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clang-format InputGeom.cpp

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This commit is contained in:
Graham Pentheny
2025-05-19 23:26:19 -04:00
parent 06ae4ee0cb
commit 4a505c0afe
1 changed files with 142 additions and 97 deletions
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239
RecastDemo/Source/InputGeom.cpp
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@@ -16,23 +16,22 @@
// 3. This notice may not be removed or altered from any source distribution.
//
#include <math.h>
#include <stdio.h>
#include <ctype.h>
#include <string.h>
#include <algorithm>
#include "Recast.h"
#include "InputGeom.h"
#include "ChunkyTriMesh.h"
#include "MeshLoaderObj.h"
#include "DebugDraw.h"
#include "RecastDebugDraw.h"
#include "DetourNavMesh.h"
#include "MeshLoaderObj.h"
#include "Recast.h"
#include "Sample.h"
static bool intersectSegmentTriangle(const float* sp, const float* sq,
const float* a, const float* b, const float* c,
float &t)
#include <ctype.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <algorithm>
static bool intersectSegmentTriangle(const float* sp, const float* sq, const float* a, const float* b, const float* c, float& t)
{
float v;
float w;
@@ -54,22 +53,37 @@ static bool intersectSegmentTriangle(const float* sp, const float* sq,
// Compute denominator d. If d <= 0, segment is parallel to or points
// away from triangle, so exit early
float d = rcVdot(qp, norm);
if (d <= 0.0f) { return false; }
if (d <= 0.0f)
{
return false;
}
// Compute intersection t value of pq with plane of triangle. A ray
// intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
// dividing by d until intersection has been found to pierce triangle
rcVsub(ap, sp, a);
t = rcVdot(ap, norm);
if (t < 0.0f) { return false; }
if (t > d) { return false; } // For segment; exclude this code line for a ray test
if (t < 0.0f)
{
return false;
}
if (t > d)
{
return false;
} // For segment; exclude this code line for a ray test
// Compute barycentric coordinate components and test if within bounds
rcVcross(e, qp, ap);
v = rcVdot(ac, e);
if (v < 0.0f || v > d) { return false; }
if (v < 0.0f || v > d)
{
return false;
}
w = -rcVdot(ab, e);
if (w < 0.0f || v + w > d) { return false; }
if (w < 0.0f || v + w > d)
{
return false;
}
// Segment/ray intersects triangle. Perform delayed division
t /= d;
@@ -89,24 +103,30 @@ static char* parseRow(char* buf, char* bufEnd, char* row, int len)
// multirow
switch (c)
{
case '\n':
if (start) { break; }
case '\n':
if (start)
{
break;
}
done = true;
break;
case '\r':
break;
case '\t':
case ' ':
if (start)
{
break;
}
// else falls through
default:
start = false;
row[n++] = c;
if (n >= len - 1)
{
done = true;
break;
case '\r':
break;
case '\t':
case ' ':
if (start) { break; }
// else falls through
default:
start = false;
row[n++] = c;
if (n >= len-1)
{
done = true;
}
break;
}
break;
}
}
row[n] = '\0';
@@ -117,8 +137,10 @@ bool InputGeom::loadMesh(rcContext* ctx, const std::string& filepath)
{
if (m_mesh)
{
delete m_chunkyMesh; m_chunkyMesh = nullptr;
delete m_mesh; m_mesh = nullptr;
delete m_chunkyMesh;
m_chunkyMesh = nullptr;
delete m_mesh;
m_mesh = nullptr;
}
m_offMeshConCount = 0;
m_volumeCount = 0;
@@ -155,7 +177,10 @@ bool InputGeom::loadMesh(rcContext* ctx, const std::string& filepath)
bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
{
FILE* fp = fopen(filepath.c_str(), "rb");
if (!fp) { return false; }
if (!fp)
{
return false;
}
if (fseek(fp, 0, SEEK_END) != 0)
{
@@ -191,7 +216,8 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
m_offMeshConCount = 0;
m_volumeCount = 0;
delete m_mesh; m_mesh = nullptr;
delete m_mesh;
m_mesh = nullptr;
char* src = buf;
char* srcEnd = buf + bufSize;
@@ -206,12 +232,14 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
// File name.
