godotengine
/
godot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

recast: Update to upstream version 1.6.0 

Release notes:
- https://github.com/recastnavigation/recastnavigation/releases/tag/v1.6.0

(cherry picked from commit 2058b63067)
This commit is contained in:
Rémi Verschelde 2023-05-22 14:47:42 +02:00 committed by Yuri Sizov
parent d5d02b9a85
commit 84b9202d87
15 changed files with 1366 additions and 1189 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
thirdparty/README.md vendored
View File

@ -614,7 +614,7 @@ in 10.40, it can be found in the `patches` folder.
## recastnavigation
- Upstream: https://github.com/recastnavigation/recastnavigation
- Version: git (4fef0446609b23d6ac180ed822817571525528a1, 2022)
- Version: 1.6.0 (6dc1667f580357e8a2154c28b7867bea7e8ad3a7, 2023)
- License: zlib
Files extracted from upstream source:

951
thirdparty/recastnavigation/Recast/Include/Recast.h vendored
View File

File diff suppressed because it is too large Load Diff

29
thirdparty/recastnavigation/Recast/Include/RecastAlloc.h vendored
View File

@ -19,11 +19,11 @@
#ifndef RECASTALLOC_H
#define RECASTALLOC_H
#include <stddef.h>
#include <stdint.h>
#include "RecastAssert.h"
#include <stdlib.h>
#include <stdint.h>
/// Provides hint values to the memory allocator on how long the
/// memory is expected to be used.
enum rcAllocHint
@ -47,18 +47,27 @@ typedef void (rcFreeFunc)(void* ptr);
/// Sets the base custom allocation functions to be used by Recast.
/// @param[in] allocFunc The memory allocation function to be used by #rcAlloc
/// @param[in] freeFunc The memory de-allocation function to be used by #rcFree
///
/// @see rcAlloc, rcFree
void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc);
/// Allocates a memory block.
/// @param[in] size The size, in bytes of memory, to allocate.
/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use.
/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
/// @see rcFree
///
/// @param[in] size The size, in bytes of memory, to allocate.
/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use.
/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
///
/// @see rcFree, rcAllocSetCustom
void* rcAlloc(size_t size, rcAllocHint hint);
/// Deallocates a memory block.
/// @param[in] ptr A pointer to a memory block previously allocated using #rcAlloc.
/// @see rcAlloc
/// Deallocates a memory block. If @p ptr is NULL, this does nothing.
///
/// @warning This function leaves the value of @p ptr unchanged. So it still
/// points to the same (now invalid) location, and not to null.
///
/// @param[in] ptr A pointer to a memory block previously allocated using #rcAlloc.
///
/// @see rcAlloc, rcAllocSetCustom
void rcFree(void* ptr);
/// An implementation of operator new usable for placement new. The default one is part of STL (which we don't use).

13
thirdparty/recastnavigation/Recast/Include/RecastAssert.h vendored
View File

@ -19,13 +19,10 @@
#ifndef RECASTASSERT_H
#define RECASTASSERT_H
// Note: This header file's only purpose is to include define assert.
// Feel free to change the file and include your own implementation instead.
#ifdef NDEBUG
// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
# define rcAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false)
// From https://web.archive.org/web/20210117002833/http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
# define rcAssert(x) do { (void)sizeof(x); } while ((void)(__LINE__==-1), false)
#else
@ -38,7 +35,7 @@ typedef void (rcAssertFailFunc)(const char* expression, const char* file, int li
/// Sets the base custom assertion failure function to be used by Recast.
/// @param[in] assertFailFunc The function to be used in case of failure of #dtAssert
void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc);
void rcAssertFailSetCustom(rcAssertFailFunc* assertFailFunc);
/// Gets the base custom assertion failure function to be used by Recast.
rcAssertFailFunc* rcAssertFailGetCustom();
@ -47,8 +44,8 @@ rcAssertFailFunc* rcAssertFailGetCustom();
# define rcAssert(expression) \
{ \
rcAssertFailFunc* failFunc = rcAssertFailGetCustom(); \
if(failFunc == NULL) { assert(expression); } \
else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \
if (failFunc == NULL) { assert(expression); } \
else if (!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \
}
#endif

