void Visualization::updateCameraVelocity(float dt, bool forward, bool backward, bool left, bool right, bool fast)
{
float cameraKeySpeed = 22.0f;
if (fast)
{
cameraKeySpeed *= 4.0f;
}
float cameraKeyAcceleration = 100.f;
if (forward) //Forward
{
m_cameraVelocity[2] -= dt * cameraKeyAcceleration;
m_cameraVelocity[2] = rcMax(m_cameraVelocity[2],-cameraKeySpeed);
}
else if (backward) // Backward
{
m_cameraVelocity[2] += dt * cameraKeyAcceleration;
m_cameraVelocity[2] = rcMin(m_cameraVelocity[2],cameraKeySpeed);
}
else if (m_cameraVelocity[2] > 0)
{
m_cameraVelocity[2] -= dt * cameraKeyAcceleration;
m_cameraVelocity[2] = rcMax(m_cameraVelocity[2],0.f);
}
else
{
m_cameraVelocity[2] += dt * cameraKeyAcceleration;
m_cameraVelocity[2] = rcMin(m_cameraVelocity[2],0.f);
}
if (right) // Right
{
m_cameraVelocity[0] += dt * cameraKeyAcceleration;
m_cameraVelocity[0] = rcMin(m_cameraVelocity[0],cameraKeySpeed);
}
else if (left) // Left
{
m_cameraVelocity[0] -= dt * cameraKeyAcceleration;
m_cameraVelocity[0] = rcMax(m_cameraVelocity[0],-cameraKeySpeed);
}
else if (m_cameraVelocity[0] > 0)
{
m_cameraVelocity[0] -= dt * cameraKeyAcceleration;
m_cameraVelocity[0] = rcMax(m_cameraVelocity[0],0.f);
}
else
{
m_cameraVelocity[0] += dt * cameraKeyAcceleration;
m_cameraVelocity[0] = rcMin(m_cameraVelocity[0],0.f);
}
}
void CProgressCtrlX::OnPaint()
{
CPaintDC dc(this); // device context for painting
// TODO: Add your message handler code here
CDrawInfo info;
GetClientRect(&info.rcClient);
// retrieve current position and range
info.nCurPos = GetPos();
GetRange(info.nLower, info.nUpper);
// Draw to memory DC
CMemDC memDC(&dc);
info.pDC = &memDC;
// fill background
if(m_pbrBk)
memDC.FillRect(&info.rcClient, m_pbrBk);
else
memDC.FillSolidRect(&info.rcClient, m_clrBk);
// apply borders
info.rcClient.DeflateRect(m_rcBorders);
// if current pos is out of range return
if (info.nCurPos < info.nLower || info.nCurPos > info.nUpper)
return;
info.dwStyle = GetStyle();
BOOL fVert = info.dwStyle&PBS_VERTICAL;
BOOL fSnake = info.dwStyle&PBS_SNAKE;
BOOL fRubberBar = info.dwStyle&PBS_RUBBER_BAR;
// calculate visible gradient width
CRect rcBar(0,0,0,0);
CRect rcMax(0,0,0,0);
rcMax.right = fVert ? info.rcClient.Height() : info.rcClient.Width();
rcBar.right = (int)((float)(info.nCurPos-info.nLower) * rcMax.right / ((info.nUpper-info.nLower == 0) ? 1 : info.nUpper-info.nLower));
if(fSnake)
rcBar.left = (int)((float)(m_nTail-info.nLower) * rcMax.right / ((info.nUpper-info.nLower == 0) ? 1 : info.nUpper-info.nLower));
// draw bar
if(m_pbrBar)
memDC.FillRect(&ConvertToReal(info, rcBar), m_pbrBar);
else
DrawMultiGradient(info, fRubberBar ? rcBar : rcMax, rcBar);
// Draw text
DrawText(info, rcMax, rcBar);
// Do not call CProgressCtrl::OnPaint() for painting messages
}
static int fixupCorridor(dtPolyRef* path, const int npath, const int maxPath,
const dtPolyRef* visited, const int nvisited)
{
int furthestPath = -1;
int furthestVisited = -1;
// Find furthest common polygon.
for (int i = npath-1; i >= 0; --i)
{
bool found = false;
for (int j = nvisited-1; j >= 0; --j)
{
if (path[i] == visited[j])
{
furthestPath = i;
furthestVisited = j;
found = true;
}
}
if (found)
break;
}
// If no intersection found just return current path.
if (furthestPath == -1 || furthestVisited == -1)
return npath;
// Concatenate paths.
// Adjust beginning of the buffer to include the visited.
const int req = nvisited - furthestVisited;
const int orig = rcMin(furthestPath+1, npath);
int size = rcMax(0, npath-orig);
if (req+size > maxPath)
size = maxPath-req;
if (size)
memmove(path+req, path+orig, size*sizeof(dtPolyRef));
// Store visited
for (int i = 0; i < req; ++i)
path[i] = visited[(nvisited-1)-i];
return req+size;
}
// Calculate minimum extend of the polygon.
static float polyMinExtent(const float* verts, const int nverts)
{
float minDist = FLT_MAX;
for (int i = 0; i < nverts; i++)
{
const int ni = (i+1) % nverts;
const float* p1 = &verts[i*3];
const float* p2 = &verts[ni*3];
float maxEdgeDist = 0;
for (int j = 0; j < nverts; j++)
{
if (j == i || j == ni) continue;
float d = distancePtSeg2d(&verts[j*3], p1,p2);
maxEdgeDist = rcMax(maxEdgeDist, d);
}
minDist = rcMin(minDist, maxEdgeDist);
}
return rcSqrt(minDist);
}
/// @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);
rcScopedDelete<unsigned short> spanBuf4 = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP);
if (!spanBuf4)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegions: Out of memory 'spanBuf4' (%d).", chf.spanCount*4);
return false;
}
ctx->startTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
unsigned short* srcReg = spanBuf4;
if (!rcGatherRegionsNoFilter(ctx, chf, borderSize, spanBuf4))
return false;
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Filter out small regions.
const int chunkSize = rcMax(chf.width, chf.height);
if (!filterSmallRegions(ctx, minRegionArea, mergeRegionArea, chunkSize, 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;
}
void rcFilterLedgeSpans(const int walkableHeight,
const int walkableClimb,
rcHeightfield& solid)
{
rcTimeVal startTime = rcGetPerformanceTimer();
const int w = solid.width;
const int h = solid.height;
const int MAX_HEIGHT = 0xffff;
// Mark border spans.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
{
// Skip non walkable spans.
if ((s->flags & RC_WALKABLE) == 0)
continue;
const int bot = (int)(s->smax);
const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
// Find neighbours minimum height.
int minh = MAX_HEIGHT;
// Min and max height of accessible neighbours.
int asmin = s->smax;
int asmax = s->smax;
for (int dir = 0; dir < 4; ++dir)
{
int dx = x + rcGetDirOffsetX(dir);
int dy = y + rcGetDirOffsetY(dir);
// Skip neighbours which are out of bounds.
if (dx < 0 || dy < 0 || dx >= w || dy >= h)
{
minh = rcMin(minh, -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);
// Rest of the spans.
for (ns = solid.spans[dx + dy*w]; ns; ns = ns->next)
{
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);
// Find min/max accessible neighbour height.
if (rcAbs(nbot - bot) <= walkableClimb)
{
if (nbot < asmin) asmin = nbot;
if (nbot > asmax) asmax = nbot;
}
}
}
}
// The current span is close to a ledge if the drop to any
// neighbour span is less than the walkableClimb.
if (minh < -walkableClimb)
s->flags |= RC_LEDGE;
// If the difference between all neighbours is too large,
// we are at steep slope, mark the span as ledge.
if ((asmax - asmin) > walkableClimb)
{
s->flags |= RC_LEDGE;
}
}
}
}
rcTimeVal endTime = rcGetPerformanceTimer();
// if (rcGetLog())
// rcGetLog()->log(RC_LOG_PROGRESS, "Filter border: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f);
if (rcGetBuildTimes())
rcGetBuildTimes()->filterBorder += rcGetDeltaTimeUsec(startTime, endTime);
}
static bool CollectLayerRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf, const int borderSize,
unsigned short* srcReg, rcLayerRegionMonotone*& regs, int& nregs)
{
const int w = chf.width;
const int h = chf.height;
const int nsweeps = chf.width;
rcScopedDelete<rcLayerSweepSpan> sweeps = (rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP);
if (!sweeps)
{
ctx->log(RC_LOG_ERROR, "CollectLayerRegionsMonotone: Out of memory 'sweeps' (%d).", nsweeps);
return false;
}
// Partition walkable area into monotone regions.
rcIntArray prev(256);
unsigned short regId = 0;
for (int y = borderSize; y < h-borderSize; ++y)
{
prev.resize(regId+1);
memset(&prev[0],0,sizeof(int)*regId);
unsigned short sweepId = 0;
for (int x = borderSize; x < w-borderSize; ++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 rcCompactSpan& s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA) continue;
unsigned short sid = 0xffff;
// -x
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(0);
const int ay = y + rcGetDirOffsetY(0);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xffff)
sid = srcReg[ai];
}
if (sid == 0xffff)
{
sid = sweepId++;
sweeps[sid].nei = 0xffff;
sweeps[sid].ns = 0;
}
// -y
if (rcGetCon(s,3) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(3);
const int ay = y + rcGetDirOffsetY(3);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
const unsigned short nr = srcReg[ai];
if (nr != 0xffff)
{
// Set neighbour when first valid neighbour is encoutered.
if (sweeps[sid].ns == 0)
sweeps[sid].nei = nr;
if (sweeps[sid].nei == nr)
{
// Update existing neighbour
sweeps[sid].ns++;
prev[nr]++;
}
else
{
// This is hit if there is nore than one neighbour.
// Invalidate the neighbour.
sweeps[sid].nei = 0xffff;
}
}
}
srcReg[i] = sid;
}
}
// Create unique ID.
for (int i = 0; i < sweepId; ++i)
{
// If the neighbour is set and there is only one continuous connection to it,
// the sweep will be merged with the previous one, else new region is created.
if (sweeps[i].nei != 0xffff && prev[sweeps[i].nei] == sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
sweeps[i].id = regId++;
}
}
// Remap local sweep ids to region ids.
for (int x = borderSize; x < w-borderSize; ++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 (srcReg[i] != 0xffff)
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
// Allocate and init layer regions.
nregs = (int)regId;
regs = (rcLayerRegionMonotone*)rcAlloc(sizeof(rcLayerRegionMonotone)*nregs, RC_ALLOC_TEMP);
if (!regs)
{
ctx->log(RC_LOG_ERROR, "CollectLayerRegionsMonotone: Out of memory 'regs' (%d).", nregs);
return false;
}
memset(regs, 0, sizeof(rcLayerRegionMonotone)*nregs);
for (int i = 0; i < nregs; ++i)
{
regs[i].layerId = 0xffff;
regs[i].ymin = 0xffff;
regs[i].ymax = 0;
}
rcIntArray lregs(64);
// Find region neighbours and overlapping regions.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
lregs.resize(0);
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
const unsigned short ri = srcReg[i];
if (ri == 0xffff) continue;
regs[ri].ymin = rcMin(regs[ri].ymin, s.y);
regs[ri].ymax = rcMax(regs[ri].ymax, s.y);
// Collect all region layers.
lregs.push(ri);
// Update neighbours
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
const unsigned short rai = srcReg[ai];
if (rai != 0xffff && rai != ri)
addUnique(regs[ri].neis, rai);
}
}
}
// Update overlapping regions.
const int nlregs = lregs.size();
for (int i = 0; i < nlregs-1; ++i)
{
for (int j = i+1; j < nlregs; ++j)
{
if (lregs[i] != lregs[j])
{
rcLayerRegionMonotone& ri = regs[lregs[i]];
rcLayerRegionMonotone& rj = regs[lregs[j]];
addUnique(ri.layers, lregs[j]);
addUnique(rj.layers, lregs[i]);
}
}
}
}
}
return true;
}
bool rcBuildPolyMeshDetail(const rcPolyMesh& mesh, const rcCompactHeightfield& chf,
const float sampleDist, const float sampleMaxError,
rcPolyMeshDetail& dmesh)
{
rcTimeVal startTime = rcGetPerformanceTimer();
if (mesh.nverts == 0 || mesh.npolys == 0)
return true;
const int nvp = mesh.nvp;
const float cs = mesh.cs;
const float ch = mesh.ch;
const float* orig = mesh.bmin;
rcIntArray edges(64);
rcIntArray tris(512);
rcIntArray idx(512);
rcIntArray stack(512);
rcIntArray samples(512);
float verts[256*3];
float* poly = 0;
int* bounds = 0;
rcHeightPatch hp;
int nPolyVerts = 0;
int maxhw = 0, maxhh = 0;
bounds = new int[mesh.npolys*4];
if (!bounds)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'bounds' (%d).", mesh.npolys*4);
goto failure;
}
poly = new float[nvp*3];
if (!bounds)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'poly' (%d).", nvp*3);
goto failure;
}
// Find max size for a polygon area.
