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Merge pull request #7908 from SaracenOne/recast

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In-editor navmesh generation.
This commit is contained in:
Rémi Verschelde 2017-09-13 19:22:29 +02:00 committed by GitHub
parent d85472bef0 92e77d5ff2
commit 27ae3c839d
28 changed files with 10936 additions and 0 deletions
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1
SConstruct
View file

@ -168,6 +168,7 @@ opts.Add('builtin_libwebp', "Use the builtin libwebp library (yes/no)", 'yes')
opts.Add('builtin_openssl', "Use the builtin openssl library (yes/no)", 'yes')
opts.Add('builtin_opus', "Use the builtin opus library (yes/no)", 'yes')
opts.Add('builtin_pcre2', "Use the builtin pcre2 library (yes/no)", 'yes')
opts.Add('builtin_recast', "Use the builtin recast library (yes/no)", 'yes')
opts.Add('builtin_squish', "Use the builtin squish library (yes/no)", 'yes')
opts.Add('builtin_zlib', "Use the builtin zlib library (yes/no)", 'yes')

2
editor/editor_node.cpp
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@ -84,6 +84,7 @@
#include "editor/plugins/mesh_editor_plugin.h"
#include "editor/plugins/mesh_instance_editor_plugin.h"
#include "editor/plugins/multimesh_editor_plugin.h"
#include "editor/plugins/navigation_mesh_editor_plugin.h"
#include "editor/plugins/navigation_polygon_editor_plugin.h"
#include "editor/plugins/particles_2d_editor_plugin.h"
#include "editor/plugins/particles_editor_plugin.h"
@ -5440,6 +5441,7 @@ EditorNode::EditorNode() {
add_editor_plugin(memnew(TextureEditorPlugin(this)));
add_editor_plugin(memnew(MeshEditorPlugin(this)));
add_editor_plugin(memnew(AudioBusesEditorPlugin(audio_bus_editor)));
add_editor_plugin(memnew(NavigationMeshEditorPlugin(this)));
// FIXME: Disabled as (according to reduz) users were complaining that it gets in the way
// Waiting for PropertyEditor rewrite (planned for 3.1) to be refactored.

165
editor/plugins/navigation_mesh_editor_plugin.cpp Normal file
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@ -0,0 +1,165 @@
/*************************************************************************/
/* navigation_mesh_editor_plugin.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* 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. */
/*************************************************************************/
#include "navigation_mesh_editor_plugin.h"
#include "io/marshalls.h"
#include "io/resource_saver.h"
#include "scene/3d/mesh_instance.h"
#include "scene/gui/box_container.h"
#ifdef RECAST_ENABLED
void NavigationMeshEditor::_node_removed(Node *p_node) {
if (p_node == node) {
node = NULL;
hide();
}
}
void NavigationMeshEditor::_notification(int p_option) {
if (p_option == NOTIFICATION_ENTER_TREE) {
button_bake->set_icon(get_icon("Bake", "EditorIcons"));
button_reset->set_icon(get_icon("Reload", "EditorIcons"));
}
}
void NavigationMeshEditor::_bake_pressed() {
ERR_FAIL_COND(!node);
const String conf_warning = node->get_configuration_warning();
if (!conf_warning.empty()) {
err_dialog->set_text(conf_warning);
err_dialog->popup_centered_minsize();
button_bake->set_pressed(false);
return;
}
NavigationMeshGenerator::clear(node->get_navigation_mesh());
NavigationMeshGenerator::bake(node->get_navigation_mesh(), node);
if (node) {
node->update_gizmo();
}
}
void NavigationMeshEditor::_clear_pressed() {
if (node)
NavigationMeshGenerator::clear(node->get_navigation_mesh());
button_bake->set_pressed(false);
bake_info->set_text("");
if (node) {
node->update_gizmo();
}
}
void NavigationMeshEditor::edit(NavigationMeshInstance *p_nav_mesh_instance) {
if (p_nav_mesh_instance == NULL || node == p_nav_mesh_instance) {
return;
}
node = p_nav_mesh_instance;
}
void NavigationMeshEditor::_bind_methods() {
ClassDB::bind_method("_bake_pressed", &NavigationMeshEditor::_bake_pressed);
ClassDB::bind_method("_clear_pressed", &NavigationMeshEditor::_clear_pressed);
}
NavigationMeshEditor::NavigationMeshEditor() {
bake_hbox = memnew(HBoxContainer);
button_bake = memnew(ToolButton);
button_bake->set_text(TTR("Bake!"));
button_bake->set_toggle_mode(true);
button_reset = memnew(Button);
button_bake->set_tooltip(TTR("Bake the navigation mesh.\n"));
bake_info = memnew(Label);
bake_hbox->add_child(button_bake);
bake_hbox->add_child(button_reset);
bake_hbox->add_child(bake_info);
err_dialog = memnew(AcceptDialog);
add_child(err_dialog);
node = NULL;
button_bake->connect("pressed", this, "_bake_pressed");
button_reset->connect("pressed", this, "_clear_pressed");
button_reset->set_tooltip(TTR("Clear the navigation mesh."));
}
NavigationMeshEditor::~NavigationMeshEditor() {
}
void NavigationMeshEditorPlugin::edit(Object *p_object) {
navigation_mesh_editor->edit(Object::cast_to<NavigationMeshInstance>(p_object));
}
bool NavigationMeshEditorPlugin::handles(Object *p_object) const {
return p_object->is_class("NavigationMeshInstance");
}
void NavigationMeshEditorPlugin::make_visible(bool p_visible) {
if (p_visible) {
navigation_mesh_editor->show();
navigation_mesh_editor->bake_hbox->show();
} else {
navigation_mesh_editor->hide();
navigation_mesh_editor->bake_hbox->hide();
navigation_mesh_editor->edit(NULL);
}
}
NavigationMeshEditorPlugin::NavigationMeshEditorPlugin(EditorNode *p_node) {
editor = p_node;
navigation_mesh_editor = memnew(NavigationMeshEditor);
editor->get_viewport()->add_child(navigation_mesh_editor);
add_control_to_container(CONTAINER_SPATIAL_EDITOR_MENU, navigation_mesh_editor->bake_hbox);
navigation_mesh_editor->hide();
navigation_mesh_editor->bake_hbox->hide();
}
NavigationMeshEditorPlugin::~NavigationMeshEditorPlugin() {
}
#endif // RECAST_ENABLED

86
editor/plugins/navigation_mesh_editor_plugin.h Normal file
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@ -0,0 +1,86 @@
/*************************************************************************/
/* navigation_mesh_editor_plugin.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* 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. */
/*************************************************************************/
#ifndef NAVIGATION_MESH_GENERATOR_PLUGIN_H
#define NAVIGATION_MESH_GENERATOR_PLUGIN_H
#ifdef RECAST_ENABLED
#include "editor/editor_node.h"
#include "editor/editor_plugin.h"
#include "navigation_mesh_generator.h"
class NavigationMeshEditor : public Control {
friend class NavigationMeshEditorPlugin;
GDCLASS(NavigationMeshEditor, Control);
AcceptDialog *err_dialog;
HBoxContainer *bake_hbox;
Button *button_bake;
Button *button_reset;
Label *bake_info;
NavigationMeshInstance *node;
void _bake_pressed();
void _clear_pressed();
protected:
void _node_removed(Node *p_node);
static void _bind_methods();
void _notification(int p_what);
public:
void edit(NavigationMeshInstance *p_nav_mesh_instance);
NavigationMeshEditor();
~NavigationMeshEditor();
};
class NavigationMeshEditorPlugin : public EditorPlugin {
GDCLASS(NavigationMeshEditorPlugin, EditorPlugin);
NavigationMeshEditor *navigation_mesh_editor;
EditorNode *editor;
public:
virtual String get_name() const { return "NavigationMesh"; }
bool has_main_screen() const { return false; }
virtual void edit(Object *p_node);
virtual bool handles(Object *p_node) const;
virtual void make_visible(bool p_visible);
NavigationMeshEditorPlugin(EditorNode *p_node);
~NavigationMeshEditorPlugin();
};
#endif // RECAST_ENABLED
#endif // NAVIGATION_MESH_GENERATOR_PLUGIN_H