632
thirdparty/recastnavigation/Recast/Source/Recast.cpp vendored
View File

@ -16,81 +16,65 @@
// 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 "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
#include <math.h>
#include <string.h>
#include <stdio.h>
#include <stdarg.h>
namespace
{
/// Allocates and constructs an object of the given type, returning a pointer.
/// TODO: Support constructor args.
/// @param[in] hint Hint to the allocator.
template <typename T>
T* rcNew(rcAllocHint hint) {
T* ptr = (T*)rcAlloc(sizeof(T), hint);
/// @param[in] allocLifetime Allocation lifetime hint
template<typename T>
T* rcNew(const rcAllocHint allocLifetime)
{
T* ptr = (T*)rcAlloc(sizeof(T), allocLifetime);
::new(rcNewTag(), (void*)ptr) T();
return ptr;
}
/// Destroys and frees an object allocated with rcNew.
/// @param[in] ptr The object pointer to delete.
template <typename T>
void rcDelete(T* ptr) {
if (ptr) {
template<typename T>
void rcDelete(T* ptr)
{
if (ptr)
{
ptr->~T();
rcFree((void*)ptr);
}
}
} // namespace
} // anonymous namespace
float rcSqrt(float x)
{
return sqrtf(x);
}
/// @class rcContext
/// @par
///
/// This class does not provide logging or timer functionality on its
/// own. Both must be provided by a concrete implementation
/// by overriding the protected member functions. Also, this class does not
/// provide an interface for extracting log messages. (Only adding them.)
/// So concrete implementations must provide one.
///
/// If no logging or timers are required, just pass an instance of this
/// class through the Recast build process.
///
/// @par
///
/// Example:
/// @code
/// // Where ctx is an instance of rcContext and filepath is a char array.
/// ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not load '%s'", filepath);
/// @endcode
void rcContext::log(const rcLogCategory category, const char* format, ...)
{
if (!m_logEnabled)
{
return;
}
static const int MSG_SIZE = 512;
char msg[MSG_SIZE];
va_list ap;
va_start(ap, format);
int len = vsnprintf(msg, MSG_SIZE, format, ap);
va_list argList;
va_start(argList, format);
int len = vsnprintf(msg, MSG_SIZE, format, argList);
if (len >= MSG_SIZE)
{
len = MSG_SIZE-1;
msg[MSG_SIZE-1] = '\0';
len = MSG_SIZE - 1;
msg[MSG_SIZE - 1] = '\0';
const char* errorMessage = "Log message was truncated";
doLog(RC_LOG_ERROR, errorMessage, (int)strlen(errorMessage));
}
va_end(ap);
va_end(argList);
doLog(category, msg, len);
}
@ -103,16 +87,22 @@ rcHeightfield* rcAllocHeightfield()
{
return rcNew<rcHeightfield>(RC_ALLOC_PERM);
}
void rcFreeHeightField(rcHeightfield* heightfield)
{
rcDelete(heightfield);
}
rcHeightfield::rcHeightfield()
: width()
, height()
, bmin()
, bmax()
, cs()
, ch()
, spans()
, pools()
, freelist()
: width()
, height()
, bmin()
, bmax()
, cs()
, ch()
, spans()
, pools()
, freelist()
{
}
@ -129,40 +119,36 @@ rcHeightfield::~rcHeightfield()
}
}
void rcFreeHeightField(rcHeightfield* hf)
{
rcDelete(hf);
}
rcCompactHeightfield* rcAllocCompactHeightfield()
{
return rcNew<rcCompactHeightfield>(RC_ALLOC_PERM);
}
void rcFreeCompactHeightfield(rcCompactHeightfield* chf)
void rcFreeCompactHeightfield(rcCompactHeightfield* compactHeightfield)
{
rcDelete(chf);
rcDelete(compactHeightfield);
}
rcCompactHeightfield::rcCompactHeightfield()
: width(),
height(),
spanCount(),
walkableHeight(),
walkableClimb(),
borderSize(),
maxDistance(),
maxRegions(),
bmin(),
bmax(),
cs(),
ch(),
cells(),
spans(),
dist(),
areas()
: width()
, height()
, spanCount()
, walkableHeight()
, walkableClimb()
, borderSize()
, maxDistance()
, maxRegions()
, bmin()
, bmax()
, cs()
, ch()
, cells()
, spans()
, dist()
, areas()
{
}
rcCompactHeightfield::~rcCompactHeightfield()
{
rcFree(cells);
@ -175,13 +161,18 @@ rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet()
{
return rcNew<rcHeightfieldLayerSet>(RC_ALLOC_PERM);
}
void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset)
void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* layerSet)
{
rcDelete(lset);
rcDelete(layerSet);
}
rcHeightfieldLayerSet::rcHeightfieldLayerSet()
: layers(), nlayers() {}
: layers()
, nlayers()
{
}
rcHeightfieldLayerSet::~rcHeightfieldLayerSet()
{
for (int i = 0; i < nlayers; ++i)
@ -198,22 +189,26 @@ rcContourSet* rcAllocContourSet()
{
return rcNew<rcContourSet>(RC_ALLOC_PERM);
}
void rcFreeContourSet(rcContourSet* cset)
void rcFreeContourSet(rcContourSet* contourSet)
{
rcDelete(cset);
rcDelete(contourSet);
}
rcContourSet::rcContourSet()
: conts(),
nconts(),
bmin(),
bmax(),
cs(),
ch(),
width(),
height(),
borderSize(),
maxError() {}
: conts()
, nconts()
, bmin()
, bmax()
, cs()
, ch()
, width()
, height()
, borderSize()
, maxError()
{
}
rcContourSet::~rcContourSet()
{
for (int i = 0; i < nconts; ++i)
@ -224,32 +219,34 @@ rcContourSet::~rcContourSet()
rcFree(conts);
}
rcPolyMesh* rcAllocPolyMesh()
{
return rcNew<rcPolyMesh>(RC_ALLOC_PERM);
}
void rcFreePolyMesh(rcPolyMesh* pmesh)
void rcFreePolyMesh(rcPolyMesh* polyMesh)
{
rcDelete(pmesh);
rcDelete(polyMesh);
}
rcPolyMesh::rcPolyMesh()
: verts(),
polys(),
regs(),
flags(),
areas(),
nverts(),
npolys(),
maxpolys(),
nvp(),
bmin(),
bmax(),
cs(),
ch(),
borderSize(),
maxEdgeError() {}
: verts()
, polys()
, regs()
, flags()
, areas()
, nverts()
, npolys()
, maxpolys()
, nvp()
, bmin()
, bmax()
, cs()
, ch()
, borderSize()
, maxEdgeError()
{
}
rcPolyMesh::~rcPolyMesh()
{
@ -262,319 +259,284 @@ rcPolyMesh::~rcPolyMesh()
rcPolyMeshDetail* rcAllocPolyMeshDetail()
{
rcPolyMeshDetail* dmesh = (rcPolyMeshDetail*)rcAlloc(sizeof(rcPolyMeshDetail), RC_ALLOC_PERM);
memset(dmesh, 0, sizeof(rcPolyMeshDetail));
return dmesh;
return rcNew<rcPolyMeshDetail>(RC_ALLOC_PERM);
}
void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh)
void rcFreePolyMeshDetail(rcPolyMeshDetail* detailMesh)
{
if (!dmesh) return;
rcFree(dmesh->meshes);
rcFree(dmesh->verts);
rcFree(dmesh->tris);
rcFree(dmesh);
if (detailMesh == NULL)
{
return;
}
rcFree(detailMesh->meshes);
rcFree(detailMesh->verts);
rcFree(detailMesh->tris);
rcFree(detailMesh);
}
void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax)
rcPolyMeshDetail::rcPolyMeshDetail()
: meshes()
, verts()
, tris()
, nmeshes()
, nverts()
, ntris()
{
}
void rcCalcBounds(const float* verts, int numVerts, float* minBounds, float* maxBounds)
{
// Calculate bounding box.
rcVcopy(bmin, verts);
rcVcopy(bmax, verts);
for (int i = 1; i < nv; ++i)
rcVcopy(minBounds, verts);
rcVcopy(maxBounds, verts);
for (int i = 1; i < numVerts; ++i)
{
const float* v = &verts[i*3];
rcVmin(bmin, v);
rcVmax(bmax, v);
const float* v = &verts[i * 3];
rcVmin(minBounds, v);
rcVmax(maxBounds, v);
}
}
void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h)
void rcCalcGridSize(const float* minBounds, const float* maxBounds, const float cellSize, int* sizeX, int* sizeZ)
{
*w = (int)((bmax[0] - bmin[0])/cs+0.5f);
*h = (int)((bmax[2] - bmin[2])/cs+0.5f);
*sizeX = (int)((maxBounds[0] - minBounds[0]) / cellSize + 0.5f);
*sizeZ = (int)((maxBounds[2] - minBounds[2]) / cellSize + 0.5f);
}
/// @par
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfield, rcHeightfield
bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height,
const float* bmin, const float* bmax,
float cs, float ch)
bool rcCreateHeightfield(rcContext* context, rcHeightfield& heightfield, int sizeX, int sizeZ,
const float* minBounds, const float* maxBounds,
float cellSize, float cellHeight)
{
rcIgnoreUnused(ctx);
hf.width = width;
hf.height = height;
rcVcopy(hf.bmin, bmin);
rcVcopy(hf.bmax, bmax);
hf.cs = cs;
hf.ch = ch;
hf.spans = (rcSpan**)rcAlloc(sizeof(rcSpan*)*hf.width*hf.height, RC_ALLOC_PERM);
if (!hf.spans)
rcIgnoreUnused(context);
heightfield.width = sizeX;
heightfield.height = sizeZ;
rcVcopy(heightfield.bmin, minBounds);
rcVcopy(heightfield.bmax, maxBounds);
heightfield.cs = cellSize;
heightfield.ch = cellHeight;
heightfield.spans = (rcSpan**)rcAlloc(sizeof(rcSpan*) * heightfield.width * heightfield.height, RC_ALLOC_PERM);
if (!heightfield.spans)
{
return false;
memset(hf.spans, 0, sizeof(rcSpan*)*hf.width*hf.height);
}
memset(heightfield.spans, 0, sizeof(rcSpan*) * heightfield.width * heightfield.height);
return true;
}
static void calcTriNormal(const float* v0, const float* v1, const float* v2, float* norm)
static void calcTriNormal(const float* v0, const float* v1, const float* v2, float* faceNormal)
{
float e0[3], e1[3];
rcVsub(e0, v1, v0);
rcVsub(e1, v2, v0);
rcVcross(norm, e0, e1);
rcVnormalize(norm);
rcVcross(faceNormal, e0, e1);
rcVnormalize(faceNormal);
}
/// @par
///
/// Only sets the area id's for the walkable triangles. Does not alter the
/// area id's for unwalkable triangles.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
const float* verts, int nv,
const int* tris, int nt,
unsigned char* areas)
void rcMarkWalkableTriangles(rcContext* context, const float walkableSlopeAngle,
const float* verts, const int numVerts,
const int* tris, const int numTris,
unsigned char* triAreaIDs)
{
rcIgnoreUnused(ctx);
rcIgnoreUnused(nv);
const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
rcIgnoreUnused(context);
rcIgnoreUnused(numVerts);
const float walkableThr = cosf(walkableSlopeAngle / 180.0f * RC_PI);
float norm[3];
for (int i = 0; i < nt; ++i)
for (int i = 0; i < numTris; ++i)
{
const int* tri = &tris[i*3];
calcTriNormal(&verts[tri[0]*3], &verts[tri[1]*3], &verts[tri[2]*3], norm);
const int* tri = &tris[i * 3];
calcTriNormal(&verts[tri[0] * 3], &verts[tri[1] * 3], &verts[tri[2] * 3], norm);
// Check if the face is walkable.
if (norm[1] > walkableThr)
