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Merge remote-tracking branch 'upstream/master' into DebugOutputImprovements

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This commit is contained in:
davevanegdom
2023-09-19 14:09:51 +02:00
parent 88530606df 2655dd12d6
commit 8166970038
32 changed files with 1471 additions and 1271 deletions
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6
Source/Engine/Core/Types/String.cpp
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@@ -298,8 +298,10 @@ String String::TrimTrailing() const
end--;
}
ASSERT_LOW_LAYER(end >= start);
return Substring(start, end - start + 1);
const int32 count = end - start + 1;
if (start >= 0 && start + count <= Length() && count >= 0)
return String(_data + start, count);
return Empty;
}
String& String::operator/=(const Char* str)

6
Source/Engine/Engine/NativeInterop.Unmanaged.cs
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@@ -297,7 +297,7 @@ namespace FlaxEngine.Interop
internal static void GetClassFields(ManagedHandle typeHandle, NativeFieldDefinitions** classFields, int* classFieldsCount)
{
Type type = Unsafe.As<Type>(typeHandle.Target);
var fields = type.GetFields(BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
var fields = type.GetFields(BindingFlags.Static | BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
NativeFieldDefinitions* arr = (NativeFieldDefinitions*)NativeAlloc(fields.Length, Unsafe.SizeOf<NativeFieldDefinitions>());
for (int i = 0; i < fields.Length; i++)
@@ -331,7 +331,7 @@ namespace FlaxEngine.Interop
internal static void GetClassProperties(ManagedHandle typeHandle, NativePropertyDefinitions** classProperties, int* classPropertiesCount)
{
Type type = Unsafe.As<Type>(typeHandle.Target);
var properties = type.GetProperties(BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
var properties = type.GetProperties(BindingFlags.Static | BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
var arr = (NativePropertyDefinitions*)NativeAlloc(properties.Length, Unsafe.SizeOf<NativePropertyDefinitions>());
for (int i = 0; i < properties.Length; i++)
@@ -804,8 +804,8 @@ namespace FlaxEngine.Interop
[UnmanagedCallersOnly]
internal static IntPtr FieldGetValueBoxed(ManagedHandle fieldOwnerHandle, ManagedHandle fieldHandle)
{
object fieldOwner = fieldOwnerHandle.Target;
FieldHolder field = Unsafe.As<FieldHolder>(fieldHandle.Target);
object fieldOwner = field.field.IsStatic ? null : fieldOwnerHandle.Target;
object fieldValue = field.field.GetValue(fieldOwner);
return Invoker.MarshalReturnValueGeneric(field.field.FieldType, fieldValue);
}

1
Source/Engine/Navigation/NavMeshRuntime.cpp
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@@ -21,6 +21,7 @@ namespace
FORCE_INLINE void InitFilter(dtQueryFilter& filter)
{
Platform::MemoryCopy(filter.m_areaCost, NavMeshRuntime::NavAreasCosts, sizeof(NavMeshRuntime::NavAreasCosts));
static_assert(sizeof(dtQueryFilter::m_areaCost) == sizeof(NavMeshRuntime::NavAreasCosts), "Invalid navmesh area cost list.");
}
}

3
Source/Engine/Scripting/Runtime/DotNet.cpp
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@@ -905,7 +905,6 @@ const Array<MMethod*>& MClass::GetMethods() const
NativeMethodDefinitions& definition = methods[i];
MMethod* method = New<MMethod>(const_cast<MClass*>(this), StringAnsi(definition.name), definition.handle, definition.numParameters, definition.methodAttributes);
_methods.Add(method);
MCore::GC::FreeMemory((void*)definition.name);
}
MCore::GC::FreeMemory(methods);
@@ -939,7 +938,6 @@ const Array<MField*>& MClass::GetFields() const
NativeFieldDefinitions& definition = fields[i];
MField* field = New<MField>(const_cast<MClass*>(this), definition.fieldHandle, definition.name, definition.fieldType, definition.fieldAttributes);
_fields.Add(field);
MCore::GC::FreeMemory((void*)definition.name);
}
MCore::GC::FreeMemory(fields);
@@ -984,7 +982,6 @@ const Array<MProperty*>& MClass::GetProperties() const
const NativePropertyDefinitions& definition = foundProperties[i];
MProperty* property = New<MProperty>(const_cast<MClass*>(this), definition.name, definition.getterHandle, definition.setterHandle, definition.getterAttributes, definition.setterAttributes);
_properties.Add(property);
MCore::GC::FreeMemory((void*)definition.name);
}
MCore::GC::FreeMemory(foundProperties);