311
editor/plugins/navigation_mesh_generator.cpp Normal file
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@ -0,0 +1,311 @@
/*************************************************************************/
/* navigation_mesh_generator.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* 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. */
/*************************************************************************/
#include "navigation_mesh_generator.h"
#ifdef RECAST_ENABLED
void NavigationMeshGenerator::_add_vertex(const Vector3 &p_vec3, Vector<float> &p_verticies) {
p_verticies.push_back(p_vec3.x);
p_verticies.push_back(p_vec3.y);
p_verticies.push_back(p_vec3.z);
}
void NavigationMeshGenerator::_add_mesh(const Ref<Mesh> &p_mesh, const Transform &p_xform, Vector<float> &p_verticies, Vector<int> &p_indices) {
int current_vertex_count = p_verticies.size() / 3;
for (int i = 0; i < p_mesh->get_surface_count(); i++) {
if (p_mesh->surface_get_primitive_type(i) != Mesh::PRIMITIVE_TRIANGLES)
continue;
int index_count = 0;
if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
index_count = p_mesh->surface_get_array_index_len(i);
} else {
index_count = p_mesh->surface_get_array_len(i);
}
ERR_CONTINUE((index_count == 0 || (index_count % 3) != 0));
int face_count = index_count / 3;
Array a = p_mesh->surface_get_arrays(i);
PoolVector<Vector3> mesh_vertices = a[Mesh::ARRAY_VERTEX];
PoolVector<Vector3>::Read vr = mesh_vertices.read();
if (p_mesh->surface_get_format(i) & Mesh::ARRAY_FORMAT_INDEX) {
PoolVector<int> mesh_indices = a[Mesh::ARRAY_INDEX];
PoolVector<int>::Read ir = mesh_indices.read();
for (int i = 0; i < mesh_vertices.size(); i++) {
_add_vertex(p_xform.xform(vr[i]), p_verticies);
}
for (int i = 0; i < face_count; i++) {
// CCW
p_indices.push_back(current_vertex_count + (ir[i * 3 + 0]));
p_indices.push_back(current_vertex_count + (ir[i * 3 + 2]));
p_indices.push_back(current_vertex_count + (ir[i * 3 + 1]));
}
} else {
face_count = mesh_vertices.size() / 3;
for (int i = 0; i < face_count; i++) {
_add_vertex(p_xform.xform(vr[i * 3 + 0]), p_verticies);
_add_vertex(p_xform.xform(vr[i * 3 + 2]), p_verticies);
_add_vertex(p_xform.xform(vr[i * 3 + 1]), p_verticies);
p_indices.push_back(current_vertex_count + (i * 3 + 0));
p_indices.push_back(current_vertex_count + (i * 3 + 1));
p_indices.push_back(current_vertex_count + (i * 3 + 2));
}
}
}
}
void NavigationMeshGenerator::_parse_geometry(const Transform &p_base_inverse, Node *p_node, Vector<float> &p_verticies, Vector<int> &p_indices) {
if (Object::cast_to<MeshInstance>(p_node)) {
MeshInstance *mesh_instance = Object::cast_to<MeshInstance>(p_node);
Ref<Mesh> mesh = mesh_instance->get_mesh();
if (mesh.is_valid()) {
_add_mesh(mesh, p_base_inverse * mesh_instance->get_global_transform(), p_verticies, p_indices);
}
}
for (int i = 0; i < p_node->get_child_count(); i++) {
_parse_geometry(p_base_inverse, p_node->get_child(i), p_verticies, p_indices);
}
}
void NavigationMeshGenerator::_convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref<NavigationMesh> p_nav_mesh) {
PoolVector<Vector3> nav_vertices;
for (int i = 0; i < p_detail_mesh->nverts; i++) {
const float *v = &p_detail_mesh->verts[i * 3];
nav_vertices.append(Vector3(v[0], v[1], v[2]));
}
p_nav_mesh->set_vertices(nav_vertices);
for (int i = 0; i < p_detail_mesh->nmeshes; i++) {
const unsigned int *m = &p_detail_mesh->meshes[i * 4];
const unsigned int bverts = m[0];
const unsigned int btris = m[2];
const unsigned int ntris = m[3];
const unsigned char *tris = &p_detail_mesh->tris[btris * 4];
for (unsigned int j = 0; j < ntris; j++) {
Vector<int> nav_indices;
nav_indices.resize(3);
nav_indices[0] = ((int)(bverts + tris[j * 4 + 0]));
nav_indices[1] = ((int)(bverts + tris[j * 4 + 1]));
nav_indices[2] = ((int)(bverts + tris[j * 4 + 2]));
p_nav_mesh->add_polygon(nav_indices);
}
}
}
void NavigationMeshGenerator::_build_recast_navigation_mesh(Ref<NavigationMesh> p_nav_mesh, EditorProgress *ep,
rcHeightfield *hf, rcCompactHeightfield *chf, rcContourSet *cset, rcPolyMesh *poly_mesh, rcPolyMeshDetail *detail_mesh,
Vector<float> &verticies, Vector<int> &indices) {
rcContext ctx;
ep->step(TTR("Setting up Configuration..."), 1);
const float *verts = verticies.ptr();
const int nverts = verticies.size() / 3;
const int *tris = indices.ptr();
const int ntris = indices.size() / 3;
float bmin[3], bmax[3];
rcCalcBounds(verts, nverts, bmin, bmax);
rcConfig cfg;
memset(&cfg, 0, sizeof(cfg));
cfg.cs = p_nav_mesh->get_cell_size();
cfg.ch = p_nav_mesh->get_cell_height();
cfg.walkableSlopeAngle = p_nav_mesh->get_agent_max_slope();
cfg.walkableHeight = (int)Math::ceil(p_nav_mesh->get_agent_height() / cfg.ch);
cfg.walkableClimb = (int)Math::floor(p_nav_mesh->get_agent_max_climb() / cfg.ch);
cfg.walkableRadius = (int)Math::ceil(p_nav_mesh->get_agent_radius() / cfg.cs);
cfg.maxEdgeLen = (int)(p_nav_mesh->get_edge_max_length() / p_nav_mesh->get_cell_size());
cfg.maxSimplificationError = p_nav_mesh->get_edge_max_error();
cfg.minRegionArea = (int)(p_nav_mesh->get_region_min_size() * p_nav_mesh->get_region_min_size());
cfg.mergeRegionArea = (int)(p_nav_mesh->get_region_merge_size() * p_nav_mesh->get_region_merge_size());
cfg.maxVertsPerPoly = (int)p_nav_mesh->get_verts_per_poly();
cfg.detailSampleDist = p_nav_mesh->get_detail_sample_distance() < 0.9f ? 0 : p_nav_mesh->get_cell_size() * p_nav_mesh->get_detail_sample_distance();
cfg.detailSampleMaxError = p_nav_mesh->get_cell_height() * p_nav_mesh->get_detail_sample_max_error();
cfg.bmin[0] = bmin[0];
cfg.bmin[1] = bmin[1];
cfg.bmin[2] = bmin[2];
cfg.bmax[0] = bmax[0];
cfg.bmax[1] = bmax[1];
cfg.bmax[2] = bmax[2];
ep->step(TTR("Calculating grid size..."), 2);
rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
ep->step(TTR("Creating heightfield..."), 3);
hf = rcAllocHeightfield();
ERR_FAIL_COND(!hf);
ERR_FAIL_COND(!rcCreateHeightfield(&ctx, *hf, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch));
ep->step(TTR("Marking walkable triangles..."), 4);
{
Vector<unsigned char> tri_areas;
tri_areas.resize(ntris);
ERR_FAIL_COND(tri_areas.size() == 0);
memset(tri_areas.ptr(), 0, ntris * sizeof(unsigned char));
rcMarkWalkableTriangles(&ctx, cfg.walkableSlopeAngle, verts, nverts, tris, ntris, tri_areas.ptr());
ERR_FAIL_COND(!rcRasterizeTriangles(&ctx, verts, nverts, tris, tri_areas.ptr(), ntris, *hf, cfg.walkableClimb));
}
if (p_nav_mesh->get_filter_low_hanging_obstacles())
rcFilterLowHangingWalkableObstacles(&ctx, cfg.walkableClimb, *hf);
if (p_nav_mesh->get_filter_ledge_spans())
rcFilterLedgeSpans(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf);
if (p_nav_mesh->get_filter_walkable_low_height_spans())
rcFilterWalkableLowHeightSpans(&ctx, cfg.walkableHeight, *hf);
ep->step(TTR("Constructing compact heightfield..."), 5);
chf = rcAllocCompactHeightfield();
ERR_FAIL_COND(!chf);
ERR_FAIL_COND(!rcBuildCompactHeightfield(&ctx, cfg.walkableHeight, cfg.walkableClimb, *hf, *chf));
rcFreeHeightField(hf);
hf = 0;
ep->step(TTR("Eroding walkable area..."), 6);
ERR_FAIL_COND(!rcErodeWalkableArea(&ctx, cfg.walkableRadius, *chf));
ep->step(TTR("Partioning..."), 7);
if (p_nav_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_WATERSHED) {
ERR_FAIL_COND(!rcBuildDistanceField(&ctx, *chf));
ERR_FAIL_COND(!rcBuildRegions(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
} else if (p_nav_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_MONOTONE) {
ERR_FAIL_COND(!rcBuildRegionsMonotone(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
} else {
ERR_FAIL_COND(!rcBuildLayerRegions(&ctx, *chf, 0, cfg.minRegionArea));
}
ep->step(TTR("Creating contours..."), 8);
cset = rcAllocContourSet();
ERR_FAIL_COND(!cset);
ERR_FAIL_COND(!rcBuildContours(&ctx, *chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset));
ep->step(TTR("Creating polymesh..."), 9);
poly_mesh = rcAllocPolyMesh();
ERR_FAIL_COND(!poly_mesh);
ERR_FAIL_COND(!rcBuildPolyMesh(&ctx, *cset, cfg.maxVertsPerPoly, *poly_mesh));
detail_mesh = rcAllocPolyMeshDetail();
ERR_FAIL_COND(!detail_mesh);
ERR_FAIL_COND(!rcBuildPolyMeshDetail(&ctx, *poly_mesh, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *detail_mesh));
rcFreeCompactHeightfield(chf);
chf = 0;
rcFreeContourSet(cset);
cset = 0;
ep->step(TTR("Converting to native navigation mesh..."), 10);
_convert_detail_mesh_to_native_navigation_mesh(detail_mesh, p_nav_mesh);
rcFreePolyMesh(poly_mesh);
poly_mesh = 0;
rcFreePolyMeshDetail(detail_mesh);
detail_mesh = 0;
}
void NavigationMeshGenerator::bake(Ref<NavigationMesh> p_nav_mesh, Node *p_node) {
ERR_FAIL_COND(!p_nav_mesh.is_valid());
EditorProgress ep("bake", TTR("Navigation Mesh Generator Setup:"), 11);
ep.step(TTR("Parsing Geometry..."), 0);
Vector<float> verticies;
Vector<int> indices;
_parse_geometry(Object::cast_to<Spatial>(p_node)->get_global_transform().affine_inverse(), p_node, verticies, indices);
if (verticies.size() > 0 && indices.size() > 0) {
rcHeightfield *hf = NULL;
rcCompactHeightfield *chf = NULL;
rcContourSet *cset = NULL;
rcPolyMesh *poly_mesh = NULL;
rcPolyMeshDetail *detail_mesh = NULL;
_build_recast_navigation_mesh(p_nav_mesh, &ep, hf, chf, cset, poly_mesh, detail_mesh, verticies, indices);
if (hf) {
rcFreeHeightField(hf);
hf = 0;
}
if (chf) {
rcFreeCompactHeightfield(chf);
chf = 0;
}
if (cset) {
rcFreeContourSet(cset);
cset = 0;
}
if (poly_mesh) {
rcFreePolyMesh(poly_mesh);
poly_mesh = 0;
}
if (detail_mesh) {
rcFreePolyMeshDetail(detail_mesh);
detail_mesh = 0;
}
}
ep.step(TTR("Done!"), 11);
}
void NavigationMeshGenerator::clear(Ref<NavigationMesh> p_nav_mesh) {
if (p_nav_mesh.is_valid()) {
p_nav_mesh->clear_polygons();
p_nav_mesh->set_vertices(PoolVector<Vector3>());
}
}
#endif //RECAST_ENABLED

