diff --git a/Source/Editor/Modules/ContentDatabaseModule.cs b/Source/Editor/Modules/ContentDatabaseModule.cs index 8c925930d..e6391d9b2 100644 --- a/Source/Editor/Modules/ContentDatabaseModule.cs +++ b/Source/Editor/Modules/ContentDatabaseModule.cs @@ -632,7 +632,8 @@ namespace FlaxEditor.Modules /// Deletes the specified item. /// /// The item. - public void Delete(ContentItem item) + /// If the file was deleted by the user and not outside the editor. + public void Delete(ContentItem item, bool deletedByUser = false) { if (item == null) throw new ArgumentNullException(); @@ -656,12 +657,12 @@ namespace FlaxEditor.Modules var children = folder.Children.ToArray(); for (int i = 0; i < children.Length; i++) { - Delete(children[i]); + Delete(children[i], deletedByUser); } } // Remove directory - if (Directory.Exists(path)) + if (deletedByUser && Directory.Exists(path)) { try { @@ -689,7 +690,7 @@ namespace FlaxEditor.Modules // Delete asset by using content pool FlaxEngine.Content.DeleteAsset(path); } - else + else if (deletedByUser) { // Delete file if (File.Exists(path)) @@ -835,7 +836,7 @@ namespace FlaxEditor.Modules Editor.Log(string.Format($"Content item \'{child.Path}\' has been removed")); // Destroy it - Delete(child); + Delete(child, false); i--; } diff --git a/Source/Editor/Modules/ContentEditingModule.cs b/Source/Editor/Modules/ContentEditingModule.cs index f1bb81ce1..1a8920916 100644 --- a/Source/Editor/Modules/ContentEditingModule.cs +++ b/Source/Editor/Modules/ContentEditingModule.cs @@ -104,6 +104,12 @@ namespace FlaxEditor.Modules hint = "Too long name."; return false; } + + if (item.IsFolder && shortName.EndsWith(".")) + { + hint = "Name cannot end with '.'"; + return false; + } // Find invalid characters if (Utilities.Utils.HasInvalidPathChar(shortName)) @@ -134,7 +140,7 @@ namespace FlaxEditor.Modules // Cache data string sourcePath = item.Path; string sourceFolder = System.IO.Path.GetDirectoryName(sourcePath); - string extension = System.IO.Path.GetExtension(sourcePath); + string extension = item.IsFolder ? "" : System.IO.Path.GetExtension(sourcePath); string destinationPath = StringUtils.CombinePaths(sourceFolder, shortName + extension); if (item.IsFolder) diff --git a/Source/Editor/Scripting/CodeEditors/RiderCodeEditor.cpp b/Source/Editor/Scripting/CodeEditors/RiderCodeEditor.cpp index 3f285d159..05608d71e 100644 --- a/Source/Editor/Scripting/CodeEditors/RiderCodeEditor.cpp +++ b/Source/Editor/Scripting/CodeEditors/RiderCodeEditor.cpp @@ -24,7 +24,8 @@ namespace String version; RiderInstallation(const String& path_, const String& version_) - : path(path_), version(version_) + : path(path_) + , version(version_) { } }; @@ -145,14 +146,14 @@ bool sortInstallations(RiderInstallation* const& i1, RiderInstallation* const& i int32 version2[3] = { 0 }; StringUtils::Parse(values1[0].Get(), &version1[0]); StringUtils::Parse(values1[1].Get(), &version1[1]); - - if(values1.Count() > 2) + + if (values1.Count() > 2) StringUtils::Parse(values1[2].Get(), &version1[2]); - + StringUtils::Parse(values2[0].Get(), &version2[0]); StringUtils::Parse(values2[1].Get(), &version2[1]); - - if(values2.Count() > 2) + + if (values2.Count() > 2) StringUtils::Parse(values2[2].Get(), &version2[2]); // Compare by MAJOR.MINOR.BUILD @@ -178,7 +179,7 @@ void RiderCodeEditor::FindEditors(Array* output) String localAppDataPath; FileSystem::GetSpecialFolderPath(SpecialFolder::LocalAppData, localAppDataPath); - + #if PLATFORM_WINDOWS // Lookup from all known registry locations SearchRegistry(&installations, HKEY_CURRENT_USER, TEXT("SOFTWARE\\WOW6432Node\\JetBrains\\Rider for Unreal Engine")); @@ -216,7 +217,24 @@ void RiderCodeEditor::FindEditors(Array* output) TEXT("flatpak run com.jetbrains.Rider")); #endif - for (auto directory : subDirectories) +#if PLATFORM_MAC + String applicationSupportFolder; + FileSystem::GetSpecialFolderPath(SpecialFolder::ProgramData, applicationSupportFolder); + + Array subMacDirectories; + FileSystem::GetChildDirectories(subMacDirectories, applicationSupportFolder / TEXT("JetBrains/Toolbox/apps/Rider/ch-0/")); + FileSystem::GetChildDirectories(subMacDirectories, applicationSupportFolder / TEXT("JetBrains/Toolbox/apps/Rider/ch-1/")); + for (const String& directory : subMacDirectories) + { + String riderAppDirectory = directory / TEXT("Rider.app/Contents/Resources"); + SearchDirectory(&installations, riderAppDirectory); + } + + // Check the local installer version + SearchDirectory(&installations, TEXT("/Applications/Rider.app/Contents/Resources")); +#endif + + for (const String& directory : subDirectories) SearchDirectory(&installations, directory); // Sort found installations by version number diff --git a/Source/Editor/Surface/Archetypes/Math.cs b/Source/Editor/Surface/Archetypes/Math.cs index 1b8f62e62..fe2f1e044 100644 --- a/Source/Editor/Surface/Archetypes/Math.cs +++ b/Source/Editor/Surface/Archetypes/Math.cs @@ -126,7 +126,7 @@ namespace FlaxEditor.Surface.Archetypes Title = "Clamp", Description = "Clamps value to the specified range", Flags = NodeFlags.AllGraphs, - Size = new Float2(110, 60), + Size = new Float2(140, 60), ConnectionsHints = ConnectionsHint.Numeric, IndependentBoxes = new[] { 0 }, DependentBoxes = new[] { 1, 2, 3 }, diff --git a/Source/Editor/Windows/ContentWindow.cs b/Source/Editor/Windows/ContentWindow.cs index 9390a4711..05a363abb 100644 --- a/Source/Editor/Windows/ContentWindow.cs +++ b/Source/Editor/Windows/ContentWindow.cs @@ -519,7 +519,7 @@ namespace FlaxEditor.Windows } // Cache data - string extension = Path.GetExtension(item.Path); + string extension = item.IsFolder ? "" : Path.GetExtension(item.Path); var newPath = StringUtils.CombinePaths(item.ParentFolder.Path, newShortName + extension); // Check if was renaming mock element @@ -625,7 +625,7 @@ namespace FlaxEditor.Windows // Delete items for (int i = 0; i < toDelete.Count; i++) - Editor.ContentDatabase.Delete(toDelete[i]); + Editor.ContentDatabase.Delete(toDelete[i], true); RefreshView(); } diff --git a/Source/Engine/Content/Assets/MaterialInstance.cpp b/Source/Engine/Content/Assets/MaterialInstance.cpp index 7581692e1..3bf0c54cd 100644 --- a/Source/Engine/Content/Assets/MaterialInstance.cpp +++ b/Source/Engine/Content/Assets/MaterialInstance.cpp @@ -205,8 +205,6 @@ void MaterialInstance::Bind(BindParameters& params) Asset::LoadResult MaterialInstance::load() { - ASSERT(_baseMaterial == nullptr); - // Get main chunk auto chunk0 = GetChunk(0); if (chunk0 == nullptr || chunk0->IsMissing()) @@ -229,6 +227,7 @@ Asset::LoadResult MaterialInstance::load() else { // Clear parameters if has no material loaded + _baseMaterial = nullptr; Params.Dispose(); ParamsChanged(); } diff --git a/Source/Engine/Core/Types/String.cpp b/Source/Engine/Core/Types/String.cpp index e53f04af7..dab000873 100644 --- a/Source/Engine/Core/Types/String.cpp +++ b/Source/Engine/Core/Types/String.cpp @@ -72,7 +72,7 @@ void String::Set(const char* chars, int32 length) } _length = length; } - if (chars) + if (chars && length) StringUtils::ConvertANSI2UTF16(chars, _data, length, _length); } @@ -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) diff --git a/Source/Engine/Engine/NativeInterop.Marshallers.cs b/Source/Engine/Engine/NativeInterop.Marshallers.cs index 74d6e6bad..a74299670 100644 --- a/Source/Engine/Engine/NativeInterop.Marshallers.cs +++ b/Source/Engine/Engine/NativeInterop.Marshallers.cs @@ -32,6 +32,7 @@ namespace FlaxEngine.Interop public static class NativeToManaged { public static object ConvertToManaged(IntPtr unmanaged) => unmanaged == IntPtr.Zero ? null : ManagedHandle.FromIntPtr(unmanaged).Target; + public static IntPtr ConvertToUnmanaged(object managed) => managed != null ? ManagedHandle.ToIntPtr(managed, GCHandleType.Weak) : IntPtr.Zero; public static void Free(IntPtr unmanaged) { @@ -44,6 +45,7 @@ namespace FlaxEngine.Interop #endif public static class ManagedToNative { + public static object ConvertToManaged(IntPtr unmanaged) => unmanaged == IntPtr.Zero ? null : ManagedHandle.FromIntPtr(unmanaged).Target; public static IntPtr ConvertToUnmanaged(object managed) => managed != null ? ManagedHandle.ToIntPtr(managed, GCHandleType.Weak) : IntPtr.Zero; public static void Free(IntPtr unmanaged) @@ -147,29 +149,16 @@ namespace FlaxEngine.Interop #if FLAX_EDITOR [HideInEditor] #endif - [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.ManagedToUnmanagedIn, typeof(ObjectMarshaller.ManagedToNative))] - [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.UnmanagedToManagedOut, typeof(ObjectMarshaller.ManagedToNative))] - [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.ElementIn, typeof(ObjectMarshaller.ManagedToNative))] - [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.ManagedToUnmanagedOut, typeof(ObjectMarshaller.NativeToManaged))] - [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.UnmanagedToManagedIn, typeof(ObjectMarshaller.NativeToManaged))] - [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.ElementOut, typeof(ObjectMarshaller.NativeToManaged))] + [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.ManagedToUnmanagedIn, typeof(ObjectMarshaller))] + [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.UnmanagedToManagedOut, typeof(ObjectMarshaller))] + [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.ElementIn, typeof(ObjectMarshaller))] + [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.ManagedToUnmanagedOut, typeof(ObjectMarshaller))] + [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.UnmanagedToManagedIn, typeof(ObjectMarshaller))] + [CustomMarshaller(typeof(FlaxEngine.Object), MarshalMode.ElementOut, typeof(ObjectMarshaller))] public static class ObjectMarshaller { -#if FLAX_EDITOR - [HideInEditor] -#endif - public static class NativeToManaged - { - public static FlaxEngine.Object ConvertToManaged(IntPtr unmanaged) => unmanaged != IntPtr.Zero ? Unsafe.As(ManagedHandle.FromIntPtr(unmanaged).Target) : null; - } - -#if FLAX_EDITOR - [HideInEditor] -#endif - public static class ManagedToNative - { - public static IntPtr ConvertToUnmanaged(FlaxEngine.Object managed) => Unsafe.As(managed) != null ? ManagedHandle.ToIntPtr(managed) : IntPtr.Zero; - } + public static FlaxEngine.Object ConvertToManaged(IntPtr unmanaged) => unmanaged != IntPtr.Zero ? Unsafe.As(ManagedHandle.FromIntPtr(unmanaged).Target) : null; + public static IntPtr ConvertToUnmanaged(FlaxEngine.Object managed) => Unsafe.As(managed) != null ? ManagedHandle.ToIntPtr(managed) : IntPtr.Zero; } #if FLAX_EDITOR @@ -342,6 +331,7 @@ namespace FlaxEngine.Interop public static class NativeToManaged { public static Dictionary ConvertToManaged(IntPtr unmanaged) => DictionaryMarshaller.ToManaged(unmanaged); + public static IntPtr ConvertToUnmanaged(Dictionary managed) => DictionaryMarshaller.ToNative(managed, GCHandleType.Weak); public static void Free(IntPtr unmanaged) => DictionaryMarshaller.Free(unmanaged); } @@ -350,8 +340,8 @@ namespace FlaxEngine.Interop #endif public static class ManagedToNative { + public static Dictionary ConvertToManaged(IntPtr unmanaged) => DictionaryMarshaller.ToManaged(unmanaged); public static IntPtr ConvertToUnmanaged(Dictionary managed) => DictionaryMarshaller.ToNative(managed, GCHandleType.Weak); - public static void Free(IntPtr unmanaged) { //DictionaryMarshaller.Free(unmanaged); // No need to free weak handles @@ -425,6 +415,28 @@ namespace FlaxEngine.Interop return new T[numElements]; } + public static TUnmanagedElement* AllocateContainerForUnmanagedElements(T[] managed, out int numElements) + { + if (managed is null) + { + numElements = 0; + return null; + } + numElements = managed.Length; + (ManagedHandle managedArrayHandle, _) = ManagedArray.AllocatePooledArray(managed.Length); + return (TUnmanagedElement*)ManagedHandle.ToIntPtr(managedArrayHandle); + } + + public static ReadOnlySpan GetManagedValuesSource(T[] managed) => managed; + + public static Span GetUnmanagedValuesDestination(TUnmanagedElement* unmanaged) + { + if (unmanaged == null) + return Span.Empty; + ManagedArray managedArray = Unsafe.As(ManagedHandle.FromIntPtr(new IntPtr(unmanaged)).Target); + return managedArray.ToSpan(); + } + public static Span GetManagedValuesDestination(T[] managed) => managed; public static ReadOnlySpan GetUnmanagedValuesSource(TUnmanagedElement* unmanaged, int numElements) @@ -591,6 +603,7 @@ namespace FlaxEngine.Interop public static class NativeToManaged { public static string ConvertToManaged(IntPtr unmanaged) => ManagedString.ToManaged(unmanaged); + public static unsafe IntPtr ConvertToUnmanaged(string managed) => managed == null ? IntPtr.Zero : ManagedHandle.ToIntPtr(managed, GCHandleType.Weak); public static void Free(IntPtr unmanaged) => ManagedString.Free(unmanaged); } @@ -599,11 +612,8 @@ namespace FlaxEngine.Interop #endif public static class ManagedToNative { - public static unsafe IntPtr ConvertToUnmanaged(string managed) - { - return managed == null ? IntPtr.Zero : ManagedHandle.ToIntPtr(managed, GCHandleType.Weak); - } - + public static string ConvertToManaged(IntPtr unmanaged) => ManagedString.ToManaged(unmanaged); + public static unsafe IntPtr