2
Source/ThirdParty/recastnavigation/DetourAssert.h vendored
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@@ -24,7 +24,7 @@
#ifdef NDEBUG
// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
// From https://web.archive.org/web/20210117002833/http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
# define dtAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false)
#else

2
Source/ThirdParty/recastnavigation/DetourCommon.cpp vendored
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@@ -112,7 +112,7 @@ bool dtIntersectSegmentPoly2D(const float* p0, const float* p1,
float& tmin, float& tmax,
int& segMin, int& segMax)
{
static const float EPS = 0.00000001f;
static const float EPS = 0.000001f;
tmin = 0;
tmax = 1;

3
Source/ThirdParty/recastnavigation/DetourCommon.h vendored
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@@ -37,7 +37,6 @@ feature to find minor members.
/// Used to ignore a function parameter. VS complains about unused parameters
/// and this silences the warning.
/// @param [in] _ Unused parameter
template<class T> void dtIgnoreUnused(const T&) { }
/// Swaps the values of the two parameters.
@@ -319,7 +318,7 @@ inline float dtVdot2D(const float* u, const float* v)
/// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz)
/// @param[in] u The LHV vector [(x, y, z)]
/// @param[in] v The RHV vector [(x, y, z)]
/// @return The dot product on the xz-plane.
/// @return The perp dot product on the xz-plane.
///
/// The vectors are projected onto the xz-plane, so the y-values are ignored.
inline float dtVperp2D(const float* u, const float* v)

1
Source/ThirdParty/recastnavigation/DetourCrowd.cpp vendored
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@@ -16,7 +16,6 @@
// 3. This notice may not be removed or altered from any source distribution.
//
#define _USE_MATH_DEFINES
#include <string.h>
#include <float.h>
#include <stdlib.h>

6
Source/ThirdParty/recastnavigation/DetourCrowd.h vendored
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@@ -66,7 +66,7 @@ enum CrowdAgentState
{
DT_CROWDAGENT_STATE_INVALID, ///< The agent is not in a valid state.
DT_CROWDAGENT_STATE_WALKING, ///< The agent is traversing a normal navigation mesh polygon.
DT_CROWDAGENT_STATE_OFFMESH, ///< The agent is traversing an off-mesh connection.
DT_CROWDAGENT_STATE_OFFMESH ///< The agent is traversing an off-mesh connection.
};
/// Configuration parameters for a crowd agent.
@@ -108,7 +108,7 @@ enum MoveRequestState
DT_CROWDAGENT_TARGET_REQUESTING,
DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE,
DT_CROWDAGENT_TARGET_WAITING_FOR_PATH,
DT_CROWDAGENT_TARGET_VELOCITY,
DT_CROWDAGENT_TARGET_VELOCITY
};
/// Represents an agent managed by a #dtCrowd object.
@@ -188,7 +188,7 @@ enum UpdateFlags
DT_CROWD_OBSTACLE_AVOIDANCE = 2,
DT_CROWD_SEPARATION = 4,
DT_CROWD_OPTIMIZE_VIS = 8, ///< Use #dtPathCorridor::optimizePathVisibility() to optimize the agent path.
DT_CROWD_OPTIMIZE_TOPO = 16, ///< Use dtPathCorridor::optimizePathTopology() to optimize the agent path.
DT_CROWD_OPTIMIZE_TOPO = 16 ///< Use dtPathCorridor::optimizePathTopology() to optimize the agent path.
};
struct dtCrowdAgentDebugInfo