for (int i = 0; i < mesh.npolys; ++i)
{
const unsigned short* p = &mesh.polys[i*nvp*2];
int& xmin = bounds[i*4+0];
int& xmax = bounds[i*4+1];
int& ymin = bounds[i*4+2];
int& ymax = bounds[i*4+3];
xmin = chf.width;
xmax = 0;
ymin = chf.height;
ymax = 0;
for (int j = 0; j < nvp; ++j)
{
if(p[j] == 0xffff) break;
const unsigned short* v = &mesh.verts[p[j]*3];
xmin = rcMin(xmin, (int)v[0]);
xmax = rcMax(xmax, (int)v[0]);
ymin = rcMin(ymin, (int)v[2]);
ymax = rcMax(ymax, (int)v[2]);
nPolyVerts++;
}
xmin = rcMax(0,xmin-1);
xmax = rcMin(chf.width,xmax+1);
ymin = rcMax(0,ymin-1);
ymax = rcMin(chf.height,ymax+1);
if (xmin >= xmax || ymin >= ymax) continue;
maxhw = rcMax(maxhw, xmax-xmin);
maxhh = rcMax(maxhh, ymax-ymin);
}
hp.data = new unsigned short[maxhw*maxhh];
if (!hp.data)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'hp.data' (%d).", maxhw*maxhh);
goto failure;
}
dmesh.nmeshes = mesh.npolys;
dmesh.nverts = 0;
dmesh.ntris = 0;
dmesh.meshes = new unsigned short[dmesh.nmeshes*4];
if (!dmesh.meshes)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.meshes' (%d).", dmesh.nmeshes*4);
goto failure;
}
int vcap = nPolyVerts+nPolyVerts/2;
int tcap = vcap*2;
dmesh.nverts = 0;
dmesh.verts = new float[vcap*3];
if (!dmesh.verts)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", vcap*3);
goto failure;
}
dmesh.ntris = 0;
dmesh.tris = new unsigned char[tcap*4];
if (!dmesh.tris)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", tcap*4);
goto failure;
}
for (int i = 0; i < mesh.npolys; ++i)
{
const unsigned short* p = &mesh.polys[i*nvp*2];
// Find polygon bounding box.
int npoly = 0;
for (int j = 0; j < nvp; ++j)
{
if(p[j] == 0xffff) break;
const unsigned short* v = &mesh.verts[p[j]*3];
poly[j*3+0] = orig[0] + v[0]*cs;
poly[j*3+1] = orig[1] + v[1]*ch;
poly[j*3+2] = orig[2] + v[2]*cs;
npoly++;
}
// Get the height data from the area of the polygon.
hp.xmin = bounds[i*4+0];
hp.ymin = bounds[i*4+2];
hp.width = bounds[i*4+1]-bounds[i*4+0];
hp.height = bounds[i*4+3]-bounds[i*4+2];
getHeightData(chf, p, npoly, mesh.verts, hp, stack);
// Build detail mesh.
int nverts = 0;
if (!buildPolyDetail(poly, npoly, mesh.regs[i],
sampleDist, sampleMaxError,
chf, hp, verts, nverts, tris,
edges, idx, samples))
{
goto failure;
}
// Offset detail vertices, unnecassary?
for (int j = 0; j < nverts; ++j)
verts[j*3+1] += chf.ch;
// Store detail submesh.
const int ntris = tris.size()/4;
dmesh.meshes[i*4+0] = dmesh.nverts;
dmesh.meshes[i*4+1] = (unsigned short)nverts;
dmesh.meshes[i*4+2] = dmesh.ntris;
dmesh.meshes[i*4+3] = (unsigned short)ntris;
// Store vertices, allocate more memory if necessary.
if (dmesh.nverts+nverts > vcap)
{
while (dmesh.nverts+nverts > vcap)
vcap += 256;
float* newv = new float[vcap*3];
if (!newv)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newv' (%d).", vcap*3);
goto failure;
}
if (dmesh.nverts)
memcpy(newv, dmesh.verts, sizeof(float)*3*dmesh.nverts);
delete [] dmesh.verts;
dmesh.verts = newv;
}
for (int j = 0; j < nverts; ++j)
{
dmesh.verts[dmesh.nverts*3+0] = verts[j*3+0];
dmesh.verts[dmesh.nverts*3+1] = verts[j*3+1];
dmesh.verts[dmesh.nverts*3+2] = verts[j*3+2];
dmesh.nverts++;
}
// Store triangles, allocate more memory if necessary.
if (dmesh.ntris+ntris > tcap)
{
while (dmesh.ntris+ntris > tcap)
tcap += 256;
unsigned char* newt = new unsigned char[tcap*4];
if (!newt)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newt' (%d).", tcap*4);
goto failure;
}
if (dmesh.ntris)
memcpy(newt, dmesh.tris, sizeof(unsigned char)*4*dmesh.ntris);
delete [] dmesh.tris;
dmesh.tris = newt;
}
for (int j = 0; j < ntris; ++j)
{
const int* t = &tris[j*4];
dmesh.tris[dmesh.ntris*4+0] = (unsigned char)t[0];
dmesh.tris[dmesh.ntris*4+1] = (unsigned char)t[1];
dmesh.tris[dmesh.ntris*4+2] = (unsigned char)t[2];
dmesh.tris[dmesh.ntris*4+3] = getTriFlags(&verts[t[0]*3], &verts[t[1]*3], &verts[t[2]*3], poly, npoly);
dmesh.ntris++;
}
}
delete [] bounds;
delete [] poly;
rcTimeVal endTime = rcGetPerformanceTimer();
if (rcGetBuildTimes())
rcGetBuildTimes()->buildDetailMesh += rcGetDeltaTimeUsec(startTime, endTime);
return true;
failure:
delete [] bounds;
delete [] poly;
return false;
}
static void calculateDistanceField(rcCompactHeightfield& chf, unsigned short* src, unsigned short& maxDist)
{
const int w = chf.width;
const int h = chf.height;
// Init distance and points.
for (int i = 0; i < chf.spanCount; ++i)
src[i] = 0xffff;
// Mark boundary cells.
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)
{
const rcCompactSpan& s = chf.spans[i];
const unsigned char area = chf.areas[i];
int nc = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
if (area == chf.areas[ai])
nc++;
}
}
if (nc != 4)
src[i] = 0;
}
}
}
// Pass 1
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)
{
const rcCompactSpan& s = chf.spans[i];
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
// (-1,0)
const int ax = x + rcGetDirOffsetX(0);
const int ay = y + rcGetDirOffsetY(0);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
const rcCompactSpan& as = chf.spans[ai];
if (src[ai]+2 < src[i])
src[i] = src[ai]+2;
// (-1,-1)
if (rcGetCon(as, 3) != RC_NOT_CONNECTED)
{
const int aax = ax + rcGetDirOffsetX(3);
const int aay = ay + rcGetDirOffsetY(3);
const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3);
if (src[aai]+3 < src[i])
src[i] = src[aai]+3;
}
}
if (rcGetCon(s, 3) != RC_NOT_CONNECTED)
{
// (0,-1)
const int ax = x + rcGetDirOffsetX(3);
const int ay = y + rcGetDirOffsetY(3);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
const rcCompactSpan& as = chf.spans[ai];
if (src[ai]+2 < src[i])
src[i] = src[ai]+2;
// (1,-1)
if (rcGetCon(as, 2) != RC_NOT_CONNECTED)
{
const int aax = ax + rcGetDirOffsetX(2);
const int aay = ay + rcGetDirOffsetY(2);
const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2);
if (src[aai]+3 < src[i])
src[i] = src[aai]+3;
}
}
}
}
}
// Pass 2
for (int y = h-1; y >= 0; --y)
{
for (int x = w-1; x >= 0; --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 rcCompactSpan& s = chf.spans[i];
if (rcGetCon(s, 2) != RC_NOT_CONNECTED)
{
// (1,0)
const int ax = x + rcGetDirOffsetX(2);
const int ay = y + rcGetDirOffsetY(2);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2);
const rcCompactSpan& as = chf.spans[ai];
if (src[ai]+2 < src[i])
src[i] = src[ai]+2;
// (1,1)
if (rcGetCon(as, 1) != RC_NOT_CONNECTED)
{
const int aax = ax + rcGetDirOffsetX(1);
const int aay = ay + rcGetDirOffsetY(1);
const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1);
if (src[aai]+3 < src[i])
src[i] = src[aai]+3;
}
}
if (rcGetCon(s, 1) != RC_NOT_CONNECTED)
{
// (0,1)
const int ax = x + rcGetDirOffsetX(1);
const int ay = y + rcGetDirOffsetY(1);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1);
const rcCompactSpan& as = chf.spans[ai];
if (src[ai]+2 < src[i])
src[i] = src[ai]+2;
// (-1,1)
if (rcGetCon(as, 0) != RC_NOT_CONNECTED)
{
const int aax = ax + rcGetDirOffsetX(0);
const int aay = ay + rcGetDirOffsetY(0);
const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0);
if (src[aai]+3 < src[i])
src[i] = src[aai]+3;
}
}
}
}
}
maxDist = 0;
for (int i = 0; i < chf.spanCount; ++i)
maxDist = rcMax(src[i], maxDist);
}
static int getCornerHeight(int x, int y, int i, int dir,
const rcCompactHeightfield& chf,
bool& isBorderVertex)
{
const rcCompactSpan& s = chf.spans[i];
int ch = (int)s.minY;
int dirp = (dir+1) & 0x3;
struct CornerId
{
uint64_t areaMask;
unsigned short region;
bool No0() const
{
return areaMask != 0 && region != 0;
}
CornerId( unsigned short reg = 0, uint64_t area = 0 )
: areaMask( area )
, region( reg )
{
}
};
CornerId regs[ 4 ];
// Combine region and area codes in order to prevent
// border vertices which are in between two areas to be removed.
regs[ 0 ] = CornerId( chf.spans[ i ].regionID, chf.areaMasks[ i ] );
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
const rcCompactSpan& as = chf.spans[ai];
ch = rcMax(ch, (int)as.minY);
regs[ 1 ] = CornerId( chf.spans[ ai ].regionID, chf.areaMasks[ ai ] );
if (rcGetCon(as, dirp) != RC_NOT_CONNECTED)
{
const int ax2 = ax + rcGetDirOffsetX(dirp);
const int ay2 = ay + rcGetDirOffsetY(dirp);
const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dirp);
const rcCompactSpan& as2 = chf.spans[ai2];
ch = rcMax(ch, (int)as2.minY);
regs[ 2 ] = CornerId( chf.spans[ ai2 ].regionID, chf.areaMasks[ ai2 ] );
}
}
if (rcGetCon(s, dirp) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dirp);
const int ay = y + rcGetDirOffsetY(dirp);
const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dirp);
const rcCompactSpan& as = chf.spans[ai];
ch = rcMax(ch, (int)as.minY);
regs[ 3 ] = CornerId( chf.spans[ ai ].regionID, chf.areaMasks[ ai ] );
if (rcGetCon(as, dir) != RC_NOT_CONNECTED)
{
const int ax2 = ax + rcGetDirOffsetX(dir);
const int ay2 = ay + rcGetDirOffsetY(dir);
const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dir);
const rcCompactSpan& as2 = chf.spans[ai2];
ch = rcMax(ch, (int)as2.minY);
regs[ 2 ] = CornerId( chf.spans[ ai2 ].regionID, chf.areaMasks[ ai2 ] );
}
}
// Check if the vertex is special edge vertex, these vertices will be removed later.
for (int j = 0; j < 4; ++j)
{
const int a = j;
const int b = (j+1) & 0x3;
const int c = (j+2) & 0x3;
const int d = (j+3) & 0x3;
// The vertex is a border vertex there are two same exterior cells in a row,
// followed by two interior cells and none of the regions are out of bounds.
const bool twoSameExts = ( regs[ a ].region & regs[ b ].region & RC_BORDER_REG ) != 0 && regs[ a ].region == regs[ b ].region;
const bool twoInts = ( ( regs[ c ].region | regs[ d ].region ) & RC_BORDER_REG ) == 0;
const bool intsSameArea = ( regs[ c ].areaMask ) == ( regs[ d ].areaMask );
const bool noZeros = regs[ a ].No0() && regs[ b ].No0() && regs[ c ].No0() && regs[ d ].No0();
if (twoSameExts && twoInts && intsSameArea && noZeros)
{
isBorderVertex = true;
break;
}
}
return ch;
}
/// @par
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int walkableHeight,
rcHeightfieldLayerSet& lset)
{
rcAssert(ctx);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_LAYERS);
const int w = chf.width;
const int h = chf.height;
rcScopedDelete<unsigned char> srcReg((unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP));
if (!srcReg)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' (%d).", chf.spanCount);
return false;
}
memset(srcReg,0xff,sizeof(unsigned char)*chf.spanCount);
const int nsweeps = chf.width;
rcScopedDelete<rcLayerSweepSpan> sweeps((rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP));
if (!sweeps)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps);
return false;
}
// Partition walkable area into monotone regions.
int prevCount[256];
unsigned char regId = 0;
for (int y = borderSize; y < h-borderSize; ++y)
{
memset(prevCount,0,sizeof(int)*regId);
unsigned char sweepId = 0;
for (int x = borderSize; x < w-borderSize; ++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 rcCompactSpan& s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA) continue;
unsigned char sid = 0xff;
// -x
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(0);
const int ay = y + rcGetDirOffsetY(0);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff)
sid = srcReg[ai];
}
if (sid == 0xff)
{
sid = sweepId++;
sweeps[sid].nei = 0xff;
sweeps[sid].ns = 0;
}
// -y
if (rcGetCon(s,3) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(3);
const int ay = y + rcGetDirOffsetY(3);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
const unsigned char nr = srcReg[ai];
if (nr != 0xff)
{
// Set neighbour when first valid neighbour is encoutered.
if (sweeps[sid].ns == 0)
sweeps[sid].nei = nr;
if (sweeps[sid].nei == nr)
{
// Update existing neighbour
sweeps[sid].ns++;
prevCount[nr]++;
}
else
{
// This is hit if there is nore than one neighbour.
