebugDraw* dd, bool /*hilight*/)
for (int i = 0; i < m_volumeCount; ++i)
{
const ConvexVolume* vol = &m_volumes[i];
unsigned int col = duTransCol(dd->areaToCol(vol->area), 32);
unsigned int col = duTransCol(dd->areaToCol(vol->areaMod.getMaskedValue()), 32);
for (int j = 0, k = vol->nverts-1; j < vol->nverts; k = j++)
{
const float* va = &vol->verts[k*3];
@@ -582,7 +582,7 @@ void InputGeom::drawConvexVolumes(struct duDebugDraw* dd, bool /*hilight*/)
for (int i = 0; i < m_volumeCount; ++i)
{
const ConvexVolume* vol = &m_volumes[i];
unsigned int col = duTransCol(dd->areaToCol(vol->area), 220);
unsigned int col = duTransCol(dd->areaToCol(vol->areaMod.getMaskedValue()), 220);
for (int j = 0, k = vol->nverts-1; j < vol->nverts; k = j++)
{
const float* va = &vol->verts[k*3];
@@ -601,7 +601,7 @@ void InputGeom::drawConvexVolumes(struct duDebugDraw* dd, bool /*hilight*/)
for (int i = 0; i < m_volumeCount; ++i)
{
const ConvexVolume* vol = &m_volumes[i];
unsigned int col = duDarkenCol(duTransCol(dd->areaToCol(vol->area), 220));
unsigned int col = duDarkenCol(duTransCol(dd->areaToCol(vol->areaMod.getMaskedValue()), 220));
for (int j = 0; j < vol->nverts; ++j)
{
dd->vertex(vol->verts[j*3+0],vol->verts[j*3+1]+0.1f,vol->verts[j*3+2], col);
RecastDemo/Source/NavMeshTesterTool.cpp
+6 -6
View File
@@ -257,12 +257,12 @@ void NavMeshTesterTool::init(Sample* sample)
if (m_navQuery)
{
// Change costs.
m_filter.setAreaCost(SAMPLE_POLYAREA_GROUND, 1.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_WATER, 10.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_ROAD, 1.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_DOOR, 1.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_GRASS, 2.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_JUMP, 1.5f);
m_filter.setAreaCost(SAMPLE_POLYAREA_TYPE_GROUND, 1.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_TYPE_WATER, 10.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_TYPE_ROAD, 1.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_FLAG_DOOR, 1.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_TYPE_GRASS, 2.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_FLAG_JUMP, 1.5f);
}
m_neighbourhoodRadius = sample->getAgentRadius() * 20.0f;
RecastDemo/Source/OffMeshConnectionTool.cpp
+1 -1
View File
@@ -119,7 +119,7 @@ void OffMeshConnectionTool::handleClick(const float* /*s*/, const float* p, bool
}
else
{
const unsigned char area = SAMPLE_POLYAREA_JUMP;
const unsigned char area = SAMPLE_POLYAREA_FLAG_JUMP;
const unsigned short flags = SAMPLE_POLYFLAGS_JUMP;
geom->addOffMeshConnection(m_hitPos, p, m_sample->getAgentRadius(), m_bidir ? 1 : 0, area, flags);
m_hitPosSet = false;
RecastDemo/Source/Sample.cpp
+40 -12
View File
@@ -35,25 +35,53 @@
# define snprintf _snprintf
#endif
unsigned short sampleAreaToFlags(unsigned char area)
{
unsigned char areaType = (area & SAMPLE_POLYAREA_TYPE_MASK);
unsigned short flags = (unsigned short)((areaType == SAMPLE_POLYAREA_TYPE_WATER) ? SAMPLE_POLYFLAGS_SWIM : SAMPLE_POLYFLAGS_WALK);
if((areaType & SAMPLE_POLYAREA_FLAG_DOOR) != 0)
{
flags |= SAMPLE_POLYFLAGS_DOOR;
}
if((areaType & SAMPLE_POLYAREA_FLAG_JUMP) != 0)
{
flags |= SAMPLE_POLYFLAGS_JUMP;
}
return flags;
}
unsigned int SampleDebugDraw::areaToCol(unsigned int area)
{
switch(area)
unsigned int col;
unsigned char ceil = (area & SAMPLE_POLYAREA_TYPE_MASK);
switch(ceil)
{
// Ground (0) : light blue
case SAMPLE_POLYAREA_GROUND: return duRGBA(0, 192, 255, 255);
// Ground : light blue
case SAMPLE_POLYAREA_TYPE_GROUND: col = duRGBA(0, 192, 255, 255); break;
// Water : blue