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editor/plugins/navigation_mesh_generator.h Normal file
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@ -0,0 +1,65 @@
/*************************************************************************/
/* navigation_mesh_generator.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* 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. */
/*************************************************************************/
#ifndef NAVIGATION_MESH_GENERATOR_H
#define NAVIGATION_MESH_GENERATOR_H
#ifdef RECAST_ENABLED
#include "editor/editor_node.h"
#include "editor/editor_settings.h"
#include "scene/3d/mesh_instance.h"
#include "scene/3d/navigation_mesh.h"
#include "os/thread.h"
#include "scene/resources/shape.h"
#include <Recast.h>
class NavigationMeshGenerator {
protected:
static void _add_vertex(const Vector3 &p_vec3, Vector<float> &p_verticies);
static void _add_mesh(const Ref<Mesh> &p_mesh, const Transform &p_xform, Vector<float> &p_verticies, Vector<int> &p_indices);
static void _parse_geometry(const Transform &p_base_inverse, Node *p_node, Vector<float> &p_verticies, Vector<int> &p_indices);
static void _convert_detail_mesh_to_native_navigation_mesh(const rcPolyMeshDetail *p_detail_mesh, Ref<NavigationMesh> p_nav_mesh);
static void _build_recast_navigation_mesh(Ref<NavigationMesh> p_nav_mesh, EditorProgress *ep,
rcHeightfield *hf, rcCompactHeightfield *chf, rcContourSet *cset, rcPolyMesh *poly_mesh,
rcPolyMeshDetail *detail_mesh, Vector<float> &verticies, Vector<int> &indices);
public:
static void bake(Ref<NavigationMesh> p_nav_mesh, Node *p_base);
static void clear(Ref<NavigationMesh> p_nav_mesh);
};
#endif // RECAST_ENABLED
#endif // NAVIGATION_MESH_GENERATOR_H

38
modules/recast/SCsub Normal file
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@ -0,0 +1,38 @@
#!/usr/bin/env python
Import('env')
# Not building in a separate env as core needs it
# Thirdparty source files
if (env['builtin_recast'] != 'no'):
thirdparty_dir = "#thirdparty/recastnavigation/Recast/"
thirdparty_sources = [
"Source/Recast.cpp",
"Source/RecastAlloc.cpp",
"Source/RecastArea.cpp",
"Source/RecastAssert.cpp",
"Source/RecastContour.cpp",
"Source/RecastFilter.cpp",
"Source/RecastLayers.cpp",
"Source/RecastMesh.cpp",
"Source/RecastMeshDetail.cpp",
"Source/RecastRasterization.cpp",
"Source/RecastRegion.cpp",
]
thirdparty_sources = [thirdparty_dir + file for file in thirdparty_sources]
env.Append(CPPPATH=[thirdparty_dir, thirdparty_dir + "/Include"])
# also requires recast headers
if (env['builtin_recast'] != 'no'):
env.Append(CPPPATH=["#thirdparty/recastnavigation/Recast"])
lib = env.Library("recast_builtin", thirdparty_sources)
env.Append(LIBS=[lib])
# Godot source files
env.add_source_files(env.modules_sources, "*.cpp")
env.Append(CCFLAGS=['-DRECAST_ENABLED'])
Export('env')

7
modules/recast/config.py Normal file
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@ -0,0 +1,7 @@
def can_build(platform):
return True
def configure(env):
pass

34
modules/recast/register_types.cpp Normal file
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@ -0,0 +1,34 @@
/*************************************************************************/
/* register_types.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* 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. */
/*************************************************************************/
#include "register_types.h"
void register_recast_types() {}
void unregister_recast_types() {}

32
modules/recast/register_types.h Normal file
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@ -0,0 +1,32 @@
/*************************************************************************/
/* register_types.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* 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. */
/*************************************************************************/
void register_recast_types();
void unregister_recast_types();