// Invalidate the neighbour.
sweeps[sid].nei = 0xff;
}
}
}
srcReg[i] = sid;
}
}
// Create unique ID.
for (int i = 0; i < sweepId; ++i)
{
// If the neighbour is set and there is only one continuous connection to it,
// the sweep will be merged with the previous one, else new region is created.
if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
if (regId == 255)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow.");
return false;
}
sweeps[i].id = regId++;
}
}
// Remap local sweep ids to region ids.
for (int x = borderSize; x < w-borderSize; ++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 (srcReg[i] != 0xff)
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
// Allocate and init layer regions.
const int nregs = (int)regId;
rcScopedDelete<rcLayerRegion> regs((rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP));
if (!regs)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs);
return false;
}
memset(regs, 0, sizeof(rcLayerRegion)*nregs);
for (int i = 0; i < nregs; ++i)
{
regs[i].layerId = 0xff;
regs[i].ymin = 0xffff;
regs[i].ymax = 0;
}
// Find region neighbours and overlapping regions.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
unsigned char lregs[RC_MAX_LAYERS];
int nlregs = 0;
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
const unsigned char ri = srcReg[i];
if (ri == 0xff) continue;
regs[ri].ymin = rcMin(regs[ri].ymin, s.y);
regs[ri].ymax = rcMax(regs[ri].ymax, s.y);
// Collect all region layers.
if (nlregs < RC_MAX_LAYERS)
lregs[nlregs++] = ri;
// Update neighbours
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
const unsigned char rai = srcReg[ai];
if (rai != 0xff && rai != ri)
{
// Don't check return value -- if we cannot add the neighbor
// it will just cause a few more regions to be created, which
// is fine.
addUnique(regs[ri].neis, regs[ri].nneis, RC_MAX_NEIS, rai);
}
}
}
}
// Update overlapping regions.
for (int i = 0; i < nlregs-1; ++i)
{
for (int j = i+1; j < nlregs; ++j)
{
if (lregs[i] != lregs[j])
{
rcLayerRegion& ri = regs[lregs[i]];
rcLayerRegion& rj = regs[lregs[j]];
if (!addUnique(ri.layers, ri.nlayers, RC_MAX_LAYERS, lregs[j]) ||
!addUnique(rj.layers, rj.nlayers, RC_MAX_LAYERS, lregs[i]))
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS.");
return false;
}
}
}
}
}
}
// Create 2D layers from regions.
unsigned char layerId = 0;
static const int MAX_STACK = 64;
unsigned char stack[MAX_STACK];
int nstack = 0;
for (int i = 0; i < nregs; ++i)
{
rcLayerRegion& root = regs[i];
// Skip already visited.
if (root.layerId != 0xff)
continue;
// Start search.
root.layerId = layerId;
root.base = 1;
nstack = 0;
stack[nstack++] = (unsigned char)i;
while (nstack)
{
// Pop front
rcLayerRegion& reg = regs[stack[0]];
nstack--;
for (int j = 0; j < nstack; ++j)
stack[j] = stack[j+1];
const int nneis = (int)reg.nneis;
for (int j = 0; j < nneis; ++j)
{
const unsigned char nei = reg.neis[j];
rcLayerRegion& regn = regs[nei];
// Skip already visited.
if (regn.layerId != 0xff)
continue;
// Skip if the neighbour is overlapping root region.
if (contains(root.layers, root.nlayers, nei))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(root.ymin, regn.ymin);
const int ymax = rcMax(root.ymax, regn.ymax);
if ((ymax - ymin) >= 255)
continue;
if (nstack < MAX_STACK)
{
// Deepen
stack[nstack++] = (unsigned char)nei;
// Mark layer id
regn.layerId = layerId;
// Merge current layers to root.
for (int k = 0; k < regn.nlayers; ++k)
{
if (!addUnique(root.layers, root.nlayers, RC_MAX_LAYERS, regn.layers[k]))
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS.");
return false;
}
}
root.ymin = rcMin(root.ymin, regn.ymin);
root.ymax = rcMax(root.ymax, regn.ymax);
}
}
}
layerId++;
}
// Merge non-overlapping regions that are close in height.
const unsigned short mergeHeight = (unsigned short)walkableHeight * 4;
for (int i = 0; i < nregs; ++i)
{
rcLayerRegion& ri = regs[i];
if (!ri.base) continue;
unsigned char newId = ri.layerId;
for (;;)
{
unsigned char oldId = 0xff;
for (int j = 0; j < nregs; ++j)
{
if (i == j) continue;
rcLayerRegion& rj = regs[j];
if (!rj.base) continue;
// Skip if the regions are not close to each other.
if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(ri.ymin, rj.ymin);
const int ymax = rcMax(ri.ymax, rj.ymax);
if ((ymax - ymin) >= 255)
continue;
// Make sure that there is no overlap when merging 'ri' and 'rj'.
bool overlap = false;
// Iterate over all regions which have the same layerId as 'rj'
for (int k = 0; k < nregs; ++k)
{
if (regs[k].layerId != rj.layerId)
continue;
// Check if region 'k' is overlapping region 'ri'
// Index to 'regs' is the same as region id.
if (contains(ri.layers,ri.nlayers, (unsigned char)k))
{
overlap = true;
break;
}
}
// Cannot merge of regions overlap.
if (overlap)
continue;
// Can merge i and j.
oldId = rj.layerId;
break;
}
// Could not find anything to merge with, stop.
if (oldId == 0xff)
break;
// Merge
for (int j = 0; j < nregs; ++j)
{
rcLayerRegion& rj = regs[j];
if (rj.layerId == oldId)
{
rj.base = 0;
// Remap layerIds.
rj.layerId = newId;
// Add overlaid layers from 'rj' to 'ri'.
for (int k = 0; k < rj.nlayers; ++k)
{
if (!addUnique(ri.layers, ri.nlayers, RC_MAX_LAYERS, rj.layers[k]))
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: layer overflow (too many overlapping walkable platforms). Try increasing RC_MAX_LAYERS.");
return false;
}
}
// Update height bounds.
ri.ymin = rcMin(ri.ymin, rj.ymin);
ri.ymax = rcMax(ri.ymax, rj.ymax);
}
}
}
}
// Compact layerIds
unsigned char remap[256];
memset(remap, 0, 256);
// Find number of unique layers.
layerId = 0;
for (int i = 0; i < nregs; ++i)
remap[regs[i].layerId] = 1;
for (int i = 0; i < 256; ++i)
{
if (remap[i])
remap[i] = layerId++;
else
remap[i] = 0xff;
}
// Remap ids.
for (int i = 0; i < nregs; ++i)
regs[i].layerId = remap[regs[i].layerId];
// No layers, return empty.
if (layerId == 0)
return true;
// Create layers.
rcAssert(lset.layers == 0);
const int lw = w - borderSize*2;
const int lh = h - borderSize*2;
// Build contracted bbox for layers.
float bmin[3], bmax[3];
rcVcopy(bmin, chf.bmin);
rcVcopy(bmax, chf.bmax);
bmin[0] += borderSize*chf.cs;
bmin[2] += borderSize*chf.cs;
bmax[0] -= borderSize*chf.cs;
bmax[2] -= borderSize*chf.cs;
lset.nlayers = (int)layerId;
lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
if (!lset.layers)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' (%d).", lset.nlayers);
return false;
}
memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
// Store layers.
for (int i = 0; i < lset.nlayers; ++i)
{
unsigned char curId = (unsigned char)i;
rcHeightfieldLayer* layer = &lset.layers[i];
const int gridSize = sizeof(unsigned char)*lw*lh;
layer->heights = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->heights)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' (%d).", gridSize);
return false;
}
memset(layer->heights, 0xff, gridSize);
layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->areas)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' (%d).", gridSize);
return false;
}
memset(layer->areas, 0, gridSize);
layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->cons)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' (%d).", gridSize);
return false;
}
memset(layer->cons, 0, gridSize);
// Find layer height bounds.
int hmin = 0, hmax = 0;
for (int j = 0; j < nregs; ++j)
{
if (regs[j].base && regs[j].layerId == curId)
{
hmin = (int)regs[j].ymin;
hmax = (int)regs[j].ymax;
}
}
layer->width = lw;
layer->height = lh;
layer->cs = chf.cs;
layer->ch = chf.ch;
// Adjust the bbox to fit the heightfield.
rcVcopy(layer->bmin, bmin);
rcVcopy(layer->bmax, bmax);
layer->bmin[1] = bmin[1] + hmin*chf.ch;
layer->bmax[1] = bmin[1] + hmax*chf.ch;
layer->hmin = hmin;
layer->hmax = hmax;
// Update usable data region.
layer->minx = layer->width;
layer->maxx = 0;
layer->miny = layer->height;
layer->maxy = 0;
// Copy height and area from compact heightfield.
for (int y = 0; y < lh; ++y)
{
for (int x = 0; x < lw; ++x)
{
const int cx = borderSize+x;
const int cy = borderSize+y;
const rcCompactCell& c = chf.cells[cx+cy*w];
for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
{
const rcCompactSpan& s = chf.spans[j];
// Skip unassigned regions.
if (srcReg[j] == 0xff)
continue;
// Skip of does nto belong to current layer.
unsigned char lid = regs[srcReg[j]].layerId;
if (lid != curId)
continue;
// Update data bounds.
layer->minx = rcMin(layer->minx, x);
layer->maxx = rcMax(layer->maxx, x);
layer->miny = rcMin(layer->miny, y);
layer->maxy = rcMax(layer->maxy, y);
// Store height and area type.
const int idx = x+y*lw;
layer->heights[idx] = (unsigned char)(s.y - hmin);
layer->areas[idx] = chf.areas[j];
// Check connection.
unsigned char portal = 0;
unsigned char con = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
unsigned char alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff;
// Portal mask
if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
{
portal |= (unsigned char)(1<<dir);
// Update height so that it matches on both sides of the portal.
const rcCompactSpan& as = chf.spans[ai];
if (as.y > hmin)
layer->heights[idx] = rcMax(layer->heights[idx], (unsigned char)(as.y - hmin));
}
// Valid connection mask
if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
{
const int nx = ax - borderSize;
const int ny = ay - borderSize;
if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
con |= (unsigned char)(1<<dir);
}
}
}
layer->cons[idx] = (portal << 4) | con;
}
}
}
if (layer->minx > layer->maxx)
layer->minx = layer->maxx = 0;
if (layer->miny > layer->maxy)
layer->miny = layer->maxy = 0;
}
return true;
}
bool rcBuildRegionsMonotone(rcCompactHeightfield& chf,
int borderSize, int minRegionSize, int mergeRegionSize)
{
rcTimeVal startTime = rcGetPerformanceTimer();
const int w = chf.width;
const int h = chf.height;
unsigned short id = 1;
if (chf.regs)
{
delete [] chf.regs;
chf.regs = 0;
}
rcScopedDelete<unsigned short> srcReg = new unsigned short[chf.spanCount];
if (!srcReg)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'src' (%d).", chf.spanCount);
return false;
}
memset(srcReg,0,sizeof(unsigned short)*chf.spanCount);
rcScopedDelete<rcSweepSpan> sweeps = new rcSweepSpan[rcMax(chf.width,chf.height)];
if (!sweeps)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'sweeps' (%d).", chf.width);
return false;
}
// Mark border regions.
if (borderSize)
{
paintRectRegion(0, borderSize, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(w-borderSize, w, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(0, w, 0, borderSize, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(0, w, h-borderSize, h, id|RC_BORDER_REG, chf, srcReg); id++;
}
rcIntArray prev(256);
// Sweep one line at a time.
for (int y = borderSize; y < h-borderSize; ++y)
{
// Collect spans from this row.
prev.resize(id+1);
memset(&prev[0],0,sizeof(int)*id);
unsigned short rid = 1;
for (int x = borderSize; x < w-borderSize; ++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 rcCompactSpan& s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA) continue;
// -x
unsigned short previd = 0;
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(0);
const int ay = y + rcGetDirOffsetY(0);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
if ((srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
previd = srcReg[ai];
}
if (!previd)
{
previd = rid++;
sweeps[previd].rid = previd;
sweeps[previd].ns = 0;
sweeps[previd].nei = 0;
}
// -y
if (rcGetCon(s,3) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(3);
const int ay = y + rcGetDirOffsetY(3);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
if (srcReg[ai] && (srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
{
unsigned short nr = srcReg[ai];
if (!sweeps[previd].nei || sweeps[previd].nei == nr)
{
sweeps[previd].nei = nr;
sweeps[previd].ns++;
prev[nr]++;
}
else
{
sweeps[previd].nei = RC_NULL_NEI;
}
}
}
srcReg[i] = previd;
}
}
// Create unique ID.
for (int i = 1; i < rid; ++i)
{
if (sweeps[i].nei != RC_NULL_NEI && sweeps[i].nei != 0 &&
prev[sweeps[i].nei] == (int)sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
sweeps[i].id = id++;
}
}
// Remap IDs
for (int x = borderSize; x < w-borderSize; ++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 (srcReg[i] > 0 && srcReg[i] < rid)
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
rcTimeVal filterStartTime = rcGetPerformanceTimer();
// Filter out small regions.
chf.maxRegions = id;
if (!filterSmallRegions(minRegionSize, mergeRegionSize, chf.maxRegions, chf, srcReg))
return false;
rcTimeVal filterEndTime = rcGetPerformanceTimer();
// Store the result out.
chf.regs = srcReg;
srcReg = 0;
rcTimeVal endTime = rcGetPerformanceTimer();
if (rcGetBuildTimes())
{
rcGetBuildTimes()->buildRegions += rcGetDeltaTimeUsec(startTime, endTime);
rcGetBuildTimes()->buildRegionsFilter += rcGetDeltaTimeUsec(filterStartTime, filterEndTime);
}
return true;
}
bool rcMarkReachableSpans(const int walkableHeight,
const int walkableClimb,
rcHeightfield& solid)
{
const int w = solid.width;
const int h = solid.height;
const int MAX_HEIGHT = 0xffff;
rcTimeVal startTime = rcGetPerformanceTimer();
// Build navigable space.
const int MAX_SEEDS = w*h;
rcReachableSeed* stack = new rcReachableSeed[MAX_SEEDS];
if (!stack)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcMarkReachableSpans: Out of memory 'stack' (%d).", MAX_SEEDS);
return false;
}
int stackSize = 0;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcSpan* topSpan = solid.spans[x + y*w];
if (!topSpan)
continue;
while (topSpan->next)
topSpan = topSpan->next;
// If the span is not walkable, skip it.
if ((topSpan->flags & RC_WALKABLE) == 0)
continue;
// If the span has been visited already, skip it.
if (topSpan->flags & RC_REACHABLE)
continue;
// Start flood fill.
topSpan->flags |= RC_REACHABLE;
stackSize = 0;
stack[stackSize].set(x, y, topSpan);
stackSize++;
while (stackSize)
{
// Pop a seed from the stack.
stackSize--;
rcReachableSeed cur = stack[stackSize];
const int bot = (int)cur.s->smax;
const int top = (int)cur.s->next ? (int)cur.s->next->smin : MAX_HEIGHT;
// Visit neighbours in all 4 directions.
for (int dir = 0; dir < 4; ++dir)
{
int dx = (int)cur.x + rcGetDirOffsetX(dir);
int dy = (int)cur.y + rcGetDirOffsetY(dir);
// Skip neighbour which are out of bounds.
if (dx < 0 || dy < 0 || dx >= w || dy >= h)
continue;
for (rcSpan* ns = solid.spans[dx + dy*w]; ns; ns = ns->next)
{
// Skip neighbour if it is not walkable.
if ((ns->flags & RC_WALKABLE) == 0)
continue;
// Skip the neighbour if it has been visited already.
if (ns->flags & RC_REACHABLE)
continue;
const int nbot = (int)ns->smax;
const int ntop = (int)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)
continue;
// Skip neightbour if the climb height to the neighbour is too high.
if (rcAbs(nbot - bot) >= walkableClimb)
continue;
// This neighbour has not been visited yet.