case SAMPLE_POLYAREA_WATER: return duRGBA(0, 0, 255, 255);
case SAMPLE_POLYAREA_TYPE_WATER: col = duRGBA(0, 0, 255, 255); break;
// Road : brown
case SAMPLE_POLYAREA_ROAD: return duRGBA(50, 20, 12, 255);
// Door : cyan
case SAMPLE_POLYAREA_DOOR: return duRGBA(0, 255, 255, 255);
case SAMPLE_POLYAREA_TYPE_ROAD: col = duRGBA(50, 20, 12, 255); break;
// Grass : green
case SAMPLE_POLYAREA_GRASS: return duRGBA(0, 255, 0, 255);
// Jump : yellow
case SAMPLE_POLYAREA_JUMP: return duRGBA(255, 255, 0, 255);
// Unexpected : red
default: return duRGBA(255, 0, 0, 255);
case SAMPLE_POLYAREA_TYPE_GRASS: col = duRGBA(0, 255, 0, 255); break;
// Unexpected ceil : red
default: col = duRGBA(255, 0, 0, 255); break;
}
if(area & SAMPLE_POLYAREA_FLAG_DOOR)
{
// Door : cyan
col = duLerpCol(col, duRGBA(0, 255, 255, 255), 127);
}
if(area & SAMPLE_POLYAREA_FLAG_JUMP)
{
// Jump : yellow
col = duLerpCol(col, duRGBA(255, 255, 0, 255), 127);
}
return col;
}
Sample::Sample() :
RecastDemo/Source/Sample_SoloMesh.cpp
+3 -19
View File
@@ -435,7 +435,7 @@ bool Sample_SoloMesh::handleBuild()
// If your input data is multiple meshes, you can transform them here, calculate
// the are type for each of the meshes and rasterize them.
memset(m_triareas, 0, ntris*sizeof(unsigned char));
rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle, verts, nverts, tris, ntris, m_triareas);
rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle, verts, nverts, tris, ntris, m_triareas, SAMPLE_AREAMOD_GROUND);
if (!rcRasterizeTriangles(m_ctx, verts, nverts, tris, m_triareas, ntris, *m_solid, m_cfg.walkableClimb))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not rasterize triangles.");
@@ -498,7 +498,7 @@ bool Sample_SoloMesh::handleBuild()
// (Optional) Mark areas.
const ConvexVolume* vols = m_geom->getConvexVolumes();
for (int i = 0; i < m_geom->getConvexVolumeCount(); ++i)
rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);
rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, vols[i].areaMod, *m_chf);
// Partition the heightfield so that we can use simple algorithm later to triangulate the walkable areas.
@@ -639,23 +639,7 @@ bool Sample_SoloMesh::handleBuild()
// Update poly flags from areas.
for (int i = 0; i < m_pmesh->npolys; ++i)
{
if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;
if (m_pmesh->areas[i] == SAMPLE_POLYAREA_GROUND ||
m_pmesh->areas[i] == SAMPLE_POLYAREA_GRASS ||
m_pmesh->areas[i] == SAMPLE_POLYAREA_ROAD)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK;
}
else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_WATER)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_SWIM;
}
else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_DOOR)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR;
}
m_pmesh->flags[i] = sampleAreaToFlags(m_pmesh->areas[i]);
}
RecastDemo/Source/Sample_TempObstacles.cpp
+4 -19
View File
@@ -195,23 +195,7 @@ struct MeshProcess : public dtTileCacheMeshProcess
// Update poly flags from areas.
for (int i = 0; i < params->polyCount; ++i)
{
if (polyAreas[i] == DT_TILECACHE_WALKABLE_AREA)
polyAreas[i] = SAMPLE_POLYAREA_GROUND;
if (polyAreas[i] == SAMPLE_POLYAREA_GROUND ||
polyAreas[i] == SAMPLE_POLYAREA_GRASS ||
polyAreas[i] == SAMPLE_POLYAREA_ROAD)
{
polyFlags[i] = SAMPLE_POLYFLAGS_WALK;
}
else if (polyAreas[i] == SAMPLE_POLYAREA_WATER)
{
polyFlags[i] = SAMPLE_POLYFLAGS_SWIM;
}
else if (polyAreas[i] == SAMPLE_POLYAREA_DOOR)
{
polyFlags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR;
}
polyFlags[i] = sampleAreaToFlags(polyAreas[i]);
}
// Pass in off-mesh connections.