const char* name = row + 1;
// Skip white spaces
for (;*name && isspace(*name); ++name) {}
for (; *name && isspace(*name); ++name)
{
}
if (*name)
{
if (!loadMesh(ctx, name))
{
delete [] buf;
delete[] buf;
return false;
}
}
@@ -226,8 +254,19 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
int area;
int flags;
float rad;
sscanf(row + 1, "%f %f %f %f %f %f %f %d %d %d",
&v[0], &v[1], &v[2], &v[3], &v[4], &v[5], &rad, &bidir, &area, &flags);
sscanf(
row + 1,
"%f %f %f %f %f %f %f %d %d %d",
&v[0],
&v[1],
&v[2],
&v[3],
&v[4],
&v[5],
&rad,
&bidir,
&area,
&flags);
m_offMeshConRads[m_offMeshConCount] = rad;
m_offMeshConDirs[m_offMeshConCount] = (unsigned char)bidir;
m_offMeshConAreas[m_offMeshConCount] = (unsigned char)area;
@@ -254,7 +293,8 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
{
// Settings
m_hasBuildSettings = true;
sscanf(row + 1,
sscanf(
row + 1,
"%f %f %f %f %f %f %f %f %f %f %f %f %f %d %f %f %f %f %f %f %f",
&m_buildSettings.cellSize,
&m_buildSettings.cellHeight,
@@ -280,14 +320,17 @@ bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
}
}
delete [] buf;
delete[] buf;
return true;
}
bool InputGeom::load(rcContext* ctx, const std::string& filepath)
{
size_t extensionPos = filepath.find_last_of('.');
if (extensionPos == std::string::npos) { return false; }
if (extensionPos == std::string::npos)
{
return false;
}
std::string extension = filepath.substr(extensionPos);
std::transform(extension.begin(), extension.end(), extension.begin(), tolower);
@@ -306,7 +349,10 @@ bool InputGeom::load(rcContext* ctx, const std::string& filepath)
bool InputGeom::saveGeomSet(const BuildSettings* settings)
{
if (!m_mesh) { return false; }
if (!m_mesh)
{
return false;
}
// Change extension
std::string filepath = m_mesh->getFileName();
@@ -319,7 +365,10 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
filepath += ".gset";
FILE* fp = fopen(filepath.c_str(), "w");
if (!fp) { return false; }
if (!fp)
{
return false;
}
// Store mesh filename.
fprintf(fp, "f %s\n", m_mesh->getFileName().c_str());
@@ -327,7 +376,8 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
// Store settings if any
if (settings)
{
fprintf(fp,
fprintf(
fp,
"s %f %f %f %f %f %f %f %f %f %f %f %f %f %d %f %f %f %f %f %f %f\n",
settings->cellSize,
settings->cellHeight,
@@ -360,9 +410,7 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
const int bidir = m_offMeshConDirs[i];
const int area = m_offMeshConAreas[i];
const int flags = m_offMeshConFlags[i];
fprintf(fp,
"c %f %f %f %f %f %f %f %d %d %d\n",
v[0], v[1], v[2], v[3], v[4], v[5], rad, bidir, area, flags);
fprintf(fp, "c %f %f %f %f %f %f %f %d %d %d\n", v[0], v[1], v[2], v[3], v[4], v[5], rad, bidir, area, flags);
}
// Convex volumes
@@ -381,22 +429,11 @@ bool InputGeom::saveGeomSet(const BuildSettings* settings)
return true;
}
static bool isectSegAABB(
const float* sp,
const float* sq,
const float* amin,
const float* amax,
float& tmin,
float& tmax)
static bool isectSegAABB(const float* sp, const float* sq, const float* amin, const float* amax, float& tmin, float& tmax)
{
static const float EPS = 1e-6f;
float d[]
{
sq[0] - sp[0],
sq[1] - sp[1],
sq[2] - sp[2]
};
float d[]{sq[0] - sp[0], sq[1] - sp[1], sq[2] - sp[2]};
tmin = 0.0;
tmax = 1.0f;
@@ -414,10 +451,24 @@ static bool isectSegAABB(
const float ood = 1.0f / d[i];
float t1 = (amin[i] - sp[i]) * ood;
float t2 = (amax[i] - sp[i]) * ood;
if (t1 > t2) { float tmp = t1; t1 = t2; t2 = tmp; }
if (t1 > tmin) { tmin = t1; }
if (t2 < tmax) { tmax = t2; }
if (tmin > tmax) { return false; }
if (t1 > t2)
{
float tmp = t1;
t1 = t2;
t2 = tmp;
}
if (t1 > tmin)
{
tmin = t1;
}
if (t2 < tmax)
{
tmax = t2;
}
if (tmin > tmax)
{
return false;
}
}
}
@@ -429,22 +480,20 @@ bool InputGeom::raycastMesh(float* src, float* dst, float& tmin)
// Prune hit ray.
