/// @par
///
/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour.
/// Contours will form simple polygons.
///
/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be
/// re-assigned to the zero (null) region.
///
/// Watershed partitioning can result in smaller than necessary regions, especially in diagonal corridors.
/// @p mergeRegionArea helps reduce unecessarily small regions.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// The region data will be available via the rcCompactHeightfield::maxRegions
/// and rcCompactSpan::reg fields.
///
/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
///
/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_REGIONS);
const int w = chf.width;
const int h = chf.height;
rcScopedDelete<unsigned short> buf = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP);
if (!buf)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' (%d).", chf.spanCount*4);
return false;
}
ctx->startTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
rcIntArray stack(1024);
rcIntArray visited(1024);
unsigned short* srcReg = buf;
unsigned short* srcDist = buf+chf.spanCount;
unsigned short* dstReg = buf+chf.spanCount*2;
unsigned short* dstDist = buf+chf.spanCount*3;
memset(srcReg, 0, sizeof(unsigned short)*chf.spanCount);
memset(srcDist, 0, sizeof(unsigned short)*chf.spanCount);
unsigned short regionId = 1;
unsigned short level = (chf.maxDistance+1) & ~1;
// TODO: Figure better formula, expandIters defines how much the
// watershed "overflows" and simplifies the regions. Tying it to
// agent radius was usually good indication how greedy it could be.
// const int expandIters = 4 + walkableRadius * 2;
const int expandIters = 8;
if (borderSize > 0)
{
// Make sure border will not overflow.
const int bw = rcMin(w, borderSize);
const int bh = rcMin(h, borderSize);
// Paint regions
paintRectRegion(0, bw, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(w-bw, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, 0, bh, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, h-bh, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
chf.borderSize = borderSize;
}
while (level > 0)
{
level = level >= 2 ? level-2 : 0;
ctx->startTimer(RC_TIMER_BUILD_REGIONS_EXPAND);
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_EXPAND);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FLOOD);
// Mark new regions with IDs.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (chf.dist[i] < level || srcReg[i] != 0 || chf.areas[i] == RC_NULL_AREA)
continue;
if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
regionId++;
}
}
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FLOOD);
}
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Filter out small regions.
chf.maxRegions = regionId;
if (!filterSmallRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg))
return false;
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Write the result out.
for (int i = 0; i < chf.spanCount; ++i)
chf.spans[i].reg = srcReg[i];
ctx->stopTimer(RC_TIMER_BUILD_REGIONS);
return true;
}
/// @par
///
/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour.
/// Contours will form simple polygons.
///
/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be
/// re-assigned to the zero (null) region.
///
/// Watershed partitioning can result in smaller than necessary regions, especially in diagonal corridors.
/// @p mergeRegionArea helps reduce unecessarily small regions.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// The region data will be available via the rcCompactHeightfield::maxRegions
/// and rcCompactSpan::reg fields.
///
/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
///
/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_REGIONS);
const int w = chf.width;
const int h = chf.height;
rcScopedDelete<unsigned short> buf = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP);
if (!buf)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' (%d).", chf.spanCount*4);
return false;
}
ctx->startTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
const int LOG_NB_STACKS = 3;
const int NB_STACKS = 1 << LOG_NB_STACKS;
rcIntArray lvlStacks[NB_STACKS];
for (int i=0; i<NB_STACKS; ++i)
lvlStacks[i].resize(1024);
rcIntArray stack(1024);
rcIntArray visited(1024);
unsigned short* srcReg = buf;
unsigned short* srcDist = buf+chf.spanCount;
unsigned short* dstReg = buf+chf.spanCount*2;
unsigned short* dstDist = buf+chf.spanCount*3;
memset(srcReg, 0, sizeof(unsigned short)*chf.spanCount);
memset(srcDist, 0, sizeof(unsigned short)*chf.spanCount);
unsigned short regionId = 1;
unsigned short level = (chf.maxDistance+1) & ~1;
// TODO: Figure better formula, expandIters defines how much the
// watershed "overflows" and simplifies the regions. Tying it to
// agent radius was usually good indication how greedy it could be.