// Mark it as reachable and add it to the seed stack.
ns->flags |= RC_REACHABLE;
if (stackSize < MAX_SEEDS)
{
stack[stackSize].set(dx, dy, ns);
stackSize++;
}
}
}
}
}
}
delete [] stack;
rcTimeVal endTime = rcGetPerformanceTimer();
// if (rcGetLog())
// rcGetLog()->log(RC_LOG_PROGRESS, "Mark reachable: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f);
if (rcGetBuildTimes())
rcGetBuildTimes()->filterMarkReachable += rcGetDeltaTimeUsec(startTime, endTime);
return true;
}
bool rcBuildCompactHeightfield(const int walkableHeight, const int walkableClimb,
unsigned char flags, rcHeightfield& hf,
rcCompactHeightfield& chf)
{
rcTimeVal startTime = rcGetPerformanceTimer();
const int w = hf.width;
const int h = hf.height;
const int spanCount = getSpanCount(flags, hf);
// Fill in header.
chf.width = w;
chf.height = h;
chf.spanCount = spanCount;
chf.walkableHeight = walkableHeight;
chf.walkableClimb = walkableClimb;
chf.maxRegions = 0;
vcopy(chf.bmin, hf.bmin);
vcopy(chf.bmax, hf.bmax);
chf.bmax[1] += walkableHeight*hf.ch;
chf.cs = hf.cs;
chf.ch = hf.ch;
chf.cells = new rcCompactCell[w*h];
if (!chf.cells)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", w*h);
return false;
}
memset(chf.cells, 0, sizeof(rcCompactCell)*w*h);
chf.spans = new rcCompactSpan[spanCount];
if (!chf.spans)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.spans' (%d)", spanCount);
return false;
}
memset(chf.spans, 0, sizeof(rcCompactSpan)*spanCount);
const int MAX_HEIGHT = 0xffff;
// Fill in cells and spans.
int idx = 0;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
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)
{
if (s->flags == flags)
{
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);
idx++;
c.count++;
}
s = s->next;
}
}
}
// Find neighbour connections.
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)
{
rcCompactSpan& s = chf.spans[i];
for (int dir = 0; dir < 4; ++dir)
{
setCon(s, dir, 0xf);
const int nx = x + rcGetDirOffsetX(dir);
const int ny = y + rcGetDirOffsetY(dir);
// First check that the neighbour cell is in bounds.
if (nx < 0 || ny < 0 || nx >= w || ny >= h)
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 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);
// 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)
{
// Mark direction as walkable.
setCon(s, dir, k - (int)nc.index);
break;
}
}
}
}
}
}
rcTimeVal endTime = rcGetPerformanceTimer();
if (rcGetBuildTimes())
rcGetBuildTimes()->buildCompact += rcGetDeltaTimeUsec(startTime, endTime);
return true;
}
bool rcBuildPolyMesh(rcContourSet& cset, int nvp, rcPolyMesh& mesh)
{
rcTimeVal startTime = rcGetPerformanceTimer();
vcopy(mesh.bmin, cset.bmin);
vcopy(mesh.bmax, cset.bmax);
mesh.cs = cset.cs;
mesh.ch = cset.ch;
int maxVertices = 0;
int maxTris = 0;
int maxVertsPerCont = 0;
for (int i = 0; i < cset.nconts; ++i)
{
maxVertices += cset.conts[i].nverts;
maxTris += cset.conts[i].nverts - 2;
maxVertsPerCont = rcMax(maxVertsPerCont, cset.conts[i].nverts);
}
if (maxVertices >= 0xfffe)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many vertices %d.", maxVertices);
return false;
}
unsigned char* vflags = 0;
int* nextVert = 0;
int* firstVert = 0;
int* indices = 0;
int* tris = 0;
unsigned short* polys = 0;
vflags = new unsigned char[maxVertices];
if (!vflags)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices);
goto failure;
}
memset(vflags, 0, maxVertices);
mesh.verts = new unsigned short[maxVertices*3];
if (!mesh.verts)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices);
goto failure;
}
mesh.polys = new unsigned short[maxTris*nvp*2];
if (!mesh.polys)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.polys' (%d).", maxTris*nvp*2);
goto failure;
}
mesh.regs = new unsigned short[maxTris];
if (!mesh.regs)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.regs' (%d).", maxTris);
goto failure;
}
mesh.nverts = 0;
mesh.npolys = 0;
mesh.nvp = nvp;
memset(mesh.verts, 0, sizeof(unsigned short)*maxVertices*3);
memset(mesh.polys, 0xff, sizeof(unsigned short)*maxTris*nvp*2);
memset(mesh.regs, 0, sizeof(unsigned short)*maxTris);
nextVert = new int[maxVertices];
if (!nextVert)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'nextVert' (%d).", maxVertices);
goto failure;
}
memset(nextVert, 0, sizeof(int)*maxVertices);
firstVert = new int[VERTEX_BUCKET_COUNT];
if (!firstVert)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
goto failure;
}
for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
firstVert[i] = -1;
indices = new int[maxVertsPerCont];
if (!indices)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'indices' (%d).", maxVertsPerCont);
goto failure;
}
tris = new int[maxVertsPerCont*3];
if (!tris)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'tris' (%d).", maxVertsPerCont*3);
goto failure;
}
polys = new unsigned short[(maxVertsPerCont+1)*nvp];
if (!polys)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'polys' (%d).", maxVertsPerCont*nvp);
goto failure;
}
unsigned short* tmpPoly = &polys[maxVertsPerCont*nvp];
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
// Skip empty contours.
if (cont.nverts < 3)
continue;
// Triangulate contour
for (int j = 0; j < cont.nverts; ++j)
indices[j] = j;
int ntris = triangulate(cont.nverts, cont.verts, &indices[0], &tris[0]);
if (ntris <= 0)
{
// Bad triangulation, should not happen.
/* for (int k = 0; k < cont.nverts; ++k)
{
const int* v = &cont.verts[k*4];
printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]);
if (nBadPos < 100)
{
badPos[nBadPos*3+0] = v[0];
badPos[nBadPos*3+1] = v[1];
badPos[nBadPos*3+2] = v[2];
nBadPos++;
}
}*/
ntris = -ntris;
}
// Add and merge vertices.
for (int j = 0; j < cont.nverts; ++j)
{
const int* v = &cont.verts[j*4];
indices[j] = addVertex((unsigned short)v[0], (unsigned short)v[1], (unsigned short)v[2],
mesh.verts, firstVert, nextVert, mesh.nverts);
if (v[3] & RC_BORDER_VERTEX)
{
// This vertex should be removed.
vflags[indices[j]] = 1;
}
}
// Build initial polygons.
int npolys = 0;
memset(polys, 0xff, maxVertsPerCont*nvp*sizeof(unsigned short));
for (int j = 0; j < ntris; ++j)
{
int* t = &tris[j*3];
if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2])
{
polys[npolys*nvp+0] = (unsigned short)indices[t[0]];
polys[npolys*nvp+1] = (unsigned short)indices[t[1]];
polys[npolys*nvp+2] = (unsigned short)indices[t[2]];
npolys++;
}
}
if (!npolys)
continue;
// Merge polygons.
if (nvp > 3)
{
while (true)
{
// Find best polygons to merge.
int bestMergeVal = 0;
int bestPa, bestPb, bestEa, bestEb;
for (int j = 0; j < npolys-1; ++j)
{
unsigned short* pj = &polys[j*nvp];
for (int k = j+1; k < npolys; ++k)
{
unsigned short* pk = &polys[k*nvp];
int ea, eb;
int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp);
if (v > bestMergeVal)
{
bestMergeVal = v;
bestPa = j;
bestPb = k;
bestEa = ea;
bestEb = eb;
}
}
}
if (bestMergeVal > 0)
{
// Found best, merge.
unsigned short* pa = &polys[bestPa*nvp];
unsigned short* pb = &polys[bestPb*nvp];
mergePolys(pa, pb, mesh.verts, bestEa, bestEb, tmpPoly, nvp);
memcpy(pb, &polys[(npolys-1)*nvp], sizeof(unsigned short)*nvp);
npolys--;
}
else
{
// Could not merge any polygons, stop.
break;
}
}
}
// Store polygons.
for (int j = 0; j < npolys; ++j)
{
unsigned short* p = &mesh.polys[mesh.npolys*nvp*2];
unsigned short* q = &polys[j*nvp];
for (int k = 0; k < nvp; ++k)
p[k] = q[k];
mesh.regs[mesh.npolys] = cont.reg;
mesh.npolys++;
}
}
// Remove edge vertices.
for (int i = 0; i < mesh.nverts; ++i)
{
if (vflags[i])
{
if (!removeVertex(mesh, i, maxTris))
goto failure;
for (int j = i; j < mesh.nverts-1; ++j)
vflags[j] = vflags[j+1];
--i;
}
}
delete [] vflags;
delete [] firstVert;
delete [] nextVert;
delete [] indices;
delete [] tris;
// Calculate adjacency.
if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, nvp))
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Adjacency failed.");
return false;
}
rcTimeVal endTime = rcGetPerformanceTimer();
// if (rcGetLog())
// rcGetLog()->log(RC_LOG_PROGRESS, "Build polymesh: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f);
if (rcGetBuildTimes())
rcGetBuildTimes()->buildPolymesh += rcGetDeltaTimeUsec(startTime, endTime);
return true;
failure:
delete [] vflags;
delete [] tmpPoly;
delete [] firstVert;
delete [] nextVert;
delete [] indices;
delete [] tris;
return false;
}
bool rcMergePolyMeshes(rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh)
{
if (!nmeshes || !meshes)
return true;
rcTimeVal startTime = rcGetPerformanceTimer();
int* nextVert = 0;
int* firstVert = 0;
unsigned short* vremap = 0;
mesh.nvp = meshes[0]->nvp;
mesh.cs = meshes[0]->cs;
mesh.ch = meshes[0]->ch;
vcopy(mesh.bmin, meshes[0]->bmin);
vcopy(mesh.bmax, meshes[0]->bmax);
int maxVerts = 0;
int maxPolys = 0;
int maxVertsPerMesh = 0;
for (int i = 0; i < nmeshes; ++i)
{
vmin(mesh.bmin, meshes[i]->bmin);
vmax(mesh.bmax, meshes[i]->bmax);
maxVertsPerMesh = rcMax(maxVertsPerMesh, meshes[i]->nverts);
maxVerts += meshes[i]->nverts;
maxPolys += meshes[i]->npolys;
}
mesh.nverts = 0;
mesh.verts = new unsigned short[maxVerts*3];
if (!mesh.verts)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.verts' (%d).", maxVerts*3);
return false;
}
mesh.npolys = 0;
mesh.polys = new unsigned short[maxPolys*2*mesh.nvp];
if (!mesh.polys)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.polys' (%d).", maxPolys*2*mesh.nvp);
return false;
}
memset(mesh.polys, 0xff, sizeof(unsigned short)*maxPolys*2*mesh.nvp);
mesh.regs = new unsigned short[maxPolys];
if (!mesh.regs)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.regs' (%d).", maxPolys);
return false;
}
memset(mesh.regs, 0, sizeof(unsigned short)*maxPolys);
nextVert = new int[maxVerts];
if (!nextVert)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'nextVert' (%d).", maxVerts);
goto failure;
}
memset(nextVert, 0, sizeof(int)*maxVerts);
firstVert = new int[VERTEX_BUCKET_COUNT];
if (!firstVert)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
goto failure;
}
for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
firstVert[i] = -1;
vremap = new unsigned short[maxVertsPerMesh];
if (!vremap)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'vremap' (%d).", maxVertsPerMesh);
goto failure;
}
memset(nextVert, 0, sizeof(int)*maxVerts);
for (int i = 0; i < nmeshes; ++i)
{
const rcPolyMesh* pmesh = meshes[i];
const unsigned short ox = (unsigned short)floorf((pmesh->bmin[0]-mesh.bmin[0])/mesh.cs+0.5f);
const unsigned short oz = (unsigned short)floorf((pmesh->bmin[2]-mesh.bmin[2])/mesh.cs+0.5f);
for (int j = 0; j < pmesh->nverts; ++j)
{
unsigned short* v = &pmesh->verts[j*3];
vremap[j] = addVertex(v[0]+ox, v[1], v[2]+oz,
mesh.verts, firstVert, nextVert, mesh.nverts);
}
for (int j = 0; j < pmesh->npolys; ++j)
{
unsigned short* tgt = &mesh.polys[mesh.npolys*2*mesh.nvp];
unsigned short* src = &pmesh->polys[j*2*mesh.nvp];
mesh.regs[mesh.npolys] = pmesh->regs[j];
mesh.npolys++;
for (int k = 0; k < mesh.nvp; ++k)
{
if (src[k] == 0xffff) break;
tgt[k] = vremap[src[k]];
}
}
}
// Calculate adjacency.
