class dtFixedArray
{
@@ -1399,7 +1408,6 @@ static void pushBack(unsigned short v, unsigned short* arr, int& an)
static bool canRemoveVertex(dtTileCachePolyMesh& mesh, const unsigned short rem)
{
// Count number of polygons to remove.
- int numRemovedVerts = 0;
int numTouchedVerts = 0;
int numRemainingEdges = 0;
for (int i = 0; i < mesh.npolys; ++i)
@@ -1419,7 +1427,6 @@ static bool canRemoveVertex(dtTileCachePolyMesh& mesh, const unsigned short rem)
}
if (numRemoved)
{
- numRemovedVerts += numRemoved;
numRemainingEdges += numVerts-(numRemoved+1);
}
}
@@ -2041,6 +2048,60 @@ dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float c
return DT_SUCCESS;
}
+dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
+ const float* center, const float* halfExtents, const float* rotAux, const unsigned char areaId)
+{
+ const int w = (int)layer.header->width;
+ const int h = (int)layer.header->height;
+ const float ics = 1.0f/cs;
+ const float ich = 1.0f/ch;
+
+ float cx = (center[0] - orig[0])*ics;
+ float cz = (center[2] - orig[2])*ics;
+
+ float maxr = 1.41f*dtMax(halfExtents[0], halfExtents[2]);
+ int minx = (int)floorf(cx - maxr*ics);
+ int maxx = (int)floorf(cx + maxr*ics);
+ int minz = (int)floorf(cz - maxr*ics);
+ int maxz = (int)floorf(cz + maxr*ics);
+ int miny = (int)floorf((center[1]-halfExtents[1]-orig[1])*ich);
+ int maxy = (int)floorf((center[1]+halfExtents[1]-orig[1])*ich);
+
+ if (maxx < 0) return DT_SUCCESS;
+ if (minx >= w) return DT_SUCCESS;
+ if (maxz < 0) return DT_SUCCESS;
+ if (minz >= h) return DT_SUCCESS;
+
+ if (minx < 0) minx = 0;
+ if (maxx >= w) maxx = w-1;
+ if (minz < 0) minz = 0;
+ if (maxz >= h) maxz = h-1;
+
+ float xhalf = halfExtents[0]*ics + 0.5f;
+ float zhalf = halfExtents[2]*ics + 0.5f;
+
+ for (int z = minz; z <= maxz; ++z)
+ {
+ for (int x = minx; x <= maxx; ++x)
+ {
+ float x2 = 2.0f*(float(x) - cx);
+ float z2 = 2.0f*(float(z) - cz);
+ float xrot = rotAux[1]*x2 + rotAux[0]*z2;
+ if (xrot > xhalf || xrot < -xhalf)
+ continue;
+ float zrot = rotAux[1]*z2 - rotAux[0]*x2;
+ if (zrot > zhalf || zrot < -zhalf)
+ continue;
+ const int y = layer.heights[x+z*w];
+ if (y < miny || y > maxy)
+ continue;
+ layer.areas[x+z*w] = areaId;
+ }
+ }
+
+ return DT_SUCCESS;
+}
+
dtStatus dtBuildTileCacheLayer(dtTileCacheCompressor* comp,
dtTileCacheLayerHeader* header,
const unsigned char* heights,
@@ -2142,7 +2203,7 @@ dtStatus dtDecompressTileCacheLayer(dtTileCacheAlloc* alloc, dtTileCacheCompress
grids, gridsSize, &size);
if (dtStatusFailed(status))
{
- dtFree(buffer);
+ alloc->free(buffer);
return status;
}
diff --git a/Docs/Conceptual/license_c.txt b/Docs/Conceptual/license_c.txt
deleted file mode 100644
index c2a3c1e8..00000000
--- a/Docs/Conceptual/license_c.txt
+++ /dev/null
@@ -1,27 +0,0 @@
-
-/**
-@page License License
-
-
-Copyright (c) 2009-2011 Mikko Mononen memon@inside.org
-
-This software is provided 'as-is', without any express or implied
-warranty. In no event will the authors be held liable for any damages
-arising from the use of this software.
-
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it
-freely, subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not
- claim that you wrote the original software. If you use this software
- in a product, an acknowledgment in the product documentation would be
- appreciated but is not required.
-
-2. Altered source versions must be plainly marked as such, and must not be
- misrepresented as being the original software.
-
-3. This notice may not be removed or altered from any source distribution.
-
-
-*/
\ No newline at end of file
diff --git a/Docs/Conceptual/mainpage_c.txt b/Docs/Conceptual/mainpage_c.txt
deleted file mode 100644
index 14dd1cf8..00000000
--- a/Docs/Conceptual/mainpage_c.txt
+++ /dev/null
@@ -1,109 +0,0 @@
-/// @mainpage Recast Navigation
-///
-/// @image html recast_intro.png
-///
-/// Recast
-///
-/// _Recast_ is a state of the art navigation mesh construction toolset for
-/// games.
-///
-/// - It is automatic, which means that you can throw any level
-/// geometry at it and you will get a robust mesh out.
-/// - It is fast, which means swift turnaround times for level designers.
-/// - It is open source, so it comes with full source and you can
-/// customize it to your hearts content.
-///
-/// The latest version can be found on
-/// GitHub .
-///
-/// The _Recast_ process starts with constructing a voxel mold from level
-/// geometry and then casting a navigation mesh over it. The process
-/// consists of three steps: building the voxel mold, partitioning the
-/// mold into simple regions, and triangulating the regions as simple polygons.
-///
-/// -# The voxel mold is built from the input triangle mesh by
-/// rasterizing the triangles into a multi-layer heightfield. Some
-/// simple filters are then applied to the mold to prune out locations
-/// where the character would not be able to move.
-/// -# The walkable areas described by the mold are divided into simple
-/// overlayed 2D regions. The resulting regions have only one
-/// non-overlapping contour, which simplifies the final step of the
-/// process tremendously.
-/// -# The navigation polygons are generated from the regions by first
-/// tracing the boundaries and then simplifying them. The resulting
-/// polygons are finally converted to convex polygons which makes them
-/// perfect for pathfinding and spatial reasoning about the level.
-///
-/// Detour
-///
-/// _Recast_ is accompanied by _Detour_, a path-finding and spatial reasoning
-/// toolkit. You can use any navigation mesh with _Detour_, but of course
-/// the data generated by _Recast_ fits perfectly.
-///
-/// _Detour_ offers a simple static navigation mesh that is suitable for
-/// many simple cases, as well as a tiled navigation mesh that allows you
-/// to add and remove pieces of the mesh. The tiled mesh allows you to
-/// create systems where you stream new navigation data in and out as
-/// the player progresses the level, or regenerate tiles as the
-/// world changes.
-///
-/// Recast Demo
-///
-/// You can find a comprehensive demo project in the `RecastDemo` folder. It
-/// is a kitchen sink demo containing all the major functionality of the library.
-/// If you are new to _Recast_ & _Detour_, check out
-///
-/// Sample_SoloMesh.cpp to get started with building navmeshes and
-///
-/// NavMeshTesterTool.cpp to see how _Detour_ can be used to find paths.
-///
-/// Building RecastDemo
-///
-/// RecastDemo uses [premake5](http://premake.github.io/) to build platform specific projects.
-/// Download it and make sure it's available on your path, or specify the path to it.
-///
-/// Linux
-///
-/// - Install SDl2 and its dependencies according to your distro's guidelines.
-/// - run `premake5 gmake` from the `RecastDemo` folder.
-/// - `cd Build/gmake` then `make`
-/// - Run `RecastDemo\Bin\RecastDemo`
-///
-/// OSX
-///
-/// - Grab the latest SDL2 development library dmg from [here](https://www.libsdl.org/download-2.0.php) and place `SDL2.framework` in `/Library/Frameworks/`
-/// - Navigate to the `RecastDemo` folder and run `premake5 xcode4`
-/// - Open `Build/xcode4/recastnavigation.xcworkspace`
-/// - Select the "RecastDemo" project in the left pane, go to the "BuildPhases" tab and expand "Link Binary With Libraries"
-/// - Remove the existing entry for SDL2 (it should have a white box icon) and re-add it by hitting the plus, selecting "Add Other", and selecting `/Library/Frameworks/SDL2.framework`. It should now have a suitcase icon.
-/// - Set the RecastDemo project as the target and build.
-///
-/// Windows
-///
-/// - Grab the latest SDL2 development library release from [here](https://www.libsdl.org/download-2.0.php) and unzip it `RecastDemo\Contrib`. Rename the SDL folder such that the path `RecastDemo\Contrib\SDL\lib\x86` is valid.
-/// - Run `"premake5" vs2015` from the `RecastDemo` folder
-/// - Open the solution, build, and run.
-///
-/// Integrating With Your Own Project
-///
-/// It is recommended to add the source directories `DebugUtils`, `Detour`,
-/// `DetourCrowd`, `DetourTileCache`, and `Recast` into your own project
-/// depending on which parts of the project you need. For example your
-/// level building tool could include `DebugUtils`, `Recast`, and `Detour`,
-/// and your game runtime could just include `Detour`.
-///
-/// Contributing
-/// All development is centralized in github. Check out the Contributing Guidelines for more information.
-///
-/// Discuss
-///
-/// - Discuss _Recast_ and _Detour_:
-///
-/// Recast Navigation Group
-/// - Development Blog:
-/// Digesting Duck
-///
-/// License
-///
-/// _Recast Navigation_ is licensed under the ZLib license.
-///
diff --git a/Docs/DoxygenLayout.xml b/Docs/DoxygenLayout.xml
index b20079c9..db963bba 100644
--- a/Docs/DoxygenLayout.xml
+++ b/Docs/DoxygenLayout.xml
@@ -107,7 +107,7 @@
- Ramer–Douglas-Peucker algorithm ,
+and this value describes the max deviation in voxels.
+
+Good values for #maxSimplificationError are in the range `[1.1, 1.5]`.
+A value of `1.3` is a good starting point and usually yields good results.
+If the value is less than `1.1`, some sawtoothing starts to appear at the
+generated edges. If the value is more than `1.5`, the mesh simplification
+starts to cut some corners it shouldn't.
+
The effect of this parameter only applies to the xz-plane.
@var rcConfig::minRegionArea
@par
+Watershed partitioning is really prone to noise in the input distance field.
+In order to get nicer areas, the areas are merged and small disconnected areas
+are removed after the water shed partitioning. The parameter #minRegionArea
+describes the minimum isolated region size that is still kept. A region is
+removed if the number of voxels in the region is less than the square of
+#minRegionArea.
+
Any regions that are smaller than this area will be marked as unwalkable.
This is useful in removing useless regions that can sometimes form on
geometry such as table tops, box tops, etc.
@@ -132,6 +220,13 @@ geometry such as table tops, box tops, etc.
If the mesh data is to be used to construct a Detour navigation mesh, then the upper limit
is limited to <= #DT_VERTS_PER_POLYGON.
+@var rcConfig::mergeRegionArea
+@par
+
+The triangulation process works best with small, localized voxel regions.
+The parameter #mergeRegionArea controls the maximum voxel area of a region
+that is allowed to be merged with another region. If you see small patches
+missing here and there, you could lower the #minRegionArea value.
@struct rcHeightfield
@par
diff --git a/Docs/Images/recast_intro.png b/Docs/Images/recast_intro.png
deleted file mode 100644
index ad18ac61..00000000
Binary files a/Docs/Images/recast_intro.png and /dev/null differ
diff --git a/RecastDemo/screenshot.png b/Docs/Images/screenshot.png
similarity index 100%
rename from RecastDemo/screenshot.png
rename to Docs/Images/screenshot.png
diff --git a/Docs/Readme.txt b/Docs/Readme.txt
index be153b94..3bf89fa8 100644
--- a/Docs/Readme.txt
+++ b/Docs/Readme.txt
@@ -7,11 +7,6 @@ Directory Layout
High level content and format files. (E.g. css, header, footer.)
-./Conceptual
-
- Conceptual (non-api) documentation such as overviews, how-to's, etc.
- The main index page content is also in this directory.
-
./Extern
API documentation that is located outside the source files.
diff --git a/Docs/doxygen-awesome-css/LICENSE b/Docs/doxygen-awesome-css/LICENSE
new file mode 100644
index 00000000..1d8b99a9
--- /dev/null
+++ b/Docs/doxygen-awesome-css/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2021 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/Docs/doxygen-awesome-css/README.md b/Docs/doxygen-awesome-css/README.md
new file mode 100644
index 00000000..5b07c923
--- /dev/null
+++ b/Docs/doxygen-awesome-css/README.md
@@ -0,0 +1,124 @@
+# Doxygen Awesome
+
+[](https://github.com/jothepro/doxygen-awesome-css/releases/latest)
+[](https://github.com/jothepro/doxygen-awesome-css/blob/main/LICENSE)
+
+
+
+
+
+
+
+
+**Doxygen Awesome** is a custom **CSS theme for Doxygen HTML-documentation** with lots of customization parameters.
+
+## Motivation
+
+I really like how the Doxygen HTML-documentation is structured! But IMHO it looks a bit outdated.
+
+This theme is an attempt to update the visuals of Doxygen without changing its overall layout too much.
+
+## Features
+
+- 🌈 Clean, modern design
+- 🚀 Heavily customizable by adjusting CSS-variables
+- 🧩 No changes to the HTML structure of Doxygen required
+- 📱 Improved mobile usability
+- 🌘 Dark mode support!
+- 🥇 Works best with **doxygen 1.9.1** - **1.9.4**
+
+## Examples
+
+Some websites using this theme:
+
+- [Documentation of this repository](https://jothepro.github.io/doxygen-awesome-css/)
+- [wxWidgets](https://docs.wxwidgets.org/3.2/)
+- [OpenCV 5.x](https://docs.opencv.org/5.x/)
+- [Zephyr](https://docs.zephyrproject.org/latest/doxygen/html/index.html)
+- [FELTOR](https://mwiesenberger.github.io/feltor/dg/html/modules.html)
+- [Spatial Audio Framework (SAF)](https://leomccormack.github.io/Spatial_Audio_Framework/index.html)
+- [libCloudSync](https://jothepro.github.io/libCloudSync/)
+- [libsl3](https://a4z.github.io/libsl3/)
+
+## Installation
+
+To use the theme in your documentation, copy the required CSS and JS files from this repository into your project or add the repository as submodule and check out the latest release:
+
+```bash
+git submodule add https://github.com/jothepro/doxygen-awesome-css.git
+cd doxygen-awesome-css
+git checkout v2.1.0
+```
+
+All theme files are located in the root of this repository and start with the prefix `doxygen-awesome-`. You may not need all of them. Follow the install instructions to figure out what files are required for your setup.
+
+### Choosing a layout
+
+There is two layout options. Choose one of them and configure Doxygen accordingly:
+
+
+
+
+
+
+
+
+
+#### Base Theme (1)
+
+Comes with the typical Doxygen titlebar. Optionally the treeview in the sidebar can be enabled.
+
+Required files: `doxygen-awesome.css`
+
+Required `Doxyfile` configuration:
+```
+GENERATE_TREEVIEW = YES # optional. Also works without treeview
+DISABLE_INDEX = NO
+FULL_SIDEBAR = NO
+HTML_EXTRA_STYLESHEET = doxygen-awesome-css/doxygen-awesome.css
+```
+
+#### Sidebar-Only Theme (2)
+
+Hides the top titlebar to give more space to the content. The treeview must be enabled in order for this theme to work.
+
+Required files: `doxygen-awesome.css`, `doxygen-awesome-sidebar-only.css`
+
+Required `Doxyfile` configuration:
+```
+GENERATE_TREEVIEW = YES # required!
+DISABLE_INDEX = NO
+FULL_SIDEBAR = NO
+HTML_EXTRA_STYLESHEET = doxygen-awesome-css/doxygen-awesome.css \
+ doxygen-awesome-css/doxygen-awesome-sidebar-only.css
+```
+
+
+**Caution**: This theme is not compatible with the `FULL_SIDEBAR = YES` option provided by Doxygen!
+
+### Further installation instructions:
+
+- [Installing extensions](docs/extensions.md)
+- [Customizing the theme (colors, spacing, border-radius, ...)](docs/customization.md)
+- [Tips and Tricks for further configuration](docs/tricks.md)
+
+## Browser support
+
+Tested with
+
+- Chrome 104, Chrome 104 for Android, Chrome 103 for iOS
+- Safari 15, Safari for iOS 15
+- Firefox 103, Firefox 103 for Android, Firefox Daylight 102 for iOS
+- Edge 104
+
+The theme does not strive to be backwards compatible to (significantly) older browser versions.
+
+## Credits
+
+- This theme was initially inspired by the [vuepress](https://vuepress.vuejs.org/) static site generator default theme.
+- Thank you for all the bug reports, pull requests and inspiring feedback on github!
+
+
+
+Read Next: [Extensions](docs/extensions.md)
+
\ No newline at end of file
diff --git a/Docs/doxygen-awesome-css/doxygen-awesome-darkmode-toggle.js b/Docs/doxygen-awesome-css/doxygen-awesome-darkmode-toggle.js
new file mode 100644
index 00000000..f2c5853f
--- /dev/null
+++ b/Docs/doxygen-awesome-css/doxygen-awesome-darkmode-toggle.js
@@ -0,0 +1,157 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 - 2022 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+class DoxygenAwesomeDarkModeToggle extends HTMLElement {
+ // SVG icons from https://fonts.google.com/icons
+ // Licensed under the Apache 2.0 license:
+ // https://www.apache.org/licenses/LICENSE-2.0.html
+ static lightModeIcon = `$projectname: $title
+$title
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ $projectname
+ $projectnumber
+
+ $projectbrief
+
+
+
+
+
+ $projectbrief
+
+
+
+
+
+ $searchbox
+
+
+
+
+
+
+
+
diff --git a/Docs/doxygen-awesome-css/doxygen-custom/toggle-alternative-theme.js b/Docs/doxygen-awesome-css/doxygen-custom/toggle-alternative-theme.js
new file mode 100644
index 00000000..72c37317
--- /dev/null
+++ b/Docs/doxygen-awesome-css/doxygen-custom/toggle-alternative-theme.js
@@ -0,0 +1,12 @@
+
+let original_theme_active = true;
+
+function toggle_alternative_theme() {
+ if(original_theme_active) {
+ document.documentElement.classList.add("alternative")
+ original_theme_active = false;
+ } else {
+ document.documentElement.classList.remove("alternative")
+ original_theme_active = true;
+ }
+}
\ No newline at end of file
diff --git a/Docs/footer.html b/Docs/footer.html
index 5bd570ad..d67b2be1 100644
--- a/Docs/footer.html
+++ b/Docs/footer.html
@@ -5,16 +5,16 @@
... \endif and \cond
# ... \endcond blocks.
-ENABLED_SECTIONS =
+ENABLED_SECTIONS =
# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
# initial value of a variable or macro / define can have for it to appear in the
@@ -681,14 +781,15 @@ SHOW_NAMESPACES = YES
# by doxygen. Whatever the program writes to standard output is used as the file
# version. For an example see the documentation.
-FILE_VERSION_FILTER =
+FILE_VERSION_FILTER =
# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
# by doxygen. The layout file controls the global structure of the generated
# output files in an output format independent way. To create the layout file
# that represents doxygen's defaults, run doxygen with the -l option. You can
# optionally specify a file name after the option, if omitted DoxygenLayout.xml
-# will be used as the name of the layout file.
+# will be used as the name of the layout file. See also section "Changing the
+# layout of pages" for information.
#
# Note that if you run doxygen from a directory containing a file called
# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
@@ -699,12 +800,12 @@ LAYOUT_FILE = Docs/DoxygenLayout.xml
# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
# the reference definitions. This must be a list of .bib files. The .bib
# extension is automatically appended if omitted. This requires the bibtex tool
-# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
+# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
# For LaTeX the style of the bibliography can be controlled using
# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
# search path. See also \cite for info how to create references.
-CITE_BIB_FILES =
+CITE_BIB_FILES =
#---------------------------------------------------------------------------
# Configuration options related to warning and progress messages
@@ -734,36 +835,68 @@ WARNINGS = YES
WARN_IF_UNDOCUMENTED = YES
# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
-# potential errors in the documentation, such as not documenting some parameters
-# in a documented function, or documenting parameters that don't exist or using
-# markup commands wrongly.
+# potential errors in the documentation, such as documenting some parameters in
+# a documented function twice, or documenting parameters that don't exist or
+# using markup commands wrongly.
# The default value is: YES.
WARN_IF_DOC_ERROR = YES
+# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete
+# function parameter documentation. If set to NO, doxygen will accept that some
+# parameters have no documentation without warning.
+# The default value is: YES.
+
+WARN_IF_INCOMPLETE_DOC = YES
+
# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
# are documented, but have no documentation for their parameters or return
-# value. If set to NO, doxygen will only warn about wrong or incomplete
-# parameter documentation, but not about the absence of documentation.
+# value. If set to NO, doxygen will only warn about wrong parameter
+# documentation, but not about the absence of documentation. If EXTRACT_ALL is
+# set to YES then this flag will automatically be disabled. See also
+# WARN_IF_INCOMPLETE_DOC
# The default value is: NO.
WARN_NO_PARAMDOC = NO
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
+# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
+# at the end of the doxygen process doxygen will return with a non-zero status.
+# Possible values are: NO, YES and FAIL_ON_WARNINGS.
+# The default value is: NO.
+
+WARN_AS_ERROR = NO
+
# The WARN_FORMAT tag determines the format of the warning messages that doxygen
# can produce. The string should contain the $file, $line, and $text tags, which
# will be replaced by the file and line number from which the warning originated
# and the warning text. Optionally the format may contain $version, which will
# be replaced by the version of the file (if it could be obtained via
# FILE_VERSION_FILTER)
+# See also: WARN_LINE_FORMAT
# The default value is: $file:$line: $text.
WARN_FORMAT = "$file:$line: $text"
+# In the $text part of the WARN_FORMAT command it is possible that a reference
+# to a more specific place is given. To make it easier to jump to this place
+# (outside of doxygen) the user can define a custom "cut" / "paste" string.
+# Example:
+# WARN_LINE_FORMAT = "'vi $file +$line'"
+# See also: WARN_FORMAT
+# The default value is: at line $line of file $file.
+
+WARN_LINE_FORMAT = "at line $line of file $file"
+
# The WARN_LOGFILE tag can be used to specify a file to which warning and error
# messages should be written. If left blank the output is written to standard
-# error (stderr).
+# error (stderr). In case the file specified cannot be opened for writing the
+# warning and error messages are written to standard error. When as file - is
+# specified the warning and error messages are written to standard output
+# (stdout).
-WARN_LOGFILE =
+WARN_LOGFILE =
#---------------------------------------------------------------------------
# Configuration options related to the input files
@@ -776,21 +909,34 @@ WARN_LOGFILE =
# Note: If this tag is empty the current directory is searched.
INPUT = . \
+ README.md \
+ CONTRIBUTING.md \
+ Roadmap.md \
DetourCrowd \
DetourTileCache \
Recast \
- Docs/Conceptual \
Docs/Extern
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
-# documentation (see: http://www.gnu.org/software/libiconv) for the list of
-# possible encodings.
+# documentation (see:
+# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
+# See also: INPUT_FILE_ENCODING
# The default value is: UTF-8.
INPUT_ENCODING = UTF-8
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify
+# character encoding on a per file pattern basis. Doxygen will compare the file
+# name with each pattern and apply the encoding instead of the default
+# INPUT_ENCODING) if there is a match. The character encodings are a list of the
+# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding
+# "INPUT_ENCODING" for further information on supported encodings.
+
+INPUT_FILE_ENCODING =
+
# If the value of the INPUT tag contains directories, you can use the
# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
# *.h) to filter out the source-files in the directories.
@@ -799,11 +945,15 @@ INPUT_ENCODING = UTF-8
# need to set EXTENSION_MAPPING for the extension otherwise the files are not
# read by doxygen.
#
+# Note the list of default checked file patterns might differ from the list of
+# default file extension mappings.
+#
# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
-# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
-# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd,
-# *.vhdl, *.ucf, *.qsf, *.as and *.js.
+# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml,
+# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C
+# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd,
+# *.vhdl, *.ucf, *.qsf and *.ice.
FILE_PATTERNS = *.cpp \
*.h \
@@ -829,7 +979,8 @@ EXCLUDE = Doxyfile \
TODO.txt \
RecastDemo/Contrib \
RecastDemo/Build \
- RecastDemo/Bin
+ RecastDemo/Bin \
+ Tests
# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
# directories that are symbolic links (a Unix file system feature) are excluded
@@ -851,25 +1002,25 @@ EXCLUDE_PATTERNS = CMakeLists.txt
# (namespaces, classes, functions, etc.) that should be excluded from the
# output. The symbol name can be a fully qualified name, a word, or if the
# wildcard * is used, a substring. Examples: ANamespace, AClass,
-# AClass::ANamespace, ANamespace::*Test
+# ANamespace::AClass, ANamespace::*Test
#
# Note that the wildcards are matched against the file with absolute path, so to
# exclude all test directories use the pattern */test/*
-EXCLUDE_SYMBOLS =
+EXCLUDE_SYMBOLS =
# The EXAMPLE_PATH tag can be used to specify one or more files or directories
# that contain example code fragments that are included (see the \include
# command).
-EXAMPLE_PATH =
+EXAMPLE_PATH =
# If the value of the EXAMPLE_PATH tag contains directories, you can use the
# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
# *.h) to filter out the source-files in the directories. If left blank all
# files are included.
-EXAMPLE_PATTERNS =
+EXAMPLE_PATTERNS =
# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
# searched for input files to be used with the \include or \dontinclude commands
@@ -898,8 +1049,17 @@ IMAGE_PATH = Docs/Images
# Note that the filter must not add or remove lines; it is applied before the
# code is scanned, but not when the output code is generated. If lines are added
# or removed, the anchors will not be placed correctly.
+#
+# Note that doxygen will use the data processed and written to standard output
+# for further processing, therefore nothing else, like debug statements or used
+# commands (so in case of a Windows batch file always use @echo OFF), should be
+# written to standard output.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
-INPUT_FILTER =
+INPUT_FILTER =
# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
# basis. Doxygen will compare the file name with each pattern and apply the
@@ -907,8 +1067,12 @@ INPUT_FILTER =
# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
-FILTER_PATTERNS =
+FILTER_PATTERNS =
# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
# INPUT_FILTER) will also be used to filter the input files that are used for
@@ -923,14 +1087,23 @@ FILTER_SOURCE_FILES = NO
# *.ext= (so without naming a filter).
# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
-FILTER_SOURCE_PATTERNS =
+FILTER_SOURCE_PATTERNS =
# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
# is part of the input, its contents will be placed on the main page
# (index.html). This can be useful if you have a project on for instance GitHub
# and want to reuse the introduction page also for the doxygen output.
-USE_MDFILE_AS_MAINPAGE =
+USE_MDFILE_AS_MAINPAGE = ./README.md
+
+# The Fortran standard specifies that for fixed formatted Fortran code all
+# characters from position 72 are to be considered as comment. A common
+# extension is to allow longer lines before the automatic comment starts. The
+# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can
+# be processed before the automatic comment starts.
+# Minimum value: 7, maximum value: 10000, default value: 72.
+
+FORTRAN_COMMENT_AFTER = 72
#---------------------------------------------------------------------------
# Configuration options related to source browsing
@@ -959,7 +1132,7 @@ INLINE_SOURCES = NO
STRIP_CODE_COMMENTS = YES
# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
-# function all documented functions referencing it will be listed.
+# entity all documented functions referencing it will be listed.
# The default value is: NO.
REFERENCED_BY_RELATION = NO
@@ -991,12 +1164,12 @@ SOURCE_TOOLTIPS = YES
# If the USE_HTAGS tag is set to YES then the references to source code will
# point to the HTML generated by the htags(1) tool instead of doxygen built-in
# source browser. The htags tool is part of GNU's global source tagging system
-# (see http://www.gnu.org/software/global/global.html). You will need version
+# (see https://www.gnu.org/software/global/global.html). You will need version
# 4.8.6 or higher.
#
# To use it do the following:
# - Install the latest version of global
-# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
+# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file
# - Make sure the INPUT points to the root of the source tree
# - Run doxygen as normal
#
@@ -1018,25 +1191,6 @@ USE_HTAGS = NO
VERBATIM_HEADERS = YES
-# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
-# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
-# cost of reduced performance. This can be particularly helpful with template
-# rich C++ code for which doxygen's built-in parser lacks the necessary type
-# information.
-# Note: The availability of this option depends on whether or not doxygen was
-# compiled with the --with-libclang option.
-# The default value is: NO.
-
-CLANG_ASSISTED_PARSING = NO
-
-# If clang assisted parsing is enabled you can provide the compiler with command
-# line options that you would normally use when invoking the compiler. Note that
-# the include paths will already be set by doxygen for the files and directories
-# specified with INPUT and INCLUDE_PATH.
-# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
-
-CLANG_OPTIONS =
-
#---------------------------------------------------------------------------
# Configuration options related to the alphabetical class index
#---------------------------------------------------------------------------
@@ -1048,20 +1202,13 @@ CLANG_OPTIONS =
ALPHABETICAL_INDEX = YES
-# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
-# which the alphabetical index list will be split.
-# Minimum value: 1, maximum value: 20, default value: 5.
-# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
-
-COLS_IN_ALPHA_INDEX = 5
-
# In case all classes in a project start with a common prefix, all classes will
# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
# can be used to specify a prefix (or a list of prefixes) that should be ignored
# while generating the index headers.
# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
-IGNORE_PREFIX =
+IGNORE_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the HTML output
@@ -1105,7 +1252,7 @@ HTML_FILE_EXTENSION = .html
# of the possible markers and block names see the documentation.
# This tag requires that the tag GENERATE_HTML is set to YES.
-HTML_HEADER =
+HTML_HEADER =
# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
# generated HTML page. If the tag is left blank doxygen will generate a standard
@@ -1127,7 +1274,7 @@ HTML_FOOTER = Docs/footer.html
# obsolete.
# This tag requires that the tag GENERATE_HTML is set to YES.
-HTML_STYLESHEET =
+HTML_STYLESHEET =
# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
# cascading style sheets that are included after the standard style sheets
@@ -1140,7 +1287,8 @@ HTML_STYLESHEET =
# list). For an example see the documentation.
# This tag requires that the tag GENERATE_HTML is set to YES.
-HTML_EXTRA_STYLESHEET =
+HTML_EXTRA_STYLESHEET = Docs/doxygen-awesome-css/doxygen-awesome.css \
+ Docs/doxygen-awesome-css/doxygen-awesome-sidebar-only.css
# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
# other source files which should be copied to the HTML output directory. Note
@@ -1150,12 +1298,29 @@ HTML_EXTRA_STYLESHEET =
# files will be copied as-is; there are no commands or markers available.
# This tag requires that the tag GENERATE_HTML is set to YES.
-HTML_EXTRA_FILES =
+HTML_EXTRA_FILES = License.txt
+
+# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output
+# should be rendered with a dark or light theme. Default setting AUTO_LIGHT
+# enables light output unless the user preference is dark output. Other options
+# are DARK to always use dark mode, LIGHT to always use light mode, AUTO_DARK to
+# default to dark mode unless the user prefers light mode, and TOGGLE to let the
+# user toggle between dark and light mode via a button.
+# Possible values are: LIGHT Always generate light output., DARK Always generate
+# dark output., AUTO_LIGHT Automatically set the mode according to the user
+# preference, use light mode if no preference is set (the default)., AUTO_DARK
+# Automatically set the mode according to the user preference, use dark mode if
+# no preference is set. and TOGGLE Allow to user to switch between light and
+# dark mode via a button..
+# The default value is: AUTO_LIGHT.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE = AUTO_LIGHT
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
# will adjust the colors in the style sheet and background images according to
-# this color. Hue is specified as an angle on a colorwheel, see
-# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# this color. Hue is specified as an angle on a color-wheel, see
+# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
# purple, and 360 is red again.
# Minimum value: 0, maximum value: 359, default value: 220.
@@ -1164,7 +1329,7 @@ HTML_EXTRA_FILES =
HTML_COLORSTYLE_HUE = 220
# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
-# in the HTML output. For a value of 0 the output will use grayscales only. A
+# in the HTML output. For a value of 0 the output will use gray-scales only. A
# value of 255 will produce the most vivid colors.
# Minimum value: 0, maximum value: 255, default value: 100.
# This tag requires that the tag GENERATE_HTML is set to YES.
@@ -1191,6 +1356,17 @@ HTML_COLORSTYLE_GAMMA = 80
HTML_TIMESTAMP = YES
+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via JavaScript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have JavaScript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_MENUS = YES
+
# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
# documentation will contain sections that can be hidden and shown after the
# page has loaded.
@@ -1214,13 +1390,14 @@ HTML_INDEX_NUM_ENTRIES = 100
# If the GENERATE_DOCSET tag is set to YES, additional index files will be
# generated that can be used as input for Apple's Xcode 3 integrated development
-# environment (see: http://developer.apple.com/tools/xcode/), introduced with
-# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
-# Makefile in the HTML output directory. Running make will produce the docset in
-# that directory and running make install will install the docset in
+# environment (see:
+# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To
+# create a documentation set, doxygen will generate a Makefile in the HTML
+# output directory. Running make will produce the docset in that directory and
+# running make install will install the docset in
# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
-# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
-# for more information.
+# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
+# genXcode/_index.html for more information.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
@@ -1234,6 +1411,13 @@ GENERATE_DOCSET = NO
DOCSET_FEEDNAME = "Doxygen generated docs"
+# This tag determines the URL of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDURL =
+
# This tag specifies a string that should uniquely identify the documentation
# set bundle. This should be a reverse domain-name style string, e.g.
# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
@@ -1259,8 +1443,12 @@ DOCSET_PUBLISHER_NAME = Publisher
# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
-# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
-# Windows.
+# on Windows. In the beginning of 2021 Microsoft took the original page, with
+# a.o. the download links, offline the HTML help workshop was already many years
+# in maintenance mode). You can download the HTML help workshop from the web
+# archives at Installation executable (see:
+# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo
+# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe).
#
# The HTML Help Workshop contains a compiler that can convert all HTML output
# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
@@ -1279,7 +1467,7 @@ GENERATE_HTMLHELP = NO
# written to the html output directory.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
-CHM_FILE =
+CHM_FILE =
# The HHC_LOCATION tag can be used to specify the location (absolute path
# including file name) of the HTML help compiler (hhc.exe). If non-empty,
@@ -1287,10 +1475,10 @@ CHM_FILE =
# The file has to be specified with full path.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
-HHC_LOCATION =
+HHC_LOCATION =
# The GENERATE_CHI flag controls if a separate .chi index file is generated
-# (YES) or that it should be included in the master .chm file (NO).
+# (YES) or that it should be included in the main .chm file (NO).
# The default value is: NO.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
@@ -1300,7 +1488,7 @@ GENERATE_CHI = NO
# and project file content.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
-CHM_INDEX_ENCODING =
+CHM_INDEX_ENCODING =
# The BINARY_TOC flag controls whether a binary table of contents is generated
# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
@@ -1331,11 +1519,12 @@ GENERATE_QHP = NO
# the HTML output folder.
# This tag requires that the tag GENERATE_QHP is set to YES.
-QCH_FILE =
+QCH_FILE =
# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
# Project output. For more information please see Qt Help Project / Namespace
-# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
# The default value is: org.doxygen.Project.
# This tag requires that the tag GENERATE_QHP is set to YES.
@@ -1343,8 +1532,8 @@ QHP_NAMESPACE = org.doxygen.Project
# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
# Help Project output. For more information please see Qt Help Project / Virtual
-# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
-# folders).
+# Folders (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders).
# The default value is: doc.
# This tag requires that the tag GENERATE_QHP is set to YES.
@@ -1352,33 +1541,33 @@ QHP_VIRTUAL_FOLDER = doc
# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
# filter to add. For more information please see Qt Help Project / Custom
-# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
-# filters).
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
# This tag requires that the tag GENERATE_QHP is set to YES.
-QHP_CUST_FILTER_NAME =
+QHP_CUST_FILTER_NAME =
# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
# custom filter to add. For more information please see Qt Help Project / Custom
-# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
-# filters).
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
# This tag requires that the tag GENERATE_QHP is set to YES.
-QHP_CUST_FILTER_ATTRS =
+QHP_CUST_FILTER_ATTRS =
# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
# project's filter section matches. Qt Help Project / Filter Attributes (see:
-# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes).
# This tag requires that the tag GENERATE_QHP is set to YES.
-QHP_SECT_FILTER_ATTRS =
+QHP_SECT_FILTER_ATTRS =
-# The QHG_LOCATION tag can be used to specify the location of Qt's
-# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
-# generated .qhp file.
+# The QHG_LOCATION tag can be used to specify the location (absolute path
+# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to
+# run qhelpgenerator on the generated .qhp file.
# This tag requires that the tag GENERATE_QHP is set to YES.
-QHG_LOCATION =
+QHG_LOCATION =
# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
# generated, together with the HTML files, they form an Eclipse help plugin. To
@@ -1418,16 +1607,28 @@ DISABLE_INDEX = NO
# to work a browser that supports JavaScript, DHTML, CSS and frames is required
# (i.e. any modern browser). Windows users are probably better off using the
# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
-# further fine-tune the look of the index. As an example, the default style
-# sheet generated by doxygen has an example that shows how to put an image at
-# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
-# the same information as the tab index, you could consider setting
-# DISABLE_INDEX to YES when enabling this option.
+# further fine tune the look of the index (see "Fine-tuning the output"). As an
+# example, the default style sheet generated by doxygen has an example that
+# shows how to put an image at the root of the tree instead of the PROJECT_NAME.
+# Since the tree basically has the same information as the tab index, you could
+# consider setting DISABLE_INDEX to YES when enabling this option.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
GENERATE_TREEVIEW = YES
+# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the
+# FULL_SIDEBAR option determines if the side bar is limited to only the treeview
+# area (value NO) or if it should extend to the full height of the window (value
+# YES). Setting this to YES gives a layout similar to
+# https://docs.readthedocs.io with more room for contents, but less room for the
+# project logo, title, and description. If either GENERATE_TREEVIEW or
+# DISABLE_INDEX is set to NO, this option has no effect.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FULL_SIDEBAR = NO
+
# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
# doxygen will group on one line in the generated HTML documentation.
#
@@ -1452,6 +1653,24 @@ TREEVIEW_WIDTH = 250
EXT_LINKS_IN_WINDOW = NO
+# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email
+# addresses.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+OBFUSCATE_EMAILS = YES
+
+# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
+# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
+# https://inkscape.org) to generate formulas as SVG images instead of PNGs for
+# the HTML output. These images will generally look nicer at scaled resolutions.
+# Possible values are: png (the default) and svg (looks nicer but requires the
+# pdf2svg or inkscape tool).
+# The default value is: png.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FORMULA_FORMAT = png
+
# Use this tag to change the font size of LaTeX formulas included as images in
# the HTML documentation. When you change the font size after a successful
# doxygen run you need to manually remove any form_*.png images from the HTML
@@ -1461,19 +1680,14 @@ EXT_LINKS_IN_WINDOW = NO
FORMULA_FONTSIZE = 10
-# Use the FORMULA_TRANPARENT tag to determine whether or not the images
-# generated for formulas are transparent PNGs. Transparent PNGs are not
-# supported properly for IE 6.0, but are supported on all modern browsers.
-#
-# Note that when changing this option you need to delete any form_*.png files in
-# the HTML output directory before the changes have effect.
-# The default value is: YES.
-# This tag requires that the tag GENERATE_HTML is set to YES.
+# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
+# to create new LaTeX commands to be used in formulas as building blocks. See
+# the section "Including formulas" for details.
-FORMULA_TRANSPARENT = YES
+FORMULA_MACROFILE =
# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
-# http://www.mathjax.org) which uses client side Javascript for the rendering
+# https://www.mathjax.org) which uses client side JavaScript for the rendering
# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
# installed or if you want to formulas look prettier in the HTML output. When
# enabled you may also need to install MathJax separately and configure the path
@@ -1483,11 +1697,29 @@ FORMULA_TRANSPARENT = YES
USE_MATHJAX = NO
+# With MATHJAX_VERSION it is possible to specify the MathJax version to be used.
+# Note that the different versions of MathJax have different requirements with
+# regards to the different settings, so it is possible that also other MathJax
+# settings have to be changed when switching between the different MathJax
+# versions.
+# Possible values are: MathJax_2 and MathJax_3.
+# The default value is: MathJax_2.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_VERSION = MathJax_2
+
# When MathJax is enabled you can set the default output format to be used for
-# the MathJax output. See the MathJax site (see:
-# http://docs.mathjax.org/en/latest/output.html) for more details.
+# the MathJax output. For more details about the output format see MathJax
+# version 2 (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3
+# (see:
+# http://docs.mathjax.org/en/latest/web/components/output.html).
# Possible values are: HTML-CSS (which is slower, but has the best
-# compatibility), NativeMML (i.e. MathML) and SVG.
+# compatibility. This is the name for Mathjax version 2, for MathJax version 3
+# this will be translated into chtml), NativeMML (i.e. MathML. Only supported
+# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This
+# is the name for Mathjax version 3, for MathJax version 2 this will be
+# translated into HTML-CSS) and SVG.
# The default value is: HTML-CSS.
# This tag requires that the tag USE_MATHJAX is set to YES.
@@ -1500,26 +1732,33 @@ MATHJAX_FORMAT = HTML-CSS
# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
# Content Delivery Network so you can quickly see the result without installing
# MathJax. However, it is strongly recommended to install a local copy of
-# MathJax from http://www.mathjax.org before deployment.
-# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# MathJax from https://www.mathjax.org before deployment. The default value is:
+# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2
+# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3
# This tag requires that the tag USE_MATHJAX is set to YES.
MATHJAX_RELPATH = http://www.mathjax.org/mathjax
# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
# extension names that should be enabled during MathJax rendering. For example
+# for MathJax version 2 (see
+# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions):
# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# For example for MathJax version 3 (see
+# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html):
+# MATHJAX_EXTENSIONS = ams
# This tag requires that the tag USE_MATHJAX is set to YES.
-MATHJAX_EXTENSIONS =
+MATHJAX_EXTENSIONS =
# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
# of code that will be used on startup of the MathJax code. See the MathJax site
-# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
+# (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an
# example see the documentation.
# This tag requires that the tag USE_MATHJAX is set to YES.
-MATHJAX_CODEFILE =
+MATHJAX_CODEFILE =
# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
# the HTML output. The underlying search engine uses javascript and DHTML and
@@ -1543,7 +1782,7 @@ MATHJAX_CODEFILE =
SEARCHENGINE = YES
# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
-# implemented using a web server instead of a web client using Javascript. There
+# implemented using a web server instead of a web client using JavaScript. There
# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
# setting. When disabled, doxygen will generate a PHP script for searching and
# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
@@ -1562,7 +1801,8 @@ SERVER_BASED_SEARCH = NO
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: http://xapian.org/).
+# Xapian (see:
+# https://xapian.org/).
#
# See the section "External Indexing and Searching" for details.
# The default value is: NO.
@@ -1575,11 +1815,12 @@ EXTERNAL_SEARCH = NO
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: http://xapian.org/). See the section "External Indexing and
-# Searching" for details.
+# Xapian (see:
+# https://xapian.org/). See the section "External Indexing and Searching" for
+# details.
# This tag requires that the tag SEARCHENGINE is set to YES.
-SEARCHENGINE_URL =
+SEARCHENGINE_URL =
# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
# search data is written to a file for indexing by an external tool. With the
@@ -1595,7 +1836,7 @@ SEARCHDATA_FILE = searchdata.xml
# projects and redirect the results back to the right project.
# This tag requires that the tag SEARCHENGINE is set to YES.
-EXTERNAL_SEARCH_ID =
+EXTERNAL_SEARCH_ID =
# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
# projects other than the one defined by this configuration file, but that are
@@ -1605,7 +1846,7 @@ EXTERNAL_SEARCH_ID =
# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
# This tag requires that the tag SEARCHENGINE is set to YES.
-EXTRA_SEARCH_MAPPINGS =
+EXTRA_SEARCH_MAPPINGS =
#---------------------------------------------------------------------------
# Configuration options related to the LaTeX output
@@ -1627,21 +1868,35 @@ LATEX_OUTPUT = latex
# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
# invoked.
#
-# Note that when enabling USE_PDFLATEX this option is only used for generating
-# bitmaps for formulas in the HTML output, but not in the Makefile that is
-# written to the output directory.
-# The default file is: latex.
+# Note that when not enabling USE_PDFLATEX the default is latex when enabling
+# USE_PDFLATEX the default is pdflatex and when in the later case latex is
+# chosen this is overwritten by pdflatex. For specific output languages the
+# default can have been set differently, this depends on the implementation of
+# the output language.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_CMD_NAME = latex
# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
# index for LaTeX.
+# Note: This tag is used in the Makefile / make.bat.
+# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file
+# (.tex).
# The default file is: makeindex.
# This tag requires that the tag GENERATE_LATEX is set to YES.
MAKEINDEX_CMD_NAME = makeindex
+# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to
+# generate index for LaTeX. In case there is no backslash (\) as first character
+# it will be automatically added in the LaTeX code.
+# Note: This tag is used in the generated output file (.tex).
+# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat.
+# The default value is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_MAKEINDEX_CMD = makeindex
+
# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
# documents. This may be useful for small projects and may help to save some
# trees in general.
@@ -1657,7 +1912,7 @@ COMPACT_LATEX = NO
# The default value is: a4.
# This tag requires that the tag GENERATE_LATEX is set to YES.
-PAPER_TYPE = a4wide
+PAPER_TYPE = a4
# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
# that should be included in the LaTeX output. The package can be specified just
@@ -1669,34 +1924,36 @@ PAPER_TYPE = a4wide
# If left blank no extra packages will be included.
# This tag requires that the tag GENERATE_LATEX is set to YES.
-EXTRA_PACKAGES =
+EXTRA_PACKAGES =
-# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
-# generated LaTeX document. The header should contain everything until the first
-# chapter. If it is left blank doxygen will generate a standard header. See
-# section "Doxygen usage" for information on how to let doxygen write the
-# default header to a separate file.
+# The LATEX_HEADER tag can be used to specify a user-defined LaTeX header for
+# the generated LaTeX document. The header should contain everything until the
+# first chapter. If it is left blank doxygen will generate a standard header. It
+# is highly recommended to start with a default header using
+# doxygen -w latex new_header.tex new_footer.tex new_stylesheet.sty
+# and then modify the file new_header.tex. See also section "Doxygen usage" for
+# information on how to generate the default header that doxygen normally uses.
#
-# Note: Only use a user-defined header if you know what you are doing! The
-# following commands have a special meaning inside the header: $title,
-# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
-# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
-# string, for the replacement values of the other commands the user is referred
-# to HTML_HEADER.
+# Note: Only use a user-defined header if you know what you are doing!
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. The following
+# commands have a special meaning inside the header (and footer): For a
+# description of the possible markers and block names see the documentation.
# This tag requires that the tag GENERATE_LATEX is set to YES.
-LATEX_HEADER =
+LATEX_HEADER =
-# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
-# generated LaTeX document. The footer should contain everything after the last
-# chapter. If it is left blank doxygen will generate a standard footer. See
+# The LATEX_FOOTER tag can be used to specify a user-defined LaTeX footer for
+# the generated LaTeX document. The footer should contain everything after the
+# last chapter. If it is left blank doxygen will generate a standard footer. See
# LATEX_HEADER for more information on how to generate a default footer and what
-# special commands can be used inside the footer.
-#
-# Note: Only use a user-defined footer if you know what you are doing!
+# special commands can be used inside the footer. See also section "Doxygen
+# usage" for information on how to generate the default footer that doxygen
+# normally uses. Note: Only use a user-defined footer if you know what you are
+# doing!
# This tag requires that the tag GENERATE_LATEX is set to YES.
-LATEX_FOOTER =
+LATEX_FOOTER =
# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
# LaTeX style sheets that are included after the standard style sheets created
@@ -1707,7 +1964,7 @@ LATEX_FOOTER =
# list).
# This tag requires that the tag GENERATE_LATEX is set to YES.
-LATEX_EXTRA_STYLESHEET =
+LATEX_EXTRA_STYLESHEET =
# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
# other source files which should be copied to the LATEX_OUTPUT output
@@ -1715,7 +1972,7 @@ LATEX_EXTRA_STYLESHEET =
# markers available.
# This tag requires that the tag GENERATE_LATEX is set to YES.
-LATEX_EXTRA_FILES =
+LATEX_EXTRA_FILES =
# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
@@ -1726,9 +1983,11 @@ LATEX_EXTRA_FILES =
PDF_HYPERLINKS = NO
-# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
-# the PDF file directly from the LaTeX files. Set this option to YES, to get a
-# higher quality PDF documentation.
+# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as
+# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX
+# files. Set this option to YES, to get a higher quality PDF documentation.
+#
+# See also section LATEX_CMD_NAME for selecting the engine.
# The default value is: YES.
# This tag requires that the tag GENERATE_LATEX is set to YES.
@@ -1736,8 +1995,7 @@ USE_PDFLATEX = NO
# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
# command to the generated LaTeX files. This will instruct LaTeX to keep running
-# if errors occur, instead of asking the user for help. This option is also used
-# when generating formulas in HTML.
+# if errors occur, instead of asking the user for help.
# The default value is: NO.
# This tag requires that the tag GENERATE_LATEX is set to YES.
@@ -1750,24 +2008,30 @@ LATEX_BATCHMODE = NO
LATEX_HIDE_INDICES = NO
-# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
-# code with syntax highlighting in the LaTeX output.
-#
-# Note that which sources are shown also depends on other settings such as
-# SOURCE_BROWSER.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_SOURCE_CODE = NO
-
# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
# bibliography, e.g. plainnat, or ieeetr. See
-# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
# The default value is: plain.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_BIB_STYLE = plain
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP = NO
+
+# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
+# path from which the emoji images will be read. If a relative path is entered,
+# it will be relative to the LATEX_OUTPUT directory. If left blank the
+# LATEX_OUTPUT directory will be used.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EMOJI_DIRECTORY =
+
#---------------------------------------------------------------------------
# Configuration options related to the RTF output
#---------------------------------------------------------------------------
@@ -1807,32 +2071,22 @@ COMPACT_RTF = NO
RTF_HYPERLINKS = NO
-# Load stylesheet definitions from file. Syntax is similar to doxygen's config
-# file, i.e. a series of assignments. You only have to provide replacements,
-# missing definitions are set to their default value.
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# configuration file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
#
# See also section "Doxygen usage" for information on how to generate the
# default style sheet that doxygen normally uses.
# This tag requires that the tag GENERATE_RTF is set to YES.
-RTF_STYLESHEET_FILE =
+RTF_STYLESHEET_FILE =
# Set optional variables used in the generation of an RTF document. Syntax is
-# similar to doxygen's config file. A template extensions file can be generated
-# using doxygen -e rtf extensionFile.
+# similar to doxygen's configuration file. A template extensions file can be
+# generated using doxygen -e rtf extensionFile.
# This tag requires that the tag GENERATE_RTF is set to YES.
-RTF_EXTENSIONS_FILE =
-
-# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
-# with syntax highlighting in the RTF output.
-#
-# Note that which sources are shown also depends on other settings such as
-# SOURCE_BROWSER.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_RTF is set to YES.
-
-RTF_SOURCE_CODE = NO
+RTF_EXTENSIONS_FILE =
#---------------------------------------------------------------------------
# Configuration options related to the man page output
@@ -1867,7 +2121,7 @@ MAN_EXTENSION = .3dbus
# MAN_EXTENSION with the initial . removed.
# This tag requires that the tag GENERATE_MAN is set to YES.
-MAN_SUBDIR =
+MAN_SUBDIR =
# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
# will generate one additional man file for each entity documented in the real
@@ -1905,6 +2159,13 @@ XML_OUTPUT = xml
XML_PROGRAMLISTING = YES
+# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include
+# namespace members in file scope as well, matching the HTML output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_NS_MEMB_FILE_SCOPE = NO
+
#---------------------------------------------------------------------------
# Configuration options related to the DOCBOOK output
#---------------------------------------------------------------------------
@@ -1923,23 +2184,14 @@ GENERATE_DOCBOOK = NO
DOCBOOK_OUTPUT = docbook
-# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
-# program listings (including syntax highlighting and cross-referencing
-# information) to the DOCBOOK output. Note that enabling this will significantly
-# increase the size of the DOCBOOK output.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
-
-DOCBOOK_PROGRAMLISTING = NO
-
#---------------------------------------------------------------------------
# Configuration options for the AutoGen Definitions output
#---------------------------------------------------------------------------
# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
-# AutoGen Definitions (see http://autogen.sf.net) file that captures the
-# structure of the code including all documentation. Note that this feature is
-# still experimental and incomplete at the moment.
+# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
+# the structure of the code including all documentation. Note that this feature
+# is still experimental and incomplete at the moment.
# The default value is: NO.
GENERATE_AUTOGEN_DEF = NO
@@ -1980,7 +2232,7 @@ PERLMOD_PRETTY = YES
# overwrite each other's variables.
# This tag requires that the tag GENERATE_PERLMOD is set to YES.
-PERLMOD_MAKEVAR_PREFIX =
+PERLMOD_MAKEVAR_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the preprocessor
@@ -2018,10 +2270,11 @@ SEARCH_INCLUDES = YES
# The INCLUDE_PATH tag can be used to specify one or more directories that
# contain include files that are not input files but should be processed by the
-# preprocessor.
+# preprocessor. Note that the INCLUDE_PATH is not recursive, so the setting of
+# RECURSIVE has no effect here.
# This tag requires that the tag SEARCH_INCLUDES is set to YES.
-INCLUDE_PATH =
+INCLUDE_PATH =
# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
# patterns (like *.h and *.hpp) to filter out the header-files in the
@@ -2029,7 +2282,7 @@ INCLUDE_PATH =
# used.
# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
-INCLUDE_FILE_PATTERNS =
+INCLUDE_FILE_PATTERNS =
# The PREDEFINED tag can be used to specify one or more macro names that are
# defined before the preprocessor is started (similar to the -D option of e.g.
@@ -2039,7 +2292,7 @@ INCLUDE_FILE_PATTERNS =
# recursively expanded use the := operator instead of the = operator.
# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
-PREDEFINED =
+PREDEFINED =
# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
# tag can be used to specify a list of macro names that should be expanded. The
@@ -2048,7 +2301,7 @@ PREDEFINED =
# definition found in the source code.
# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
-EXPAND_AS_DEFINED =
+EXPAND_AS_DEFINED =
# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
# remove all references to function-like macros that are alone on a line, have
@@ -2077,13 +2330,13 @@ SKIP_FUNCTION_MACROS = YES
# the path). If a tag file is not located in the directory in which doxygen is
# run, you must also specify the path to the tagfile here.
-TAGFILES =
+TAGFILES =
# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
# tag file that is based on the input files it reads. See section "Linking to
# external documentation" for more information about the usage of tag files.
-GENERATE_TAGFILE =
+GENERATE_TAGFILE =
# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
# the class index. If set to NO, only the inherited external classes will be
@@ -2106,40 +2359,16 @@ EXTERNAL_GROUPS = YES
EXTERNAL_PAGES = YES
-# The PERL_PATH should be the absolute path and name of the perl script
-# interpreter (i.e. the result of 'which perl').
-# The default file (with absolute path) is: /usr/bin/perl.
-
-PERL_PATH = /usr/bin/perl
-
#---------------------------------------------------------------------------
# Configuration options related to the dot tool
#---------------------------------------------------------------------------
-# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
-# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
-# NO turns the diagrams off. Note that this option also works with HAVE_DOT
-# disabled, but it is recommended to install and use dot, since it yields more
-# powerful graphs.
-# The default value is: YES.
-
-CLASS_DIAGRAMS = YES
-
-# You can define message sequence charts within doxygen comments using the \msc
-# command. Doxygen will then run the mscgen tool (see:
-# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the
-# documentation. The MSCGEN_PATH tag allows you to specify the directory where
-# the mscgen tool resides. If left empty the tool is assumed to be found in the
-# default search path.
-
-MSCGEN_PATH =
-
# You can include diagrams made with dia in doxygen documentation. Doxygen will
# then run dia to produce the diagram and insert it in the documentation. The
# DIA_PATH tag allows you to specify the directory where the dia binary resides.
# If left empty dia is assumed to be found in the default search path.
-DIA_PATH =
+DIA_PATH =
# If set to YES the inheritance and collaboration graphs will hide inheritance
# and usage relations if the target is undocumented or is not a class.
@@ -2166,35 +2395,50 @@ HAVE_DOT = NO
DOT_NUM_THREADS = 0
-# When you want a differently looking font in the dot files that doxygen
-# generates you can specify the font name using DOT_FONTNAME. You need to make
-# sure dot is able to find the font, which can be done by putting it in a
-# standard location or by setting the DOTFONTPATH environment variable or by
-# setting DOT_FONTPATH to the directory containing the font.
-# The default value is: Helvetica.
+# DOT_COMMON_ATTR is common attributes for nodes, edges and labels of
+# subgraphs. When you want a differently looking font in the dot files that
+# doxygen generates you can specify fontname, fontcolor and fontsize attributes.
+# For details please see Node,
+# Edge and Graph Attributes specification You need to make sure dot is able
+# to find the font, which can be done by putting it in a standard location or by
+# setting the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
+# directory containing the font. Default graphviz fontsize is 14.
+# The default value is: fontname=Helvetica,fontsize=10.
# This tag requires that the tag HAVE_DOT is set to YES.
-DOT_FONTNAME = Helvetica
+DOT_COMMON_ATTR = "fontname=Helvetica,fontsize=10"
-# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
-# dot graphs.
-# Minimum value: 4, maximum value: 24, default value: 10.
+# DOT_EDGE_ATTR is concatenated with DOT_COMMON_ATTR. For elegant style you can
+# add 'arrowhead=open, arrowtail=open, arrowsize=0.5'. Complete documentation about
+# arrows shapes.
+# The default value is: labelfontname=Helvetica,labelfontsize=10.
# This tag requires that the tag HAVE_DOT is set to YES.
-DOT_FONTSIZE = 10
+DOT_EDGE_ATTR = "labelfontname=Helvetica,labelfontsize=10"
-# By default doxygen will tell dot to use the default font as specified with
-# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
-# the path where dot can find it using this tag.
+# DOT_NODE_ATTR is concatenated with DOT_COMMON_ATTR. For view without boxes
+# around nodes set 'shape=plain' or 'shape=plaintext' Shapes specification
+# The default value is: shape=box,height=0.2,width=0.4.
# This tag requires that the tag HAVE_DOT is set to YES.
-DOT_FONTPATH =
+DOT_NODE_ATTR = "shape=box,height=0.2,width=0.4"
-# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
-# each documented class showing the direct and indirect inheritance relations.
-# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
+# You can set the path where dot can find font specified with fontname in
+# DOT_COMMON_ATTR and others dot attributes.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTPATH =
+
+# If the CLASS_GRAPH tag is set to YES (or GRAPH) then doxygen will generate a
+# graph for each documented class showing the direct and indirect inheritance
+# relations. In case HAVE_DOT is set as well dot will be used to draw the graph,
+# otherwise the built-in generator will be used. If the CLASS_GRAPH tag is set
+# to TEXT the direct and indirect inheritance relations will be shown as texts /
+# links.
+# Possible values are: NO, YES, TEXT and GRAPH.
# The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
CLASS_GRAPH = YES
@@ -2208,7 +2452,8 @@ CLASS_GRAPH = YES
COLLABORATION_GRAPH = YES
# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
-# groups, showing the direct groups dependencies.
+# groups, showing the direct groups dependencies. See also the chapter Grouping
+# in the manual.
# The default value is: YES.
# This tag requires that the tag HAVE_DOT is set to YES.
@@ -2231,10 +2476,32 @@ UML_LOOK = NO
# but if the number exceeds 15, the total amount of fields shown is limited to
# 10.
# Minimum value: 0, maximum value: 100, default value: 10.
-# This tag requires that the tag HAVE_DOT is set to YES.
+# This tag requires that the tag UML_LOOK is set to YES.
UML_LIMIT_NUM_FIELDS = 10
+# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and
+# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS
+# tag is set to YES, doxygen will add type and arguments for attributes and
+# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen
+# will not generate fields with class member information in the UML graphs. The
+# class diagrams will look similar to the default class diagrams but using UML
+# notation for the relationships.
+# Possible values are: NO, YES and NONE.
+# The default value is: NO.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+DOT_UML_DETAILS = NO
+
+# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters
+# to display on a single line. If the actual line length exceeds this threshold
+# significantly it will wrapped across multiple lines. Some heuristics are apply
+# to avoid ugly line breaks.
+# Minimum value: 0, maximum value: 1000, default value: 17.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_WRAP_THRESHOLD = 17
+
# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
# collaboration graphs will show the relations between templates and their
# instances.
@@ -2301,6 +2568,13 @@ GRAPHICAL_HIERARCHY = YES
DIRECTORY_GRAPH = YES
+# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels
+# of child directories generated in directory dependency graphs by dot.
+# Minimum value: 1, maximum value: 25, default value: 1.
+# This tag requires that the tag DIRECTORY_GRAPH is set to YES.
+
+DIR_GRAPH_MAX_DEPTH = 1
+
# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
# generated by dot. For an explanation of the image formats see the section
# output formats in the documentation of the dot tool (Graphviz (see:
@@ -2332,39 +2606,44 @@ INTERACTIVE_SVG = NO
# found. If left blank, it is assumed the dot tool can be found in the path.
# This tag requires that the tag HAVE_DOT is set to YES.
-DOT_PATH =
+DOT_PATH =
# The DOTFILE_DIRS tag can be used to specify one or more directories that
# contain dot files that are included in the documentation (see the \dotfile
# command).
# This tag requires that the tag HAVE_DOT is set to YES.
-DOTFILE_DIRS =
+DOTFILE_DIRS =
# The MSCFILE_DIRS tag can be used to specify one or more directories that
# contain msc files that are included in the documentation (see the \mscfile
# command).
-MSCFILE_DIRS =
+MSCFILE_DIRS =
# The DIAFILE_DIRS tag can be used to specify one or more directories that
# contain dia files that are included in the documentation (see the \diafile
# command).
-DIAFILE_DIRS =
+DIAFILE_DIRS =
# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
-# path where java can find the plantuml.jar file. If left blank, it is assumed
-# PlantUML is not used or called during a preprocessing step. Doxygen will
-# generate a warning when it encounters a \startuml command in this case and
-# will not generate output for the diagram.
+# path where java can find the plantuml.jar file or to the filename of jar file
+# to be used. If left blank, it is assumed PlantUML is not used or called during
+# a preprocessing step. Doxygen will generate a warning when it encounters a
+# \startuml command in this case and will not generate output for the diagram.
-PLANTUML_JAR_PATH =
+PLANTUML_JAR_PATH =
+
+# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
+# configuration file for plantuml.
+
+PLANTUML_CFG_FILE =
# When using plantuml, the specified paths are searched for files specified by
# the !include statement in a plantuml block.
-PLANTUML_INCLUDE_PATH =
+PLANTUML_INCLUDE_PATH =
# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
# that will be shown in the graph. If the number of nodes in a graph becomes
@@ -2390,18 +2669,6 @@ DOT_GRAPH_MAX_NODES = 50
MAX_DOT_GRAPH_DEPTH = 0
-# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
-# background. This is disabled by default, because dot on Windows does not seem
-# to support this out of the box.
-#
-# Warning: Depending on the platform used, enabling this option may lead to
-# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
-# read).
-# The default value is: NO.
-# This tag requires that the tag HAVE_DOT is set to YES.
-
-DOT_TRANSPARENT = NO
-
# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
# files in one run (i.e. multiple -o and -T options on the command line). This
# makes dot run faster, but since only newer versions of dot (>1.8.10) support
@@ -2414,14 +2681,18 @@ DOT_MULTI_TARGETS = NO
# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
# explaining the meaning of the various boxes and arrows in the dot generated
# graphs.
+# Note: This tag requires that UML_LOOK isn't set, i.e. the doxygen internal
+# graphical representation for inheritance and collaboration diagrams is used.
# The default value is: YES.
# This tag requires that the tag HAVE_DOT is set to YES.
GENERATE_LEGEND = YES
-# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot
+# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate
# files that are used to generate the various graphs.
+#
+# Note: This setting is not only used for dot files but also for msc temporary
+# files.
# The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
DOT_CLEANUP = YES
diff --git a/README.md b/README.md
index 7db79963..1de41e8e 100644
--- a/README.md
+++ b/README.md
@@ -2,42 +2,36 @@
Recast & Detour
===============
-[](https://travis-ci.org/recastnavigation/recastnavigation)
-[](https://ci.appveyor.com/project/recastnavigation/recastnavigation/branch/master)
+[](https://github.com/recastnavigation/recastnavigation/actions/workflows/Build.yaml)
+[](https://github.com/recastnavigation/recastnavigation/actions/workflows/Tests.yaml)
-[](http://www.issuestats.com/github/recastnavigation/recastnavigation)
-[](http://www.issuestats.com/github/recastnavigation/recastnavigation)
-
-
+
## Recast
Recast is state of the art navigation mesh construction toolset for games.
-* It is automatic, which means that you can throw any level geometry at it and you will get robust mesh out
-* It is fast which means swift turnaround times for level designers
-* It is open source so it comes with full source and you can customize it to your heart's content.
+Recast is...
+* 🤖 **Automatic** - throw any level geometry at it and you will get a robust navmesh out
+* 🏎️ **Fast** - swift turnaround times for level designers
+* 🧘 **Flexible** - easily customize the navmesh generation and runtime navigation systems to suit your specific game's needs.
-The Recast process starts with constructing a voxel mold from a level geometry
-and then casting a navigation mesh over it. The process consists of three steps,
-building the voxel mold, partitioning the mold into simple regions, peeling off
-the regions as simple polygons.
-
-1. The voxel mold is build from the input triangle mesh by rasterizing the triangles into a multi-layer heightfield. Some simple filters are then applied to the mold to prune out locations where the character would not be able to move.
-2. The walkable areas described by the mold are divided into simple overlayed 2D regions. The resulting regions have only one non-overlapping contour, which simplifies the final step of the process tremendously.
-3. The navigation polygons are peeled off from the regions by first tracing the boundaries and then simplifying them. The resulting polygons are finally converted to convex polygons which makes them perfect for pathfinding and spatial reasoning about the level.
+Recast constructs a navmesh through a multi-step rasterization process:
+1. First Recast voxelizes the input triangle mesh by rasterizing the triangles into a multi-layer heightfield.
+2. Voxels in areas where the character would not be able to move are removed by applying simple voxel data filters.
+3. The walkable areas described by the voxel grid are then divided into sets of 2D polygonal regions.
+4. The navigation polygons are generated by triangulating and stiching together the generated 2d plygonal regions.
## Detour
-Recast is accompanied with Detour, path-finding and spatial reasoning toolkit. You can use any navigation mesh with Detour, but of course the data generated with Recast fits perfectly.
+Recast is accompanied by Detour, a path-finding and spatial reasoning toolkit. You can use any navigation mesh with Detour, but of course the data generated with Recast fits perfectly.
-Detour offers simple static navigation mesh which is suitable for many simple cases, as well as tiled navigation mesh which allows you to plug in and out pieces of the mesh. The tiled mesh allows you to create systems where you stream new navigation data in and out as the player progresses the level, or you may regenerate tiles as the world changes.
+Detour offers a simple static navmesh data representation which is suitable for many simple cases. It also provides a tiled navigation mesh representation, which allows you to stream of navigation data in and out as the player progresses through the world and regenerate sections of the navmesh data as the world changes.
+## RecastDemo
-## Recast Demo
-
-You can find a comprehensive demo project in RecastDemo folder. It is a kitchen sink demo containing all the functionality of the library. If you are new to Recast & Detour, check out [Sample_SoloMesh.cpp](/RecastDemo/Source/Sample_SoloMesh.cpp) to get started with building navmeshes and [NavMeshTesterTool.cpp](/RecastDemo/Source/NavMeshTesterTool.cpp) to see how Detour can be used to find paths.
+You can find a comprehensive demo project in the `RecastDemo` folder. It's a kitchen sink demo showcasing all the functionality of the library. If you are new to Recast & Detour, check out [Sample_SoloMesh.cpp](/RecastDemo/Source/Sample_SoloMesh.cpp) to get started with building navmeshes and [NavMeshTesterTool.cpp](/RecastDemo/Source/NavMeshTesterTool.cpp) to see how Detour can be used to find paths.
### Building RecastDemo
@@ -45,25 +39,24 @@ RecastDemo uses [premake5](http://premake.github.io/) to build platform specific
#### Linux
-- Install SDl2 and its dependencies according to your distro's guidelines.
-- run `premake5 gmake` from the `RecastDemo` folder.
-- `cd Build/gmake` then `make`
-- Run `RecastDemo\Bin\RecastDemo`
+- Install SDL2 and its dependencies according to your distro's guidelines.
+- Navigate to the `RecastDemo` folder and run `premake5 gmake2`
+- Navigate to `RecastDemo/Build/gmake2` and run `make`
+- Navigate to `RecastDemo/Bin` and run `./RecastDemo`
-#### OSX
+#### macOS
-- Grab the latest SDL2 development library dmg from [here](https://www.libsdl.org/download-2.0.php) and place `SDL2.framework` in `/Library/Frameworks/`
+- Grab the latest SDL2 development library dmg from [here](https://github.com/libsdl-org/SDL) and place `SDL2.framework` in `RecastDemo/Bin`
- Navigate to the `RecastDemo` folder and run `premake5 xcode4`
- Open `Build/xcode4/recastnavigation.xcworkspace`
-- Select the "RecastDemo" project in the left pane, go to the "BuildPhases" tab and expand "Link Binary With Libraries"
-- Remove the existing entry for SDL2 (it should have a white box icon) and re-add it by hitting the plus, selecting "Add Other", and selecting `/Library/Frameworks/SDL2.framework`. It should now have a suitcase icon.
- Set the RecastDemo project as the target and build.
#### Windows
-- Grab the latest SDL2 development library release from [here](https://www.libsdl.org/download-2.0.php) and unzip it `RecastDemo\Contrib`. Rename the SDL folder such that the path `RecastDemo\Contrib\SDL\lib\x86` is valid.
-- Run `"premake5" vs2015` from the `RecastDemo` folder
-- Open the solution, build, and run.
+- Grab the latest SDL2 development library release from [here](https://github.com/libsdl-org/SDL) and unzip it `RecastDemo\Contrib`. Rename the SDL folder such that the path `RecastDemo\Contrib\SDL\lib\x86` is valid.
+- Navigate to the `RecastDemo` folder and run `premake5 vs2022`
+- Open `Build/vs2022/recastnavigation.sln`.
+- Set `RecastDemo` as the startup project, build, and run.
### Running Unit tests
@@ -71,13 +64,21 @@ RecastDemo uses [premake5](http://premake.github.io/) to build platform specific
- Build the "Tests" project. This will generate an executable named "Tests" in `RecastDemo/Bin/`
- Run the "Tests" executable. It will execute all the unit tests, indicate those that failed, and display a count of those that succeeded.
-## Integrating with your own project
+## Integrating with your game or engine
It is recommended to add the source directories `DebugUtils`, `Detour`, `DetourCrowd`, `DetourTileCache`, and `Recast` into your own project depending on which parts of the project you need. For example your level building tool could include `DebugUtils`, `Recast`, and `Detour`, and your game runtime could just include `Detour`.
-## Contributing
+### Install through vcpkg
-See the [Contributing document](CONTRIBUTING.md) for guidelines for making contributions.
+If you are using the [vcpkg](https://github.com/Microsoft/vcpkg/) dependency manager you can download and install Recast with:
+
+```
+vcpkg install recast
+```
+
+## Contribute
+
+Check out the [Project Roadmap](Roadmap.md) to see what features and functionality you might be able to help with, and the [Contributing doc](CONTRIBUTING.md) for guidance on making contributions.
## Discuss
diff --git a/Recast/CMakeLists.txt b/Recast/CMakeLists.txt
new file mode 100644
index 00000000..001430b5
--- /dev/null
+++ b/Recast/CMakeLists.txt
@@ -0,0 +1,33 @@
+file(GLOB SOURCES Source/*.cpp)
+add_library(Recast ${SOURCES})
+
+add_library(RecastNavigation::Recast ALIAS Recast)
+set_target_properties(Recast PROPERTIES DEBUG_POSTFIX -d)
+
+set(Recast_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Include")
+
+target_include_directories(Recast PUBLIC
+ "$"
+)
+
+set_target_properties(Recast PROPERTIES
+ SOVERSION ${SOVERSION}
+ VERSION ${LIB_VERSION}
+ COMPILE_PDB_OUTPUT_DIRECTORY .
+ COMPILE_PDB_NAME "Recast-d"
+ )
+
+install(TARGETS Recast
+ EXPORT recastnavigation-targets
+ RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+ ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+ LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT library
+ INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} ${CMAKE_INSTALL_INCLUDEDIR}/recastnavigation
+ )
+
+file(GLOB INCLUDES Include/*.h)
+install(FILES ${INCLUDES} DESTINATION
+ ${CMAKE_INSTALL_INCLUDEDIR}/recastnavigation)
+if(MSVC)
+ install(FILES "$/Recast-d.pdb" CONFIGURATIONS "Debug" DESTINATION "lib")
+endif()
diff --git a/Recast/Include/Recast.h b/Recast/Include/Recast.h
index 02b2070b..9d7298d0 100644
--- a/Recast/Include/Recast.h
+++ b/Recast/Include/Recast.h
@@ -24,13 +24,16 @@
/// The value of PI used by Recast.
static const float RC_PI = 3.14159265f;
+/// Used to ignore unused function parameters and silence any compiler warnings.
+template void rcIgnoreUnused(const T&) { }
+
/// Recast log categories.
/// @see rcContext
enum rcLogCategory
{
RC_LOG_PROGRESS = 1, ///< A progress log entry.
RC_LOG_WARNING, ///< A warning log entry.
- RC_LOG_ERROR, ///< An error log entry.
+ RC_LOG_ERROR ///< An error log entry.
};
/// Recast performance timer categories.
@@ -99,12 +102,21 @@ enum rcTimerLabel
/// Provides an interface for optional logging and performance tracking of the Recast
/// build process.
+///
+/// This class does not provide logging or timer functionality on its
+/// own. Both must be provided by a concrete implementation
+/// by overriding the protected member functions. Also, this class does not
+/// provide an interface for extracting log messages. (Only adding them.)
+/// So concrete implementations must provide one.
+///
+/// If no logging or timers are required, just pass an instance of this
+/// class through the Recast build process.
+///
/// @ingroup recast
class rcContext
{
public:
-
- /// Contructor.
+ /// Constructor.
/// @param[in] state TRUE if the logging and performance timers should be enabled. [Default: true]
inline rcContext(bool state = true) : m_logEnabled(state), m_timerEnabled(state) {}
virtual ~rcContext() {}
@@ -117,56 +129,62 @@ public:
inline void resetLog() { if (m_logEnabled) doResetLog(); }
/// Logs a message.
- /// @param[in] category The category of the message.
- /// @param[in] format The message.
+ ///
+ /// Example:
+ /// @code
+ /// // Where ctx is an instance of rcContext and filepath is a char array.
+ /// ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not load '%s'", filepath);
+ /// @endcode
+ ///
+ /// @param[in] category The category of the message.
+ /// @param[in] format The message.
void log(const rcLogCategory category, const char* format, ...);
/// Enables or disables the performance timers.
/// @param[in] state TRUE if timers should be enabled.
inline void enableTimer(bool state) { m_timerEnabled = state; }
- /// Clears all peformance timers. (Resets all to unused.)
+ /// Clears all performance timers. (Resets all to unused.)
inline void resetTimers() { if (m_timerEnabled) doResetTimers(); }
/// Starts the specified performance timer.
- /// @param label The category of the timer.
+ /// @param label The category of the timer.
inline void startTimer(const rcTimerLabel label) { if (m_timerEnabled) doStartTimer(label); }
/// Stops the specified performance timer.
- /// @param label The category of the timer.
+ /// @param label The category of the timer.
inline void stopTimer(const rcTimerLabel label) { if (m_timerEnabled) doStopTimer(label); }
/// Returns the total accumulated time of the specified performance timer.
- /// @param label The category of the timer.
- /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started.
+ /// @param label The category of the timer.
+ /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started.
inline int getAccumulatedTime(const rcTimerLabel label) const { return m_timerEnabled ? doGetAccumulatedTime(label) : -1; }
protected:
-
/// Clears all log entries.
- virtual void doResetLog() {}
+ virtual void doResetLog();
/// Logs a message.
- /// @param[in] category The category of the message.
- /// @param[in] msg The formatted message.
- /// @param[in] len The length of the formatted message.
- virtual void doLog(const rcLogCategory /*category*/, const char* /*msg*/, const int /*len*/) {}
+ /// @param[in] category The category of the message.
+ /// @param[in] msg The formatted message.
+ /// @param[in] len The length of the formatted message.
+ virtual void doLog(const rcLogCategory category, const char* msg, const int len) { rcIgnoreUnused(category); rcIgnoreUnused(msg); rcIgnoreUnused(len); }
/// Clears all timers. (Resets all to unused.)
virtual void doResetTimers() {}
/// Starts the specified performance timer.
- /// @param[in] label The category of timer.
- virtual void doStartTimer(const rcTimerLabel /*label*/) {}
+ /// @param[in] label The category of timer.
+ virtual void doStartTimer(const rcTimerLabel label) { rcIgnoreUnused(label); }
/// Stops the specified performance timer.
- /// @param[in] label The category of the timer.
- virtual void doStopTimer(const rcTimerLabel /*label*/) {}
+ /// @param[in] label The category of the timer.
+ virtual void doStopTimer(const rcTimerLabel label) { rcIgnoreUnused(label); }
/// Returns the total accumulated time of the specified performance timer.
- /// @param[in] label The category of the timer.
- /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started.
- virtual int doGetAccumulatedTime(const rcTimerLabel /*label*/) const { return -1; }
+ /// @param[in] label The category of the timer.
+ /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started.
+ virtual int doGetAccumulatedTime(const rcTimerLabel label) const { rcIgnoreUnused(label); return -1; }
/// True if logging is enabled.
bool m_logEnabled;
@@ -240,7 +258,7 @@ struct rcConfig
/// The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx]
int maxEdgeLen;
- /// The maximum distance a simplfied contour's border edges should deviate
+ /// The maximum distance a simplified contour's border edges should deviate
/// the original raw contour. [Limit: >=0] [Units: vx]
float maxSimplificationError;
@@ -332,6 +350,9 @@ struct rcCompactSpan
/// @ingroup recast
struct rcCompactHeightfield
{
+ rcCompactHeightfield();
+ ~rcCompactHeightfield();
+
int width; ///< The width of the heightfield. (Along the x-axis in cell units.)
int height; ///< The height of the heightfield. (Along the z-axis in cell units.)
int spanCount; ///< The number of spans in the heightfield.
@@ -348,6 +369,11 @@ struct rcCompactHeightfield
rcCompactSpan* spans; ///< Array of spans. [Size: #spanCount]
unsigned short* dist; ///< Array containing border distance data. [Size: #spanCount]
unsigned char* areas; ///< Array containing area id data. [Size: #spanCount]
+
+private:
+ // Explicitly-disabled copy constructor and copy assignment operator.
+ rcCompactHeightfield(const rcCompactHeightfield&);
+ rcCompactHeightfield& operator=(const rcCompactHeightfield&);
};
/// Represents a heightfield layer within a layer set.
@@ -376,8 +402,16 @@ struct rcHeightfieldLayer
/// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet
struct rcHeightfieldLayerSet
{
+ rcHeightfieldLayerSet();
+ ~rcHeightfieldLayerSet();
+
rcHeightfieldLayer* layers; ///< The layers in the set. [Size: #nlayers]
int nlayers; ///< The number of layers in the set.
+
+private:
+ // Explicitly-disabled copy constructor and copy assignment operator.
+ rcHeightfieldLayerSet(const rcHeightfieldLayerSet&);
+ rcHeightfieldLayerSet& operator=(const rcHeightfieldLayerSet&);
};
/// Represents a simple, non-overlapping contour in field space.
@@ -395,6 +429,9 @@ struct rcContour
/// @ingroup recast
struct rcContourSet
{
+ rcContourSet();
+ ~rcContourSet();
+
rcContour* conts; ///< An array of the contours in the set. [Size: #nconts]
int nconts; ///< The number of contours in the set.
float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)]
@@ -405,12 +442,20 @@ struct rcContourSet
int height; ///< The height of the set. (Along the z-axis in cell units.)
int borderSize; ///< The AABB border size used to generate the source data from which the contours were derived.
float maxError; ///< The max edge error that this contour set was simplified with.
+
+private:
+ // Explicitly-disabled copy constructor and copy assignment operator.
+ rcContourSet(const rcContourSet&);
+ rcContourSet& operator=(const rcContourSet&);
};
/// Represents a polygon mesh suitable for use in building a navigation mesh.
/// @ingroup recast
struct rcPolyMesh
{
+ rcPolyMesh();
+ ~rcPolyMesh();
+
unsigned short* verts; ///< The mesh vertices. [Form: (x, y, z) * #nverts]
unsigned short* polys; ///< Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp]
unsigned short* regs; ///< The region id assigned to each polygon. [Length: #maxpolys]
@@ -426,6 +471,11 @@ struct rcPolyMesh
float ch; ///< The height of each cell. (The minimum increment along the y-axis.)
int borderSize; ///< The AABB border size used to generate the source data from which the mesh was derived.
float maxEdgeError; ///< The max error of the polygon edges in the mesh.
+
+private:
+ // Explicitly-disabled copy constructor and copy assignment operator.
+ rcPolyMesh(const rcPolyMesh&);
+ rcPolyMesh& operator=(const rcPolyMesh&);
};
/// Contains triangle meshes that represent detailed height data associated
@@ -433,12 +483,20 @@ struct rcPolyMesh
/// @ingroup recast
struct rcPolyMeshDetail
{
+ rcPolyMeshDetail();
+ ~rcPolyMeshDetail();
+
unsigned int* meshes; ///< The sub-mesh data. [Size: 4*#nmeshes]
float* verts; ///< The mesh vertices. [Size: 3*#nverts]
unsigned char* tris; ///< The mesh triangles. [Size: 4*#ntris]
int nmeshes; ///< The number of sub-meshes defined by #meshes.
int nverts; ///< The number of vertices in #verts.
int ntris; ///< The number of triangles in #tris.
+
+private:
+ // Explicitly-disabled copy constructor and copy assignment operator.
+ rcPolyMeshDetail(const rcPolyMeshDetail&);
+ rcPolyMeshDetail& operator=(const rcPolyMeshDetail&);
};
static const unsigned char RC_AREA_FLAGS_MASK = 0x3F;
@@ -470,82 +528,82 @@ public:
/// @{
/// Allocates a heightfield object using the Recast allocator.
-/// @return A heightfield that is ready for initialization, or null on failure.
-/// @ingroup recast
-/// @see rcCreateHeightfield, rcFreeHeightField
+/// @return A heightfield that is ready for initialization, or null on failure.
+/// @ingroup recast
+/// @see rcCreateHeightfield, rcFreeHeightField
rcHeightfield* rcAllocHeightfield();
/// Frees the specified heightfield object using the Recast allocator.