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)
triAreaIDs[i] = RC_WALKABLE_AREA;
}
}
}
void rcClearUnwalkableTriangles(rcContext* context, const float walkableSlopeAngle,
const float* verts, int numVerts,
const int* tris, int numTris,
unsigned char* triAreaIDs)
{
rcIgnoreUnused(context);
rcIgnoreUnused(numVerts);
// The minimum Y value for a face normal of a triangle with a walkable slope.
const float walkableLimitY = cosf(walkableSlopeAngle / 180.0f * RC_PI);
float faceNormal[3];
for (int i = 0; i < numTris; ++i)
{
const int* tri = &tris[i * 3];
calcTriNormal(&verts[tri[0] * 3], &verts[tri[1] * 3], &verts[tri[2] * 3], faceNormal);
// Check if the face is walkable.
if (faceNormal[1] <= walkableLimitY)
{
triAreaIDs[i] = RC_NULL_AREA;
}
}
}
int rcGetHeightFieldSpanCount(rcContext* context, const rcHeightfield& heightfield)
{
rcIgnoreUnused(context);
const int numCols = heightfield.width * heightfield.height;
int spanCount = 0;
for (int columnIndex = 0; columnIndex < numCols; ++columnIndex)
{
for (rcSpan* span = heightfield.spans[columnIndex]; span != NULL; span = span->next)
{
if (span->area != RC_NULL_AREA)
{
if (s->area != RC_NULL_AREA)
spanCount++;
spanCount++;
}
}
}
return spanCount;
}
/// @par
///
/// This is just the beginning of the process of fully building a compact heightfield.
/// Various filters may be applied, then the distance field and regions built.
/// E.g: #rcBuildDistanceField and #rcBuildRegions
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig
bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
rcHeightfield& hf, rcCompactHeightfield& chf)
bool rcBuildCompactHeightfield(rcContext* context, const int walkableHeight, const int walkableClimb,
const rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield)
{
rcAssert(ctx);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
const int w = hf.width;
const int h = hf.height;
const int spanCount = rcGetHeightFieldSpanCount(ctx, hf);
rcAssert(context);
rcScopedTimer timer(context, RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
const int xSize = heightfield.width;
const int zSize = heightfield.height;
const int spanCount = rcGetHeightFieldSpanCount(context, heightfield);
// Fill in header.
chf.width = w;
chf.height = h;
chf.spanCount = spanCount;
chf.walkableHeight = walkableHeight;
chf.walkableClimb = walkableClimb;
chf.maxRegions = 0;
rcVcopy(chf.bmin, hf.bmin);
rcVcopy(chf.bmax, hf.bmax);
chf.bmax[1] += walkableHeight*hf.ch;
chf.cs = hf.cs;
chf.ch = hf.ch;
chf.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell)*w*h, RC_ALLOC_PERM);
if (!chf.cells)
compactHeightfield.width = xSize;
compactHeightfield.height = zSize;
compactHeightfield.spanCount = spanCount;
compactHeightfield.walkableHeight = walkableHeight;
compactHeightfield.walkableClimb = walkableClimb;
compactHeightfield.maxRegions = 0;
rcVcopy(compactHeightfield.bmin, heightfield.bmin);
rcVcopy(compactHeightfield.bmax, heightfield.bmax);
compactHeightfield.bmax[1] += walkableHeight * heightfield.ch;
compactHeightfield.cs = heightfield.cs;
compactHeightfield.ch = heightfield.ch;
compactHeightfield.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell) * xSize * zSize, RC_ALLOC_PERM);
if (!compactHeightfield.cells)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", w*h);
context->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", xSize * zSize);
return false;
}
memset(chf.cells, 0, sizeof(rcCompactCell)*w*h);
chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*spanCount, RC_ALLOC_PERM);
if (!chf.spans)
memset(compactHeightfield.cells, 0, sizeof(rcCompactCell) * xSize * zSize);
compactHeightfield.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan) * spanCount, RC_ALLOC_PERM);
if (!compactHeightfield.spans)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.spans' (%d)", spanCount);
context->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.spans' (%d)", spanCount);
return false;
}
memset(chf.spans, 0, sizeof(rcCompactSpan)*spanCount);
chf.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*spanCount, RC_ALLOC_PERM);
if (!chf.areas)
memset(compactHeightfield.spans, 0, sizeof(rcCompactSpan) * spanCount);
compactHeightfield.areas = (unsigned char*)rcAlloc(sizeof(unsigned char) * spanCount, RC_ALLOC_PERM);
if (!compactHeightfield.areas)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.areas' (%d)", spanCount);
context->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.areas' (%d)", spanCount);
return false;
}
memset(chf.areas, RC_NULL_AREA, sizeof(unsigned char)*spanCount);
memset(compactHeightfield.areas, RC_NULL_AREA, sizeof(unsigned char) * spanCount);
const int MAX_HEIGHT = 0xffff;
// Fill in cells and spans.
int idx = 0;
for (int y = 0; y < h; ++y)
int currentCellIndex = 0;
const int numColumns = xSize * zSize;
for (int columnIndex = 0; columnIndex < numColumns; ++columnIndex)
{
for (int x = 0; x < w; ++x)
const rcSpan* span = heightfield.spans[columnIndex];
// If there are no spans at this cell, just leave the data to index=0, count=0.
if (span == NULL)
{
const rcSpan* s = hf.spans[x + y*w];
// If there are no spans at this cell, just leave the data to index=0, count=0.
if (!s) continue;
rcCompactCell& c = chf.cells[x+y*w];
c.index = idx;
c.count = 0;
while (s)
continue;
}
rcCompactCell& cell = compactHeightfield.cells[columnIndex];
cell.index = currentCellIndex;
cell.count = 0;
for (; span != NULL; span = span->next)
{
if (span->area != RC_NULL_AREA)
{
if (s->area != RC_NULL_AREA)
{
const int bot = (int)s->smax;
const int top = s->next ? (int)s->next->smin : MAX_HEIGHT;
chf.spans[idx].y = (unsigned short)rcClamp(bot, 0, 0xffff);
chf.spans[idx].h = (unsigned char)rcClamp(top - bot, 0, 0xff);
chf.areas[idx] = s->area;
idx++;
c.count++;
}
s = s->next;
const int bot = (int)span->smax;
const int top = span->next ? (int)span->next->smin : MAX_HEIGHT;
compactHeightfield.spans[currentCellIndex].y = (unsigned short)rcClamp(bot, 0, 0xffff);
compactHeightfield.spans[currentCellIndex].h = (unsigned char)rcClamp(top - bot, 0, 0xff);
compactHeightfield.areas[currentCellIndex] = span->area;
currentCellIndex++;
cell.count++;
}
}
}
// Find neighbour connections.
const int MAX_LAYERS = RC_NOT_CONNECTED-1;
int tooHighNeighbour = 0;
for (int y = 0; y < h; ++y)
const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
int maxLayerIndex = 0;
const int zStride = xSize; // for readability
for (int z = 0; z < zSize; ++z)
{
for (int x = 0; x < w; ++x)
for (int x = 0; x < xSize; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
const rcCompactCell& cell = compactHeightfield.cells[x + z * zStride];
for (int i = (int)cell.index, ni = (int)(cell.index + cell.count); i < ni; ++i)
{
rcCompactSpan& s = chf.spans[i];
rcCompactSpan& span = compactHeightfield.spans[i];
for (int dir = 0; dir < 4; ++dir)
{
rcSetCon(s, dir, RC_NOT_CONNECTED);
const int nx = x + rcGetDirOffsetX(dir);
const int ny = y + rcGetDirOffsetY(dir);
rcSetCon(span, dir, RC_NOT_CONNECTED);
const int neighborX = x + rcGetDirOffsetX(dir);
const int neighborZ = z + rcGetDirOffsetY(dir);
// First check that the neighbour cell is in bounds.
if (nx < 0 || ny < 0 || nx >= w || ny >= h)
if (neighborX < 0 || neighborZ < 0 || neighborX >= xSize || neighborZ >= zSize)
{
continue;
}
// Iterate over all neighbour spans and check if any of the is
// accessible from current cell.
const rcCompactCell& nc = chf.cells[nx+ny*w];
for (int k = (int)nc.index, nk = (int)(nc.index+nc.count); k < nk; ++k)
const rcCompactCell& neighborCell = compactHeightfield.cells[neighborX + neighborZ * zStride];
for (int k = (int)neighborCell.index, nk = (int)(neighborCell.index + neighborCell.count); k < nk; ++k)
{
const rcCompactSpan& ns = chf.spans[k];
const int bot = rcMax(s.y, ns.y);
const int top = rcMin(s.y+s.h, ns.y+ns.h);
const rcCompactSpan& neighborSpan = compactHeightfield.spans[k];
const int bot = rcMax(span.y, neighborSpan.y);
const int top = rcMin(span.y + span.h, neighborSpan.y + neighborSpan.h);
// Check that the gap between the spans is walkable,
// and that the climb height between the gaps is not too high.
if ((top - bot) >= walkableHeight && rcAbs((int)ns.y - (int)s.y) <= walkableClimb)
if ((top - bot) >= walkableHeight && rcAbs((int)neighborSpan.y - (int)span.y) <= walkableClimb)
{
// Mark direction as walkable.
const int lidx = k - (int)nc.index;
if (lidx < 0 || lidx > MAX_LAYERS)
const int layerIndex = k - (int)neighborCell.index;
if (layerIndex < 0 || layerIndex > MAX_LAYERS)
{
tooHighNeighbour = rcMax(tooHighNeighbour, lidx);
maxLayerIndex = rcMax(maxLayerIndex, layerIndex);
continue;
}
rcSetCon(s, dir, lidx);
rcSetCon(span, dir, layerIndex);
break;
}
}
}
}
}
}
if (tooHighNeighbour > MAX_LAYERS)
if (maxLayerIndex > MAX_LAYERS)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)",
tooHighNeighbour, MAX_LAYERS);
context->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)",
maxLayerIndex, MAX_LAYERS);
}
return true;
}
/*
static int getHeightfieldMemoryUsage(const rcHeightfield& hf)
{
int size = 0;
size += sizeof(hf);
size += hf.width * hf.height * sizeof(rcSpan*);
rcSpanPool* pool = hf.pools;
while (pool)
{
size += (sizeof(rcSpanPool) - sizeof(rcSpan)) + sizeof(rcSpan)*RC_SPANS_PER_POOL;
pool = pool->next;
}
return size;
}
static int getCompactHeightFieldMemoryusage(const rcCompactHeightfield& chf)
{
int size = 0;
size += sizeof(rcCompactHeightfield);
size += sizeof(rcCompactSpan) * chf.spanCount;
size += sizeof(rcCompactCell) * chf.width * chf.height;
return size;
}
*/