// const int expandIters = 4 + walkableRadius * 2;
const int expandIters = 8;
if (borderSize > 0)
{
// Make sure border will not overflow.
const int bw = rcMin(w, borderSize);
const int bh = rcMin(h, borderSize);
// Paint regions
paintRectRegion(0, bw, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(w-bw, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, 0, bh, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, h-bh, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
chf.borderSize = borderSize;
}
int sId = -1;
while (level > 0)
{
level = level >= 2 ? level-2 : 0;
sId = (sId+1) & (NB_STACKS-1);
// ctx->startTimer(RC_TIMER_DIVIDE_TO_LEVELS);
if (sId == 0)
sortCellsByLevel(level, chf, srcReg, NB_STACKS, lvlStacks, 1);
else
appendStacks(lvlStacks[sId-1], lvlStacks[sId], srcReg); // copy left overs from last level
// ctx->stopTimer(RC_TIMER_DIVIDE_TO_LEVELS);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_EXPAND);
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, lvlStacks[sId], false) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_EXPAND);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FLOOD);
// Mark new regions with IDs.
for (int j=0; j<lvlStacks[sId].size(); j+=3)
{
int x = lvlStacks[sId][j];
int y = lvlStacks[sId][j+1];
int i = lvlStacks[sId][j+2];
if (i >= 0 && srcReg[i] == 0)
{
if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
regionId++;
}
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FLOOD);
}
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack, true) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Merge regions and filter out smalle regions.
rcIntArray overlaps;
chf.maxRegions = regionId;
if (!mergeAndFilterRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg, overlaps))
return false;
// If overlapping regions were found during merging, split those regions.
if (overlaps.size() > 0)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegions: %d overlapping regions.", overlaps.size());
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Write the result out.
for (int i = 0; i < chf.spanCount; ++i)
chf.spans[i].reg = srcReg[i];
ctx->stopTimer(RC_TIMER_BUILD_REGIONS);
return true;
}
bool rcBuildRegions(rcCompactHeightfield& chf,
int walkableRadius, int borderSize,
int minRegionSize, int mergeRegionSize)
{
rcTimeVal startTime = rcGetPerformanceTimer();
const int w = chf.width;
const int h = chf.height;
unsigned short* tmp1 = new unsigned short[chf.spanCount*2];
if (!tmp1)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'tmp1' (%d).", chf.spanCount*2);
return false;
}
unsigned short* tmp2 = new unsigned short[chf.spanCount*2];
if (!tmp2)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'tmp2' (%d).", chf.spanCount*2);
delete [] tmp1;
return false;
}
rcTimeVal regStartTime = rcGetPerformanceTimer();
rcIntArray stack(1024);
rcIntArray visited(1024);
unsigned short* src = tmp1;
unsigned short* dst = tmp2;
memset(src, 0, sizeof(unsigned short) * chf.spanCount*2);
unsigned short regionId = 1;
unsigned short level = (chf.maxDistance+1) & ~1;
unsigned short minLevel = (unsigned short)(walkableRadius*2);
const int expandIters = 4 + walkableRadius * 2;
// Mark border regions.
