592 lines
15 KiB
C++
592 lines
15 KiB
C++
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//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#include <float.h>
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#define _USE_MATH_DEFINES
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#include <math.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include "Recast.h"
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#include "RecastAlloc.h"
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#include "RecastAssert.h"
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/// @par
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///
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/// Basically, any spans that are closer to a boundary or obstruction than the specified radius
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/// are marked as unwalkable.
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///
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/// This method is usually called immediately after the heightfield has been built.
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///
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/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
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bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
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{
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rcAssert(ctx);
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const int w = chf.width;
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const int h = chf.height;
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rcScopedTimer timer(ctx, RC_TIMER_ERODE_AREA);
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unsigned char* dist = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
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if (!dist)
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{
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ctx->log(RC_LOG_ERROR, "erodeWalkableArea: Out of memory 'dist' (%d).", chf.spanCount);
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return false;
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}
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// Init distance.
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memset(dist, 0xff, sizeof(unsigned char)*chf.spanCount);
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// Mark boundary cells.
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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const rcCompactCell& c = chf.cells[x+y*w];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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if (chf.areas[i] == RC_NULL_AREA)
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{
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dist[i] = 0;
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}
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else
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{
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const rcCompactSpan& s = chf.spans[i];
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int nc = 0;
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for (int dir = 0; dir < 4; ++dir)
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{
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if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
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{
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const int nx = x + rcGetDirOffsetX(dir);
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const int ny = y + rcGetDirOffsetY(dir);
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const int nidx = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
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if (chf.areas[nidx] != RC_NULL_AREA)
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{
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nc++;
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}
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}
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}
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// At least one missing neighbour.
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if (nc != 4)
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dist[i] = 0;
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}
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}
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}
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}
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unsigned char nd;
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// Pass 1
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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const rcCompactCell& c = chf.cells[x+y*w];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
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{
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// (-1,0)
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const int ax = x + rcGetDirOffsetX(0);
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const int ay = y + rcGetDirOffsetY(0);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
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const rcCompactSpan& as = chf.spans[ai];
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nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
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if (nd < dist[i])
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dist[i] = nd;
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// (-1,-1)
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if (rcGetCon(as, 3) != RC_NOT_CONNECTED)
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{
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const int aax = ax + rcGetDirOffsetX(3);
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const int aay = ay + rcGetDirOffsetY(3);
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const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3);
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nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
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if (nd < dist[i])
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dist[i] = nd;
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}
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}
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if (rcGetCon(s, 3) != RC_NOT_CONNECTED)
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{
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// (0,-1)
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const int ax = x + rcGetDirOffsetX(3);
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const int ay = y + rcGetDirOffsetY(3);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
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const rcCompactSpan& as = chf.spans[ai];
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nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
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if (nd < dist[i])
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dist[i] = nd;
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// (1,-1)
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if (rcGetCon(as, 2) != RC_NOT_CONNECTED)
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{
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const int aax = ax + rcGetDirOffsetX(2);
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const int aay = ay + rcGetDirOffsetY(2);
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const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2);
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nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
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if (nd < dist[i])
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dist[i] = nd;
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}
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}
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}
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}
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}
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// Pass 2
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for (int y = h-1; y >= 0; --y)
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{
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for (int x = w-1; x >= 0; --x)
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{
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const rcCompactCell& c = chf.cells[x+y*w];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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if (rcGetCon(s, 2) != RC_NOT_CONNECTED)
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{
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// (1,0)
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const int ax = x + rcGetDirOffsetX(2);
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const int ay = y + rcGetDirOffsetY(2);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2);
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const rcCompactSpan& as = chf.spans[ai];
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nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
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if (nd < dist[i])
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dist[i] = nd;
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// (1,1)
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if (rcGetCon(as, 1) != RC_NOT_CONNECTED)
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{
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const int aax = ax + rcGetDirOffsetX(1);
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const int aay = ay + rcGetDirOffsetY(1);
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const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1);
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nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
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if (nd < dist[i])
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dist[i] = nd;
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}
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}
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if (rcGetCon(s, 1) != RC_NOT_CONNECTED)
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{