230
scene/3d/navigation_mesh.cpp
View file

@ -63,6 +63,143 @@ void NavigationMesh::create_from_mesh(const Ref<Mesh> &p_mesh) {
}
}
void NavigationMesh::set_sample_partition_type(int p_value) {
ERR_FAIL_COND(p_value >= SAMPLE_PARTITION_MAX);
partition_type = static_cast<SamplePartitionType>(p_value);
}
int NavigationMesh::get_sample_partition_type() const {
return static_cast<int>(partition_type);
}
void NavigationMesh::set_cell_size(float p_value) {
cell_size = p_value;
}
float NavigationMesh::get_cell_size() const {
return cell_size;
}
void NavigationMesh::set_cell_height(float p_value) {
cell_height = p_value;
}
float NavigationMesh::get_cell_height() const {
return cell_height;
}
void NavigationMesh::set_agent_height(float p_value) {
agent_height = p_value;
}
float NavigationMesh::get_agent_height() const {
return agent_height;
}
void NavigationMesh::set_agent_radius(float p_value) {
agent_radius = p_value;
}
float NavigationMesh::get_agent_radius() {
return agent_radius;
}
void NavigationMesh::set_agent_max_climb(float p_value) {
agent_max_climb = p_value;
}
float NavigationMesh::get_agent_max_climb() const {
return agent_max_climb;
}
void NavigationMesh::set_agent_max_slope(float p_value) {
agent_max_slope = p_value;
}
float NavigationMesh::get_agent_max_slope() const {
return agent_max_slope;
}
void NavigationMesh::set_region_min_size(float p_value) {
region_min_size = p_value;
}
float NavigationMesh::get_region_min_size() const {
return region_min_size;
}
void NavigationMesh::set_region_merge_size(float p_value) {
region_merge_size = p_value;
}
float NavigationMesh::get_region_merge_size() const {
return region_merge_size;
}
void NavigationMesh::set_edge_max_length(float p_value) {
edge_max_length = p_value;
}
float NavigationMesh::get_edge_max_length() const {
return edge_max_length;
}
void NavigationMesh::set_edge_max_error(float p_value) {
edge_max_error = p_value;
}
float NavigationMesh::get_edge_max_error() const {
return edge_max_error;
}
void NavigationMesh::set_verts_per_poly(float p_value) {
verts_per_poly = p_value;
}
float NavigationMesh::get_verts_per_poly() const {
return verts_per_poly;
}
void NavigationMesh::set_detail_sample_distance(float p_value) {
detail_sample_distance = p_value;
}
float NavigationMesh::get_detail_sample_distance() const {
return detail_sample_distance;
}
void NavigationMesh::set_detail_sample_max_error(float p_value) {
detail_sample_max_error = p_value;
}
float NavigationMesh::get_detail_sample_max_error() const {
return detail_sample_max_error;
}
void NavigationMesh::set_filter_low_hanging_obstacles(bool p_value) {
filter_low_hanging_obstacles = p_value;
}
bool NavigationMesh::get_filter_low_hanging_obstacles() const {
return filter_low_hanging_obstacles;
}
void NavigationMesh::set_filter_ledge_spans(bool p_value) {
filter_ledge_spans = p_value;
}
bool NavigationMesh::get_filter_ledge_spans() const {
return filter_ledge_spans;
}
void NavigationMesh::set_filter_walkable_low_height_spans(bool p_value) {
filter_walkable_low_height_spans = p_value;
}
bool NavigationMesh::get_filter_walkable_low_height_spans() const {
return filter_walkable_low_height_spans;
}
void NavigationMesh::set_vertices(const PoolVector<Vector3> &p_vertices) {
vertices = p_vertices;
@ -199,6 +336,56 @@ Ref<Mesh> NavigationMesh::get_debug_mesh() {
}
void NavigationMesh::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_sample_partition_type", "sample_partition_type"), &NavigationMesh::set_sample_partition_type);
ClassDB::bind_method(D_METHOD("get_sample_partition_type"), &NavigationMesh::get_sample_partition_type);
ClassDB::bind_method(D_METHOD("set_cell_size", "cell_size"), &NavigationMesh::set_cell_size);
ClassDB::bind_method(D_METHOD("get_cell_size"), &NavigationMesh::get_cell_size);
ClassDB::bind_method(D_METHOD("set_cell_height", "cell_height"), &NavigationMesh::set_cell_height);
ClassDB::bind_method(D_METHOD("get_cell_height"), &NavigationMesh::get_cell_height);
ClassDB::bind_method(D_METHOD("set_agent_height", "agent_height"), &NavigationMesh::set_agent_height);
ClassDB::bind_method(D_METHOD("get_agent_height"), &NavigationMesh::get_agent_height);
ClassDB::bind_method(D_METHOD("set_agent_radius", "agent_radius"), &NavigationMesh::set_agent_radius);
ClassDB::bind_method(D_METHOD("get_agent_radius"), &NavigationMesh::get_agent_radius);
ClassDB::bind_method(D_METHOD("set_agent_max_climb", "agent_max_climb"), &NavigationMesh::set_agent_max_climb);
ClassDB::bind_method(D_METHOD("get_agent_max_climb"), &NavigationMesh::get_agent_max_climb);
ClassDB::bind_method(D_METHOD("set_agent_max_slope", "agent_max_slope"), &NavigationMesh::set_agent_max_slope);
ClassDB::bind_method(D_METHOD("get_agent_max_slope"), &NavigationMesh::get_agent_max_slope);
ClassDB::bind_method(D_METHOD("set_region_min_size", "region_min_size"), &NavigationMesh::set_region_min_size);
ClassDB::bind_method(D_METHOD("get_region_min_size"), &NavigationMesh::get_region_min_size);
ClassDB::bind_method(D_METHOD("set_region_merge_size", "region_merge_size"), &NavigationMesh::set_region_merge_size);
ClassDB::bind_method(D_METHOD("get_region_merge_size"), &NavigationMesh::get_region_merge_size);
ClassDB::bind_method(D_METHOD("set_edge_max_length", "edge_max_length"), &NavigationMesh::set_edge_max_length);
ClassDB::bind_method(D_METHOD("get_edge_max_length"), &NavigationMesh::get_edge_max_length);
ClassDB::bind_method(D_METHOD("set_edge_max_error", "edge_max_error"), &NavigationMesh::set_edge_max_error);
ClassDB::bind_method(D_METHOD("get_edge_max_error"), &NavigationMesh::get_edge_max_error);
ClassDB::bind_method(D_METHOD("set_verts_per_poly", "verts_per_poly"), &NavigationMesh::set_verts_per_poly);
ClassDB::bind_method(D_METHOD("get_verts_per_poly"), &NavigationMesh::get_verts_per_poly);
ClassDB::bind_method(D_METHOD("set_detail_sample_distance", "detail_sample_dist"), &NavigationMesh::set_detail_sample_distance);
ClassDB::bind_method(D_METHOD("get_detail_sample_distance"), &NavigationMesh::get_detail_sample_distance);
ClassDB::bind_method(D_METHOD("set_detail_sample_max_error", "detail_sample_max_error"), &NavigationMesh::set_detail_sample_max_error);
ClassDB::bind_method(D_METHOD("get_detail_sample_max_error"), &NavigationMesh::get_detail_sample_max_error);
ClassDB::bind_method(D_METHOD("set_filter_low_hanging_obstacles", "filter_low_hanging_obstacles"), &NavigationMesh::set_filter_low_hanging_obstacles);
ClassDB::bind_method(D_METHOD("get_filter_low_hanging_obstacles"), &NavigationMesh::get_filter_low_hanging_obstacles);
ClassDB::bind_method(D_METHOD("set_filter_ledge_spans", "filter_ledge_spans"), &NavigationMesh::set_filter_ledge_spans);
ClassDB::bind_method(D_METHOD("get_filter_ledge_spans"), &NavigationMesh::get_filter_ledge_spans);
ClassDB::bind_method(D_METHOD("set_filter_walkable_low_height_spans", "filter_walkable_low_height_spans"), &NavigationMesh::set_filter_walkable_low_height_spans);
ClassDB::bind_method(D_METHOD("get_filter_walkable_low_height_spans"), &NavigationMesh::get_filter_walkable_low_height_spans);
ClassDB::bind_method(D_METHOD("set_vertices", "vertices"), &NavigationMesh::set_vertices);
ClassDB::bind_method(D_METHOD("get_vertices"), &NavigationMesh::get_vertices);
@ -213,11 +400,54 @@ void NavigationMesh::_bind_methods() {
ClassDB::bind_method(D_METHOD("_set_polygons", "polygons"), &NavigationMesh::_set_polygons);
ClassDB::bind_method(D_METHOD("_get_polygons"), &NavigationMesh::_get_polygons);
BIND_CONSTANT(SAMPLE_PARTITION_WATERSHED);
BIND_CONSTANT(SAMPLE_PARTITION_MONOTONE);
BIND_CONSTANT(SAMPLE_PARTITION_LAYERS);
ADD_PROPERTY(PropertyInfo(Variant::POOL_VECTOR3_ARRAY, "vertices", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "set_vertices", "get_vertices");
ADD_PROPERTY(PropertyInfo(Variant::ARRAY, "polygons", PROPERTY_HINT_NONE, "", PROPERTY_USAGE_NOEDITOR), "_set_polygons", "_get_polygons");
ADD_PROPERTY(PropertyInfo(Variant::INT, "sample_partition_type/sample_partition_type", PROPERTY_HINT_ENUM, "Watershed,Monotone,Layers"), "set_sample_partition_type", "get_sample_partition_type");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "cell/size", PROPERTY_HINT_RANGE, "0.1,1.0,0.01"), "set_cell_size", "get_cell_size");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "cell/height", PROPERTY_HINT_RANGE, "0.1,1.0,0.01"), "set_cell_height", "get_cell_height");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "agent/height", PROPERTY_HINT_RANGE, "0.1,5.0,0.01"), "set_agent_height", "get_agent_height");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "agent/radius", PROPERTY_HINT_RANGE, "0.1,5.0,0.01"), "set_agent_radius", "get_agent_radius");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "agent/max_climb", PROPERTY_HINT_RANGE, "0.1,5.0,0.01"), "set_agent_max_climb", "get_agent_max_climb");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "agent/max_slope", PROPERTY_HINT_RANGE, "0.0,90.0,0.1"), "set_agent_max_slope", "get_agent_max_slope");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "region/min_size", PROPERTY_HINT_RANGE, "0.0,150.0,0.01"), "set_region_min_size", "get_region_min_size");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "region/merge_size", PROPERTY_HINT_RANGE, "0.0,150.0,0.01"), "set_region_merge_size", "get_region_merge_size");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "edge/max_length", PROPERTY_HINT_RANGE, "0.0,50.0,0.01"), "set_edge_max_length", "get_edge_max_length");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "edge/max_error", PROPERTY_HINT_RANGE, "0.1,3.0,0.01"), "set_edge_max_error", "get_edge_max_error");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "polygon/verts_per_poly", PROPERTY_HINT_RANGE, "3.0,12.0,1.0"), "set_verts_per_poly", "get_verts_per_poly");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "detail/sample_distance", PROPERTY_HINT_RANGE, "0.0,16.0,0.01"), "set_detail_sample_distance", "get_detail_sample_distance");
ADD_PROPERTY(PropertyInfo(Variant::REAL, "detail/sample_max_error", PROPERTY_HINT_RANGE, "0.0,16.0,0.01"), "set_detail_sample_max_error", "get_detail_sample_max_error");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "filter/low_hanging_obstacles"), "set_filter_low_hanging_obstacles", "get_filter_low_hanging_obstacles");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "filter/ledge_spans"), "set_filter_ledge_spans", "get_filter_ledge_spans");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "filter/filter_walkable_low_height_spans"), "set_filter_walkable_low_height_spans", "get_filter_walkable_low_height_spans");
}
NavigationMesh::NavigationMesh() {
cell_size = 0.3f;
cell_height = 0.2f;
agent_height = 2.0f;
agent_radius = 0.6f;
agent_max_climb = 0.9f;
agent_max_slope = 45.0f;
region_min_size = 8.0f;
region_merge_size = 20.0f;
edge_max_length = 12.0f;
edge_max_error = 1.3f;
verts_per_poly = 6.0f;
detail_sample_distance = 6.0f;
detail_sample_max_error = 1.0f;
partition_type = SAMPLE_PARTITION_WATERSHED;
filter_low_hanging_obstacles = false;
filter_ledge_spans = false;
filter_walkable_low_height_spans = false;
}
void NavigationMeshInstance::set_enabled(bool p_enabled) {

81
scene/3d/navigation_mesh.h
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@ -61,6 +61,87 @@ protected:
Array _get_polygons() const;
public:
enum SamplePartitionType {
SAMPLE_PARTITION_WATERSHED = 0,
SAMPLE_PARTITION_MONOTONE,
SAMPLE_PARTITION_LAYERS,
SAMPLE_PARTITION_MAX
};
protected:
float cell_size;
float cell_height;
float agent_height;
float agent_radius;
float agent_max_climb;
float agent_max_slope;
float region_min_size;
float region_merge_size;
float edge_max_length;
float edge_max_error;
float verts_per_poly;
float detail_sample_distance;
float detail_sample_max_error;
SamplePartitionType partition_type;
bool filter_low_hanging_obstacles;
bool filter_ledge_spans;
bool filter_walkable_low_height_spans;
public:
// Recast settings
void set_sample_partition_type(int p_value);
int get_sample_partition_type() const;
void set_cell_size(float p_value);
float get_cell_size() const;
void set_cell_height(float p_value);
float get_cell_height() const;
void set_agent_height(float p_value);
float get_agent_height() const;
void set_agent_radius(float p_value);
float get_agent_radius();
void set_agent_max_climb(float p_value);
float get_agent_max_climb() const;
void set_agent_max_slope(float p_value);
float get_agent_max_slope() const;
void set_region_min_size(float p_value);
float get_region_min_size() const;
void set_region_merge_size(float p_value);
float get_region_merge_size() const;
void set_edge_max_length(float p_value);
float get_edge_max_length() const;
void set_edge_max_error(float p_value);
float get_edge_max_error() const;
void set_verts_per_poly(float p_value);
float get_verts_per_poly() const;
void set_detail_sample_distance(float p_value);
float get_detail_sample_distance() const;
void set_detail_sample_max_error(float p_value);
float get_detail_sample_max_error() const;
void set_filter_low_hanging_obstacles(bool p_value);
bool get_filter_low_hanging_obstacles() const;
void set_filter_ledge_spans(bool p_value);
bool get_filter_ledge_spans() const;
void set_filter_walkable_low_height_spans(bool p_value);
bool get_filter_walkable_low_height_spans() const;
void create_from_mesh(const Ref<Mesh> &p_mesh);
void set_vertices(const PoolVector<Vector3> &p_vertices);

5
thirdparty/README.md vendored
View file

@ -359,6 +359,11 @@ Files extracted from upstream source:
- all .cpp and .h files apart from `main.cpp`
- LICENSE.TXT
## recast
- Upstream: https://github.com/recastnavigation/recastnavigation
- version: git commit ef3ea40f - 2016-02-06
- License: MIT-like
## rtaudio

18
thirdparty/recastnavigation/License.txt vendored Normal file
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@ -0,0 +1,18 @@
Copyright (c) 2009 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.