-/// @param[in] hf A heightfield allocated using #rcAllocHeightfield
-/// @ingroup recast
-/// @see rcAllocHeightfield
-void rcFreeHeightField(rcHeightfield* hf);
+/// @param[in] heightfield A heightfield allocated using #rcAllocHeightfield
+/// @ingroup recast
+/// @see rcAllocHeightfield
+void rcFreeHeightField(rcHeightfield* heightfield);
/// Allocates a compact heightfield object using the Recast allocator.
-/// @return A compact heightfield that is ready for initialization, or null on failure.
-/// @ingroup recast
-/// @see rcBuildCompactHeightfield, rcFreeCompactHeightfield
+/// @return A compact heightfield that is ready for initialization, or null on failure.
+/// @ingroup recast
+/// @see rcBuildCompactHeightfield, rcFreeCompactHeightfield
rcCompactHeightfield* rcAllocCompactHeightfield();
/// Frees the specified compact heightfield object using the Recast allocator.
-/// @param[in] chf A compact heightfield allocated using #rcAllocCompactHeightfield
-/// @ingroup recast
-/// @see rcAllocCompactHeightfield
-void rcFreeCompactHeightfield(rcCompactHeightfield* chf);
+/// @param[in] compactHeightfield A compact heightfield allocated using #rcAllocCompactHeightfield
+/// @ingroup recast
+/// @see rcAllocCompactHeightfield
+void rcFreeCompactHeightfield(rcCompactHeightfield* compactHeightfield);
/// Allocates a heightfield layer set using the Recast allocator.
-/// @return A heightfield layer set that is ready for initialization, or null on failure.
-/// @ingroup recast
-/// @see rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet
+/// @return A heightfield layer set that is ready for initialization, or null on failure.
+/// @ingroup recast
+/// @see rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet
rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet();
/// Frees the specified heightfield layer set using the Recast allocator.
-/// @param[in] lset A heightfield layer set allocated using #rcAllocHeightfieldLayerSet
-/// @ingroup recast
-/// @see rcAllocHeightfieldLayerSet
-void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset);
+/// @param[in] layerSet A heightfield layer set allocated using #rcAllocHeightfieldLayerSet
+/// @ingroup recast
+/// @see rcAllocHeightfieldLayerSet
+void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* layerSet);
/// Allocates a contour set object using the Recast allocator.
-/// @return A contour set that is ready for initialization, or null on failure.
-/// @ingroup recast
-/// @see rcBuildContours, rcFreeContourSet
+/// @return A contour set that is ready for initialization, or null on failure.
+/// @ingroup recast
+/// @see rcBuildContours, rcFreeContourSet
rcContourSet* rcAllocContourSet();
/// Frees the specified contour set using the Recast allocator.
-/// @param[in] cset A contour set allocated using #rcAllocContourSet
-/// @ingroup recast
-/// @see rcAllocContourSet
-void rcFreeContourSet(rcContourSet* cset);
+/// @param[in] contourSet A contour set allocated using #rcAllocContourSet
+/// @ingroup recast
+/// @see rcAllocContourSet
+void rcFreeContourSet(rcContourSet* contourSet);
/// Allocates a polygon mesh object using the Recast allocator.
-/// @return A polygon mesh that is ready for initialization, or null on failure.
-/// @ingroup recast
-/// @see rcBuildPolyMesh, rcFreePolyMesh
+/// @return A polygon mesh that is ready for initialization, or null on failure.
+/// @ingroup recast
+/// @see rcBuildPolyMesh, rcFreePolyMesh
rcPolyMesh* rcAllocPolyMesh();
/// Frees the specified polygon mesh using the Recast allocator.
-/// @param[in] pmesh A polygon mesh allocated using #rcAllocPolyMesh
-/// @ingroup recast
-/// @see rcAllocPolyMesh
-void rcFreePolyMesh(rcPolyMesh* pmesh);
+/// @param[in] polyMesh A polygon mesh allocated using #rcAllocPolyMesh
+/// @ingroup recast
+/// @see rcAllocPolyMesh
+void rcFreePolyMesh(rcPolyMesh* polyMesh);
/// Allocates a detail mesh object using the Recast allocator.
-/// @return A detail mesh that is ready for initialization, or null on failure.
-/// @ingroup recast
-/// @see rcBuildPolyMeshDetail, rcFreePolyMeshDetail
+/// @return A detail mesh that is ready for initialization, or null on failure.
+/// @ingroup recast
+/// @see rcBuildPolyMeshDetail, rcFreePolyMeshDetail
rcPolyMeshDetail* rcAllocPolyMeshDetail();
/// Frees the specified detail mesh using the Recast allocator.
-/// @param[in] dmesh A detail mesh allocated using #rcAllocPolyMeshDetail
-/// @ingroup recast
-/// @see rcAllocPolyMeshDetail
-void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh);
+/// @param[in] detailMesh A detail mesh allocated using #rcAllocPolyMeshDetail
+/// @ingroup recast
+/// @see rcAllocPolyMeshDetail
+void rcFreePolyMeshDetail(rcPolyMeshDetail* detailMesh);
/// @}
-/// Heighfield border flag.
+/// Heightfield border flag.
/// If a heightfield region ID has this bit set, then the region is a border
-/// region and its spans are considered unwalkable.
+/// region and its spans are considered un-walkable.
/// (Used during the region and contour build process.)
/// @see rcCompactSpan::reg
static const unsigned short RC_BORDER_REG = 0x8000;
@@ -579,7 +637,7 @@ static const int RC_AREA_BORDER = 0x20000;
enum rcBuildContoursFlags
{
RC_CONTOUR_TESS_WALL_EDGES = 0x01, ///< Tessellate solid (impassable) edges during contour simplification.
- RC_CONTOUR_TESS_AREA_EDGES = 0x02, ///< Tessellate edges between areas during contour simplification.
+ RC_CONTOUR_TESS_AREA_EDGES = 0x02 ///< Tessellate edges between areas during contour simplification.
};
/// Applied to the region id field of contour vertices in order to extract the region id.
@@ -595,7 +653,7 @@ static const unsigned short RC_MESH_NULL_IDX = 0xffff;
/// Represents the null area.
/// When a data element is given this value it is considered to no longer be
-/// assigned to a usable area. (E.g. It is unwalkable.)
+/// assigned to a usable area. (E.g. It is un-walkable.)
static const unsigned char RC_NULL_AREA = 0;
/// The default area id used to indicate a walkable polygon.
@@ -610,44 +668,42 @@ static const int RC_NOT_CONNECTED = 0x3f;
/// @name General helper functions
/// @{
-/// Used to ignore a function parameter. VS complains about unused parameters
-/// and this silences the warning.
-/// @param [in] _ Unused parameter
-template void rcIgnoreUnused(const T&) { }
-
/// Swaps the values of the two parameters.
-/// @param[in,out] a Value A
-/// @param[in,out] b Value B
+/// @param[in,out] a Value A
+/// @param[in,out] b Value B
template inline void rcSwap(T& a, T& b) { T t = a; a = b; b = t; }
/// Returns the minimum of two values.
-/// @param[in] a Value A
-/// @param[in] b Value B
-/// @return The minimum of the two values.
+/// @param[in] a Value A
+/// @param[in] b Value B
+/// @return The minimum of the two values.
template inline T rcMin(T a, T b) { return a < b ? a : b; }
/// Returns the maximum of two values.
-/// @param[in] a Value A
-/// @param[in] b Value B
-/// @return The maximum of the two values.
+/// @param[in] a Value A
+/// @param[in] b Value B
+/// @return The maximum of the two values.
template inline T rcMax(T a, T b) { return a > b ? a : b; }
/// Returns the absolute value.
-/// @param[in] a The value.
-/// @return The absolute value of the specified value.
+/// @param[in] a The value.
+/// @return The absolute value of the specified value.
template inline T rcAbs(T a) { return a < 0 ? -a : a; }
/// Returns the square of the value.
-/// @param[in] a The value.
-/// @return The square of the value.
+/// @param[in] a The value.
+/// @return The square of the value.
template inline T rcSqr(T a) { return a*a; }
/// Clamps the value to the specified range.
-/// @param[in] v The value to clamp.
-/// @param[in] mn The minimum permitted return value.
-/// @param[in] mx The maximum permitted return value.
-/// @return The value, clamped to the specified range.
-template inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
+/// @param[in] value The value to clamp.
+/// @param[in] minInclusive The minimum permitted return value.
+/// @param[in] maxInclusive The maximum permitted return value.
+/// @return The value, clamped to the specified range.
+template inline T rcClamp(T value, T minInclusive, T maxInclusive)
+{
+ return value < minInclusive ? minInclusive: (value > maxInclusive ? maxInclusive : value);
+}
/// Returns the square root of the value.
/// @param[in] x The value.
@@ -659,9 +715,9 @@ float rcSqrt(float x);
/// @{
/// Derives the cross product of two vectors. (@p v1 x @p v2)
-/// @param[out] dest The cross product. [(x, y, z)]
-/// @param[in] v1 A Vector [(x, y, z)]
-/// @param[in] v2 A vector [(x, y, z)]
+/// @param[out] dest The cross product. [(x, y, z)]
+/// @param[in] v1 A Vector [(x, y, z)]
+/// @param[in] v2 A vector [(x, y, z)]
inline void rcVcross(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
@@ -670,8 +726,8 @@ inline void rcVcross(float* dest, const float* v1, const float* v2)
}
/// Derives the dot product of two vectors. (@p v1 . @p v2)
-/// @param[in] v1 A Vector [(x, y, z)]
-/// @param[in] v2 A vector [(x, y, z)]
+/// @param[in] v1 A Vector [(x, y, z)]
+/// @param[in] v2 A vector [(x, y, z)]
/// @return The dot product.
inline float rcVdot(const float* v1, const float* v2)
{
@@ -679,10 +735,10 @@ inline float rcVdot(const float* v1, const float* v2)
}
/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
-/// @param[out] dest The result vector. [(x, y, z)]
-/// @param[in] v1 The base vector. [(x, y, z)]
-/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)]
-/// @param[in] s The amount to scale @p v2 by before adding to @p v1.
+/// @param[out] dest The result vector. [(x, y, z)]
+/// @param[in] v1 The base vector. [(x, y, z)]
+/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)]
+/// @param[in] s The amount to scale @p v2 by before adding to @p v1.
inline void rcVmad(float* dest, const float* v1, const float* v2, const float s)
{
dest[0] = v1[0]+v2[0]*s;
@@ -691,9 +747,9 @@ inline void rcVmad(float* dest, const float* v1, const float* v2, const float s)
}
/// Performs a vector addition. (@p v1 + @p v2)
-/// @param[out] dest The result vector. [(x, y, z)]
-/// @param[in] v1 The base vector. [(x, y, z)]
-/// @param[in] v2 The vector to add to @p v1. [(x, y, z)]
+/// @param[out] dest The result vector. [(x, y, z)]
+/// @param[in] v1 The base vector. [(x, y, z)]
+/// @param[in] v2 The vector to add to @p v1. [(x, y, z)]
inline void rcVadd(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]+v2[0];
@@ -702,9 +758,9 @@ inline void rcVadd(float* dest, const float* v1, const float* v2)
}
/// Performs a vector subtraction. (@p v1 - @p v2)
-/// @param[out] dest The result vector. [(x, y, z)]
-/// @param[in] v1 The base vector. [(x, y, z)]
-/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)]
+/// @param[out] dest The result vector. [(x, y, z)]
+/// @param[in] v1 The base vector. [(x, y, z)]
+/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)]
inline void rcVsub(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]-v2[0];
@@ -713,8 +769,8 @@ inline void rcVsub(float* dest, const float* v1, const float* v2)
}
/// Selects the minimum value of each element from the specified vectors.
-/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)]
-/// @param[in] v A vector. [(x, y, z)]
+/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)]
+/// @param[in] v A vector. [(x, y, z)]
inline void rcVmin(float* mn, const float* v)
{
mn[0] = rcMin(mn[0], v[0]);
@@ -723,8 +779,8 @@ inline void rcVmin(float* mn, const float* v)
}
/// Selects the maximum value of each element from the specified vectors.
-/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)]
-/// @param[in] v A vector. [(x, y, z)]
+/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)]
+/// @param[in] v A vector. [(x, y, z)]
inline void rcVmax(float* mx, const float* v)
{
mx[0] = rcMax(mx[0], v[0]);
@@ -733,8 +789,8 @@ inline void rcVmax(float* mx, const float* v)
}
/// Performs a vector copy.
-/// @param[out] dest The result. [(x, y, z)]
-/// @param[in] v The vector to copy. [(x, y, z)]
+/// @param[out] dest The result. [(x, y, z)]
+/// @param[in] v The vector to copy. [(x, y, z)]
inline void rcVcopy(float* dest, const float* v)
{
dest[0] = v[0];
@@ -743,8 +799,8 @@ inline void rcVcopy(float* dest, const float* v)
}
/// Returns the distance between two points.
-/// @param[in] v1 A point. [(x, y, z)]
-/// @param[in] v2 A point. [(x, y, z)]
+/// @param[in] v1 A point. [(x, y, z)]
+/// @param[in] v2 A point. [(x, y, z)]
/// @return The distance between the two points.
inline float rcVdist(const float* v1, const float* v2)
{
@@ -755,8 +811,8 @@ inline float rcVdist(const float* v1, const float* v2)
}
/// Returns the square of the distance between two points.
-/// @param[in] v1 A point. [(x, y, z)]
-/// @param[in] v2 A point. [(x, y, z)]
+/// @param[in] v1 A point. [(x, y, z)]
+/// @param[in] v2 A point. [(x, y, z)]
/// @return The square of the distance between the two points.
inline float rcVdistSqr(const float* v1, const float* v2)
{
@@ -767,7 +823,7 @@ inline float rcVdistSqr(const float* v1, const float* v2)
}
/// Normalizes the vector.
-/// @param[in,out] v The vector to normalize. [(x, y, z)]
+/// @param[in,out] v The vector to normalize. [(x, y, z)]
inline void rcVnormalize(float* v)
{
float d = 1.0f / rcSqrt(rcSqr(v[0]) + rcSqr(v[1]) + rcSqr(v[2]));
@@ -782,174 +838,249 @@ inline void rcVnormalize(float* v)
/// @{
/// Calculates the bounding box of an array of vertices.
-/// @ingroup recast
-/// @param[in] verts An array of vertices. [(x, y, z) * @p nv]
-/// @param[in] nv The number of vertices in the @p verts array.
-/// @param[out] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
-/// @param[out] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu]
-void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax);
+/// @ingroup recast
+/// @param[in] verts An array of vertices. [(x, y, z) * @p nv]
+/// @param[in] numVerts The number of vertices in the @p verts array.
+/// @param[out] minBounds The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
+/// @param[out] maxBounds The maximum bounds of the AABB. [(x, y, z)] [Units: wu]
+void rcCalcBounds(const float* verts, int numVerts, float* minBounds, float* maxBounds);
/// Calculates the grid size based on the bounding box and grid cell size.
-/// @ingroup recast
-/// @param[in] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
-/// @param[in] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu]
-/// @param[in] cs The xz-plane cell size. [Limit: > 0] [Units: wu]
-/// @param[out] w The width along the x-axis. [Limit: >= 0] [Units: vx]
-/// @param[out] h The height along the z-axis. [Limit: >= 0] [Units: vx]
-void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h);
+/// @ingroup recast
+/// @param[in] minBounds The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
+/// @param[in] maxBounds The maximum bounds of the AABB. [(x, y, z)] [Units: wu]
+/// @param[in] cellSize The xz-plane cell size. [Limit: > 0] [Units: wu]
+/// @param[out] sizeX The width along the x-axis. [Limit: >= 0] [Units: vx]
+/// @param[out] sizeZ The height along the z-axis. [Limit: >= 0] [Units: vx]
+void rcCalcGridSize(const float* minBounds, const float* maxBounds, float cellSize, int* sizeX, int* sizeZ);
/// Initializes a new heightfield.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in,out] hf The allocated heightfield to initialize.
-/// @param[in] width The width of the field along the x-axis. [Limit: >= 0] [Units: vx]
-/// @param[in] height The height of the field along the z-axis. [Limit: >= 0] [Units: vx]
-/// @param[in] bmin The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu]
-/// @param[in] bmax The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu]
-/// @param[in] cs The xz-plane cell size to use for the field. [Limit: > 0] [Units: wu]
-/// @param[in] ch The y-axis cell size to use for field. [Limit: > 0] [Units: wu]
-/// @returns True if the operation completed successfully.
-bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height,
- const float* bmin, const float* bmax,
- float cs, float ch);
+/// See the #rcConfig documentation for more information on the configuration parameters.
+///
+/// @see rcAllocHeightfield, rcHeightfield
+/// @ingroup recast
+///
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in,out] heightfield The allocated heightfield to initialize.
+/// @param[in] sizeX The width of the field along the x-axis. [Limit: >= 0] [Units: vx]
+/// @param[in] sizeZ The height of the field along the z-axis. [Limit: >= 0] [Units: vx]
+/// @param[in] minBounds The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu]
+/// @param[in] maxBounds The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu]
+/// @param[in] cellSize The xz-plane cell size to use for the field. [Limit: > 0] [Units: wu]
+/// @param[in] cellHeight The y-axis cell size to use for field. [Limit: > 0] [Units: wu]
+/// @returns True if the operation completed successfully.
+bool rcCreateHeightfield(rcContext* context, rcHeightfield& heightfield, int sizeX, int sizeZ,
+ const float* minBounds, const float* maxBounds,
+ float cellSize, float cellHeight);
/// 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.
-/// [Limits: 0 <= value < 90] [Units: Degrees]
-/// @param[in] verts The vertices. [(x, y, z) * @p nv]
-/// @param[in] nv The number of vertices.
-/// @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, rcAreaModification areaMod);
+///
+/// Only sets the area id's for the walkable triangles. Does not alter the
+/// area id's for un-walkable triangles.
+///
+/// See the #rcConfig documentation for more information on the configuration parameters.
+///
+/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
+///
+/// @ingroup recast
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable.
+/// [Limits: 0 <= value < 90] [Units: Degrees]
+/// @param[in] verts The vertices. [(x, y, z) * @p nv]
+/// @param[in] numVerts The number of vertices.
+/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt]
+/// @param[in] numTris The number of triangles.
+/// @param[out] triAreaIDs The triangle area ids. [Length: >= @p nt]
+/// @param[in] areaMod The area modification to apply.
+void rcMarkWalkableTriangles(rcContext* context, float walkableSlopeAngle, const float* verts, int numVerts,
+ const int* tris, int numTris, unsigned char* triAreaIDs, rcAreaModification areaMod);
/// 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.
-/// [Limits: 0 <= value < 90] [Units: Degrees]
-/// @param[in] verts The vertices. [(x, y, z) * @p nv]
-/// @param[in] nv The number of vertices.
-/// @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]
-void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv,
- const int* tris, int nt, unsigned char* areas);
+///
+/// Only sets the area id's for the un-walkable triangles. Does not alter the
+/// area id's for walkable triangles.
+///
+/// See the #rcConfig documentation for more information on the configuration parameters.
+///
+/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
+///
+/// @ingroup recast
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable.
+/// [Limits: 0 <= value < 90] [Units: Degrees]
+/// @param[in] verts The vertices. [(x, y, z) * @p nv]
+/// @param[in] numVerts The number of vertices.
+/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt]
+/// @param[in] numTris The number of triangles.
+/// @param[out] triAreaIDs The triangle area ids. [Length: >= @p nt]
+void rcClearUnwalkableTriangles(rcContext* context, float walkableSlopeAngle, const float* verts, int numVerts,
+ const int* tris, int numTris, unsigned char* triAreaIDs);
/// Adds a span to the specified heightfield.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in,out] hf An initialized heightfield.
-/// @param[in] x The width index where the span is to be added.
-/// [Limits: 0 <= value < rcHeightfield::width]
-/// @param[in] y The height index where the span is to be added.
-/// [Limits: 0 <= value < rcHeightfield::height]
-/// @param[in] smin The minimum height of the span. [Limit: < @p smax] [Units: vx]
-/// @param[in] smax The maximum height of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] [Units: vx]
-/// @param[in] area The area id of the span. [Limit: <= #RC_WALKABLE_AREA)
-/// @param[in] flagMergeThr The merge theshold. [Limit: >= 0] [Units: vx]
-/// @returns True if the operation completed successfully.
-bool rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
- const unsigned short smin, const unsigned short smax,
- const unsigned char area, const int flagMergeThr);
+///
+/// The span addition can be set to favor flags. If the span is merged to
+/// another span and the new @p spanMax is within @p flagMergeThreshold units
+/// from the existing span, the span flags are merged.
+///
+/// @ingroup recast
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in,out] heightfield An initialized heightfield.
+/// @param[in] x The column x index where the span is to be added.
+/// [Limits: 0 <= value < rcHeightfield::width]
+/// @param[in] z The column z index where the span is to be added.
+/// [Limits: 0 <= value < rcHeightfield::height]
+/// @param[in] spanMin The minimum height of the span. [Limit: < @p spanMax] [Units: vx]
+/// @param[in] spanMax The maximum height of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] [Units: vx]
+/// @param[in] areaID The area id of the span. [Limit: <= #RC_WALKABLE_AREA)
+/// @param[in] flagMergeThreshold The merge threshold. [Limit: >= 0] [Units: vx]
+/// @returns True if the operation completed successfully.
+bool rcAddSpan(rcContext* context, rcHeightfield& heightfield,
+ int x, int z,
+ unsigned short spanMin, unsigned short spanMax,
+ unsigned char areaID, int flagMergeThreshold);
-/// Rasterizes a triangle into the specified heightfield.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] v0 Triangle vertex 0 [(x, y, z)]
-/// @param[in] v1 Triangle vertex 1 [(x, y, z)]
-/// @param[in] v2 Triangle vertex 2 [(x, y, z)]
-/// @param[in] area The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA]
-/// @param[in,out] solid An initialized heightfield.
-/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
-/// [Limit: >= 0] [Units: vx]
-/// @returns True if the operation completed successfully.
-bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
- const unsigned char area, rcHeightfield& solid,
- const int flagMergeThr = 1);
+/// Rasterizes a single triangle into the specified heightfield.
+///
+/// Calling this for each triangle in a mesh is less efficient than calling rcRasterizeTriangles
+///
+/// No spans will be added if the triangle does not overlap the heightfield grid.
+///
+/// @see rcHeightfield
+/// @ingroup recast
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in] v0 Triangle vertex 0 [(x, y, z)]
+/// @param[in] v1 Triangle vertex 1 [(x, y, z)]
+/// @param[in] v2 Triangle vertex 2 [(x, y, z)]
+/// @param[in] areaID The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA]
+/// @param[in,out] heightfield An initialized heightfield.
+/// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag.
+/// [Limit: >= 0] [Units: vx]
+/// @returns True if the operation completed successfully.
+bool rcRasterizeTriangle(rcContext* context,
+ const float* v0, const float* v1, const float* v2,
+ unsigned char areaID, rcHeightfield& heightfield, int flagMergeThreshold = 1);
/// Rasterizes an indexed triangle mesh into the specified heightfield.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] verts The vertices. [(x, y, z) * @p nv]
-/// @param[in] nv The number of vertices.
-/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt]
-/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
-/// @param[in] nt The number of triangles.
-/// @param[in,out] solid An initialized heightfield.
-/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
-/// [Limit: >= 0] [Units: vx]
-/// @returns True if the operation completed successfully.
-bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
- const int* tris, const unsigned char* areas, const int nt,
- rcHeightfield& solid, const int flagMergeThr = 1);
+///
+/// Spans will only be added for triangles that overlap the heightfield grid.
+///
+/// @see rcHeightfield
+/// @ingroup recast
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in] verts The vertices. [(x, y, z) * @p nv]
+/// @param[in] numVerts The number of vertices. (unused) TODO (graham): Remove in next major release
+/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt]
+/// @param[in] triAreaIDs The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
+/// @param[in] numTris The number of triangles.
+/// @param[in,out] heightfield An initialized heightfield.
+/// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag.
+/// [Limit: >= 0] [Units: vx]
+/// @returns True if the operation completed successfully.
+bool rcRasterizeTriangles(rcContext* context,
+ const float* verts, int numVerts,
+ const int* tris, const unsigned char* triAreaIDs, int numTris,
+ rcHeightfield& heightfield, int flagMergeThreshold = 1);
/// Rasterizes an indexed triangle mesh into the specified heightfield.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] verts The vertices. [(x, y, z) * @p nv]
-/// @param[in] nv The number of vertices.
-/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt]
-/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
-/// @param[in] nt The number of triangles.
-/// @param[in,out] solid An initialized heightfield.
-/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
-/// [Limit: >= 0] [Units: vx]
-/// @returns True if the operation completed successfully.
-bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
- const unsigned short* tris, const unsigned char* areas, const int nt,
- rcHeightfield& solid, const int flagMergeThr = 1);
+///
+/// Spans will only be added for triangles that overlap the heightfield grid.
+///
+/// @see rcHeightfield
+/// @ingroup recast
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in] verts The vertices. [(x, y, z) * @p nv]
+/// @param[in] numVerts The number of vertices. (unused) TODO (graham): Remove in next major release
+/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt]
+/// @param[in] triAreaIDs The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
+/// @param[in] numTris The number of triangles.
+/// @param[in,out] heightfield An initialized heightfield.
+/// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag.
+/// [Limit: >= 0] [Units: vx]
+/// @returns True if the operation completed successfully.
+bool rcRasterizeTriangles(rcContext* context,
+ const float* verts, int numVerts,
+ const unsigned short* tris, const unsigned char* triAreaIDs, int numTris,
+ rcHeightfield& heightfield, int flagMergeThreshold = 1);
-/// Rasterizes triangles into the specified heightfield.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] verts The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt]
-/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
-/// @param[in] nt The number of triangles.
-/// @param[in,out] solid An initialized heightfield.
-/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
-/// [Limit: >= 0] [Units: vx]
-/// @returns True if the operation completed successfully.
-bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
- rcHeightfield& solid, const int flagMergeThr = 1);
+/// Rasterizes a triangle list into the specified heightfield.
+///
+/// Expects each triangle to be specified as three sequential vertices of 3 floats.
+///
+/// Spans will only be added for triangles that overlap the heightfield grid.
+///
+/// @see rcHeightfield
+/// @ingroup recast
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in] verts The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt]
+/// @param[in] triAreaIDs The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
+/// @param[in] numTris The number of triangles.
+/// @param[in,out] heightfield An initialized heightfield.
+/// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag.
+/// [Limit: >= 0] [Units: vx]
+/// @returns True if the operation completed successfully.
+bool rcRasterizeTriangles(rcContext* context,
+ const float* verts, const unsigned char* triAreaIDs, int numTris,
+ rcHeightfield& heightfield, int flagMergeThreshold = 1);
-/// Marks non-walkable spans as walkable if their maximum is within @p walkableClimp of a walkable neighbor.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable.
-/// [Limit: >=0] [Units: vx]
-/// @param[in,out] solid A fully built heightfield. (All spans have been added.)
-void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid);
+/// Marks non-walkable spans as walkable if their maximum is within @p walkableClimb of a walkable neighbor.
+///
+/// Allows the formation of walkable regions that will flow over low lying
+/// objects such as curbs, and up structures such as stairways.
+///
+/// Two neighboring spans are walkable if: rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb
+///
+/// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call
+/// #rcFilterLedgeSpans after calling this filter.
+///
+/// @see rcHeightfield, rcConfig
+///
+/// @ingroup recast
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable.
+/// [Limit: >=0] [Units: vx]
+/// @param[in,out] heightfield A fully built heightfield. (All spans have been added.)
+void rcFilterLowHangingWalkableObstacles(rcContext* context, int walkableClimb, rcHeightfield& heightfield);
-/// Marks spans that are ledges as not-walkable.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to
-/// be considered walkable. [Limit: >= 3] [Units: vx]
-/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable.
-/// [Limit: >=0] [Units: vx]
-/// @param[in,out] solid A fully built heightfield. (All spans have been added.)
-void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight,
- const int walkableClimb, rcHeightfield& solid);
+/// Marks spans that are ledges as not-walkable.
+///
+/// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb
+/// from the current span's maximum.
+/// This method removes the impact of the overestimation of conservative voxelization
+/// so the resulting mesh will not have regions hanging in the air over ledges.
+///
+/// A span is a ledge if: rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb
+///
+/// @see rcHeightfield, rcConfig
+///
+/// @ingroup recast
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to
+/// be considered walkable. [Limit: >= 3] [Units: vx]
+/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable.
+/// [Limit: >=0] [Units: vx]
+/// @param[in,out] heightfield A fully built heightfield. (All spans have been added.)
+void rcFilterLedgeSpans(rcContext* context, int walkableHeight, int walkableClimb, rcHeightfield& heightfield);
-/// Marks walkable spans as not walkable if the clearence above the span is less than the specified height.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to
-/// be considered walkable. [Limit: >= 3] [Units: vx]
-/// @param[in,out] solid A fully built heightfield. (All spans have been added.)
-void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid);
+/// Marks walkable spans as not walkable if the clearance above the span is less than the specified height.
+///
+/// For this filter, the clearance above the span is the distance from the span's
+/// maximum to the next higher span's minimum. (Same grid column.)
+///
+/// @see rcHeightfield, rcConfig
+/// @ingroup recast
+///
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to
+/// be considered walkable. [Limit: >= 3] [Units: vx]
+/// @param[in,out] heightfield A fully built heightfield. (All spans have been added.)
+void rcFilterWalkableLowHeightSpans(rcContext* context, int walkableHeight, rcHeightfield& heightfield);
/// Returns the number of spans contained in the specified heightfield.
/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] hf An initialized heightfield.
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in] heightfield An initialized heightfield.
/// @returns The number of spans in the heightfield.
-int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf);
+int rcGetHeightFieldSpanCount(rcContext* context, const rcHeightfield& heightfield);
/// @}
/// @name Compact Heightfield Functions
@@ -957,175 +1088,181 @@ int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf);
/// @{
/// Builds a compact heightfield representing open space, from a heightfield representing solid space.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area
-/// to be considered walkable. [Limit: >= 3] [Units: vx]
-/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable.
-/// [Limit: >=0] [Units: vx]
-/// @param[in] hf The heightfield to be compacted.
-/// @param[out] chf The resulting compact heightfield. (Must be pre-allocated.)
-/// @returns True if the operation completed successfully.
-bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
- rcHeightfield& hf, rcCompactHeightfield& chf);
+///
+/// This is just the beginning of the process of fully building a compact heightfield.
+/// Various filters may be applied, then the distance field and regions built.
+/// E.g: #rcBuildDistanceField and #rcBuildRegions
+///
+/// See the #rcConfig documentation for more information on the configuration parameters.
+///
+/// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig
+/// @ingroup recast
+///
+/// @param[in,out] context The build context to use during the operation.
+/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area
+/// to be considered walkable. [Limit: >= 3] [Units: vx]
+/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable.
+/// [Limit: >=0] [Units: vx]
+/// @param[in] heightfield The heightfield to be compacted.
+/// @param[out] compactHeightfield The resulting compact heightfield. (Must be pre-allocated.)
+/// @returns True if the operation completed successfully.
+bool rcBuildCompactHeightfield(rcContext* context, int walkableHeight, int walkableClimb,
+ rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield);
/// Erodes the walkable area within the heightfield by the specified radius.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] radius The radius of erosion. [Limits: 0 < value < 255] [Units: vx]
-/// @param[in,out] chf The populated compact heightfield to erode.
-/// @returns True if the operation completed successfully.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in] radius The radius of erosion. [Limits: 0 < value < 255] [Units: vx]
+/// @param[in,out] chf The populated compact heightfield to erode.
+/// @returns True if the operation completed successfully.
bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf);
/// Applies a median filter to walkable area types (based on area id), removing noise.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in,out] chf A populated compact heightfield.
-/// @returns True if the operation completed successfully.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in,out] chf A populated compact heightfield.
+/// @returns True if the operation completed successfully.
bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf);
/// Applies an area id to all spans within the specified bounding box. (AABB)
-/// @ingroup recast
-/// @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] areaMod The area modification to apply.
-/// @param[in,out] chf A populated compact heightfield.
+/// @ingroup recast
+/// @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] areaMod The area modification to apply
+/// @param[in,out] chf A populated compact heightfield.
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.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] verts The vertices of the polygon [Fomr: (x, y, z) * @p nverts]
-/// @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] areaMod The area modification to apply.
-/// @param[in,out] chf A populated compact heightfield.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in] verts The vertices of the polygon [Fomr: (x, y, z) * @p nverts]
+/// @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] 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, rcAreaModification areaMod,
rcCompactHeightfield& chf);
/// Helper function to offset voncex polygons for rcMarkConvexPolyArea.
-/// @ingroup recast
-/// @param[in] verts The vertices of the polygon [Form: (x, y, z) * @p nverts]
-/// @param[in] nverts The number of vertices in the polygon.
-/// @param[out] outVerts The offset vertices (should hold up to 2 * @p nverts) [Form: (x, y, z) * return value]
-/// @param[in] maxOutVerts The max number of vertices that can be stored to @p outVerts.
-/// @returns Number of vertices in the offset polygon or 0 if too few vertices in @p outVerts.
+/// @ingroup recast
+/// @param[in] verts The vertices of the polygon [Form: (x, y, z) * @p nverts]
+/// @param[in] nverts The number of vertices in the polygon.
+/// @param[in] offset How much to offset the polygon by. [Units: wu]
+/// @param[out] outVerts The offset vertices (should hold up to 2 * @p nverts) [Form: (x, y, z) * return value]
+/// @param[in] maxOutVerts The max number of vertices that can be stored to @p outVerts.
+/// @returns Number of vertices in the offset polygon or 0 if too few vertices in @p outVerts.
int rcOffsetPoly(const float* verts, const int nverts, const float offset,
float* outVerts, const int maxOutVerts);
/// Applies the area id to all spans within the specified cylinder.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @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] areaMod The area modification to apply.
-/// @param[in,out] chf A populated compact heightfield.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @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] 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, rcAreaModification areaMod,
rcCompactHeightfield& chf);
/// Builds the distance field for the specified compact heightfield.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in,out] chf A populated compact heightfield.
-/// @returns True if the operation completed successfully.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in,out] chf A populated compact heightfield.
+/// @returns True if the operation completed successfully.
bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf);
/// Builds region data for the heightfield using watershed partitioning.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in,out] chf A populated compact heightfield.
-/// @param[in] borderSize The size of the non-navigable border around the heightfield.
-/// [Limit: >=0] [Units: vx]
-/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas.
-/// [Limit: >=0] [Units: vx].
-/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible,
-/// be merged with larger regions. [Limit: >=0] [Units: vx]
-/// @returns True if the operation completed successfully.
-bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
- const int borderSize, const int minRegionArea, const int mergeRegionArea);
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in,out] chf A populated compact heightfield.
+/// @param[in] borderSize The size of the non-navigable border around the heightfield.
+/// [Limit: >=0] [Units: vx]
+/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas.
+/// [Limit: >=0] [Units: vx].
+/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible,
+/// be merged with larger regions. [Limit: >=0] [Units: vx]
+/// @returns True if the operation completed successfully.
+bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, int borderSize, int minRegionArea, int mergeRegionArea);
/// Builds region data for the heightfield by partitioning the heightfield in non-overlapping layers.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in,out] chf A populated compact heightfield.
-/// @param[in] borderSize The size of the non-navigable border around the heightfield.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in,out] chf A populated compact heightfield.
+/// @param[in] borderSize The size of the non-navigable border around the heightfield.
/// [Limit: >=0] [Units: vx]
-/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas.
+/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas.
/// [Limit: >=0] [Units: vx].
-/// @returns True if the operation completed successfully.
-bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
- const int borderSize, const int minRegionArea);
+/// @returns True if the operation completed successfully.
+bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf, int borderSize, int minRegionArea);
/// Builds region data for the heightfield using simple monotone partitioning.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in,out] chf A populated compact heightfield.
-/// @param[in] borderSize The size of the non-navigable border around the heightfield.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in,out] chf A populated compact heightfield.
+/// @param[in] borderSize The size of the non-navigable border around the heightfield.
/// [Limit: >=0] [Units: vx]
-/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas.
+/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas.
/// [Limit: >=0] [Units: vx].
-/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible,
+/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible,
/// be merged with larger regions. [Limit: >=0] [Units: vx]
-/// @returns True if the operation completed successfully.
+/// @returns True if the operation completed successfully.
bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
- const int borderSize, const int minRegionArea, const int mergeRegionArea);
+ int borderSize, int minRegionArea, int mergeRegionArea);
/// Sets the neighbor connection data for the specified direction.
-/// @param[in] s The span to update.
-/// @param[in] dir The direction to set. [Limits: 0 <= value < 4]
-/// @param[in] i The index of the neighbor span.
-inline void rcSetCon(rcCompactSpan& s, int dir, int i)
+/// @param[in] span The span to update.
+/// @param[in] direction The direction to set. [Limits: 0 <= value < 4]
+/// @param[in] neighborIndex The index of the neighbor span.
+inline void rcSetCon(rcCompactSpan& span, int direction, int neighborIndex)
{
- const unsigned int shift = (unsigned int)dir*6;
- unsigned int con = s.con;
- s.con = (con & ~(0x3f << shift)) | (((unsigned int)i & 0x3f) << shift);
+ const unsigned int shift = (unsigned int)direction * 6;
+ const unsigned int con = span.con;
+ span.con = (con & ~(0x3f << shift)) | (((unsigned int)neighborIndex & 0x3f) << shift);
}
/// Gets neighbor connection data for the specified direction.
-/// @param[in] s The span to check.
-/// @param[in] dir The direction to check. [Limits: 0 <= value < 4]
-/// @return The neighbor connection data for the specified direction,
-/// or #RC_NOT_CONNECTED if there is no connection.
-inline int rcGetCon(const rcCompactSpan& s, int dir)
+/// @param[in] span The span to check.
+/// @param[in] direction The direction to check. [Limits: 0 <= value < 4]
+/// @return The neighbor connection data for the specified direction, or #RC_NOT_CONNECTED if there is no connection.
+inline int rcGetCon(const rcCompactSpan& span, int direction)
{
- const unsigned int shift = (unsigned int)dir*6;
- return (s.con >> shift) & 0x3f;
+ const unsigned int shift = (unsigned int)direction * 6;
+ return (span.con >> shift) & 0x3f;
}
/// Gets the standard width (x-axis) offset for the specified direction.
-/// @param[in] dir The direction. [Limits: 0 <= value < 4]
-/// @return The width offset to apply to the current cell position to move
-/// in the direction.
-inline int rcGetDirOffsetX(int dir)
+/// @param[in] direction The direction. [Limits: 0 <= value < 4]
+/// @return The width offset to apply to the current cell position to move in the direction.
+inline int rcGetDirOffsetX(int direction)
{
static const int offset[4] = { -1, 0, 1, 0, };
- return offset[dir&0x03];
+ return offset[direction & 0x03];
}
+// TODO (graham): Rename this to rcGetDirOffsetZ
/// Gets the standard height (z-axis) offset for the specified direction.
-/// @param[in] dir The direction. [Limits: 0 <= value < 4]
-/// @return The height offset to apply to the current cell position to move
-/// in the direction.
-inline int rcGetDirOffsetY(int dir)
+/// @param[in] direction The direction. [Limits: 0 <= value < 4]
+/// @return The height offset to apply to the current cell position to move in the direction.
+inline int rcGetDirOffsetY(int direction)
{
static const int offset[4] = { 0, 1, 0, -1 };
- return offset[dir&0x03];
+ return offset[direction & 0x03];
}
/// Gets the direction for the specified offset. One of x and y should be 0.
-/// @param[in] x The x offset. [Limits: -1 <= value <= 1]
-/// @param[in] y The y offset. [Limits: -1 <= value <= 1]
-/// @return The direction that represents the offset.
-inline int rcGetDirForOffset(int x, int y)
+/// @param[in] offsetX The x offset. [Limits: -1 <= value <= 1]
+/// @param[in] offsetZ The z offset. [Limits: -1 <= value <= 1]
+/// @return The direction that represents the offset.
+inline int rcGetDirForOffset(int offsetX, int offsetZ)
{
static const int dirs[5] = { 3, 0, -1, 2, 1 };
- return dirs[((y+1)<<1)+x];
+ return dirs[((offsetZ + 1) << 1) + offsetX];
}
/// @}
@@ -1134,42 +1271,42 @@ inline int rcGetDirForOffset(int x, int y)
/// @{
/// Builds a layer set from the specified compact heightfield.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] chf A fully built compact heightfield.
-/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0]
-/// [Units: vx]
-/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area
-/// to be considered walkable. [Limit: >= 3] [Units: vx]
-/// @param[out] lset The resulting layer set. (Must be pre-allocated.)
-/// @returns True if the operation completed successfully.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in] chf A fully built compact heightfield.
+/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0]
+/// [Units: vx]
+/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area
+/// to be considered walkable. [Limit: >= 3] [Units: vx]
+/// @param[out] lset The resulting layer set. (Must be pre-allocated.)
+/// @returns True if the operation completed successfully.
bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
- const int borderSize, const int walkableHeight,
+ int borderSize, int walkableHeight,
rcHeightfieldLayerSet& lset);
/// Builds a contour set from the region outlines in the provided compact heightfield.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] chf A fully built compact heightfield.
-/// @param[in] maxError The maximum distance a simplfied contour's border edges should deviate
-/// the original raw contour. [Limit: >=0] [Units: wu]
-/// @param[in] maxEdgeLen The maximum allowed length for contour edges along the border of the mesh.
-/// [Limit: >=0] [Units: vx]
-/// @param[out] cset The resulting contour set. (Must be pre-allocated.)
-/// @param[in] buildFlags The build flags. (See: #rcBuildContoursFlags)
-/// @returns True if the operation completed successfully.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in] chf A fully built compact heightfield.
+/// @param[in] maxError The maximum distance a simplified contour's border edges should deviate
+/// the original raw contour. [Limit: >=0] [Units: wu]
+/// @param[in] maxEdgeLen The maximum allowed length for contour edges along the border of the mesh.