8
Source/ThirdParty/recastnavigation/DetourNavMesh.cpp vendored
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@@ -433,8 +433,8 @@ void dtNavMesh::connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side)
float tmax = (neia[k*2+1]-va[2]) / (vb[2]-va[2]);
if (tmin > tmax)
dtSwap(tmin,tmax);
link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f);
link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f);
link->bmin = (unsigned char)roundf(dtClamp(tmin, 0.0f, 1.0f)*255.0f);
link->bmax = (unsigned char)roundf(dtClamp(tmax, 0.0f, 1.0f)*255.0f);
}
else if (dir == 2 || dir == 6)
{
@@ -442,8 +442,8 @@ void dtNavMesh::connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side)
float tmax = (neia[k*2+1]-va[0]) / (vb[0]-va[0]);
if (tmin > tmax)
dtSwap(tmin,tmax);
link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f);
link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f);
link->bmin = (unsigned char)roundf(dtClamp(tmin, 0.0f, 1.0f)*255.0f);
link->bmax = (unsigned char)roundf(dtClamp(tmax, 0.0f, 1.0f)*255.0f);
}
}
}

20
Source/ThirdParty/recastnavigation/DetourNavMesh.h vendored
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@@ -99,7 +99,7 @@ static const int DT_MAX_AREAS = 64;
enum dtTileFlags
{
/// The navigation mesh owns the tile memory and is responsible for freeing it.
DT_TILE_FREE_DATA = 0x01,
DT_TILE_FREE_DATA = 0x01
};
/// Vertex flags returned by dtNavMeshQuery::findStraightPath.
@@ -107,32 +107,32 @@ enum dtStraightPathFlags
{
DT_STRAIGHTPATH_START = 0x01, ///< The vertex is the start position in the path.
DT_STRAIGHTPATH_END = 0x02, ///< The vertex is the end position in the path.
DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04, ///< The vertex is the start of an off-mesh connection.
DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04 ///< The vertex is the start of an off-mesh connection.
};
/// Options for dtNavMeshQuery::findStraightPath.
enum dtStraightPathOptions
{
DT_STRAIGHTPATH_AREA_CROSSINGS = 0x01, ///< Add a vertex at every polygon edge crossing where area changes.
DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02, ///< Add a vertex at every polygon edge crossing.
DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02 ///< Add a vertex at every polygon edge crossing.
};
/// Options for dtNavMeshQuery::initSlicedFindPath and updateSlicedFindPath
enum dtFindPathOptions
{
DT_FINDPATH_ANY_ANGLE = 0x02, ///< use raycasts during pathfind to "shortcut" (raycast still consider costs)
DT_FINDPATH_ANY_ANGLE = 0x02 ///< use raycasts during pathfind to "shortcut" (raycast still consider costs)
};
/// Options for dtNavMeshQuery::raycast
enum dtRaycastOptions
{
DT_RAYCAST_USE_COSTS = 0x01, ///< Raycast should calculate movement cost along the ray and fill RaycastHit::cost
DT_RAYCAST_USE_COSTS = 0x01 ///< Raycast should calculate movement cost along the ray and fill RaycastHit::cost
};
enum dtDetailTriEdgeFlags
{
DT_DETAIL_EDGE_BOUNDARY = 0x01, ///< Detail triangle edge is part of the poly boundary
DT_DETAIL_EDGE_BOUNDARY = 0x01 ///< Detail triangle edge is part of the poly boundary
};
@@ -146,7 +146,7 @@ enum dtPolyTypes
/// The polygon is a standard convex polygon that is part of the surface of the mesh.
DT_POLYTYPE_GROUND = 0,
/// The polygon is an off-mesh connection consisting of two vertices.
DT_POLYTYPE_OFFMESH_CONNECTION = 1,
DT_POLYTYPE_OFFMESH_CONNECTION = 1
};
@@ -285,7 +285,7 @@ struct dtMeshTile
unsigned int linksFreeList; ///< Index to the next free link.
dtMeshHeader* header; ///< The tile header.
dtPoly* polys; ///< The tile polygons. [Size: dtMeshHeader::polyCount]
float* verts; ///< The tile vertices. [Size: dtMeshHeader::vertCount]
float* verts; ///< The tile vertices. [(x, y, z) * dtMeshHeader::vertCount]
dtLink* links; ///< The tile links. [Size: dtMeshHeader::maxLinkCount]
dtPolyDetail* detailMeshes; ///< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount]
@@ -312,8 +312,8 @@ private:
};
/// Get flags for edge in detail triangle.
/// @param triFlags[in] The flags for the triangle (last component of detail vertices above).
/// @param edgeIndex[in] The index of the first vertex of the edge. For instance, if 0,
/// @param[in] triFlags The flags for the triangle (last component of detail vertices above).
/// @param[in] edgeIndex The index of the first vertex of the edge. For instance, if 0,
/// returns flags for edge AB.
inline int dtGetDetailTriEdgeFlags(unsigned char triFlags, int edgeIndex)
{