ConvertToUnmanaged(string managed) => managed == null ? IntPtr.Zero : ManagedHandle.ToIntPtr(managed, GCHandleType.Weak); public static void Free(IntPtr unmanaged) { //ManagedString.Free(unmanaged); // No need to free weak handles diff --git a/Source/Engine/Engine/NativeInterop.Unmanaged.cs b/Source/Engine/Engine/NativeInterop.Unmanaged.cs index 2c1bab744..670b7fff5 100644 --- a/Source/Engine/Engine/NativeInterop.Unmanaged.cs +++ b/Source/Engine/Engine/NativeInterop.Unmanaged.cs @@ -184,7 +184,7 @@ namespace FlaxEngine.Interop { string moduleName = Marshal.PtrToStringAnsi(moduleNamePtr); string modulePath = Marshal.PtrToStringAnsi(modulePathPtr); - nativeLibraryPaths[moduleName] = modulePath; + libraryPaths[moduleName] = modulePath; } [UnmanagedCallersOnly] @@ -297,7 +297,7 @@ namespace FlaxEngine.Interop internal static void GetClassFields(ManagedHandle typeHandle, NativeFieldDefinitions** classFields, int* classFieldsCount) { Type type = Unsafe.As(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()); 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(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()); 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(fieldHandle.Target); + object fieldOwner = field.field.IsStatic ? null : fieldOwnerHandle.Target; object fieldValue = field.field.GetValue(fieldOwner); return Invoker.MarshalReturnValueGeneric(field.field.FieldType, fieldValue); } @@ -909,7 +909,7 @@ namespace FlaxEngine.Interop loadedNativeLibraries.Remove(nativeLibraryName); } if (nativeLibraryName != null) - nativeLibraryPaths.Remove(nativeLibraryName); + libraryPaths.Remove(nativeLibraryName); } [UnmanagedCallersOnly] diff --git a/Source/Engine/Engine/NativeInterop.cs b/Source/Engine/Engine/NativeInterop.cs index dd6087b98..8a8d543f1 100644 --- a/Source/Engine/Engine/NativeInterop.cs +++ b/Source/Engine/Engine/NativeInterop.cs @@ -50,7 +50,7 @@ namespace FlaxEngine.Interop private static Dictionary _typeSizeCache = new(); private static Dictionary loadedNativeLibraries = new(); - internal static Dictionary nativeLibraryPaths = new(); + internal static Dictionary libraryPaths = new(); private static Dictionary assemblyOwnedNativeLibraries = new(); internal static AssemblyLoadContext scriptingAssemblyLoadContext; @@ -59,7 +59,7 @@ namespace FlaxEngine.Interop { if (!loadedNativeLibraries.TryGetValue(libraryName, out IntPtr nativeLibrary)) { - if (!nativeLibraryPaths.TryGetValue(libraryName, out var nativeLibraryPath)) + if (!libraryPaths.TryGetValue(libraryName, out var nativeLibraryPath)) nativeLibraryPath = libraryName; nativeLibrary = NativeLibrary.Load(nativeLibraryPath, assembly, dllImportSearchPath); @@ -101,9 +101,9 @@ namespace FlaxEngine.Interop private static Assembly OnScriptingAssemblyLoadContextResolving(AssemblyLoadContext assemblyLoadContext, AssemblyName assemblyName) { // FIXME: There should be a better way to resolve the path to EditorTargetPath where the dependencies are stored - foreach (string nativeLibraryPath in nativeLibraryPaths.Values) + foreach (string libraryPath in libraryPaths.Values) { - string editorTargetPath = Path.GetDirectoryName(nativeLibraryPath); + string editorTargetPath = Path.GetDirectoryName(libraryPath); var assemblyPath = Path.Combine(editorTargetPath, assemblyName.Name + ".dll"); if (File.Exists(assemblyPath)) diff --git a/Source/Engine/Navigation/NavMeshRuntime.cpp b/Source/Engine/Navigation/NavMeshRuntime.cpp index 913c46e3e..ef6326a07 100644 --- a/Source/Engine/Navigation/NavMeshRuntime.cpp +++ b/Source/Engine/Navigation/NavMeshRuntime.cpp @@ -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."); } } diff --git a/Source/Engine/Platform/Mac/MacPlatform.cpp b/Source/Engine/Platform/Mac/MacPlatform.cpp index 46b978e1d..8cba5e1dc 100644 --- a/Source/Engine/Platform/Mac/MacPlatform.cpp +++ b/Source/Engine/Platform/Mac/MacPlatform.cpp @@ -462,6 +462,9 @@ int32 MacPlatform::CreateProcess(CreateProcessSettings& settings) } } + // Sanatize the string if the exePath has spaces with properly espcaped spaces for popen + exePath.Replace(TEXT(" "), TEXT("\\ ")); + const String cmdLine = exePath + TEXT(" ") + settings.Arguments; const StringAsANSI<> cmdLineAnsi(*cmdLine, cmdLine.Length()); FILE* pipe = popen(cmdLineAnsi.Get(), "r"); diff --git a/Source/Engine/Scripting/BinaryModule.cpp b/Source/Engine/Scripting/BinaryModule.cpp index 820c919f3..69033f7b6 100644 --- a/Source/Engine/Scripting/BinaryModule.cpp +++ b/Source/Engine/Scripting/BinaryModule.cpp @@ -1010,12 +1010,36 @@ void ManagedBinaryModule::InitType(MClass* mclass) } if (baseType.Module == this) InitType(baseClass); // Ensure base is initialized before + baseType.Module->TypeNameToTypeIndex.TryGet(baseClass->GetFullName(), *(int32*)&baseType.TypeIndex); + + // So we must special case this flow of a generic class of which its possible the generic base class is not in the same module + if (baseType.TypeIndex == -1 && baseClass->IsGeneric()) + { + auto genericNameIndex = baseClass->GetFullName().FindLast('`'); + // we add 2 because of the way generic names work its `N + auto genericClassName = baseClass->GetFullName().Substring(0, genericNameIndex + 2); + + // We check for the generic class name instead of the baseclass fullname + baseType.Module->TypeNameToTypeIndex.TryGet(genericClassName, *(int32*)&baseType.TypeIndex); + } + if (!baseType) { LOG(Error, "Missing base class for managed class {0} from assembly {1}.", String(typeName), Assembly->ToString()); return; } + + if (baseType.TypeIndex == -1) + { + if (baseType.Module) + LOG(Error, "Missing base class for managed class {0} from assembly {1}.", String(baseClass->GetFullName()), baseType.Module->GetName().ToString()); + else + // Not sure this can happen but never hurts to account for it + LOG(Error, "Missing base class for managed class {0} from unknown assembly.", String(baseClass->GetFullName())); + return; + } + ScriptingTypeHandle nativeType = baseType; while (true) { diff --git a/Source/Engine/Scripting/Runtime/DotNet.cpp b/Source/Engine/Scripting/Runtime/DotNet.cpp index 1bcef50b8..2157e8dff 100644 --- a/Source/Engine/Scripting/Runtime/DotNet.cpp +++ b/Source/Engine/Scripting/Runtime/DotNet.cpp @@ -719,6 +719,13 @@ bool MAssembly::LoadImage(const String& assemblyPath, const StringView& nativePa StringAnsi nativeName = _name.EndsWith(".CSharp") ? StringAnsi(_name.Get(), _name.Length() - 7) : StringAnsi(_name); RegisterNativeLibrary(nativeName.Get(), StringAnsi(nativePath).Get()); } +#if USE_EDITOR + // Register the editor module location for Assembly resolver + else + { + RegisterNativeLibrary(_name.Get(), StringAnsi(assemblyPath).Get()); + } +#endif _hasCachedClasses = false; _assemblyPath = assemblyPath; @@ -898,7 +905,6 @@ const Array& MClass::GetMethods() const NativeMethodDefinitions& definition = methods[i]; MMethod* method = New(const_cast(this), StringAnsi(definition.name), definition.handle, definition.numParameters, definition.methodAttributes); _methods.Add(method); - MCore::GC::FreeMemory((void*)definition.name); } MCore::GC::FreeMemory(methods); @@ -932,7 +938,6 @@ const Array& MClass::GetFields() const NativeFieldDefinitions& definition = fields[i]; MField* field = New(const_cast(this), definition.fieldHandle, definition.name, definition.fieldType, definition.fieldAttributes); _fields.Add(field); - MCore::GC::FreeMemory((void*)definition.name); } MCore::GC::FreeMemory(fields); @@ -977,7 +982,6 @@ const Array& MClass::GetProperties() const const NativePropertyDefinitions& definition = foundProperties[i]; MProperty* property = New(const_cast(this), definition.name, definition.getterHandle, definition.setterHandle, definition.getterAttributes, definition.setterAttributes); _properties.Add(property); - MCore::GC::FreeMemory((void*)definition.name); } MCore::GC::FreeMemory(foundProperties); @@ -1541,7 +1545,16 @@ bool InitHostfxr() get_hostfxr_params.size = sizeof(hostfxr_initialize_parameters); get_hostfxr_params.assembly_path = libraryPath.Get(); #if PLATFORM_MAC - get_hostfxr_params.dotnet_root = "/usr/local/share/dotnet"; + ::String macOSDotnetRoot = TEXT("/usr/local/share/dotnet"); +#if defined(__x86_64) || defined(__x86_64__) || defined(__amd64__) || defined(_M_X64) + // When emulating x64 on arm + const ::String dotnetRootEmulated = macOSDotnetRoot / TEXT("x64"); + if (FileSystem::FileExists(dotnetRootEmulated / TEXT("dotnet"))) { + macOSDotnetRoot = dotnetRootEmulated; + } +#endif + const FLAX_CORECLR_STRING& finalDotnetRootPath = FLAX_CORECLR_STRING(macOSDotnetRoot); + get_hostfxr_params.dotnet_root = finalDotnetRootPath.Get(); #else get_hostfxr_params.dotnet_root = nullptr; #endif @@ -1588,7 +1601,10 @@ bool InitHostfxr() void* hostfxr = Platform::LoadLibrary(path.Get()); if (hostfxr == nullptr) { - LOG(Fatal, "Failed to load hostfxr library ({0})", path); + if (FileSystem::FileExists(path)) + LOG(Fatal, "Failed to load hostfxr library, possible platform/architecture mismatch with the library. See log for more information. ({0})", path); + else + LOG(Fatal, "Failed to load hostfxr library ({0})", path); return true; } hostfxr_initialize_for_runtime_config = (hostfxr_initialize_for_runtime_config_fn)Platform::GetProcAddress(hostfxr, "hostfxr_initialize_for_runtime_config"); @@ -1627,7 +1643,28 @@ bool InitHostfxr() if (rc != 0 || handle == nullptr) { hostfxr_close(handle); - LOG(Fatal, "Failed to initialize hostfxr: {0:x} ({1})", (unsigned int)rc, String(init_params.dotnet_root)); + if (rc == 0x80008096) // FrameworkMissingFailure + { + String platformStr; + switch (PLATFORM_TYPE) + { + case PlatformType::Windows: + case PlatformType::UWP: + platformStr = PLATFORM_64BITS ? "Windows x64" : "Windows x86"; + break; + case PlatformType::Linux: + platformStr = PLATFORM_ARCH_ARM64 ? "Linux Arm64" : PLATFORM_ARCH_ARM ? "Linux Arm32" : PLATFORM_64BITS ? "Linux x64" : "Linux x86"; + break; + case PlatformType::Mac: + platformStr = PLATFORM_ARCH_ARM || PLATFORM_ARCH_ARM64 ? "macOS Arm64" : PLATFORM_64BITS ? "macOS x64" : "macOS x86"; + break; + default:; + platformStr = ""; + } + LOG(Fatal, "Failed to resolve compatible .NET runtime version in '{0}'. Make sure the correct platform version for runtime is installed ({1})", platformStr, String(init_params.dotnet_root)); + } + else + LOG(Fatal, "Failed to initialize hostfxr: {0:x} ({1})", (unsigned int)rc, String(init_params.dotnet_root)); return true; } diff --git a/Source/Engine/Tests/TestScripting.cs b/Source/Engine/Tests/TestScripting.cs index fd94b8017..93c6637fe 100644 --- a/Source/Engine/Tests/TestScripting.cs +++ b/Source/Engine/Tests/TestScripting.cs @@ -19,7 +19,7 @@ namespace FlaxEngine.Tests { var result = 0; var libraryName = "FlaxEngine"; - var library = NativeLibrary.Load(Interop.NativeInterop.nativeLibraryPaths[libraryName]); + var library = NativeLibrary.Load(Interop.NativeInterop.libraryPaths[libraryName]); if (library == IntPtr.Zero) return -1; var types = typeof(FlaxEngine.Object).Assembly.GetTypes(); diff --git a/Source/Engine/Tools/ModelTool/ModelTool.Assimp.cpp b/Source/Engine/Tools/ModelTool/ModelTool.Assimp.cpp index 64b7377bc..a36fee8ff 100644 --- a/Source/Engine/Tools/ModelTool/ModelTool.Assimp.cpp +++ b/Source/Engine/Tools/ModelTool/ModelTool.Assimp.cpp @@ -43,7 +43,16 @@ public: void write(const char* message) override { String s(message); - s.Replace('\n', ' '); + if (s.Length() <= 0) + return; + for (int32 i = 0; i < s.Length(); i++) + { + Char& c = s[i]; + if (c == '\n') + c = ' '; + else if (c >= 255) + c = '?'; + } LOG(Info, "[Assimp]: {0}", s); } }; diff --git a/Source/Engine/UI/GUI/Common/Slider.cs b/Source/Engine/UI/GUI/Common/Slider.cs index d7324ae0e..7ea2accef 100644 --- a/Source/Engine/UI/GUI/Common/Slider.cs +++ b/Source/Engine/UI/GUI/Common/Slider.cs @@ -60,6 +60,7 @@ public class Slider : ContainerControl private float _thumbCenter; private Float2 _thumbSize = new Float2(16, 16); private bool _isSliding; + private bool _mouseOverThumb; /// /// Gets or sets the value (normalized to range 0-100). @@ -163,21 +164,27 @@ public class Slider : ContainerControl public IBrush FillTrackBrush { get; set; } /// - /// The color of the slider thumb when it's not selected + /// The color of the slider thumb when it's not selected. /// [EditorDisplay("Thumb Style"), EditorOrder(2030), Tooltip("The color of the slider thumb when it's not selected."), ExpandGroups] public Color ThumbColor { get; set; } + + /// + /// The color of the slider thumb when it's highlighted. + /// + [EditorDisplay("Thumb Style"), EditorOrder(2031), Tooltip("The color of the slider thumb when it's highlighted.")] + public Color ThumbColorHighlighted { get; set; } /// - /// The color of the slider thumb when it's selected + /// The color of the slider thumb when it's selected. /// - [EditorDisplay("Thumb Style"), EditorOrder(2031), Tooltip("The color of the slider thumb when it's selected.")] + [EditorDisplay("Thumb Style"), EditorOrder(2032), Tooltip("The color of the slider thumb when it's selected.")] public Color ThumbColorSelected { get; set; } /// /// Gets or sets the brush used for slider thumb drawing. /// - [EditorDisplay("Thumb Style"), EditorOrder(2032), Tooltip("The