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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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31
Recast/Source/RecastRasterization.cpp
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@@ -83,9 +83,9 @@ static void freeSpan(rcHeightfield& hf, rcSpan* ptr)
hf.freelist = ptr;
}
static void addSpan(rcHeightfield& hf, int x, int y,
unsigned short smin, unsigned short smax,
unsigned short flags)
static void addSpan(rcHeightfield& hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned short flags, const int flagMergeThr)
{
int idx = x + y*hf.width;
@@ -127,8 +127,7 @@ static void addSpan(rcHeightfield& hf, int x, int y,
s->smax = cur->smax;
// Merge flags.
// if (s->smax == cur->smax)
if (rcAbs((int)s->smax - (int)cur->smax) <= 1)
if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr)
s->flags |= cur->flags;
// Remove current span.
@@ -188,7 +187,8 @@ static int clipPoly(const float* in, int n, float* out, float pnx, float pnz, fl
static void rasterizeTri(const float* v0, const float* v1, const float* v2,
unsigned char flags, rcHeightfield& hf,
const float* bmin, const float* bmax,
const float cs, const float ics, const float ich)
const float cs, const float ics, const float ich,
const int flagMergeThr)
{
const int w = hf.width;
const int h = hf.height;
@@ -263,19 +263,20 @@ static void rasterizeTri(const float* v0, const float* v1, const float* v2,
unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, 0x7fff);
unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), 0, 0x7fff);
addSpan(hf, x, y, ismin, ismax, flags);
addSpan(hf, x, y, ismin, ismax, flags, flagMergeThr);
}
}
}
void rcRasterizeTriangle(const float* v0, const float* v1, const float* v2,
unsigned char flags, rcHeightfield& solid)
unsigned char flags, rcHeightfield& solid,
const int flagMergeThr)
{
rcTimeVal startTime = rcGetPerformanceTimer();
const float ics = 1.0f/solid.cs;
const float ich = 1.0f/solid.ch;
rasterizeTri(v0, v1, v2, flags, solid, solid.bmin, solid.bmax, solid.cs, ics, ich);
rasterizeTri(v0, v1, v2, flags, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
rcTimeVal endTime = rcGetPerformanceTimer();
@@ -285,7 +286,7 @@ void rcRasterizeTriangle(const float* v0, const float* v1, const float* v2,
void rcRasterizeTriangles(const float* verts, int nv,
const int* tris, const unsigned char* flags, int nt,
rcHeightfield& solid)
rcHeightfield& solid, const int flagMergeThr)
{
rcTimeVal startTime = rcGetPerformanceTimer();
@@ -298,7 +299,7 @@ void rcRasterizeTriangles(const float* verts, int nv,
const float* v1 = &verts[tris[i*3+1]*3];
const float* v2 = &verts[tris[i*3+2]*3];
// Rasterize.
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich);
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
}
rcTimeVal endTime = rcGetPerformanceTimer();
@@ -309,7 +310,7 @@ void rcRasterizeTriangles(const float* verts, int nv,
void rcRasterizeTriangles(const float* verts, int nv,
const unsigned short* tris, const unsigned char* flags, int nt,
rcHeightfield& solid)
rcHeightfield& solid, const int flagMergeThr)
{
rcTimeVal startTime = rcGetPerformanceTimer();
@@ -322,7 +323,7 @@ void rcRasterizeTriangles(const float* verts, int nv,
const float* v1 = &verts[tris[i*3+1]*3];
const float* v2 = &verts[tris[i*3+2]*3];
// Rasterize.
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich);
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
}
rcTimeVal endTime = rcGetPerformanceTimer();
@@ -332,7 +333,7 @@ void rcRasterizeTriangles(const float* verts, int nv,
}
void rcRasterizeTriangles(const float* verts, const unsigned char* flags, int nt,
rcHeightfield& solid)
rcHeightfield& solid, const int flagMergeThr)
{
rcTimeVal startTime = rcGetPerformanceTimer();
@@ -345,7 +346,7 @@ void rcRasterizeTriangles(const float* verts, const unsigned char* flags, int nt
const float* v1 = &verts[(i*3+1)*3];
const float* v2 = &verts[(i*3+2)*3];
// Rasterize.
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich);
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
}
rcTimeVal endTime = rcGetPerformanceTimer();