if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, mesh.nvp))
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcMergePolyMeshes: Adjacency failed.");
return false;
}
delete [] firstVert;
delete [] nextVert;
delete [] vremap;
rcTimeVal endTime = rcGetPerformanceTimer();
if (rcGetBuildTimes())
rcGetBuildTimes()->mergePolyMesh += rcGetDeltaTimeUsec(startTime, endTime);
return true;
failure:
delete [] firstVert;
delete [] nextVert;
delete [] vremap;
return false;
}
void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, const int walkableClimb,
rcHeightfield& solid)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_FILTER_BORDER);
const int w = solid.width;
const int h = solid.height;
const int MAX_HEIGHT = 0xffff;
// Mark border spans.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next)
{
// Skip non walkable spans.
if (s->area == RC_NULL_AREA)
continue;
const int bot = (int)(s->smax);
const int top = s->next ? (int)(s->next->smin) : MAX_HEIGHT;
// Find neighbours minimum height.
int minh = MAX_HEIGHT;
// Min and max height of accessible neighbours.
int asmin = s->smax;
int asmax = s->smax;
for (int dir = 0; dir < 4; ++dir)
{
int dx = x + rcGetDirOffsetX(dir);
int dy = y + rcGetDirOffsetY(dir);
// Skip neighbours which are out of bounds.
if (dx < 0 || dy < 0 || dx >= w || dy >= h)
{
minh = rcMin(minh, -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);
// Rest of the spans.
for (ns = solid.spans[dx + dy*w]; ns; ns = ns->next)
{
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);
// Find min/max accessible neighbour height.
if (rcAbs(nbot - bot) <= walkableClimb)
{
if (nbot < asmin) asmin = nbot;
if (nbot > asmax) asmax = nbot;
}
}
}
}
// The current span is close to a ledge if the drop to any
// neighbour span is less than the walkableClimb.
if (minh < -walkableClimb)
s->area = RC_NULL_AREA;
// If the difference between all neighbours is too large,
// we are at steep slope, mark the span as ledge.
if ((asmax - asmin) > walkableClimb)
{
s->area = RC_NULL_AREA;
}
}
}
}
ctx->stopTimer(RC_TIMER_FILTER_BORDER);
}
/// @par
///
/// The raw contours will match the region outlines exactly. The @p maxError and @p maxEdgeLen
/// parameters control how closely the simplified contours will match the raw contours.
///
/// Simplified contours are generated such that the vertices for portals between areas match up.
/// (They are considered mandatory vertices.)
///
/// Setting @p maxEdgeLength to zero will disabled the edge length feature.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
const float maxError, const int maxEdgeLen,
rcContourSet& cset, const int buildFlags)
{
rcAssert(ctx);
const int w = chf.width;
const int h = chf.height;
const int borderSize = chf.borderSize;
ctx->startTimer(RC_TIMER_BUILD_CONTOURS);
rcVcopy(cset.bmin, chf.bmin);
rcVcopy(cset.bmax, chf.bmax);
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
const float pad = borderSize*chf.cs;
cset.bmin[0] += pad;
cset.bmin[2] += pad;
cset.bmax[0] -= pad;
cset.bmax[2] -= pad;
}
cset.cellSizeXZ = chf.cs;
cset.cellSizeY = chf.ch;
cset.width = chf.width - chf.borderSize*2;
cset.height = chf.height - chf.borderSize*2;
cset.borderSize = chf.borderSize;
int maxContours = rcMax((int)chf.maxRegions, 8);
cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
if (!cset.conts)
return false;
cset.nconts = 0;
rcScopedDelete<unsigned char> flags = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
if (!flags)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags' (%d).", chf.spanCount);
return false;
}
ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
// Mark boundaries.
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)
{
unsigned char res = 0;
const rcCompactSpan& s = chf.spans[i];
if (!chf.spans[i].regionID || (chf.spans[i].regionID & RC_BORDER_REG))
{
flags[i] = 0;
continue;
}
for (int dir = 0; dir < 4; ++dir)
{
unsigned short r = 0;
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
r = chf.spans[ai].regionID;
}
if (r == chf.spans[i].regionID)
res |= (1 << dir);
}
flags[i] = res ^ 0xf; // Inverse, mark non connected edges.
}
}
}
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
rcIntArray verts(256);
rcIntArray simplified(64);
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 (flags[i] == 0 || flags[i] == 0xf)
{
flags[i] = 0;
continue;
}
const unsigned short reg = chf.spans[i].regionID;
if (!reg || (reg & RC_BORDER_REG))
continue;
const navAreaMask areaMask = chf.areaMasks[ i ];
verts.resize(0);
simplified.resize(0);
ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
walkContour(x, y, i, chf, flags, verts);
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
ctx->startTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags);
removeDegenerateSegments(simplified);
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
// Store region->contour remap info.
// Create contour.
if (simplified.size()/4 >= 3)
{
if (cset.nconts >= maxContours)
{
// Allocate more contours.
// This happens when a region has holes.
const int oldMax = maxContours;
maxContours *= 2;
rcContour* newConts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
for (int j = 0; j < cset.nconts; ++j)
{
newConts[j] = cset.conts[j];
// Reset source pointers to prevent data deletion.
cset.conts[j].verts = 0;
cset.conts[j].rverts = 0;
}
rcFree(cset.conts);
cset.conts = newConts;
ctx->log(RC_LOG_WARNING, "rcBuildContours: Expanding max contours from %d to %d.", oldMax, maxContours);
}
rcContour* cont = &cset.conts[cset.nconts++];
cont->nverts = simplified.size()/4;
cont->verts = (int*)rcAlloc(sizeof(int)*cont->nverts*4, RC_ALLOC_PERM);
if (!cont->verts)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'verts' (%d).", cont->nverts);
return false;
}
memcpy(cont->verts, &simplified[0], sizeof(int)*cont->nverts*4);
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int j = 0; j < cont->nverts; ++j)
{
int* v = &cont->verts[j*4];
v[0] -= borderSize;
v[2] -= borderSize;
}
}
cont->nrverts = verts.size()/4;
cont->rverts = (int*)rcAlloc(sizeof(int)*cont->nrverts*4, RC_ALLOC_PERM);
if (!cont->rverts)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'rverts' (%d).", cont->nrverts);
return false;
}
memcpy(cont->rverts, &verts[0], sizeof(int)*cont->nrverts*4);
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int j = 0; j < cont->nrverts; ++j)
{
int* v = &cont->rverts[j*4];
v[0] -= borderSize;
v[2] -= borderSize;
}
}
cont->reg = reg;
cont->areaMask = areaMask;
}
}
}
}
// Merge holes if needed.
if (cset.nconts > 0)
{
// Calculate winding of all polygons.
rcScopedDelete<char> winding = (char*)rcAlloc(sizeof(char)*cset.nconts, RC_ALLOC_TEMP);
if (!winding)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'hole' (%d).", cset.nconts);
return false;
}
int nholes = 0;
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
// If the contour is wound backwards, it is a hole.
winding[i] = calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0 ? -1 : 1;
if (winding[i] < 0)
nholes++;
}
if (nholes > 0)
{
// Collect outline contour and holes contours per region.
// We assume that there is one outline and multiple holes.
const int nregions = chf.maxRegions+1;
rcScopedDelete<rcContourRegion> regions = (rcContourRegion*)rcAlloc(sizeof(rcContourRegion)*nregions, RC_ALLOC_TEMP);
if (!regions)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'regions' (%d).", nregions);
return false;
}
memset(regions, 0, sizeof(rcContourRegion)*nregions);
rcScopedDelete<rcContourHole> holes = (rcContourHole*)rcAlloc(sizeof(rcContourHole)*cset.nconts, RC_ALLOC_TEMP);
if (!holes)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'holes' (%d).", cset.nconts);
return false;
}
memset(holes, 0, sizeof(rcContourHole)*cset.nconts);
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
// Positively would contours are outlines, negative holes.
if (winding[i] > 0)
{
if (regions[cont.reg].outline)
ctx->log(RC_LOG_ERROR, "rcBuildContours: Multiple outlines for region %d.", cont.reg);
regions[cont.reg].outline = &cont;
}
else
{
regions[cont.reg].nholes++;
}
}
int index = 0;
for (int i = 0; i < nregions; i++)
{
if (regions[i].nholes > 0)
{
regions[i].holes = &holes[index];
index += regions[i].nholes;
regions[i].nholes = 0;
}
}
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
rcContourRegion& reg = regions[cont.reg];
if (winding[i] < 0)
reg.holes[reg.nholes++].contour = &cont;
}
// Finally merge each regions holes into the outline.
for (int i = 0; i < nregions; i++)
{
rcContourRegion& reg = regions[i];
if (!reg.nholes) continue;
if (reg.outline)
{
mergeRegionHoles(ctx, reg);
}
else
{
// The region does not have an outline.
// This can happen if the contour becaomes selfoverlapping because of
// too aggressive simplification settings.
ctx->log(RC_LOG_ERROR, "rcBuildContours: Bad outline for region %d, contour simplification is likely too aggressive.", i);
}
}
}
}
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS);
return true;
}
static void 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 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;
// Calculate the footpring of the triangle on the grid.
int x0 = (int)((tmin[0] - bmin[0])*ics);
int y0 = (int)((tmin[2] - bmin[2])*ics);
int x1 = (int)((tmax[0] - bmin[0])*ics);
int y1 = (int)((tmax[2] - bmin[2])*ics);
x0 = rcClamp(x0, 0, w-1);
y0 = rcClamp(y0, 0, h-1);
x1 = rcClamp(x1, 0, w-1);
y1 = rcClamp(y1, 0, h-1);
// Clip the triangle into all grid cells it touches.
float in[7*3], out[7*3], inrow[7*3];
for (int y = y0; y <= y1; ++y)
{
// Clip polygon to row.
rcVcopy(&in[0], v0);
rcVcopy(&in[1*3], v1);
rcVcopy(&in[2*3], v2);
int nvrow = 3;
const float cz = bmin[2] + y*cs;
nvrow = clipPoly(in, nvrow, out, 0, 1, -cz);
if (nvrow < 3) continue;
nvrow = clipPoly(out, nvrow, inrow, 0, -1, cz+cs);
if (nvrow < 3) continue;
for (int x = x0; x <= x1; ++x)
{
// Clip polygon to column.
int nv = nvrow;
const float cx = bmin[0] + x*cs;
nv = clipPoly(inrow, nv, out, 1, 0, -cx);
if (nv < 3) continue;
nv = clipPoly(out, nv, in, -1, 0, cx+cs);
if (nv < 3) continue;
// Calculate min and max of the span.
float smin = in[1], smax = in[1];
for (int i = 1; i < nv; ++i)
{
smin = rcMin(smin, in[i*3+1]);
smax = rcMax(smax, in[i*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;
// 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);
addSpan(hf, x, y, ismin, ismax, area, flagMergeThr);
}
}
}
static bool mergeAndFilterLayerRegions(rcContext* ctx, int minRegionArea,
unsigned short& maxRegionId,
rcCompactHeightfield& chf,
unsigned short* srcReg, rcIntArray& overlaps)
{
const int w = chf.width;
const int h = chf.height;
const int nreg = maxRegionId+1;
rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
if (!regions)
{
ctx->log(RC_LOG_ERROR, "mergeAndFilterLayerRegions: Out of memory 'regions' (%d).", nreg);
return false;
}
// Construct regions
for (int i = 0; i < nreg; ++i)
new(®ions[i]) rcRegion((unsigned short)i);
// Find region neighbours and overlapping regions.
rcIntArray lregs(32);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
lregs.resize(0);
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
const unsigned short ri = srcReg[i];
if (ri == 0 || ri >= nreg) continue;
rcRegion& reg = regions[ri];
reg.spanCount++;
reg.ymin = rcMin(reg.ymin, s.y);
reg.ymax = rcMax(reg.ymax, s.y);
// Collect all region layers.
lregs.push(ri);
// Update neighbours
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
const unsigned short rai = srcReg[ai];
if (rai > 0 && rai < nreg && rai != ri)
addUniqueConnection(reg, rai);
if (rai & RC_BORDER_REG)
reg.connectsToBorder = true;
}
}
}
// Update overlapping regions.
for (int i = 0; i < lregs.size()-1; ++i)
{
for (int j = i+1; j < lregs.size(); ++j)
{
if (lregs[i] != lregs[j])
{
rcRegion& ri = regions[lregs[i]];
rcRegion& rj = regions[lregs[j]];
addUniqueFloorRegion(ri, lregs[j]);
addUniqueFloorRegion(rj, lregs[i]);
}
}
}
}
}
// Create 2D layers from regions.
unsigned short layerId = 1;
for (int i = 0; i < nreg; ++i)
regions[i].id = 0;
// Merge montone regions to create non-overlapping areas.
rcIntArray stack(32);
for (int i = 1; i < nreg; ++i)
{
rcRegion& root = regions[i];
// Skip already visited.
if (root.id != 0)
continue;
// Start search.
root.id = layerId;
stack.resize(0);
stack.push(i);
while (stack.size() > 0)
{
// Pop front
rcRegion& reg = regions[stack[0]];
for (int j = 0; j < stack.size()-1; ++j)
stack[j] = stack[j+1];
stack.resize(stack.size()-1);
const int ncons = (int)reg.connections.size();
for (int j = 0; j < ncons; ++j)
{
const int nei = reg.connections[j];
rcRegion& regn = regions[nei];
// Skip already visited.
if (regn.id != 0)
continue;
// Skip if the neighbour is overlapping root region.