brush of the slider thumb.")] + [EditorDisplay("Thumb Style"), EditorOrder(2033), Tooltip("The brush of the slider thumb.")] public IBrush ThumbBrush { get; set; } /// @@ -222,6 +229,7 @@ public class Slider : ContainerControl TrackFillLineColor = style.LightBackground; ThumbColor = style.BackgroundNormal; ThumbColorSelected = style.BackgroundSelected; + ThumbColorHighlighted = style.BackgroundHighlighted; UpdateThumb(); } @@ -270,7 +278,7 @@ public class Slider : ContainerControl } // Draw thumb - var thumbColor = _isSliding ? ThumbColorSelected : ThumbColor; + var thumbColor = _isSliding ? ThumbColorSelected : (_mouseOverThumb ? ThumbColorHighlighted : ThumbColor); if (ThumbBrush != null) ThumbBrush.Draw(_thumbRect, thumbColor); else @@ -317,6 +325,7 @@ public class Slider : ContainerControl /// public override void OnMouseMove(Float2 location) { + _mouseOverThumb = _thumbRect.Contains(location); if (_isSliding) { // Update sliding diff --git a/Source/ThirdParty/recastnavigation/DetourAssert.h b/Source/ThirdParty/recastnavigation/DetourAssert.h index e05fd66fa..038d538a5 100644 --- a/Source/ThirdParty/recastnavigation/DetourAssert.h +++ b/Source/ThirdParty/recastnavigation/DetourAssert.h @@ -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 diff --git a/Source/ThirdParty/recastnavigation/DetourCommon.cpp b/Source/ThirdParty/recastnavigation/DetourCommon.cpp index 7abdff072..8a9a4a42a 100644 --- a/Source/ThirdParty/recastnavigation/DetourCommon.cpp +++ b/Source/ThirdParty/recastnavigation/DetourCommon.cpp @@ -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; diff --git a/Source/ThirdParty/recastnavigation/DetourCommon.h b/Source/ThirdParty/recastnavigation/DetourCommon.h index a2597f3a2..656311e90 100644 --- a/Source/ThirdParty/recastnavigation/DetourCommon.h +++ b/Source/ThirdParty/recastnavigation/DetourCommon.h @@ -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 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) diff --git a/Source/ThirdParty/recastnavigation/DetourCrowd.cpp b/Source/ThirdParty/recastnavigation/DetourCrowd.cpp index 3f0311f7f..d7cdae0b9 100644 --- a/Source/ThirdParty/recastnavigation/DetourCrowd.cpp +++ b/Source/ThirdParty/recastnavigation/DetourCrowd.cpp @@ -16,7 +16,6 @@ // 3. This notice may not be removed or altered from any source distribution. // -#define _USE_MATH_DEFINES #include #include #include diff --git a/Source/ThirdParty/recastnavigation/DetourCrowd.h b/Source/ThirdParty/recastnavigation/DetourCrowd.h index 952050878..854546fc1 100644 --- a/Source/ThirdParty/recastnavigation/DetourCrowd.h +++ b/Source/ThirdParty/recastnavigation/DetourCrowd.h @@ -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 diff --git a/Source/ThirdParty/recastnavigation/DetourNavMesh.cpp b/Source/ThirdParty/recastnavigation/DetourNavMesh.cpp index b119cd541..2240526eb 100644 --- a/Source/ThirdParty/recastnavigation/DetourNavMesh.cpp +++ b/Source/ThirdParty/recastnavigation/DetourNavMesh.cpp @@ -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); } } } diff --git a/Source/ThirdParty/recastnavigation/DetourNavMesh.h b/Source/ThirdParty/recastnavigation/DetourNavMesh.h index 9ac1dc8d6..4c1277d78 100644 --- a/Source/ThirdParty/recastnavigation/DetourNavMesh.h +++ b/Source/ThirdParty/recastnavigation/DetourNavMesh.h @@ -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) { diff --git a/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.cpp b/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.cpp index 1e519d211..7faefde81 100644 --- a/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.cpp +++ b/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.cpp @@ -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 diff --git a/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.h b/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.h index 43c7268f2..244b20065 100644 --- a/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.h +++ b/Source/ThirdParty/recastnavigation/DetourNavMeshQuery.h @@ -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. diff --git a/Source/ThirdParty/recastnavigation/DetourNode.h b/Source/ThirdParty/recastnavigation/DetourNode.h index db0974708..8918d4686 100644 --- a/Source/ThirdParty/recastnavigation/DetourNode.h +++ b/Source/ThirdParty/recastnavigation/DetourNode.h @@ -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; diff --git a/Source/ThirdParty/recastnavigation/DetourTileCache.cpp b/Source/ThirdParty/recastnavigation/DetourTileCache.cpp index a82cd1350..6f97ab5b7 100644 --- a/Source/ThirdParty/recastnavigation/DetourTileCache.cpp +++ b/Source/ThirdParty/recastnavigation/DetourTileCache.cpp @@ -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. diff --git a/Source/ThirdParty/recastnavigation/DetourTileCache.h b/Source/ThirdParty/recastnavigation/DetourTileCache.h index 75713366d..0d346f17c 100644 --- a/Source/ThirdParty/recastnavigation/DetourTileCache.h +++ b/Source/ThirdParty/recastnavigation/DetourTileCache.h @@ -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 diff --git a/Source/ThirdParty/recastnavigation/DetourTileCacheBuilder.cpp b/Source/ThirdParty/recastnavigation/DetourTileCacheBuilder.cpp index 21a59f1a6..dbc09eb48 100644 --- a/Source/ThirdParty/recastnavigation/DetourTileCacheBuilder.cpp +++ b/Source/ThirdParty/recastnavigation/DetourTileCacheBuilder.cpp @@ -23,6 +23,15 @@ #include "DetourTileCacheBuilder.h" #include +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 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 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]; diff --git a/Source/ThirdParty/recastnavigation/DetourTileCacheBuilder.h b/Source/ThirdParty/recastnavigation/DetourTileCacheBuilder.h index ff6109193..9a6844c65 100644 --- a/Source/ThirdParty/recastnavigation/DetourTileCacheBuilder.h +++ b/Source/ThirdParty/recastnavigation/DetourTileCacheBuilder.h @@ -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, diff --git a/Source/ThirdParty/recastnavigation/Recast.cpp b/Source/ThirdParty/recastnavigation/Recast.cpp index 1b71710cd..d75a9f59f 100644 --- a/Source/ThirdParty/recastnavigation/Recast.cpp +++ b/Source/ThirdParty/recastnavigation/Recast.cpp @@ -16,98 +16,93 @@ // 3. This notice may not be removed or altered from any source distribution. // -#include -#define _USE_MATH_DEFINES -#include -#include -#include -#include -#include #include "Recast.h" #include "RecastAlloc.h" #include "RecastAssert.h" +#include +#include +#include +#include + 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 -T* rcNew(rcAllocHint hint) { - T* ptr = (T*)rcAlloc(sizeof(T), hint); +/// @param[in] allocLifetime Allocation lifetime hint +template +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 -void rcDelete(T* ptr) { - if (ptr) { +template +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(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(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(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(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(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(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; -} -*/ diff --git a/Source/ThirdParty/recastnavigation/Recast.h b/Source/ThirdParty/recastnavigation/Recast.h index 4d557389b..9def8fd2a 100644 --- a/Source/ThirdParty/recastnavigation/Recast.h +++ b/Source/ThirdParty/recastnavigation/Recast.h @@ -22,13 +22,16 @@ /// The value of PI used by Recast. static const float RC_PI = 3.14159265f; +/// Used to ignore unused function parameters and silence any compiler warnings. +template void rcIgnoreUnused(const T&) { } + /// Recast log categories. /// @see rcContext enum rcLogCategory { RC_LOG_PROGRESS = 1, ///< A progress log entry. RC_LOG_WARNING, ///< A warning log entry. - RC_LOG_ERROR, ///< An error log entry. + RC_LOG_ERROR ///< An error log entry. }; /// Recast performance timer categories. @@ -97,12 +100,21 @@ enum rcTimerLabel /// Provides an interface for optional logging and performance tracking of the Recast /// build process. +/// +/// 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. +/// /// @ingroup recast class rcContext { public: - - /// Contructor. + /// Constructor. /// @param[in] state TRUE if the logging and performance timers should be enabled. [Default: true] inline rcContext(bool state = true) : m_logEnabled(state), m_timerEnabled(state) {} virtual ~rcContext() {} @@ -115,56 +127,62 @@ public: inline void resetLog() { if (m_logEnabled) doResetLog(); } /// Logs a message. - /// @param[in] category The category of the message. - /// @param[in] format The message. + /// + /// 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 + /// + /// @param[in] category The category of the message. + /// @param[in] format The message. void log(const rcLogCategory category, const char* format, ...); /// Enables or disables the performance timers. /// @param[in] state TRUE if timers should be enabled. inline void enableTimer(bool state) { m_timerEnabled = state; } - /// Clears all peformance timers. (Resets all to unused.) + /// Clears all performance timers. (Resets all to unused.) inline void resetTimers() { if (m_timerEnabled) doResetTimers(); } /// Starts the specified performance timer. - /// @param label The category of the timer. + /// @param label The category of the timer. inline void startTimer(const rcTimerLabel label) { if (m_timerEnabled) doStartTimer(label); } /// Stops the specified performance timer. - /// @param label The category of the timer. + /// @param label The category of the timer. inline void stopTimer(const rcTimerLabel label) { if (m_timerEnabled) doStopTimer(label); } /// Returns the total accumulated time of the specified performance timer. - /// @param label The category of the timer. - /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. + /// @param label The category of the timer. + /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. inline int getAccumulatedTime(const rcTimerLabel label) const { return m_timerEnabled ? doGetAccumulatedTime(label) : -1; } protected: - /// Clears all log entries. - virtual void doResetLog() {} + virtual void doResetLog(); /// Logs a message. - /// @param[in] category The category of the message. - /// @param[in] msg The formatted message. - /// @param[in] len The length of the formatted message. - virtual void doLog(const rcLogCategory /*category*/, const char* /*msg*/, const int /*len*/) {} + /// @param[in] category The category of the message. + /// @param[in] msg The formatted message. + /// @param[in] len The length of the formatted message. + virtual void doLog(const rcLogCategory category, const char* msg, const int len) { rcIgnoreUnused(category); rcIgnoreUnused(msg); rcIgnoreUnused(len); } /// Clears all timers. (Resets all to unused.) virtual void doResetTimers() {} /// Starts the specified performance timer. - /// @param[in] label The category of timer. - virtual void doStartTimer(const rcTimerLabel /*label*/) {} + /// @param[in] label The category of timer. + virtual void doStartTimer(const rcTimerLabel label) { rcIgnoreUnused(label); } /// Stops the specified performance timer. - /// @param[in] label The category of the timer. - virtual void doStopTimer(const rcTimerLabel /*label*/) {} + /// @param[in] label The category of the timer. + virtual void doStopTimer(const rcTimerLabel label) { rcIgnoreUnused(label); } /// Returns the total accumulated time of the specified performance timer. - /// @param[in] label The category of the timer. - /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. - virtual int doGetAccumulatedTime(const rcTimerLabel /*label*/) const { return -1; } + /// @param[in] label The category of the timer. + /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. + virtual int doGetAccumulatedTime(const rcTimerLabel label) const { rcIgnoreUnused(label); return -1; } /// True if logging is enabled. bool m_logEnabled; @@ -238,7 +256,7 @@ struct rcConfig /// The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx] int maxEdgeLen; - /// The maximum distance a simplfied contour's border edges should deviate + /// The maximum distance a simplified contour's border edges should deviate /// the original raw contour. [Limit: >=0] [Units: vx] float maxSimplificationError; @@ -334,6 +352,7 @@ struct rcCompactHeightfield { rcCompactHeightfield(); ~rcCompactHeightfield(); + int width; ///< The width of the heightfield. (Along the x-axis in cell units.) int height; ///< The height of the heightfield. (Along the z-axis in cell units.) int spanCount; ///< The number of spans in the heightfield. @@ -350,6 +369,11 @@ struct rcCompactHeightfield rcCompactSpan* spans; ///< Array of spans. [Size: #spanCount] unsigned short* dist; ///< Array containing border distance data. [Size: #spanCount] unsigned char* areas; ///< Array containing area id data. [Size: #spanCount] + +private: + // Explicitly-disabled copy constructor and copy assignment operator. + rcCompactHeightfield(const rcCompactHeightfield&); + rcCompactHeightfield& operator=(const rcCompactHeightfield&); }; /// Represents a heightfield layer within