1200
thirdparty/recastnavigation/Recast/Include/Recast.h vendored Normal file
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146
thirdparty/recastnavigation/Recast/Include/RecastAlloc.h vendored Normal file
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@ -0,0 +1,146 @@
//
// Copyright (c) 2009-2010 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.
//
#ifndef RECASTALLOC_H
#define RECASTALLOC_H
#include <stddef.h>
/// Provides hint values to the memory allocator on how long the
/// memory is expected to be used.
enum rcAllocHint
{
RC_ALLOC_PERM, ///< Memory will persist after a function call.
RC_ALLOC_TEMP ///< Memory used temporarily within a function.
};
/// A memory allocation function.
// @param[in] size The size, in bytes of memory, to allocate.
// @param[in] rcAllocHint 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 rcAllocSetCustom
typedef void* (rcAllocFunc)(size_t size, rcAllocHint hint);
/// A memory deallocation function.
/// @param[in] ptr A pointer to a memory block previously allocated using #rcAllocFunc.
/// @see rcAllocSetCustom
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
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
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
void rcFree(void* ptr);
/// A simple dynamic array of integers.
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&);
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.
int pop()
{
if (m_size > 0)
m_size--;
return m_data[m_size];
}
/// 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; }
};
/// A simple helper class used to delete an array when it goes out of scope.
/// @note This class is rarely if ever used by the end user.
template<class T> class rcScopedDelete
{
T* ptr;
public:
/// Constructs an instance with a null pointer.
inline rcScopedDelete() : ptr(0) {}
/// Constructs an instance with the specified pointer.
/// @param[in] p An pointer to an allocated array.
inline rcScopedDelete(T* p) : ptr(p) {}
inline ~rcScopedDelete() { rcFree(ptr); }
/// The root array pointer.
/// @return The root array pointer.
inline operator T*() { return ptr; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
rcScopedDelete(const rcScopedDelete&);
rcScopedDelete& operator=(const rcScopedDelete&);
};
#endif

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//
// Copyright (c) 2009-2010 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.
//
#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)
#else
/// An assertion failure function.
// @param[in] expression asserted expression.
// @param[in] file Filename of the failed assertion.
// @param[in] line Line number of the failed assertion.
/// @see rcAssertFailSetCustom
typedef void (rcAssertFailFunc)(const char* expression, const char* file, int line);
/// 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);
/// Gets the base custom assertion failure function to be used by Recast.
rcAssertFailFunc* rcAssertFailGetCustom();
# include <assert.h>
# define rcAssert(expression) \
{ \
rcAssertFailFunc* failFunc = rcAssertFailGetCustom(); \
if(failFunc == NULL) { assert(expression); } \
else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \
}
#endif
#endif // RECASTASSERT_H

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//
// Copyright (c) 2009-2010 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.
//
#include <float.h>
#define _USE_MATH_DEFINES
#include <math.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>
#include <new>
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
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);
if (len >= MSG_SIZE)
{
len = MSG_SIZE-1;
msg[MSG_SIZE-1] = '\0';
}
va_end(ap);
doLog(category, msg, len);
}
rcHeightfield* rcAllocHeightfield()
{
return new (rcAlloc(sizeof(rcHeightfield), RC_ALLOC_PERM)) rcHeightfield;
}
rcHeightfield::rcHeightfield()
: width()
, height()
, bmin()
, bmax()
, cs()
, ch()
, spans()
, pools()
, freelist()
{
}
rcHeightfield::~rcHeightfield()
{
// Delete span array.
rcFree(spans);
// Delete span pools.
while (pools)
{
rcSpanPool* next = pools->next;
rcFree(pools);
pools = next;
}
}
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;
}
void rcFreeCompactHeightfield(rcCompactHeightfield* chf)
{
if (!chf) return;
rcFree(chf->cells);
rcFree(chf->spans);
rcFree(chf->dist);
rcFree(chf->areas);
rcFree(chf);
}
rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet()
{
rcHeightfieldLayerSet* lset = (rcHeightfieldLayerSet*)rcAlloc(sizeof(rcHeightfieldLayerSet), RC_ALLOC_PERM);
memset(lset, 0, sizeof(rcHeightfieldLayerSet));
return lset;
}
void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset)
{
if (!lset) return;
for (int i = 0; i < lset->nlayers; ++i)
{
rcFree(lset->layers[i].heights);
rcFree(lset->layers[i].areas);
rcFree(lset->layers[i].cons);
}
rcFree(lset->layers);
rcFree(lset);
}
rcContourSet* rcAllocContourSet()
{
rcContourSet* cset = (rcContourSet*)rcAlloc(sizeof(rcContourSet), RC_ALLOC_PERM);
memset(cset, 0, sizeof(rcContourSet));
return cset;
}
void rcFreeContourSet(rcContourSet* cset)
{
if (!cset) return;
for (int i = 0; i < cset->nconts; ++i)
{
rcFree(cset->conts[i].verts);
rcFree(cset->conts[i].rverts);
}
rcFree(cset->conts);
rcFree(cset);
}
rcPolyMesh* rcAllocPolyMesh()
{
rcPolyMesh* pmesh = (rcPolyMesh*)rcAlloc(sizeof(rcPolyMesh), RC_ALLOC_PERM);
memset(pmesh, 0, sizeof(rcPolyMesh));
return pmesh;
}
void rcFreePolyMesh(rcPolyMesh* pmesh)
{
if (!pmesh) return;
rcFree(pmesh->verts);
rcFree(pmesh->polys);
rcFree(pmesh->regs);
rcFree(pmesh->flags);
rcFree(pmesh->areas);
rcFree(pmesh);
}
rcPolyMeshDetail* rcAllocPolyMeshDetail()
{
rcPolyMeshDetail* dmesh = (rcPolyMeshDetail*)rcAlloc(sizeof(rcPolyMeshDetail), RC_ALLOC_PERM);
memset(dmesh, 0, sizeof(rcPolyMeshDetail));
return dmesh;
}
void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh)
{
if (!dmesh) return;
rcFree(dmesh->meshes);
rcFree(dmesh->verts);
rcFree(dmesh->tris);
rcFree(dmesh);
}
void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax)
{
// Calculate bounding box.
rcVcopy(bmin, verts);
rcVcopy(bmax, verts);
for (int i = 1; i < nv; ++i)
{
const float* v = &verts[i*3];
rcVmin(bmin, v);
rcVmax(bmax, v);
}
}
void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h)
{
*w = (int)((bmax[0] - bmin[0])/cs+0.5f);
*h = (int)((bmax[2] - bmin[2])/cs+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)
{
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)
return false;
memset(hf.spans, 0, sizeof(rcSpan*)*hf.width*hf.height);
return true;
}
static void calcTriNormal(const float* v0, const float* v1, const float* v2, float* norm)
{
float e0[3], e1[3];
rcVsub(e0, v1, v0);
rcVsub(e1, v2, v0);
rcVcross(norm, e0, e1);
rcVnormalize(norm);
}
/// @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)
{
rcIgnoreUnused(ctx);
rcIgnoreUnused(nv);
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_WALKABLE_AREA;
}
}
/// @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)
{
if (s->area != RC_NULL_AREA)
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)
{
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);
// 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)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", w*h);
return false;
}
memset(chf.cells, 0, sizeof(rcCompactCell)*w*h);
chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*spanCount, RC_ALLOC_PERM);
if (!chf.spans)
{
ctx->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)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.areas' (%d)", spanCount);
return false;
}
memset(chf.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)
{
for (int x = 0; x < w; ++x)
{
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)
{
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;
}
}
}
// Find neighbour connections.
const int MAX_LAYERS = RC_NOT_CONNECTED-1;
int tooHighNeighbour = 0;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
rcCompactSpan& s = chf.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);
// First check that the neighbour cell is in bounds.
if (nx < 0 || ny < 0 || nx >= w || ny >= h)
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 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);
// 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)
{
// Mark direction as walkable.
const int lidx = k - (int)nc.index;
if (lidx < 0 || lidx > MAX_LAYERS)
{
tooHighNeighbour = rcMax(tooHighNeighbour, lidx);
continue;
}
rcSetCon(s, dir, lidx);
break;
}
}
}
}
}
}
if (tooHighNeighbour > MAX_LAYERS)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)",
tooHighNeighbour, 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;
}
*/

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//
// Copyright (c) 2009-2010 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.
//
#include <stdlib.h>
#include <string.h>
#include "RecastAlloc.h"
#include "RecastAssert.h"
static void *rcAllocDefault(size_t size, rcAllocHint)
{
return malloc(size);
}
static void rcFreeDefault(void *ptr)
{
free(ptr);
}
static rcAllocFunc* sRecastAllocFunc = rcAllocDefault;
static rcFreeFunc* sRecastFreeFunc = rcFreeDefault;
/// @see rcAlloc, rcFree
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)
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;
}