46
Source/ThirdParty/recastnavigation/DetourNavMeshQuery.cpp vendored
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@@ -117,6 +117,11 @@ void dtFreeNavMeshQuery(dtNavMeshQuery* navmesh)
dtFree(navmesh);
}
dtPolyQuery::~dtPolyQuery()
{
// Defined out of line to fix the weak v-tables warning
}
//////////////////////////////////////////////////////////////////////////////////////////
/// @class dtNavMeshQuery
@@ -301,11 +306,7 @@ dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*fr
float pt[3];
dtRandomPointInConvexPoly(verts, poly->vertCount, areas, s, t, pt);
float h = 0.0f;
dtStatus status = getPolyHeight(polyRef, pt, &h);
if (dtStatusFailed(status))
return status;
pt[1] = h;
closestPointOnPoly(polyRef, pt, pt, NULL);
dtVcopy(randomPt, pt);
*randomRef = polyRef;
@@ -481,26 +482,25 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
v = &randomTile->verts[randomPoly->verts[j]*3];
dtVcopy(&verts[j*3],v);
}
float pt[3];
int checksLimit = 100;
do
{
const float s = frand();
const float t = frand();
dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt);
const float t = frand();
dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt);
}
while (dtDistancePtPtSqr2D(centerPos, pt) > radiusSqr);
float h = 0.0f;
dtStatus stat = getPolyHeight(randomPolyRef, pt, &h);
if (dtStatusFailed(status))
return stat;
pt[1] = h;
while (dtDistancePtPtSqr2D(centerPos, pt) > radiusSqr && checksLimit-- > 0);
if (checksLimit <= 0)
return DT_FAILURE;
closestPointOnPoly(randomPolyRef, pt, pt, NULL);
dtVcopy(randomPt, pt);
*randomRef = randomPolyRef;
return DT_SUCCESS;
return status;
}
@@ -641,6 +641,8 @@ public:
{
}
virtual ~dtFindNearestPolyQuery();
dtPolyRef nearestRef() const { return m_nearestRef; }
const float* nearestPoint() const { return m_nearestPoint; }
bool isOverPoly() const { return m_overPoly; }
@@ -683,6 +685,11 @@ public:
}
};
dtFindNearestPolyQuery::~dtFindNearestPolyQuery()
{
// Defined out of line to fix the weak v-tables warning
}
/// @par
///
/// @note If the search box does not intersect any polygons the search will
@@ -858,6 +865,8 @@ public:
{
}
virtual ~dtCollectPolysQuery();
int numCollected() const { return m_numCollected; }
bool overflowed() const { return m_overflow; }
@@ -879,6 +888,11 @@ public:
}
};
dtCollectPolysQuery::~dtCollectPolysQuery()
{
// Defined out of line to fix the weak v-tables warning
}
/// @par
///
/// If no polygons are found, the function will return #DT_SUCCESS with a