a layer set. @@ -380,8 +404,14 @@ struct rcHeightfieldLayerSet { rcHeightfieldLayerSet(); ~rcHeightfieldLayerSet(); + rcHeightfieldLayer* layers; ///< The layers in the set. [Size: #nlayers] int nlayers; ///< The number of layers in the set. + +private: + // Explicitly-disabled copy constructor and copy assignment operator. + rcHeightfieldLayerSet(const rcHeightfieldLayerSet&); + rcHeightfieldLayerSet& operator=(const rcHeightfieldLayerSet&); }; /// Represents a simple, non-overlapping contour in field space. @@ -401,6 +431,7 @@ struct rcContourSet { rcContourSet(); ~rcContourSet(); + rcContour* conts; ///< An array of the contours in the set. [Size: #nconts] int nconts; ///< The number of contours in the set. float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] @@ -411,6 +442,11 @@ struct rcContourSet int height; ///< The height of the set. (Along the z-axis in cell units.) int borderSize; ///< The AABB border size used to generate the source data from which the contours were derived. float maxError; ///< The max edge error that this contour set was simplified with. + +private: + // Explicitly-disabled copy constructor and copy assignment operator. + rcContourSet(const rcContourSet&); + rcContourSet& operator=(const rcContourSet&); }; /// Represents a polygon mesh suitable for use in building a navigation mesh. @@ -419,6 +455,7 @@ struct rcPolyMesh { rcPolyMesh(); ~rcPolyMesh(); + unsigned short* verts; ///< The mesh vertices. [Form: (x, y, z) * #nverts] unsigned short* polys; ///< Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp] unsigned short* regs; ///< The region id assigned to each polygon. [Length: #maxpolys] @@ -434,6 +471,11 @@ struct rcPolyMesh float ch; ///< The height of each cell. (The minimum increment along the y-axis.) int borderSize; ///< The AABB border size used to generate the source data from which the mesh was derived. float maxEdgeError; ///< The max error of the polygon edges in the mesh. + +private: + // Explicitly-disabled copy constructor and copy assignment operator. + rcPolyMesh(const rcPolyMesh&); + rcPolyMesh& operator=(const rcPolyMesh&); }; /// Contains triangle meshes that represent detailed height data associated @@ -441,12 +483,19 @@ struct rcPolyMesh /// @ingroup recast struct rcPolyMeshDetail { + rcPolyMeshDetail(); + unsigned int* meshes; ///< The sub-mesh data. [Size: 4*#nmeshes] float* verts; ///< The mesh vertices. [Size: 3*#nverts] unsigned char* tris; ///< The mesh triangles. [Size: 4*#ntris] int nmeshes; ///< The number of sub-meshes defined by #meshes. int nverts; ///< The number of vertices in #verts. int ntris; ///< The number of triangles in #tris. + +private: + // Explicitly-disabled copy constructor and copy assignment operator. + rcPolyMeshDetail(const rcPolyMeshDetail&); + rcPolyMeshDetail& operator=(const rcPolyMeshDetail&); }; /// @name Allocation Functions @@ -455,82 +504,82 @@ struct rcPolyMeshDetail /// @{ /// Allocates a heightfield object using the Recast allocator. -/// @return A heightfield that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcCreateHeightfield, rcFreeHeightField +/// @return A heightfield that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcCreateHeightfield, rcFreeHeightField rcHeightfield* rcAllocHeightfield(); /// Frees the specified heightfield object using the Recast allocator. -/// @param[in] hf A heightfield allocated using #rcAllocHeightfield -/// @ingroup recast -/// @see rcAllocHeightfield -void rcFreeHeightField(rcHeightfield* hf); +/// @param[in] heightfield A heightfield allocated using #rcAllocHeightfield +/// @ingroup recast +/// @see rcAllocHeightfield +void rcFreeHeightField(rcHeightfield* heightfield); /// Allocates a compact heightfield object using the Recast allocator. -/// @return A compact heightfield that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildCompactHeightfield, rcFreeCompactHeightfield +/// @return A compact heightfield that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildCompactHeightfield, rcFreeCompactHeightfield rcCompactHeightfield* rcAllocCompactHeightfield(); /// Frees the specified compact heightfield object using the Recast allocator. -/// @param[in] chf A compact heightfield allocated using #rcAllocCompactHeightfield -/// @ingroup recast -/// @see rcAllocCompactHeightfield -void rcFreeCompactHeightfield(rcCompactHeightfield* chf); +/// @param[in] compactHeightfield A compact heightfield allocated using #rcAllocCompactHeightfield +/// @ingroup recast +/// @see rcAllocCompactHeightfield +void rcFreeCompactHeightfield(rcCompactHeightfield* compactHeightfield); /// Allocates a heightfield layer set using the Recast allocator. -/// @return A heightfield layer set that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet +/// @return A heightfield layer set that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet(); /// Frees the specified heightfield layer set using the Recast allocator. -/// @param[in] lset A heightfield layer set allocated using #rcAllocHeightfieldLayerSet -/// @ingroup recast -/// @see rcAllocHeightfieldLayerSet -void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset); +/// @param[in] layerSet A heightfield layer set allocated using #rcAllocHeightfieldLayerSet +/// @ingroup recast +/// @see rcAllocHeightfieldLayerSet +void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* layerSet); /// Allocates a contour set object using the Recast allocator. -/// @return A contour set that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildContours, rcFreeContourSet +/// @return A contour set that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildContours, rcFreeContourSet rcContourSet* rcAllocContourSet(); /// Frees the specified contour set using the Recast allocator. -/// @param[in] cset A contour set allocated using #rcAllocContourSet -/// @ingroup recast -/// @see rcAllocContourSet -void rcFreeContourSet(rcContourSet* cset); +/// @param[in] contourSet A contour set allocated using #rcAllocContourSet +/// @ingroup recast +/// @see rcAllocContourSet +void rcFreeContourSet(rcContourSet* contourSet); /// Allocates a polygon mesh object using the Recast allocator. -/// @return A polygon mesh that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildPolyMesh, rcFreePolyMesh +/// @return A polygon mesh that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildPolyMesh, rcFreePolyMesh rcPolyMesh* rcAllocPolyMesh(); /// Frees the specified polygon mesh using the Recast allocator. -/// @param[in] pmesh A polygon mesh allocated using #rcAllocPolyMesh -/// @ingroup recast -/// @see rcAllocPolyMesh -void rcFreePolyMesh(rcPolyMesh* pmesh); +/// @param[in] polyMesh A polygon mesh allocated using #rcAllocPolyMesh +/// @ingroup recast +/// @see rcAllocPolyMesh +void rcFreePolyMesh(rcPolyMesh* polyMesh); /// Allocates a detail mesh object using the Recast allocator. -/// @return A detail mesh that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildPolyMeshDetail, rcFreePolyMeshDetail +/// @return A detail mesh that is ready for initialization, or null on failure. +/// @ingroup recast +/// @see rcBuildPolyMeshDetail, rcFreePolyMeshDetail rcPolyMeshDetail* rcAllocPolyMeshDetail(); /// Frees the specified detail mesh using the Recast allocator. -/// @param[in] dmesh A detail mesh allocated using #rcAllocPolyMeshDetail -/// @ingroup recast -/// @see rcAllocPolyMeshDetail -void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh); +/// @param[in] detailMesh A detail mesh allocated using #rcAllocPolyMeshDetail +/// @ingroup recast +/// @see rcAllocPolyMeshDetail +void rcFreePolyMeshDetail(rcPolyMeshDetail* detailMesh); /// @} -/// Heighfield border flag. +/// Heightfield border flag. /// If a heightfield region ID has this bit set, then the region is a border -/// region and its spans are considered unwalkable. +/// region and its spans are considered un-walkable. /// (Used during the region and contour build process.) /// @see rcCompactSpan::reg static const unsigned short RC_BORDER_REG = 0x8000; @@ -564,7 +613,7 @@ static const int RC_AREA_BORDER = 0x20000; enum rcBuildContoursFlags { RC_CONTOUR_TESS_WALL_EDGES = 0x01, ///< Tessellate solid (impassable) edges during contour simplification. - RC_CONTOUR_TESS_AREA_EDGES = 0x02, ///< Tessellate edges between areas during contour simplification. + RC_CONTOUR_TESS_AREA_EDGES = 0x02 ///< Tessellate edges between areas during contour simplification. }; /// Applied to the region id field of contour vertices in order to extract the region id. @@ -580,7 +629,7 @@ static const unsigned short RC_MESH_NULL_IDX = 0xffff; /// Represents the null area. /// When a data element is given this value it is considered to no longer be -/// assigned to a usable area. (E.g. It is unwalkable.) +/// assigned to a usable area. (E.g. It is un-walkable.) static const unsigned char RC_NULL_AREA = 0; /// The default area id used to indicate a walkable polygon. @@ -595,44 +644,42 @@ static const int RC_NOT_CONNECTED = 0x3f; /// @name General helper functions /// @{ -/// Used to ignore a function parameter. VS complains about unused parameters -/// and this silences the warning. -/// @param [in] _ Unused parameter -template void rcIgnoreUnused(const T&) { } - /// Swaps the values of the two parameters. -/// @param[in,out] a Value A -/// @param[in,out] b Value B +/// @param[in,out] a Value A +/// @param[in,out] b Value B template inline void rcSwap(T& a, T& b) { T t = a; a = b; b = t; } /// Returns the minimum of two values. -/// @param[in] a Value A -/// @param[in] b Value B -/// @return The minimum of the two values. +/// @param[in] a Value A +/// @param[in] b Value B +/// @return The minimum of the two values. template inline T rcMin(T a, T b) { return a < b ? a : b; } /// Returns the maximum of two values. -/// @param[in] a Value A -/// @param[in] b Value B -/// @return The maximum of the two values. +/// @param[in] a Value A +/// @param[in] b Value B +/// @return The maximum of the two values. template inline T rcMax(T a, T b) { return a > b ? a : b; } /// Returns the absolute value. -/// @param[in] a The value. -/// @return The absolute value of the specified value. +/// @param[in] a The value. +/// @return The absolute value of the specified value. template inline T rcAbs(T a) { return a < 0 ? -a : a; } /// Returns the square of the value. -/// @param[in] a The value. -/// @return The square of the value. +/// @param[in] a The value. +/// @return The square of the value. template inline T rcSqr(T a) { return a*a; } /// Clamps the value to the specified range. -/// @param[in] v The value to clamp. -/// @param[in] mn The minimum permitted return value. -/// @param[in] mx The maximum permitted return value. -/// @return The value, clamped to the specified range. -template inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } +/// @param[in] value The value to clamp. +/// @param[in] minInclusive The minimum permitted return value. +/// @param[in] maxInclusive The maximum permitted return value. +/// @return The value, clamped to the specified range. +template inline T rcClamp(T value, T minInclusive, T maxInclusive) +{ + return value < minInclusive ? minInclusive: (value > maxInclusive ? maxInclusive : value); +} /// Returns the square root of the value. /// @param[in] x The value. @@ -644,9 +691,9 @@ float rcSqrt(float x); /// @{ /// Derives the cross product of two vectors. (@p v1 x @p v2) -/// @param[out] dest The cross product. [(x, y, z)] -/// @param[in] v1 A Vector [(x, y, z)] -/// @param[in] v2 A vector [(x, y, z)] +/// @param[out] dest The cross product. [(x, y, z)] +/// @param[in] v1 A Vector [(x, y, z)] +/// @param[in] v2 A vector [(x, y, z)] inline void rcVcross(float* dest, const float* v1, const float* v2) { dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; @@ -655,8 +702,8 @@ inline void rcVcross(float* dest, const float* v1, const float* v2) } /// Derives the dot product of two vectors. (@p v1 . @p v2) -/// @param[in] v1 A Vector [(x, y, z)] -/// @param[in] v2 A vector [(x, y, z)] +/// @param[in] v1 A Vector [(x, y, z)] +/// @param[in] v2 A vector [(x, y, z)] /// @return The dot product. inline float rcVdot(const float* v1, const float* v2) { @@ -664,10 +711,10 @@ inline float rcVdot(const float* v1, const float* v2) } /// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s)) -/// @param[out] dest The result vector. [(x, y, z)] -/// @param[in] v1 The base vector. [(x, y, z)] -/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)] -/// @param[in] s The amount to scale @p v2 by before adding to @p v1. +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)] +/// @param[in] s The amount to scale @p v2 by before adding to @p v1. inline void rcVmad(float* dest, const float* v1, const float* v2, const float s) { dest[0] = v1[0]+v2[0]*s; @@ -676,9 +723,9 @@ inline void rcVmad(float* dest, const float* v1, const float* v2, const float s) } /// Performs a vector addition. (@p v1 + @p v2) -/// @param[out] dest The result vector. [(x, y, z)] -/// @param[in] v1 The base vector. [(x, y, z)] -/// @param[in] v2 The vector to add to @p v1. [(x, y, z)] +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to