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//
// Copyright (c) 2009-2010 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.
//
#include <float.h>
#define _USE_MATH_DEFINES
#include <math.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
/// @par
///
/// Basically, any spans that are closer to a boundary or obstruction than the specified radius
/// are marked as unwalkable.
///
/// This method is usually called immediately after the heightfield has been built.
///
/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
{
rcAssert(ctx);
const int w = chf.width;
const int h = chf.height;
rcScopedTimer timer(ctx, RC_TIMER_ERODE_AREA);
unsigned char* dist = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
if (!dist)
{
ctx->log(RC_LOG_ERROR, "erodeWalkableArea: Out of memory 'dist' (%d).", chf.spanCount);
return false;
}
// Init distance.
memset(dist, 0xff, sizeof(unsigned char)*chf.spanCount);
// Mark boundary cells.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (chf.areas[i] == RC_NULL_AREA)
{
dist[i] = 0;
}
else
{
const rcCompactSpan& s = chf.spans[i];
int nc = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int nx = x + rcGetDirOffsetX(dir);
const int ny = y + rcGetDirOffsetY(dir);
const int nidx = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
if (chf.areas[nidx] != RC_NULL_AREA)
{
nc++;
}
}
}
// At least one missing neighbour.
if (nc != 4)
dist[i] = 0;
}
}
}
}
unsigned char nd;
// Pass 1
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++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 rcCompactSpan& s = chf.spans[i];
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
// (-1,0)
const int ax = x + rcGetDirOffsetX(0);
const int ay = y + rcGetDirOffsetY(0);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
const rcCompactSpan& as = chf.spans[ai];
nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
if (nd < dist[i])
dist[i] = nd;
// (-1,-1)
if (rcGetCon(as, 3) != RC_NOT_CONNECTED)
{
const int aax = ax + rcGetDirOffsetX(3);
const int aay = ay + rcGetDirOffsetY(3);
const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3);
nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
if (rcGetCon(s, 3) != RC_NOT_CONNECTED)
{
// (0,-1)
const int ax = x + rcGetDirOffsetX(3);
const int ay = y + rcGetDirOffsetY(3);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
const rcCompactSpan& as = chf.spans[ai];
nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
if (nd < dist[i])
dist[i] = nd;
// (1,-1)
if (rcGetCon(as, 2) != RC_NOT_CONNECTED)
{
const int aax = ax + rcGetDirOffsetX(2);
const int aay = ay + rcGetDirOffsetY(2);
const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2);
nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
}
}
}
// Pass 2
for (int y = h-1; y >= 0; --y)
{
for (int x = w-1; x >= 0; --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 rcCompactSpan& s = chf.spans[i];
if (rcGetCon(s, 2) != RC_NOT_CONNECTED)
{
// (1,0)
const int ax = x + rcGetDirOffsetX(2);
const int ay = y + rcGetDirOffsetY(2);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2);
const rcCompactSpan& as = chf.spans[ai];
nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
if (nd < dist[i])
dist[i] = nd;
// (1,1)
if (rcGetCon(as, 1) != RC_NOT_CONNECTED)
{
const int aax = ax + rcGetDirOffsetX(1);
const int aay = ay + rcGetDirOffsetY(1);
const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1);
nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
if (rcGetCon(s, 1) != RC_NOT_CONNECTED)
{
// (0,1)
const int ax = x + rcGetDirOffsetX(1);
const int ay = y + rcGetDirOffsetY(1);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1);
const rcCompactSpan& as = chf.spans[ai];
nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
if (nd < dist[i])
dist[i] = nd;
// (-1,1)
if (rcGetCon(as, 0) != RC_NOT_CONNECTED)
{
const int aax = ax + rcGetDirOffsetX(0);
const int aay = ay + rcGetDirOffsetY(0);
const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0);
nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
}
}
}
const unsigned char thr = (unsigned char)(radius*2);
for (int i = 0; i < chf.spanCount; ++i)
if (dist[i] < thr)
chf.areas[i] = RC_NULL_AREA;
rcFree(dist);
return true;
}
static void insertSort(unsigned char* a, const int n)
{
int i, j;
for (i = 1; i < n; i++)
{
const unsigned char value = a[i];
for (j = i - 1; j >= 0 && a[j] > value; j--)
a[j+1] = a[j];
a[j+1] = value;
}
}
/// @par
///
/// This filter is usually applied after applying area id's using functions
/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
///
/// @see rcCompactHeightfield
bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
{
rcAssert(ctx);
const int w = chf.width;
const int h = chf.height;
rcScopedTimer timer(ctx, RC_TIMER_MEDIAN_AREA);
unsigned char* areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
if (!areas)
{
ctx->log(RC_LOG_ERROR, "medianFilterWalkableArea: Out of memory 'areas' (%d).", chf.spanCount);
return false;
}
// Init distance.
memset(areas, 0xff, sizeof(unsigned char)*chf.spanCount);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++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 rcCompactSpan& s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA)
{
areas[i] = chf.areas[i];
continue;
}
unsigned char nei[9];
for (int j = 0; j < 9; ++j)
nei[j] = chf.areas[i];
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
if (chf.areas[ai] != RC_NULL_AREA)
nei[dir*2+0] = chf.areas[ai];
const rcCompactSpan& as = chf.spans[ai];
const int dir2 = (dir+1) & 0x3;
if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
{
const int ax2 = ax + rcGetDirOffsetX(dir2);
const int ay2 = ay + rcGetDirOffsetY(dir2);
const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
if (chf.areas[ai2] != RC_NULL_AREA)
nei[dir*2+1] = chf.areas[ai2];
}
}
}
insertSort(nei, 9);
areas[i] = nei[4];
}
}
}
memcpy(chf.areas, areas, sizeof(unsigned char)*chf.spanCount);
rcFree(areas);
return true;
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
rcCompactHeightfield& chf)
{
rcAssert(ctx);
rcScopedTimer timer(ctx, RC_TIMER_MARK_BOX_AREA);
int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
if (maxx < 0) return;
if (minx >= chf.width) return;
if (maxz < 0) return;
if (minz >= chf.height) return;
if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width-1;
if (minz < 0) minz = 0;
if (maxz >= chf.height) maxz = chf.height-1;
for (int z = minz; z <= maxz; ++z)
{
for (int x = minx; x <= maxx; ++x)
{
const rcCompactCell& c = chf.cells[x+z*chf.width];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
rcCompactSpan& s = chf.spans[i];
if ((int)s.y >= miny && (int)s.y <= maxy)
{
if (chf.areas[i] != RC_NULL_AREA)
chf.areas[i] = areaId;
}
}
}
}
}
static int pointInPoly(int nvert, const float* verts, const float* p)
{
int i, j, c = 0;
for (i = 0, j = nvert-1; i < nvert; j = i++)
{
const float* vi = &verts[i*3];
const float* vj = &verts[j*3];
if (((vi[2] > p[2]) != (vj[2] > p[2])) &&
(p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
c = !c;
}
return c;
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// The y-values of the polygon vertices are ignored. So the polygon is effectively
/// projected onto the xz-plane at @p hmin, then extruded to @p hmax.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
const float hmin, const float hmax, unsigned char areaId,
rcCompactHeightfield& chf)
{
rcAssert(ctx);
rcScopedTimer timer(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA);
float bmin[3], bmax[3];
rcVcopy(bmin, verts);
rcVcopy(bmax, verts);
for (int i = 1; i < nverts; ++i)
{
rcVmin(bmin, &verts[i*3]);
rcVmax(bmax, &verts[i*3]);
}
bmin[1] = hmin;
bmax[1] = hmax;
int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
if (maxx < 0) return;
if (minx >= chf.width) return;
if (maxz < 0) return;
if (minz >= chf.height) return;
if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width-1;
if (minz < 0) minz = 0;
if (maxz >= chf.height) maxz = chf.height-1;
// TODO: Optimize.
for (int z = minz; z <= maxz; ++z)
{
for (int x = minx; x <= maxx; ++x)
{
const rcCompactCell& c = chf.cells[x+z*chf.width];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
rcCompactSpan& s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA)
continue;
if ((int)s.y >= miny && (int)s.y <= maxy)
{
float p[3];
p[0] = chf.bmin[0] + (x+0.5f)*chf.cs;
p[1] = 0;
p[2] = chf.bmin[2] + (z+0.5f)*chf.cs;
if (pointInPoly(nverts, verts, p))
{
chf.areas[i] = areaId;
}
}
}
}
}
}
int rcOffsetPoly(const float* verts, const int nverts, const float offset,
float* outVerts, const int maxOutVerts)
{
const float MITER_LIMIT = 1.20f;
int n = 0;
for (int i = 0; i < nverts; i++)
{
const int a = (i+nverts-1) % nverts;
const int b = i;
const int c = (i+1) % nverts;
const float* va = &verts[a*3];
const float* vb = &verts[b*3];
const float* vc = &verts[c*3];
float dx0 = vb[0] - va[0];
float dy0 = vb[2] - va[2];
float d0 = dx0*dx0 + dy0*dy0;
if (d0 > 1e-6f)
{
d0 = 1.0f/rcSqrt(d0);
dx0 *= d0;
dy0 *= d0;
}
float dx1 = vc[0] - vb[0];
float dy1 = vc[2] - vb[2];
float d1 = dx1*dx1 + dy1*dy1;
if (d1 > 1e-6f)
{
d1 = 1.0f/rcSqrt(d1);
dx1 *= d1;
dy1 *= d1;
}
const float dlx0 = -dy0;
const float dly0 = dx0;
const float dlx1 = -dy1;
const float dly1 = dx1;
float cross = dx1*dy0 - dx0*dy1;
float dmx = (dlx0 + dlx1) * 0.5f;
float dmy = (dly0 + dly1) * 0.5f;
float dmr2 = dmx*dmx + dmy*dmy;
bool bevel = dmr2 * MITER_LIMIT*MITER_LIMIT < 1.0f;
if (dmr2 > 1e-6f)
{
const float scale = 1.0f / dmr2;
dmx *= scale;
dmy *= scale;
}
if (bevel && cross < 0.0f)
{
if (n+2 >= maxOutVerts)
return 0;
float d = (1.0f - (dx0*dx1 + dy0*dy1))*0.5f;
outVerts[n*3+0] = vb[0] + (-dlx0+dx0*d)*offset;
outVerts[n*3+1] = vb[1];
outVerts[n*3+2] = vb[2] + (-dly0+dy0*d)*offset;
n++;
outVerts[n*3+0] = vb[0] + (-dlx1-dx1*d)*offset;
outVerts[n*3+1] = vb[1];
outVerts[n*3+2] = vb[2] + (-dly1-dy1*d)*offset;
n++;
}
else
{
if (n+1 >= maxOutVerts)
return 0;
outVerts[n*3+0] = vb[0] - dmx*offset;
outVerts[n*3+1] = vb[1];
outVerts[n*3+2] = vb[2] - dmy*offset;
n++;
}
}
return n;
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
void rcMarkCylinderArea(rcContext* ctx, const float* pos,
const float r, const float h, unsigned char areaId,
rcCompactHeightfield& chf)
{
rcAssert(ctx);
rcScopedTimer timer(ctx, RC_TIMER_MARK_CYLINDER_AREA);
float bmin[3], bmax[3];
bmin[0] = pos[0] - r;
bmin[1] = pos[1];
bmin[2] = pos[2] - r;
bmax[0] = pos[0] + r;
bmax[1] = pos[1] + h;
bmax[2] = pos[2] + r;
const float r2 = r*r;
int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
if (maxx < 0) return;
if (minx >= chf.width) return;
if (maxz < 0) return;
if (minz >= chf.height) return;
if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width-1;
if (minz < 0) minz = 0;
if (maxz >= chf.height) maxz = chf.height-1;
for (int z = minz; z <= maxz; ++z)
{
for (int x = minx; x <= maxx; ++x)
{
const rcCompactCell& c = chf.cells[x+z*chf.width];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
rcCompactSpan& s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA)
continue;
if ((int)s.y >= miny && (int)s.y <= maxy)
{
const float sx = chf.bmin[0] + (x+0.5f)*chf.cs;
const float sz = chf.bmin[2] + (z+0.5f)*chf.cs;
const float dx = sx - pos[0];
const float dz = sz - pos[2];
if (dx*dx + dz*dz < r2)
{
chf.areas[i] = areaId;
}
}
}
}
}
}