19
thirdparty/recastnavigation/Recast/Source/RecastAlloc.cpp vendored
View File

@ -16,12 +16,9 @@
// 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)
static void* rcAllocDefault(size_t size, rcAllocHint)
{
return malloc(size);
}
@ -34,27 +31,21 @@ static void rcFreeDefault(void *ptr)
static rcAllocFunc* sRecastAllocFunc = rcAllocDefault;
static rcFreeFunc* sRecastFreeFunc = rcFreeDefault;
/// @see rcAlloc, rcFree
void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc)
void rcAllocSetCustom(rcAllocFunc* allocFunc, rcFreeFunc* freeFunc)
{
sRecastAllocFunc = allocFunc ? allocFunc : rcAllocDefault;
sRecastFreeFunc = freeFunc ? freeFunc : rcFreeDefault;
}
/// @see rcAllocSetCustom
void* rcAlloc(size_t size, rcAllocHint hint)
{
return sRecastAllocFunc(size, hint);
}
/// @par
///
/// @warning This function leaves the value of @p ptr unchanged. So it still
/// points to the same (now invalid) location, and not to null.
///
/// @see rcAllocSetCustom
void rcFree(void* ptr)
{
if (ptr)
if (ptr != NULL)
{
sRecastFreeFunc(ptr);
}
}

1
thirdparty/recastnavigation/Recast/Source/RecastArea.cpp vendored
View File

@ -17,7 +17,6 @@
//
#include <float.h>
#define _USE_MATH_DEFINES
#include <math.h>
#include <string.h>
#include <stdlib.h>

2
thirdparty/recastnavigation/Recast/Source/RecastAssert.cpp vendored
View File

@ -22,7 +22,7 @@
static rcAssertFailFunc* sRecastAssertFailFunc = 0;
void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc)
void rcAssertFailSetCustom(rcAssertFailFunc* assertFailFunc)
{
sRecastAssertFailFunc = assertFailFunc;
}

11
thirdparty/recastnavigation/Recast/Source/RecastContour.cpp vendored
View File

@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
#define _USE_MATH_DEFINES
#include <math.h>
#include <string.h>
#include <stdio.h>
@ -102,7 +101,7 @@ static int getCornerHeight(int x, int y, int i, int dir,
}
static void walkContour(int x, int y, int i,
rcCompactHeightfield& chf,
const rcCompactHeightfield& chf,
unsigned char* flags, rcIntArray& points)
{
// Choose the first non-connected edge
@ -542,7 +541,7 @@ static bool vequal(const int* a, const int* b)
return a[0] == b[0] && a[2] == b[2];
}
static bool intersectSegCountour(const int* d0, const int* d1, int i, int n, const int* verts)
static bool intersectSegContour(const int* d0, const int* d1, int i, int n, const int* verts)
{
// For each edge (k,k+1) of P
for (int k = 0; k < n; k++)
@ -778,9 +777,9 @@ static void mergeRegionHoles(rcContext* ctx, rcContourRegion& region)
for (int j = 0; j < ndiags; j++)
{
const int* pt = &outline->verts[diags[j].vert*4];
bool intersect = intersectSegCountour(pt, corner, diags[i].vert, outline->nverts, outline->verts);
bool intersect = intersectSegContour(pt, corner, diags[i].vert, outline->nverts, outline->verts);
for (int k = i; k < region.nholes && !intersect; k++)
intersect |= intersectSegCountour(pt, corner, -1, region.holes[k].contour->nverts, region.holes[k].contour->verts);
intersect |= intersectSegContour(pt, corner, -1, region.holes[k].contour->nverts, region.holes[k].contour->verts);
if (!intersect)
{
index = diags[j].vert;
@ -821,7 +820,7 @@ static void mergeRegionHoles(rcContext* ctx, rcContourRegion& region)
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
bool rcBuildContours(rcContext* ctx, const rcCompactHeightfield& chf,
const float maxError, const int maxEdgeLen,
rcContourSet& cset, const int buildFlags)
{

198
thirdparty/recastnavigation/Recast/Source/RecastFilter.cpp vendored
View File