paintRectRegion(0, borderSize, 0, h, regionId|RC_BORDER_REG, minLevel, chf, src); regionId++;
paintRectRegion(w-borderSize, w, 0, h, regionId|RC_BORDER_REG, minLevel, chf, src); regionId++;
paintRectRegion(0, w, 0, borderSize, regionId|RC_BORDER_REG, minLevel, chf, src); regionId++;
paintRectRegion(0, w, h-borderSize, h, regionId|RC_BORDER_REG, minLevel, chf, src); regionId++;
rcTimeVal expTime = 0;
rcTimeVal floodTime = 0;
while (level > minLevel)
{
level = level >= 2 ? level-2 : 0;
rcTimeVal expStartTime = rcGetPerformanceTimer();
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters, level, chf, src, dst, stack) != src)
rcSwap(src, dst);
expTime += rcGetPerformanceTimer() - expStartTime;
rcTimeVal floodStartTime = rcGetPerformanceTimer();
// Mark new regions with IDs.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (chf.spans[i].dist < level || src[i*2] != 0)
continue;
if (floodRegion(x, y, i, minLevel, level, regionId, chf, src, stack))
regionId++;
}
}
}
floodTime += rcGetPerformanceTimer() - floodStartTime;
}
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters*8, minLevel, chf, src, dst, stack) != src)
rcSwap(src, dst);
rcTimeVal regEndTime = rcGetPerformanceTimer();
rcTimeVal filterStartTime = rcGetPerformanceTimer();
// Filter out small regions.
chf.maxRegions = regionId;
if (!filterSmallRegions(minRegionSize, mergeRegionSize, chf.maxRegions, chf, src))
return false;
rcTimeVal filterEndTime = rcGetPerformanceTimer();
// Write the result out.
for (int i = 0; i < chf.spanCount; ++i)
chf.spans[i].reg = src[i*2];
delete [] tmp1;
delete [] tmp2;
rcTimeVal endTime = rcGetPerformanceTimer();
/* if (rcGetLog())
{
rcGetLog()->log(RC_LOG_PROGRESS, "Build regions: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f);
rcGetLog()->log(RC_LOG_PROGRESS, " - reg: %.3f ms", rcGetDeltaTimeUsec(regStartTime, regEndTime)/1000.0f);
rcGetLog()->log(RC_LOG_PROGRESS, " - exp: %.3f ms", rcGetDeltaTimeUsec(0, expTime)/1000.0f);
rcGetLog()->log(RC_LOG_PROGRESS, " - flood: %.3f ms", rcGetDeltaTimeUsec(0, floodTime)/1000.0f);
rcGetLog()->log(RC_LOG_PROGRESS, " - filter: %.3f ms", rcGetDeltaTimeUsec(filterStartTime, filterEndTime)/1000.0f);
}
*/
if (rcGetBuildTimes())
{
rcGetBuildTimes()->buildRegions += rcGetDeltaTimeUsec(startTime, endTime);
rcGetBuildTimes()->buildRegionsReg += rcGetDeltaTimeUsec(regStartTime, regEndTime);
rcGetBuildTimes()->buildRegionsExp += rcGetDeltaTimeUsec(0, expTime);
rcGetBuildTimes()->buildRegionsFlood += rcGetDeltaTimeUsec(0, floodTime);
rcGetBuildTimes()->buildRegionsFilter += rcGetDeltaTimeUsec(filterStartTime, filterEndTime);
}
return true;
}
bool rcBuildRegions(rcCompactHeightfield& chf,
int borderSize, int minRegionSize, int mergeRegionSize)
{
rcTimeVal startTime = rcGetPerformanceTimer();
const int w = chf.width;
const int h = chf.height;
if (!chf.regs)
{
chf.regs = new unsigned short[chf.spanCount];
if (!chf.regs)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'chf.reg' (%d).", chf.spanCount);
return false;
}
}
rcScopedDelete<unsigned short> tmp = new unsigned short[chf.spanCount*4];
if (!tmp)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' (%d).", chf.spanCount*4);
return false;
}
rcTimeVal regStartTime = rcGetPerformanceTimer();
rcIntArray stack(1024);
rcIntArray visited(1024);
unsigned short* srcReg = tmp;
unsigned short* srcDist = tmp+chf.spanCount;
unsigned short* dstReg = tmp+chf.spanCount*2;
unsigned short* dstDist = tmp+chf.spanCount*3;
memset(srcReg, 0, sizeof(unsigned short)*chf.spanCount);
memset(srcDist, 0, sizeof(unsigned short)*chf.spanCount);
unsigned short regionId = 1;
unsigned short level = (chf.maxDistance+1) & ~1;
// TODO: Figure better formula, expandIters defines how much the
// watershed "overflows" and simplifies the regions. Tying it to
// agent radius was usually good indication how greedy it could be.