@@ -351,7 +335,8 @@ int Sample_TempObstacles::rasterizeTileLayers(
memset(rc.triareas, 0, ntris*sizeof(unsigned char));
rcMarkWalkableTriangles(m_ctx, tcfg.walkableSlopeAngle,
verts, nverts, tris, ntris, rc.triareas);
verts, nverts, tris, ntris, rc.triareas,
SAMPLE_AREAMOD_GROUND);
if (!rcRasterizeTriangles(m_ctx, verts, nverts, tris, rc.triareas, ntris, *rc.solid, tcfg.walkableClimb))
return 0;
@@ -393,7 +378,7 @@ int Sample_TempObstacles::rasterizeTileLayers(
{
rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts,
vols[i].hmin, vols[i].hmax,
(unsigned char)vols[i].area, *rc.chf);
vols[i].areaMod, *rc.chf);
}
rc.lset = rcAllocHeightfieldLayerSet();
RecastDemo/Source/Sample_TileMesh.cpp
+3 -19
View File
@@ -1039,7 +1039,7 @@ unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const
memset(m_triareas, 0, nctris*sizeof(unsigned char));
rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle,
verts, nverts, ctris, nctris, m_triareas);
verts, nverts, ctris, nctris, m_triareas, SAMPLE_AREAMOD_GROUND);
if (!rcRasterizeTriangles(m_ctx, verts, nverts, ctris, m_triareas, nctris, *m_solid, m_cfg.walkableClimb))
return 0;
@@ -1092,7 +1092,7 @@ unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const
// (Optional) Mark areas.
const ConvexVolume* vols = m_geom->getConvexVolumes();
for (int i = 0; i < m_geom->getConvexVolumeCount(); ++i)
rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);
rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, vols[i].areaMod, *m_chf);
// Partition the heightfield so that we can use simple algorithm later to triangulate the walkable areas.
@@ -1226,23 +1226,7 @@ unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const
// Update poly flags from areas.
for (int i = 0; i < m_pmesh->npolys; ++i)
{
if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;
if (m_pmesh->areas[i] == SAMPLE_POLYAREA_GROUND ||
m_pmesh->areas[i] == SAMPLE_POLYAREA_GRASS ||
m_pmesh->areas[i] == SAMPLE_POLYAREA_ROAD)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK;
}
else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_WATER)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_SWIM;
}
else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_DOOR)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR;
}
m_pmesh->flags[i] = sampleAreaToFlags(m_pmesh->areas[i]);
}
dtNavMeshCreateParams params;
Tests/Recast/Tests_Recast.cpp
+4 -4
View File
@@ -448,27 +448,27 @@ TEST_CASE("rcMarkWalkableTriangles")
SECTION("One walkable triangle")
{
rcMarkWalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
rcMarkWalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas, rcAreaModification(RC_WALKABLE_AREA));
REQUIRE(areas[0] == RC_WALKABLE_AREA);
}
SECTION("One non-walkable triangle")
{
rcMarkWalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);
rcMarkWalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas, rcAreaModification(RC_WALKABLE_AREA));
REQUIRE(areas[0] == RC_NULL_AREA);
}
SECTION("Non-walkable triangle area id's are not modified")
{
areas[0] = 42;
rcMarkWalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas);
rcMarkWalkableTriangles(ctx, walkableSlopeAngle, verts, nv, unwalkable_tri, nt, areas, rcAreaModification(RC_WALKABLE_AREA));
REQUIRE(areas[0] == 42);
}
SECTION("Slopes equal to the max slope are considered unwalkable.")
{
walkableSlopeAngle = 0;
rcMarkWalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas);
rcMarkWalkableTriangles(ctx, walkableSlopeAngle, verts, nv, walkable_tri, nt, areas, rcAreaModification(RC_WALKABLE_AREA));
REQUIRE(areas[0] == RC_NULL_AREA);
}
}