@ -16,186 +16,168 @@
// 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);
#include <stdlib.h>
rcScopedTimer timer(ctx, RC_TIMER_FILTER_LOW_OBSTACLES);
const int w = solid.width;
const int h = solid.height;
for (int y = 0; y < h; ++y)
void rcFilterLowHangingWalkableObstacles(rcContext* context, const int walkableClimb, rcHeightfield& heightfield)
{
rcAssert(context);
rcScopedTimer timer(context, RC_TIMER_FILTER_LOW_OBSTACLES);
const int xSize = heightfield.width;
const int zSize = heightfield.height;
for (int z = 0; z < zSize; ++z)
{
for (int x = 0; x < w; ++x)
for (int x = 0; x < xSize; ++x)
{
rcSpan* ps = 0;
bool previousWalkable = false;
rcSpan* previousSpan = NULL;
bool previousWasWalkable = false;
unsigned char previousArea = RC_NULL_AREA;
for (rcSpan* s = solid.spans[x + y*w]; s; ps = s, s = s->next)
for (rcSpan* span = heightfield.spans[x + z * xSize]; span != NULL; previousSpan = span, span = span->next)
{
const bool walkable = s->area != RC_NULL_AREA;
const bool walkable = span->area != RC_NULL_AREA;
// If current span is not walkable, but there is walkable
// span just below it, mark the span above it walkable too.
if (!walkable && previousWalkable)
if (!walkable && previousWasWalkable)
{
if (rcAbs((int)s->smax - (int)ps->smax) <= walkableClimb)
s->area = previousArea;
if (rcAbs((int)span->smax - (int)previousSpan->smax) <= walkableClimb)
{
span->area = previousArea;
}
}
// Copy walkable flag so that it cannot propagate
// past multiple non-walkable objects.
previousWalkable = walkable;
previousArea = s->area;
previousWasWalkable = walkable;
previousArea = span->area;
}
}
}
}
/// @par
///
/// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb
/// from the current span's maximum.
/// This method removes the impact of the overestimation of conservative voxelization
/// so the resulting mesh will not have regions hanging in the air over ledges.
///
/// A span is a ledge if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
///
/// @see rcHeightfield, rcConfig
void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walkableClimb,
rcHeightfield& solid)
void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int walkableClimb,
rcHeightfield& heightfield)
{
rcAssert(ctx);
rcAssert(context);
rcScopedTimer timer(ctx, RC_TIMER_FILTER_BORDER);
rcScopedTimer timer(context, RC_TIMER_FILTER_BORDER);
const int w = solid.width;
const int h = solid.height;
const int MAX_HEIGHT = 0xffff;
const int xSize = heightfield.width;
const int zSize = heightfield.height;
const int MAX_HEIGHT = 0xffff; // TODO (graham): Move this to a more visible constant and update usages.
// Mark border spans.
for (int y = 0; y < h; ++y)
for (int z = 0; z < zSize; ++z)
{
for (int x = 0; x < w; ++x)
for (int x = 0; x < xSize; ++x)
{
for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
for (rcSpan* span = heightfield.spans[x + z * xSize]; span; span = span->next)
{
// Skip non walkable spans.
if (s->area == RC_NULL_AREA)
if (span->area == RC_NULL_AREA)
{
continue;
const int bot = (int)(s->smax);
const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
}
const int bot = (int)(span->smax);
const int top = span->next ? (int)(span->next->smin) : MAX_HEIGHT;
// Find neighbours minimum height.
int minh = MAX_HEIGHT;
int minNeighborHeight = MAX_HEIGHT;
// Min and max height of accessible neighbours.
int asmin = s->smax;
int asmax = s->smax;
int accessibleNeighborMinHeight = span->smax;
int accessibleNeighborMaxHeight = span->smax;
for (int dir = 0; dir < 4; ++dir)
for (int direction = 0; direction < 4; ++direction)
{
int dx = x + rcGetDirOffsetX(dir);
int dy = y + rcGetDirOffsetY(dir);
int dx = x + rcGetDirOffsetX(direction);
int dy = z + rcGetDirOffsetY(direction);
// Skip neighbours which are out of bounds.
if (dx < 0 || dy < 0 || dx >= w || dy >= h)
if (dx < 0 || dy < 0 || dx >= xSize || dy >= zSize)
{
minh = rcMin(minh, -walkableClimb - bot);
minNeighborHeight = rcMin(minNeighborHeight, -walkableClimb - bot);
continue;
}
// From minus infinity to the first span.
rcSpan* ns = solid.spans[dx + dy*w];
int nbot = -walkableClimb;
int ntop = ns ? (int)ns->smin : MAX_HEIGHT;
// Skip neightbour if the gap between the spans is too small.
if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight)
minh = rcMin(minh, nbot - bot);
const rcSpan* neighborSpan = heightfield.spans[dx + dy * xSize];
int neighborBot = -walkableClimb;
int neighborTop = neighborSpan ? (int)neighborSpan->smin : MAX_HEIGHT;
// Rest of the spans.
for (ns = solid.spans[dx + dy*w]; ns; ns = ns->next)
// Skip neighbour if the gap between the spans is too small.
if (rcMin(top, neighborTop) - rcMax(bot, neighborBot) > walkableHeight)
{
nbot = (int)ns->smax;
ntop = ns->next ? (int)ns->next->smin : MAX_HEIGHT;
// Skip neightbour if the gap between the spans is too small.
if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight)
{
minh = rcMin(minh, nbot - bot);
minNeighborHeight = rcMin(minNeighborHeight, neighborBot - bot);
}
// Rest of the spans.
for (neighborSpan = heightfield.spans[dx + dy * xSize]; neighborSpan; neighborSpan = neighborSpan->next)
{
neighborBot = (int)neighborSpan->smax;
neighborTop = neighborSpan->next ? (int)neighborSpan->next->smin : MAX_HEIGHT;
// Skip neighbour if the gap between the spans is too small.
if (rcMin(top, neighborTop) - rcMax(bot, neighborBot) > walkableHeight)
{
minNeighborHeight = rcMin(minNeighborHeight, neighborBot - bot);
// Find min/max accessible neighbour height.
if (rcAbs(nbot - bot) <= walkableClimb)
if (rcAbs(neighborBot - bot) <= walkableClimb)
{
if (nbot < asmin) asmin = nbot;
if (nbot > asmax) asmax = nbot;
if (neighborBot < accessibleNeighborMinHeight) accessibleNeighborMinHeight = neighborBot;
if (neighborBot > accessibleNeighborMaxHeight) accessibleNeighborMaxHeight = neighborBot;
}
}
}
}
// The current span is close to a ledge if the drop to any
// neighbour span is less than the walkableClimb.
if (minh < -walkableClimb)
if (minNeighborHeight < -walkableClimb)
{
s->area = RC_NULL_AREA;
span->area = RC_NULL_AREA;
}
// If the difference between all neighbours is too large,
// we are at steep slope, mark the span as ledge.
else if ((asmax - asmin) > walkableClimb)
else if ((accessibleNeighborMaxHeight - accessibleNeighborMinHeight) > walkableClimb)
{
s->area = RC_NULL_AREA;
span->area = RC_NULL_AREA;
}
}
}
}
}
/// @par
///
/// For this filter, the clearance above the span is the distance from the span's
/// maximum to the next higher span's minimum. (Same grid column.)
///
/// @see rcHeightfield, rcConfig
void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid)
void rcFilterWalkableLowHeightSpans(rcContext* context, const int walkableHeight, rcHeightfield& heightfield)
{
rcAssert(ctx);
rcAssert(context);
rcScopedTimer timer(ctx, RC_TIMER_FILTER_WALKABLE);
rcScopedTimer timer(context, RC_TIMER_FILTER_WALKABLE);
const int w = solid.width;
const int h = solid.height;
const int xSize = heightfield.width;
const int zSize = heightfield.height;
const int MAX_HEIGHT = 0xffff;
// Remove walkable flag from spans which do not have enough
// space above them for the agent to stand there.
for (int y = 0; y < h; ++y)
for (int z = 0; z < zSize; ++z)
{
for (int x = 0; x < w; ++x)
for (int x = 0; x < xSize; ++x)
{
for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
for (rcSpan* span = heightfield.spans[x + z*xSize]; span; span = span->next)
{
const int bot = (int)(s->smax);
const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
if ((top - bot) <= walkableHeight)
s->area = RC_NULL_AREA;
const int bot = (int)(span->smax);
const int top = span->next ? (int)(span->next->smin) : MAX_HEIGHT;
if ((top - bot) < walkableHeight)
{
span->area = RC_NULL_AREA;
}
}
}
}

20
thirdparty/recastnavigation/Recast/Source/RecastLayers.cpp vendored
View File

@ -17,7 +17,6 @@
//
#include <float.h>
#define _USE_MATH_DEFINES
#include <math.h>
#include <string.h>
#include <stdlib.h>
@ -29,8 +28,21 @@
// 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;
#ifndef RC_MAX_LAYERS_DEF
#define RC_MAX_LAYERS_DEF 63
#endif
#if RC_MAX_LAYERS_DEF > 255
#error RC_MAX_LAYERS_DEF must be 255 or smaller
#endif
#ifndef RC_MAX_NEIS_DEF
#define RC_MAX_NEIS_DEF 16
#endif
// Keep type checking.
static const int RC_MAX_LAYERS = RC_MAX_LAYERS_DEF;
static const int RC_MAX_NEIS = RC_MAX_NEIS_DEF;
struct rcLayerRegion
{
@ -89,7 +101,7 @@ struct rcLayerSweepSpan
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
bool rcBuildHeightfieldLayers(rcContext* ctx, const rcCompactHeightfield& chf,
const int borderSize, const int walkableHeight,
rcHeightfieldLayerSet& lset)
{

5
thirdparty/recastnavigation/Recast/Source/RecastMesh.cpp vendored
View File

@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
#define _USE_MATH_DEFINES
#include <math.h>
#include <string.h>
#include <stdio.h>
@ -35,7 +34,7 @@ static bool buildMeshAdjacency(unsigned short* polys, const int npolys,
const int nverts, const int vertsPerPoly)
{
// Based on code by Eric Lengyel from:
// http://www.terathon.com/code/edges.php
// https://web.archive.org/web/20080704083314/http://www.terathon.com/code/edges.php
int maxEdgeCount = npolys*vertsPerPoly;
unsigned short* firstEdge = (unsigned short*)rcAlloc(sizeof(unsigned short)*(nverts + maxEdgeCount), RC_ALLOC_TEMP);
@ -987,7 +986,7 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
/// limit must be retricted to <= #DT_VERTS_PER_POLYGON.
///
/// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig
bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh)
bool rcBuildPolyMesh(rcContext* ctx, const rcContourSet& cset, const int nvp, rcPolyMesh& mesh)
{
rcAssert(ctx);

1
thirdparty/recastnavigation/Recast/Source/RecastMeshDetail.cpp vendored
View File

@ -17,7 +17,6 @@
//
#include <float.h>
#define _USE_MATH_DEFINES
#include <math.h>
#include <string.h>
#include <stdlib.h>

670
thirdparty/recastnavigation/Recast/Source/RecastRasterization.cpp vendored
View File