9
Source/ThirdParty/recastnavigation/DetourNavMeshQuery.h vendored
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@@ -153,7 +153,7 @@ struct dtRaycastHit
class dtPolyQuery
{
public:
virtual ~dtPolyQuery() { }
virtual ~dtPolyQuery();
/// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons.
/// This can be called multiple times for a single query.
@@ -176,7 +176,7 @@ public:
dtStatus init(const dtNavMesh* nav, const int maxNodes);
/// @name Standard Pathfinding Functions
// /@{
/// @{
/// Finds a path from the start polygon to the end polygon.
/// @param[in] startRef The refrence id of the start polygon.
@@ -397,9 +397,9 @@ public:
/// @param[in] startPos A position within the start polygon representing
/// the start of the ray. [(x, y, z)]
/// @param[in] endPos The position to cast the ray toward. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] t The hit parameter. (FLT_MAX if no wall hit.)
/// @param[out] hitNormal The normal of the nearest wall hit. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] path The reference ids of the visited polygons. [opt]
/// @param[out] pathCount The number of visited polygons. [opt]
/// @param[in] maxPath The maximum number of polygons the @p path array can hold.
@@ -415,7 +415,7 @@ public:
/// the start of the ray. [(x, y, z)]
/// @param[in] endPos The position to cast the ray toward. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[in] flags govern how the raycast behaves. See dtRaycastOptions
/// @param[in] options govern how the raycast behaves. See dtRaycastOptions
/// @param[out] hit Pointer to a raycast hit structure which will be filled by the results.
/// @param[in] prevRef parent of start ref. Used during for cost calculation [opt]
/// @returns The status flags for the query.
@@ -466,6 +466,7 @@ public:
/// The location is not exactly constrained by the circle, but it limits the visited polygons.
/// @param[in] startRef The reference id of the polygon where the search starts.
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
/// @param[in] maxRadius The radius of the search circle. [Units: wu]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[in] frand Function returning a random number [0..1).
/// @param[out] randomRef The reference id of the random location.

2
Source/ThirdParty/recastnavigation/DetourNode.h vendored
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@@ -25,7 +25,7 @@ enum dtNodeFlags
{
DT_NODE_OPEN = 0x01,
DT_NODE_CLOSED = 0x02,
DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not adjacent. Found using raycast.
DT_NODE_PARENT_DETACHED = 0x04 // parent of the node is not adjacent. Found using raycast.
};
typedef unsigned short dtNodeIndex;

5
Source/ThirdParty/recastnavigation/DetourTileCache.cpp vendored
View File

@@ -239,6 +239,11 @@ const dtTileCacheObstacle* dtTileCache::getObstacleByRef(dtObstacleRef ref)
return ob;
}
dtTileCacheMeshProcess::~dtTileCacheMeshProcess()
{
// Defined out of line to fix the weak v-tables warning
}
dtStatus dtTileCache::addTile(unsigned char* data, const int dataSize, unsigned char flags, dtCompressedTileRef* result)
{
// Make sure the data is in right format.

18
Source/ThirdParty/recastnavigation/DetourTileCache.h vendored
View File

@@ -3,16 +3,13 @@
#include "DetourStatus.h"
typedef unsigned int dtObstacleRef;
typedef unsigned int dtCompressedTileRef;
/// Flags for addTile
enum dtCompressedTileFlags
{
DT_COMPRESSEDTILE_FREE_DATA = 0x01, ///< Navmesh owns the tile memory and should free it.
DT_COMPRESSEDTILE_FREE_DATA = 0x01 ///< Navmesh owns the tile memory and should free it.
};
struct dtCompressedTile
@@ -32,14 +29,14 @@ enum ObstacleState
DT_OBSTACLE_EMPTY,
DT_OBSTACLE_PROCESSING,
DT_OBSTACLE_PROCESSED,
DT_OBSTACLE_REMOVING,
DT_OBSTACLE_REMOVING
};
enum ObstacleType
{
DT_OBSTACLE_CYLINDER,
DT_OBSTACLE_BOX, // AABB
DT_OBSTACLE_ORIENTED_BOX, // OBB
DT_OBSTACLE_ORIENTED_BOX // OBB
};
struct dtObstacleCylinder
@@ -97,13 +94,10 @@ struct dtTileCacheParams
struct dtTileCacheMeshProcess
{
virtual ~dtTileCacheMeshProcess() { }
virtual void process(struct dtNavMeshCreateParams* params,
unsigned char* polyAreas, unsigned short* polyFlags) = 0;
virtual ~dtTileCacheMeshProcess();
virtual void process(struct dtNavMeshCreateParams* params, unsigned char* polyAreas, unsigned short* polyFlags) = 0;
};
class dtTileCache
{
public:
@@ -219,7 +213,7 @@ private:
enum ObstacleRequestAction
{
REQUEST_ADD,
REQUEST_REMOVE,
REQUEST_REMOVE
};
struct ObstacleRequest