add to @p v1. [(x, y, z)] inline void rcVadd(float* dest, const float* v1, const float* v2) { dest[0] = v1[0]+v2[0]; @@ -687,9 +734,9 @@ inline void rcVadd(float* dest, const float* v1, const float* v2) } /// Performs a vector subtraction. (@p v1 - @p v2) -/// @param[out] dest The result vector. [(x, y, z)] -/// @param[in] v1 The base vector. [(x, y, z)] -/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)] +/// @param[out] dest The result vector. [(x, y, z)] +/// @param[in] v1 The base vector. [(x, y, z)] +/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)] inline void rcVsub(float* dest, const float* v1, const float* v2) { dest[0] = v1[0]-v2[0]; @@ -698,8 +745,8 @@ inline void rcVsub(float* dest, const float* v1, const float* v2) } /// Selects the minimum value of each element from the specified vectors. -/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)] -/// @param[in] v A vector. [(x, y, z)] +/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)] +/// @param[in] v A vector. [(x, y, z)] inline void rcVmin(float* mn, const float* v) { mn[0] = rcMin(mn[0], v[0]); @@ -708,8 +755,8 @@ inline void rcVmin(float* mn, const float* v) } /// Selects the maximum value of each element from the specified vectors. -/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)] -/// @param[in] v A vector. [(x, y, z)] +/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)] +/// @param[in] v A vector. [(x, y, z)] inline void rcVmax(float* mx, const float* v) { mx[0] = rcMax(mx[0], v[0]); @@ -718,8 +765,8 @@ inline void rcVmax(float* mx, const float* v) } /// Performs a vector copy. -/// @param[out] dest The result. [(x, y, z)] -/// @param[in] v The vector to copy. [(x, y, z)] +/// @param[out] dest The result. [(x, y, z)] +/// @param[in] v The vector to copy. [(x, y, z)] inline void rcVcopy(float* dest, const float* v) { dest[0] = v[0]; @@ -728,8 +775,8 @@ inline void rcVcopy(float* dest, const float* v) } /// Returns the distance between two points. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] /// @return The distance between the two points. inline float rcVdist(const float* v1, const float* v2) { @@ -740,8 +787,8 @@ inline float rcVdist(const float* v1, const float* v2) } /// Returns the square of the distance between two points. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] +/// @param[in] v1 A point. [(x, y, z)] +/// @param[in] v2 A point. [(x, y, z)] /// @return The square of the distance between the two points. inline float rcVdistSqr(const float* v1, const float* v2) { @@ -752,7 +799,7 @@ inline float rcVdistSqr(const float* v1, const float* v2) } /// Normalizes the vector. -/// @param[in,out] v The vector to normalize. [(x, y, z)] +/// @param[in,out] v The vector to normalize. [(x, y, z)] inline void rcVnormalize(float* v) { float d = 1.0f / rcSqrt(rcSqr(v[0]) + rcSqr(v[1]) + rcSqr(v[2])); @@ -767,174 +814,249 @@ inline void rcVnormalize(float* v) /// @{ /// Calculates the bounding box of an array of vertices. -/// @ingroup recast -/// @param[in] verts An array of vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices in the @p verts array. -/// @param[out] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu] -/// @param[out] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu] -void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax); +/// @ingroup recast +/// @param[in] verts An array of vertices. [(x, y, z) * @p nv] +/// @param[in] numVerts The number of vertices in the @p verts array. +/// @param[out] minBounds The minimum bounds of the AABB. [(x, y, z)] [Units: wu] +/// @param[out] maxBounds The maximum bounds of the AABB. [(x, y, z)] [Units: wu] +void rcCalcBounds(const float* verts, int numVerts, float* minBounds, float* maxBounds); /// Calculates the grid size based on the bounding box and grid cell size. -/// @ingroup recast -/// @param[in] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu] -/// @param[in] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu] -/// @param[in] cs The xz-plane cell size. [Limit: > 0] [Units: wu] -/// @param[out] w The width along the x-axis. [Limit: >= 0] [Units: vx] -/// @param[out] h The height along the z-axis. [Limit: >= 0] [Units: vx] -void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h); +/// @ingroup recast +/// @param[in] minBounds The minimum bounds of the AABB. [(x, y, z)] [Units: wu] +/// @param[in] maxBounds The maximum bounds of the AABB. [(x, y, z)] [Units: wu] +/// @param[in] cellSize The xz-plane cell size. [Limit: > 0] [Units: wu] +/// @param[out] sizeX The width along the x-axis. [Limit: >= 0] [Units: vx] +/// @param[out] sizeZ The height along the z-axis. [Limit: >= 0] [Units: vx] +void rcCalcGridSize(const float* minBounds, const float* maxBounds, float cellSize, int* sizeX, int* sizeZ); /// Initializes a new heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] hf The allocated heightfield to initialize. -/// @param[in] width The width of the field along the x-axis. [Limit: >= 0] [Units: vx] -/// @param[in] height The height of the field along the z-axis. [Limit: >= 0] [Units: vx] -/// @param[in] bmin The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] -/// @param[in] bmax The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] -/// @param[in] cs The xz-plane cell size to use for the field. [Limit: > 0] [Units: wu] -/// @param[in] ch The y-axis cell size to use for field. [Limit: > 0] [Units: wu] -/// @returns True if the operation completed successfully. -bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height, - const float* bmin, const float* bmax, - float cs, float ch); +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcAllocHeightfield, rcHeightfield +/// @ingroup recast +/// +/// @param[in,out] context The build context to use during the operation. +/// @param[in,out] heightfield The allocated heightfield to initialize. +/// @param[in] sizeX The width of the field along the x-axis. [Limit: >= 0] [Units: vx] +/// @param[in] sizeZ The height of the field along the z-axis. [Limit: >= 0] [Units: vx] +/// @param[in] minBounds The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] +/// @param[in] maxBounds The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] +/// @param[in] cellSize The xz-plane cell size to use for the field. [Limit: > 0] [Units: wu] +/// @param[in] cellHeight The y-axis cell size to use for field. [Limit: > 0] [Units: wu] +/// @returns True if the operation completed successfully. +bool rcCreateHeightfield(rcContext* context, rcHeightfield& heightfield, int sizeX, int sizeZ, + const float* minBounds, const float* maxBounds, + float cellSize, float cellHeight); /// Sets the area id of all triangles with a slope below the specified value /// to #RC_WALKABLE_AREA. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. -/// [Limits: 0 <= value < 90] [Units: Degrees] -/// @param[in] verts The vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices. -/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt] -/// @param[in] nt The number of triangles. -/// @param[out] areas The triangle area ids. [Length: >= @p nt] -void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv, - const int* tris, int nt, unsigned char* areas); +/// +/// Only sets the area id's for the walkable triangles. Does not alter the +/// area id's for un-walkable triangles. +/// +/// See the #rcConfig documentation for more information on the configuration parameters. +/// +/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles +/// +/// @ingroup recast +/// @param[in,out] context The build context to use during the operation. +/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. +/// [Limits: 0 <= value < 90] [Units: Degrees] +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] numVerts The number of vertices. +/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] numTris The number of triangles. +/// @param[out] triAreaIDs The triangle area ids. [Length: >= @p nt] +void rcMarkWalkableTriangles(rcContext* context, float walkableSlopeAngle, const float* verts, int numVerts, + const int* tris, int numTris, unsigned char* triAreaIDs); /// Sets the area id of all triangles with a slope greater than or equal to the specified value to #RC_NULL_AREA. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. -/// [Limits: 0 <= value < 90] [Units: Degrees] -/// @param[in] verts The vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices. -/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt] -/// @param[in] nt The number of triangles. -/// @param[out] areas The triangle area ids. [Length: >= @p nt] -void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv, - const int* tris, int nt, unsigned char* areas); +/// +/// Only sets the area id's for the un-walkable 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 +/// +/// @ingroup recast +/// @param[in,out] context The build context to use during the operation. +/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. +/// [Limits: 0 <= value < 90] [Units: Degrees] +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] numVerts The number of vertices. +/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] numTris The number of triangles. +/// @param[out] triAreaIDs The triangle area ids. [Length: >= @p nt] +void rcClearUnwalkableTriangles(rcContext* context, float walkableSlopeAngle, const float* verts, int numVerts, + const int* tris, int numTris, unsigned char* triAreaIDs); /// Adds a span to the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] hf An initialized heightfield. -/// @param[in] x The width index where the span is to be added. -/// [Limits: 0 <= value < rcHeightfield::width] -/// @param[in] y The height index where the span is to be added. -/// [Limits: 0 <= value < rcHeightfield::height] -/// @param[in] smin The minimum height of the span. [Limit: < @p smax] [Units: vx] -/// @param[in] smax The maximum height of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] [Units: vx] -/// @param[in] area The area id of the span. [Limit: <= #RC_WALKABLE_AREA) -/// @param[in] flagMergeThr The merge theshold. [Limit: >= 0] [Units: vx] -/// @returns True if the operation completed successfully. -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); +/// +/// The span addition can be set to favor flags. If the span is merged to +/// another span and the new @p spanMax is within @p flagMergeThreshold units +/// from the existing span, the span flags are merged. +/// +/// @ingroup recast +/// @param[in,out] context The build context to use during the operation. +/// @param[in,out] heightfield An initialized heightfield. +/// @param[in] x The column x index where the span is to be added. +/// [Limits: 0 <= value < rcHeightfield::width] +/// @param[in] z The column z index where the span is to be added. +/// [Limits: 0 <= value < rcHeightfield::height] +/// @param[in] spanMin The minimum height of the span. [Limit: < @p spanMax] [Units: vx] +/// @param[in] spanMax The maximum height of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] [Units: vx] +/// @param[in] areaID The area id of the span. [Limit: <= #RC_WALKABLE_AREA) +/// @param[in] flagMergeThreshold The merge threshold. [Limit: >= 0] [Units: vx] +/// @returns True if the operation completed successfully. +bool rcAddSpan(rcContext* context, rcHeightfield& heightfield, + int x, int z, + unsigned short spanMin, unsigned short spanMax, + unsigned char areaID, int flagMergeThreshold); -/// Rasterizes a triangle into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] v0 Triangle vertex 0 [(x, y, z)] -/// @param[in] v1 Triangle vertex 1 [(x, y, z)] -/// @param[in] v2 Triangle vertex 2 [(x, y, z)] -/// @param[in] area The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA] -/// @param[in,out] solid An initialized heightfield. -/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. -/// [Limit: >= 0] [Units: vx] -/// @returns True if the operation completed successfully. -bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2, - const unsigned char area, rcHeightfield& solid, - const int flagMergeThr = 1); +/// Rasterizes a single triangle into the specified heightfield. +/// +/// Calling this for each triangle in a mesh is less efficient than calling rcRasterizeTriangles +/// +/// No spans will be added if the triangle does not overlap the heightfield grid. +/// +/// @see rcHeightfield +/// @ingroup recast +/// @param[in,out] context The build context to use during the operation. +/// @param[in] v0 Triangle vertex 0 [(x, y, z)] +/// @param[in] v1 Triangle vertex 1 [(x, y, z)] +/// @param[in] v2 Triangle vertex 2 [(x, y, z)] +/// @param[in] areaID The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] heightfield An initialized heightfield. +/// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] +/// @returns True if the operation completed successfully. +bool rcRasterizeTriangle(rcContext* context, + const float* v0, const float* v1, const float* v2, + unsigned char areaID, rcHeightfield& heightfield, int flagMergeThreshold = 1); /// Rasterizes an indexed triangle mesh