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// (0,1)
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const int ax = x + rcGetDirOffsetX(1);
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const int ay = y + rcGetDirOffsetY(1);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1);
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const rcCompactSpan& as = chf.spans[ai];
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nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
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if (nd < dist[i])
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dist[i] = nd;
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// (-1,1)
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if (rcGetCon(as, 0) != RC_NOT_CONNECTED)
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{
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const int aax = ax + rcGetDirOffsetX(0);
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const int aay = ay + rcGetDirOffsetY(0);
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const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0);
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nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
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if (nd < dist[i])
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dist[i] = nd;
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}
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}
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}
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}
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}
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const unsigned char thr = (unsigned char)(radius*2);
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for (int i = 0; i < chf.spanCount; ++i)
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if (dist[i] < thr)
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chf.areas[i] = RC_NULL_AREA;
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rcFree(dist);
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return true;
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}
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static void insertSort(unsigned char* a, const int n)
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{
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int i, j;
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for (i = 1; i < n; i++)
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{
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const unsigned char value = a[i];
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for (j = i - 1; j >= 0 && a[j] > value; j--)
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a[j+1] = a[j];
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a[j+1] = value;
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}
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}
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/// @par
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///
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/// This filter is usually applied after applying area id's using functions
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/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
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///
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/// @see rcCompactHeightfield
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bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
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{
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rcAssert(ctx);
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const int w = chf.width;
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const int h = chf.height;
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rcScopedTimer timer(ctx, RC_TIMER_MEDIAN_AREA);
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unsigned char* areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
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if (!areas)
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{
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ctx->log(RC_LOG_ERROR, "medianFilterWalkableArea: Out of memory 'areas' (%d).", chf.spanCount);
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return false;
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}
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// Init distance.
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memset(areas, 0xff, sizeof(unsigned char)*chf.spanCount);
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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const rcCompactCell& c = chf.cells[x+y*w];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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if (chf.areas[i] == RC_NULL_AREA)
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{
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areas[i] = chf.areas[i];
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continue;
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}
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unsigned char nei[9];
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for (int j = 0; j < 9; ++j)
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nei[j] = chf.areas[i];
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for (int dir = 0; dir < 4; ++dir)
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{
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if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
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{
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const int ax = x + rcGetDirOffsetX(dir);
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const int ay = y + rcGetDirOffsetY(dir);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
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if (chf.areas[ai] != RC_NULL_AREA)
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nei[dir*2+0] = chf.areas[ai];
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const rcCompactSpan& as = chf.spans[ai];
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const int dir2 = (dir+1) & 0x3;
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if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
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{
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const int ax2 = ax + rcGetDirOffsetX(dir2);
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const int ay2 = ay + rcGetDirOffsetY(dir2);
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const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
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if (chf.areas[ai2] != RC_NULL_AREA)
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nei[dir*2+1] = chf.areas[ai2];
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}
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}
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}
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insertSort(nei, 9);
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areas[i] = nei[4];
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}
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}
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}
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memcpy(chf.areas, areas, sizeof(unsigned char)*chf.spanCount);
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rcFree(areas);
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return true;
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}
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/// @par
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///
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/// The value of spacial parameters are in world units.
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///
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/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
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void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
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rcCompactHeightfield& chf)
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{
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rcAssert(ctx);
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rcScopedTimer timer(ctx, RC_TIMER_MARK_BOX_AREA);
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int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
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int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
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int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
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int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
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int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
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int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
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if (maxx < 0) return;
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if (minx >= chf.width) return;
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if (maxz < 0) return;
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if (minz >= chf.height) return;
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if (minx < 0) minx = 0;
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if (maxx >= chf.width) maxx = chf.width-1;
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if (minz < 0) minz = 0;
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if (maxz >= chf.height) maxz = chf.height-1;
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for (int z = minz; z <= maxz; ++z)
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{
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for (int x = minx; x <= maxx; ++x)
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{
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const rcCompactCell& c = chf.cells[x+z*chf.width];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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rcCompactSpan& s = chf.spans[i];
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if ((int)s.y >= miny && (int)s.y <= maxy)
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||
|
|
{
|
||
|
|
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;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|