15
Source/ThirdParty/recastnavigation/DetourTileCacheBuilder.cpp vendored
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@@ -23,6 +23,15 @@
#include "DetourTileCacheBuilder.h"
#include <string.h>
dtTileCacheAlloc::~dtTileCacheAlloc()
{
// Defined out of line to fix the weak v-tables warning
}
dtTileCacheCompressor::~dtTileCacheCompressor()
{
// Defined out of line to fix the weak v-tables warning
}
template<class T> class dtFixedArray
{
@@ -881,7 +890,7 @@ static bool buildMeshAdjacency(dtTileCacheAlloc* alloc,
const dtTileCacheContourSet& lcset)
{
// 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
const int maxEdgeCount = npolys*MAX_VERTS_PER_POLY;
dtFixedArray<unsigned short> firstEdge(alloc, nverts + maxEdgeCount);
@@ -1399,7 +1408,6 @@ static void pushBack(unsigned short v, unsigned short* arr, int& an)
static bool canRemoveVertex(dtTileCachePolyMesh& mesh, const unsigned short rem)
{
// Count number of polygons to remove.
int numRemovedVerts = 0;
int numTouchedVerts = 0;
int numRemainingEdges = 0;
for (int i = 0; i < mesh.npolys; ++i)
@@ -1419,7 +1427,6 @@ static bool canRemoveVertex(dtTileCachePolyMesh& mesh, const unsigned short rem)
}
if (numRemoved)
{
numRemovedVerts += numRemoved;
numRemainingEdges += numVerts-(numRemoved+1);
}
}
@@ -1551,7 +1558,7 @@ static dtStatus removeVertex(dtTileCachePolyMesh& mesh, const unsigned short rem
}
// Remove vertex.
for (int i = (int)rem; i < mesh.nverts; ++i)
for (int i = (int)rem; i < mesh.nverts - 1; ++i)
{
mesh.verts[i*3+0] = mesh.verts[(i+1)*3+0];
mesh.verts[i*3+1] = mesh.verts[(i+1)*3+1];

4
Source/ThirdParty/recastnavigation/DetourTileCacheBuilder.h vendored
View File

@@ -78,7 +78,7 @@ struct dtTileCachePolyMesh
struct dtTileCacheAlloc
{
virtual ~dtTileCacheAlloc() {}
virtual ~dtTileCacheAlloc();
virtual void reset() {}
@@ -95,7 +95,7 @@ struct dtTileCacheAlloc
struct dtTileCacheCompressor
{
virtual ~dtTileCacheCompressor() { }
virtual ~dtTileCacheCompressor();
virtual int maxCompressedSize(const int bufferSize) = 0;
virtual dtStatus compress(const unsigned char* buffer, const int bufferSize,

637
Source/ThirdParty/recastnavigation/Recast.cpp vendored
View File

@@ -16,98 +16,93 @@
// 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);
}
void rcContext::doResetLog()
{
// Defined out of line to fix the weak v-tables warning
}
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()
{
}
@@ -124,40 +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);
@@ -170,13 +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)
@@ -193,22 +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)
@@ -219,32 +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()
{
@@ -257,319 +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;
}
*/