into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices. -/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] -/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] -/// @param[in] nt The number of triangles. -/// @param[in,out] solid An initialized heightfield. -/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. -/// [Limit: >= 0] [Units: vx] -/// @returns True if the operation completed successfully. -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 = 1); +/// +/// Spans will only be added for triangles that overlap the heightfield grid. +/// +/// @see rcHeightfield +/// @ingroup recast +/// @param[in,out] context The build context to use during the operation. +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] numVerts The number of vertices. (unused) TODO (graham): Remove in next major release +/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] triAreaIDs The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] +/// @param[in] numTris The number of triangles. +/// @param[in,out] heightfield An initialized heightfield. +/// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] +/// @returns True if the operation completed successfully. +bool rcRasterizeTriangles(rcContext* context, + const float* verts, int numVerts, + const int* tris, const unsigned char* triAreaIDs, int numTris, + rcHeightfield& heightfield, int flagMergeThreshold = 1); /// Rasterizes an indexed triangle mesh into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices. -/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] -/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] -/// @param[in] nt The number of triangles. -/// @param[in,out] solid An initialized heightfield. -/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. -/// [Limit: >= 0] [Units: vx] -/// @returns True if the operation completed successfully. -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 = 1); +/// +/// Spans will only be added for triangles that overlap the heightfield grid. +/// +/// @see rcHeightfield +/// @ingroup recast +/// @param[in,out] context The build context to use during the operation. +/// @param[in] verts The vertices. [(x, y, z) * @p nv] +/// @param[in] numVerts The number of vertices. (unused) TODO (graham): Remove in next major release +/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] +/// @param[in] triAreaIDs The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] +/// @param[in] numTris The number of triangles. +/// @param[in,out] heightfield An initialized heightfield. +/// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] +/// @returns True if the operation completed successfully. +bool rcRasterizeTriangles(rcContext* context, + const float* verts, int numVerts, + const unsigned short* tris, const unsigned char* triAreaIDs, int numTris, + rcHeightfield& heightfield, int flagMergeThreshold = 1); -/// Rasterizes triangles into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt] -/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] -/// @param[in] nt The number of triangles. -/// @param[in,out] solid An initialized heightfield. -/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. -/// [Limit: >= 0] [Units: vx] -/// @returns True if the operation completed successfully. -bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt, - rcHeightfield& solid, const int flagMergeThr = 1); +/// Rasterizes a triangle list into the specified heightfield. +/// +/// Expects each triangle to be specified as three sequential vertices of 3 floats. +/// +/// Spans will only be added for triangles that overlap the heightfield grid. +/// +/// @see rcHeightfield +/// @ingroup recast +/// @param[in,out] context The build context to use during the operation. +/// @param[in] verts The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt] +/// @param[in] triAreaIDs The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] +/// @param[in] numTris The number of triangles. +/// @param[in,out] heightfield An initialized heightfield. +/// @param[in] flagMergeThreshold The distance where the walkable flag is favored over the non-walkable flag. +/// [Limit: >= 0] [Units: vx] +/// @returns True if the operation completed successfully. +bool rcRasterizeTriangles(rcContext* context, + const float* verts, const unsigned char* triAreaIDs, int numTris, + rcHeightfield& heightfield, int flagMergeThreshold = 1); -/// Marks non-walkable spans as walkable if their maximum is within @p walkableClimp of a walkable neighbor. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. -/// [Limit: >=0] [Units: vx] -/// @param[in,out] solid A fully built heightfield. (All spans have been added.) -void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid); +/// Marks non-walkable spans as walkable if their maximum is within @p walkableClimb of a walkable neighbor. +/// +/// 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: rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb +/// +/// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call +/// #rcFilterLedgeSpans after calling this filter. +/// +/// @see rcHeightfield, rcConfig +/// +/// @ingroup recast +/// @param[in,out] context The build context to use during the operation. +/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. +/// [Limit: >=0] [Units: vx] +/// @param[in,out] heightfield A fully built heightfield. (All spans have been added.) +void rcFilterLowHangingWalkableObstacles(rcContext* context, int walkableClimb, rcHeightfield& heightfield); -/// Marks spans that are ledges as not-walkable. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to -/// be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. -/// [Limit: >=0] [Units: vx] -/// @param[in,out] solid A fully built heightfield. (All spans have been added.) -void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, - const int walkableClimb, rcHeightfield& solid); +/// Marks spans that are ledges as not-walkable. +/// +/// 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: rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb +/// +/// @see rcHeightfield, rcConfig +/// +/// @ingroup recast +/// @param[in,out] context The build context to use during the operation. +/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to +/// be considered walkable. [Limit: >= 3] [Units: vx] +/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. +/// [Limit: >=0] [Units: vx] +/// @param[in,out] heightfield A fully built heightfield. (All spans have been added.) +void rcFilterLedgeSpans(rcContext* context, int walkableHeight, int walkableClimb, rcHeightfield& heightfield); -/// Marks walkable spans as not walkable if the clearence above the span is less than the specified height. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to -/// be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[in,out] solid A fully built heightfield. (All spans have been added.) -void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid); +/// Marks walkable spans as not walkable if the clearance above the span is less than the specified height. +/// +/// 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 +/// @ingroup recast +/// +/// @param[in,out] context The build context to use during the operation. +/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to +/// be considered walkable. [Limit: >= 3] [Units: vx] +/// @param[in,out] heightfield A fully built heightfield. (All spans have been added.) +void rcFilterWalkableLowHeightSpans(rcContext* context, int walkableHeight, rcHeightfield& heightfield); /// Returns the number of spans contained in the specified heightfield. /// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] hf An initialized heightfield. +/// @param[in,out] context The build context to use during the operation. +/// @param[in] heightfield An initialized heightfield. /// @returns The number of spans in the heightfield. -int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf); +int rcGetHeightFieldSpanCount(rcContext* context, const rcHeightfield& heightfield); /// @} /// @name Compact Heightfield Functions @@ -942,175 +1064,181 @@ int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf); /// @{ /// Builds a compact heightfield representing open space, from a heightfield representing solid space. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area -/// to be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. -/// [Limit: >=0] [Units: vx] -/// @param[in] hf The heightfield to be compacted. -/// @param[out] chf The resulting compact heightfield. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb, - rcHeightfield& hf, rcCompactHeightfield& chf); +/// +/// 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 +/// @ingroup recast +/// +/// @param[in,out] context The build context to use during the operation. +/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area +/// to be considered walkable. [Limit: >= 3] [Units: vx] +/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. +/// [Limit: >=0] [Units: vx] +/// @param[in] heightfield The heightfield to be compacted. +/// @param[out] compactHeightfield The resulting compact heightfield. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. +bool rcBuildCompactHeightfield(rcContext* context, int walkableHeight, int walkableClimb, + const rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield); /// Erodes the walkable area within the heightfield by the specified radius. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] radius The radius of erosion. [Limits: 0 < value < 255] [Units: vx] -/// @param[in,out] chf The populated compact heightfield to erode. -/// @returns True if the operation completed successfully. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] radius The radius of erosion. [Limits: 0 < value < 255] [Units: vx] +/// @param[in,out] chf The populated compact heightfield to erode. +/// @returns True if the operation completed successfully. bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf); /// Applies a median filter to walkable area types (based on area id), removing noise. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @returns True if the operation completed successfully. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] chf A populated compact heightfield. +/// @returns True if the operation completed successfully. bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf); /// Applies an area id to all spans within the specified bounding box. (AABB) -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] bmin The minimum of the bounding box. [(x, y, z)] -/// @param[in] bmax The maximum of the bounding box. [(x, y, z)] -/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] -/// @param[in,out] chf A populated compact heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] bmin The minimum of the bounding box. [(x, y, z)] +/// @param[in] bmax The maximum of the bounding box. [(x, y, z)] +/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] chf A populated compact heightfield. void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId, rcCompactHeightfield& chf); /// Applies the area id to the all spans within the specified convex polygon. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The vertices of the polygon [Fomr: (x, y, z) * @p nverts] -/// @param[in] nverts The number of vertices in the polygon. -/// @param[in] hmin The height of the base of the polygon. -/// @param[in] hmax The height of the top of the polygon. -/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] -/// @param[in,out] chf A populated compact heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] verts The vertices of the polygon [Fomr: (x, y, z) * @p nverts] +/// @param[in] nverts The number of vertices in the polygon. +/// @param[in] hmin The height of the base of the polygon. +/// @param[in] hmax The height of the top of the polygon. +/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] chf A populated compact heightfield. void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts, const float hmin, const float hmax, unsigned char areaId, rcCompactHeightfield& chf); /// Helper function to offset voncex polygons for rcMarkConvexPolyArea. -/// @ingroup recast -/// @param[in] verts The vertices of the polygon [Form: (x, y, z) * @p nverts] -/// @param[in] nverts The number of vertices in the polygon. -/// @param[out] outVerts The offset vertices (should hold up to 2 * @p nverts) [Form: (x, y, z) * return value] -/// @param[in] maxOutVerts The max number of vertices that can be stored to @p outVerts. -/// @returns Number of vertices in the offset polygon or 0 if too few vertices in @p outVerts. +/// @ingroup recast +/// @param[in] verts The vertices of the polygon [Form: (x, y, z) * @p nverts] +/// @param[in] nverts The number of vertices in the polygon. +/// @param[in] offset How much to offset the polygon by. [Units: wu] +/// @param[out] outVerts The offset vertices (should hold up to 2 * @p nverts) [Form: (x, y, z) * return value] +/// @param[in] maxOutVerts The max number of vertices that can be stored to @p outVerts. +/// @returns Number of vertices in the offset polygon or 0 if too few vertices in @p outVerts. int rcOffsetPoly(const float* verts, const int nverts, const float offset, float* outVerts, const int maxOutVerts); /// Applies the area id to all spans within the specified cylinder. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] pos The center of the base of the cylinder. [Form: (x, y, z)] -/// @param[in] r The radius of the cylinder. -/// @param[in] h The height of the cylinder. -/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] -/// @param[in,out] chf A populated compact heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] pos The center of the base of the cylinder. [Form: (x, y, z)] +/// @param[in] r The radius of the cylinder. +/// @param[in] h The height of the cylinder. +/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] +/// @param[in,out] chf A populated compact heightfield. void rcMarkCylinderArea(rcContext* ctx, const float* pos, const float r, const float h, unsigned char areaId, rcCompactHeightfield& chf); /// Builds the distance field for the specified compact heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @returns True if the operation completed successfully. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] chf A populated compact heightfield. +/// @returns True if the operation completed successfully. bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf); /// Builds region data for the heightfield using watershed partitioning. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @param[in] borderSize The size of the non-navigable border around the heightfield. -/// [Limit: >=0] [Units: vx] -/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. -/// [Limit: >=0] [Units: vx]. -/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible, -/// be merged with larger regions. [Limit: >=0] [Units: vx] -/// @returns True if the operation completed successfully. -bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int minRegionArea, const int mergeRegionArea); +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] chf A populated compact heightfield. +/// @param[in] borderSize The size of the non-navigable border around the heightfield. +/// [Limit: >=0] [Units: vx] +/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. +/// [Limit: >=0] [Units: vx]. +/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible, +/// be merged with larger regions. [Limit: >=0] [Units: vx] +/// @returns True if the operation completed successfully. +bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, int borderSize, int minRegionArea, int mergeRegionArea); /// Builds region data for the heightfield by partitioning the heightfield in non-overlapping layers. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @param[in] borderSize The size of the non-navigable border around the heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] chf A populated compact heightfield. +/// @param[in] borderSize The size of the non-navigable border around the heightfield. /// [Limit: >=0] [Units: vx] -/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. +/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. /// [Limit: >=0] [Units: vx]. -/// @returns True if the operation completed successfully. -bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int minRegionArea); +/// @returns True if the operation completed successfully. +bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf, int borderSize, int minRegionArea); /// Builds region data for the heightfield using simple monotone partitioning. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @param[in] borderSize The size of the non-navigable border around the heightfield. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in,out] chf A populated compact heightfield. +/// @param[in] borderSize The size of the non-navigable border around the heightfield. /// [Limit: >=0] [Units: vx] -/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. +/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. /// [Limit: >=0] [Units: vx]. -/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible, +/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible, /// be merged with larger regions. [Limit: >=0] [Units: vx] -/// @returns True if the operation completed successfully. +/// @returns True if the operation completed successfully. bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int minRegionArea, const int mergeRegionArea); + int borderSize, int minRegionArea, int mergeRegionArea); /// Sets the neighbor connection data for the specified direction. -/// @param[in] s The span to update. -/// @param[in] dir The direction to set. [Limits: 0 <= value < 4] -/// @param[in] i The index of the neighbor span. -inline void rcSetCon(rcCompactSpan& s, int dir, int i) +/// @param[in] span The span to update. +/// @param[in] direction The direction to set. [Limits: 0 <= value < 4] +/// @param[in] neighborIndex The index of the neighbor span. +inline void rcSetCon(rcCompactSpan& span, int direction, int neighborIndex) { - const unsigned int shift = (unsigned int)dir*6; - unsigned int con = s.con; - s.con = (con & ~(0x3f << shift)) | (((unsigned int)i & 0x3f) << shift); + const unsigned int shift = (unsigned int)direction * 6; + const unsigned int con = span.con; + span.con = (con & ~(0x3f << shift)) | (((unsigned int)neighborIndex & 0x3f) << shift); } /// Gets neighbor connection data for the specified direction. -/// @param[in] s The span to check. -/// @param[in] dir The direction to check. [Limits: 0 <= value < 4] -/// @return The neighbor connection data for the specified direction, -/// or #RC_NOT_CONNECTED if there is no connection. -inline int rcGetCon(const rcCompactSpan& s, int dir) +/// @param[in] span The span to check. +/// @param[in] direction The direction to check. [Limits: 0 <= value < 4] +/// @return The neighbor connection data for the specified direction, or #RC_NOT_CONNECTED if there is no connection. +inline int rcGetCon(const rcCompactSpan& span, int direction) { - const unsigned int shift = (unsigned int)dir*6; - return (s.con >> shift) & 0x3f; + const unsigned int shift = (unsigned int)direction * 6; + return (span.con >> shift) & 0x3f; } /// Gets the standard width (x-axis) offset for the specified direction. -/// @param[in] dir The direction. [Limits: 0 <= value < 4] -/// @return The width offset to apply to the current cell position to move -/// in the direction. -inline int rcGetDirOffsetX(int dir) +/// @param[in] direction The direction. [Limits: 0 <= value < 4] +/// @return The width offset to apply to the current cell position to move in the direction. +inline int rcGetDirOffsetX(int direction) { static const int offset[4] = { -1, 0, 1, 0, }; - return offset[dir&0x03]; + return offset[direction & 0x03]; } +// TODO (graham): Rename this to rcGetDirOffsetZ /// Gets the standard height (z-axis) offset for the specified direction. -/// @param[in] dir The direction. [Limits: 0 <= value < 4] -/// @return The height offset to apply to the current cell position to move -/// in the direction. -inline int rcGetDirOffsetY(int dir) +/// @param[in] direction The direction. [Limits: 0 <= value < 4] +/// @return The height offset to apply to the current cell position to move in the direction. +inline int rcGetDirOffsetY(int direction) { static const int offset[4] = { 0, 1, 0, -1 }; - return offset[dir&0x03]; + return offset[direction & 0x03]; } /// Gets the direction for the specified offset. One of x and y should be 0. -/// @param[in] x The x offset. [Limits: -1 <= value <= 1] -/// @param[in] y The y offset. [Limits: -1 <= value <= 1] -/// @return The direction that represents the offset. -inline int rcGetDirForOffset(int x, int y) +/// @param[in] offsetX The x offset. [Limits: -1 <= value <= 1] +/// @param[in] offsetZ The z offset. [Limits: -1 <= value <= 1] +/// @return The direction that represents the offset. +inline int rcGetDirForOffset(int offsetX, int offsetZ) { static const int dirs[5] = { 3, 0, -1, 2, 1 }; - return dirs[((y+1)<<1)+x]; + return dirs[((offsetZ + 1) << 1) + offsetX]; } /// @} @@ -1119,43 +1247,43 @@ inline int rcGetDirForOffset(int x, int y) /// @{ /// Builds a layer set from the specified compact heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] chf A fully built compact heightfield. -/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0] -/// [Units: vx] -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area -/// to be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[out] lset The resulting layer set. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int walkableHeight, +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] chf A fully built compact heightfield. +/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0] +/// [Units: vx] +/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area +/// to be considered walkable. [Limit: >= 3] [Units: vx] +/// @param[out] lset The resulting layer set. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. +bool rcBuildHeightfieldLayers(rcContext* ctx, const rcCompactHeightfield& chf, + int borderSize, int walkableHeight, rcHeightfieldLayerSet& lset); /// Builds a contour set from the region outlines in the provided compact heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] chf A fully built compact heightfield. -/// @param[in] maxError The maximum distance a simplfied contour's border edges should deviate -/// the original raw contour. [Limit: >=0] [Units: wu] -/// @param[in] maxEdgeLen The maximum allowed length for contour edges along the border of the mesh. -/// [Limit: >=0] [Units: vx] -/// @param[out] cset The resulting contour set. (Must be pre-allocated.) -/// @param[in] buildFlags The build flags. (See: #rcBuildContoursFlags) -/// @returns True if the operation completed successfully. -bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf, - const float maxError, const int maxEdgeLen, - rcContourSet& cset, const int buildFlags = RC_CONTOUR_TESS_WALL_EDGES); +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] chf A fully built compact heightfield. +/// @param[in] maxError The maximum distance a simplified contour's border edges should deviate +/// the original raw contour. [Limit: >=0] [Units: wu] +/// @param[in] maxEdgeLen The maximum allowed length for contour edges along the border of the mesh. +/// [Limit: >=0] [Units: vx] +/// @param[out] cset The resulting contour set. (Must be pre-allocated.) +/// @param[in] buildFlags The build flags. (See: #rcBuildContoursFlags) +/// @returns True if the operation completed successfully. +bool rcBuildContours(rcContext* ctx, const rcCompactHeightfield& chf, + float maxError, int maxEdgeLen, + rcContourSet& cset, int buildFlags = RC_CONTOUR_TESS_WALL_EDGES); /// Builds a polygon mesh from the provided contours. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] cset A fully built contour set. -/// @param[in] nvp The maximum number of vertices allowed for polygons generated during the -/// contour to polygon conversion process. [Limit: >= 3] -/// @param[out] mesh The resulting polygon mesh. (Must be re-allocated.) -/// @returns True if the operation completed successfully. -bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh); +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] cset A fully built contour set. +/// @param[in] nvp The maximum number of vertices allowed for polygons generated during the +/// contour to polygon conversion process. [Limit: >= 3] +/// @param[out] mesh The resulting polygon mesh. (Must be re-allocated.) +/// @returns True if the operation completed successfully. +bool rcBuildPolyMesh(rcContext* ctx, const rcContourSet& cset, const int nvp, rcPolyMesh& mesh); /// Merges multiple polygon meshes into a single mesh. /// @ingroup recast @@ -1167,34 +1295,34 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh); /// Builds a detail mesh from the provided polygon mesh. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] mesh A fully built polygon mesh. -/// @param[in] chf The compact heightfield used to build the polygon mesh. -/// @param[in] sampleDist Sets the distance to use when samping the heightfield. [Limit: >=0] [Units: wu] -/// @param[in] sampleMaxError The maximum distance the detail mesh surface should deviate from -/// heightfield data. [Limit: >=0] [Units: wu] -/// @param[out] dmesh The resulting detail mesh. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] mesh A fully built polygon mesh. +/// @param[in] chf The compact heightfield used to build the polygon mesh. +/// @param[in] sampleDist Sets the distance to use when sampling the heightfield. [Limit: >=0] [Units: wu] +/// @param[in] sampleMaxError The maximum distance the detail mesh surface should deviate from +/// heightfield data. [Limit: >=0] [Units: wu] +/// @param[out] dmesh The resulting detail mesh. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf, - const float sampleDist, const float sampleMaxError, + float sampleDist, float sampleMaxError, rcPolyMeshDetail& dmesh); /// Copies the poly mesh data from src to dst. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] src The source mesh to copy from. -/// @param[out] dst The resulting detail mesh. (Must be pre-allocated, must be empty mesh.) -/// @returns True if the operation completed successfully. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] src The source mesh to copy from. +/// @param[out] dst The resulting detail mesh. (Must be pre-allocated, must be empty mesh.) +/// @returns True if the operation completed successfully. bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst); /// Merges multiple detail meshes into a single detail mesh. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] meshes An array of detail meshes to merge. [Size: @p nmeshes] -/// @param[in] nmeshes The number of detail meshes in the meshes array. -/// @param[out] mesh The resulting detail mesh. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. +/// @ingroup recast +/// @param[in,out] ctx The build context to use during the operation. +/// @param[in] meshes An array of detail meshes to merge. [Size: @p nmeshes] +/// @param[in] nmeshes The number of detail meshes in the meshes array. +/// @param[out] mesh The resulting detail mesh. (Must be pre-allocated.) +/// @returns True if the operation completed successfully. bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh); /// @} diff --git a/Source/ThirdParty/recastnavigation/RecastAlloc.cpp b/Source/ThirdParty/recastnavigation/RecastAlloc.cpp index bdc366116..e919daf7b 100644 --- a/Source/ThirdParty/recastnavigation/RecastAlloc.cpp +++ b/Source/ThirdParty/recastnavigation/RecastAlloc.cpp @@ -16,12 +16,9 @@ // 3. This notice may not be removed or altered from any source distribution. // -#include -#include #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); + } } diff --git a/Source/ThirdParty/recastnavigation/RecastAlloc.h b/Source/ThirdParty/recastnavigation/RecastAlloc.h index 071278d65..1741de9f0 100644 --- a/Source/ThirdParty/recastnavigation/RecastAlloc.h +++ b/Source/ThirdParty/recastnavigation/RecastAlloc.h @@ -19,11 +19,11 @@ #ifndef RECASTALLOC_H #define RECASTALLOC_H -#include -#include - #include "RecastAssert.h" +#include +#include + /// 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& 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; } diff --git a/Source/ThirdParty/recastnavigation/RecastArea.cpp b/Source/ThirdParty/recastnavigation/RecastArea.cpp index 97139cf99..07fb02189 100644 --- a/Source/ThirdParty/recastnavigation/RecastArea.cpp +++ b/Source/ThirdParty/recastnavigation/RecastArea.cpp @@ -17,7 +17,6 @@ // #include -#define _USE_MATH_DEFINES #include #include #include diff --git a/Source/ThirdParty/recastnavigation/RecastAssert.cpp b/Source/ThirdParty/recastnavigation/RecastAssert.cpp index 6297d4202..973b68112 100644 --- a/Source/ThirdParty/recastnavigation/RecastAssert.cpp +++ b/Source/ThirdParty/recastnavigation/RecastAssert.cpp @@ -22,7 +22,7 @@ static rcAssertFailFunc* sRecastAssertFailFunc = 0; -void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc) +void rcAssertFailSetCustom(rcAssertFailFunc* assertFailFunc) { sRecastAssertFailFunc = assertFailFunc; } diff --git a/Source/ThirdParty/recastnavigation/RecastAssert.h b/Source/ThirdParty/recastnavigation/RecastAssert.h index e7cc10e49..81705bbe0 100644 --- a/Source/ThirdParty/recastnavigation/RecastAssert.h +++ b/Source/ThirdParty/recastnavigation/RecastAssert.h @@ -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 diff --git a/Source/ThirdParty/recastnavigation/RecastContour.cpp b/Source/ThirdParty/recastnavigation/RecastContour.cpp index 1293d4fbd..5508a98a7 100644 --- a/Source/ThirdParty/recastnavigation/RecastContour.cpp +++ b/Source/ThirdParty/recastnavigation/RecastContour.cpp @@ -16,7 +16,6 @@ // 3. This notice may not be removed or altered from any source distribution. // -#define _USE_MATH_DEFINES #include #include #include @@ -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) { diff --git a/Source/ThirdParty/recastnavigation/RecastFilter.cpp b/Source/ThirdParty/recastnavigation/RecastFilter.cpp index 9d3e63c48..b5adba43e 100644 --- a/Source/ThirdParty/recastnavigation/RecastFilter.cpp +++ b/Source/ThirdParty/recastnavigation/RecastFilter.cpp @@ -16,186 +16,168 @@ // 3. This notice may not be removed or altered from any source distribution. // -#define _USE_MATH_DEFINES -#include -#include #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: rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb -/// -/// @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 - 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: rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb -/// -/// @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; + } } } } diff --git a/Source/ThirdParty/recastnavigation/RecastLayers.cpp b/Source/ThirdParty/recastnavigation/RecastLayers.cpp index acc97e44f..ca37ebba7 100644 --- a/Source/ThirdParty/recastnavigation/RecastLayers.cpp +++ b/Source/ThirdParty/recastnavigation/RecastLayers.cpp @@ -17,7 +17,6 @@ // #include -#define _USE_MATH_DEFINES #include #include #include @@ -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) { diff --git a/Source/ThirdParty/recastnavigation/RecastMesh.cpp b/Source/ThirdParty/recastnavigation/RecastMesh.cpp index e99eaebb7..c2c0d5174 100644 --- a/Source/ThirdParty/recastnavigation/RecastMesh.cpp +++ b/Source/ThirdParty/recastnavigation/RecastMesh.cpp @@ -16,7 +16,6 @@ // 3. This notice may not be removed or altered from any source distribution. // -#define _USE_MATH_DEFINES #include #include #include @@ -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); diff --git a/Source/ThirdParty/recastnavigation/RecastMeshDetail.cpp b/Source/ThirdParty/recastnavigation/RecastMeshDetail.cpp index 1999200c1..40f5b8c60 100644 --- a/Source/ThirdParty/recastnavigation/RecastMeshDetail.cpp +++ b/Source/ThirdParty/recastnavigation/RecastMeshDetail.cpp @@ -17,7 +17,6 @@ // #include -#define _USE_MATH_DEFINES #include #include #include @@ -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) diff --git a/Source/ThirdParty/recastnavigation/RecastRasterization.cpp b/Source/ThirdParty/recastnavigation/RecastRasterization.cpp index a4cef7490..2a4f619fb 100644 --- a/Source/ThirdParty/recastnavigation/RecastRasterization.cpp +++ b/Source/ThirdParty/recastnavigation/RecastRasterization.cpp @@ -16,373 +16,485 @@ // 3. This notice may not be removed or altered from any source distribution. // -#define _USE_MATH_DEFINES #include #include #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 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; } } diff --git a/Source/ThirdParty/recastnavigation/RecastRegion.cpp b/Source/ThirdParty/recastnavigation/RecastRegion.cpp index 48318688b..4a7e841a9 100644 --- a/Source/ThirdParty/recastnavigation/RecastRegion.cpp +++ b/Source/ThirdParty/recastnavigation/RecastRegion.cpp @@ -17,7 +17,6 @@ // #include -#define _USE_MATH_DEFINES #include #include #include diff --git a/Source/Tools/Flax.Build/Bindings/BindingsGenerator.CSharp.cs b/Source/Tools/Flax.Build/Bindings/BindingsGenerator.CSharp.cs index e43edc63c..acc135847 100644 --- a/Source/Tools/Flax.Build/Bindings/BindingsGenerator.CSharp.cs +++ b/Source/Tools/Flax.Build/Bindings/BindingsGenerator.CSharp.cs @@ -1355,6 +1355,7 @@ namespace Flax.Build.Bindings public static class NativeToManaged { public static {{classInfo.Name}} ConvertToManaged(IntPtr unmanaged) => Unsafe.As<{{classInfo.Name}}>(ManagedHandleMarshaller.NativeToManaged.ConvertToManaged(unmanaged)); + public static IntPtr ConvertToUnmanaged({{classInfo.Name}} managed) => ManagedHandleMarshaller.ManagedToNative.ConvertToUnmanaged(managed); public static void Free(IntPtr unmanaged) => ManagedHandleMarshaller.NativeToManaged.Free(unmanaged); } #if FLAX_EDITOR @@ -1362,6 +1363,7 @@ namespace Flax.Build.Bindings #endif public static class ManagedToNative { + public static {{classInfo.Name}} ConvertToManaged(IntPtr unmanaged) => Unsafe.As<{{classInfo.Name}}>(ManagedHandleMarshaller.NativeToManaged.ConvertToManaged(unmanaged)); public static IntPtr ConvertToUnmanaged({{classInfo.Name}} managed) => ManagedHandleMarshaller.ManagedToNative.ConvertToUnmanaged(managed); public static void Free(IntPtr unmanaged) => ManagedHandleMarshaller.ManagedToNative.Free(unmanaged); } @@ -1671,6 +1673,7 @@ namespace Flax.Build.Bindings contents.Append(indent).AppendLine("[HideInEditor]"); contents.Append(indent).AppendLine("public static class NativeToManaged").Append(indent).AppendLine("{"); contents.Append(indent2).AppendLine($"public static {structureInfo.Name} ConvertToManaged({structureInfo.Name}Internal unmanaged) => {marshallerName}.ToManaged(unmanaged);"); + contents.Append(indent2).AppendLine($"public static {structureInfo.Name}Internal ConvertToUnmanaged({structureInfo.Name} managed) => {marshallerName}.ToNative(managed);"); contents.Append(indent2).AppendLine($"public static void Free({structureInfo.Name}Internal unmanaged)"); contents.Append(indent2).AppendLine("{").Append(indent3).AppendLine(freeContents2.Replace("\n", "\n" + indent3).ToString().TrimEnd()).Append(indent2).AppendLine("}"); contents.Append(indent).AppendLine("}"); @@ -1679,6 +1682,7 @@ namespace Flax.Build.Bindings if (buildData.Target != null && buildData.Target.IsEditor) contents.Append(indent).AppendLine("[HideInEditor]"); contents.Append(indent).AppendLine($"public static class ManagedToNative").Append(indent).AppendLine("{"); + contents.Append(indent2).AppendLine($"public static {structureInfo.Name} ConvertToManaged({structureInfo.Name}Internal unmanaged) => {marshallerName}.ToManaged(unmanaged);"); contents.Append(indent2).AppendLine($"public static {structureInfo.Name}Internal ConvertToUnmanaged({structureInfo.Name} managed) => {marshallerName}.ToNative(managed);"); contents.Append(indent2).AppendLine($"public static void Free({structureInfo.Name}Internal unmanaged) => {marshallerName}.Free(unmanaged);"); contents.Append(indent).AppendLine("}"); diff --git a/Source/Tools/Flax.Build/Build/DotNet/Builder.DotNet.cs b/Source/Tools/Flax.Build/Build/DotNet/Builder.DotNet.cs index 43c54a92d..c64ee38b3 100644 --- a/Source/Tools/Flax.Build/Build/DotNet/Builder.DotNet.cs +++ b/Source/Tools/Flax.Build/Build/DotNet/Builder.DotNet.cs @@ -207,6 +207,7 @@ namespace Flax.Build case TargetPlatform.Mac: { #if USE_NETCORE + dotnetPath = Path.Combine(dotnetSdk.RootPath, "dotnet"); cscPath = Path.Combine(dotnetSdk.RootPath, $"sdk/{dotnetSdk.VersionName}/Roslyn/bincore/csc.dll"); referenceAssemblies = Path.Combine(dotnetSdk.RootPath, $"packs/Microsoft.NETCore.App.Ref/{dotnetSdk.RuntimeVersionName}/ref/net{runtimeVersionShort}/"); referenceAnalyzers = Path.Combine(dotnetSdk.RootPath, $"packs/Microsoft.NETCore.App.Ref/{dotnetSdk.RuntimeVersionName}/analyzers/dotnet/cs/"); diff --git a/Source/Tools/Flax.Build/Build/DotNet/DotNetSdk.cs b/Source/Tools/Flax.Build/Build/DotNet/DotNetSdk.cs index d3a706a43..9230b4d43 100644 --- a/Source/Tools/Flax.Build/Build/DotNet/DotNetSdk.cs +++ b/Source/Tools/Flax.Build/Build/DotNet/DotNetSdk.cs @@ -212,6 +212,15 @@ namespace Flax.Build ridFallback = ""; if (string.IsNullOrEmpty(dotnetPath)) dotnetPath = "/usr/local/share/dotnet/"; + + // Use x64 when cross-compiling from ARM64 + if (architecture == TargetArchitecture.ARM64 && (Configuration.BuildArchitectures != null && Configuration.BuildArchitectures[0] == TargetArchitecture.x64)) + { + rid = "osx-x64"; + dotnetPath = Path.Combine(dotnetPath, "x64"); + architecture = TargetArchitecture.x64; + } + break; } default: throw new InvalidPlatformException(platform); @@ -271,7 +280,7 @@ namespace Flax.Build // Found IsValid = true; - Log.Verbose($"Found .NET SDK {VersionName} (runtime {RuntimeVersionName}) at {RootPath}"); + Log.Info($"Using .NET SDK {VersionName}, runtime {RuntimeVersionName} ({RootPath})"); foreach (var e in _hostRuntimes) Log.Verbose($" - Host Runtime for {e.Key.Key} {e.Key.Value}"); } diff --git a/Source/Tools/Flax.Build/Platforms/iOS/iOSPlatform.cs b/Source/Tools/Flax.Build/Platforms/iOS/iOSPlatform.cs index 2d7a3372a..d4eaa5006 100644 --- a/Source/Tools/Flax.Build/Platforms/iOS/iOSPlatform.cs +++ b/Source/Tools/Flax.Build/Platforms/iOS/iOSPlatform.cs @@ -1,5 +1,7 @@ // Copyright (c) 2012-2023 Wojciech Figat. All rights reserved. +using System.IO; + namespace Flax.Build.Platforms { /// @@ -11,6 +13,9 @@ namespace Flax.Build.Platforms /// public override TargetPlatform Target => TargetPlatform.iOS; + /// + public override bool HasRequiredSDKsInstalled { get; } + /// public override bool HasDynamicCodeExecutionSupport => false; @@ -21,11 +26,21 @@ namespace Flax.Build.Platforms { if (Platform.BuildTargetPlatform != TargetPlatform.Mac) return; - if (!HasRequiredSDKsInstalled) + if (!XCode.Instance.IsValid) { Log.Warning("Missing XCode. Cannot build for iOS platform."); return; } + + // We should check and see if the actual iphoneSDK is installed + string iphoneSDKPath = Utilities.ReadProcessOutput("/usr/bin/xcrun", "--sdk iphoneos --show-sdk-path"); + if (string.IsNullOrEmpty(iphoneSDKPath) || !Directory.Exists(iphoneSDKPath)) + { + Log.Warning("Missing iPhoneSDK. Cannot build for iOS platform."); + HasRequiredSDKsInstalled = false; + } + else + HasRequiredSDKsInstalled = true; } ///