bool overlap = false;
for (int k = 0; k < root.floors.size(); k++)
{
if (root.floors[k] == nei)
{
overlap = true;
break;
}
}
if (overlap)
continue;
// Deepen
stack.push(nei);
// Mark layer id
regn.id = layerId;
// Merge current layers to root.
for (int k = 0; k < regn.floors.size(); ++k)
addUniqueFloorRegion(root, regn.floors[k]);
root.ymin = rcMin(root.ymin, regn.ymin);
root.ymax = rcMax(root.ymax, regn.ymax);
root.spanCount += regn.spanCount;
regn.spanCount = 0;
root.connectsToBorder = root.connectsToBorder || regn.connectsToBorder;
}
}
layerId++;
}
// Remove small regions
for (int i = 0; i < nreg; ++i)
{
if (regions[i].spanCount > 0 && regions[i].spanCount < minRegionArea && !regions[i].connectsToBorder)
{
unsigned short reg = regions[i].id;
for (int j = 0; j < nreg; ++j)
if (regions[j].id == reg)
regions[j].id = 0;
}
}
// Compress region Ids.
for (int i = 0; i < nreg; ++i)
{
regions[i].remap = false;
if (regions[i].id == 0) continue; // Skip nil regions.
if (regions[i].id & RC_BORDER_REG) continue; // Skip external regions.
regions[i].remap = true;
}
unsigned short regIdGen = 0;
for (int i = 0; i < nreg; ++i)
{
if (!regions[i].remap)
continue;
unsigned short oldId = regions[i].id;
unsigned short newId = ++regIdGen;
for (int j = i; j < nreg; ++j)
{
if (regions[j].id == oldId)
{
regions[j].id = newId;
regions[j].remap = false;
}
}
}
maxRegionId = regIdGen;
// Remap regions.
for (int i = 0; i < chf.spanCount; ++i)
{
if ((srcReg[i] & RC_BORDER_REG) == 0)
srcReg[i] = regions[srcReg[i]].id;
}
for (int i = 0; i < nreg; ++i)
regions[i].~rcRegion();
rcFree(regions);
return true;
}
/// @par
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig
bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf,
const float sampleDist, const float sampleMaxError,
rcPolyMeshDetail& dmesh)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_POLYMESHDETAIL);
if (mesh.nverts == 0 || mesh.npolys == 0)
return true;
const int nvp = mesh.nvp;
const float cs = mesh.cs;
const float ch = mesh.ch;
const float* orig = mesh.bmin;
const int borderSize = mesh.borderSize;
rcIntArray edges(64);
rcIntArray tris(512);
rcIntArray stack(512);
rcIntArray samples(512);
float verts[256*3];
rcHeightPatch hp;
int nPolyVerts = 0;
int maxhw = 0, maxhh = 0;
rcScopedDelete<int> bounds = (int*)rcAlloc(sizeof(int)*mesh.npolys*4, RC_ALLOC_TEMP);
if (!bounds)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'bounds' (%d).", mesh.npolys*4);
return false;
}
rcScopedDelete<float> poly = (float*)rcAlloc(sizeof(float)*nvp*3, RC_ALLOC_TEMP);
if (!poly)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'poly' (%d).", nvp*3);
return false;
}
// Find max size for a polygon area.
for (int i = 0; i < mesh.npolys; ++i)
{
const unsigned short* p = &mesh.polys[i*nvp*2];
int& xmin = bounds[i*4+0];
int& xmax = bounds[i*4+1];
int& ymin = bounds[i*4+2];
int& ymax = bounds[i*4+3];
xmin = chf.width;
xmax = 0;
ymin = chf.height;
ymax = 0;
for (int j = 0; j < nvp; ++j)
{
if(p[j] == RC_MESH_NULL_IDX) break;
const unsigned short* v = &mesh.verts[p[j]*3];
xmin = rcMin(xmin, (int)v[0]);
xmax = rcMax(xmax, (int)v[0]);
ymin = rcMin(ymin, (int)v[2]);
ymax = rcMax(ymax, (int)v[2]);
nPolyVerts++;
}
xmin = rcMax(0,xmin-1);
xmax = rcMin(chf.width,xmax+1);
ymin = rcMax(0,ymin-1);
ymax = rcMin(chf.height,ymax+1);
if (xmin >= xmax || ymin >= ymax) continue;
maxhw = rcMax(maxhw, xmax-xmin);
maxhh = rcMax(maxhh, ymax-ymin);
}
hp.data = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxhw*maxhh, RC_ALLOC_TEMP);
if (!hp.data)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'hp.data' (%d).", maxhw*maxhh);
return false;
}
dmesh.nmeshes = mesh.npolys;
dmesh.nverts = 0;
dmesh.ntris = 0;
dmesh.meshes = (unsigned int*)rcAlloc(sizeof(unsigned int)*dmesh.nmeshes*4, RC_ALLOC_PERM);
if (!dmesh.meshes)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.meshes' (%d).", dmesh.nmeshes*4);
return false;
}
int vcap = nPolyVerts+nPolyVerts/2;
int tcap = vcap*2;
dmesh.nverts = 0;
dmesh.verts = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM);
if (!dmesh.verts)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", vcap*3);
return false;
}
dmesh.ntris = 0;
dmesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*tcap*4, RC_ALLOC_PERM);
if (!dmesh.tris)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", tcap*4);
return false;
}
for (int i = 0; i < mesh.npolys; ++i)
{
const unsigned short* p = &mesh.polys[i*nvp*2];
// Store polygon vertices for processing.
int npoly = 0;
for (int j = 0; j < nvp; ++j)
{
if(p[j] == RC_MESH_NULL_IDX) break;
const unsigned short* v = &mesh.verts[p[j]*3];
poly[j*3+0] = v[0]*cs;
poly[j*3+1] = v[1]*ch;
poly[j*3+2] = v[2]*cs;
npoly++;
}
// Get the height data from the area of the polygon.
hp.xmin = bounds[i*4+0];
hp.ymin = bounds[i*4+2];
hp.width = bounds[i*4+1]-bounds[i*4+0];
hp.height = bounds[i*4+3]-bounds[i*4+2];
getHeightData(chf, p, npoly, mesh.verts, borderSize, hp, stack, mesh.regs[i]);
// Build detail mesh.
int nverts = 0;
if (!buildPolyDetail(ctx, poly, npoly,
sampleDist, sampleMaxError,
chf, hp, verts, nverts, tris,
edges, samples))
{
return false;
}
// Move detail verts to world space.
for (int j = 0; j < nverts; ++j)
{
verts[j*3+0] += orig[0];
verts[j*3+1] += orig[1] + chf.ch; // Is this offset necessary?
verts[j*3+2] += orig[2];
}
// Offset poly too, will be used to flag checking.
for (int j = 0; j < npoly; ++j)
{
poly[j*3+0] += orig[0];
poly[j*3+1] += orig[1];
poly[j*3+2] += orig[2];
}
// Store detail submesh.
const int ntris = tris.size()/4;
dmesh.meshes[i*4+0] = (unsigned int)dmesh.nverts;
dmesh.meshes[i*4+1] = (unsigned int)nverts;
dmesh.meshes[i*4+2] = (unsigned int)dmesh.ntris;
dmesh.meshes[i*4+3] = (unsigned int)ntris;
// Store vertices, allocate more memory if necessary.
if (dmesh.nverts+nverts > vcap)
{
while (dmesh.nverts+nverts > vcap)
vcap += 256;
float* newv = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM);
if (!newv)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newv' (%d).", vcap*3);
return false;
}
if (dmesh.nverts)
memcpy(newv, dmesh.verts, sizeof(float)*3*dmesh.nverts);
rcFree(dmesh.verts);
dmesh.verts = newv;
}
for (int j = 0; j < nverts; ++j)
{
dmesh.verts[dmesh.nverts*3+0] = verts[j*3+0];
dmesh.verts[dmesh.nverts*3+1] = verts[j*3+1];
dmesh.verts[dmesh.nverts*3+2] = verts[j*3+2];
dmesh.nverts++;
}
// Store triangles, allocate more memory if necessary.
if (dmesh.ntris+ntris > tcap)
{
while (dmesh.ntris+ntris > tcap)
tcap += 256;
unsigned char* newt = (unsigned char*)rcAlloc(sizeof(unsigned char)*tcap*4, RC_ALLOC_PERM);
if (!newt)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newt' (%d).", tcap*4);
return false;
}
if (dmesh.ntris)
memcpy(newt, dmesh.tris, sizeof(unsigned char)*4*dmesh.ntris);
rcFree(dmesh.tris);
dmesh.tris = newt;
}
for (int j = 0; j < ntris; ++j)
{
const int* t = &tris[j*4];
dmesh.tris[dmesh.ntris*4+0] = (unsigned char)t[0];
dmesh.tris[dmesh.ntris*4+1] = (unsigned char)t[1];
dmesh.tris[dmesh.ntris*4+2] = (unsigned char)t[2];
dmesh.tris[dmesh.ntris*4+3] = getTriFlags(&verts[t[0]*3], &verts[t[1]*3], &verts[t[2]*3], poly, npoly);
dmesh.ntris++;
}
}
ctx->stopTimer(RC_TIMER_BUILD_POLYMESHDETAIL);
return true;
}
bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, int nvp, rcPolyMesh& mesh)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_POLYMESH);
rcVcopy(mesh.bmin, cset.bmin);
rcVcopy(mesh.bmax, cset.bmax);
mesh.cs = cset.cs;
mesh.ch = cset.ch;
int maxVertices = 0;
int maxTris = 0;
int maxVertsPerCont = 0;
for (int i = 0; i < cset.nconts; ++i)
{
// Skip null contours.
if (cset.conts[i].nverts < 3) continue;
maxVertices += cset.conts[i].nverts;
maxTris += cset.conts[i].nverts - 2;
maxVertsPerCont = rcMax(maxVertsPerCont, cset.conts[i].nverts);
}
if (maxVertices >= 0xfffe)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many vertices %d.", maxVertices);
return false;
}
rcScopedDelete<unsigned char> vflags = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxVertices, RC_ALLOC_TEMP);
if (!vflags)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices);
return false;
}
memset(vflags, 0, maxVertices);
mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertices*3, RC_ALLOC_PERM);
if (!mesh.verts)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices);
return false;
}
mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris*nvp*2*2, RC_ALLOC_PERM);
if (!mesh.polys)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.polys' (%d).", maxTris*nvp*2);
return false;
}
mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris, RC_ALLOC_PERM);
if (!mesh.regs)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.regs' (%d).", maxTris);
return false;
}
mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris, RC_ALLOC_PERM);
if (!mesh.areas)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.areas' (%d).", maxTris);
return false;
}
mesh.nverts = 0;
mesh.npolys = 0;
mesh.nvp = nvp;
mesh.maxpolys = maxTris;
memset(mesh.verts, 0, sizeof(unsigned short)*maxVertices*3);
memset(mesh.polys, 0xff, sizeof(unsigned short)*maxTris*nvp*2);
memset(mesh.regs, 0, sizeof(unsigned short)*maxTris);
memset(mesh.areas, 0, sizeof(unsigned char)*maxTris);
rcScopedDelete<int> nextVert = (int*)rcAlloc(sizeof(int)*maxVertices, RC_ALLOC_TEMP);
if (!nextVert)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'nextVert' (%d).", maxVertices);
return false;
}
memset(nextVert, 0, sizeof(int)*maxVertices);
rcScopedDelete<int> firstVert = (int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP);
if (!firstVert)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
return false;
}
for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
firstVert[i] = -1;
rcScopedDelete<int> indices = (int*)rcAlloc(sizeof(int)*maxVertsPerCont, RC_ALLOC_TEMP);
if (!indices)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'indices' (%d).", maxVertsPerCont);
return false;
}
rcScopedDelete<int> tris = (int*)rcAlloc(sizeof(int)*maxVertsPerCont*3, RC_ALLOC_TEMP);
if (!tris)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'tris' (%d).", maxVertsPerCont*3);
return false;
}
rcScopedDelete<unsigned short> polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*(maxVertsPerCont+1)*nvp, RC_ALLOC_TEMP);
if (!polys)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'polys' (%d).", maxVertsPerCont*nvp);
return false;
}
unsigned short* tmpPoly = &polys[maxVertsPerCont*nvp];
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
// Skip null contours.
if (cont.nverts < 3)
continue;
// Triangulate contour
for (int j = 0; j < cont.nverts; ++j)
indices[j] = j;
int ntris = triangulate(cont.nverts, cont.verts, &indices[0], &tris[0]);
if (ntris <= 0)
{
// Bad triangulation, should not happen.
