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