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//
// Copyright (c) 2009-2010 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.
//
#include "RecastAssert.h"
#ifndef NDEBUG
static rcAssertFailFunc* sRecastAssertFailFunc = 0;
void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc)
{
sRecastAssertFailFunc = assertFailFunc;
}
rcAssertFailFunc* rcAssertFailGetCustom()
{
return sRecastAssertFailFunc;
}
#endif

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//
// Copyright (c) 2009-2010 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.
//
#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#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: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb</tt>
///
/// @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);
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)
{
for (int x = 0; x < w; ++x)
{
rcSpan* ps = 0;
bool previousWalkable = false;
unsigned char previousArea = RC_NULL_AREA;
for (rcSpan* s = solid.spans[x + y*w]; s; ps = s, s = s->next)
{
const bool walkable = s->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 (rcAbs((int)s->smax - (int)ps->smax) <= walkableClimb)
s->area = previousArea;
}
// Copy walkable flag so that it cannot propagate
// past multiple non-walkable objects.
previousWalkable = walkable;
previousArea = s->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: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
///
/// @see rcHeightfield, rcConfig
void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walkableClimb,
rcHeightfield& solid)
{
rcAssert(ctx);
rcScopedTimer timer(ctx, RC_TIMER_FILTER_BORDER);
const int w = solid.width;
const int h = solid.height;
const int MAX_HEIGHT = 0xffff;
// Mark border spans.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
{
// Skip non walkable spans.
if (s->area == RC_NULL_AREA)
continue;
const int bot = (int)(s->smax);
const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
// Find neighbours minimum height.
int minh = MAX_HEIGHT;
// Min and max height of accessible neighbours.
int asmin = s->smax;
int asmax = s->smax;
for (int dir = 0; dir < 4; ++dir)
{
int dx = x + rcGetDirOffsetX(dir);
int dy = y + rcGetDirOffsetY(dir);
// Skip neighbours which are out of bounds.
if (dx < 0 || dy < 0 || dx >= w || dy >= h)
{
minh = rcMin(minh, -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);
// Rest of the spans.
for (ns = solid.spans[dx + dy*w]; ns; ns = ns->next)
{
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);
// Find min/max accessible neighbour height.
if (rcAbs(nbot - bot) <= walkableClimb)
{
if (nbot < asmin) asmin = nbot;
if (nbot > asmax) asmax = nbot;
}
}
}
}
// The current span is close to a ledge if the drop to any
// neighbour span is less than the walkableClimb.
if (minh < -walkableClimb)
{
s->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)
{
s->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)
{
rcAssert(ctx);
rcScopedTimer timer(ctx, RC_TIMER_FILTER_WALKABLE);
const int w = solid.width;
const int h = solid.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 x = 0; x < w; ++x)
{
for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
{
const int bot = (int)(s->smax);
const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
if ((top - bot) <= walkableHeight)
s->area = RC_NULL_AREA;
}
}
}
}

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//
// Copyright (c) 2009-2010 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.
//
#include <float.h>
#define _USE_MATH_DEFINES
#include <math.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
// Must be 255 or smaller (not 256) because layer IDs are stored as
// a byte where 255 is a special value.
static const int RC_MAX_LAYERS = 63;
static const int RC_MAX_NEIS = 16;
struct rcLayerRegion
{
unsigned char layers[RC_MAX_LAYERS];
unsigned char neis[RC_MAX_NEIS];
unsigned short ymin, ymax;
unsigned char layerId; // Layer ID
unsigned char nlayers; // Layer count
unsigned char nneis; // Neighbour count
unsigned char base; // Flag indicating if the region is the base of merged regions.
};
static bool contains(const unsigned char* a, const unsigned char an, const unsigned char v)
{
const int n = (int)an;
for (int i = 0; i < n; ++i)
{
if (a[i] == v)
return true;
}
return false;
}
static bool addUnique(unsigned char* a, unsigned char& an, int anMax, unsigned char v)
{
if (contains(a, an, v))
return true;
if ((int)an >= anMax)
return false;
a[an] = v;
an++;
return true;
}
inline bool overlapRange(const unsigned short amin, const unsigned short amax,
const unsigned short bmin, const unsigned short bmax)
{
return (amin > bmax || amax < bmin) ? false : true;
}
struct rcLayerSweepSpan
{
unsigned short ns; // number samples
unsigned char id; // region id
unsigned char nei; // neighbour id
};
/// @par
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int walkableHeight,
rcHeightfieldLayerSet& lset)
{
rcAssert(ctx);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_LAYERS);
const int w = chf.width;
const int h = chf.height;
rcScopedDelete<unsigned char> srcReg((unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP));
if (!srcReg)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' (%d).", chf.spanCount);
return false;
}
memset(srcReg,0xff,sizeof(unsigned char)*chf.spanCount);
const int nsweeps = chf.width;
rcScopedDelete<rcLayerSweepSpan> sweeps((rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP));
if (!sweeps)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps);
return false;
}
// Partition walkable area into monotone regions.
int prevCount[256];
unsigned char regId = 0;
for (int y = borderSize; y < h-borderSize; ++y)
{
memset(prevCount,0,sizeof(int)*regId);
unsigned char sweepId = 0;
for (int x = borderSize; x < w-borderSize; ++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 rcCompactSpan& s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA) continue;
unsigned char sid = 0xff;
// -x
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(0);
const int ay = y + rcGetDirOffsetY(0);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff)
sid = srcReg[ai];
}
if (sid == 0xff)
{
sid = sweepId++;
sweeps[sid].nei = 0xff;
sweeps[sid].ns = 0;
}
// -y
if (rcGetCon(s,3) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(3);
const int ay = y + rcGetDirOffsetY(3);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
const unsigned char nr = srcReg[ai];
if (nr != 0xff)
{
// Set neighbour when first valid neighbour is encoutered.
if (sweeps[sid].ns == 0)
sweeps[sid].nei = nr;
if (sweeps[sid].nei == nr)
{
// Update existing neighbour
sweeps[sid].ns++;
prevCount[nr]++;
}
else
{
// This is hit if there is nore than one neighbour.
// Invalidate the neighbour.
sweeps[sid].nei = 0xff;
}
}
}
srcReg[i] = sid;
}
}
// Create unique ID.
for (int i = 0; i < sweepId; ++i)
{
// If the neighbour is set and there is only one continuous connection to it,
// the sweep will be merged with the previous one, else new region is created.
if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
if (regId == 255)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow.");
return false;
}
sweeps[i].id = regId++;
}
}
// Remap local sweep ids to region ids.
for (int x = borderSize; x < w-borderSize; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (srcReg[i] != 0xff)
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
// Allocate and init layer regions.
const int nregs = (int)regId;
rcScopedDelete<rcLayerRegion> regs((rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP));
if (!regs)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs);
return false;
}
memset(regs, 0, sizeof(rcLayerRegion)*nregs);
for (int i = 0; i < nregs; ++i)
{
regs[i].layerId = 0xff;
regs[i].ymin = 0xffff;
regs[i].ymax = 0;
}
// Find region neighbours and overlapping regions.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
unsigned char lregs[RC_MAX_LAYERS];
int nlregs = 0;
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
const unsigned char ri = srcReg[i];
if (ri == 0xff) continue;
regs[ri].ymin = rcMin(regs[ri].ymin, s.y);
regs[ri].ymax = rcMax(regs[ri].ymax, s.y);
// Collect all region layers.
if (nlregs < RC_MAX_LAYERS)
lregs[nlregs++] = ri;
// Update neighbours
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
const unsigned char rai = srcReg[ai];
if (rai != 0xff && rai != ri)
{
// Don't check return value -- if we cannot add the neighbor
// it will just cause a few more regions to be created, which
// is fine.
addUnique(regs[ri].neis, regs[ri].nneis, RC_MAX_NEIS, rai);
}
}
}
}
// Update overlapping regions.
for (int i = 0; i < nlregs-1; ++i)
{
for (int j = i+1; j < nlregs; ++j)
{
if (lregs[i] != lregs[j])
{
rcLayerRegion& ri = regs[lregs[i]];
rcLayerRegion& rj = regs[lregs[j]];
if (!addUnique(ri.layers, ri.nlayers, RC_MAX_LAYERS, lregs[j]) ||
!addUnique(rj.layers, rj.nlayers, RC_MAX_LAYERS, lregs[i]))
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS.");
return false;
}
}
}
}
}
}
// Create 2D layers from regions.
unsigned char layerId = 0;
static const int MAX_STACK = 64;
unsigned char stack[MAX_STACK];
int nstack = 0;
for (int i = 0; i < nregs; ++i)
{
rcLayerRegion& root = regs[i];
// Skip already visited.
if (root.layerId != 0xff)
continue;
// Start search.
root.layerId = layerId;
root.base = 1;
nstack = 0;
stack[nstack++] = (unsigned char)i;
while (nstack)
{
// Pop front
rcLayerRegion& reg = regs[stack[0]];
nstack--;
for (int j = 0; j < nstack; ++j)
stack[j] = stack[j+1];
const int nneis = (int)reg.nneis;
for (int j = 0; j < nneis; ++j)
{
const unsigned char nei = reg.neis[j];
rcLayerRegion& regn = regs[nei];
// Skip already visited.
if (regn.layerId != 0xff)
continue;
// Skip if the neighbour is overlapping root region.
if (contains(root.layers, root.nlayers, nei))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(root.ymin, regn.ymin);
const int ymax = rcMax(root.ymax, regn.ymax);
if ((ymax - ymin) >= 255)
continue;
if (nstack < MAX_STACK)
{
// Deepen
stack[nstack++] = (unsigned char)nei;
// Mark layer id
regn.layerId = layerId;
// Merge current layers to root.
for (int k = 0; k < regn.nlayers; ++k)
{
if (!addUnique(root.layers, root.nlayers, RC_MAX_LAYERS, regn.layers[k]))
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS.");
return false;
}
}
root.ymin = rcMin(root.ymin, regn.ymin);
root.ymax = rcMax(root.ymax, regn.ymax);
}
}
}
layerId++;
}
// Merge non-overlapping regions that are close in height.
const unsigned short mergeHeight = (unsigned short)walkableHeight * 4;
for (int i = 0; i < nregs; ++i)
{
rcLayerRegion& ri = regs[i];
if (!ri.base) continue;
unsigned char newId = ri.layerId;
for (;;)
{
unsigned char oldId = 0xff;
for (int j = 0; j < nregs; ++j)
{
if (i == j) continue;
rcLayerRegion& rj = regs[j];
if (!rj.base) continue;
// Skip if the regions are not close to each other.
if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(ri.ymin, rj.ymin);
const int ymax = rcMax(ri.ymax, rj.ymax);
if ((ymax - ymin) >= 255)
continue;
// Make sure that there is no overlap when merging 'ri' and 'rj'.
bool overlap = false;
// Iterate over all regions which have the same layerId as 'rj'
for (int k = 0; k < nregs; ++k)
{
if (regs[k].layerId != rj.layerId)
continue;
// Check if region 'k' is overlapping region 'ri'
// Index to 'regs' is the same as region id.
if (contains(ri.layers,ri.nlayers, (unsigned char)k))
{
overlap = true;
break;
}
}
// Cannot merge of regions overlap.
if (overlap)
continue;
// Can merge i and j.
oldId = rj.layerId;
break;
}
// Could not find anything to merge with, stop.
if (oldId == 0xff)
break;
// Merge
for (int j = 0; j < nregs; ++j)
{
rcLayerRegion& rj = regs[j];
if (rj.layerId == oldId)
{
rj.base = 0;
// Remap layerIds.
rj.layerId = newId;
// Add overlaid layers from 'rj' to 'ri'.
for (int k = 0; k < rj.nlayers; ++k)
{
if (!addUnique(ri.layers, ri.nlayers, RC_MAX_LAYERS, rj.layers[k]))
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS.");
return false;
}
}
// Update height bounds.
ri.ymin = rcMin(ri.ymin, rj.ymin);
ri.ymax = rcMax(ri.ymax, rj.ymax);
}
}
}
}
// Compact layerIds
unsigned char remap[256];
memset(remap, 0, 256);
// Find number of unique layers.
layerId = 0;
for (int i = 0; i < nregs; ++i)
remap[regs[i].layerId] = 1;
for (int i = 0; i < 256; ++i)
{
if (remap[i])
remap[i] = layerId++;
else
remap[i] = 0xff;
}
// Remap ids.
for (int i = 0; i < nregs; ++i)
regs[i].layerId = remap[regs[i].layerId];
// No layers, return empty.
if (layerId == 0)
return true;
// Create layers.
rcAssert(lset.layers == 0);
const int lw = w - borderSize*2;
const int lh = h - borderSize*2;
// Build contracted bbox for layers.
float bmin[3], bmax[3];
rcVcopy(bmin, chf.bmin);
rcVcopy(bmax, chf.bmax);
bmin[0] += borderSize*chf.cs;
bmin[2] += borderSize*chf.cs;
bmax[0] -= borderSize*chf.cs;
bmax[2] -= borderSize*chf.cs;
lset.nlayers = (int)layerId;
lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
if (!lset.layers)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' (%d).", lset.nlayers);
return false;
}
memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
// Store layers.
for (int i = 0; i < lset.nlayers; ++i)
{
unsigned char curId = (unsigned char)i;
rcHeightfieldLayer* layer = &lset.layers[i];
const int gridSize = sizeof(unsigned char)*lw*lh;
layer->heights = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->heights)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' (%d).", gridSize);
return false;
}
memset(layer->heights, 0xff, gridSize);
layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->areas)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' (%d).", gridSize);
return false;
}
memset(layer->areas, 0, gridSize);
layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->cons)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' (%d).", gridSize);
return false;
}
memset(layer->cons, 0, gridSize);
// Find layer height bounds.
int hmin = 0, hmax = 0;
for (int j = 0; j < nregs; ++j)
{
if (regs[j].base && regs[j].layerId == curId)
{
hmin = (int)regs[j].ymin;
hmax = (int)regs[j].ymax;
}
}
layer->width = lw;
layer->height = lh;
layer->cs = chf.cs;
layer->ch = chf.ch;
// Adjust the bbox to fit the heightfield.
rcVcopy(layer->bmin, bmin);
rcVcopy(layer->bmax, bmax);
layer->bmin[1] = bmin[1] + hmin*chf.ch;
layer->bmax[1] = bmin[1] + hmax*chf.ch;
layer->hmin = hmin;
layer->hmax = hmax;
// Update usable data region.
layer->minx = layer->width;
layer->maxx = 0;
layer->miny = layer->height;
layer->maxy = 0;
// Copy height and area from compact heightfield.
for (int y = 0; y < lh; ++y)
{
for (int x = 0; x < lw; ++x)
{
const int cx = borderSize+x;
const int cy = borderSize+y;
const rcCompactCell& c = chf.cells[cx+cy*w];
for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
{
const rcCompactSpan& s = chf.spans[j];
// Skip unassigned regions.
if (srcReg[j] == 0xff)
continue;
// Skip of does nto belong to current layer.
unsigned char lid = regs[srcReg[j]].layerId;
if (lid != curId)
continue;
// Update data bounds.
layer->minx = rcMin(layer->minx, x);
layer->maxx = rcMax(layer->maxx, x);
layer->miny = rcMin(layer->miny, y);
layer->maxy = rcMax(layer->maxy, y);
// Store height and area type.
const int idx = x+y*lw;
layer->heights[idx] = (unsigned char)(s.y - hmin);
layer->areas[idx] = chf.areas[j];
// Check connection.
unsigned char portal = 0;
unsigned char con = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
unsigned char alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff;
// Portal mask
if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
{
portal |= (unsigned char)(1<<dir);
// Update height so that it matches on both sides of the portal.
const rcCompactSpan& as = chf.spans[ai];
if (as.y > hmin)
layer->heights[idx] = rcMax(layer->heights[idx], (unsigned char)(as.y - hmin));
}
// Valid connection mask
if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
{
const int nx = ax - borderSize;
const int ny = ay - borderSize;
if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
con |= (unsigned char)(1<<dir);
}
}
}
layer->cons[idx] = (portal << 4) | con;
}
}
}
if (layer->minx > layer->maxx)
layer->minx = layer->maxx = 0;
if (layer->miny > layer->maxy)
layer->miny = layer->maxy = 0;
}
return true;
}