@ -16,377 +16,485 @@
// 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)
/// Check whether two bounding boxes overlap
///
/// @param[in] aMin Min axis extents of bounding box A
/// @param[in] aMax Max axis extents of bounding box A
/// @param[in] bMin Min axis extents of bounding box B
/// @param[in] bMax Max axis extents of bounding box B
/// @returns true if the two bounding boxes overlap. False otherwise.
static bool overlapBounds(const float* aMin, const float* aMax, const float* bMin, const float* bMax)
{
bool overlap = true;
overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
return overlap;
return
aMin[0] <= bMax[0] && aMax[0] >= bMin[0] &&
aMin[1] <= bMax[1] && aMax[1] >= bMin[1] &&
aMin[2] <= bMax[2] && aMax[2] >= bMin[2];
}
inline bool overlapInterval(unsigned short amin, unsigned short amax,
unsigned short bmin, unsigned short bmax)
{
if (amax < bmin) return false;
if (amin > bmax) return false;
return true;
}
/// Allocates a new span in the heightfield.
/// Use a memory pool and free list to minimize actual allocations.
///
/// @param[in] hf The heightfield
/// @returns A pointer to the allocated or re-used span memory.
static rcSpan* allocSpan(rcHeightfield& hf)
{
// If running out of memory, allocate new page and update the freelist.
if (!hf.freelist || !hf.freelist->next)
// If necessary, allocate new page and update the freelist.
if (hf.freelist == NULL || hf.freelist->next == NULL)
{
// Create new page.
// Allocate memory for the new pool.
rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
if (!pool) return 0;
rcSpanPool* spanPool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
if (spanPool == NULL)
{
return NULL;
}
// Add the pool into the list of pools.
pool->next = hf.pools;
hf.pools = pool;
// Add new items to the free list.
rcSpan* freelist = hf.freelist;
rcSpan* head = &pool->items[0];
rcSpan* it = &pool->items[RC_SPANS_PER_POOL];
spanPool->next = hf.pools;
hf.pools = spanPool;
// Add new spans to the free list.
rcSpan* freeList = hf.freelist;
rcSpan* head = &spanPool->items[0];
rcSpan* it = &spanPool->items[RC_SPANS_PER_POOL];
do
{
--it;
it->next = freelist;
freelist = it;
it->next = freeList;
freeList = it;
}
while (it != head);
hf.freelist = it;
}
// Pop item from in front of the free list.
rcSpan* it = hf.freelist;
// Pop item from the front of the free list.
rcSpan* newSpan = hf.freelist;
hf.freelist = hf.freelist->next;
return it;
return newSpan;
}
static void freeSpan(rcHeightfield& hf, rcSpan* ptr)
/// Releases the memory used by the span back to the heightfield, so it can be re-used for new spans.
/// @param[in] hf The heightfield.
/// @param[in] span A pointer to the span to free
static void freeSpan(rcHeightfield& hf, rcSpan* span)
{
if (!ptr) return;
// Add the node in front of the free list.
ptr->next = hf.freelist;
hf.freelist = ptr;
}
static bool addSpan(rcHeightfield& hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned char area, const int flagMergeThr)
{
int idx = x + y*hf.width;
rcSpan* s = allocSpan(hf);
if (!s)
return false;
s->smin = smin;
s->smax = smax;
s->area = area;
s->next = 0;
// Empty cell, add the first span.
if (!hf.spans[idx])
if (span == NULL)
{
hf.spans[idx] = s;
return true;
return;
}
rcSpan* prev = 0;
rcSpan* cur = hf.spans[idx];
// Insert and merge spans.
while (cur)
// Add the span to the front of the free list.
span->next = hf.freelist;
hf.freelist = span;
}
/// Adds a span to the heightfield. If the new span overlaps existing spans,
/// it will merge the new span with the existing ones.
///
/// @param[in] hf Heightfield to add spans to
/// @param[in] x The new span's column cell x index
/// @param[in] z The new span's column cell z index
/// @param[in] min The new span's minimum cell index
/// @param[in] max The new span's maximum cell index
/// @param[in] areaID The new span's area type ID
/// @param[in] flagMergeThreshold How close two spans maximum extents need to be to merge area type IDs
static bool addSpan(rcHeightfield& hf,
const int x, const int z,
const unsigned short min, const unsigned short max,
const unsigned char areaID, const int flagMergeThreshold)
{
// Create the new span.
rcSpan* newSpan = allocSpan(hf);
if (newSpan == NULL)
{
if (cur->smin > s->smax)
return false;
}
newSpan->smin = min;
newSpan->smax = max;
newSpan->area = areaID;
newSpan->next = NULL;
const int columnIndex = x + z * hf.width;
rcSpan* previousSpan = NULL;
rcSpan* currentSpan = hf.spans[columnIndex];
// Insert the new span, possibly merging it with existing spans.
while (currentSpan != NULL)
{
if (currentSpan->smin > newSpan->smax)
{
// Current span is further than the new span, break.
// Current span is completely after the new span, break.
break;
}
else if (cur->smax < s->smin)
if (currentSpan->smax < newSpan->smin)
{
// Current span is before the new span advance.
prev = cur;
cur = cur->next;
// Current span is completely before the new span. Keep going.
previousSpan = currentSpan;
currentSpan = currentSpan->next;
}
else
{
// Merge spans.
if (cur->smin < s->smin)
s->smin = cur->smin;
if (cur->smax > s->smax)
s->smax = cur->smax;
// The new span overlaps with an existing span. Merge them.
if (currentSpan->smin < newSpan->smin)
{
newSpan->smin = currentSpan->smin;
}
if (currentSpan->smax > newSpan->smax)
{
newSpan->smax = currentSpan->smax;
}
// Merge flags.
if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr)
s->area = rcMax(s->area, cur->area);
if (rcAbs((int)newSpan->smax - (int)currentSpan->smax) <= flagMergeThreshold)
{
// Higher area ID numbers indicate higher resolution priority.
newSpan->area = rcMax(newSpan->area, currentSpan->area);
}
// Remove current span.
rcSpan* next = cur->next;
freeSpan(hf, cur);
if (prev)
prev->next = next;
// Remove the current span since it's now merged with newSpan.
// Keep going because there might be other overlapping spans that also need to be merged.
rcSpan* next = currentSpan->next;
freeSpan(hf, currentSpan);
if (previousSpan)
{
previousSpan->next = next;
}
else
hf.spans[idx] = next;
cur = next;
{
hf.spans[columnIndex] = next;
}
currentSpan = next;
}
}
// Insert new span.
if (prev)
// Insert new span after prev
if (previousSpan != NULL)
{
s->next = prev->next;
prev->next = s;
newSpan->next = previousSpan->next;
previousSpan->next = newSpan;
}
else
{
s->next = hf.spans[idx];
hf.spans[idx] = s;
// This span should go before the others in the list
newSpan->next = hf.spans[columnIndex];
hf.spans[columnIndex] = newSpan;
}
return true;
}
/// @par
///
/// The span addition can be set to favor flags. If the span is merged to
/// another span and the new @p smax is within @p flagMergeThr units
/// from the existing span, the span flags are merged.
///
/// @see rcHeightfield, rcSpan.
bool rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned char area, const int flagMergeThr)
bool rcAddSpan(rcContext* context, rcHeightfield& heightfield,
const int x, const int z,
const unsigned short spanMin, const unsigned short spanMax,
const unsigned char areaID, const int flagMergeThreshold)
{
rcAssert(ctx);
rcAssert(context);
if (!addSpan(hf, x, y, smin, smax, area, flagMergeThr))
if (!addSpan(heightfield, x, z, spanMin, spanMax, areaID, flagMergeThreshold))
{
ctx->log(RC_LOG_ERROR, "rcAddSpan: Out of memory.");
context->log(RC_LOG_ERROR, "rcAddSpan: Out of memory.");
return false;
}
return true;
}
// divides a convex polygons into two convex polygons on both sides of a line
static void dividePoly(const float* in, int nin,
float* out1, int* nout1,
float* out2, int* nout2,
float x, int axis)
enum rcAxis
{
float d[12];
for (int i = 0; i < nin; ++i)
d[i] = x - in[i*3+axis];
RC_AXIS_X = 0,
RC_AXIS_Y = 1,
RC_AXIS_Z = 2
};
int m = 0, n = 0;