// const int expandIters = 4 + walkableRadius * 2;
const int expandIters = 8;
// Mark border regions.
paintRectRegion(0, borderSize, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(w-borderSize, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, 0, borderSize, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, h-borderSize, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
rcTimeVal expTime = 0;
rcTimeVal floodTime = 0;
while (level > 0)
{
level = level >= 2 ? level-2 : 0;
rcTimeVal expStartTime = rcGetPerformanceTimer();
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);
}
expTime += rcGetPerformanceTimer() - expStartTime;
rcTimeVal floodStartTime = rcGetPerformanceTimer();
// Mark new regions with IDs.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (chf.dist[i] < level || srcReg[i] != 0 || chf.areas[i] == RC_NULL_AREA)
continue;
if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
regionId++;
}
}
}
floodTime += rcGetPerformanceTimer() - floodStartTime;
}
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);
}
rcTimeVal regEndTime = rcGetPerformanceTimer();
rcTimeVal filterStartTime = rcGetPerformanceTimer();
// Filter out small regions.
chf.maxRegions = regionId;
if (!filterSmallRegions(minRegionSize, mergeRegionSize, chf.maxRegions, chf, srcReg))
return false;
rcTimeVal filterEndTime = rcGetPerformanceTimer();
// Write the result out.
memcpy(chf.regs, srcReg, sizeof(unsigned short)*chf.spanCount);
rcTimeVal endTime = rcGetPerformanceTimer();
/* if (rcGetLog())
{
rcGetLog()->log(RC_LOG_PROGRESS, "Build regions: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f);
rcGetLog()->log(RC_LOG_PROGRESS, " - reg: %.3f ms", rcGetDeltaTimeUsec(regStartTime, regEndTime)/1000.0f);
rcGetLog()->log(RC_LOG_PROGRESS, " - exp: %.3f ms", rcGetDeltaTimeUsec(0, expTime)/1000.0f);
rcGetLog()->log(RC_LOG_PROGRESS, " - flood: %.3f ms", rcGetDeltaTimeUsec(0, floodTime)/1000.0f);
rcGetLog()->log(RC_LOG_PROGRESS, " - filter: %.3f ms", rcGetDeltaTimeUsec(filterStartTime, filterEndTime)/1000.0f);
}
*/
if (rcGetBuildTimes())
{
rcGetBuildTimes()->buildRegions += rcGetDeltaTimeUsec(startTime, endTime);
rcGetBuildTimes()->buildRegionsReg += rcGetDeltaTimeUsec(regStartTime, regEndTime);
rcGetBuildTimes()->buildRegionsExp += rcGetDeltaTimeUsec(0, expTime);
rcGetBuildTimes()->buildRegionsFlood += rcGetDeltaTimeUsec(0, floodTime);
rcGetBuildTimes()->buildRegionsFilter += rcGetDeltaTimeUsec(filterStartTime, filterEndTime);
}
return true;
}
dtStatus dtBuildTileCacheRegions(dtTileCacheAlloc* alloc,
const int minRegionArea, const int mergeRegionArea,
dtTileCacheLayer& layer, dtTileCacheDistanceField dfield)
{
dtAssert(alloc);
const int w = (int)layer.header->width;
const int h = (int)layer.header->height;
const int size = w*h;
dtFixedArray<unsigned short> buf(alloc, size*4);
if (!buf)
{
return DT_FAILURE | DT_OUT_OF_MEMORY;
}
dtIntArray stack(1024);
dtIntArray visited(1024);
unsigned short* srcReg = buf;
unsigned short* srcDist = buf+size;
unsigned short* dstReg = buf+size*2;
unsigned short* dstDist = buf+size*3;
memset(srcReg, 0, sizeof(unsigned short)*size);
memset(srcDist, 0, sizeof(unsigned short)*size);
unsigned short regionId = 1;
unsigned short level = (dfield.maxDist+1) & ~1;
// TODO: Figure better formula, expandIters defines how much the
// watershed "overflows" and simplifies the regions. Tying it to
// agent radius was usually good indication how greedy it could be.