+/// [Limit: >=0] [Units: vx]
+/// @param[out] cset The resulting contour set. (Must be pre-allocated.)
+/// @param[in] buildFlags The build flags. (See: #rcBuildContoursFlags)
+/// @returns True if the operation completed successfully.
bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
- const float maxError, const int maxEdgeLen,
- rcContourSet& cset, const int buildFlags = RC_CONTOUR_TESS_WALL_EDGES);
+ float maxError, int maxEdgeLen,
+ rcContourSet& cset, int buildFlags = RC_CONTOUR_TESS_WALL_EDGES);
/// Builds a polygon mesh from the provided contours.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] cset A fully built contour set.
-/// @param[in] nvp The maximum number of vertices allowed for polygons generated during the
-/// contour to polygon conversion process. [Limit: >= 3]
-/// @param[out] mesh The resulting polygon mesh. (Must be re-allocated.)
-/// @returns True if the operation completed successfully.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in] cset A fully built contour set.
+/// @param[in] nvp The maximum number of vertices allowed for polygons generated during the
+/// contour to polygon conversion process. [Limit: >= 3]
+/// @param[out] mesh The resulting polygon mesh. (Must be re-allocated.)
+/// @returns True if the operation completed successfully.
bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh);
/// Merges multiple polygon meshes into a single mesh.
@@ -1182,34 +1319,34 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe
bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh);
/// Builds a detail mesh from the provided polygon mesh.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] mesh A fully built polygon mesh.
-/// @param[in] chf The compact heightfield used to build the polygon mesh.
-/// @param[in] sampleDist Sets the distance to use when samping the heightfield. [Limit: >=0] [Units: wu]
-/// @param[in] sampleMaxError The maximum distance the detail mesh surface should deviate from
-/// heightfield data. [Limit: >=0] [Units: wu]
-/// @param[out] dmesh The resulting detail mesh. (Must be pre-allocated.)
-/// @returns True if the operation completed successfully.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in] mesh A fully built polygon mesh.
+/// @param[in] chf The compact heightfield used to build the polygon mesh.
+/// @param[in] sampleDist Sets the distance to use when sampling the heightfield. [Limit: >=0] [Units: wu]
+/// @param[in] sampleMaxError The maximum distance the detail mesh surface should deviate from
+/// heightfield data. [Limit: >=0] [Units: wu]
+/// @param[out] dmesh The resulting detail mesh. (Must be pre-allocated.)
+/// @returns True if the operation completed successfully.
bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf,
- const float sampleDist, const float sampleMaxError,
+ float sampleDist, float sampleMaxError,
rcPolyMeshDetail& dmesh);
/// Copies the poly mesh data from src to dst.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] src The source mesh to copy from.
-/// @param[out] dst The resulting detail mesh. (Must be pre-allocated, must be empty mesh.)
-/// @returns True if the operation completed successfully.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in] src The source mesh to copy from.
+/// @param[out] dst The resulting detail mesh. (Must be pre-allocated, must be empty mesh.)
+/// @returns True if the operation completed successfully.
bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst);
/// Merges multiple detail meshes into a single detail mesh.
-/// @ingroup recast
-/// @param[in,out] ctx The build context to use during the operation.
-/// @param[in] meshes An array of detail meshes to merge. [Size: @p nmeshes]
-/// @param[in] nmeshes The number of detail meshes in the meshes array.
-/// @param[out] mesh The resulting detail mesh. (Must be pre-allocated.)
-/// @returns True if the operation completed successfully.
+/// @ingroup recast
+/// @param[in,out] ctx The build context to use during the operation.
+/// @param[in] meshes An array of detail meshes to merge. [Size: @p nmeshes]
+/// @param[in] nmeshes The number of detail meshes in the meshes array.
+/// @param[out] mesh The resulting detail mesh. (Must be pre-allocated.)
+/// @returns True if the operation completed successfully.
bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh);
/// @}
diff --git a/Recast/Include/RecastAlloc.h b/Recast/Include/RecastAlloc.h
index 3cdd450d..1741de9f 100644
--- a/Recast/Include/RecastAlloc.h
+++ b/Recast/Include/RecastAlloc.h
@@ -19,7 +19,10 @@
#ifndef RECASTALLOC_H
#define RECASTALLOC_H
-#include
+#include "RecastAssert.h"
+
+#include
+#include
/// Provides hint values to the memory allocator on how long the
/// memory is expected to be used.
@@ -44,78 +47,301 @@ typedef void (rcFreeFunc)(void* ptr);
/// Sets the base custom allocation functions to be used by Recast.
/// @param[in] allocFunc The memory allocation function to be used by #rcAlloc
/// @param[in] freeFunc The memory de-allocation function to be used by #rcFree
+///
+/// @see rcAlloc, rcFree
void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc);
/// Allocates a memory block.
-/// @param[in] size The size, in bytes of memory, to allocate.
-/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use.
-/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
-/// @see rcFree
+///
+/// @param[in] size The size, in bytes of memory, to allocate.
+/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use.
+/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
+///
+/// @see rcFree, rcAllocSetCustom
void* rcAlloc(size_t size, rcAllocHint hint);
-/// Deallocates a memory block.
-/// @param[in] ptr A pointer to a memory block previously allocated using #rcAlloc.
-/// @see rcAlloc
+/// Deallocates a memory block. If @p ptr is NULL, this does nothing.
+///
+/// @warning This function leaves the value of @p ptr unchanged. So it still
+/// points to the same (now invalid) location, and not to null.
+///
+/// @param[in] ptr A pointer to a memory block previously allocated using #rcAlloc.
+///
+/// @see rcAlloc, rcAllocSetCustom
void rcFree(void* ptr);
+/// An implementation of operator new usable for placement new. The default one is part of STL (which we don't use).
+/// rcNewTag is a dummy type used to differentiate our operator from the STL one, in case users import both Recast
+/// and STL.
+struct rcNewTag {};
+inline void* operator new(size_t, const rcNewTag&, void* p) { return p; }
+inline void operator delete(void*, const rcNewTag&, void*) {}
-/// A simple dynamic array of integers.
+/// Signed to avoid warnnings when comparing to int loop indexes, and common error with comparing to zero.
+/// MSVC2010 has a bug where ssize_t is unsigned (!!!).
+typedef intptr_t rcSizeType;
+#define RC_SIZE_MAX INTPTR_MAX
+
+/// Macros to hint to the compiler about the likeliest branch. Please add a benchmark that demonstrates a performance
+/// improvement before introducing use cases.
+#if defined(__GNUC__) || defined(__clang__)
+#define rcLikely(x) __builtin_expect((x), true)
+#define rcUnlikely(x) __builtin_expect((x), false)
+#else
+#define rcLikely(x) (x)
+#define rcUnlikely(x) (x)
+#endif
+
+/// Variable-sized storage type. Mimics the interface of std::vector with some notable differences:
+/// * Uses rcAlloc()/rcFree() to handle storage.
+/// * No support for a custom allocator.
+/// * Uses signed size instead of size_t to avoid warnings in for loops: "for (int i = 0; i < foo.size(); i++)"
+/// * Omits methods of limited utility: insert/erase, (bad performance), at (we don't use exceptions), operator=.
+/// * assign() and the pre-sizing constructor follow C++11 semantics -- they don't construct a temporary if no value is provided.
+/// * push_back() and resize() support adding values from the current vector. Range-based constructors and assign(begin, end) do not.
+/// * No specialization for bool.
+template
+class rcVectorBase {
+ rcSizeType m_size;
+ rcSizeType m_cap;
+ T* m_data;
+ // Constructs a T at the give address with either the copy constructor or the default.
+ static void construct(T* p, const T& v) { ::new(rcNewTag(), (void*)p) T(v); }
+ static void construct(T* p) { ::new(rcNewTag(), (void*)p) T; }
+ static void construct_range(T* begin, T* end);
+ static void construct_range(T* begin, T* end, const T& value);
+ static void copy_range(T* dst, const T* begin, const T* end);
+ void destroy_range(rcSizeType begin, rcSizeType end);
+ // Creates an array of the given size, copies all of this vector's data into it, and returns it.
+ T* allocate_and_copy(rcSizeType size);
+ void resize_impl(rcSizeType size, const T* value);
+ // Requires: min_capacity > m_cap.
+ rcSizeType get_new_capacity(rcSizeType min_capacity);
+ public:
+ typedef rcSizeType size_type;
+ typedef T value_type;
+
+ rcVectorBase() : m_size(0), m_cap(0), m_data(0) {}
+ rcVectorBase(const rcVectorBase& other) : m_size(0), m_cap(0), m_data(0) { assign(other.begin(), other.end()); }
+ explicit rcVectorBase(rcSizeType count) : m_size(0), m_cap(0), m_data(0) { resize(count); }
+ rcVectorBase(rcSizeType count, const T& value) : m_size(0), m_cap(0), m_data(0) { resize(count, value); }
+ rcVectorBase(const T* begin, const T* end) : m_size(0), m_cap(0), m_data(0) { assign(begin, end); }
+ ~rcVectorBase() { destroy_range(0, m_size); rcFree(m_data); }
+
+ // Unlike in std::vector, we return a bool to indicate whether the alloc was successful.
+ bool reserve(rcSizeType size);
+
+ void assign(rcSizeType count, const T& value) { clear(); resize(count, value); }
+ void assign(const T* begin, const T* end);
+
+ void resize(rcSizeType size) { resize_impl(size, NULL); }
+ void resize(rcSizeType size, const T& value) { resize_impl(size, &value); }
+ // Not implemented as resize(0) because resize requires T to be default-constructible.
+ void clear() { destroy_range(0, m_size); m_size = 0; }
+
+ void push_back(const T& value);
+ void pop_back() { rcAssert(m_size > 0); back().~T(); m_size--; }
+
+ rcSizeType size() const { return m_size; }
+ rcSizeType capacity() const { return m_cap; }
+ bool empty() const { return size() == 0; }
+
+ const T& operator[](rcSizeType i) const { rcAssert(i >= 0 && i < m_size); return m_data[i]; }
+ T& operator[](rcSizeType i) { rcAssert(i >= 0 && i < m_size); return m_data[i]; }
+
+ const T& front() const { rcAssert(m_size); return m_data[0]; }
+ T& front() { rcAssert(m_size); return m_data[0]; }
+ const T& back() const { rcAssert(m_size); return m_data[m_size - 1]; }
+ T& back() { rcAssert(m_size); return m_data[m_size - 1]; }
+ const T* data() const { return m_data; }
+ T* data() { return m_data; }
+
+ T* begin() { return m_data; }
+ T* end() { return m_data + m_size; }
+ const T* begin() const { return m_data; }
+ const T* end() const { return m_data + m_size; }
+
+ void swap(rcVectorBase& other);
+
+ // Explicitly deleted.
+ rcVectorBase& operator=(const rcVectorBase& other);
+};
+
+template
+bool rcVectorBase::reserve(rcSizeType count) {
+ if (count <= m_cap) {
+ return true;
+ }
+ T* new_data = allocate_and_copy(count);
+ if (!new_data) {
+ return false;
+ }
+ destroy_range(0, m_size);
+ rcFree(m_data);
+ m_data = new_data;
+ m_cap = count;
+ return true;
+}
+template
+T* rcVectorBase::allocate_and_copy(rcSizeType size) {
+ rcAssert(RC_SIZE_MAX / static_cast(sizeof(T)) >= size);
+ T* new_data = static_cast(rcAlloc(sizeof(T) * size, H));
+ if (new_data) {
+ copy_range(new_data, m_data, m_data + m_size);
+ }
+ return new_data;
+}
+template
+void rcVectorBase::assign(const T* begin, const T* end) {
+ clear();
+ reserve(end - begin);
+ m_size = end - begin;
+ copy_range(m_data, begin, end);
+}
+template
+void rcVectorBase::push_back(const T& value) {
+ // rcLikely increases performance by ~50% on BM_rcVector_PushPreallocated,
+ // and by ~2-5% on BM_rcVector_Push.
+ if (rcLikely(m_size < m_cap)) {
+ construct(m_data + m_size++, value);
+ return;
+ }
+
+ const rcSizeType new_cap = get_new_capacity(m_cap + 1);
+ T* data = allocate_and_copy(new_cap);
+ // construct between allocate and destroy+free in case value is
+ // in this vector.
+ construct(data + m_size, value);
+ destroy_range(0, m_size);
+ m_size++;
+ m_cap = new_cap;
+ rcFree(m_data);
+ m_data = data;
+}
+
+template
+rcSizeType rcVectorBase::get_new_capacity(rcSizeType min_capacity) {
+ rcAssert(min_capacity <= RC_SIZE_MAX);
+ if (rcUnlikely(m_cap >= RC_SIZE_MAX / 2))
+ return RC_SIZE_MAX;
+ return 2 * m_cap > min_capacity ? 2 * m_cap : min_capacity;
+}
+
+template
+void rcVectorBase::resize_impl(rcSizeType size, const T* value) {
+ if (size < m_size) {
+ destroy_range(size, m_size);
+ m_size = size;
+ } else if (size > m_size) {
+ if (size <= m_cap) {
+ if (value) {
+ construct_range(m_data + m_size, m_data + size, *value);
+ } else {
+ construct_range(m_data + m_size, m_data + size);
+ }
+ m_size = size;
+ } else {
+ const rcSizeType new_cap = get_new_capacity(size);
+ T* new_data = allocate_and_copy(new_cap);
+ // We defer deconstructing/freeing old data until after constructing
+ // new elements in case "value" is there.
+ if (value) {
+ construct_range(new_data + m_size, new_data + size, *value);
+ } else {
+ construct_range(new_data + m_size, new_data + size);
+ }
+ destroy_range(0, m_size);
+ rcFree(m_data);
+ m_data = new_data;
+ m_cap = new_cap;
+ m_size = size;
+ }
+ }
+}
+template
+void rcVectorBase::swap(rcVectorBase& other) {
+ // TODO: Reorganize headers so we can use rcSwap here.
+ rcSizeType tmp_cap = other.m_cap;
+ rcSizeType tmp_size = other.m_size;
+ T* tmp_data = other.m_data;
+
+ other.m_cap = m_cap;
+ other.m_size = m_size;
+ other.m_data = m_data;
+
+ m_cap = tmp_cap;
+ m_size = tmp_size;
+ m_data = tmp_data;
+}
+// static
+template
+void rcVectorBase::construct_range(T* begin, T* end) {
+ for (T* p = begin; p < end; p++) {
+ construct(p);
+ }
+}
+// static
+template
+void rcVectorBase::construct_range(T* begin, T* end, const T& value) {
+ for (T* p = begin; p < end; p++) {
+ construct(p, value);
+ }
+}
+// static
+template
+void rcVectorBase::copy_range(T* dst, const T* begin, const T* end) {
+ for (rcSizeType i = 0 ; i < end - begin; i++) {
+ construct(dst + i, begin[i]);
+ }
+}
+template
+void rcVectorBase::destroy_range(rcSizeType begin, rcSizeType end) {
+ for (rcSizeType i = begin; i < end; i++) {
+ m_data[i].~T();
+ }
+}
+
+template
+class rcTempVector : public rcVectorBase {
+ typedef rcVectorBase Base;
+public:
+ rcTempVector() : Base() {}
+ explicit rcTempVector(rcSizeType size) : Base(size) {}
+ rcTempVector(rcSizeType size, const T& value) : Base(size, value) {}
+ rcTempVector(const rcTempVector& other) : Base(other) {}
+ rcTempVector(const T* begin, const T* end) : Base(begin, end) {}
+};
+template
+class rcPermVector : public rcVectorBase {
+ typedef rcVectorBase Base;
+public:
+ rcPermVector() : Base() {}
+ explicit rcPermVector(rcSizeType size) : Base(size) {}
+ rcPermVector(rcSizeType size, const T& value) : Base(size, value) {}
+ rcPermVector(const rcPermVector& other) : Base(other) {}
+ rcPermVector(const T* begin, const T* end) : Base(begin, end) {}
+};
+
+
+/// Legacy class. Prefer rcVector.
class rcIntArray
{
- int* m_data;
- int m_size, m_cap;
-
- void doResize(int n);
-
- // Explicitly disabled copy constructor and copy assignment operator.
- rcIntArray(const rcIntArray&);
- rcIntArray& operator=(const rcIntArray&);
-
+ rcTempVector m_impl;
public:
- /// Constructs an instance with an initial array size of zero.
- rcIntArray() : m_data(0), m_size(0), m_cap(0) {}
-
- /// Constructs an instance initialized to the specified size.
- /// @param[in] n The initial size of the integer array.
- rcIntArray(int n) : m_data(0), m_size(0), m_cap(0) { resize(n); }
- ~rcIntArray() { rcFree(m_data); }
-
- /// Specifies the new size of the integer array.
- /// @param[in] n The new size of the integer array.
- void resize(int n)
- {
- if (n > m_cap)
- doResize(n);
-
- m_size = n;
- }
-
- /// Push the specified integer onto the end of the array and increases the size by one.
- /// @param[in] item The new value.
- void push(int item) { resize(m_size+1); m_data[m_size-1] = item; }
-
- /// Returns the value at the end of the array and reduces the size by one.
- /// @return The value at the end of the array.
+ rcIntArray() {}
+ rcIntArray(int n) : m_impl(n, 0) {}
+ void push(int item) { m_impl.push_back(item); }
+ void resize(int size) { m_impl.resize(size); }
+ void clear() { m_impl.clear(); }
int pop()
{
- if (m_size > 0)
- m_size--;
-
- return m_data[m_size];
+ int v = m_impl.back();
+ m_impl.pop_back();
+ return v;
}
-
- /// The value at the specified array index.
- /// @warning Does not provide overflow protection.
- /// @param[in] i The index of the value.
- const int& operator[](int i) const { return m_data[i]; }
-
- /// The value at the specified array index.
- /// @warning Does not provide overflow protection.
- /// @param[in] i The index of the value.
- int& operator[](int i) { return m_data[i]; }
-
- /// The current size of the integer array.
- int size() const { return m_size; }
+ int size() const { return static_cast(m_impl.size()); }
+ int& operator[](int index) { return m_impl[index]; }
+ int operator[](int index) const { return m_impl[index]; }
};
/// A simple helper class used to delete an array when it goes out of scope.
diff --git a/Recast/Include/RecastAssert.h b/Recast/Include/RecastAssert.h
index e7cc10e4..617a4b75 100644
--- a/Recast/Include/RecastAssert.h
+++ b/Recast/Include/RecastAssert.h
@@ -19,13 +19,10 @@
#ifndef RECASTASSERT_H
#define RECASTASSERT_H
-// Note: This header file's only purpose is to include define assert.
-// Feel free to change the file and include your own implementation instead.
-
#ifdef NDEBUG
// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
-# define rcAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false)
+# define rcAssert(x) do { (void)sizeof(x); } while ((void)(__LINE__==-1), false)
#else
@@ -38,7 +35,7 @@ typedef void (rcAssertFailFunc)(const char* expression, const char* file, int li
/// Sets the base custom assertion failure function to be used by Recast.
/// @param[in] assertFailFunc The function to be used in case of failure of #dtAssert
-void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc);
+void rcAssertFailSetCustom(rcAssertFailFunc* assertFailFunc);
/// Gets the base custom assertion failure function to be used by Recast.
rcAssertFailFunc* rcAssertFailGetCustom();
@@ -47,8 +44,8 @@ rcAssertFailFunc* rcAssertFailGetCustom();
# define rcAssert(expression) \
{ \
rcAssertFailFunc* failFunc = rcAssertFailGetCustom(); \
- if(failFunc == NULL) { assert(expression); } \
- else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \
+ if (failFunc == NULL) { assert(expression); } \
+ else if (!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \
}
#endif
diff --git a/Recast/Source/Recast.cpp b/Recast/Source/Recast.cpp
index 4aefa682..237381f8 100644
--- a/Recast/Source/Recast.cpp
+++ b/Recast/Source/Recast.cpp
@@ -16,61 +16,73 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#include
-#define _USE_MATH_DEFINES
-#include
-#include
-#include
-#include
-#include
-#include
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
+#include
+#include
+#include
+#include
+
+namespace
+{
+/// Allocates and constructs an object of the given type, returning a pointer.
+/// @param[in] allocLifetime Allocation lifetime hint
+template
+T* rcNew(const rcAllocHint allocLifetime)
+{
+ T* ptr = (T*)rcAlloc(sizeof(T), allocLifetime);
+ ::new(rcNewTag(), (void*)ptr) T();
+ return ptr;
+}
+
+/// Destroys and frees an object allocated with rcNew.
+/// @param[in] ptr The object pointer to delete.
+template
+void rcDelete(T* ptr)
+{
+ if (ptr)
+ {
+ ptr->~T();
+ rcFree((void*)ptr);
+ }
+}
+} // anonymous namespace
+
float rcSqrt(float x)
{
return sqrtf(x);
}
-/// @class rcContext
-/// @par
-///
-/// This class does not provide logging or timer functionality on its
-/// own. Both must be provided by a concrete implementation
-/// by overriding the protected member functions. Also, this class does not
-/// provide an interface for extracting log messages. (Only adding them.)
-/// So concrete implementations must provide one.
-///
-/// If no logging or timers are required, just pass an instance of this
-/// class through the Recast build process.
-///
-
-/// @par
-///
-/// Example:
-/// @code
-/// // Where ctx is an instance of rcContext and filepath is a char array.
-/// ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not load '%s'", filepath);
-/// @endcode
void rcContext::log(const rcLogCategory category, const char* format, ...)
{
if (!m_logEnabled)
+ {
return;
+ }
static const int MSG_SIZE = 512;
char msg[MSG_SIZE];
- va_list ap;
- va_start(ap, format);
- int len = vsnprintf(msg, MSG_SIZE, format, ap);
+ va_list argList;
+ va_start(argList, format);
+ int len = vsnprintf(msg, MSG_SIZE, format, argList);
if (len >= MSG_SIZE)
{
- len = MSG_SIZE-1;
- msg[MSG_SIZE-1] = '\0';
+ len = MSG_SIZE - 1;
+ msg[MSG_SIZE - 1] = '\0';
+
+ const char* errorMessage = "Log message was truncated";
+ doLog(RC_LOG_ERROR, errorMessage, (int)strlen(errorMessage));
}
- va_end(ap);
+ va_end(argList);
doLog(category, msg, len);
}
+void rcContext::doResetLog()
+{
+ // Defined out of line to fix the weak v-tables warning
+}
+
rcAreaModification::rcAreaModification(unsigned char value) :
m_value(value),
m_mask(RC_AREA_FLAGS_MASK)
@@ -117,19 +129,24 @@ unsigned char rcAreaModification::getMaskedValue() const
rcHeightfield* rcAllocHeightfield()
{
- return new (rcAlloc(sizeof(rcHeightfield), RC_ALLOC_PERM)) rcHeightfield;
+ return rcNew(RC_ALLOC_PERM);
+}
+
+void rcFreeHeightField(rcHeightfield* heightfield)
+{
+ rcDelete(heightfield);
}
rcHeightfield::rcHeightfield()
- : width()
- , height()
- , bmin()
- , bmax()
- , cs()
- , ch()
- , spans()
- , pools()
- , freelist()
+: width()
+, height()
+, bmin()
+, bmax()
+, cs()
+, ch()
+, spans()
+, pools()
+, freelist()
{
}
@@ -146,404 +163,425 @@ rcHeightfield::~rcHeightfield()
}
}
-void rcFreeHeightField(rcHeightfield* hf)
-{
- if (!hf) return;
- hf->~rcHeightfield();
- rcFree(hf);
-}
-
rcCompactHeightfield* rcAllocCompactHeightfield()
{
- rcCompactHeightfield* chf = (rcCompactHeightfield*)rcAlloc(sizeof(rcCompactHeightfield), RC_ALLOC_PERM);
- memset(chf, 0, sizeof(rcCompactHeightfield));
- return chf;
+ return rcNew(RC_ALLOC_PERM);
}
-void rcFreeCompactHeightfield(rcCompactHeightfield* chf)
+void rcFreeCompactHeightfield(rcCompactHeightfield* compactHeightfield)
{
- if (!chf) return;
- rcFree(chf->cells);
- rcFree(chf->spans);
- rcFree(chf->dist);
- rcFree(chf->areas);
- rcFree(chf);
+ rcDelete(compactHeightfield);
+}
+
+rcCompactHeightfield::rcCompactHeightfield()
+: width()
+, height()
+, spanCount()
+, walkableHeight()
+, walkableClimb()
+, borderSize()
+, maxDistance()
+, maxRegions()
+, bmin()
+, bmax()
+, cs()
+, ch()
+, cells()
+, spans()
+, dist()
+, areas()
+{
+}
+
+rcCompactHeightfield::~rcCompactHeightfield()
+{
+ rcFree(cells);
+ rcFree(spans);
+ rcFree(dist);
+ rcFree(areas);
}
rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet()
{
- rcHeightfieldLayerSet* lset = (rcHeightfieldLayerSet*)rcAlloc(sizeof(rcHeightfieldLayerSet), RC_ALLOC_PERM);
- memset(lset, 0, sizeof(rcHeightfieldLayerSet));
- return lset;
+ return rcNew(RC_ALLOC_PERM);
}
-void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset)
+void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* layerSet)
{
- if (!lset) return;
- for (int i = 0; i < lset->nlayers; ++i)
+ rcDelete(layerSet);
+}
+
+rcHeightfieldLayerSet::rcHeightfieldLayerSet()
+: layers()
+, nlayers()
+{
+}
+
+rcHeightfieldLayerSet::~rcHeightfieldLayerSet()
+{
+ for (int i = 0; i < nlayers; ++i)
{
- rcFree(lset->layers[i].heights);
- rcFree(lset->layers[i].areas);
- rcFree(lset->layers[i].cons);
+ rcFree(layers[i].heights);
+ rcFree(layers[i].areas);
+ rcFree(layers[i].cons);
}
- rcFree(lset->layers);
- rcFree(lset);
+ rcFree(layers);
}
rcContourSet* rcAllocContourSet()
{
- rcContourSet* cset = (rcContourSet*)rcAlloc(sizeof(rcContourSet), RC_ALLOC_PERM);
- memset(cset, 0, sizeof(rcContourSet));
- return cset;
+ return rcNew(RC_ALLOC_PERM);
}
-void rcFreeContourSet(rcContourSet* cset)
+void rcFreeContourSet(rcContourSet* contourSet)
{
- if (!cset) return;
- for (int i = 0; i < cset->nconts; ++i)
+ rcDelete(contourSet);
+}
+
+rcContourSet::rcContourSet()
+: conts()
+, nconts()
+, bmin()
+, bmax()
+, cs()
+, ch()
+, width()
+, height()
+, borderSize()
+, maxError()
+{
+}
+
+rcContourSet::~rcContourSet()
+{
+ for (int i = 0; i < nconts; ++i)
{
- rcFree(cset->conts[i].verts);
- rcFree(cset->conts[i].rverts);
+ rcFree(conts[i].verts);
+ rcFree(conts[i].rverts);
}
- rcFree(cset->conts);
- rcFree(cset);
+ rcFree(conts);
}
rcPolyMesh* rcAllocPolyMesh()
{
- rcPolyMesh* pmesh = (rcPolyMesh*)rcAlloc(sizeof(rcPolyMesh), RC_ALLOC_PERM);
- memset(pmesh, 0, sizeof(rcPolyMesh));
- return pmesh;
+ return rcNew(RC_ALLOC_PERM);
}
-void rcFreePolyMesh(rcPolyMesh* pmesh)
+void rcFreePolyMesh(rcPolyMesh* polyMesh)
{
- if (!pmesh) return;
- rcFree(pmesh->verts);
- rcFree(pmesh->polys);
- rcFree(pmesh->regs);
- rcFree(pmesh->flags);
- rcFree(pmesh->areas);
- rcFree(pmesh);
+ rcDelete(polyMesh);
+}
+
+rcPolyMesh::rcPolyMesh()
+: verts()
+, polys()
+, regs()
+, flags()
+, areas()
+, nverts()
+, npolys()
+, maxpolys()
+, nvp()
+, bmin()
+, bmax()
+, cs()
+, ch()
+, borderSize()
+, maxEdgeError()
+{
+}
+
+rcPolyMesh::~rcPolyMesh()
+{
+ rcFree(verts);
+ rcFree(polys);
+ rcFree(regs);
+ rcFree(flags);
+ rcFree(areas);
}
rcPolyMeshDetail* rcAllocPolyMeshDetail()
{
- rcPolyMeshDetail* dmesh = (rcPolyMeshDetail*)rcAlloc(sizeof(rcPolyMeshDetail), RC_ALLOC_PERM);
- memset(dmesh, 0, sizeof(rcPolyMeshDetail));
- return dmesh;
+ return rcNew(RC_ALLOC_PERM);
}
-void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh)
+void rcFreePolyMeshDetail(rcPolyMeshDetail* detailMesh)
{
- if (!dmesh) return;
- rcFree(dmesh->meshes);
- rcFree(dmesh->verts);
- rcFree(dmesh->tris);
- rcFree(dmesh);
+ rcDelete(detailMesh);
}
-void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax)
+rcPolyMeshDetail::rcPolyMeshDetail()
+: meshes()
+, verts()
+, tris()
+, nmeshes()
+, nverts()
+, ntris()
+{
+}
+
+rcPolyMeshDetail::~rcPolyMeshDetail()
+{
+ rcFree(meshes);
+ rcFree(verts);
+ rcFree(tris);
+}
+
+void rcCalcBounds(const float* verts, int numVerts, float* minBounds, float* maxBounds)
{
// Calculate bounding box.
- rcVcopy(bmin, verts);
- rcVcopy(bmax, verts);
- for (int i = 1; i < nv; ++i)
+ rcVcopy(minBounds, verts);
+ rcVcopy(maxBounds, verts);
+ for (int i = 1; i < numVerts; ++i)
{
- const float* v = &verts[i*3];
- rcVmin(bmin, v);
- rcVmax(bmax, v);
+ const float* v = &verts[i * 3];
+ rcVmin(minBounds, v);
+ rcVmax(maxBounds, v);
}
}
-void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h)
+void rcCalcGridSize(const float* minBounds, const float* maxBounds, const float cellSize, int* sizeX, int* sizeZ)
{
- *w = (int)((bmax[0] - bmin[0])/cs+0.5f);
- *h = (int)((bmax[2] - bmin[2])/cs+0.5f);
+ *sizeX = (int)((maxBounds[0] - minBounds[0]) / cellSize + 0.5f);
+ *sizeZ = (int)((maxBounds[2] - minBounds[2]) / cellSize + 0.5f);
}
-/// @par
-///
-/// See the #rcConfig documentation for more information on the configuration parameters.
-///
-/// @see rcAllocHeightfield, rcHeightfield
-bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height,
- const float* bmin, const float* bmax,
- float cs, float ch)
+bool rcCreateHeightfield(rcContext* context, rcHeightfield& heightfield, int sizeX, int sizeZ,
+ const float* minBounds, const float* maxBounds,
+ float cellSize, float cellHeight)
{
- rcIgnoreUnused(ctx);
-
- hf.width = width;
- hf.height = height;
- rcVcopy(hf.bmin, bmin);
- rcVcopy(hf.bmax, bmax);
- hf.cs = cs;
- hf.ch = ch;
- hf.spans = (rcSpan**)rcAlloc(sizeof(rcSpan*)*hf.width*hf.height, RC_ALLOC_PERM);
- if (!hf.spans)
+ rcIgnoreUnused(context);
+
+ heightfield.width = sizeX;
+ heightfield.height = sizeZ;
+ rcVcopy(heightfield.bmin, minBounds);
+ rcVcopy(heightfield.bmax, maxBounds);
+ heightfield.cs = cellSize;
+ heightfield.ch = cellHeight;
+ heightfield.spans = (rcSpan**)rcAlloc(sizeof(rcSpan*) * heightfield.width * heightfield.height, RC_ALLOC_PERM);
+ if (!heightfield.spans)
+ {
return false;
- memset(hf.spans, 0, sizeof(rcSpan*)*hf.width*hf.height);
+ }
+ memset(heightfield.spans, 0, sizeof(rcSpan*) * heightfield.width * heightfield.height);
return true;
}
-static void calcTriNormal(const float* v0, const float* v1, const float* v2, float* norm)
+static void calcTriNormal(const float* v0, const float* v1, const float* v2, float* faceNormal)
{
float e0[3], e1[3];
rcVsub(e0, v1, v0);
rcVsub(e1, v2, v0);
- rcVcross(norm, e0, e1);
- rcVnormalize(norm);
+ rcVcross(faceNormal, e0, e1);
+ rcVnormalize(faceNormal);
}
-/// @par
-///
-/// Only sets the area id's for the walkable triangles. Does not alter the
-/// area id's for unwalkable triangles.
-///
-/// See the #rcConfig documentation for more information on the configuration parameters.
-///
-/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
-void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
- const float* verts, int nv,
- const int* tris, int nt,
- unsigned char* areas,
- rcAreaModification areaMod)
+void rcMarkWalkableTriangles(rcContext* context, const float walkableSlopeAngle,
+ const float* verts, const int numVerts,
+ const int* tris, const int numTris,
+ unsigned char* triAreaIDs,
+ rcAreaModification areaMod)
{
- rcIgnoreUnused(ctx);
- rcIgnoreUnused(nv);
-
- const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
+ rcIgnoreUnused(context);
+ rcIgnoreUnused(numVerts);
+
+ const float walkableThr = cosf(walkableSlopeAngle / 180.0f * RC_PI);
float norm[3];
-
- for (int i = 0; i < nt; ++i)
+
+ for (int i = 0; i < numTris; ++i)
{
- const int* tri = &tris[i*3];
- calcTriNormal(&verts[tri[0]*3], &verts[tri[1]*3], &verts[tri[2]*3], norm);
+ const int* tri = &tris[i * 3];
+ calcTriNormal(&verts[tri[0] * 3], &verts[tri[1] * 3], &verts[tri[2] * 3], norm);
// Check if the face is walkable.
if (norm[1] > walkableThr)
- areaMod.apply(areas[i]);
- }
-}
-
-/// @par
-///
-/// Only sets the area id's for the unwalkable triangles. Does not alter the
-/// area id's for walkable triangles.
-///
-/// See the #rcConfig documentation for more information on the configuration parameters.
-///
-/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
-void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
- const float* verts, int /*nv*/,
- const int* tris, int nt,
- unsigned char* areas)
-{
- rcIgnoreUnused(ctx);
-
- const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
-
- float norm[3];
-
- for (int i = 0; i < nt; ++i)
- {
- const int* tri = &tris[i*3];
- 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_NULL_AREA;
- }
-}
-
-int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf)
-{
- rcIgnoreUnused(ctx);
-
- const int w = hf.width;
- const int h = hf.height;
- int spanCount = 0;
- for (int y = 0; y < h; ++y)
- {
- for (int x = 0; x < w; ++x)
{
- for (rcSpan* s = hf.spans[x + y*w]; s; s = s->next)
+ areaMod.apply(triAreaIDs[i]);
+ }
+ }
+}
+
+void rcClearUnwalkableTriangles(rcContext* context, const float walkableSlopeAngle,
+ const float* verts, int numVerts,
+ const int* tris, int numTris,
+ unsigned char* triAreaIDs)
+{
+ rcIgnoreUnused(context);
+ rcIgnoreUnused(numVerts);
+
+ // The minimum Y value for a face normal of a triangle with a walkable slope.
+ const float walkableLimitY = cosf(walkableSlopeAngle / 180.0f * RC_PI);
+
+ float faceNormal[3];
+ for (int i = 0; i < numTris; ++i)
+ {
+ const int* tri = &tris[i * 3];
+ calcTriNormal(&verts[tri[0] * 3], &verts[tri[1] * 3], &verts[tri[2] * 3], faceNormal);
+ // Check if the face is walkable.
+ if (faceNormal[1] <= walkableLimitY)
+ {
+ triAreaIDs[i] = RC_NULL_AREA;
+ }
+ }
+}
+
+int rcGetHeightFieldSpanCount(rcContext* context, const rcHeightfield& heightfield)
+{
+ rcIgnoreUnused(context);
+
+ const int numCols = heightfield.width * heightfield.height;
+ int spanCount = 0;
+ for (int columnIndex = 0; columnIndex < numCols; ++columnIndex)
+ {
+ for (rcSpan* span = heightfield.spans[columnIndex]; span != NULL; span = span->next)
+ {
+ if (span->area != RC_NULL_AREA)
{
- if (s->area != RC_NULL_AREA)
- spanCount++;
+ spanCount++;
}
}
}
return spanCount;
}
-/// @par
-///
-/// This is just the beginning of the process of fully building a compact heightfield.
-/// Various filters may be applied, then the distance field and regions built.
-/// E.g: #rcBuildDistanceField and #rcBuildRegions
-///
-/// See the #rcConfig documentation for more information on the configuration parameters.
-///
-/// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig
-bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
- rcHeightfield& hf, rcCompactHeightfield& chf)
+bool rcBuildCompactHeightfield(rcContext* context, const int walkableHeight, const int walkableClimb,
+ rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield)
{
- rcAssert(ctx);
-
- rcScopedTimer timer(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
-
- const int w = hf.width;
- const int h = hf.height;
- const int spanCount = rcGetHeightFieldSpanCount(ctx, hf);
+ rcAssert(context);
+
+ rcScopedTimer timer(context, RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
+
+ const int xSize = heightfield.width;
+ const int zSize = heightfield.height;
+ const int spanCount = rcGetHeightFieldSpanCount(context, heightfield);
// Fill in header.
- chf.width = w;
- chf.height = h;
- chf.spanCount = spanCount;
- chf.walkableHeight = walkableHeight;
- chf.walkableClimb = walkableClimb;
- chf.maxRegions = 0;
- rcVcopy(chf.bmin, hf.bmin);
- rcVcopy(chf.bmax, hf.bmax);
- chf.bmax[1] += walkableHeight*hf.ch;
- chf.cs = hf.cs;
- chf.ch = hf.ch;
- chf.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell)*w*h, RC_ALLOC_PERM);
- if (!chf.cells)
+ compactHeightfield.width = xSize;
+ compactHeightfield.height = zSize;
+ compactHeightfield.spanCount = spanCount;
+ compactHeightfield.walkableHeight = walkableHeight;
+ compactHeightfield.walkableClimb = walkableClimb;
+ compactHeightfield.maxRegions = 0;
+ rcVcopy(compactHeightfield.bmin, heightfield.bmin);
+ rcVcopy(compactHeightfield.bmax, heightfield.bmax);
+ compactHeightfield.bmax[1] += walkableHeight * heightfield.ch;
+ compactHeightfield.cs = heightfield.cs;
+ compactHeightfield.ch = heightfield.ch;
+ compactHeightfield.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell) * xSize * zSize, RC_ALLOC_PERM);
+ if (!compactHeightfield.cells)
{
- ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", w*h);
+ context->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", xSize * zSize);
return false;
}
- memset(chf.cells, 0, sizeof(rcCompactCell)*w*h);
- chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*spanCount, RC_ALLOC_PERM);
- if (!chf.spans)
+ memset(compactHeightfield.cells, 0, sizeof(rcCompactCell) * xSize * zSize);
+ compactHeightfield.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan) * spanCount, RC_ALLOC_PERM);
+ if (!compactHeightfield.spans)
{
- ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.spans' (%d)", spanCount);
+ context->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.spans' (%d)", spanCount);
return false;
}
- memset(chf.spans, 0, sizeof(rcCompactSpan)*spanCount);
- chf.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*spanCount, RC_ALLOC_PERM);
- if (!chf.areas)
+ memset(compactHeightfield.spans, 0, sizeof(rcCompactSpan) * spanCount);
+ compactHeightfield.areas = (unsigned char*)rcAlloc(sizeof(unsigned char) * spanCount, RC_ALLOC_PERM);
+ if (!compactHeightfield.areas)
{
- ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.areas' (%d)", spanCount);
+ context->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.areas' (%d)", spanCount);
return false;
}
- memset(chf.areas, RC_NULL_AREA, sizeof(unsigned char)*spanCount);
-
+ memset(compactHeightfield.areas, RC_NULL_AREA, sizeof(unsigned char) * spanCount);
+
const int MAX_HEIGHT = 0xffff;
-
+
// Fill in cells and spans.
- int idx = 0;
- for (int y = 0; y < h; ++y)
+ int currentCellIndex = 0;
+ const int numColumns = xSize * zSize;
+ for (int columnIndex = 0; columnIndex < numColumns; ++columnIndex)
{
- for (int x = 0; x < w; ++x)
+ const rcSpan* span = heightfield.spans[columnIndex];
+
+ // If there are no spans at this cell, just leave the data to index=0, count=0.
+ if (span == NULL)
{
- const rcSpan* s = hf.spans[x + y*w];
- // If there are no spans at this cell, just leave the data to index=0, count=0.
- if (!s) continue;
- rcCompactCell& c = chf.cells[x+y*w];
- c.index = idx;
- c.count = 0;
- while (s)
+ continue;
+ }
+
+ rcCompactCell& cell = compactHeightfield.cells[columnIndex];
+ cell.index = currentCellIndex;
+ cell.count = 0;
+
+ for (; span != NULL; span = span->next)
+ {
+ if (span->area != RC_NULL_AREA)
{
- if (s->area != RC_NULL_AREA)
- {
- const int bot = (int)s->smax;
- const int top = s->next ? (int)s->next->smin : MAX_HEIGHT;
- chf.spans[idx].y = (unsigned short)rcClamp(bot, 0, 0xffff);
- chf.spans[idx].h = (unsigned char)rcClamp(top - bot, 0, 0xff);
- chf.areas[idx] = s->area;
- idx++;
- c.count++;
- }
- s = s->next;
+ const int bot = (int)span->smax;
+ const int top = span->next ? (int)span->next->smin : MAX_HEIGHT;
+ compactHeightfield.spans[currentCellIndex].y = (unsigned short)rcClamp(bot, 0, 0xffff);
+ compactHeightfield.spans[currentCellIndex].h = (unsigned char)rcClamp(top - bot, 0, 0xff);
+ compactHeightfield.areas[currentCellIndex] = span->area;
+ currentCellIndex++;
+ cell.count++;
}
}
}
-
+
// Find neighbour connections.
