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Better handling of low obstacles.

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This commit is contained in:
Mikko Mononen
2010-01-29 11:37:14 +00:00
parent bd2e60a008
commit 9bf68216a3
12 changed files with 2818 additions and 180 deletions
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57
Recast/Source/RecastFilter.cpp
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@@ -24,6 +24,42 @@
#include "RecastTimer.h"
// TODO: Missuses ledge flag, must be called before rcFilterLedgeSpans!
void rcFilterLowHangingWalkableObstacles(const int walkableClimb, rcHeightfield& solid)
{
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;
for (rcSpan* s = solid.spans[x + y*w]; s; ps = s, s = s->next)
{
const bool walkable = (s->flags & RC_WALKABLE) != 0;
const bool previousWalkable = ps && (ps->flags & RC_WALKABLE) != 0;
// If current span is not walkable, but there is walkable
// span just below it, mark the span above it walkable too.
// Missuse the edge flag so that walkable flag cannot propagate
// past multiple non-walkable objects.
if (!walkable && previousWalkable)
{
if (rcAbs((int)s->smax - (int)ps->smax) <= walkableClimb)
s->flags |= RC_LEDGE;
}
}
// Transfer "fake ledges" to walkables.
for (rcSpan* s = solid.spans[x + y*w]; s; ps = s, s = s->next)
{
if (s->flags & RC_LEDGE)
s->flags |= RC_WALKABLE;
s->flags &= ~RC_LEDGE;
}
}
}
}
void rcFilterLedgeSpans(const int walkableHeight,
const int walkableClimb,
rcHeightfield& solid)
@@ -51,6 +87,10 @@ void rcFilterLedgeSpans(const int walkableHeight,
// 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);
@@ -77,7 +117,17 @@ void rcFilterLedgeSpans(const int walkableHeight,
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;
}
}
}
}
@@ -85,6 +135,13 @@ void rcFilterLedgeSpans(const int walkableHeight,
// neighbour span is less than the walkableClimb.
if (minh < -walkableClimb)
s->flags |= RC_LEDGE;
// If the difference between all neighbours is too large,
// we are at steep slope, mark the span as ledge.
if ((asmax - asmin) > walkableClimb)
{
s->flags |= RC_LEDGE;
}
}
}
}