974
Source/ThirdParty/recastnavigation/Recast.h vendored
View File

File diff suppressed because it is too large Load Diff

19
Source/ThirdParty/recastnavigation/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);
}
}

35
Source/ThirdParty/recastnavigation/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).
@@ -112,7 +121,7 @@ class rcVectorBase {
typedef rcSizeType size_type;
typedef T value_type;
rcVectorBase() : m_size(0), m_cap(0), m_data(0) {};
rcVectorBase() : m_size(0), m_cap(0), m_data(0) {}
rcVectorBase(const rcVectorBase<T, H>& other) : m_size(0), m_cap(0), m_data(0) { assign(other.begin(), other.end()); }
explicit rcVectorBase(rcSizeType count) : m_size(0), m_cap(0), m_data(0) { resize(count); }
rcVectorBase(rcSizeType count, const T& value) : m_size(0), m_cap(0), m_data(0) { resize(count, value); }
@@ -142,8 +151,8 @@ class rcVectorBase {
const T& front() const { rcAssert(m_size); return m_data[0]; }
T& front() { rcAssert(m_size); return m_data[0]; }
const T& back() const { rcAssert(m_size); return m_data[m_size - 1]; };
T& back() { rcAssert(m_size); return m_data[m_size - 1]; };
const T& back() const { rcAssert(m_size); return m_data[m_size - 1]; }
T& back() { rcAssert(m_size); return m_data[m_size - 1]; }
const T* data() const { return m_data; }
T* data() { return m_data; }

1
Source/ThirdParty/recastnavigation/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
Source/ThirdParty/recastnavigation/RecastAssert.cpp vendored
View File

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

13
Source/ThirdParty/recastnavigation/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

11
Source/ThirdParty/recastnavigation/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
Source/ThirdParty/recastnavigation/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
Source/ThirdParty/recastnavigation/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)
{

7
Source/ThirdParty/recastnavigation/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);
@@ -566,7 +565,6 @@ static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned sho
const int nvp = mesh.nvp;
// Count number of polygons to remove.
int numRemovedVerts = 0;
int numTouchedVerts = 0;
int numRemainingEdges = 0;
for (int i = 0; i < mesh.npolys; ++i)
@@ -586,7 +584,6 @@ static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned sho
}
if (numRemoved)
{
numRemovedVerts += numRemoved;
numRemainingEdges += numVerts-(numRemoved+1);
}
}
@@ -989,7 +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);

3
Source/ThirdParty/recastnavigation/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>
@@ -284,7 +283,7 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
enum EdgeValues
{
EV_UNDEF = -1,
EV_HULL = -2,
EV_HULL = -2
};
static int findEdge(const int* edges, int nedges, int s, int t)

664
Source/ThirdParty/recastnavigation/RecastRasterization.cpp vendored
View File

@@ -16,373 +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);
y0 = rcClamp(y0, 0, h-1);
y1 = rcClamp(y1, 0, h-1);
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
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;
// 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];
continue;
}
int x0 = (int)((minX - bmin[0])*ics);
int x1 = (int)((maxX - bmin[0])*ics);
x0 = rcClamp(x0, 0, w-1);
x1 = rcClamp(x1, 0, w-1);
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;
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)
{
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)
float spanMin = p1[1];
float spanMax = p1[1];
for (int vert = 1; vert < nv; ++vert)
{
smin = rcMin(smin, p1[i*3+1]);
smax = rcMax(smax, p1[i*3+1]);
spanMin = rcMin(spanMin, p1[vert * 3 + 1]);
spanMax = rcMax(spanMax, p1[vert * 3 + 1]);
}
smin -= bmin[1];
smax -= bmin[1];
// Skip the span if it is outside the heightfield bbox
if (smax < 0.0f) continue;
if (smin > by) continue;
// Clamp the span to the heightfield bbox.
if (smin < 0.0f) smin = 0;
if (smax > by) smax = by;
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;
}
}
@@ -390,31 +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;
}
}
@@ -422,30 +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
Source/ThirdParty/recastnavigation/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>