- const int MAX_LAYERS = RC_NOT_CONNECTED-1;
- int tooHighNeighbour = 0;
- for (int y = 0; y < h; ++y)
+ const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
+ int maxLayerIndex = 0;
+ const int zStride = xSize; // for readability
+ for (int z = 0; z < zSize; ++z)
{
- for (int x = 0; x < w; ++x)
+ for (int x = 0; x < xSize; ++x)
{
- const rcCompactCell& c = chf.cells[x+y*w];
- for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
+ const rcCompactCell& cell = compactHeightfield.cells[x + z * zStride];
+ for (int i = (int)cell.index, ni = (int)(cell.index + cell.count); i < ni; ++i)
{
- rcCompactSpan& s = chf.spans[i];
-
+ rcCompactSpan& span = compactHeightfield.spans[i];
+
for (int dir = 0; dir < 4; ++dir)
{
- rcSetCon(s, dir, RC_NOT_CONNECTED);
- const int nx = x + rcGetDirOffsetX(dir);
- const int ny = y + rcGetDirOffsetY(dir);
+ rcSetCon(span, dir, RC_NOT_CONNECTED);
+ const int neighborX = x + rcGetDirOffsetX(dir);
+ const int neighborZ = z + rcGetDirOffsetY(dir);
// First check that the neighbour cell is in bounds.
- if (nx < 0 || ny < 0 || nx >= w || ny >= h)
+ if (neighborX < 0 || neighborZ < 0 || neighborX >= xSize || neighborZ >= zSize)
+ {
continue;
-
+ }
+
// Iterate over all neighbour spans and check if any of the is
// accessible from current cell.
- const rcCompactCell& nc = chf.cells[nx+ny*w];
- for (int k = (int)nc.index, nk = (int)(nc.index+nc.count); k < nk; ++k)
+ const rcCompactCell& neighborCell = compactHeightfield.cells[neighborX + neighborZ * zStride];
+ for (int k = (int)neighborCell.index, nk = (int)(neighborCell.index + neighborCell.count); k < nk; ++k)
{
- const rcCompactSpan& ns = chf.spans[k];
- const int bot = rcMax(s.y, ns.y);
- const int top = rcMin(s.y+s.h, ns.y+ns.h);
+ const rcCompactSpan& neighborSpan = compactHeightfield.spans[k];
+ const int bot = rcMax(span.y, neighborSpan.y);
+ const int top = rcMin(span.y + span.h, neighborSpan.y + neighborSpan.h);
// Check that the gap between the spans is walkable,
// and that the climb height between the gaps is not too high.
- if ((top - bot) >= walkableHeight && rcAbs((int)ns.y - (int)s.y) <= walkableClimb)
+ if ((top - bot) >= walkableHeight && rcAbs((int)neighborSpan.y - (int)span.y) <= walkableClimb)
{
// Mark direction as walkable.
- const int lidx = k - (int)nc.index;
- if (lidx < 0 || lidx > MAX_LAYERS)
+ const int layerIndex = k - (int)neighborCell.index;
+ if (layerIndex < 0 || layerIndex > MAX_LAYERS)
{
- tooHighNeighbour = rcMax(tooHighNeighbour, lidx);
+ maxLayerIndex = rcMax(maxLayerIndex, layerIndex);
continue;
}
- rcSetCon(s, dir, lidx);
+ rcSetCon(span, dir, layerIndex);
break;
}
}
-
}
}
}
}
-
- if (tooHighNeighbour > MAX_LAYERS)
+
+ if (maxLayerIndex > MAX_LAYERS)
{
- ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)",
- tooHighNeighbour, MAX_LAYERS);
+ context->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)",
+ maxLayerIndex, MAX_LAYERS);
}
-
+
return true;
}
-
-/*
-static int getHeightfieldMemoryUsage(const rcHeightfield& hf)
-{
- int size = 0;
- size += sizeof(hf);
- size += hf.width * hf.height * sizeof(rcSpan*);
-
- rcSpanPool* pool = hf.pools;
- while (pool)
- {
- size += (sizeof(rcSpanPool) - sizeof(rcSpan)) + sizeof(rcSpan)*RC_SPANS_PER_POOL;
- pool = pool->next;
- }
- return size;
-}
-
-static int getCompactHeightFieldMemoryusage(const rcCompactHeightfield& chf)
-{
- int size = 0;
- size += sizeof(rcCompactHeightfield);
- size += sizeof(rcCompactSpan) * chf.spanCount;
- size += sizeof(rcCompactCell) * chf.width * chf.height;
- return size;
-}
-*/
diff --git a/Recast/Source/RecastAlloc.cpp b/Recast/Source/RecastAlloc.cpp
index 453b5fa6..e919daf7 100644
--- a/Recast/Source/RecastAlloc.cpp
+++ b/Recast/Source/RecastAlloc.cpp
@@ -16,12 +16,9 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#include
-#include
#include "RecastAlloc.h"
-#include "RecastAssert.h"
-static void *rcAllocDefault(size_t size, rcAllocHint)
+static void* rcAllocDefault(size_t size, rcAllocHint)
{
return malloc(size);
}
@@ -34,53 +31,21 @@ static void rcFreeDefault(void *ptr)
static rcAllocFunc* sRecastAllocFunc = rcAllocDefault;
static rcFreeFunc* sRecastFreeFunc = rcFreeDefault;
-/// @see rcAlloc, rcFree
-void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc)
+void rcAllocSetCustom(rcAllocFunc* allocFunc, rcFreeFunc* freeFunc)
{
sRecastAllocFunc = allocFunc ? allocFunc : rcAllocDefault;
sRecastFreeFunc = freeFunc ? freeFunc : rcFreeDefault;
}
-/// @see rcAllocSetCustom
void* rcAlloc(size_t size, rcAllocHint hint)
{
return sRecastAllocFunc(size, hint);
}
-/// @par
-///
-/// @warning This function leaves the value of @p ptr unchanged. So it still
-/// points to the same (now invalid) location, and not to null.
-///
-/// @see rcAllocSetCustom
void rcFree(void* ptr)
{
- if (ptr)
+ if (ptr != NULL)
+ {
sRecastFreeFunc(ptr);
+ }
}
-
-/// @class rcIntArray
-///
-/// While it is possible to pre-allocate a specific array size during
-/// construction or by using the #resize method, certain methods will
-/// automatically resize the array as needed.
-///
-/// @warning The array memory is not initialized to zero when the size is
-/// manually set during construction or when using #resize.
-
-/// @par
-///
-/// Using this method ensures the array is at least large enough to hold
-/// the specified number of elements. This can improve performance by
-/// avoiding auto-resizing during use.
-void rcIntArray::doResize(int n)
-{
- if (!m_cap) m_cap = n;
- while (m_cap < n) m_cap *= 2;
- int* newData = (int*)rcAlloc(m_cap*sizeof(int), RC_ALLOC_TEMP);
- rcAssert(newData);
- if (m_size && newData) memcpy(newData, m_data, m_size*sizeof(int));
- rcFree(m_data);
- m_data = newData;
-}
-
diff --git a/Recast/Source/RecastArea.cpp b/Recast/Source/RecastArea.cpp
index 92d8b205..f10a4e8e 100644
--- a/Recast/Source/RecastArea.cpp
+++ b/Recast/Source/RecastArea.cpp
@@ -17,7 +17,6 @@
//
#include
-#define _USE_MATH_DEFINES
#include
#include
#include
diff --git a/Recast/Source/RecastAssert.cpp b/Recast/Source/RecastAssert.cpp
index 6297d420..973b6811 100644
--- a/Recast/Source/RecastAssert.cpp
+++ b/Recast/Source/RecastAssert.cpp
@@ -22,7 +22,7 @@
static rcAssertFailFunc* sRecastAssertFailFunc = 0;
-void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc)
+void rcAssertFailSetCustom(rcAssertFailFunc* assertFailFunc)
{
sRecastAssertFailFunc = assertFailFunc;
}
diff --git a/Recast/Source/RecastContour.cpp b/Recast/Source/RecastContour.cpp
index 277ab015..57f39815 100644
--- a/Recast/Source/RecastContour.cpp
+++ b/Recast/Source/RecastContour.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -921,8 +920,8 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
continue;
const unsigned char area = chf.areas[i];
- verts.resize(0);
- simplified.resize(0);
+ verts.clear();
+ simplified.clear();
ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
walkContour(x, y, i, chf, flags, verts);
@@ -1009,7 +1008,7 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
if (cset.nconts > 0)
{
// Calculate winding of all polygons.
- rcScopedDelete winding((char*)rcAlloc(sizeof(char)*cset.nconts, RC_ALLOC_TEMP));
+ rcScopedDelete winding((signed char*)rcAlloc(sizeof(signed char)*cset.nconts, RC_ALLOC_TEMP));
if (!winding)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'hole' (%d).", cset.nconts);
diff --git a/Recast/Source/RecastFilter.cpp b/Recast/Source/RecastFilter.cpp
index 9d3e63c4..e980a830 100644
--- a/Recast/Source/RecastFilter.cpp
+++ b/Recast/Source/RecastFilter.cpp
@@ -16,186 +16,168 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
-#include
-#include
#include "Recast.h"
#include "RecastAssert.h"
-/// @par
-///
-/// Allows the formation of walkable regions that will flow over low lying
-/// objects such as curbs, and up structures such as stairways.
-///
-/// Two neighboring spans are walkable if: rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb
-///
-/// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call
-/// #rcFilterLedgeSpans after calling this filter.
-///
-/// @see rcHeightfield, rcConfig
-void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid)
-{
- rcAssert(ctx);
+#include
- rcScopedTimer timer(ctx, RC_TIMER_FILTER_LOW_OBSTACLES);
-
- const int w = solid.width;
- const int h = solid.height;
-
- for (int y = 0; y < h; ++y)
+void rcFilterLowHangingWalkableObstacles(rcContext* context, const int walkableClimb, rcHeightfield& heightfield)
+{
+ rcAssert(context);
+
+ rcScopedTimer timer(context, RC_TIMER_FILTER_LOW_OBSTACLES);
+
+ const int xSize = heightfield.width;
+ const int zSize = heightfield.height;
+
+ for (int z = 0; z < zSize; ++z)
{
- for (int x = 0; x < w; ++x)
+ for (int x = 0; x < xSize; ++x)
{
- rcSpan* ps = 0;
- bool previousWalkable = false;
+ rcSpan* previousSpan = NULL;
+ bool previousWasWalkable = false;
unsigned char previousArea = RC_NULL_AREA;
-
- for (rcSpan* s = solid.spans[x + y*w]; s; ps = s, s = s->next)
+
+ for (rcSpan* span = heightfield.spans[x + z * xSize]; span != NULL; previousSpan = span, span = span->next)
{
- const bool walkable = s->area != RC_NULL_AREA;
+ const bool walkable = span->area != RC_NULL_AREA;
// If current span is not walkable, but there is walkable
// span just below it, mark the span above it walkable too.
- if (!walkable && previousWalkable)
+ if (!walkable && previousWasWalkable)
{
- if (rcAbs((int)s->smax - (int)ps->smax) <= walkableClimb)
- s->area = previousArea;
+ if (rcAbs((int)span->smax - (int)previousSpan->smax) <= walkableClimb)
+ {
+ span->area = previousArea;
+ }
}
// Copy walkable flag so that it cannot propagate
// past multiple non-walkable objects.
- previousWalkable = walkable;
- previousArea = s->area;
+ previousWasWalkable = walkable;
+ previousArea = span->area;
}
}
}
}
-/// @par
-///
-/// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb
-/// from the current span's maximum.
-/// This method removes the impact of the overestimation of conservative voxelization
-/// so the resulting mesh will not have regions hanging in the air over ledges.
-///
-/// A span is a ledge if: rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb
-///
-/// @see rcHeightfield, rcConfig
-void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walkableClimb,
- rcHeightfield& solid)
+void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int walkableClimb,
+ rcHeightfield& heightfield)
{
- rcAssert(ctx);
+ rcAssert(context);
- rcScopedTimer timer(ctx, RC_TIMER_FILTER_BORDER);
+ rcScopedTimer timer(context, RC_TIMER_FILTER_BORDER);
- const int w = solid.width;
- const int h = solid.height;
- const int MAX_HEIGHT = 0xffff;
+ const int xSize = heightfield.width;
+ const int zSize = heightfield.height;
+ const int MAX_HEIGHT = 0xffff; // TODO (graham): Move this to a more visible constant and update usages.
// Mark border spans.
- for (int y = 0; y < h; ++y)
+ for (int z = 0; z < zSize; ++z)
{
- for (int x = 0; x < w; ++x)
+ for (int x = 0; x < xSize; ++x)
{
- for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
+ for (rcSpan* span = heightfield.spans[x + z * xSize]; span; span = span->next)
{
// Skip non walkable spans.
- if (s->area == RC_NULL_AREA)
+ if (span->area == RC_NULL_AREA)
+ {
continue;
-
- const int bot = (int)(s->smax);
- const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
-
+ }
+
+ const int bot = (int)(span->smax);
+ const int top = span->next ? (int)(span->next->smin) : MAX_HEIGHT;
+
// Find neighbours minimum height.
- int minh = MAX_HEIGHT;
+ int minNeighborHeight = MAX_HEIGHT;
// Min and max height of accessible neighbours.
- int asmin = s->smax;
- int asmax = s->smax;
+ int accessibleNeighborMinHeight = span->smax;
+ int accessibleNeighborMaxHeight = span->smax;
- for (int dir = 0; dir < 4; ++dir)
+ for (int direction = 0; direction < 4; ++direction)
{
- int dx = x + rcGetDirOffsetX(dir);
- int dy = y + rcGetDirOffsetY(dir);
+ int dx = x + rcGetDirOffsetX(direction);
+ int dy = z + rcGetDirOffsetY(direction);
// Skip neighbours which are out of bounds.
- if (dx < 0 || dy < 0 || dx >= w || dy >= h)
+ if (dx < 0 || dy < 0 || dx >= xSize || dy >= zSize)
{
- minh = rcMin(minh, -walkableClimb - bot);
+ minNeighborHeight = rcMin(minNeighborHeight, -walkableClimb - bot);
continue;
}
// From minus infinity to the first span.
- rcSpan* ns = solid.spans[dx + dy*w];
- int nbot = -walkableClimb;
- int ntop = ns ? (int)ns->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);
+ const rcSpan* neighborSpan = heightfield.spans[dx + dy * xSize];
+ int neighborBot = -walkableClimb;
+ int neighborTop = neighborSpan ? (int)neighborSpan->smin : MAX_HEIGHT;
- // Rest of the spans.
- for (ns = solid.spans[dx + dy*w]; ns; ns = ns->next)
+ // Skip neighbour if the gap between the spans is too small.
+ if (rcMin(top, neighborTop) - rcMax(bot, neighborBot) > walkableHeight)
{
- nbot = (int)ns->smax;
- 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);
+ minNeighborHeight = rcMin(minNeighborHeight, neighborBot - bot);
+ }
+
+ // Rest of the spans.
+ for (neighborSpan = heightfield.spans[dx + dy * xSize]; neighborSpan; neighborSpan = neighborSpan->next)
+ {
+ neighborBot = (int)neighborSpan->smax;
+ neighborTop = neighborSpan->next ? (int)neighborSpan->next->smin : MAX_HEIGHT;
+ // Skip neighbour if the gap between the spans is too small.
+ if (rcMin(top, neighborTop) - rcMax(bot, neighborBot) > walkableHeight)
+ {
+ minNeighborHeight = rcMin(minNeighborHeight, neighborBot - bot);
+
// Find min/max accessible neighbour height.
- if (rcAbs(nbot - bot) <= walkableClimb)
+ if (rcAbs(neighborBot - bot) <= walkableClimb)
{
- if (nbot < asmin) asmin = nbot;
- if (nbot > asmax) asmax = nbot;
+ if (neighborBot < accessibleNeighborMinHeight) accessibleNeighborMinHeight = neighborBot;
+ if (neighborBot > accessibleNeighborMaxHeight) accessibleNeighborMaxHeight = neighborBot;
}
-
+
}
}
}
-
+
// The current span is close to a ledge if the drop to any
// neighbour span is less than the walkableClimb.
- if (minh < -walkableClimb)
+ if (minNeighborHeight < -walkableClimb)
{
- s->area = RC_NULL_AREA;
+ span->area = RC_NULL_AREA;
}
// If the difference between all neighbours is too large,
// we are at steep slope, mark the span as ledge.
- else if ((asmax - asmin) > walkableClimb)
+ else if ((accessibleNeighborMaxHeight - accessibleNeighborMinHeight) > walkableClimb)
{
- s->area = RC_NULL_AREA;
+ span->area = RC_NULL_AREA;
}
}
}
}
}
-/// @par
-///
-/// For this filter, the clearance above the span is the distance from the span's
-/// maximum to the next higher span's minimum. (Same grid column.)
-///
-/// @see rcHeightfield, rcConfig
-void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid)
+void rcFilterWalkableLowHeightSpans(rcContext* context, const int walkableHeight, rcHeightfield& heightfield)
{
- rcAssert(ctx);
+ rcAssert(context);
- rcScopedTimer timer(ctx, RC_TIMER_FILTER_WALKABLE);
+ rcScopedTimer timer(context, RC_TIMER_FILTER_WALKABLE);
- const int w = solid.width;
- const int h = solid.height;
+ const int xSize = heightfield.width;
+ const int zSize = heightfield.height;
const int MAX_HEIGHT = 0xffff;
// Remove walkable flag from spans which do not have enough
// space above them for the agent to stand there.
- for (int y = 0; y < h; ++y)
+ for (int z = 0; z < zSize; ++z)
{
- for (int x = 0; x < w; ++x)
+ for (int x = 0; x < xSize; ++x)
{
- for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
+ for (rcSpan* span = heightfield.spans[x + z*xSize]; span; span = span->next)
{
- const int bot = (int)(s->smax);
- const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
+ const int bot = (int)(span->smax);
+ const int top = span->next ? (int)(span->next->smin) : MAX_HEIGHT;
if ((top - bot) <= walkableHeight)
- s->area = RC_NULL_AREA;
+ {
+ span->area = RC_NULL_AREA;
+ }
}
}
}
diff --git a/Recast/Source/RecastLayers.cpp b/Recast/Source/RecastLayers.cpp
index acc97e44..d5eb06a4 100644
--- a/Recast/Source/RecastLayers.cpp
+++ b/Recast/Source/RecastLayers.cpp
@@ -17,7 +17,6 @@
//
#include
-#define _USE_MATH_DEFINES
#include
#include
#include
diff --git a/Recast/Source/RecastMesh.cpp b/Recast/Source/RecastMesh.cpp
index e99eaebb..9bffd6de 100644
--- a/Recast/Source/RecastMesh.cpp
+++ b/Recast/Source/RecastMesh.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -566,7 +565,6 @@ static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned sho
const int nvp = mesh.nvp;
// Count number of polygons to remove.
- int numRemovedVerts = 0;
int numTouchedVerts = 0;
int numRemainingEdges = 0;
for (int i = 0; i < mesh.npolys; ++i)
@@ -586,7 +584,6 @@ static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned sho
}
if (numRemoved)
{
- numRemovedVerts += numRemoved;
numRemainingEdges += numVerts-(numRemoved+1);
}
}
diff --git a/Recast/Source/RecastMeshDetail.cpp b/Recast/Source/RecastMeshDetail.cpp
index f953132f..40f5b8c6 100644
--- a/Recast/Source/RecastMeshDetail.cpp
+++ b/Recast/Source/RecastMeshDetail.cpp
@@ -17,7 +17,6 @@
//
#include
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -284,7 +283,7 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
enum EdgeValues
{
EV_UNDEF = -1,
- EV_HULL = -2,
+ EV_HULL = -2
};
static int findEdge(const int* edges, int nedges, int s, int t)
@@ -557,15 +556,16 @@ static float polyMinExtent(const float* verts, const int nverts)
inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; }
inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
-static void triangulateHull(const int /*nverts*/, const float* verts, const int nhull, const int* hull, rcIntArray& tris)
+static void triangulateHull(const int /*nverts*/, const float* verts, const int nhull, const int* hull, const int nin, rcIntArray& tris)
{
int start = 0, left = 1, right = nhull-1;
// Start from an ear with shortest perimeter.
// This tends to favor well formed triangles as starting point.
- float dmin = 0;
+ float dmin = FLT_MAX;
for (int i = 0; i < nhull; i++)
{
+ if (hull[i] >= nin) continue; // Ears are triangles with original vertices as middle vertex while others are actually line segments on edges
int pi = prev(i, nhull);
int ni = next(i, nhull);
const float* pv = &verts[hull[pi]*3];
@@ -652,8 +652,8 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
for (int i = 0; i < nin; ++i)
rcVcopy(&verts[i*3], &in[i*3]);
- edges.resize(0);
- tris.resize(0);
+ edges.clear();
+ tris.clear();
const float cs = chf.cs;
const float ics = 1.0f/cs;
@@ -770,7 +770,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
// If the polygon minimum extent is small (sliver or small triangle), do not try to add internal points.
if (minExtent < sampleDist*2)
{
- triangulateHull(nverts, verts, nhull, hull, tris);
+ triangulateHull(nverts, verts, nhull, hull, nin, tris);
return true;
}
@@ -778,7 +778,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
// We're using the triangulateHull instead of delaunayHull as it tends to
// create a bit better triangulation for long thin triangles when there
// are no internal points.
- triangulateHull(nverts, verts, nhull, hull, tris);
+ triangulateHull(nverts, verts, nhull, hull, nin, tris);
if (tris.size() == 0)
{
@@ -802,7 +802,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
int x1 = (int)ceilf(bmax[0]/sampleDist);
int z0 = (int)floorf(bmin[2]/sampleDist);
int z1 = (int)ceilf(bmax[2]/sampleDist);
- samples.resize(0);
+ samples.clear();
for (int z = z0; z < z1; ++z)
{
for (int x = x0; x < x1; ++x)
@@ -863,8 +863,8 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
// Create new triangulation.
// TODO: Incremental add instead of full rebuild.
- edges.resize(0);
- tris.resize(0);
+ edges.clear();
+ tris.clear();
delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges);
}
}
@@ -934,7 +934,7 @@ static void seedArrayWithPolyCenter(rcContext* ctx, const rcCompactHeightfield&
pcy /= npoly;
// Use seeds array as a stack for DFS
- array.resize(0);
+ array.clear();
array.push(startCellX);
array.push(startCellY);
array.push(startSpanIndex);
@@ -1000,7 +1000,7 @@ static void seedArrayWithPolyCenter(rcContext* ctx, const rcCompactHeightfield&
rcSwap(dirs[directDir], dirs[3]);
}
- array.resize(0);
+ array.clear();
// getHeightData seeds are given in coordinates with borders
array.push(cx+bs);
array.push(cy+bs);
@@ -1029,7 +1029,7 @@ static void getHeightData(rcContext* ctx, const rcCompactHeightfield& chf,
// Note: Reads to the compact heightfield are offset by border size (bs)
// since border size offset is already removed from the polymesh vertices.
- queue.resize(0);
+ queue.clear();
// Set all heights to RC_UNSET_HEIGHT.
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
@@ -1140,7 +1140,8 @@ static void getHeightData(rcContext* ctx, const rcCompactHeightfield& chf,
static unsigned char getEdgeFlags(const float* va, const float* vb,
const float* vpoly, const int npoly)
{
- // Return true if edge (va,vb) is part of the polygon.
+ // The flag returned by this function matches dtDetailTriEdgeFlags in Detour.
+ // Figure out if edge (va,vb) is part of the polygon boundary.
static const float thrSqr = rcSqr(0.001f);
for (int i = 0, j = npoly-1; i < npoly; j=i++)
{
diff --git a/Recast/Source/RecastRasterization.cpp b/Recast/Source/RecastRasterization.cpp
index a4cef749..2a4f619f 100644
--- a/Recast/Source/RecastRasterization.cpp
+++ b/Recast/Source/RecastRasterization.cpp
@@ -16,373 +16,485 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
-inline bool overlapBounds(const float* amin, const float* amax, const float* bmin, const float* bmax)
+/// Check whether two bounding boxes overlap
+///
+/// @param[in] aMin Min axis extents of bounding box A
+/// @param[in] aMax Max axis extents of bounding box A
+/// @param[in] bMin Min axis extents of bounding box B
+/// @param[in] bMax Max axis extents of bounding box B
+/// @returns true if the two bounding boxes overlap. False otherwise.
+static bool overlapBounds(const float* aMin, const float* aMax, const float* bMin, const float* bMax)
{
- bool overlap = true;
- overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
- overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
- overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
- return overlap;
+ return
+ aMin[0] <= bMax[0] && aMax[0] >= bMin[0] &&
+ aMin[1] <= bMax[1] && aMax[1] >= bMin[1] &&
+ aMin[2] <= bMax[2] && aMax[2] >= bMin[2];
}
-inline bool overlapInterval(unsigned short amin, unsigned short amax,
- unsigned short bmin, unsigned short bmax)
-{
- if (amax < bmin) return false;
- if (amin > bmax) return false;
- return true;
-}
-
-
+/// Allocates a new span in the heightfield.
+/// Use a memory pool and free list to minimize actual allocations.
+///
+/// @param[in] hf The heightfield
+/// @returns A pointer to the allocated or re-used span memory.
static rcSpan* allocSpan(rcHeightfield& hf)
{
- // If running out of memory, allocate new page and update the freelist.
- if (!hf.freelist || !hf.freelist->next)
+ // If necessary, allocate new page and update the freelist.
+ if (hf.freelist == NULL || hf.freelist->next == NULL)
{
// Create new page.
// Allocate memory for the new pool.
- rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
- if (!pool) return 0;
+ rcSpanPool* spanPool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
+ if (spanPool == NULL)
+ {
+ return NULL;
+ }
// Add the pool into the list of pools.
- pool->next = hf.pools;
- hf.pools = pool;
- // Add new items to the free list.
- rcSpan* freelist = hf.freelist;
- rcSpan* head = &pool->items[0];
- rcSpan* it = &pool->items[RC_SPANS_PER_POOL];
+ spanPool->next = hf.pools;
+ hf.pools = spanPool;
+
+ // Add new spans to the free list.
+ rcSpan* freeList = hf.freelist;
+ rcSpan* head = &spanPool->items[0];
+ rcSpan* it = &spanPool->items[RC_SPANS_PER_POOL];
do
{
--it;
- it->next = freelist;
- freelist = it;
+ it->next = freeList;
+ freeList = it;
}
while (it != head);
hf.freelist = it;
}
-
- // Pop item from in front of the free list.
- rcSpan* it = hf.freelist;
+
+ // Pop item from the front of the free list.
+ rcSpan* newSpan = hf.freelist;
hf.freelist = hf.freelist->next;
- return it;
+ return newSpan;
}
-static void freeSpan(rcHeightfield& hf, rcSpan* ptr)
+/// Releases the memory used by the span back to the heightfield, so it can be re-used for new spans.
+/// @param[in] hf The heightfield.
+/// @param[in] span A pointer to the span to free
+static void freeSpan(rcHeightfield& hf, rcSpan* span)
{
- if (!ptr) return;
- // Add the node in front of the free list.
- ptr->next = hf.freelist;
- hf.freelist = ptr;
-}
-
-static bool addSpan(rcHeightfield& hf, const int x, const int y,
- const unsigned short smin, const unsigned short smax,
- const unsigned char area, const int flagMergeThr)
-{
-
- int idx = x + y*hf.width;
-
- rcSpan* s = allocSpan(hf);
- if (!s)
- return false;
- s->smin = smin;
- s->smax = smax;
- s->area = area;
- s->next = 0;
-
- // Empty cell, add the first span.
- if (!hf.spans[idx])
+ if (span == NULL)
{
- hf.spans[idx] = s;
- return true;
+ return;
}
- rcSpan* prev = 0;
- rcSpan* cur = hf.spans[idx];
-
- // Insert and merge spans.
- while (cur)
+ // Add the span to the front of the free list.
+ span->next = hf.freelist;
+ hf.freelist = span;
+}
+
+/// Adds a span to the heightfield. If the new span overlaps existing spans,
+/// it will merge the new span with the existing ones.
+///
+/// @param[in] hf Heightfield to add spans to
+/// @param[in] x The new span's column cell x index
+/// @param[in] z The new span's column cell z index
+/// @param[in] min The new span's minimum cell index
+/// @param[in] max The new span's maximum cell index
+/// @param[in] areaID The new span's area type ID
+/// @param[in] flagMergeThreshold How close two spans maximum extents need to be to merge area type IDs
+static bool addSpan(rcHeightfield& hf,
+ const int x, const int z,
+ const unsigned short min, const unsigned short max,
+ const unsigned char areaID, const int flagMergeThreshold)
+{
+ // Create the new span.
+ rcSpan* newSpan = allocSpan(hf);
+ if (newSpan == NULL)
{
- if (cur->smin > s->smax)
+ return false;
+ }
+ newSpan->smin = min;
+ newSpan->smax = max;
+ newSpan->area = areaID;
+ newSpan->next = NULL;
+
+ const int columnIndex = x + z * hf.width;
+ rcSpan* previousSpan = NULL;
+ rcSpan* currentSpan = hf.spans[columnIndex];
+
+ // Insert the new span, possibly merging it with existing spans.
+ while (currentSpan != NULL)
+ {
+ if (currentSpan->smin > newSpan->smax)
{
- // Current span is further than the new span, break.
+ // Current span is completely after the new span, break.
break;
}
- else if (cur->smax < s->smin)
+
+ if (currentSpan->smax < newSpan->smin)
{
- // Current span is before the new span advance.
- prev = cur;
- cur = cur->next;
+ // Current span is completely before the new span. Keep going.
+ previousSpan = currentSpan;
+ currentSpan = currentSpan->next;
}
else
{
- // Merge spans.
- if (cur->smin < s->smin)
- s->smin = cur->smin;
- if (cur->smax > s->smax)
- s->smax = cur->smax;
+ // The new span overlaps with an existing span. Merge them.
+ if (currentSpan->smin < newSpan->smin)
+ {
+ newSpan->smin = currentSpan->smin;
+ }
+ if (currentSpan->smax > newSpan->smax)
+ {
+ newSpan->smax = currentSpan->smax;
+ }
// Merge flags.
- if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr)
- s->area = rcMax(s->area, cur->area);
+ if (rcAbs((int)newSpan->smax - (int)currentSpan->smax) <= flagMergeThreshold)
+ {
+ // Higher area ID numbers indicate higher resolution priority.
+ newSpan->area = rcMax(newSpan->area, currentSpan->area);
+ }
- // Remove current span.
- rcSpan* next = cur->next;
- freeSpan(hf, cur);
- if (prev)
- prev->next = next;
+ // Remove the current span since it's now merged with newSpan.
+ // Keep going because there might be other overlapping spans that also need to be merged.
+ rcSpan* next = currentSpan->next;
+ freeSpan(hf, currentSpan);
+ if (previousSpan)
+ {
+ previousSpan->next = next;
+ }
else
- hf.spans[idx] = next;
- cur = next;
+ {
+ hf.spans[columnIndex] = next;
+ }
+ currentSpan = next;
}
}
- // Insert new span.
- if (prev)
+ // Insert new span after prev
+ if (previousSpan != NULL)
{
- s->next = prev->next;
- prev->next = s;
+ newSpan->next = previousSpan->next;
+ previousSpan->next = newSpan;
}
else
{
- s->next = hf.spans[idx];
- hf.spans[idx] = s;
+ // This span should go before the others in the list
+ newSpan->next = hf.spans[columnIndex];
+ hf.spans[columnIndex] = newSpan;
}
return true;
}
-/// @par
-///
-/// The span addition can be set to favor flags. If the span is merged to
-/// another span and the new @p smax is within @p flagMergeThr units
-/// from the existing span, the span flags are merged.
-///
-/// @see rcHeightfield, rcSpan.
-bool rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
- const unsigned short smin, const unsigned short smax,
- const unsigned char area, const int flagMergeThr)
+bool rcAddSpan(rcContext* context, rcHeightfield& heightfield,
+ const int x, const int z,
+ const unsigned short spanMin, const unsigned short spanMax,
+ const unsigned char areaID, const int flagMergeThreshold)
{
- rcAssert(ctx);
+ rcAssert(context);
- if (!addSpan(hf, x, y, smin, smax, area, flagMergeThr))
+ if (!addSpan(heightfield, x, z, spanMin, spanMax, areaID, flagMergeThreshold))
{
- ctx->log(RC_LOG_ERROR, "rcAddSpan: Out of memory.");
+ context->log(RC_LOG_ERROR, "rcAddSpan: Out of memory.");
return false;
}
return true;
}
-// divides a convex polygons into two convex polygons on both sides of a line
-static void dividePoly(const float* in, int nin,
- float* out1, int* nout1,
- float* out2, int* nout2,
- float x, int axis)
+enum rcAxis
{
- float d[12];
- for (int i = 0; i < nin; ++i)
- d[i] = x - in[i*3+axis];
+ RC_AXIS_X = 0,
+ RC_AXIS_Y = 1,
+ RC_AXIS_Z = 2
+};
- int m = 0, n = 0;
- for (int i = 0, j = nin-1; i < nin; j=i, ++i)
+/// Divides a convex polygon of max 12 vertices into two convex polygons
+/// across a separating axis.
+///
+/// @param[in] inVerts The input polygon vertices
+/// @param[in] inVertsCount The number of input polygon vertices
+/// @param[out] outVerts1 Resulting polygon 1's vertices
+/// @param[out] outVerts1Count The number of resulting polygon 1 vertices
+/// @param[out] outVerts2 Resulting polygon 2's vertices
+/// @param[out] outVerts2Count The number of resulting polygon 2 vertices
+/// @param[in] axisOffset THe offset along the specified axis
+/// @param[in] axis The separating axis
+static void dividePoly(const float* inVerts, int inVertsCount,
+ float* outVerts1, int* outVerts1Count,
+ float* outVerts2, int* outVerts2Count,
+ float axisOffset, rcAxis axis)
+{
+ rcAssert(inVertsCount <= 12);
+
+ // How far positive or negative away from the separating axis is each vertex.
+ float inVertAxisDelta[12];
+ for (int inVert = 0; inVert < inVertsCount; ++inVert)
{
- bool ina = d[j] >= 0;
- bool inb = d[i] >= 0;
- if (ina != inb)
+ inVertAxisDelta[inVert] = axisOffset - inVerts[inVert * 3 + axis];
+ }
+
+ int poly1Vert = 0;
+ int poly2Vert = 0;
+ for (int inVertA = 0, inVertB = inVertsCount - 1; inVertA < inVertsCount; inVertB = inVertA, ++inVertA)
+ {
+ // If the two vertices are on the same side of the separating axis
+ bool sameSide = (inVertAxisDelta[inVertA] >= 0) == (inVertAxisDelta[inVertB] >= 0);
+
+ if (!sameSide)
{
- float s = d[j] / (d[j] - d[i]);
- out1[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s;
- out1[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s;
- out1[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s;
- rcVcopy(out2 + n*3, out1 + m*3);
- m++;
- n++;
- // add the i'th point to the right polygon. Do NOT add points that are on the dividing line
+ float s = inVertAxisDelta[inVertB] / (inVertAxisDelta[inVertB] - inVertAxisDelta[inVertA]);
+ outVerts1[poly1Vert * 3 + 0] = inVerts[inVertB * 3 + 0] + (inVerts[inVertA * 3 + 0] - inVerts[inVertB * 3 + 0]) * s;
+ outVerts1[poly1Vert * 3 + 1] = inVerts[inVertB * 3 + 1] + (inVerts[inVertA * 3 + 1] - inVerts[inVertB * 3 + 1]) * s;
+ outVerts1[poly1Vert * 3 + 2] = inVerts[inVertB * 3 + 2] + (inVerts[inVertA * 3 + 2] - inVerts[inVertB * 3 + 2]) * s;
+ rcVcopy(&outVerts2[poly2Vert * 3], &outVerts1[poly1Vert * 3]);
+ poly1Vert++;
+ poly2Vert++;
+
+ // add the inVertA point to the right polygon. Do NOT add points that are on the dividing line
// since these were already added above
- if (d[i] > 0)
+ if (inVertAxisDelta[inVertA] > 0)
{
- rcVcopy(out1 + m*3, in + i*3);
- m++;
+ rcVcopy(&outVerts1[poly1Vert * 3], &inVerts[inVertA * 3]);
+ poly1Vert++;
}
- else if (d[i] < 0)
+ else if (inVertAxisDelta[inVertA] < 0)
{
- rcVcopy(out2 + n*3, in + i*3);
- n++;
+ rcVcopy(&outVerts2[poly2Vert * 3], &inVerts[inVertA * 3]);
+ poly2Vert++;
}
}
- else // same side
+ else
{
- // add the i'th point to the right polygon. Addition is done even for points on the dividing line
- if (d[i] >= 0)
+ // add the inVertA point to the right polygon. Addition is done even for points on the dividing line
+ if (inVertAxisDelta[inVertA] >= 0)
{
- rcVcopy(out1 + m*3, in + i*3);
- m++;
- if (d[i] != 0)
+ rcVcopy(&outVerts1[poly1Vert * 3], &inVerts[inVertA * 3]);
+ poly1Vert++;
+ if (inVertAxisDelta[inVertA] != 0)
+ {
continue;
+ }
}
- rcVcopy(out2 + n*3, in + i*3);
- n++;
+ rcVcopy(&outVerts2[poly2Vert * 3], &inVerts[inVertA * 3]);
+ poly2Vert++;
}
}
- *nout1 = m;
- *nout2 = n;
+ *outVerts1Count = poly1Vert;
+ *outVerts2Count = poly2Vert;
}
-
-
+/// Rasterize a single triangle to the heightfield.
+///
+/// This code is extremely hot, so much care should be given to maintaining maximum perf here.
+///
+/// @param[in] v0 Triangle vertex 0
+/// @param[in] v1 Triangle vertex 1
+/// @param[in] v2 Triangle vertex 2
+/// @param[in] areaID The area ID to assign to the rasterized spans
+/// @param[in] hf Heightfield to rasterize into
+/// @param[in] hfBBMin The min extents of the heightfield bounding box
+/// @param[in] hfBBMax The max extents of the heightfield bounding box
+/// @param[in] cellSize The x and z axis size of a voxel in the heightfield
+/// @param[in] inverseCellSize 1 / cellSize
+/// @param[in] inverseCellHeight 1 / cellHeight
+/// @param[in] flagMergeThreshold The threshold in which area flags will be merged
+/// @returns true if the operation completes successfully. false if there was an error adding spans to the heightfield.
static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
- const unsigned char area, rcHeightfield& hf,
- const float* bmin, const float* bmax,
- const float cs, const float ics, const float ich,
- const int flagMergeThr)
+ const unsigned char areaID, rcHeightfield& hf,
+ const float* hfBBMin, const float* hfBBMax,
+ const float cellSize, const float inverseCellSize, const float inverseCellHeight,
+ const int flagMergeThreshold)
{
+ // Calculate the bounding box of the triangle.
+ float triBBMin[3];
+ rcVcopy(triBBMin, v0);
+ rcVmin(triBBMin, v1);
+ rcVmin(triBBMin, v2);
+
+ float triBBMax[3];
+ rcVcopy(triBBMax, v0);
+ rcVmax(triBBMax, v1);
+ rcVmax(triBBMax, v2);
+
+ // If the triangle does not touch the bounding box of the heightfield, skip the triangle.
+ if (!overlapBounds(triBBMin, triBBMax, hfBBMin, hfBBMax))
+ {
+ return true;
+ }
+
const int w = hf.width;
const int h = hf.height;
- float tmin[3], tmax[3];
- const float by = bmax[1] - bmin[1];
-
- // Calculate the bounding box of the triangle.
- rcVcopy(tmin, v0);
- rcVcopy(tmax, v0);
- rcVmin(tmin, v1);
- rcVmin(tmin, v2);
- rcVmax(tmax, v1);
- rcVmax(tmax, v2);
-
- // If the triangle does not touch the bbox of the heightfield, skip the triagle.
- if (!overlapBounds(bmin, bmax, tmin, tmax))
- return true;
-
- // Calculate the footprint of the triangle on the grid's y-axis
- int y0 = (int)((tmin[2] - bmin[2])*ics);
- int y1 = (int)((tmax[2] - bmin[2])*ics);
- y0 = rcClamp(y0, 0, h-1);
- y1 = rcClamp(y1, 0, h-1);
-
+ const float by = hfBBMax[1] - hfBBMin[1];
+
+ // Calculate the footprint of the triangle on the grid's z-axis
+ int z0 = (int)((triBBMin[2] - hfBBMin[2]) * inverseCellSize);
+ int z1 = (int)((triBBMax[2] - hfBBMin[2]) * inverseCellSize);
+
+ // use -1 rather than 0 to cut the polygon properly at the start of the tile
+ z0 = rcClamp(z0, -1, h - 1);
+ z1 = rcClamp(z1, 0, h - 1);
+
// Clip the triangle into all grid cells it touches.