/* printf("\tconst float bmin[3] = {%ff,%ff,%ff};\n", cset.bmin[0], cset.bmin[1], cset.bmin[2]);
printf("\tconst float cs = %ff;\n", cset.cs);
printf("\tconst float ch = %ff;\n", cset.ch);
printf("\tconst int verts[] = {\n");
for (int k = 0; k < cont.nverts; ++k)
{
const int* v = &cont.verts[k*4];
printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]);
}
printf("\t};\n\tconst int nverts = sizeof(verts)/(sizeof(int)*4);\n");*/
ctx->log(RC_LOG_WARNING, "rcBuildPolyMesh: Bad triangulation Contour %d.", i);
ntris = -ntris;
}
// Add and merge vertices.
for (int j = 0; j < cont.nverts; ++j)
{
const int* v = &cont.verts[j*4];
indices[j] = addVertex((unsigned short)v[0], (unsigned short)v[1], (unsigned short)v[2],
mesh.verts, firstVert, nextVert, mesh.nverts);
if (v[3] & RC_BORDER_VERTEX)
{
// This vertex should be removed.
vflags[indices[j]] = 1;
}
}
// Build initial polygons.
int npolys = 0;
memset(polys, 0xff, maxVertsPerCont*nvp*sizeof(unsigned short));
for (int j = 0; j < ntris; ++j)
{
int* t = &tris[j*3];
if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2])
{
polys[npolys*nvp+0] = (unsigned short)indices[t[0]];
polys[npolys*nvp+1] = (unsigned short)indices[t[1]];
polys[npolys*nvp+2] = (unsigned short)indices[t[2]];
npolys++;
}
}
if (!npolys)
continue;
// Merge polygons.
if (nvp > 3)
{
for(;;)
{
// Find best polygons to merge.
int bestMergeVal = 0;
int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0;
for (int j = 0; j < npolys-1; ++j)
{
unsigned short* pj = &polys[j*nvp];
for (int k = j+1; k < npolys; ++k)
{
unsigned short* pk = &polys[k*nvp];
int ea, eb;
int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp);
if (v > bestMergeVal)
{
bestMergeVal = v;
bestPa = j;
bestPb = k;
bestEa = ea;
bestEb = eb;
}
}
}
if (bestMergeVal > 0)
{
// Found best, merge.
unsigned short* pa = &polys[bestPa*nvp];
unsigned short* pb = &polys[bestPb*nvp];
mergePolys(pa, pb, bestEa, bestEb, tmpPoly, nvp);
memcpy(pb, &polys[(npolys-1)*nvp], sizeof(unsigned short)*nvp);
npolys--;
}
else
{
// Could not merge any polygons, stop.
break;
}
}
}
// Store polygons.
for (int j = 0; j < npolys; ++j)
{
unsigned short* p = &mesh.polys[mesh.npolys*nvp*2];
unsigned short* q = &polys[j*nvp];
for (int k = 0; k < nvp; ++k)
p[k] = q[k];
mesh.regs[mesh.npolys] = cont.reg;
mesh.areas[mesh.npolys] = cont.area;
mesh.npolys++;
if (mesh.npolys > maxTris)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many polygons %d (max:%d).", mesh.npolys, maxTris);
return false;
}
}
}
// Remove edge vertices.
for (int i = 0; i < mesh.nverts; ++i)
{
if (vflags[i])
{
if (!canRemoveVertex(ctx, mesh, (unsigned short)i))
continue;
if (!removeVertex(ctx, mesh, (unsigned short)i, maxTris))
{
// Failed to remove vertex
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Failed to remove edge vertex %d.", i);
return false;
}
// Remove vertex
// Note: mesh.nverts is already decremented inside removeVertex()!
for (int j = i; j < mesh.nverts; ++j)
vflags[j] = vflags[j+1];
--i;
}
}
// Calculate adjacency.
if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, nvp))
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Adjacency failed.");
return false;
}
// Just allocate the mesh flags array. The user is resposible to fill it.
mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*mesh.npolys, RC_ALLOC_PERM);
if (!mesh.flags)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.flags' (%d).", mesh.npolys);
return false;
}
memset(mesh.flags, 0, sizeof(unsigned short) * mesh.npolys);
if (mesh.nverts > 0xffff)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff);
}
if (mesh.npolys > 0xffff)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff);
}
ctx->stopTimer(RC_TIMER_BUILD_POLYMESH);
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.
///
/// Partitioning can result in smaller than necessary regions. @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 rcBuildRegionsMonotone(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;
unsigned short id = 1;
rcScopedDelete<unsigned short> srcReg = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
if (!srcReg)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'src' (%d).", chf.spanCount);
return false;
}
memset(srcReg,0,sizeof(unsigned short)*chf.spanCount);
const int nsweeps = rcMax(chf.width,chf.height);
rcScopedDelete<rcSweepSpan> sweeps = (rcSweepSpan*)rcAlloc(sizeof(rcSweepSpan)*nsweeps, RC_ALLOC_TEMP);
if (!sweeps)
{
ctx->log(RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'sweeps' (%d).", nsweeps);
return false;
}
// Mark border regions.
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, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(w-bw, w, 0, h, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(0, w, 0, bh, id|RC_BORDER_REG, chf, srcReg); id++;
paintRectRegion(0, w, h-bh, h, id|RC_BORDER_REG, chf, srcReg); id++;
chf.borderSize = borderSize;
}
rcIntArray prev(256);
// Sweep one line at a time.
for (int y = borderSize; y < h-borderSize; ++y)
{
// Collect spans from this row.
prev.resize(id+1);
memset(&prev[0],0,sizeof(int)*id);
unsigned short rid = 1;
for (int x = borderSize; x < w-borderSize; ++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 rcCompactSpan& s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA) continue;
// -x
unsigned short previd = 0;
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(0);
const int ay = y + rcGetDirOffsetY(0);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
if ((srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
previd = srcReg[ai];
}
if (!previd)
{
previd = rid++;
sweeps[previd].rid = previd;
sweeps[previd].ns = 0;
sweeps[previd].nei = 0;
}
// -y
if (rcGetCon(s,3) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(3);
const int ay = y + rcGetDirOffsetY(3);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
if (srcReg[ai] && (srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
{
unsigned short nr = srcReg[ai];
if (!sweeps[previd].nei || sweeps[previd].nei == nr)
{
sweeps[previd].nei = nr;
sweeps[previd].ns++;
prev[nr]++;
}
else
{
sweeps[previd].nei = RC_NULL_NEI;
}
}
}
srcReg[i] = previd;
}
}
// Create unique ID.
for (int i = 1; i < rid; ++i)
{
if (sweeps[i].nei != RC_NULL_NEI && sweeps[i].nei != 0 &&
prev[sweeps[i].nei] == (int)sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
sweeps[i].id = id++;
}
}
// Remap IDs
for (int x = borderSize; x < w-borderSize; ++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 (srcReg[i] > 0 && srcReg[i] < rid)
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Filter out small regions.
chf.maxRegions = id;
if (!filterSmallRegions(ctx, minRegionArea, mergeRegionArea, chf.maxRegions, chf, srcReg))
return false;
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
// Store 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;
}
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])
{
hf.spans[idx] = s;
return true;
}
rcSpan* prev = 0;
rcSpan* cur = hf.spans[idx];
// Insert and merge spans.
while (cur)
{
if (cur->smin > s->smax)
{
// Current span is further than the new span, break.
break;
}
else if (cur->smax < s->smin)
{
// Current span is before the new span advance.
prev = cur;
cur = cur->next;
}
else
{
// Merge spans.
if (cur->smin < s->smin)
s->smin = cur->smin;
if (cur->smax > s->smax)
s->smax = cur->smax;
// Merge flags.
if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr)
s->area = rcMax(s->area, cur->area);
// Remove current span.
rcSpan* next = cur->next;
freeSpan(hf, cur);
if (prev)
prev->next = next;
else
hf.spans[idx] = next;
cur = next;
}
}
// Insert new span.
if (prev)
{
s->next = prev->next;
prev->next = s;
}
else
{
s->next = hf.spans[idx];
hf.spans[idx] = s;
}
return true;
}
bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh)
{
rcAssert(ctx);
if (!nmeshes || !meshes)
return true;
ctx->startTimer(RC_TIMER_MERGE_POLYMESH);
mesh.nvp = meshes[0]->nvp;
mesh.cs = meshes[0]->cs;
mesh.ch = meshes[0]->ch;
rcVcopy(mesh.bmin, meshes[0]->bmin);
rcVcopy(mesh.bmax, meshes[0]->bmax);
int maxVerts = 0;
int maxPolys = 0;
int maxVertsPerMesh = 0;
for (int i = 0; i < nmeshes; ++i)
{
rcVmin(mesh.bmin, meshes[i]->bmin);
rcVmax(mesh.bmax, meshes[i]->bmax);
maxVertsPerMesh = rcMax(maxVertsPerMesh, meshes[i]->nverts);
maxVerts += meshes[i]->nverts;
maxPolys += meshes[i]->npolys;
}
mesh.nverts = 0;
mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVerts*3, RC_ALLOC_PERM);
if (!mesh.verts)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.verts' (%d).", maxVerts*3);
return false;
}
mesh.npolys = 0;
mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys*2*mesh.nvp, RC_ALLOC_PERM);
if (!mesh.polys)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.polys' (%d).", maxPolys*2*mesh.nvp);
return false;
}
memset(mesh.polys, 0xff, sizeof(unsigned short)*maxPolys*2*mesh.nvp);
mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM);
if (!mesh.regs)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.regs' (%d).", maxPolys);
return false;
}
memset(mesh.regs, 0, sizeof(unsigned short)*maxPolys);
mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxPolys, RC_ALLOC_PERM);
if (!mesh.areas)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.areas' (%d).", maxPolys);
return false;
}
memset(mesh.areas, 0, sizeof(unsigned char)*maxPolys);
mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM);
if (!mesh.flags)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.flags' (%d).", maxPolys);
return false;
}
memset(mesh.flags, 0, sizeof(unsigned short)*maxPolys);
rcScopedDelete<int> nextVert = (int*)rcAlloc(sizeof(int)*maxVerts, RC_ALLOC_TEMP);
if (!nextVert)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'nextVert' (%d).", maxVerts);
return false;
}
memset(nextVert, 0, sizeof(int)*maxVerts);
rcScopedDelete<int> firstVert = (int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP);
if (!firstVert)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
return false;
}
for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
firstVert[i] = -1;
rcScopedDelete<unsigned short> vremap = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertsPerMesh, RC_ALLOC_PERM);
if (!vremap)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'vremap' (%d).", maxVertsPerMesh);
return false;
}
memset(nextVert, 0, sizeof(int)*maxVerts);
for (int i = 0; i < nmeshes; ++i)
{
const rcPolyMesh* pmesh = meshes[i];
const unsigned short ox = (unsigned short)floorf((pmesh->bmin[0]-mesh.bmin[0])/mesh.cs+0.5f);
const unsigned short oz = (unsigned short)floorf((pmesh->bmin[2]-mesh.bmin[2])/mesh.cs+0.5f);
for (int j = 0; j < pmesh->nverts; ++j)
{
unsigned short* v = &pmesh->verts[j*3];
vremap[j] = addVertex(v[0]+ox, v[1], v[2]+oz,
mesh.verts, firstVert, nextVert, mesh.nverts);
}
for (int j = 0; j < pmesh->npolys; ++j)
{
unsigned short* tgt = &mesh.polys[mesh.npolys*2*mesh.nvp];
unsigned short* src = &pmesh->polys[j*2*mesh.nvp];
mesh.regs[mesh.npolys] = pmesh->regs[j];
mesh.areas[mesh.npolys] = pmesh->areas[j];
mesh.flags[mesh.npolys] = pmesh->flags[j];
mesh.npolys++;
for (int k = 0; k < mesh.nvp; ++k)
{
if (src[k] == RC_MESH_NULL_IDX) break;
tgt[k] = vremap[src[k]];
}
}
}
// Calculate adjacency.
if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, mesh.nvp))
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Adjacency failed.");
return false;
}
if (mesh.nverts > 0xffff)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff);
}
if (mesh.npolys > 0xffff)
{
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff);
}
ctx->stopTimer(RC_TIMER_MERGE_POLYMESH);
return true;
}
// Based on Paul Bourke's triangulate.c
// http://astronomy.swin.edu.au/~pbourke/terrain/triangulate/triangulate.c
static void delaunay(const int nv, float *verts, rcIntArray& idx, rcIntArray& tris, rcIntArray& edges)
{
// Sort vertices
idx.resize(nv);
for (int i = 0; i < nv; ++i)
idx[i] = i;
#ifdef WIN32
qsort_s(&idx[0], idx.size(), sizeof(int), ptcmp, verts);
#else
qsort_r(&idx[0], idx.size(), sizeof(int), verts, ptcmp);
#endif
// Find the maximum and minimum vertex bounds.
// This is to allow calculation of the bounding triangle
float xmin = verts[0];
float ymin = verts[2];
float xmax = xmin;
float ymax = ymin;
for (int i = 1; i < nv; ++i)
{
xmin = rcMin(xmin, verts[i*3+0]);
xmax = rcMax(xmax, verts[i*3+0]);
ymin = rcMin(ymin, verts[i*3+2]);
ymax = rcMax(ymax, verts[i*3+2]);
}
float dx = xmax - xmin;
float dy = ymax - ymin;
float dmax = (dx > dy) ? dx : dy;
float xmid = (xmax + xmin) / 2.0f;
float ymid = (ymax + ymin) / 2.0f;
// Set up the supertriangle
// This is a triangle which encompasses all the sample points.
// The supertriangle coordinates are added to the end of the
// vertex list. The supertriangle is the first triangle in
// the triangle list.
float sv[3*3];
sv[0] = xmid - 20 * dmax;
sv[1] = 0;
sv[2] = ymid - dmax;
sv[3] = xmid;
sv[4] = 0;
sv[5] = ymid + 20 * dmax;
sv[6] = xmid + 20 * dmax;
sv[7] = 0;
sv[8] = ymid - dmax;
tris.push(-3);
tris.push(-2);
tris.push(-1);
tris.push(0); // not completed
for (int i = 0; i < nv; ++i)
{
const float xp = verts[idx[i]*3+0];
const float yp = verts[idx[i]*3+2];
edges.resize(0);
// Set up the edge buffer.
// If the point (xp,yp) lies inside the circumcircle then the
// three edges of that triangle are added to the edge buffer
// and that triangle is removed.
for (int j = 0; j < tris.size()/4; ++j)
{
int* t = &tris[j*4];
if (t[3]) // completed?
continue;
const float* v1 = t[0] < 0 ? &sv[(t[0]+3)*3] : &verts[idx[t[0]]*3];
const float* v2 = t[1] < 0 ? &sv[(t[1]+3)*3] : &verts[idx[t[1]]*3];
const float* v3 = t[2] < 0 ? &sv[(t[2]+3)*3] : &verts[idx[t[2]]*3];
float xc,yc,rsqr;
int inside = circumCircle(xp,yp, v1[0],v1[2], v2[0],v2[2], v3[0],v3[2], xc,yc,rsqr);
if (xc < xp && rcSqr(xp-xc) > rsqr)
t[3] = 1;
if (inside)
{
// Collect triangle edges.
edges.push(t[0]);
edges.push(t[1]);
edges.push(t[1]);
edges.push(t[2]);
edges.push(t[2]);
edges.push(t[0]);
// Remove triangle j.
t[0] = tris[tris.size()-4];
t[1] = tris[tris.size()-3];
t[2] = tris[tris.size()-2];
t[3] = tris[tris.size()-1];
tris.resize(tris.size()-4);
j--;
}
}
// Remove duplicate edges.
const int ne = edges.size()/2;
for (int j = 0; j < ne-1; ++j)
{
for (int k = j+1; k < ne; ++k)
{
// Dupe?, make null.
if ((edges[j*2+0] == edges[k*2+1]) && (edges[j*2+1] == edges[k*2+0]))
{
edges[j*2+0] = 0;
edges[j*2+1] = 0;
edges[k*2+0] = 0;
edges[k*2+1] = 0;
}
}
}
// Form new triangles for the current point
// Skipping over any null.