// const int expandIters = 4 + walkableRadius * 2;
const int expandIters = 8;
while (level > 0)
{
level = level >= 2 ? level-2 : 0;
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters, level, layer, dfield, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
{
dtSwap(srcReg, dstReg);
dtSwap(srcDist, dstDist);
}
// Mark new regions with IDs.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const int i=x+y*w;
if (dfield.data[i] < level || srcReg[i] != 0 || layer.areas[i] == DT_TILECACHE_NULL_AREA)
continue;
if (floodRegion(x, y, i, level, regionId, layer, dfield, srcReg, srcDist, stack))
regionId++;
}
}
}
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters*8, 0, layer, dfield, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
{
dtSwap(srcReg, dstReg);
dtSwap(srcDist, dstDist);
}
dtStatus status = filterSmallRegions(alloc, layer, minRegionArea, mergeRegionArea, regionId, srcReg);
if (dtStatusFailed(status))
{
return status;
}
// Write the result out.
memcpy(layer.regs, srcReg, sizeof(unsigned short)*size);
layer.regCount = regionId;
return DT_SUCCESS;
}
/// @UE4: rcBuildRegions is now split into two functions: gathering regions and merging them
/// it allows reusing existing code for building layer set (flood fill based partitioning)
///
/// spanBuf4 is temporary buffer, allocated and freed by caller (size = chf.spanCount * 4)
///
bool rcGatherRegionsNoFilter(rcContext* ctx, rcCompactHeightfield& chf, const int borderSize, unsigned short* spanBuf4)
{
const int w = chf.width;
const int h = chf.height;
rcIntArray stack(1024);
rcIntArray visited(1024);
unsigned short* srcReg = spanBuf4;
unsigned short* srcDist = spanBuf4+chf.spanCount;
unsigned short* dstReg = spanBuf4+chf.spanCount*2;
unsigned short* dstDist = spanBuf4+chf.spanCount*3;
memset(srcReg, 0, sizeof(unsigned short)*chf.spanCount);
memset(srcDist, 0, sizeof(unsigned short)*chf.spanCount);
unsigned short regionId = 1;
unsigned short level = (chf.maxDistance+1) & ~1;
// TODO: Figure better formula, expandIters defines how much the
// watershed "overflows" and simplifies the regions. Tying it to
// agent radius was usually good indication how greedy it could be.
// const int expandIters = 4 + walkableRadius * 2;
const int expandIters = 8;
if (borderSize > 0)
{
// Make sure border will not overflow.
const int bw = rcMin(w, borderSize);
const int bh = rcMin(h, borderSize);
// Paint regions
paintRectRegion(0, bw, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(w-bw, w, 0, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, 0, bh, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
paintRectRegion(0, w, h-bh, h, regionId|RC_BORDER_REG, chf, srcReg); regionId++;
chf.borderSize = borderSize;
}
while (level > 0)
{
level = level >= 2 ? level-2 : 0;
ctx->startTimer(RC_TIMER_BUILD_REGIONS_EXPAND);
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_EXPAND);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FLOOD);
// Mark new regions with IDs.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (chf.dist[i] < level || srcReg[i] != 0 || chf.areas[i] == RC_NULL_AREA)
continue;
if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
regionId++;
}
}
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FLOOD);
}
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack) != srcReg)
{
rcSwap(srcReg, dstReg);
rcSwap(srcDist, dstDist);
}
chf.maxRegions = regionId;
return true;
}