- float buf[7*3*4];
- float *in = buf, *inrow = buf+7*3, *p1 = inrow+7*3, *p2 = p1+7*3;
+ float buf[7 * 3 * 4];
+ float* in = buf;
+ float* inRow = buf + 7 * 3;
+ float* p1 = inRow + 7 * 3;
+ float* p2 = p1 + 7 * 3;
rcVcopy(&in[0], v0);
- rcVcopy(&in[1*3], v1);
- rcVcopy(&in[2*3], v2);
- int nvrow, nvIn = 3;
-
- for (int y = y0; y <= y1; ++y)
+ rcVcopy(&in[1 * 3], v1);
+ rcVcopy(&in[2 * 3], v2);
+ int nvRow;
+ int nvIn = 3;
+
+ for (int z = z0; z <= z1; ++z)
{
// Clip polygon to row. Store the remaining polygon as well
- const float cz = bmin[2] + y*cs;
- dividePoly(in, nvIn, inrow, &nvrow, p1, &nvIn, cz+cs, 2);
+ const float cellZ = hfBBMin[2] + (float)z * cellSize;
+ dividePoly(in, nvIn, inRow, &nvRow, p1, &nvIn, cellZ + cellSize, RC_AXIS_Z);
rcSwap(in, p1);
- if (nvrow < 3) continue;
- // find the horizontal bounds in the row
- float minX = inrow[0], maxX = inrow[0];
- for (int i=1; i inrow[i*3]) minX = inrow[i*3];
- if (maxX < inrow[i*3]) maxX = inrow[i*3];
+ continue;
}
- int x0 = (int)((minX - bmin[0])*ics);
- int x1 = (int)((maxX - bmin[0])*ics);
- x0 = rcClamp(x0, 0, w-1);
- x1 = rcClamp(x1, 0, w-1);
+ if (z < 0)
+ {
+ continue;
+ }
+
+ // find X-axis bounds of the row
+ float minX = inRow[0];
+ float maxX = inRow[0];
+ for (int vert = 1; vert < nvRow; ++vert)
+ {
+ if (minX > inRow[vert * 3])
+ {
+ minX = inRow[vert * 3];
+ }
+ if (maxX < inRow[vert * 3])
+ {
+ maxX = inRow[vert * 3];
+ }
+ }
+ int x0 = (int)((minX - hfBBMin[0]) * inverseCellSize);
+ int x1 = (int)((maxX - hfBBMin[0]) * inverseCellSize);
+ if (x1 < 0 || x0 >= w)
+ {
+ continue;
+ }
+ x0 = rcClamp(x0, -1, w - 1);
+ x1 = rcClamp(x1, 0, w - 1);
- int nv, nv2 = nvrow;
+ int nv;
+ int nv2 = nvRow;
for (int x = x0; x <= x1; ++x)
{
// Clip polygon to column. store the remaining polygon as well
- const float cx = bmin[0] + x*cs;
- dividePoly(inrow, nv2, p1, &nv, p2, &nv2, cx+cs, 0);
- rcSwap(inrow, p2);
- if (nv < 3) continue;
+ const float cx = hfBBMin[0] + (float)x * cellSize;
+ dividePoly(inRow, nv2, p1, &nv, p2, &nv2, cx + cellSize, RC_AXIS_X);
+ rcSwap(inRow, p2);
+
+ if (nv < 3)
+ {
+ continue;
+ }
+ if (x < 0)
+ {
+ continue;
+ }
// Calculate min and max of the span.
- float smin = p1[1], smax = p1[1];
- for (int i = 1; i < nv; ++i)
+ float spanMin = p1[1];
+ float spanMax = p1[1];
+ for (int vert = 1; vert < nv; ++vert)
{
- smin = rcMin(smin, p1[i*3+1]);
- smax = rcMax(smax, p1[i*3+1]);
+ spanMin = rcMin(spanMin, p1[vert * 3 + 1]);
+ spanMax = rcMax(spanMax, p1[vert * 3 + 1]);
}
- smin -= bmin[1];
- smax -= bmin[1];
- // Skip the span if it is outside the heightfield bbox
- if (smax < 0.0f) continue;
- if (smin > by) continue;
- // Clamp the span to the heightfield bbox.
- if (smin < 0.0f) smin = 0;
- if (smax > by) smax = by;
+ spanMin -= hfBBMin[1];
+ spanMax -= hfBBMin[1];
+ // Skip the span if it's completely outside the heightfield bounding box
+ if (spanMax < 0.0f)
+ {
+ continue;
+ }
+ if (spanMin > by)
+ {
+ continue;
+ }
+
+ // Clamp the span to the heightfield bounding box.
+ if (spanMin < 0.0f)
+ {
+ spanMin = 0;
+ }
+ if (spanMax > by)
+ {
+ spanMax = by;
+ }
+
// Snap the span to the heightfield height grid.
- unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, RC_SPAN_MAX_HEIGHT);
- unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), (int)ismin+1, RC_SPAN_MAX_HEIGHT);
-
- if (!addSpan(hf, x, y, ismin, ismax, area, flagMergeThr))
+ unsigned short spanMinCellIndex = (unsigned short)rcClamp((int)floorf(spanMin * inverseCellHeight), 0, RC_SPAN_MAX_HEIGHT);
+ unsigned short spanMaxCellIndex = (unsigned short)rcClamp((int)ceilf(spanMax * inverseCellHeight), (int)spanMinCellIndex + 1, RC_SPAN_MAX_HEIGHT);
+
+ if (!addSpan(hf, x, z, spanMinCellIndex, spanMaxCellIndex, areaID, flagMergeThreshold))
+ {
return false;
+ }
}
}
return true;
}
-/// @par
-///
-/// No spans will be added if the triangle does not overlap the heightfield grid.
-///
-/// @see rcHeightfield
-bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
- const unsigned char area, rcHeightfield& solid,
- const int flagMergeThr)
+bool rcRasterizeTriangle(rcContext* context,
+ const float* v0, const float* v1, const float* v2,
+ const unsigned char areaID, rcHeightfield& heightfield, const int flagMergeThreshold)
{
- rcAssert(ctx);
+ rcAssert(context != NULL);
- rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
+ rcScopedTimer timer(context, RC_TIMER_RASTERIZE_TRIANGLES);
- const float ics = 1.0f/solid.cs;
- const float ich = 1.0f/solid.ch;
- if (!rasterizeTri(v0, v1, v2, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
+ // Rasterize the single triangle.
+ const float inverseCellSize = 1.0f / heightfield.cs;
+ const float inverseCellHeight = 1.0f / heightfield.ch;
+ if (!rasterizeTri(v0, v1, v2, areaID, heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, inverseCellHeight, flagMergeThreshold))
{
- ctx->log(RC_LOG_ERROR, "rcRasterizeTriangle: Out of memory.");
+ context->log(RC_LOG_ERROR, "rcRasterizeTriangle: Out of memory.");
return false;
}
return true;
}
-/// @par
-///
-/// Spans will only be added for triangles that overlap the heightfield grid.
-///
-/// @see rcHeightfield
-bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
- const int* tris, const unsigned char* areas, const int nt,
- rcHeightfield& solid, const int flagMergeThr)
+bool rcRasterizeTriangles(rcContext* context,
+ const float* verts, const int /*nv*/,
+ const int* tris, const unsigned char* triAreaIDs, const int numTris,
+ rcHeightfield& heightfield, const int flagMergeThreshold)
{
- rcAssert(ctx);
+ rcAssert(context != NULL);
- rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
+ rcScopedTimer timer(context, RC_TIMER_RASTERIZE_TRIANGLES);
- const float ics = 1.0f/solid.cs;
- const float ich = 1.0f/solid.ch;
- // Rasterize triangles.
- for (int i = 0; i < nt; ++i)
+ // Rasterize the triangles.
+ const float inverseCellSize = 1.0f / heightfield.cs;
+ const float inverseCellHeight = 1.0f / heightfield.ch;
+ for (int triIndex = 0; triIndex < numTris; ++triIndex)
{
- const float* v0 = &verts[tris[i*3+0]*3];
- const float* v1 = &verts[tris[i*3+1]*3];
- const float* v2 = &verts[tris[i*3+2]*3];
- // Rasterize.
- if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
+ const float* v0 = &verts[tris[triIndex * 3 + 0] * 3];
+ const float* v1 = &verts[tris[triIndex * 3 + 1] * 3];
+ const float* v2 = &verts[tris[triIndex * 3 + 2] * 3];
+ if (!rasterizeTri(v0, v1, v2, triAreaIDs[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, inverseCellHeight, flagMergeThreshold))
{
- ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
+ context->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
return false;
}
}
@@ -390,31 +502,26 @@ bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
return true;
}
-/// @par
-///
-/// Spans will only be added for triangles that overlap the heightfield grid.
-///
-/// @see rcHeightfield
-bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
- const unsigned short* tris, const unsigned char* areas, const int nt,
- rcHeightfield& solid, const int flagMergeThr)
+bool rcRasterizeTriangles(rcContext* context,
+ const float* verts, const int /*nv*/,
+ const unsigned short* tris, const unsigned char* triAreaIDs, const int numTris,
+ rcHeightfield& heightfield, const int flagMergeThreshold)
{
- rcAssert(ctx);
+ rcAssert(context != NULL);
- rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
-
- const float ics = 1.0f/solid.cs;
- const float ich = 1.0f/solid.ch;
- // Rasterize triangles.
- for (int i = 0; i < nt; ++i)
+ rcScopedTimer timer(context, RC_TIMER_RASTERIZE_TRIANGLES);
+
+ // Rasterize the triangles.
+ const float inverseCellSize = 1.0f / heightfield.cs;
+ const float inverseCellHeight = 1.0f / heightfield.ch;
+ for (int triIndex = 0; triIndex < numTris; ++triIndex)
{
- const float* v0 = &verts[tris[i*3+0]*3];
- const float* v1 = &verts[tris[i*3+1]*3];
- const float* v2 = &verts[tris[i*3+2]*3];
- // Rasterize.
- if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
+ const float* v0 = &verts[tris[triIndex * 3 + 0] * 3];
+ const float* v1 = &verts[tris[triIndex * 3 + 1] * 3];
+ const float* v2 = &verts[tris[triIndex * 3 + 2] * 3];
+ if (!rasterizeTri(v0, v1, v2, triAreaIDs[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, inverseCellHeight, flagMergeThreshold))
{
- ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
+ context->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
return false;
}
}
@@ -422,30 +529,25 @@ bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
return true;
}
-/// @par
-///
-/// Spans will only be added for triangles that overlap the heightfield grid.
-///
-/// @see rcHeightfield
-bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
- rcHeightfield& solid, const int flagMergeThr)
+bool rcRasterizeTriangles(rcContext* context,
+ const float* verts, const unsigned char* triAreaIDs, const int numTris,
+ rcHeightfield& heightfield, const int flagMergeThreshold)
{
- rcAssert(ctx);
+ rcAssert(context != NULL);
+
+ rcScopedTimer timer(context, RC_TIMER_RASTERIZE_TRIANGLES);
- rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
-
- const float ics = 1.0f/solid.cs;
- const float ich = 1.0f/solid.ch;
- // Rasterize triangles.
- for (int i = 0; i < nt; ++i)
+ // Rasterize the triangles.
+ const float inverseCellSize = 1.0f / heightfield.cs;
+ const float inverseCellHeight = 1.0f / heightfield.ch;
+ for (int triIndex = 0; triIndex < numTris; ++triIndex)
{
- const float* v0 = &verts[(i*3+0)*3];
- const float* v1 = &verts[(i*3+1)*3];
- const float* v2 = &verts[(i*3+2)*3];
- // Rasterize.
- if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
+ const float* v0 = &verts[(triIndex * 3 + 0) * 3];
+ const float* v1 = &verts[(triIndex * 3 + 1) * 3];
+ const float* v2 = &verts[(triIndex * 3 + 2) * 3];
+ if (!rasterizeTri(v0, v1, v2, triAreaIDs[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, inverseCellHeight, flagMergeThreshold))
{
- ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
+ context->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
return false;
}
}
diff --git a/Recast/Source/RecastRegion.cpp b/Recast/Source/RecastRegion.cpp
index 38a2bd6b..4a7e841a 100644
--- a/Recast/Source/RecastRegion.cpp
+++ b/Recast/Source/RecastRegion.cpp
@@ -17,7 +17,6 @@
//
#include
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -25,8 +24,17 @@
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
-#include
+namespace
+{
+struct LevelStackEntry
+{
+ LevelStackEntry(int x_, int y_, int index_) : x(x_), y(y_), index(index_) {}
+ int x;
+ int y;
+ int index;
+};
+} // namespace
static void calculateDistanceField(rcCompactHeightfield& chf, unsigned short* src, unsigned short& maxDist)
{
@@ -245,17 +253,15 @@ static bool floodRegion(int x, int y, int i,
unsigned short level, unsigned short r,
rcCompactHeightfield& chf,
unsigned short* srcReg, unsigned short* srcDist,
- rcIntArray& stack)
+ rcTempVector& stack)
{
const int w = chf.width;
const unsigned char area = chf.areas[i];
// Flood fill mark region.
- stack.resize(0);
- stack.push((int)x);
- stack.push((int)y);
- stack.push((int)i);
+ stack.clear();
+ stack.push_back(LevelStackEntry(x, y, i));
srcReg[i] = r;
srcDist[i] = 0;
@@ -264,9 +270,11 @@ static bool floodRegion(int x, int y, int i,
while (stack.size() > 0)
{
- int ci = stack.pop();
- int cy = stack.pop();
- int cx = stack.pop();
+ LevelStackEntry& back = stack.back();
+ int cx = back.x;
+ int cy = back.y;
+ int ci = back.index;
+ stack.pop_back();
const rcCompactSpan& cs = chf.spans[ci];
@@ -332,9 +340,7 @@ static bool floodRegion(int x, int y, int i,
{
srcReg[ai] = r;
srcDist[ai] = 0;
- stack.push(ax);
- stack.push(ay);
- stack.push(ai);
+ stack.push_back(LevelStackEntry(ax, ay, ai));
}
}
}
@@ -343,12 +349,20 @@ static bool floodRegion(int x, int y, int i,
return count > 0;
}
-static unsigned short* expandRegions(int maxIter, unsigned short level,
- rcCompactHeightfield& chf,
- unsigned short* srcReg, unsigned short* srcDist,
- unsigned short* dstReg, unsigned short* dstDist,
- rcIntArray& stack,
- bool fillStack)
+// Struct to keep track of entries in the region table that have been changed.
+struct DirtyEntry
+{
+ DirtyEntry(int index_, unsigned short region_, unsigned short distance2_)
+ : index(index_), region(region_), distance2(distance2_) {}
+ int index;
+ unsigned short region;
+ unsigned short distance2;
+};
+static void expandRegions(int maxIter, unsigned short level,
+ rcCompactHeightfield& chf,
+ unsigned short* srcReg, unsigned short* srcDist,
+ rcTempVector& stack,
+ bool fillStack)
{
const int w = chf.width;
const int h = chf.height;
@@ -356,7 +370,7 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
if (fillStack)
{
// Find cells revealed by the raised level.
- stack.resize(0);
+ stack.clear();
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
@@ -366,9 +380,7 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
{
if (chf.dist[i] >= level && srcReg[i] == 0 && chf.areas[i] != RC_NULL_AREA)
{
- stack.push(x);
- stack.push(y);
- stack.push(i);
+ stack.push_back(LevelStackEntry(x, y, i));
}
}
}
@@ -377,27 +389,26 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
else // use cells in the input stack
{
// mark all cells which already have a region
- for (int j=0; j dirtyEntries;
int iter = 0;
while (stack.size() > 0)
{
int failed = 0;
+ dirtyEntries.clear();
- memcpy(dstReg, srcReg, sizeof(unsigned short)*chf.spanCount);
- memcpy(dstDist, srcDist, sizeof(unsigned short)*chf.spanCount);
-
- for (int j = 0; j < stack.size(); j += 3)
+ for (int j = 0; j < stack.size(); j++)
{
- int x = stack[j+0];
- int y = stack[j+1];
- int i = stack[j+2];
+ int x = stack[j].x;
+ int y = stack[j].y;
+ int i = stack[j].index;
if (i < 0)
{
failed++;
@@ -426,9 +437,8 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
}
if (r)
{
- stack[j+2] = -1; // mark as used
- dstReg[i] = r;
- dstDist[i] = d2;
+ stack[j].index = -1; // mark as used
+ dirtyEntries.push_back(DirtyEntry(i, r, d2));
}
else
{
@@ -436,11 +446,14 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
}
}
- // rcSwap source and dest.
- rcSwap(srcReg, dstReg);
- rcSwap(srcDist, dstDist);
+ // Copy entries that differ between src and dst to keep them in sync.
+ for (int i = 0; i < dirtyEntries.size(); i++) {
+ int idx = dirtyEntries[i].index;
+ srcReg[idx] = dirtyEntries[i].region;
+ srcDist[idx] = dirtyEntries[i].distance2;
+ }
- if (failed*3 == stack.size())
+ if (failed == stack.size())
break;
if (level > 0)
@@ -450,16 +463,14 @@ static unsigned short* expandRegions(int maxIter, unsigned short level,
break;
}
}
-
- return srcReg;
}
static void sortCellsByLevel(unsigned short startLevel,
rcCompactHeightfield& chf,
- unsigned short* srcReg,
- unsigned int nbStacks, rcIntArray* stacks,
+ const unsigned short* srcReg,
+ unsigned int nbStacks, rcTempVector* stacks,
unsigned short loglevelsPerStack) // the levels per stack (2 in our case) as a bit shift
{
const int w = chf.width;
@@ -467,7 +478,7 @@ static void sortCellsByLevel(unsigned short startLevel,
startLevel = startLevel >> loglevelsPerStack;
for (unsigned int j=0; j& srcStack,
+ rcTempVector& dstStack,
+ const unsigned short* srcReg)
{
- for (int j=0; j regions;
+ if (!regions.reserve(nreg)) {
ctx->log(RC_LOG_ERROR, "mergeAndFilterRegions: Out of memory 'regions' (%d).", nreg);
return false;
}
// Construct regions
for (int i = 0; i < nreg; ++i)
- new(®ions[i]) rcRegion((unsigned short)i);
+ regions.push_back(rcRegion((unsigned short) i));
// Find edge of a region and find connections around the contour.
for (int y = 0; y < h; ++y)
@@ -868,8 +875,8 @@ static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRe
// Also keep track of the regions connects to a tile border.
bool connectsToBorder = false;
int spanCount = 0;
- stack.resize(0);
- trace.resize(0);
+ stack.clear();
+ trace.clear();
reg.visited = true;
stack.push(i);
@@ -1021,11 +1028,6 @@ static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRe
if (regions[i].overlap)
overlaps.push(regions[i].id);
- for (int i = 0; i < nreg; ++i)
- regions[i].~rcRegion();
- rcFree(regions);
-
-
return true;
}
@@ -1041,22 +1043,21 @@ static void addUniqueConnection(rcRegion& reg, int n)
static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
unsigned short& maxRegionId,
rcCompactHeightfield& chf,
- unsigned short* srcReg, rcIntArray& /*overlaps*/)
+ unsigned short* srcReg)
{
const int w = chf.width;
const int h = chf.height;
const int nreg = maxRegionId+1;
- rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
- if (!regions)
- {
+ rcTempVector regions;
+
+ // Construct regions
+ if (!regions.reserve(nreg)) {
ctx->log(RC_LOG_ERROR, "mergeAndFilterLayerRegions: Out of memory 'regions' (%d).", nreg);
return false;
}
-
- // Construct regions
for (int i = 0; i < nreg; ++i)
- new(®ions[i]) rcRegion((unsigned short)i);
+ regions.push_back(rcRegion((unsigned short) i));
// Find region neighbours and overlapping regions.
rcIntArray lregs(32);
@@ -1066,7 +1067,7 @@ static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
{
const rcCompactCell& c = chf.cells[x+y*w];
- lregs.resize(0);
+ lregs.clear();
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
@@ -1137,7 +1138,7 @@ static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
// Start search.
root.id = layerId;
- stack.resize(0);
+ stack.clear();
stack.push(i);
while (stack.size() > 0)
@@ -1234,10 +1235,6 @@ static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
srcReg[i] = regions[srcReg[i]].id;
}
- for (int i = 0; i < nreg; ++i)
- regions[i].~rcRegion();
- rcFree(regions);
-
return true;
}
@@ -1391,9 +1388,9 @@ bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
paintRectRegion(w-bw, w, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(0, w, 0, bh, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(0, w, h-bh, h, id|RC_BORDER_REG, chf, srcReg); id++;
-
- chf.borderSize = borderSize;
}
+
+ chf.borderSize = borderSize;
rcIntArray prev(256);
@@ -1535,7 +1532,7 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int w = chf.width;
const int h = chf.height;
- rcScopedDelete buf((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP));
+ rcScopedDelete buf((unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*2, RC_ALLOC_TEMP));
if (!buf)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' (%d).", chf.spanCount*4);
@@ -1546,17 +1543,15 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int LOG_NB_STACKS = 3;
const int NB_STACKS = 1 << LOG_NB_STACKS;
- rcIntArray lvlStacks[NB_STACKS];
+ rcTempVector lvlStacks[NB_STACKS];
for (int i=0; i stack;
+ stack.reserve(256);
unsigned short* srcReg = buf;
unsigned short* srcDist = buf+chf.spanCount;
- unsigned short* dstReg = buf+chf.spanCount*2;
- unsigned short* dstDist = buf+chf.spanCount*3;
memset(srcReg, 0, sizeof(unsigned short)*chf.spanCount);
memset(srcDist, 0, sizeof(unsigned short)*chf.spanCount);
@@ -1581,9 +1576,9 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
paintRectRegion(w-bw, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, 0, bh, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, h-bh, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
-
- chf.borderSize = borderSize;
}
+
+ chf.borderSize = borderSize;
int sId = -1;
while (level > 0)
@@ -1604,22 +1599,19 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
rcScopedTimer timerExpand(ctx, RC_TIMER_BUILD_REGIONS_EXPAND);
// Expand current regions until no empty connected cells found.
- if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, lvlStacks[sId], false) != srcReg)
- {
- rcSwap(srcReg, dstReg);
- rcSwap(srcDist, dstDist);
- }
+ expandRegions(expandIters, level, chf, srcReg, srcDist, lvlStacks[sId], false);
}
{
rcScopedTimer timerFloor(ctx, RC_TIMER_BUILD_REGIONS_FLOOD);
// Mark new regions with IDs.
- for (int j = 0; j= 0 && srcReg[i] == 0)
{
if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
@@ -1638,11 +1630,7 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
}
// Expand current regions until no empty connected cells found.
- if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack, true) != srcReg)
- {
- rcSwap(srcReg, dstReg);
- rcSwap(srcDist, dstDist);
- }
+ expandRegions(expandIters*8, 0, chf, srcReg, srcDist, stack, true);
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
@@ -1709,9 +1697,9 @@ bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
paintRectRegion(w-bw, w, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(0, w, 0, bh, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(0, w, h-bh, h, id|RC_BORDER_REG, chf, srcReg); id++;
-
- chf.borderSize = borderSize;
}
+
+ chf.borderSize = borderSize;
rcIntArray prev(256);
@@ -1809,9 +1797,8 @@ bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
rcScopedTimer timerFilter(ctx, RC_TIMER_BUILD_REGIONS_FILTER);
// Merge monotone regions to layers and remove small regions.
- rcIntArray overlaps;
chf.maxRegions = id;
- if (!mergeAndFilterLayerRegions(ctx, minRegionArea, chf.maxRegions, chf, srcReg, overlaps))
+ if (!mergeAndFilterLayerRegions(ctx, minRegionArea, chf.maxRegions, chf, srcReg))
return false;
}
diff --git a/RecastDemo/Bin/.gitignore b/RecastDemo/Bin/.gitignore
index c44262fa..f6861ba2 100644
--- a/RecastDemo/Bin/.gitignore
+++ b/RecastDemo/Bin/.gitignore
@@ -1 +1,2 @@
Recast.app
+SDL2.framework
\ No newline at end of file
diff --git a/RecastDemo/Bin/Meshes/undulating.obj b/RecastDemo/Bin/Meshes/undulating.obj
new file mode 100644
index 00000000..22bb8b08
--- /dev/null
+++ b/RecastDemo/Bin/Meshes/undulating.obj
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diff --git a/RecastDemo/CMakeLists.txt b/RecastDemo/CMakeLists.txt
new file mode 100644
index 00000000..1e8f9398
--- /dev/null
+++ b/RecastDemo/CMakeLists.txt
@@ -0,0 +1,87 @@
+file(GLOB SOURCES Source/*.cpp Contrib/fastlz/fastlz.c)
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+
+if(NOT SDL2_ROOT_DIR)
+ if(WIN32)
+ set(SDL2_ROOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Contrib/SDL")
+ elseif(APPLE)
+ set(SDL2_ROOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Bin")
+ endif()
+endif()
+
+find_package(OpenGL REQUIRED)
+if(APPLE)
+ find_library(SDL2_LIBRARY
+ NAMES SDL2
+ PATHS ${SDL2_ROOT_DIR}
+ REQUIRED)
+else()
+ find_package(SDL2 REQUIRED)
+endif()
+
+include_directories(SYSTEM ${OPENGL_INCLUDE_DIR})
+include_directories(SYSTEM Contrib/fastlz)
+include_directories(SYSTEM Contrib)
+include_directories(../DebugUtils/Include)
+include_directories(../Detour/Include)
+include_directories(../DetourCrowd/Include)
+include_directories(../DetourTileCache/Include)
+include_directories(../Recast/Include)
+include_directories(Include)
+include_directories(Contrib/SDL/include)
+if(APPLE)
+ include_directories(${SDL2_LIBRARY}/Headers)
+endif()
+
+if (WIN32)
+ add_executable(RecastDemo WIN32 ${SOURCES})
+elseif(APPLE)
+ add_executable(RecastDemo MACOSX_BUNDLE ${SOURCES})
+else()
+ add_executable(RecastDemo ${SOURCES})
+endif()
+
+if( WIN32 )
+ if ( "${CMAKE_MAKE_PROGRAM}" MATCHES "MSBuild" )
+ add_custom_command(TARGET RecastDemo
+ POST_BUILD
+ COMMAND ${CMAKE_COMMAND} -E copy "${SDL2_RUNTIME_LIBRARY}" ${CMAKE_BINARY_DIR}/RecastDemo/$(ConfigurationName)/
+ COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_SOURCE_DIR}/Bin/Meshes ${CMAKE_BINARY_DIR}/RecastDemo/$(ConfigurationName)/Meshes
+ COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_SOURCE_DIR}/Bin/TestCases ${CMAKE_BINARY_DIR}/RecastDemo/$(ConfigurationName)/TestCases
+ COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/Bin/DroidSans.ttf ${CMAKE_BINARY_DIR}/RecastDemo/$(ConfigurationName)/
+ )
+ elseif ( MINGW )
+ add_custom_command(TARGET RecastDemo
+ POST_BUILD
+ COMMAND ${CMAKE_COMMAND} -E copy "${SDL2_RUNTIME_LIBRARY}" ${CMAKE_BINARY_DIR}/RecastDemo/
+ COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_SOURCE_DIR}/Bin/Meshes ${CMAKE_BINARY_DIR}/RecastDemo/Meshes
+ COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_SOURCE_DIR}/Bin/TestCases ${CMAKE_BINARY_DIR}/RecastDemo/TestCases
+ COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/Bin/DroidSans.ttf ${CMAKE_BINARY_DIR}/RecastDemo/
+ )
+ endif()
+else()
+ file(COPY Bin/Meshes DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
+ file(COPY Bin/TestCases DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
+ file(COPY Bin/DroidSans.ttf DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
+endif()
+
+
+add_dependencies(RecastDemo DebugUtils Detour DetourCrowd DetourTileCache Recast)
+if(APPLE)
+ target_link_libraries(RecastDemo ${OPENGL_LIBRARIES} ${SDL2_LIBRARY} DebugUtils Detour DetourCrowd DetourTileCache Recast)
+else()
+ target_link_libraries(RecastDemo ${OPENGL_LIBRARIES} SDL2::SDL2main DebugUtils Detour DetourCrowd DetourTileCache Recast)
+endif()
+
+
+install(TARGETS RecastDemo
+ RUNTIME DESTINATION bin
+ BUNDLE DESTINATION bin)
+install(DIRECTORY Bin/Meshes DESTINATION bin)
+install(DIRECTORY Bin/TestCases DESTINATION bin)
+install(FILES Bin/DroidSans.ttf DESTINATION bin)
+
+if (WIN32)
+ install(FILES "${SDL2_RUNTIME_LIBRARY}" DESTINATION bin)
+endif()
\ No newline at end of file
diff --git a/RecastDemo/Contrib/fastlz/fastlz.c b/RecastDemo/Contrib/fastlz/fastlz.c
index 3c9d6f6f..645d2947 100644
--- a/RecastDemo/Contrib/fastlz/fastlz.c
+++ b/RecastDemo/Contrib/fastlz/fastlz.c
@@ -81,6 +81,11 @@ typedef unsigned char flzuint8;
typedef unsigned short flzuint16;
typedef unsigned int flzuint32;
+/* Disable "conversion from A to B, possible loss of data" warning when using MSVC */
+#if defined(_MSC_VER)
+#pragma warning(disable: 4244)
+#endif
+
/* prototypes */
int fastlz_compress(const void* input, int length, void* output);
int fastlz_compress_level(int level, const void* input, int length, void* output);
diff --git a/RecastDemo/Include/ChunkyTriMesh.h b/RecastDemo/Include/ChunkyTriMesh.h
index 65849799..0870d64e 100644
--- a/RecastDemo/Include/ChunkyTriMesh.h
+++ b/RecastDemo/Include/ChunkyTriMesh.h
@@ -29,7 +29,7 @@ struct rcChunkyTriMeshNode
struct rcChunkyTriMesh
{
- inline rcChunkyTriMesh() : nodes(0), nnodes(0), tris(0), ntris(0), maxTrisPerChunk(0) {};
+ inline rcChunkyTriMesh() : nodes(0), nnodes(0), tris(0), ntris(0), maxTrisPerChunk(0) {}
inline ~rcChunkyTriMesh() { delete [] nodes; delete [] tris; }
rcChunkyTriMeshNode* nodes;
diff --git a/RecastDemo/Include/CrowdTool.h b/RecastDemo/Include/CrowdTool.h
index 8c170ef4..a2980660 100644
--- a/RecastDemo/Include/CrowdTool.h
+++ b/RecastDemo/Include/CrowdTool.h
@@ -122,7 +122,7 @@ class CrowdTool : public SampleTool
TOOLMODE_CREATE,
TOOLMODE_MOVE_TARGET,
TOOLMODE_SELECT,
- TOOLMODE_TOGGLE_POLYS,
+ TOOLMODE_TOGGLE_POLYS
};
ToolMode m_mode;
diff --git a/RecastDemo/Include/NavMeshTesterTool.h b/RecastDemo/Include/NavMeshTesterTool.h
index 01f46808..080170ea 100644
--- a/RecastDemo/Include/NavMeshTesterTool.h
+++ b/RecastDemo/Include/NavMeshTesterTool.h
@@ -43,7 +43,7 @@ class NavMeshTesterTool : public SampleTool
TOOLMODE_DISTANCE_TO_WALL,
TOOLMODE_FIND_POLYS_IN_CIRCLE,
TOOLMODE_FIND_POLYS_IN_SHAPE,
- TOOLMODE_FIND_LOCAL_NEIGHBOURHOOD,
+ TOOLMODE_FIND_LOCAL_NEIGHBOURHOOD
};
ToolMode m_toolMode;
@@ -110,4 +110,5 @@ public:
void drawAgent(const float* pos, float r, float h, float c, const unsigned int col);
};
-#endif // NAVMESHTESTERTOOL_H
\ No newline at end of file
+#endif // NAVMESHTESTERTOOL_H
+
diff --git a/RecastDemo/Include/PerfTimer.h b/RecastDemo/Include/PerfTimer.h
index ed62c180..ce0f296f 100644
--- a/RecastDemo/Include/PerfTimer.h
+++ b/RecastDemo/Include/PerfTimer.h
@@ -29,4 +29,5 @@ typedef __int64 TimeVal;
TimeVal getPerfTime();
int getPerfTimeUsec(const TimeVal duration);
-#endif // PERFTIMER_H
\ No newline at end of file
+#endif // PERFTIMER_H
+
diff --git a/RecastDemo/Include/Sample.h b/RecastDemo/Include/Sample.h
index bc1a257b..f54ad817 100644
--- a/RecastDemo/Include/Sample.h
+++ b/RecastDemo/Include/Sample.h
@@ -78,12 +78,12 @@ enum SamplePartitionType
{
SAMPLE_PARTITION_WATERSHED,
SAMPLE_PARTITION_MONOTONE,
- SAMPLE_PARTITION_LAYERS,
+ SAMPLE_PARTITION_LAYERS
};
struct SampleTool
{
- virtual ~SampleTool() {}
+ virtual ~SampleTool();
virtual int type() = 0;
virtual void init(class Sample* sample) = 0;
virtual void reset() = 0;
@@ -97,7 +97,7 @@ struct SampleTool
};
struct SampleToolState {
- virtual ~SampleToolState() {}
+ virtual ~SampleToolState();
virtual void init(class Sample* sample) = 0;
virtual void reset() = 0;
virtual void handleRender() = 0;
@@ -141,6 +141,9 @@ protected:
SampleDebugDraw m_dd;
+ dtNavMesh* loadAll(const char* path);
+ void saveAll(const char* path, const dtNavMesh* mesh);
+
public:
Sample();
virtual ~Sample();
diff --git a/RecastDemo/Include/Sample_Debug.h b/RecastDemo/Include/Sample_Debug.h
index 7340355c..129e4bc6 100644
--- a/RecastDemo/Include/Sample_Debug.h
+++ b/RecastDemo/Include/Sample_Debug.h
@@ -31,7 +31,7 @@ protected:
rcContourSet* m_cset;
rcPolyMesh* m_pmesh;
- float m_ext[3];
+ float m_halfExtents[3];
float m_center[3];
float m_bmin[3], m_bmax[3];
dtPolyRef m_ref;
diff --git a/RecastDemo/Include/Sample_SoloMesh.h b/RecastDemo/Include/Sample_SoloMesh.h
index 70afb11a..a278529e 100644
--- a/RecastDemo/Include/Sample_SoloMesh.h
+++ b/RecastDemo/Include/Sample_SoloMesh.h
@@ -62,7 +62,7 @@ protected:
DrawMode m_drawMode;
void cleanup();
-
+
public:
Sample_SoloMesh();
virtual ~Sample_SoloMesh();
diff --git a/RecastDemo/Include/Sample_TempObstacles.h b/RecastDemo/Include/Sample_TempObstacles.h
index b9ce4a92..3ba41e14 100644
--- a/RecastDemo/Include/Sample_TempObstacles.h
+++ b/RecastDemo/Include/Sample_TempObstacles.h
@@ -40,7 +40,7 @@ protected:
int m_cacheCompressedSize;
int m_cacheRawSize;
int m_cacheLayerCount;
- int m_cacheBuildMemUsage;
+ unsigned int m_cacheBuildMemUsage;
enum DrawMode
{
diff --git a/RecastDemo/Include/TestCase.h b/RecastDemo/Include/TestCase.h
index f61cc856..8991e576 100644
--- a/RecastDemo/Include/TestCase.h
+++ b/RecastDemo/Include/TestCase.h
@@ -27,13 +27,17 @@ class TestCase
enum TestType
{
TEST_PATHFIND,
- TEST_RAYCAST,
+ TEST_RAYCAST
};
struct Test
{
Test() :
type(),
+ spos(),
+ epos(),
+ nspos(),
+ nepos(),
radius(0),
includeFlags(0),
excludeFlags(0),
@@ -107,4 +111,4 @@ private:
TestCase& operator=(const TestCase&);
};
-#endif // TESTCASE_H
\ No newline at end of file
+#endif // TESTCASE_H
diff --git a/RecastDemo/Include/ValueHistory.h b/RecastDemo/Include/ValueHistory.h
index 2da53902..1e83a211 100644
--- a/RecastDemo/Include/ValueHistory.h
+++ b/RecastDemo/Include/ValueHistory.h
@@ -47,4 +47,5 @@ void drawGraph(const GraphParams* p, const ValueHistory* graph,
int idx, const char* label, const unsigned int col);
-#endif // VALUEHISTORY_H
\ No newline at end of file
+#endif // VALUEHISTORY_H
+
diff --git a/RecastDemo/Include/imgui.h b/RecastDemo/Include/imgui.h
index 325829b3..3d7346ef 100644
--- a/RecastDemo/Include/imgui.h
+++ b/RecastDemo/Include/imgui.h
@@ -22,14 +22,14 @@
enum imguiMouseButton
{
IMGUI_MBUT_LEFT = 0x01,
- IMGUI_MBUT_RIGHT = 0x02,
+ IMGUI_MBUT_RIGHT = 0x02
};
enum imguiTextAlign
{
IMGUI_ALIGN_LEFT,
IMGUI_ALIGN_CENTER,
- IMGUI_ALIGN_RIGHT,
+ IMGUI_ALIGN_RIGHT
};
inline unsigned int imguiRGBA(unsigned char r, unsigned char g, unsigned char b, unsigned char a=255)
@@ -68,7 +68,7 @@ enum imguiGfxCmdType
IMGUI_GFXCMD_TRIANGLE,
IMGUI_GFXCMD_LINE,
IMGUI_GFXCMD_TEXT,
- IMGUI_GFXCMD_SCISSOR,
+ IMGUI_GFXCMD_SCISSOR
};
struct imguiGfxRect
diff --git a/RecastDemo/Include/imguiRenderGL.h b/RecastDemo/Include/imguiRenderGL.h
index b1483416..33cd017c 100644
--- a/RecastDemo/Include/imguiRenderGL.h
+++ b/RecastDemo/Include/imguiRenderGL.h
@@ -23,4 +23,5 @@ bool imguiRenderGLInit(const char* fontpath);
void imguiRenderGLDestroy();
void imguiRenderGLDraw();
-#endif // IMGUI_RENDER_GL_H
\ No newline at end of file
+#endif // IMGUI_RENDER_GL_H
+
diff --git a/RecastDemo/Source/ChunkyTriMesh.cpp b/RecastDemo/Source/ChunkyTriMesh.cpp
index 2991d4ff..242bf285 100644
--- a/RecastDemo/Source/ChunkyTriMesh.cpp
+++ b/RecastDemo/Source/ChunkyTriMesh.cpp
@@ -83,7 +83,7 @@ static void subdivide(BoundsItem* items, int nitems, int imin, int imax, int tri
int inum = imax - imin;
int icur = curNode;
- if (curNode > maxNodes)
+ if (curNode >= maxNodes)
return;
rcChunkyTriMeshNode& node = nodes[curNode++];
diff --git a/RecastDemo/Source/ConvexVolumeTool.cpp b/RecastDemo/Source/ConvexVolumeTool.cpp
index 117171d0..43be1421 100644
--- a/RecastDemo/Source/ConvexVolumeTool.cpp
+++ b/RecastDemo/Source/ConvexVolumeTool.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -254,7 +253,7 @@ void ConvexVolumeTool::handleRender()
{
duDebugDraw& dd = m_sample->getDebugDraw();
- // Find height extents of the shape.
+ // Find height extent of the shape.
float minh = FLT_MAX, maxh = 0;
for (int i = 0; i < m_npts; ++i)
minh = rcMin(minh, m_pts[i*3+1]);
diff --git a/RecastDemo/Source/CrowdTool.cpp b/RecastDemo/Source/CrowdTool.cpp
index c7a8f1f2..7f9f7843 100644
--- a/RecastDemo/Source/CrowdTool.cpp
+++ b/RecastDemo/Source/CrowdTool.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -144,8 +143,6 @@ void CrowdToolState::init(class Sample* sample)
if (m_sample != sample)
{
m_sample = sample;
-// m_oldFlags = m_sample->getNavMeshDrawFlags();
-// m_sample->setNavMeshDrawFlags(m_oldFlags & ~DU_DRAWNAVMESH_CLOSEDLIST);
}
dtNavMesh* nav = m_sample->getNavMesh();
@@ -712,7 +709,7 @@ void CrowdToolState::setMoveTarget(const float* p, bool adjust)
dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
dtCrowd* crowd = m_sample->getCrowd();
const dtQueryFilter* filter = crowd->getFilter(0);
- const float* ext = crowd->getQueryExtents();
+ const float* halfExtents = crowd->getQueryExtents();
if (adjust)
{
@@ -740,7 +737,7 @@ void CrowdToolState::setMoveTarget(const float* p, bool adjust)
}
else
{
- navquery->findNearestPoly(p, ext, filter, &m_targetRef, m_targetPos);
+ navquery->findNearestPoly(p, halfExtents, filter, &m_targetRef, m_targetPos);
if (m_agentDebug.idx != -1)
{
@@ -1032,10 +1029,10 @@ void CrowdTool::handleClick(const float* s, const float* p, bool shift)
if (nav && navquery)
{
dtQueryFilter filter;
- const float* ext = crowd->getQueryExtents();
+ const float* halfExtents = crowd->getQueryExtents();
float tgt[3];
dtPolyRef ref;
- navquery->findNearestPoly(p, ext, &filter, &ref, tgt);
+ navquery->findNearestPoly(p, halfExtents, &filter, &ref, tgt);
if (ref)
{
unsigned short flags = 0;
diff --git a/RecastDemo/Source/Filelist.cpp b/RecastDemo/Source/Filelist.cpp
index 8a8b7c9e..bd715c47 100644
--- a/RecastDemo/Source/Filelist.cpp
+++ b/RecastDemo/Source/Filelist.cpp
@@ -55,10 +55,11 @@ void scanDirectoryAppend(const string& path, const string& ext, vector&
return;
}
+ size_t extLen = strlen(ext.c_str());
while ((current = readdir(dp)) != 0)
{
- int len = strlen(current->d_name);
- if (len > 4 && strncmp(current->d_name + len - 4, ext.c_str(), 4) == 0)
+ size_t len = strlen(current->d_name);
+ if (len > extLen && strncmp(current->d_name + len - extLen, ext.c_str(), extLen) == 0)
{
filelist.push_back(current->d_name);
}
@@ -74,4 +75,4 @@ void scanDirectory(const string& path, const string& ext, vector& fileli
{
filelist.clear();
scanDirectoryAppend(path, ext, filelist);
-}
\ No newline at end of file
+}
diff --git a/RecastDemo/Source/InputGeom.cpp b/RecastDemo/Source/InputGeom.cpp
index 33672b67..ba5d6596 100644
--- a/RecastDemo/Source/InputGeom.cpp
+++ b/RecastDemo/Source/InputGeom.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -92,6 +91,7 @@ static char* parseRow(char* buf, char* bufEnd, char* row, int len)
case '\t':
case ' ':
if (start) break;
+ // else falls through
default:
start = false;
row[n++] = c;
@@ -423,9 +423,6 @@ static bool isectSegAABB(const float* sp, const float* sq,
bool InputGeom::raycastMesh(float* src, float* dst, float& tmin)
{
- float dir[3];
- rcVsub(dir, dst, src);
-
// Prune hit ray.
float btmin, btmax;
if (!isectSegAABB(src, dst, m_meshBMin, m_meshBMax, btmin, btmax))
diff --git a/RecastDemo/Source/MeshLoaderObj.cpp b/RecastDemo/Source/MeshLoaderObj.cpp
index 8b44127d..21959ced 100644
--- a/RecastDemo/Source/MeshLoaderObj.cpp
+++ b/RecastDemo/Source/MeshLoaderObj.cpp
@@ -20,7 +20,6 @@
#include
#include
#include
-#define _USE_MATH_DEFINES
#include
rcMeshLoaderObj::rcMeshLoaderObj() :
@@ -99,6 +98,7 @@ static char* parseRow(char* buf, char* bufEnd, char* row, int len)
case '\t':
case ' ':
if (start) break;
+ // else falls through
default:
start = false;
row[n++] = c;
diff --git a/RecastDemo/Source/NavMeshPruneTool.cpp b/RecastDemo/Source/NavMeshPruneTool.cpp
index 95656d5c..75b7e1fd 100644
--- a/RecastDemo/Source/NavMeshPruneTool.cpp
+++ b/RecastDemo/Source/NavMeshPruneTool.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -252,10 +251,10 @@ void NavMeshPruneTool::handleClick(const float* s, const float* p, bool shift)
m_flags->init(nav);
}
- const float ext[3] = {2,4,2};
+ const float halfExtents[3] = { 2, 4, 2 };
dtQueryFilter filter;
dtPolyRef ref = 0;
- query->findNearestPoly(p, ext, &filter, &ref, 0);
+ query->findNearestPoly(p, halfExtents, &filter, &ref, 0);
floodNavmesh(nav, m_flags, ref, 1);
}
diff --git a/RecastDemo/Source/NavMeshTesterTool.cpp b/RecastDemo/Source/NavMeshTesterTool.cpp
index 031f9ae3..14217b33 100644
--- a/RecastDemo/Source/NavMeshTesterTool.cpp
+++ b/RecastDemo/Source/NavMeshTesterTool.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -45,7 +44,7 @@
// Uncomment this to dump all the requests in stdout.