for (int i = 0, j = nin-1; i < nin; j=i, ++i)
/// Divides a convex polygon of max 12 vertices into two convex polygons
/// across a separating axis.
///
/// @param[in] inVerts The input polygon vertices
/// @param[in] inVertsCount The number of input polygon vertices
/// @param[out] outVerts1 Resulting polygon 1's vertices
/// @param[out] outVerts1Count The number of resulting polygon 1 vertices
/// @param[out] outVerts2 Resulting polygon 2's vertices
/// @param[out] outVerts2Count The number of resulting polygon 2 vertices
/// @param[in] axisOffset THe offset along the specified axis
/// @param[in] axis The separating axis
static void dividePoly(const float* inVerts, int inVertsCount,
float* outVerts1, int* outVerts1Count,
float* outVerts2, int* outVerts2Count,
float axisOffset, rcAxis axis)
{
rcAssert(inVertsCount <= 12);
// How far positive or negative away from the separating axis is each vertex.
float inVertAxisDelta[12];
for (int inVert = 0; inVert < inVertsCount; ++inVert)
{
bool ina = d[j] >= 0;
bool inb = d[i] >= 0;
if (ina != inb)
inVertAxisDelta[inVert] = axisOffset - inVerts[inVert * 3 + axis];
}
int poly1Vert = 0;
int poly2Vert = 0;
for (int inVertA = 0, inVertB = inVertsCount - 1; inVertA < inVertsCount; inVertB = inVertA, ++inVertA)
{
// If the two vertices are on the same side of the separating axis
bool sameSide = (inVertAxisDelta[inVertA] >= 0) == (inVertAxisDelta[inVertB] >= 0);
if (!sameSide)
{
float s = d[j] / (d[j] - d[i]);
out1[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s;
out1[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s;
out1[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s;
rcVcopy(out2 + n*3, out1 + m*3);
m++;
n++;
// add the i'th point to the right polygon. Do NOT add points that are on the dividing line
float s = inVertAxisDelta[inVertB] / (inVertAxisDelta[inVertB] - inVertAxisDelta[inVertA]);
outVerts1[poly1Vert * 3 + 0] = inVerts[inVertB * 3 + 0] + (inVerts[inVertA * 3 + 0] - inVerts[inVertB * 3 + 0]) * s;
outVerts1[poly1Vert * 3 + 1] = inVerts[inVertB * 3 + 1] + (inVerts[inVertA * 3 + 1] - inVerts[inVertB * 3 + 1]) * s;
outVerts1[poly1Vert * 3 + 2] = inVerts[inVertB * 3 + 2] + (inVerts[inVertA * 3 + 2] - inVerts[inVertB * 3 + 2]) * s;
rcVcopy(&outVerts2[poly2Vert * 3], &outVerts1[poly1Vert * 3]);
poly1Vert++;
poly2Vert++;
// add the inVertA point to the right polygon. Do NOT add points that are on the dividing line
// since these were already added above
if (d[i] > 0)
if (inVertAxisDelta[inVertA] > 0)
{
rcVcopy(out1 + m*3, in + i*3);
m++;
rcVcopy(&outVerts1[poly1Vert * 3], &inVerts[inVertA * 3]);
poly1Vert++;
}
else if (d[i] < 0)
else if (inVertAxisDelta[inVertA] < 0)
{
rcVcopy(out2 + n*3, in + i*3);
n++;
rcVcopy(&outVerts2[poly2Vert * 3], &inVerts[inVertA * 3]);
poly2Vert++;
}
}
else // same side
else
{
// add the i'th point to the right polygon. Addition is done even for points on the dividing line
if (d[i] >= 0)
// add the inVertA point to the right polygon. Addition is done even for points on the dividing line
if (inVertAxisDelta[inVertA] >= 0)
{
rcVcopy(out1 + m*3, in + i*3);
m++;
if (d[i] != 0)
rcVcopy(&outVerts1[poly1Vert * 3], &inVerts[inVertA * 3]);
poly1Vert++;
if (inVertAxisDelta[inVertA] != 0)
{
continue;
}
}
rcVcopy(out2 + n*3, in + i*3);
n++;
rcVcopy(&outVerts2[poly2Vert * 3], &inVerts[inVertA * 3]);
poly2Vert++;
}
}
*nout1 = m;
*nout2 = n;
*outVerts1Count = poly1Vert;
*outVerts2Count = poly2Vert;
}
/// Rasterize a single triangle to the heightfield.
///
/// This code is extremely hot, so much care should be given to maintaining maximum perf here.
///
/// @param[in] v0 Triangle vertex 0
/// @param[in] v1 Triangle vertex 1
/// @param[in] v2 Triangle vertex 2
/// @param[in] areaID The area ID to assign to the rasterized spans
/// @param[in] hf Heightfield to rasterize into
/// @param[in] hfBBMin The min extents of the heightfield bounding box
/// @param[in] hfBBMax The max extents of the heightfield bounding box
/// @param[in] cellSize The x and z axis size of a voxel in the heightfield
/// @param[in] inverseCellSize 1 / cellSize
/// @param[in] inverseCellHeight 1 / cellHeight
/// @param[in] flagMergeThreshold The threshold in which area flags will be merged
/// @returns true if the operation completes successfully. false if there was an error adding spans to the heightfield.
static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
const unsigned char area, rcHeightfield& hf,
const float* bmin, const float* bmax,
const float cs, const float ics, const float ich,
const int flagMergeThr)
const unsigned char areaID, rcHeightfield& hf,
const float* hfBBMin, const float* hfBBMax,
const float cellSize, const float inverseCellSize, const float inverseCellHeight,
const int flagMergeThreshold)
{
// Calculate the bounding box of the triangle.
float triBBMin[3];
rcVcopy(triBBMin, v0);
rcVmin(triBBMin, v1);
rcVmin(triBBMin, v2);
float triBBMax[3];
rcVcopy(triBBMax, v0);
rcVmax(triBBMax, v1);
rcVmax(triBBMax, v2);
// If the triangle does not touch the bounding box of the heightfield, skip the triangle.
if (!overlapBounds(triBBMin, triBBMax, hfBBMin, hfBBMax))
{
return true;
}
const int w = hf.width;
const int h = hf.height;
float tmin[3], tmax[3];
const float by = bmax[1] - bmin[1];
// Calculate the bounding box of the triangle.
rcVcopy(tmin, v0);
rcVcopy(tmax, v0);
rcVmin(tmin, v1);
rcVmin(tmin, v2);
rcVmax(tmax, v1);
rcVmax(tmax, v2);
// If the triangle does not touch the bbox of the heightfield, skip the triagle.
if (!overlapBounds(bmin, bmax, tmin, tmax))
return true;
// Calculate the footprint of the triangle on the grid's y-axis
int y0 = (int)((tmin[2] - bmin[2])*ics);
int y1 = (int)((tmax[2] - bmin[2])*ics);
const float by = hfBBMax[1] - hfBBMin[1];
// Calculate the footprint of the triangle on the grid's z-axis
int z0 = (int)((triBBMin[2] - hfBBMin[2]) * inverseCellSize);
int z1 = (int)((triBBMax[2] - hfBBMin[2]) * inverseCellSize);
// use -1 rather than 0 to cut the polygon properly at the start of the tile
y0 = rcClamp(y0, -1, h-1);
y1 = rcClamp(y1, 0, h-1);
z0 = rcClamp(z0, -1, h - 1);
z1 = rcClamp(z1, 0, h - 1);
// Clip the triangle into all grid cells it touches.
float buf[7*3*4];
float *in = buf, *inrow = buf+7*3, *p1 = inrow+7*3, *p2 = p1+7*3;
float buf[7 * 3 * 4];
float* in = buf;
float* inRow = buf + 7 * 3;
float* p1 = inRow + 7 * 3;
float* p2 = p1 + 7 * 3;
rcVcopy(&in[0], v0);
rcVcopy(&in[1*3], v1);
rcVcopy(&in[2*3], v2);
int nvrow, nvIn = 3;
for (int y = y0; y <= y1; ++y)
rcVcopy(&in[1 * 3], v1);
rcVcopy(&in[2 * 3], v2);
int nvRow;
int nvIn = 3;
for (int z = z0; z <= z1; ++z)
{
// Clip polygon to row. Store the remaining polygon as well
const float cz = bmin[2] + y*cs;
dividePoly(in, nvIn, inrow, &nvrow, p1, &nvIn, cz+cs, 2);
const float cellZ = hfBBMin[2] + (float)z * cellSize;
dividePoly(in, nvIn, inRow, &nvRow, p1, &nvIn, cellZ + cellSize, RC_AXIS_Z);
rcSwap(in, p1);
if (nvrow < 3) continue;
if (y < 0) continue;
// find the horizontal bounds in the row
float minX = inrow[0], maxX = inrow[0];
for (int i=1; i<nvrow; ++i)
if (nvRow < 3)
{
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);
if (x1 < 0 || x0 >= w) {
continue;
}
x0 = rcClamp(x0, -1, w-1);
x1 = rcClamp(x1, 0, w-1);
if (z < 0)
{
continue;
}
// find X-axis bounds of the row
float minX = inRow[0];
float maxX = inRow[0];
for (int vert = 1; vert < nvRow; ++vert)
{
if (minX > inRow[vert * 3])
{
minX = inRow[vert * 3];
}
if (maxX < inRow[vert * 3])
{
maxX = inRow[vert * 3];
}
}
int x0 = (int)((minX - hfBBMin[0]) * inverseCellSize);
int x1 = (int)((maxX - hfBBMin[0]) * inverseCellSize);
if (x1 < 0 || x0 >= w)
{
continue;
}
x0 = rcClamp(x0, -1, w - 1);
x1 = rcClamp(x1, 0, w - 1);
int nv, nv2 = nvrow;
int nv;
int nv2 = nvRow;
