mirror of
https://github.com/recastnavigation/recastnavigation.git
synced 2026-10-30 20:45:49 +00:00
Merge branch 'main' into release-2.0
# Conflicts: # Recast/Include/Recast.h # Recast/Source/Recast.cpp # RecastDemo/Include/Sample.h # RecastDemo/Source/Sample.cpp
This commit is contained in:
Graham Pentheny
+359
-321
@@ -16,61 +16,73 @@
|
||||
// 3. This notice may not be removed or altered from any source distribution.
|
||||
//
|
||||
|
||||
#include <float.h>
|
||||
#define _USE_MATH_DEFINES
|
||||
#include <math.h>
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
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||||
#include <stdarg.h>
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#include <new>
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#include "Recast.h"
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#include "RecastAlloc.h"
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||||
#include "RecastAssert.h"
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|
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#include <math.h>
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||||
#include <string.h>
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||||
#include <stdio.h>
|
||||
#include <stdarg.h>
|
||||
|
||||
namespace
|
||||
{
|
||||
/// Allocates and constructs an object of the given type, returning a pointer.
|
||||
/// @param[in] allocLifetime Allocation lifetime hint
|
||||
template<typename T>
|
||||
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<typename T>
|
||||
void rcDelete(T* ptr)
|
||||
{
|
||||
if (ptr)
|
||||
{
|
||||
ptr->~T();
|
||||
rcFree((void*)ptr);
|
||||
}
|
||||
}
|
||||
} // anonymous namespace
|
||||
|
||||
float rcSqrt(float x)
|
||||
{
|
||||
return sqrtf(x);
|
||||
}
|
||||
|
||||
/// @class rcContext
|
||||
/// @par
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||||
///
|
||||
/// 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
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||||
///
|
||||
/// 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);
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||||
/// @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<rcHeightfield>(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<rcCompactHeightfield>(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;
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||||
return rcNew<rcHeightfieldLayerSet>(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<rcContourSet>(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<rcPolyMesh>(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<rcPolyMeshDetail>(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;
|
||||
}
|
||||
*/
|
||||
|
||||
Reference in New Issue
Block a user