#define DUMP_REQS
-// Returns a random number [0..1)
+// Returns a random number [0..1]
static float frand()
{
// return ((float)(rand() & 0xffff)/(float)0xffff);
diff --git a/RecastDemo/Source/OffMeshConnectionTool.cpp b/RecastDemo/Source/OffMeshConnectionTool.cpp
index 5efda624..17d272f0 100644
--- a/RecastDemo/Source/OffMeshConnectionTool.cpp
+++ b/RecastDemo/Source/OffMeshConnectionTool.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include
diff --git a/RecastDemo/Source/Sample.cpp b/RecastDemo/Source/Sample.cpp
index 45b4275a..7dbfb379 100644
--- a/RecastDemo/Source/Sample.cpp
+++ b/RecastDemo/Source/Sample.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include "Sample.h"
@@ -35,6 +34,16 @@
# define snprintf _snprintf
#endif
+SampleTool::~SampleTool()
+{
+ // Defined out of line to fix the weak v-tables warning
+}
+
+SampleToolState::~SampleToolState()
+{
+ // Defined out of line to fix the weak v-tables warning
+}
+
unsigned short sampleAreaToFlags(unsigned char area)
{
unsigned char areaType = (area & SAMPLE_POLYAREA_TYPE_MASK);
@@ -350,3 +359,128 @@ void Sample::renderOverlayToolStates(double* proj, double* model, int* view)
}
}
+static const int NAVMESHSET_MAGIC = 'M'<<24 | 'S'<<16 | 'E'<<8 | 'T'; //'MSET';
+static const int NAVMESHSET_VERSION = 1;
+
+struct NavMeshSetHeader
+{
+ int magic;
+ int version;
+ int numTiles;
+ dtNavMeshParams params;
+};
+
+struct NavMeshTileHeader
+{
+ dtTileRef tileRef;
+ int dataSize;
+};
+
+dtNavMesh* Sample::loadAll(const char* path)
+{
+ FILE* fp = fopen(path, "rb");
+ if (!fp) return 0;
+
+ // Read header.
+ NavMeshSetHeader header;
+ size_t readLen = fread(&header, sizeof(NavMeshSetHeader), 1, fp);
+ if (readLen != 1)
+ {
+ fclose(fp);
+ return 0;
+ }
+ if (header.magic != NAVMESHSET_MAGIC)
+ {
+ fclose(fp);
+ return 0;
+ }
+ if (header.version != NAVMESHSET_VERSION)
+ {
+ fclose(fp);
+ return 0;
+ }
+
+ dtNavMesh* mesh = dtAllocNavMesh();
+ if (!mesh)
+ {
+ fclose(fp);
+ return 0;
+ }
+ dtStatus status = mesh->init(&header.params);
+ if (dtStatusFailed(status))
+ {
+ fclose(fp);
+ return 0;
+ }
+
+ // Read tiles.
+ for (int i = 0; i < header.numTiles; ++i)
+ {
+ NavMeshTileHeader tileHeader;
+ readLen = fread(&tileHeader, sizeof(tileHeader), 1, fp);
+ if (readLen != 1)
+ {
+ fclose(fp);
+ return 0;
+ }
+
+ if (!tileHeader.tileRef || !tileHeader.dataSize)
+ break;
+
+ unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
+ if (!data) break;
+ memset(data, 0, tileHeader.dataSize);
+ readLen = fread(data, tileHeader.dataSize, 1, fp);
+ if (readLen != 1)
+ {
+ dtFree(data);
+ fclose(fp);
+ return 0;
+ }
+
+ mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
+ }
+
+ fclose(fp);
+
+ return mesh;
+}
+
+void Sample::saveAll(const char* path, const dtNavMesh* mesh)
+{
+ if (!mesh) return;
+
+ FILE* fp = fopen(path, "wb");
+ if (!fp)
+ return;
+
+ // Store header.
+ NavMeshSetHeader header;
+ header.magic = NAVMESHSET_MAGIC;
+ header.version = NAVMESHSET_VERSION;
+ header.numTiles = 0;
+ for (int i = 0; i < mesh->getMaxTiles(); ++i)
+ {
+ const dtMeshTile* tile = mesh->getTile(i);
+ if (!tile || !tile->header || !tile->dataSize) continue;
+ header.numTiles++;
+ }
+ memcpy(&header.params, mesh->getParams(), sizeof(dtNavMeshParams));
+ fwrite(&header, sizeof(NavMeshSetHeader), 1, fp);
+
+ // Store tiles.
+ for (int i = 0; i < mesh->getMaxTiles(); ++i)
+ {
+ const dtMeshTile* tile = mesh->getTile(i);
+ if (!tile || !tile->header || !tile->dataSize) continue;
+
+ NavMeshTileHeader tileHeader;
+ tileHeader.tileRef = mesh->getTileRef(tile);
+ tileHeader.dataSize = tile->dataSize;
+ fwrite(&tileHeader, sizeof(tileHeader), 1, fp);
+
+ fwrite(tile->data, tile->dataSize, 1, fp);
+ }
+
+ fclose(fp);
+}
diff --git a/RecastDemo/Source/SampleInterfaces.cpp b/RecastDemo/Source/SampleInterfaces.cpp
index 44b306b0..24f6ea12 100644
--- a/RecastDemo/Source/SampleInterfaces.cpp
+++ b/RecastDemo/Source/SampleInterfaces.cpp
@@ -1,4 +1,3 @@
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -68,7 +67,7 @@ void BuildContext::doStartTimer(const rcTimerLabel label)
void BuildContext::doStopTimer(const rcTimerLabel label)
{
const TimeVal endTime = getPerfTime();
- const int deltaTime = (int)(endTime - m_startTime[label]);
+ const TimeVal deltaTime = endTime - m_startTime[label];
if (m_accTime[label] == -1)
m_accTime[label] = deltaTime;
else
@@ -184,7 +183,7 @@ public:
}
}
};
-GLCheckerTexture g_tex;
+static GLCheckerTexture g_tex;
void DebugDrawGL::depthMask(bool state)
diff --git a/RecastDemo/Source/Sample_Debug.cpp b/RecastDemo/Source/Sample_Debug.cpp
index a8b8e2f5..6dc6c141 100644
--- a/RecastDemo/Source/Sample_Debug.cpp
+++ b/RecastDemo/Source/Sample_Debug.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include "Sample_Debug.h"
@@ -124,12 +123,12 @@ Sample_Debug::Sample_Debug() :
m_navMesh->addTileAt(-14,-14, data, dataSize, true);
}
- const float ext[3] = {40,100,40};
+ const float halfExtents[3] = {40,100,40};
const float center[3] = { -1667.9491f, 135.52649f, -1680.6149f };
dtQueryFilter filter;
- m_ref = m_navMesh->findNearestPoly(center, ext, &filter, 0);
+ m_ref = m_navMesh->findNearestPoly(center, halfExtents, &filter, 0);
- vcopy(m_ext, ext);
+ vcopy(m_halfExtents, halfExtents);
vcopy(m_center, center);*/
@@ -204,8 +203,8 @@ void Sample_Debug::handleRender()
duDebugDrawNavMeshPoly(&m_dd, *m_navMesh, m_ref, duRGBA(255,0,0,128));
/* float bmin[3], bmax[3];
- rcVsub(bmin, m_center, m_ext);
- rcVadd(bmax, m_center, m_ext);
+ rcVsub(bmin, m_center, m_halfExtents);
+ rcVadd(bmax, m_center, m_halfExtents);
duDebugDrawBoxWire(&dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duRGBA(255,255,255,128), 1.0f);
duDebugDrawCross(&dd, m_center[0], m_center[1], m_center[2], 1.0f, duRGBA(255,255,255,128), 2.0f);*/
diff --git a/RecastDemo/Source/Sample_SoloMesh.cpp b/RecastDemo/Source/Sample_SoloMesh.cpp
index 90b65807..34b6eed7 100644
--- a/RecastDemo/Source/Sample_SoloMesh.cpp
+++ b/RecastDemo/Source/Sample_SoloMesh.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -79,20 +78,38 @@ void Sample_SoloMesh::cleanup()
dtFreeNavMesh(m_navMesh);
m_navMesh = 0;
}
-
+
void Sample_SoloMesh::handleSettings()
{
Sample::handleCommonSettings();
-
+
if (imguiCheck("Keep Itermediate Results", m_keepInterResults))
m_keepInterResults = !m_keepInterResults;
imguiSeparator();
+
+ imguiIndent();
+ imguiIndent();
+
+ if (imguiButton("Save"))
+ {
+ Sample::saveAll("solo_navmesh.bin", m_navMesh);
+ }
+
+ if (imguiButton("Load"))
+ {
+ dtFreeNavMesh(m_navMesh);
+ m_navMesh = Sample::loadAll("solo_navmesh.bin");
+ m_navQuery->init(m_navMesh, 2048);
+ }
+
+ imguiUnindent();
+ imguiUnindent();
char msg[64];
snprintf(msg, 64, "Build Time: %.1fms", m_totalBuildTimeMs);
imguiLabel(msg);
-
+
imguiSeparator();
}
diff --git a/RecastDemo/Source/Sample_TempObstacles.cpp b/RecastDemo/Source/Sample_TempObstacles.cpp
index d306c731..f2ef16f0 100644
--- a/RecastDemo/Source/Sample_TempObstacles.cpp
+++ b/RecastDemo/Source/Sample_TempObstacles.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -109,6 +108,8 @@ static int calcLayerBufferSize(const int gridWidth, const int gridHeight)
struct FastLZCompressor : public dtTileCacheCompressor
{
+ virtual ~FastLZCompressor();
+
virtual int maxCompressedSize(const int bufferSize)
{
return (int)(bufferSize* 1.05f);
@@ -129,6 +130,11 @@ struct FastLZCompressor : public dtTileCacheCompressor
}
};
+FastLZCompressor::~FastLZCompressor()
+{
+ // Defined out of line to fix the weak v-tables warning
+}
+
struct LinearAllocator : public dtTileCacheAlloc
{
unsigned char* buffer;
@@ -141,10 +147,7 @@ struct LinearAllocator : public dtTileCacheAlloc
resize(cap);
}
- ~LinearAllocator()
- {
- dtFree(buffer);
- }
+ virtual ~LinearAllocator();
void resize(const size_t cap)
{
@@ -176,6 +179,12 @@ struct LinearAllocator : public dtTileCacheAlloc
}
};
+LinearAllocator::~LinearAllocator()
+{
+ // Defined out of line to fix the weak v-tables warning
+ dtFree(buffer);
+}
+
struct MeshProcess : public dtTileCacheMeshProcess
{
InputGeom* m_geom;
@@ -184,6 +193,8 @@ struct MeshProcess : public dtTileCacheMeshProcess
{
}
+ virtual ~MeshProcess();
+
inline void init(InputGeom* geom)
{
m_geom = geom;
@@ -212,8 +223,10 @@ struct MeshProcess : public dtTileCacheMeshProcess
}
};
-
-
+MeshProcess::~MeshProcess()
+{
+ // Defined out of line to fix the weak v-tables warning
+}
static const int MAX_LAYERS = 32;
@@ -479,7 +492,7 @@ enum DrawDetailType
DRAWDETAIL_AREAS,
DRAWDETAIL_REGIONS,
DRAWDETAIL_CONTOURS,
- DRAWDETAIL_MESH,
+ DRAWDETAIL_MESH
};
void drawDetail(duDebugDraw* dd, dtTileCache* tc, const int tx, const int ty, int type)
@@ -652,9 +665,6 @@ void drawObstacles(duDebugDraw* dd, const dtTileCache* tc)
}
}
-
-
-
class TempObstacleHilightTool : public SampleTool
{
Sample_TempObstacles* m_sample;
@@ -672,9 +682,7 @@ public:
m_hitPos[0] = m_hitPos[1] = m_hitPos[2] = 0;
}
- virtual ~TempObstacleHilightTool()
- {
- }
+ virtual ~TempObstacleHilightTool();
virtual int type() { return TOOL_TILE_HIGHLIGHT; }
@@ -749,6 +757,10 @@ public:
}
};
+TempObstacleHilightTool::~TempObstacleHilightTool()
+{
+ // Defined out of line to fix the weak v-tables warning
+}
class TempObstacleCreateTool : public SampleTool
{
@@ -760,9 +772,7 @@ public:
{
}
- virtual ~TempObstacleCreateTool()
- {
- }
+ virtual ~TempObstacleCreateTool();
virtual int type() { return TOOL_TEMP_OBSTACLE; }
@@ -804,9 +814,10 @@ public:
virtual void handleRenderOverlay(double* /*proj*/, double* /*model*/, int* /*view*/) { }
};
-
-
-
+TempObstacleCreateTool::~TempObstacleCreateTool()
+{
+ // Defined out of line to fix the weak v-tables warning
+}
Sample_TempObstacles::Sample_TempObstacles() :
m_keepInterResults(false),
@@ -1324,7 +1335,7 @@ bool Sample_TempObstacles::handleBuild()
m_ctx->stopTimer(RC_TIMER_TOTAL);
m_cacheBuildTimeMs = m_ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;
- m_cacheBuildMemUsage = m_talloc->high;
+ m_cacheBuildMemUsage = static_cast(m_talloc->high);
const dtNavMesh* nav = m_navMesh;
diff --git a/RecastDemo/Source/Sample_TileMesh.cpp b/RecastDemo/Source/Sample_TileMesh.cpp
index c45fc70b..a8f91f4a 100644
--- a/RecastDemo/Source/Sample_TileMesh.cpp
+++ b/RecastDemo/Source/Sample_TileMesh.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include
@@ -87,9 +86,7 @@ public:
m_hitPos[0] = m_hitPos[1] = m_hitPos[2] = 0;
}
- virtual ~NavMeshTileTool()
- {
- }
+ virtual ~NavMeshTileTool();
virtual int type() { return TOOL_TILE_EDIT; }
@@ -172,8 +169,10 @@ public:
}
};
-
-
+NavMeshTileTool::~NavMeshTileTool()
+{
+ // Defined out of line to fix the weak v-tables warning
+}
Sample_TileMesh::Sample_TileMesh() :
m_keepInterResults(false),
@@ -224,132 +223,6 @@ void Sample_TileMesh::cleanup()
m_dmesh = 0;
}
-
-static const int NAVMESHSET_MAGIC = 'M'<<24 | 'S'<<16 | 'E'<<8 | 'T'; //'MSET';
-static const int NAVMESHSET_VERSION = 1;
-
-struct NavMeshSetHeader
-{
- int magic;
- int version;
- int numTiles;
- dtNavMeshParams params;
-};
-
-struct NavMeshTileHeader
-{
- dtTileRef tileRef;
- int dataSize;
-};
-
-void Sample_TileMesh::saveAll(const char* path, const dtNavMesh* mesh)
-{
- if (!mesh) return;
-
- FILE* fp = fopen(path, "wb");
- if (!fp)
- return;
-
- // Store header.
- NavMeshSetHeader header;
- header.magic = NAVMESHSET_MAGIC;
- header.version = NAVMESHSET_VERSION;
- header.numTiles = 0;
- for (int i = 0; i < mesh->getMaxTiles(); ++i)
- {
- const dtMeshTile* tile = mesh->getTile(i);
- if (!tile || !tile->header || !tile->dataSize) continue;
- header.numTiles++;
- }
- memcpy(&header.params, mesh->getParams(), sizeof(dtNavMeshParams));
- fwrite(&header, sizeof(NavMeshSetHeader), 1, fp);
-
- // Store tiles.
- for (int i = 0; i < mesh->getMaxTiles(); ++i)
- {
- const dtMeshTile* tile = mesh->getTile(i);
- if (!tile || !tile->header || !tile->dataSize) continue;
-
- NavMeshTileHeader tileHeader;
- tileHeader.tileRef = mesh->getTileRef(tile);
- tileHeader.dataSize = tile->dataSize;
- fwrite(&tileHeader, sizeof(tileHeader), 1, fp);
-
- fwrite(tile->data, tile->dataSize, 1, fp);
- }
-
- fclose(fp);
-}
-
-dtNavMesh* Sample_TileMesh::loadAll(const char* path)
-{
- FILE* fp = fopen(path, "rb");
- if (!fp) return 0;
-
- // Read header.
- NavMeshSetHeader header;
- size_t readLen = fread(&header, sizeof(NavMeshSetHeader), 1, fp);
- if (readLen != 1)
- {
- fclose(fp);
- return 0;
- }
- if (header.magic != NAVMESHSET_MAGIC)
- {
- fclose(fp);
- return 0;
- }
- if (header.version != NAVMESHSET_VERSION)
- {
- fclose(fp);
- return 0;
- }
-
- dtNavMesh* mesh = dtAllocNavMesh();
- if (!mesh)
- {
- fclose(fp);
- return 0;
- }
- dtStatus status = mesh->init(&header.params);
- if (dtStatusFailed(status))
- {
- fclose(fp);
- return 0;
- }
-
- // Read tiles.
- for (int i = 0; i < header.numTiles; ++i)
- {
- NavMeshTileHeader tileHeader;
- readLen = fread(&tileHeader, sizeof(tileHeader), 1, fp);
- if (readLen != 1)
- {
- fclose(fp);
- return 0;
- }
-
- if (!tileHeader.tileRef || !tileHeader.dataSize)
- break;
-
- unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
- if (!data) break;
- memset(data, 0, tileHeader.dataSize);
- readLen = fread(data, tileHeader.dataSize, 1, fp);
- if (readLen != 1)
- {
- fclose(fp);
- return 0;
- }
-
- mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
- }
-
- fclose(fp);
-
- return mesh;
-}
-
void Sample_TileMesh::handleSettings()
{
Sample::handleCommonSettings();
@@ -401,13 +274,13 @@ void Sample_TileMesh::handleSettings()
if (imguiButton("Save"))
{
- saveAll("all_tiles_navmesh.bin", m_navMesh);
+ Sample::saveAll("all_tiles_navmesh.bin", m_navMesh);
}
if (imguiButton("Load"))
{
dtFreeNavMesh(m_navMesh);
- m_navMesh = loadAll("all_tiles_navmesh.bin");
+ m_navMesh = Sample::loadAll("all_tiles_navmesh.bin");
m_navQuery->init(m_navMesh, 2048);
}
diff --git a/RecastDemo/Source/TestCase.cpp b/RecastDemo/Source/TestCase.cpp
index aecf9a89..5ce42623 100644
--- a/RecastDemo/Source/TestCase.cpp
+++ b/RecastDemo/Source/TestCase.cpp
@@ -76,6 +76,7 @@ static char* parseRow(char* buf, char* bufEnd, char* row, int len)
case '\t':
case ' ':
if (start) break;
+ // else falls through
default:
start = false;
row[n++] = c;
@@ -153,8 +154,7 @@ bool TestCase::load(const std::string& filePath)
else if (row[0] == 'p' && row[1] == 'f')
{
// Pathfind test.
- Test* test = new Test;
- memset(test, 0, sizeof(Test));
+ Test* test = new Test();
test->type = TEST_PATHFIND;
test->expand = false;
test->next = m_tests;
@@ -167,8 +167,7 @@ bool TestCase::load(const std::string& filePath)
else if (row[0] == 'r' && row[1] == 'c')
{
// Pathfind test.
- Test* test = new Test;
- memset(test, 0, sizeof(Test));
+ Test* test = new Test();
test->type = TEST_RAYCAST;
test->expand = false;
test->next = m_tests;
diff --git a/RecastDemo/Source/imgui.cpp b/RecastDemo/Source/imgui.cpp
index 89fcc19b..84022012 100644
--- a/RecastDemo/Source/imgui.cpp
+++ b/RecastDemo/Source/imgui.cpp
@@ -18,7 +18,6 @@
#include
#include
-#define _USE_MATH_DEFINES
#include
#include "imgui.h"
@@ -33,7 +32,7 @@ static char g_textPool[TEXT_POOL_SIZE];
static unsigned g_textPoolSize = 0;
static const char* allocText(const char* text)
{
- unsigned len = strlen(text)+1;
+ unsigned len = static_cast(strlen(text)+1);
if (g_textPoolSize + len >= TEXT_POOL_SIZE)
return 0;
char* dst = &g_textPool[g_textPoolSize];
diff --git a/RecastDemo/Source/imguiRenderGL.cpp b/RecastDemo/Source/imguiRenderGL.cpp
index 9f053759..f81b13e7 100644
--- a/RecastDemo/Source/imguiRenderGL.cpp
+++ b/RecastDemo/Source/imguiRenderGL.cpp
@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
-#define _USE_MATH_DEFINES
#include
#include
#include "imgui.h"
diff --git a/RecastDemo/Source/main.cpp b/RecastDemo/Source/main.cpp
index e9f584df..6e6fe496 100644
--- a/RecastDemo/Source/main.cpp
+++ b/RecastDemo/Source/main.cpp
@@ -17,7 +17,6 @@
//
#include
-#define _USE_MATH_DEFINES
#include
#include "SDL.h"
@@ -78,6 +77,9 @@ int main(int /*argc*/, char** /*argv*/)
return -1;
}
+ // Use OpenGL render driver.
+ SDL_SetHint(SDL_HINT_RENDER_DRIVER, "opengl");
+
// Enable depth buffer.
SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 1);
SDL_GL_SetAttribute(SDL_GL_DEPTH_SIZE, 24);
@@ -124,7 +126,6 @@ int main(int /*argc*/, char** /*argv*/)
}
SDL_SetWindowPosition(window, SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED);
- SDL_GL_CreateContext(window);
if (!imguiRenderGLInit("DroidSans.ttf"))
{
@@ -133,7 +134,6 @@ int main(int /*argc*/, char** /*argv*/)
return -1;
}
- float t = 0.0f;
float timeAcc = 0.0f;
Uint32 prevFrameTime = SDL_GetTicks();
int mousePos[2] = {0, 0};
@@ -352,8 +352,6 @@ int main(int /*argc*/, char** /*argv*/)
Uint32 time = SDL_GetTicks();
float dt = (time - prevFrameTime) / 1000.0f;
prevFrameTime = time;
-
- t += dt;
// Hit test mesh.
if (processHitTest && geom && sample)
diff --git a/RecastDemo/cmake/FindSDL2.cmake b/RecastDemo/cmake/FindSDL2.cmake
new file mode 100644
index 00000000..f69c68a1
--- /dev/null
+++ b/RecastDemo/cmake/FindSDL2.cmake
@@ -0,0 +1,249 @@
+# - Find SDL2
+# Find the SDL2 headers and libraries
+#
+# SDL2::SDL2 - Imported target to use for building a library
+# SDL2::SDL2main - Imported interface target to use if you want SDL and SDLmain.
+# SDL2_FOUND - True if SDL2 was found.
+# SDL2_DYNAMIC - If we found a DLL version of SDL (meaning you might want to copy a DLL from SDL2::SDL2)
+#
+# Original Author:
+# 2015 Ryan Pavlik
+#
+# Copyright Sensics, Inc. 2015.
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+# Set up architectures (for windows) and prefixes (for mingw builds)
+if(WIN32)
+ if(MINGW)
+ include(MinGWSearchPathExtras OPTIONAL)
+ if(MINGWSEARCH_TARGET_TRIPLE)
+ set(SDL2_PREFIX ${MINGWSEARCH_TARGET_TRIPLE})
+ endif()
+ endif()
+ if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+ set(SDL2_LIB_PATH_SUFFIX lib/x64)
+ if(NOT MSVC AND NOT SDL2_PREFIX)
+ set(SDL2_PREFIX x86_64-w64-mingw32)
+ endif()
+ else()
+ set(SDL2_LIB_PATH_SUFFIX lib/x86)
+ if(NOT MSVC AND NOT SDL2_PREFIX)
+ set(SDL2_PREFIX i686-w64-mingw32)
+ endif()
+ endif()
+endif()
+
+if(SDL2_PREFIX)
+ set(SDL2_ORIGPREFIXPATH ${CMAKE_PREFIX_PATH})
+ if(SDL2_ROOT_DIR)
+ list(APPEND CMAKE_PREFIX_PATH "${SDL2_ROOT_DIR}")
+ endif()
+ if(CMAKE_PREFIX_PATH)
+ foreach(_prefix ${CMAKE_PREFIX_PATH})
+ list(APPEND CMAKE_PREFIX_PATH "${_prefix}/${SDL2_PREFIX}")
+ endforeach()
+ endif()
+ if(MINGWSEARCH_PREFIXES)
+ list(APPEND CMAKE_PREFIX_PATH ${MINGWSEARCH_PREFIXES})
+ endif()
+endif()
+
+# Invoke pkgconfig for hints
+find_package(PkgConfig QUIET)
+set(SDL2_INCLUDE_HINTS)
+set(SDL2_LIB_HINTS)
+if(PKG_CONFIG_FOUND)
+ pkg_search_module(SDL2PC QUIET sdl2)
+ if(SDL2PC_INCLUDE_DIRS)
+ set(SDL2_INCLUDE_HINTS ${SDL2PC_INCLUDE_DIRS})
+ endif()
+ if(SDL2PC_LIBRARY_DIRS)
+ set(SDL2_LIB_HINTS ${SDL2PC_LIBRARY_DIRS})
+ endif()
+endif()
+
+include(FindPackageHandleStandardArgs)
+
+find_library(SDL2_LIBRARY
+ NAMES
+ SDL2
+ HINTS
+ ${SDL2_LIB_HINTS}
+ PATHS
+ ${SDL2_ROOT_DIR}
+ ENV SDL2DIR
+ PATH_SUFFIXES lib SDL2 ${SDL2_LIB_PATH_SUFFIX})
+
+set(_sdl2_framework FALSE)
+# Some special-casing if we've found/been given a framework.
+# Handles whether we're given the library inside the framework or the framework itself.
+if(APPLE AND "${SDL2_LIBRARY}" MATCHES "(/[^/]+)*.framework(/.*)?$")
+ set(_sdl2_framework TRUE)
+ set(SDL2_FRAMEWORK "${SDL2_LIBRARY}")
+ # Move up in the directory tree as required to get the framework directory.
+ while("${SDL2_FRAMEWORK}" MATCHES "(/[^/]+)*.framework(/.*)$" AND NOT "${SDL2_FRAMEWORK}" MATCHES "(/[^/]+)*.framework$")
+ get_filename_component(SDL2_FRAMEWORK "${SDL2_FRAMEWORK}" DIRECTORY)
+ endwhile()
+ if("${SDL2_FRAMEWORK}" MATCHES "(/[^/]+)*.framework$")
+ set(SDL2_FRAMEWORK_NAME ${CMAKE_MATCH_1})
+ # If we found a framework, do a search for the header ahead of time that will be more likely to get the framework header.
+ find_path(SDL2_INCLUDE_DIR
+ NAMES
+ SDL_haptic.h # this file was introduced with SDL2
+ HINTS
+ "${SDL2_FRAMEWORK}/Headers/")
+ else()
+ # For some reason we couldn't get the framework directory itself.
+ # Shouldn't happen, but might if something is weird.
+ unset(SDL2_FRAMEWORK)
+ endif()
+endif()
+
+find_path(SDL2_INCLUDE_DIR
+ NAMES
+ SDL_haptic.h # this file was introduced with SDL2
+ HINTS
+ ${SDL2_INCLUDE_HINTS}
+ PATHS
+ ${SDL2_ROOT_DIR}
+ ENV SDL2DIR
+ PATH_SUFFIXES include include/sdl2 include/SDL2 SDL2)
+
+if(WIN32 AND SDL2_LIBRARY)
+ find_file(SDL2_RUNTIME_LIBRARY
+ NAMES
+ SDL2.dll
+ libSDL2.dll
+ HINTS
+ ${SDL2_LIB_HINTS}
+ PATHS
+ ${SDL2_ROOT_DIR}
+ ENV SDL2DIR
+ PATH_SUFFIXES bin lib ${SDL2_LIB_PATH_SUFFIX})
+endif()
+
+
+if(WIN32 OR ANDROID OR IOS OR (APPLE AND NOT _sdl2_framework))
+ set(SDL2_EXTRA_REQUIRED SDL2_SDLMAIN_LIBRARY)
+ find_library(SDL2_SDLMAIN_LIBRARY
+ NAMES
+ SDL2main
+ PATHS
+ ${SDL2_ROOT_DIR}
+ ENV SDL2DIR
+ PATH_SUFFIXES lib ${SDL2_LIB_PATH_SUFFIX})
+endif()
+
+if(MINGW AND NOT SDL2PC_FOUND)
+ find_library(SDL2_MINGW_LIBRARY mingw32)
+ find_library(SDL2_MWINDOWS_LIBRARY mwindows)
+endif()
+
+if(SDL2_PREFIX)
+ # Restore things the way they used to be.
+ set(CMAKE_PREFIX_PATH ${SDL2_ORIGPREFIXPATH})
+endif()
+
+# handle the QUIETLY and REQUIRED arguments and set QUATLIB_FOUND to TRUE if
+# all listed variables are TRUE
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(SDL2
+ DEFAULT_MSG
+ SDL2_LIBRARY
+ SDL2_INCLUDE_DIR
+ ${SDL2_EXTRA_REQUIRED})
+
+if(SDL2_FOUND)
+ if(NOT TARGET SDL2::SDL2)
+ # Create SDL2::SDL2
+ if(WIN32 AND SDL2_RUNTIME_LIBRARY)
+ set(SDL2_DYNAMIC TRUE)
+ add_library(SDL2::SDL2 SHARED IMPORTED)
+ set_target_properties(SDL2::SDL2
+ PROPERTIES
+ IMPORTED_IMPLIB "${SDL2_LIBRARY}"
+ IMPORTED_LOCATION "${SDL2_RUNTIME_LIBRARY}"
+ INTERFACE_INCLUDE_DIRECTORIES "${SDL2_INCLUDE_DIR}"
+ )
+ else()
+ add_library(SDL2::SDL2 UNKNOWN IMPORTED)
+ if(SDL2_FRAMEWORK AND SDL2_FRAMEWORK_NAME)
+ # Handle the case that SDL2 is a framework and we were able to decompose it above.
+ set_target_properties(SDL2::SDL2 PROPERTIES
+ IMPORTED_LOCATION "${SDL2_FRAMEWORK}/${SDL2_FRAMEWORK_NAME}")
+ elseif(_sdl2_framework AND SDL2_LIBRARY MATCHES "(/[^/]+)*.framework$")
+ # Handle the case that SDL2 is a framework and SDL_LIBRARY is just the framework itself.
+
+ # This takes the basename of the framework, without the extension,
+ # and sets it (as a child of the framework) as the imported location for the target.
+ # This is the library symlink inside of the framework.
+ set_target_properties(SDL2::SDL2 PROPERTIES
+ IMPORTED_LOCATION "${SDL2_LIBRARY}/${CMAKE_MATCH_1}")
+ else()
+ # Handle non-frameworks (including non-Mac), as well as the case that we're given the library inside of the framework
+ set_target_properties(SDL2::SDL2 PROPERTIES
+ IMPORTED_LOCATION "${SDL2_LIBRARY}")
+ endif()
+ set_target_properties(SDL2::SDL2
+ PROPERTIES
+ INTERFACE_INCLUDE_DIRECTORIES "${SDL2_INCLUDE_DIR}"
+ )
+ endif()
+
+ if(APPLE)
+ # Need Cocoa here, is always a framework
+ find_library(SDL2_COCOA_LIBRARY Cocoa)
+ list(APPEND SDL2_EXTRA_REQUIRED SDL2_COCOA_LIBRARY)
+ if(SDL2_COCOA_LIBRARY)
+ set_target_properties(SDL2::SDL2 PROPERTIES
+ IMPORTED_LINK_INTERFACE_LIBRARIES ${SDL2_COCOA_LIBRARY})
+ endif()
+ endif()
+
+
+ # Compute what to do with SDL2main
+ set(SDL2MAIN_LIBRARIES SDL2::SDL2)
+ add_library(SDL2::SDL2main INTERFACE IMPORTED)
+ if(SDL2_SDLMAIN_LIBRARY)
+ add_library(SDL2::SDL2main_real STATIC IMPORTED)
+ set_target_properties(SDL2::SDL2main_real
+ PROPERTIES
+ IMPORTED_LOCATION "${SDL2_SDLMAIN_LIBRARY}")
+ set(SDL2MAIN_LIBRARIES SDL2::SDL2main_real ${SDL2MAIN_LIBRARIES})
+ endif()
+ if(MINGW)
+ # MinGW requires some additional libraries to appear earlier in the link line.
+ if(SDL2PC_LIBRARIES)
+ # Use pkgconfig-suggested extra libraries if available.
+ list(REMOVE_ITEM SDL2PC_LIBRARIES SDL2main SDL2)
+ set(SDL2MAIN_LIBRARIES ${SDL2PC_LIBRARIES} ${SDL2MAIN_LIBRARIES})
+ else()
+ # fall back to extra libraries specified in pkg-config in
+ # an official binary distro of SDL2 for MinGW I downloaded
+ if(SDL2_MINGW_LIBRARY)
+ set(SDL2MAIN_LIBRARIES ${SDL2_MINGW_LIBRARY} ${SDL2MAIN_LIBRARIES})
+ endif()
+ if(SDL2_MWINDOWS_LIBRARY)
+ set(SDL2MAIN_LIBRARIES ${SDL2_MWINDOWS_LIBRARY} ${SDL2MAIN_LIBRARIES})
+ endif()
+ endif()
+ set_target_properties(SDL2::SDL2main
+ PROPERTIES
+ INTERFACE_COMPILE_DEFINITIONS "main=SDL_main")
+ endif()
+ set_target_properties(SDL2::SDL2main
+ PROPERTIES
+ INTERFACE_LINK_LIBRARIES "${SDL2MAIN_LIBRARIES}")
+ endif()
+ mark_as_advanced(SDL2_ROOT_DIR)
+endif()
+
+mark_as_advanced(SDL2_LIBRARY
+ SDL2_RUNTIME_LIBRARY
+ SDL2_INCLUDE_DIR
+ SDL2_SDLMAIN_LIBRARY
+ SDL2_COCOA_LIBRARY
+ SDL2_MINGW_LIBRARY
+ SDL2_MWINDOWS_LIBRARY)
diff --git a/RecastDemo/premake5.lua b/RecastDemo/premake5.lua
index 7f6e00dc..52bbaf93 100644
--- a/RecastDemo/premake5.lua
+++ b/RecastDemo/premake5.lua
@@ -6,43 +6,49 @@
local action = _ACTION or ""
local todir = "Build/" .. action
-solution "recastnavigation"
+workspace "recastnavigation"
configurations {
"Debug",
"Release"
}
+
location (todir)
- -- extra warnings, no exceptions or rtti
- flags {
- "ExtraWarnings",
- "FloatFast",
- "Symbols"
- }
+ floatingpoint "Fast"
exceptionhandling "Off"
rtti "Off"
+ symbols "On"
+ flags { "FatalCompileWarnings" }
+ cppdialect "C++98"
-- debug configs
- configuration "Debug*"
+ filter "configurations:Debug"
defines { "DEBUG" }
targetdir ( todir .. "/lib/Debug" )
-- release configs
- configuration "Release*"
+ filter "configurations:Release"
defines { "NDEBUG" }
- flags { "Optimize" }
+ optimize "On"
targetdir ( todir .. "/lib/Release" )
- -- windows specific
- configuration "windows"
- defines { "WIN32", "_WINDOWS", "_CRT_SECURE_NO_WARNINGS" }
+ filter "system:not windows"
+ warnings "Extra"
- -- linux specific
- configuration { "linux", "gmake" }
- buildoptions {
- "-Wall",
- "-Werror"
- }
+ -- windows specific
+ filter "system:windows"
+ platforms { "Win32", "Win64" }
+ defines { "WIN32", "_WINDOWS", "_CRT_SECURE_NO_WARNINGS", "_HAS_EXCEPTIONS=0" }
+ -- warnings "Extra" uses /W4 which is too aggressive for us, so use W3 instead.
+ -- Disable:
+ -- * C4351: new behavior for array initialization
+ buildoptions { "/W3", "/wd4351" }
+
+ filter "platforms:Win32"
+ architecture "x32"
+
+ filter "platforms:Win64"
+ architecture "x64"
project "DebugUtils"
language "C++"
@@ -53,7 +59,7 @@ project "DebugUtils"
"../DetourTileCache/Include",
"../Recast/Include"
}
- files {
+ files {
"../DebugUtils/Include/*.h",
"../DebugUtils/Source/*.cpp"
}
@@ -68,6 +74,12 @@ project "Detour"
"../Detour/Include/*.h",
"../Detour/Source/*.cpp"
}
+ -- linux library cflags and libs
+ filter {"system:linux", "toolset:gcc"}
+ buildoptions {
+ "-Wno-error=class-memaccess",
+ "-Wno-error=maybe-uninitialized"
+ }
project "DetourCrowd"
language "C++"
@@ -119,7 +131,7 @@ project "RecastDemo"
"../DetourTileCache/Include",
"../Recast/Include"
}
- files {
+ files {
"../RecastDemo/Include/*.h",
"../RecastDemo/Source/*.cpp",
"../RecastDemo/Contrib/fastlz/*.h",
@@ -127,7 +139,7 @@ project "RecastDemo"
}
-- project dependencies
- links {
+ links {
"DebugUtils",
"Detour",
"DetourCrowd",
@@ -139,11 +151,12 @@ project "RecastDemo"
targetdir "Bin"
-- linux library cflags and libs
- configuration { "linux", "gmake" }
+ filter "system:linux"
buildoptions {
"`pkg-config --cflags sdl2`",
"`pkg-config --cflags gl`",
- "`pkg-config --cflags glu`"
+ "`pkg-config --cflags glu`",
+ "-Wno-ignored-qualifiers",
}
linkoptions {
"`pkg-config --libs sdl2`",
@@ -151,10 +164,15 @@ project "RecastDemo"
"`pkg-config --libs glu`"
}
+ filter { "system:linux", "toolset:gcc", "files:*.c" }
+ buildoptions {
+ "-Wno-class-memaccess"
+ }
+
-- windows library cflags and libs
- configuration { "windows" }
+ filter "system:windows"
includedirs { "../RecastDemo/Contrib/SDL/include" }
- libdirs { "../RecastDemo/Contrib/SDL/lib/x86" }
+ libdirs { "../RecastDemo/Contrib/SDL/lib/%{cfg.architecture:gsub('x86_64', 'x64')}" }
debugdir "../RecastDemo/Bin/"
links {
"glu32",
@@ -164,14 +182,13 @@ project "RecastDemo"
}
postbuildcommands {
-- Copy the SDL2 dll to the Bin folder.