for (int x = x0; x <= x1; ++x)
{
// Clip polygon to column. store the remaining polygon as well
const float cx = bmin[0] + x*cs;
dividePoly(inrow, nv2, p1, &nv, p2, &nv2, cx+cs, 0);
rcSwap(inrow, p2);
if (nv < 3) continue;
if (x < 0) continue;
// Calculate min and max of the span.
float smin = p1[1], smax = p1[1];
for (int i = 1; i < nv; ++i)
const float cx = hfBBMin[0] + (float)x * cellSize;
dividePoly(inRow, nv2, p1, &nv, p2, &nv2, cx + cellSize, RC_AXIS_X);
rcSwap(inRow, p2);
if (nv < 3)
{
smin = rcMin(smin, p1[i*3+1]);
smax = rcMax(smax, p1[i*3+1]);
continue;
}
if (x < 0)
{
continue;
}
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;
// Calculate min and max of the span.
float spanMin = p1[1];
float spanMax = p1[1];
for (int vert = 1; vert < nv; ++vert)
{
spanMin = rcMin(spanMin, p1[vert * 3 + 1]);
spanMax = rcMax(spanMax, p1[vert * 3 + 1]);
}
spanMin -= hfBBMin[1];
spanMax -= hfBBMin[1];
// Skip the span if it's completely outside the heightfield bounding box
if (spanMax < 0.0f)
{
continue;
}
if (spanMin > by)
{
continue;
}
// Clamp the span to the heightfield bounding box.
if (spanMin < 0.0f)
{
spanMin = 0;
}
if (spanMax > by)
{
spanMax = by;
}
// Snap the span to the heightfield height grid.
unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, RC_SPAN_MAX_HEIGHT);
unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), (int)ismin+1, RC_SPAN_MAX_HEIGHT);
if (!addSpan(hf, x, y, ismin, ismax, area, flagMergeThr))
unsigned short spanMinCellIndex = (unsigned short)rcClamp((int)floorf(spanMin * inverseCellHeight), 0, RC_SPAN_MAX_HEIGHT);
unsigned short spanMaxCellIndex = (unsigned short)rcClamp((int)ceilf(spanMax * inverseCellHeight), (int)spanMinCellIndex + 1, RC_SPAN_MAX_HEIGHT);
if (!addSpan(hf, x, z, spanMinCellIndex, spanMaxCellIndex, areaID, flagMergeThreshold))
{
return false;
}
}
}
return true;
}
/// @par
///
/// No spans will be added if the triangle does not overlap the heightfield grid.
///
/// @see rcHeightfield
bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
const unsigned char area, rcHeightfield& solid,
const int flagMergeThr)
bool rcRasterizeTriangle(rcContext* context,
const float* v0, const float* v1, const float* v2,
const unsigned char areaID, rcHeightfield& heightfield, const int flagMergeThreshold)
{
rcAssert(ctx);
rcAssert(context != NULL);
rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
rcScopedTimer timer(context, RC_TIMER_RASTERIZE_TRIANGLES);
const float ics = 1.0f/solid.cs;
const float ich = 1.0f/solid.ch;
if (!rasterizeTri(v0, v1, v2, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
// Rasterize the single triangle.
const float inverseCellSize = 1.0f / heightfield.cs;
const float inverseCellHeight = 1.0f / heightfield.ch;
if (!rasterizeTri(v0, v1, v2, areaID, heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, inverseCellHeight, flagMergeThreshold))
{
ctx->log(RC_LOG_ERROR, "rcRasterizeTriangle: Out of memory.");
context->log(RC_LOG_ERROR, "rcRasterizeTriangle: Out of memory.");
return false;
}
return true;
}
/// @par
///
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
const int* tris, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr)
bool rcRasterizeTriangles(rcContext* context,
const float* verts, const int /*nv*/,
const int* tris, const unsigned char* triAreaIDs, const int numTris,
rcHeightfield& heightfield, const int flagMergeThreshold)
{
rcAssert(ctx);
rcAssert(context != NULL);
rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
rcScopedTimer timer(context, RC_TIMER_RASTERIZE_TRIANGLES);
const float ics = 1.0f/solid.cs;
const float ich = 1.0f/solid.ch;
// Rasterize triangles.
for (int i = 0; i < nt; ++i)
// Rasterize the triangles.
const float inverseCellSize = 1.0f / heightfield.cs;
const float inverseCellHeight = 1.0f / heightfield.ch;
for (int triIndex = 0; triIndex < numTris; ++triIndex)
{
const float* v0 = &verts[tris[i*3+0]*3];
const float* v1 = &verts[tris[i*3+1]*3];
const float* v2 = &verts[tris[i*3+2]*3];
// Rasterize.
if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
const float* v0 = &verts[tris[triIndex * 3 + 0] * 3];
const float* v1 = &verts[tris[triIndex * 3 + 1] * 3];
const float* v2 = &verts[tris[triIndex * 3 + 2] * 3];
if (!rasterizeTri(v0, v1, v2, triAreaIDs[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, inverseCellHeight, flagMergeThreshold))
{
ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
context->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
return false;
}
}
@ -394,31 +502,26 @@ bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
return true;
}
/// @par
///
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
const unsigned short* tris, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr)
bool rcRasterizeTriangles(rcContext* context,
const float* verts, const int /*nv*/,
const unsigned short* tris, const unsigned char* triAreaIDs, const int numTris,
rcHeightfield& heightfield, const int flagMergeThreshold)
{
rcAssert(ctx);
rcAssert(context != NULL);
rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
const float ics = 1.0f/solid.cs;
const float ich = 1.0f/solid.ch;
// Rasterize triangles.
for (int i = 0; i < nt; ++i)
rcScopedTimer timer(context, RC_TIMER_RASTERIZE_TRIANGLES);
// Rasterize the triangles.
const float inverseCellSize = 1.0f / heightfield.cs;
const float inverseCellHeight = 1.0f / heightfield.ch;
for (int triIndex = 0; triIndex < numTris; ++triIndex)
{
const float* v0 = &verts[tris[i*3+0]*3];
const float* v1 = &verts[tris[i*3+1]*3];
const float* v2 = &verts[tris[i*3+2]*3];
// Rasterize.
if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
const float* v0 = &verts[tris[triIndex * 3 + 0] * 3];
const float* v1 = &verts[tris[triIndex * 3 + 1] * 3];
const float* v2 = &verts[tris[triIndex * 3 + 2] * 3];
if (!rasterizeTri(v0, v1, v2, triAreaIDs[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, inverseCellHeight, flagMergeThreshold))
{
ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
context->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
return false;
}
}
@ -426,30 +529,25 @@ bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
return true;
}
/// @par
///
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr)
bool rcRasterizeTriangles(rcContext* context,
const float* verts, const unsigned char* triAreaIDs, const int numTris,
rcHeightfield& heightfield, const int flagMergeThreshold)
{
rcAssert(ctx);
rcAssert(context != NULL);
rcScopedTimer timer(context, RC_TIMER_RASTERIZE_TRIANGLES);
rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
const float ics = 1.0f/solid.cs;
const float ich = 1.0f/solid.ch;
// Rasterize triangles.
for (int i = 0; i < nt; ++i)
// Rasterize the triangles.
const float inverseCellSize = 1.0f / heightfield.cs;
const float inverseCellHeight = 1.0f / heightfield.ch;
for (int triIndex = 0; triIndex < numTris; ++triIndex)
{
const float* v0 = &verts[(i*3+0)*3];
const float* v1 = &verts[(i*3+1)*3];
const float* v2 = &verts[(i*3+2)*3];
// Rasterize.
if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
const float* v0 = &verts[(triIndex * 3 + 0) * 3];
const float* v1 = &verts[(triIndex * 3 + 1) * 3];
const float* v2 = &verts[(triIndex * 3 + 2) * 3];
if (!rasterizeTri(v0, v1, v2, triAreaIDs[triIndex], heightfield, heightfield.bmin, heightfield.bmax, heightfield.cs, inverseCellSize, inverseCellHeight, flagMergeThreshold))
{
ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
context->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
return false;
}
}

1
thirdparty/recastnavigation/Recast/Source/RecastRegion.cpp vendored
View File

@ -17,7 +17,6 @@
//
#include <float.h>
#define _USE_MATH_DEFINES
#include <math.h>
#include <string.h>
#include <stdlib.h>