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//
// Copyright (c) 2009-2010 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.
//
#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
inline 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;
}
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;
}
static rcSpan* allocSpan(rcHeightfield& hf)
{
// If running out of memory, allocate new page and update the freelist.
if (!hf.freelist || !hf.freelist->next)
{
// Create new page.
// Allocate memory for the new pool.
rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
if (!pool) return 0;
// 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];
do
{
--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;
hf.freelist = hf.freelist->next;
return it;
}
static void freeSpan(rcHeightfield& hf, rcSpan* ptr)
{
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])
{
hf.spans[idx] = s;
return true;
}
rcSpan* prev = 0;
rcSpan* cur = hf.spans[idx];
// Insert and merge spans.
while (cur)
{
if (cur->smin > s->smax)
{
// Current span is further than the new span, break.
break;
}
else if (cur->smax < s->smin)
{
// Current span is before the new span advance.
prev = cur;
cur = cur->next;
}
else
{
// Merge spans.
if (cur->smin < s->smin)
s->smin = cur->smin;
if (cur->smax > s->smax)
s->smax = cur->smax;
// Merge flags.
if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr)
s->area = rcMax(s->area, cur->area);
// Remove current span.
rcSpan* next = cur->next;
freeSpan(hf, cur);
if (prev)
prev->next = next;
else
hf.spans[idx] = next;
cur = next;
}
}
// Insert new span.
if (prev)
{
s->next = prev->next;
prev->next = s;
}
else
{
s->next = hf.spans[idx];
hf.spans[idx] = s;
}
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)
{
rcAssert(ctx);
if (!addSpan(hf, x, y, smin, smax, area, flagMergeThr))
{
ctx->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)
{
float d[12];
for (int i = 0; i < nin; ++i)
d[i] = x - in[i*3+axis];
int m = 0, n = 0;
for (int i = 0, j = nin-1; i < nin; j=i, ++i)
{
bool ina = d[j] >= 0;
bool inb = d[i] >= 0;
if (ina != inb)
{
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
// since these were already added above
if (d[i] > 0)
{
rcVcopy(out1 + m*3, in + i*3);
m++;
}
else if (d[i] < 0)
{
rcVcopy(out2 + n*3, in + i*3);
n++;
}
}
else // same side
{
// add the i'th point to the right polygon. Addition is done even for points on the dividing line
if (d[i] >= 0)
{
rcVcopy(out1 + m*3, in + i*3);
m++;
if (d[i] != 0)
continue;
}
rcVcopy(out2 + n*3, in + i*3);
n++;
}
}
*nout1 = m;
*nout2 = n;
}
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 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);
// 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;
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)
{
// 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);
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<nvrow; ++i)
{
if (minX > inrow[i*3]) minX = inrow[i*3];
if (maxX < inrow[i*3]) maxX = inrow[i*3];
}
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);
int nv, 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;
// Calculate min and max of the span.
float smin = p1[1], smax = p1[1];
for (int i = 1; i < nv; ++i)
{
smin = rcMin(smin, p1[i*3+1]);
smax = rcMax(smax, p1[i*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;
// 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))
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)
{
rcAssert(ctx);
rcScopedTimer timer(ctx, 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))
{
ctx->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)
{
rcAssert(ctx);
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)
{
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))
{
ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: 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 unsigned short* tris, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr)
{
rcAssert(ctx);
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)
{
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))
{
ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: 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 unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr)
{
rcAssert(ctx);
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)
{
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))
{
ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
return false;
}
}
return true;
}

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thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp vendored Normal file
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