- '{COPY} "%{wks.location}../../Contrib/SDL/lib/x86/SDL2.dll" "%{cfg.targetdir}"'
+ '{COPY} "%{path.getabsolute("Contrib/SDL/lib/" .. cfg.architecture:gsub("x86_64", "x64") .. "/SDL2.dll")}" "%{cfg.targetdir}"'
}
-- mac includes and libs
- configuration { "macosx" }
+ filter "system:macosx"
kind "ConsoleApp" -- xcode4 failes to run the project if using WindowedApp
- includedirs { "/Library/Frameworks/SDL2.framework/Headers" }
- buildoptions { "-Wunused-value -Wshadow -Wreorder -Wsign-compare -Wall" }
+ includedirs { "Bin/SDL2.framework/Headers" }
links {
"OpenGL.framework",
"SDL2.framework",
@@ -181,6 +198,7 @@ project "RecastDemo"
project "Tests"
language "C++"
kind "ConsoleApp"
+ cppdialect "C++14" -- Catch requires newer C++ features
-- Catch requires RTTI and exceptions
exceptionhandling "On"
@@ -195,13 +213,17 @@ project "Tests"
"../Recast/Source",
"../Tests/Recast",
"../Tests",
+ "../Tests/Contrib/Catch"
}
- files {
+ files {
"../Tests/*.h",
"../Tests/*.hpp",
"../Tests/*.cpp",
"../Tests/Recast/*.h",
"../Tests/Recast/*.cpp",
+ "../Tests/Detour/*.h",
+ "../Tests/Detour/*.cpp",
+ "../Tests/Contrib/Catch/*.cpp"
}
-- project dependencies
@@ -217,8 +239,8 @@ project "Tests"
targetdir "Bin"
-- linux library cflags and libs
- configuration { "linux", "gmake" }
- buildoptions {
+ filter "system:linux"
+ buildoptions {
"`pkg-config --cflags sdl2`",
"`pkg-config --cflags gl`",
"`pkg-config --cflags glu`",
@@ -227,13 +249,14 @@ project "Tests"
linkoptions {
"`pkg-config --libs sdl2`",
"`pkg-config --libs gl`",
- "`pkg-config --libs glu`"
+ "`pkg-config --libs glu`",
+ "-lpthread"
}
-- windows library cflags and libs
- configuration { "windows" }
+ filter "system:windows"
includedirs { "../RecastDemo/Contrib/SDL/include" }
- libdirs { "../RecastDemo/Contrib/SDL/lib/x86" }
+ libdirs { "../RecastDemo/Contrib/SDL/lib/%{cfg.architecture:gsub('x86_64', 'x64')}" }
debugdir "../RecastDemo/Bin/"
links {
"glu32",
@@ -243,12 +266,8 @@ project "Tests"
}
-- mac includes and libs
- configuration { "macosx" }
+ filter "system:macosx"
kind "ConsoleApp"
- includedirs { "/Library/Frameworks/SDL2.framework/Headers" }
- buildoptions { "-Wunused-value -Wshadow -Wreorder -Wsign-compare -Wall" }
- links {
- "OpenGL.framework",
- "SDL2.framework",
+ links {
"Cocoa.framework",
}
diff --git a/Roadmap.md b/Roadmap.md
new file mode 100644
index 00000000..e86e3793
--- /dev/null
+++ b/Roadmap.md
@@ -0,0 +1,74 @@
+# Recast Development Roadmap
+
+This document describes the current development roadmap for Recast and Detour. It is initially focused on maintaining and polishing the current functionality in a way that makes it more appealing and easier to use. There are a number of large areas of new functionality that are appealing as well.
+
+If you're excited about contributing to Recast or want to understand what its future looks like, this roadmap is a great place to start.
+
+## Short Term
+
+### Documentation & Web Presence
+- **Project website** (GitHub pages). A home for docs, info, tutorials, etc. that's easy to find and navigate. There's stuff like the wiki system in GitHub that can serve this purpose, but it's not the greatest.
+- **Hosted API Reference**: We have extensive doxygen docs that we should also host on github pages. Ideally this would be implemented as a job for the CI process.
+- **High-level design/overview**. Basically taking a lot of the "how does Recast work?" docs we have (and stuff on Mikko's blog) and surfacing them in a place that's easier to find. e.g. [this information](http://digestingduck.blogspot.com/2010/02/slides-from-past.html) should be integrated to the documentation.
+- **FAQ** to include answers to common questions like "can I use Recast on a spherical world?" etc. The small group of questions that come up often.
+- **Expand on configuration parameter docstrings**. Expand on the docstrings for the fields in `rcConfig`.
+- **Projects using recast page**. A place to show off integrations of Recast into different games and engines. Having this visible will help give people confidence in the quality of Recast.
+
+### More explicit variable names
+There's quite a few variables that are single-letter or very condensed acronyms. Stuff like `u`, `v`, `cs`, `nnei` etc. These are certainly easier to type than more descriptive names, and can allow for some nice code formatting, but the readability gains of less condensed names outweigh that. These should be updated to be more easily maintainable and less of a hurdle for newcomers.
+
+### Opt-in config value validation system
+There's a number of documentation-defined valid value ranges, as well as some suggested value ranges for config values like those in rcConfig. Recast should have an _opt-in_ system for validating value ranges and value relationships. Some implementations [like Godot's](https://github.com/godotengine/godot/blob/c7ceb94e372216b1b033d7c2ac26d5b7545c4dac/modules/navigation/navigation_mesh_generator.cpp#L545-L568) include similar configuration value checks already. This would help alert users to potential problems arising from misconfiguration. Recast shouldn't restrict people from going outside the recommended bounds, but for the majority of users values that are out of bounds are likely a mistake and Recast should at least raise the concern when prompted.
+
+## Medium Term
+
+### STB-Style Single-Header Release Packaging
+For ease of integration. This should probably be implemented as a build packaging script, similar to the release packaging process for the Catch unit testing library.
+
+### Ensure there's a good threading story
+Currently Recast provides no specific threading support. Many aspects of navmesh generation (especialy with tile generation) can be easily multithreaded, as can parts of detour (threaded pathfinding, etc). This likely requires a good example integration to work with - it probably shouldn't be designed in isolation.
+
+### More Tests
+This is a good place to start when making any changes to the internals or fixing bugs. It's important to have a way to validate that bugfixes or enhancements are not adversely affecting the base Recast functionality. Lots of parts of the code are fairly simple to test, but some would require some extra effort with mocking data or similar.
+
+### More POD structs for clarity in internals
+Small structs like a simple 3-float POD vector would go a long way to help clarify a lot of the internals. Any changes here shouldn't impact performance or functionality. They should just be simple POD structs that get optimized away but make the code a bit clearer to read and work with.
+
+### Revisit structural organization
+There some number of generally low-level geometry functions that are implemented both in Recast and in Detour. We should probably take stock of the general library layout and determine if there's enough of a benefit to slightly restructuring things to better share core functionality. There may not be enough code like this to be worth it, so it might not be a net win. Organization and re-use benefits should vastly outweighing the cost of defining a shared dependency to make this worthwhile. There's likely just minimal gains here since things are already laid out logically, but it's worth looking into.
+
+## Longer-Term
+
+### Higher-Level APIs
+The current API level is excellent for providing maximum control over the entire navmesh building process. For many people, integrating Recast involves copying over all the code from the tiled mesh demo with minimal tweaks. Recast can better serve these people, and hopefully boost adoption by providing some higher-level API calls.
+
+### C API
+This would help tremendously with adoption. There are a number of integrations of Recast to other languages right now, and a number of them are using their own C API wrappers around the existing Recast API. Providing a first-party C API would help normalize the different integrations of Recast out there, as well as improve the integration process for people with engines written in C or other languages with C interop.
+
+There's enough cases where we pass around object pointers in API calls that may cause this to be a bit more work than it seems.
+
+# Roadmap for New Recast/Detour Functionality
+
+### Nav Volumes & 3D Navigation
+Obviously a big feature that would enable flying agents. Probably not terribly difficult to integrate due to the voxelization process, but it's probably a lot of detailed geometric processes and challenges. We'd at least need to retain unwalkable polygons longer in the process (they get thrown away pretty early) so we should ensure it doesn't have any adversarial affects to the perf or capabilities of the normal navmesh process. 3d navigation should be a separate set of APIs, as the considerations and use cases are quite different than normal navmesh navigation.
+
+### Climbing Markup & Navigation
+This is a common problem with many modern games. There's a number of ways to solve this, so we should make sure to consult with people who are actively using Recast and building games with climbing to understand their needs.
+
+### Tooling
+Recast Demo already has a number of sample tools to explore and test the generated navmesh data. There's a number of middleware providers that tout workflow features and tooling for generating and manipulating navmesh data. RecastDemo could be expanded (and maybe re-named) to be a more fully fleshed out standalone tool, rather than be mostly focused as an integration demo and feature showcase. There's almost certainly a ton of custom data and markup most people will want to add to the generated navmeshes, so there should be a reasonable way for people to integrate their customizations and markup with any tooling Recast provide.
+
+### More spatial querying abilities
+There's already a number of spatial query functions, and fleshing out that set some more is likely quite easy and useful.
+
+### Auto-markup system
+This is something recast already gives you access to add yourself, thanks to its low-level API and how each step in the process is explicit. It is worthwhile to consider what kind of help other middleware systems provide in this process. For example, are other navigation middleware solutions providing a structured way to define spatial queries that result in nav markup? Some easy examples of useful features here might be automatic jump point or cover annotations. It would be good to talk to people in the AAA FPS space to see what markup types are most useful to them.
+
+### Formations, Group behaviors
+Extending DetourCrowd to support formations, group navigation, group behaviors and similar beyond what's it's already capable of.
+
+### Vehicle Navigation & Movement
+A feature set centered on pathfinding and movement planning for characters with kinematic movement constraints.
+
+### Crowd Simulation and Flowfield movement systems
+Movement systems for large crowds that leverage flowfields or other highly-scalable navigation and movement approaches.
\ No newline at end of file
diff --git a/Tests/CMakeLists.txt b/Tests/CMakeLists.txt
new file mode 100644
index 00000000..45d7d1f7
--- /dev/null
+++ b/Tests/CMakeLists.txt
@@ -0,0 +1,14 @@
+file(GLOB TESTS_SOURCES *.cpp Detour/*.cpp Recast/*.cpp Contrib/Catch/*.cpp)
+
+include_directories(../Detour/Include)
+include_directories(../Recast/Include)
+include_directories(./Contrib/Catch)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+
+add_executable(Tests ${TESTS_SOURCES})
+
+set_property(TARGET Tests PROPERTY CXX_STANDARD 17)
+
+add_dependencies(Tests Recast Detour)
+target_link_libraries(Tests Recast Detour)
+add_test(Tests Tests)
diff --git a/Tests/Contrib/Catch/catch_amalgamated.cpp b/Tests/Contrib/Catch/catch_amalgamated.cpp
new file mode 100644
index 00000000..1f5527a4
--- /dev/null
+++ b/Tests/Contrib/Catch/catch_amalgamated.cpp
@@ -0,0 +1,10395 @@
+// Copyright Catch2 Authors
+// Distributed under the Boost Software License, Version 1.0.
+// (See accompanying file LICENSE_1_0.txt or copy at
+// https://www.boost.org/LICENSE_1_0.txt)
+
+// SPDX-License-Identifier: BSL-1.0
+
+// Catch v3.1.1
+// Generated: 2022-10-17 18:47:22.400176
+// ----------------------------------------------------------
+// This file is an amalgamation of multiple different files.
+// You probably shouldn't edit it directly.
+// ----------------------------------------------------------
+
+#include "catch_amalgamated.hpp"
+
+
+#ifndef CATCH_WINDOWS_H_PROXY_HPP_INCLUDED
+#define CATCH_WINDOWS_H_PROXY_HPP_INCLUDED
+
+
+#if defined(CATCH_PLATFORM_WINDOWS)
+
+// We might end up with the define made globally through the compiler,
+// and we don't want to trigger warnings for this
+#if !defined(NOMINMAX)
+# define NOMINMAX
+#endif
+#if !defined(WIN32_LEAN_AND_MEAN)
+# define WIN32_LEAN_AND_MEAN
+#endif
+
+#include
+
+#endif // defined(CATCH_PLATFORM_WINDOWS)
+
+#endif // CATCH_WINDOWS_H_PROXY_HPP_INCLUDED
+
+
+
+
+namespace Catch {
+ namespace Benchmark {
+ namespace Detail {
+ ChronometerConcept::~ChronometerConcept() = default;
+ } // namespace Detail
+ } // namespace Benchmark
+} // namespace Catch
+
+
+
+
+namespace Catch {
+ namespace Benchmark {
+ namespace Detail {
+ BenchmarkFunction::callable::~callable() = default;
+ } // namespace Detail
+ } // namespace Benchmark
+} // namespace Catch
+
+
+
+#include
+
+namespace Catch {
+ namespace Benchmark {
+ namespace Detail {
+ struct optimized_away_error : std::exception {
+ const char* what() const noexcept override;
+ };
+
+ const char* optimized_away_error::what() const noexcept {
+ return "could not measure benchmark, maybe it was optimized away";
+ }
+
+ void throw_optimized_away_error() {
+ Catch::throw_exception(optimized_away_error{});
+ }
+
+ } // namespace Detail
+ } // namespace Benchmark
+} // namespace Catch
+
+
+// Adapted from donated nonius code.
+
+
+
+#include
+#include
+#include
+#include
+
+
+#if defined(CATCH_CONFIG_USE_ASYNC)
+#include
+#endif
+
+namespace {
+
+using Catch::Benchmark::Detail::sample;
+
+ template
+ sample resample(URng& rng, unsigned int resamples, std::vector::iterator first, std::vector::iterator last, Estimator& estimator) {
+ auto n = static_cast(last - first);
+ std::uniform_int_distribution dist(0, n - 1);
+
+ sample out;
+ out.reserve(resamples);
+ std::generate_n(std::back_inserter(out), resamples, [n, first, &estimator, &dist, &rng] {
+ std::vector resampled;
+ resampled.reserve(n);
+ std::generate_n(std::back_inserter(resampled), n, [first, &dist, &rng] { return first[static_cast(dist(rng))]; });
+ return estimator(resampled.begin(), resampled.end());
+ });
+ std::sort(out.begin(), out.end());
+ return out;
+ }
+
+
+ double erf_inv(double x) {
+ // Code accompanying the article "Approximating the erfinv function" in GPU Computing Gems, Volume 2
+ double w, p;
+
+ w = -log((1.0 - x) * (1.0 + x));
+
+ if (w < 6.250000) {
+ w = w - 3.125000;
+ p = -3.6444120640178196996e-21;
+ p = -1.685059138182016589e-19 + p * w;
+ p = 1.2858480715256400167e-18 + p * w;
+ p = 1.115787767802518096e-17 + p * w;
+ p = -1.333171662854620906e-16 + p * w;
+ p = 2.0972767875968561637e-17 + p * w;
+ p = 6.6376381343583238325e-15 + p * w;
+ p = -4.0545662729752068639e-14 + p * w;
+ p = -8.1519341976054721522e-14 + p * w;
+ p = 2.6335093153082322977e-12 + p * w;
+ p = -1.2975133253453532498e-11 + p * w;
+ p = -5.4154120542946279317e-11 + p * w;
+ p = 1.051212273321532285e-09 + p * w;
+ p = -4.1126339803469836976e-09 + p * w;
+ p = -2.9070369957882005086e-08 + p * w;
+ p = 4.2347877827932403518e-07 + p * w;
+ p = -1.3654692000834678645e-06 + p * w;
+ p = -1.3882523362786468719e-05 + p * w;
+ p = 0.0001867342080340571352 + p * w;
+ p = -0.00074070253416626697512 + p * w;
+ p = -0.0060336708714301490533 + p * w;
+ p = 0.24015818242558961693 + p * w;
+ p = 1.6536545626831027356 + p * w;
+ } else if (w < 16.000000) {
+ w = sqrt(w) - 3.250000;
+ p = 2.2137376921775787049e-09;
+ p = 9.0756561938885390979e-08 + p * w;
+ p = -2.7517406297064545428e-07 + p * w;
+ p = 1.8239629214389227755e-08 + p * w;
+ p = 1.5027403968909827627e-06 + p * w;
+ p = -4.013867526981545969e-06 + p * w;
+ p = 2.9234449089955446044e-06 + p * w;
+ p = 1.2475304481671778723e-05 + p * w;
+ p = -4.7318229009055733981e-05 + p * w;
+ p = 6.8284851459573175448e-05 + p * w;
+ p = 2.4031110387097893999e-05 + p * w;
+ p = -0.0003550375203628474796 + p * w;
+ p = 0.00095328937973738049703 + p * w;
+ p = -0.0016882755560235047313 + p * w;
+ p = 0.0024914420961078508066 + p * w;
+ p = -0.0037512085075692412107 + p * w;
+ p = 0.005370914553590063617 + p * w;
+ p = 1.0052589676941592334 + p * w;
+ p = 3.0838856104922207635 + p * w;
+ } else {
+ w = sqrt(w) - 5.000000;
+ p = -2.7109920616438573243e-11;
+ p = -2.5556418169965252055e-10 + p * w;
+ p = 1.5076572693500548083e-09 + p * w;
+ p = -3.7894654401267369937e-09 + p * w;
+ p = 7.6157012080783393804e-09 + p * w;
+ p = -1.4960026627149240478e-08 + p * w;
+ p = 2.9147953450901080826e-08 + p * w;
+ p = -6.7711997758452339498e-08 + p * w;
+ p = 2.2900482228026654717e-07 + p * w;
+ p = -9.9298272942317002539e-07 + p * w;
+ p = 4.5260625972231537039e-06 + p * w;
+ p = -1.9681778105531670567e-05 + p * w;
+ p = 7.5995277030017761139e-05 + p * w;
+ p = -0.00021503011930044477347 + p * w;
+ p = -0.00013871931833623122026 + p * w;
+ p = 1.0103004648645343977 + p * w;
+ p = 4.8499064014085844221 + p * w;
+ }
+ return p * x;
+ }
+
+ double standard_deviation(std::vector::iterator first, std::vector::iterator last) {
+ auto m = Catch::Benchmark::Detail::mean(first, last);
+ double variance = std::accumulate( first,
+ last,
+ 0.,
+ [m]( double a, double b ) {
+ double diff = b - m;
+ return a + diff * diff;
+ } ) /
+ ( last - first );
+ return std::sqrt( variance );
+ }
+
+}
+
+namespace Catch {
+ namespace Benchmark {
+ namespace Detail {
+
+#if defined( __GNUC__ ) || defined( __clang__ )
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+ bool directCompare( double lhs, double rhs ) { return lhs == rhs; }
+#if defined( __GNUC__ ) || defined( __clang__ )
+# pragma GCC diagnostic pop
+#endif
+
+ double weighted_average_quantile(int k, int q, std::vector::iterator first, std::vector::iterator last) {
+ auto count = last - first;
+ double idx = (count - 1) * k / static_cast(q);
+ int j = static_cast(idx);
+ double g = idx - j;
+ std::nth_element(first, first + j, last);
+ auto xj = first[j];
+ if ( directCompare( g, 0 ) ) {
+ return xj;
+ }
+
+ auto xj1 = *std::min_element(first + (j + 1), last);
+ return xj + g * (xj1 - xj);
+ }
+
+
+ double erfc_inv(double x) {
+ return erf_inv(1.0 - x);
+ }
+
+ double normal_quantile(double p) {
+ static const double ROOT_TWO = std::sqrt(2.0);
+
+ double result = 0.0;
+ assert(p >= 0 && p <= 1);
+ if (p < 0 || p > 1) {
+ return result;
+ }
+
+ result = -erfc_inv(2.0 * p);
+ // result *= normal distribution standard deviation (1.0) * sqrt(2)
+ result *= /*sd * */ ROOT_TWO;
+ // result += normal disttribution mean (0)
+ return result;
+ }
+
+
+ double outlier_variance(Estimate mean, Estimate stddev, int n) {
+ double sb = stddev.point;
+ double mn = mean.point / n;
+ double mg_min = mn / 2.;
+ double sg = (std::min)(mg_min / 4., sb / std::sqrt(n));
+ double sg2 = sg * sg;
+ double sb2 = sb * sb;
+
+ auto c_max = [n, mn, sb2, sg2](double x) -> double {
+ double k = mn - x;
+ double d = k * k;
+ double nd = n * d;
+ double k0 = -n * nd;
+ double k1 = sb2 - n * sg2 + nd;
+ double det = k1 * k1 - 4 * sg2 * k0;
+ return static_cast(-2. * k0 / (k1 + std::sqrt(det)));
+ };
+
+ auto var_out = [n, sb2, sg2](double c) {
+ double nc = n - c;
+ return (nc / n) * (sb2 - nc * sg2);
+ };
+
+ return (std::min)(var_out(1), var_out((std::min)(c_max(0.), c_max(mg_min)))) / sb2;
+ }
+
+
+ bootstrap_analysis analyse_samples(double confidence_level, unsigned int n_resamples, std::vector::iterator first, std::vector::iterator last) {
+ CATCH_INTERNAL_START_WARNINGS_SUPPRESSION
+ CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
+ static std::random_device entropy;
+ CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
+
+ auto n = static_cast(last - first); // seriously, one can't use integral types without hell in C++
+
+ auto mean = &Detail::mean::iterator>;
+ auto stddev = &standard_deviation;
+
+#if defined(CATCH_CONFIG_USE_ASYNC)
+ auto Estimate = [=](double(*f)(std::vector::iterator, std::vector::iterator)) {
+ auto seed = entropy();
+ return std::async(std::launch::async, [=] {
+ std::mt19937 rng(seed);
+ auto resampled = resample(rng, n_resamples, first, last, f);
+ return bootstrap(confidence_level, first, last, resampled, f);
+ });
+ };
+
+ auto mean_future = Estimate(mean);
+ auto stddev_future = Estimate(stddev);
+
+ auto mean_estimate = mean_future.get();
+ auto stddev_estimate = stddev_future.get();
+#else
+ auto Estimate = [=](double(*f)(std::vector::iterator, std::vector::iterator)) {
+ auto seed = entropy();
+ std::mt19937 rng(seed);
+ auto resampled = resample(rng, n_resamples, first, last, f);
+ return bootstrap(confidence_level, first, last, resampled, f);
+ };
+
+ auto mean_estimate = Estimate(mean);
+ auto stddev_estimate = Estimate(stddev);
+#endif // CATCH_USE_ASYNC
+
+ double outlier_variance = Detail::outlier_variance(mean_estimate, stddev_estimate, n);
+
+ return { mean_estimate, stddev_estimate, outlier_variance };
+ }
+ } // namespace Detail
+ } // namespace Benchmark
+} // namespace Catch
+
+
+
+#include
+#include
+
+namespace {
+
+// Performs equivalent check of std::fabs(lhs - rhs) <= margin
+// But without the subtraction to allow for INFINITY in comparison
+bool marginComparison(double lhs, double rhs, double margin) {
+ return (lhs + margin >= rhs) && (rhs + margin >= lhs);
+}
+
+}
+
+namespace Catch {
+
+ Approx::Approx ( double value )
+ : m_epsilon( std::numeric_limits::epsilon()*100. ),
+ m_margin( 0.0 ),
+ m_scale( 0.0 ),
+ m_value( value )
+ {}
+
+ Approx Approx::custom() {
+ return Approx( 0 );
+ }
+
+ Approx Approx::operator-() const {
+ auto temp(*this);
+ temp.m_value = -temp.m_value;
+ return temp;
+ }
+
+
+ std::string Approx::toString() const {
+ ReusableStringStream rss;
+ rss << "Approx( " << ::Catch::Detail::stringify( m_value ) << " )";
+ return rss.str();
+ }
+
+ bool Approx::equalityComparisonImpl(const double other) const {
+ // First try with fixed margin, then compute margin based on epsilon, scale and Approx's value
+ // Thanks to Richard Harris for his help refining the scaled margin value
+ return marginComparison(m_value, other, m_margin)
+ || marginComparison(m_value, other, m_epsilon * (m_scale + std::fabs(std::isinf(m_value)? 0 : m_value)));
+ }
+
+ void Approx::setMargin(double newMargin) {
+ CATCH_ENFORCE(newMargin >= 0,
+ "Invalid Approx::margin: " << newMargin << '.'
+ << " Approx::Margin has to be non-negative.");
+ m_margin = newMargin;
+ }
+
+ void Approx::setEpsilon(double newEpsilon) {
+ CATCH_ENFORCE(newEpsilon >= 0 && newEpsilon <= 1.0,
+ "Invalid Approx::epsilon: " << newEpsilon << '.'
+ << " Approx::epsilon has to be in [0, 1]");
+ m_epsilon = newEpsilon;
+ }
+
+namespace literals {
+ Approx operator "" _a(long double val) {
+ return Approx(val);
+ }
+ Approx operator "" _a(unsigned long long val) {
+ return Approx(val);
+ }
+} // end namespace literals
+
+std::string StringMaker::convert(Catch::Approx const& value) {
+ return value.toString();
+}
+
+} // end namespace Catch
+
+
+
+namespace Catch {
+
+ AssertionResultData::AssertionResultData(ResultWas::OfType _resultType, LazyExpression const & _lazyExpression):
+ lazyExpression(_lazyExpression),
+ resultType(_resultType) {}
+
+ std::string AssertionResultData::reconstructExpression() const {
+
+ if( reconstructedExpression.empty() ) {
+ if( lazyExpression ) {
+ ReusableStringStream rss;
+ rss << lazyExpression;
+ reconstructedExpression = rss.str();
+ }
+ }
+ return reconstructedExpression;
+ }
+
+ AssertionResult::AssertionResult( AssertionInfo const& info, AssertionResultData const& data )
+ : m_info( info ),
+ m_resultData( data )
+ {}
+
+ // Result was a success
+ bool AssertionResult::succeeded() const {
+ return Catch::isOk( m_resultData.resultType );
+ }
+
+ // Result was a success, or failure is suppressed
+ bool AssertionResult::isOk() const {
+ return Catch::isOk( m_resultData.resultType ) || shouldSuppressFailure( m_info.resultDisposition );
+ }
+
+ ResultWas::OfType AssertionResult::getResultType() const {
+ return m_resultData.resultType;
+ }
+
+ bool AssertionResult::hasExpression() const {
+ return !m_info.capturedExpression.empty();
+ }
+
+ bool AssertionResult::hasMessage() const {
+ return !m_resultData.message.empty();
+ }
+
+ std::string AssertionResult::getExpression() const {
+ // Possibly overallocating by 3 characters should be basically free
+ std::string expr; expr.reserve(m_info.capturedExpression.size() + 3);
+ if (isFalseTest(m_info.resultDisposition)) {
+ expr += "!(";
+ }
+ expr += m_info.capturedExpression;
+ if (isFalseTest(m_info.resultDisposition)) {
+ expr += ')';
+ }
+ return expr;
+ }
+
+ std::string AssertionResult::getExpressionInMacro() const {
+ std::string expr;
+ if( m_info.macroName.empty() )
+ expr = static_cast(m_info.capturedExpression);
+ else {
+ expr.reserve( m_info.macroName.size() + m_info.capturedExpression.size() + 4 );
+ expr += m_info.macroName;
+ expr += "( ";
+ expr += m_info.capturedExpression;
+ expr += " )";
+ }
+ return expr;
+ }
+
+ bool AssertionResult::hasExpandedExpression() const {
+ return hasExpression() && getExpandedExpression() != getExpression();
+ }
+
+ std::string AssertionResult::getExpandedExpression() const {
+ std::string expr = m_resultData.reconstructExpression();
+ return expr.empty()
+ ? getExpression()
+ : expr;
+ }
+
+ StringRef AssertionResult::getMessage() const {
+ return m_resultData.message;
+ }
+ SourceLineInfo AssertionResult::getSourceInfo() const {
+ return m_info.lineInfo;
+ }
+
+ StringRef AssertionResult::getTestMacroName() const {
+ return m_info.macroName;
+ }
+
+} // end namespace Catch
+
+
+
+namespace {
+ bool provideBazelReporterOutput() {
+#if defined(CATCH_CONFIG_BAZEL_SUPPORT)
+ return true;
+#elif defined(CATCH_PLATFORM_WINDOWS_UWP)
+ // UWP does not support environment variables
+ return false;
+#else
+
+# if defined( _MSC_VER )
+ // On Windows getenv throws a warning as there is no input validation,
+ // since the switch is hardcoded, this should not be an issue.
+# pragma warning( push )
+# pragma warning( disable : 4996 )
+# endif
+
+ return std::getenv( "BAZEL_TEST" ) != nullptr;
+
+# if defined( _MSC_VER )
+# pragma warning( pop )
+# endif
+#endif
+ }
+}
+
+namespace Catch {
+
+ bool operator==( ProcessedReporterSpec const& lhs,
+ ProcessedReporterSpec const& rhs ) {
+ return lhs.name == rhs.name &&
+ lhs.outputFilename == rhs.outputFilename &&
+ lhs.colourMode == rhs.colourMode &&
+ lhs.customOptions == rhs.customOptions;
+ }
+
+ Config::Config( ConfigData const& data ):
+ m_data( data ) {
+ // We need to trim filter specs to avoid trouble with superfluous
+ // whitespace (esp. important for bdd macros, as those are manually
+ // aligned with whitespace).
+
+ for (auto& elem : m_data.testsOrTags) {
+ elem = trim(elem);
+ }
+ for (auto& elem : m_data.sectionsToRun) {
+ elem = trim(elem);
+ }
+
+
+ TestSpecParser parser(ITagAliasRegistry::get());
+ if (!m_data.testsOrTags.empty()) {
+ m_hasTestFilters = true;
+ for (auto const& testOrTags : m_data.testsOrTags) {
+ parser.parse(testOrTags);
+ }
+ }
+ m_testSpec = parser.testSpec();
+
+
+ // Insert the default reporter if user hasn't asked for a specfic one
+ if ( m_data.reporterSpecifications.empty() ) {
+ m_data.reporterSpecifications.push_back( {
+#if defined( CATCH_CONFIG_DEFAULT_REPORTER )
+ CATCH_CONFIG_DEFAULT_REPORTER,
+#else
+ "console",
+#endif
+ {}, {}, {}
+ } );
+ }
+
+#if !defined(CATCH_PLATFORM_WINDOWS_UWP)
+ if(provideBazelReporterOutput()){
+ // Register a JUnit reporter for Bazel. Bazel sets an environment
+ // variable with the path to XML output. If this file is written to
+ // during test, Bazel will not generate a default XML output.
+ // This allows the XML output file to contain higher level of detail
+ // than what is possible otherwise.
+# if defined( _MSC_VER )
+ // On Windows getenv throws a warning as there is no input validation,
+ // since the key is hardcoded, this should not be an issue.
+# pragma warning( push )
+# pragma warning( disable : 4996 )
+# endif
+ const auto bazelOutputFilePtr = std::getenv( "XML_OUTPUT_FILE" );
+# if defined( _MSC_VER )
+# pragma warning( pop )
+# endif
+ if ( bazelOutputFilePtr != nullptr ) {
+ m_data.reporterSpecifications.push_back(
+ { "junit", std::string( bazelOutputFilePtr ), {}, {} } );
+ }
+ }
+#endif
+
+ // We now fixup the reporter specs to handle default output spec,
+ // default colour spec, etc
+ bool defaultOutputUsed = false;
+ for ( auto const& reporterSpec : m_data.reporterSpecifications ) {
+ // We do the default-output check separately, while always
+ // using the default output below to make the code simpler
+ // and avoid superfluous copies.
+ if ( reporterSpec.outputFile().none() ) {
+ CATCH_ENFORCE( !defaultOutputUsed,
+ "Internal error: cannot use default output for "
+ "multiple reporters" );
+ defaultOutputUsed = true;
+ }
+
+ m_processedReporterSpecs.push_back( ProcessedReporterSpec{
+ reporterSpec.name(),
+ reporterSpec.outputFile() ? *reporterSpec.outputFile()
+ : data.defaultOutputFilename,
+ reporterSpec.colourMode().valueOr( data.defaultColourMode ),
+ reporterSpec.customOptions() } );
+ }
+ }
+
+ Config::~Config() = default;
+
+
+ bool Config::listTests() const { return m_data.listTests; }
+ bool Config::listTags() const { return m_data.listTags; }
+ bool Config::listReporters() const { return m_data.listReporters; }
+ bool Config::listListeners() const { return m_data.listListeners; }
+
+ std::vector const& Config::getTestsOrTags() const { return m_data.testsOrTags; }
+ std::vector const& Config::getSectionsToRun() const { return m_data.sectionsToRun; }
+
+ std::vector const& Config::getReporterSpecs() const {
+ return m_data.reporterSpecifications;
+ }
+
+ std::vector const&
+ Config::getProcessedReporterSpecs() const {
+ return m_processedReporterSpecs;
+ }
+
+ TestSpec const& Config::testSpec() const { return m_testSpec; }
+ bool Config::hasTestFilters() const { return m_hasTestFilters; }
+
+ bool Config::showHelp() const { return m_data.showHelp; }
+
+ // IConfig interface
+ bool Config::allowThrows() const { return !m_data.noThrow; }
+ StringRef Config::name() const { return m_data.name.empty() ? m_data.processName : m_data.name; }
+ bool Config::includeSuccessfulResults() const { return m_data.showSuccessfulTests; }
+ bool Config::warnAboutMissingAssertions() const {
+ return !!( m_data.warnings & WarnAbout::NoAssertions );
+ }
+ bool Config::warnAboutUnmatchedTestSpecs() const {
+ return !!( m_data.warnings & WarnAbout::UnmatchedTestSpec );
+ }
+ bool Config::zeroTestsCountAsSuccess() const { return m_data.allowZeroTests; }
+ ShowDurations Config::showDurations() const { return m_data.showDurations; }
+ double Config::minDuration() const { return m_data.minDuration; }
+ TestRunOrder Config::runOrder() const { return m_data.runOrder; }
+ uint32_t Config::rngSeed() const { return m_data.rngSeed; }
+ unsigned int Config::shardCount() const { return m_data.shardCount; }
+ unsigned int Config::shardIndex() const { return m_data.shardIndex; }
+ ColourMode Config::defaultColourMode() const { return m_data.defaultColourMode; }
+ bool Config::shouldDebugBreak() const { return m_data.shouldDebugBreak; }
+ int Config::abortAfter() const { return m_data.abortAfter; }
+ bool Config::showInvisibles() const { return m_data.showInvisibles; }
+ Verbosity Config::verbosity() const { return m_data.verbosity; }
+
+ bool Config::skipBenchmarks() const { return m_data.skipBenchmarks; }
+ bool Config::benchmarkNoAnalysis() const { return m_data.benchmarkNoAnalysis; }
+ unsigned int Config::benchmarkSamples() const { return m_data.benchmarkSamples; }
+ double Config::benchmarkConfidenceInterval() const { return m_data.benchmarkConfidenceInterval; }
+ unsigned int Config::benchmarkResamples() const { return m_data.benchmarkResamples; }
+ std::chrono::milliseconds Config::benchmarkWarmupTime() const { return std::chrono::milliseconds(m_data.benchmarkWarmupTime); }
+
+} // end namespace Catch
+
+
+
+
+
+namespace Catch {
+ std::uint32_t getSeed() {
+ return getCurrentContext().getConfig()->rngSeed();
+ }
+}
+
+
+
+#include
+#include
+
+namespace Catch {
+
+ ////////////////////////////////////////////////////////////////////////////
+
+
+ ScopedMessage::ScopedMessage( MessageBuilder const& builder ):
+ m_info( builder.m_info ) {
+ m_info.message = builder.m_stream.str();
+ getResultCapture().pushScopedMessage( m_info );
+ }
+
+ ScopedMessage::ScopedMessage( ScopedMessage&& old ) noexcept:
+ m_info( CATCH_MOVE( old.m_info ) ) {
+ old.m_moved = true;
+ }
+
+ ScopedMessage::~ScopedMessage() {
+ if ( !uncaught_exceptions() && !m_moved ){
+ getResultCapture().popScopedMessage(m_info);
+ }
+ }
+
+
+ Capturer::Capturer( StringRef macroName, SourceLineInfo const& lineInfo, ResultWas::OfType resultType, StringRef names ) {
+ auto trimmed = [&] (size_t start, size_t end) {
+ while (names[start] == ',' || isspace(static_cast(names[start]))) {
+ ++start;
+ }
+ while (names[end] == ',' || isspace(static_cast(names[end]))) {
+ --end;
+ }
+ return names.substr(start, end - start + 1);
+ };
+ auto skipq = [&] (size_t start, char quote) {
+ for (auto i = start + 1; i < names.size() ; ++i) {
+ if (names[i] == quote)
+ return i;
+ if (names[i] == '\\')
+ ++i;
+ }
+ CATCH_INTERNAL_ERROR("CAPTURE parsing encountered unmatched quote");
+ };
+
+ size_t start = 0;
+ std::stack openings;
+ for (size_t pos = 0; pos < names.size(); ++pos) {
+ char c = names[pos];
+ switch (c) {
+ case '[':
+ case '{':
+ case '(':
+ // It is basically impossible to disambiguate between
+ // comparison and start of template args in this context
+// case '<':
+ openings.push(c);
+ break;
+ case ']':
+ case '}':
+ case ')':
+// case '>':
+ openings.pop();
+ break;
+ case '"':
+ case '\'':
+ pos = skipq(pos, c);
+ break;
+ case ',':
+ if (start != pos && openings.empty()) {
+ m_messages.emplace_back(macroName, lineInfo, resultType);
+ m_messages.back().message = static_cast(trimmed(start, pos));
+ m_messages.back().message += " := ";
+ start = pos;
+ }
+ }
+ }
+ assert(openings.empty() && "Mismatched openings");
+ m_messages.emplace_back(macroName, lineInfo, resultType);
+ m_messages.back().message = static_cast(trimmed(start, names.size() - 1));
+ m_messages.back().message += " := ";
+ }
+ Capturer::~Capturer() {
+ if ( !uncaught_exceptions() ){
+ assert( m_captured == m_messages.size() );
+ for( size_t i = 0; i < m_captured; ++i )
+ m_resultCapture.popScopedMessage( m_messages[i] );
+ }
+ }
+
+ void Capturer::captureValue( size_t index, std::string const& value ) {
+ assert( index < m_messages.size() );
+ m_messages[index].message += value;
+ m_resultCapture.pushScopedMessage( m_messages[index] );
+ m_captured++;
+ }
+
+} // end namespace Catch
+
+
+
+
+namespace Catch {
+
+ namespace {
+
+ class RegistryHub : public IRegistryHub,
+ public IMutableRegistryHub,
+ private Detail::NonCopyable {
+
+ public: // IRegistryHub
+ RegistryHub() = default;
+ IReporterRegistry const& getReporterRegistry() const override {
+ return m_reporterRegistry;
+ }
+ ITestCaseRegistry const& getTestCaseRegistry() const override {
+ return m_testCaseRegistry;
+ }
+ IExceptionTranslatorRegistry const& getExceptionTranslatorRegistry() const override {
+ return m_exceptionTranslatorRegistry;
+ }
+ ITagAliasRegistry const& getTagAliasRegistry() const override {
+ return m_tagAliasRegistry;
+ }
+ StartupExceptionRegistry const& getStartupExceptionRegistry() const override {
+ return m_exceptionRegistry;
+ }
+
+ public: // IMutableRegistryHub
+ void registerReporter( std::string const& name, IReporterFactoryPtr factory ) override {
+ m_reporterRegistry.registerReporter( name, CATCH_MOVE(factory) );
+ }
+ void registerListener( Detail::unique_ptr factory ) override {
+ m_reporterRegistry.registerListener( CATCH_MOVE(factory) );
+ }
+ void registerTest( Detail::unique_ptr&& testInfo, Detail::unique_ptr&& invoker ) override {
+ m_testCaseRegistry.registerTest( CATCH_MOVE(testInfo), CATCH_MOVE(invoker) );
+ }
+ void registerTranslator( Detail::unique_ptr&& translator ) override {
+ m_exceptionTranslatorRegistry.registerTranslator( CATCH_MOVE(translator) );
+ }
+ void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) override {
+ m_tagAliasRegistry.add( alias, tag, lineInfo );
+ }
+ void registerStartupException() noexcept override {
+#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
+ m_exceptionRegistry.add(std::current_exception());
+#else
+ CATCH_INTERNAL_ERROR("Attempted to register active exception under CATCH_CONFIG_DISABLE_EXCEPTIONS!");
+#endif
+ }
+ IMutableEnumValuesRegistry& getMutableEnumValuesRegistry() override {
+ return m_enumValuesRegistry;
+ }
+
+ private:
+ TestRegistry m_testCaseRegistry;
+ ReporterRegistry m_reporterRegistry;
+ ExceptionTranslatorRegistry m_exceptionTranslatorRegistry;
+ TagAliasRegistry m_tagAliasRegistry;
+ StartupExceptionRegistry m_exceptionRegistry;
+ Detail::EnumValuesRegistry m_enumValuesRegistry;
+ };
+ }
+
+ using RegistryHubSingleton = Singleton;
+
+ IRegistryHub const& getRegistryHub() {
+ return RegistryHubSingleton::get();
+ }
+ IMutableRegistryHub& getMutableRegistryHub() {
+ return RegistryHubSingleton::getMutable();
+ }
+ void cleanUp() {
+ cleanupSingletons();
+ cleanUpContext();
+ }
+ std::string translateActiveException() {
+ return getRegistryHub().getExceptionTranslatorRegistry().translateActiveException();
+ }
+
+
+} // end namespace Catch
+
+
+
+#include
+#include
+#include
+#include
+
+namespace Catch {
+
+ namespace {
+ const int MaxExitCode = 255;
+
+ IEventListenerPtr createReporter(std::string const& reporterName, ReporterConfig&& config) {
+ auto reporter = Catch::getRegistryHub().getReporterRegistry().create(reporterName, CATCH_MOVE(config));
+ CATCH_ENFORCE(reporter, "No reporter registered with name: '" << reporterName << '\'');
+
+ return reporter;
+ }
+
+ IEventListenerPtr prepareReporters(Config const* config) {
+ if (Catch::getRegistryHub().getReporterRegistry().getListeners().empty()
+ && config->getProcessedReporterSpecs().size() == 1) {
+ auto const& spec = config->getProcessedReporterSpecs()[0];
+ return createReporter(
+ spec.name,
+ ReporterConfig( config,
+ makeStream( spec.outputFilename ),
+ spec.colourMode,
+ spec.customOptions ) );
+ }
+
+ auto multi = Detail::make_unique