float btmin;
float btmax;
if (!isectSegAABB(src, dst, m_meshBMin, m_meshBMax, btmin, btmax)) { return false; }
if (!isectSegAABB(src, dst, m_meshBMin, m_meshBMax, btmin, btmax))
{
return false;
}
float p[]
{
p[0] = src[0] + (dst[0] - src[0]) * btmin,
p[1] = src[2] + (dst[2] - src[2]) * btmin
};
float q[]
{
src[0] + (dst[0] - src[0]) * btmax,
src[2] + (dst[2] - src[2]) * btmax
};
float p[]{p[0] = src[0] + (dst[0] - src[0]) * btmin, p[1] = src[2] + (dst[2] - src[2]) * btmin};
float q[]{src[0] + (dst[0] - src[0]) * btmax, src[2] + (dst[2] - src[2]) * btmax};
int cid[512];
const int ncid = m_chunkyMesh->GetChunksOverlappingSegment(p, q, cid, 512);
if (!ncid) { return false; }
if (!ncid)
{
return false;
}
tmin = 1.0f;
bool hit = false;
@@ -459,11 +508,7 @@ bool InputGeom::raycastMesh(float* src, float* dst, float& tmin)
for (int j = 0; j < ntris * 3; j += 3)
{
float t = 1;
if (intersectSegmentTriangle(
src, dst,
&verts[tris[j] * 3],
&verts[tris[j + 1] * 3],
&verts[tris[j + 2] * 3], t))
if (intersectSegmentTriangle(src, dst, &verts[tris[j] * 3], &verts[tris[j + 1] * 3], &verts[tris[j + 2] * 3], t))
{
if (t < tmin)
{
@@ -485,7 +530,10 @@ void InputGeom::addOffMeshConnection(
unsigned char area,
unsigned short flags)
{
if (m_offMeshConCount >= MAX_OFFMESH_CONNECTIONS) { return; }
if (m_offMeshConCount >= MAX_OFFMESH_CONNECTIONS)
{
return;
}
float* v = &m_offMeshConVerts[m_offMeshConCount * 3 * 2];
m_offMeshConRads[m_offMeshConCount] = rad;
m_offMeshConDirs[m_offMeshConCount] = bidir;
@@ -532,22 +580,19 @@ void InputGeom::drawOffMeshConnections(duDebugDraw* dd, bool hilight)
if (hilight)
{
duAppendArc(dd, v[0], v[1], v[2], v[3], v[4], v[5], 0.25f,
(m_offMeshConDirs[i]&1) ? 0.6f : 0.0f, 0.6f, conColor);
duAppendArc(dd, v[0], v[1], v[2], v[3], v[4], v[5], 0.25f, (m_offMeshConDirs[i] & 1) ? 0.6f : 0.0f, 0.6f, conColor);
}
}
dd->end();
dd->depthMask(true);
}
void InputGeom::addConvexVolume(
const float* verts,
const int nverts,
const float minh,
const float maxh,
unsigned char area)
void InputGeom::addConvexVolume(const float* verts, const int nverts, const float minh, const float maxh, unsigned char area)
{
if (m_volumeCount >= MAX_VOLUMES) { return; }
if (m_volumeCount >= MAX_VOLUMES)
{
return;
}
ConvexVolume* vol = &m_volumes[m_volumeCount++];
memset(vol, 0, sizeof(ConvexVolume));
memcpy(vol->verts, verts, sizeof(float) * 3 * nverts);
@@ -572,7 +617,7 @@ void InputGeom::drawConvexVolumes(struct duDebugDraw* dd, bool /*hilight*/)
{
const ConvexVolume* vol = &m_volumes[i];
unsigned int col = duTransCol(dd->areaToCol(vol->area), 32);
for (int j = 0, k = vol->nverts-1; j < vol->nverts; k = j++)
for (int j = 0, k = vol->nverts - 1; j < vol->nverts; k = j++)
{
const float* va = &vol->verts[k * 3];
const float* vb = &vol->verts[j * 3];
@@ -598,7 +643,7 @@ void InputGeom::drawConvexVolumes(struct duDebugDraw* dd, bool /*hilight*/)
{
const ConvexVolume* vol = &m_volumes[i];
unsigned int col = duTransCol(dd->areaToCol(vol->area), 220);
for (int j = 0, k = vol->nverts-1; j < vol->nverts; k = j++)
for (int j = 0, k = vol->nverts - 1; j < vol->nverts; k = j++)
{
const float* va = &vol->verts[k * 3];
const float* vb = &vol->verts[j * 3];