// All edges are arranged in clockwise order.
for (int j = 0; j < ne; ++j)
{
if (edges[j*2+0] == edges[j*2+1]) continue;
tris.push(edges[j*2+0]);
tris.push(edges[j*2+1]);
tris.push(i);
tris.push(0); // not completed
}
}
// Remove triangles with supertriangle vertices
// These are triangles which have a vertex number greater than nv
for (int i = 0; i < tris.size()/4; ++i)
{
int* t = &tris[i*4];
if (t[0] < 0 || t[1] < 0 || t[2] < 0)
{
t[0] = tris[tris.size()-4];
t[1] = tris[tris.size()-3];
t[2] = tris[tris.size()-2];
t[3] = tris[tris.size()-1];
tris.resize(tris.size()-4);
i--;
}
}
// Triangle vertices are pointing to sorted vertices, remap indices.
for (int i = 0; i < tris.size(); ++i)
tris[i] = idx[tris[i]];
}
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 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);
// 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;
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)
{
// 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);
rcSwap(in, p1);
if (nvrow < 3) continue;
// find the horizontal bounds in the row
float minX = inrow[0], maxX = inrow[0];
for (int i=1; i<nvrow; ++i)
{
if (minX > inrow[i*3]) minX = inrow[i*3];
if (maxX < inrow[i*3]) maxX = inrow[i*3];
}
int x0 = (int)((minX - bmin[0])*ics);
int x1 = (int)((maxX - bmin[0])*ics);
x0 = rcClamp(x0, 0, w-1);
x1 = rcClamp(x1, 0, w-1);
int nv, 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;
// Calculate min and max of the span.
float smin = p1[1], smax = p1[1];
for (int i = 1; i < nv; ++i)
{
smin = rcMin(smin, p1[i*3+1]);
smax = rcMax(smax, p1[i*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;
// 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))
return false;
}
}
return true;
}
/// @par
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int walkableHeight,
rcHeightfieldLayerSet& lset)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_LAYERS);
rcScopedDelete<unsigned short> spanBuf4 = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP);
if (!spanBuf4)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'spanBuf4' (%d).", chf.spanCount*4);
return false;
}
ctx->startTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
unsigned short* srcReg = spanBuf4;
if (!rcGatherRegionsNoFilter(ctx, chf, borderSize, spanBuf4))
return false;
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
const int w = chf.width;
const int h = chf.height;
const int nreg = chf.maxRegions + 1;
rcLayerRegion* regions = (rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nreg, RC_ALLOC_TEMP);
if (!regions)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regions' (%d).", nreg);
return false;
}
// Construct regions
memset(regions, 0, sizeof(rcLayerRegion)*nreg);
for (int i = 0; i < nreg; ++i)
{
regions[i].layerId = (unsigned short)i;
regions[i].ymax = 0;
regions[i].ymin = 0xffff;
}
// Find region neighbours and overlapping regions.
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)
{
const rcCompactSpan& s = chf.spans[i];
const unsigned short ri = srcReg[i];
if (ri == 0 || ri >= nreg)
continue;
rcLayerRegion& reg = regions[ri];
reg.ymin = rcMin(reg.ymin, s.y);
reg.ymax = rcMax(reg.ymax, s.y);
reg.hasSpans = true;
// Collect all region layers.
for (int j = (int)c.index; j < ni; ++j)
{
unsigned short nri = srcReg[j];
if (nri == 0 || nri >= nreg)
continue;
if (nri != ri)
{
addUniqueLayerRegion(reg, nri);
}
}
// Have found contour
if (reg.connections.size() > 0)
continue;
// Check if this cell is next to a border.
int ndir = -1;
for (int dir = 0; dir < 4; ++dir)
{
if (isSolidEdge(chf, srcReg, x, y, i, dir))
{
ndir = dir;
break;
}
}
if (ndir != -1)
{
// The cell is at border.
// Walk around the contour to find all the neighbors.
walkContour(x, y, i, ndir, chf, srcReg, reg.connections);
}
}
}
}
// Create 2D layers from regions.
unsigned short layerId = 0;
rcIntArray stack(64);
for (int i = 0; i < nreg; i++)
{
rcLayerRegion& reg = regions[i];
if (reg.visited || !reg.hasSpans)
continue;
reg.layerId = layerId;
reg.visited = true;
reg.base = true;
stack.resize(0);
stack.push(i);
while (stack.size())
{
int ri = stack.pop();
rcLayerRegion& creg = regions[ri];
for (int j = 0; j < creg.connections.size(); j++)
{
const unsigned short nei = (unsigned short)creg.connections[j];
if (nei & RC_BORDER_REG)
continue;
rcLayerRegion& regn = regions[nei];
// Skip already visited.
if (regn.visited)
continue;
// Skip if the neighbor is overlapping root region.
if (reg.layers.contains(nei))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(reg.ymin, regn.ymin);
const int ymax = rcMin(reg.ymax, regn.ymax);
if ((ymax - ymin) >= 255)
continue;
// visit
stack.push(nei);
regn.visited = true;
regn.layerId = layerId;
// add layers to root
for (int k = 0; k < regn.layers.size(); k++)
addUniqueLayerRegion(reg, regn.layers[k]);
reg.ymin = rcMin(reg.ymin, regn.ymin);
reg.ymax = rcMax(reg.ymax, regn.ymax);
}
}
layerId++;
}
// Merge non-overlapping regions that are close in height.
const unsigned short mergeHeight = (unsigned short)walkableHeight * 4;
for (int i = 0; i < nreg; i++)
{
rcLayerRegion& ri = regions[i];
if (!ri.base) continue;
unsigned short newId = ri.layerId;
for (;;)
{
unsigned short oldId = 0xffff;
for (int j = 0; j < nreg; j++)
{
if (i == j) continue;
rcLayerRegion& rj = regions[j];
if (!rj.base) continue;
// Skip if the regions are not close to each other.
if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(ri.ymin, rj.ymin);
const int ymax = rcMin(ri.ymax, rj.ymax);
if ((ymax - ymin) >= 255)
continue;
// Make sure that there is no overlap when mergin 'ri' and 'rj'.
bool overlap = false;
// Iterate over all regions which have the same layerId as 'rj'
for (int k = 0; k < nreg; ++k)
{
if (regions[k].layerId != rj.layerId)
continue;
// Check if region 'k' is overlapping region 'ri'
// Index to 'regs' is the same as region id.
if (ri.layers.contains(k))
{
overlap = true;
break;
}
}
// Cannot merge of regions overlap.
if (overlap)
continue;
// Can merge i and j.
oldId = rj.layerId;
break;
}
// Could not find anything to merge with, stop.
if (oldId == 0xffff)
break;
// Merge
for (int j = 0; j < nreg; ++j)
{
rcLayerRegion& rj = regions[j];
if (rj.layerId == oldId)
{
rj.base = 0;
// Remap layerIds.
rj.layerId = newId;
// Add overlaid layers from 'rj' to 'ri'.
for (int k = 0; k < rj.layers.size(); ++k)
addUniqueLayerRegion(ri, rj.layers[k]);
// Update height bounds.
ri.ymin = rcMin(ri.ymin, rj.ymin);
ri.ymax = rcMax(ri.ymax, rj.ymax);
}
}
}
}
// Compress layer Ids.
for (int i = 0; i < nreg; ++i)
{
regions[i].remap = regions[i].hasSpans;
if (!regions[i].hasSpans)
{
regions[i].layerId = 0xffff;
}
}
unsigned short maxLayerId = 0;
for (int i = 0; i < nreg; ++i)
{
if (!regions[i].remap)
continue;
unsigned short oldId = regions[i].layerId;
unsigned short newId = maxLayerId;
for (int j = i; j < nreg; ++j)
{
if (regions[j].layerId == oldId)
{
regions[j].layerId = newId;
regions[j].remap = false;
}
}
maxLayerId++;
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
if (maxLayerId == 0)
{
ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
return true;
}
// Create layers.
rcAssert(lset.layers == 0);
const int lw = w - borderSize*2;
const int lh = h - borderSize*2;
// Build contracted bbox for layers.
float bmin[3], bmax[3];
rcVcopy(bmin, chf.bmin);
rcVcopy(bmax, chf.bmax);
bmin[0] += borderSize*chf.cs;
bmin[2] += borderSize*chf.cs;
bmax[0] -= borderSize*chf.cs;
bmax[2] -= borderSize*chf.cs;
lset.nlayers = (int)maxLayerId;
lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
if (!lset.layers)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' (%d).", lset.nlayers);
return false;
}
memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
// Store layers.
for (int i = 0; i < lset.nlayers; ++i)
{
unsigned short curId = (unsigned short)i;
// Allocate memory for the current layer.
rcHeightfieldLayer* layer = &lset.layers[i];
memset(layer, 0, sizeof(rcHeightfieldLayer));
const int gridSize = sizeof(unsigned char)*lw*lh;
layer->heights = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->heights)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' (%d).", gridSize);
return false;
}
memset(layer->heights, 0xff, gridSize);
layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->areas)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' (%d).", gridSize);
return false;
}
memset(layer->areas, 0, gridSize);
layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->cons)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' (%d).", gridSize);
return false;
}
memset(layer->cons, 0, gridSize);
// Find layer height bounds.
int hmin = 0, hmax = 0;
for (int j = 0; j < nreg; ++j)
{
if (regions[j].base && regions[j].layerId == curId)
{
hmin = (int)regions[j].ymin;
hmax = (int)regions[j].ymax;
}
}
layer->width = lw;
layer->height = lh;
layer->cs = chf.cs;
layer->ch = chf.ch;
// Adjust the bbox to fit the heighfield.
rcVcopy(layer->bmin, bmin);
rcVcopy(layer->bmax, bmax);
layer->bmin[1] = bmin[1] + hmin*chf.ch;
layer->bmax[1] = bmin[1] + hmax*chf.ch;
layer->hmin = hmin;
layer->hmax = hmax;
// Update usable data region.
layer->minx = layer->width;
layer->maxx = 0;
layer->miny = layer->height;
layer->maxy = 0;
// Copy height and area from compact heighfield.
for (int y = 0; y < lh; ++y)
{
for (int x = 0; x < lw; ++x)
{
const int cx = borderSize+x;
const int cy = borderSize+y;
const rcCompactCell& c = chf.cells[cx+cy*w];
for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
{
const rcCompactSpan& s = chf.spans[j];
// Skip unassigned regions.
if (srcReg[j] == 0 || srcReg[j] >= nreg)
continue;
// Skip of does not belong to current layer.
unsigned short lid = regions[srcReg[j]].layerId;
if (lid != curId)
continue;
// Update data bounds.
layer->minx = rcMin(layer->minx, x);
layer->maxx = rcMax(layer->maxx, x);
layer->miny = rcMin(layer->miny, y);
layer->maxy = rcMax(layer->maxy, y);
// Store height and area type.
const int idx = x+y*lw;
layer->heights[idx] = (unsigned char)(s.y - hmin);
layer->areas[idx] = chf.areas[j];
// Check connection.
unsigned char portal = 0;
unsigned char con = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
unsigned short alid = (srcReg[ai] < nreg) ? regions[srcReg[ai]].layerId : 0xffff;
// Portal mask
if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
{
portal |= (unsigned char)(1<<dir);
// Update height so that it matches on both sides of the portal.
const rcCompactSpan& as = chf.spans[ai];
if (as.y > hmin)
layer->heights[idx] = rcMax(layer->heights[idx], (unsigned char)(as.y - hmin));
}
// Valid connection mask
if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
{
const int nx = ax - borderSize;
const int ny = ay - borderSize;
if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
con |= (unsigned char)(1<<dir);
}
}
}
layer->cons[idx] = (portal << 4) | con;
}
}
}
if (layer->minx > layer->maxx)
layer->minx = layer->maxx = 0;
if (layer->miny > layer->maxy)
layer->miny = layer->maxy = 0;
}
ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
return true;
}
bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
rcHeightfield& hf, rcCompactHeightfield& chf)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
const int w = hf.width;
const int h = hf.height;
const int spanCount = rcGetHeightFieldSpanCount(ctx, hf);
// 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)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", w*h);
return false;
}
memset(chf.cells, 0, sizeof(rcCompactCell)*w*h);
chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*spanCount, RC_ALLOC_PERM);
if (!chf.spans)
{
ctx->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)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.areas' (%d)", spanCount);
return false;
}
memset(chf.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)
{
for (int x = 0; x < w; ++x)
{
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)
{
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;
}
}
}
// Find neighbour connections.
const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
int tooHighNeighbour = 0;
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)
{
rcCompactSpan& s = chf.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);
// First check that the neighbour cell is in bounds.
if (nx < 0 || ny < 0 || nx >= w || ny >= h)
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 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);
// 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)
{
// Mark direction as walkable.
const int b = k - (int)nc.index;
if (b < 0 || b > MAX_LAYERS)
{
tooHighNeighbour = rcMax(tooHighNeighbour, b);
continue;
}
rcSetCon(s, dir, b);
break;
}
}
}
}
}
}
if (tooHighNeighbour > MAX_LAYERS)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)",
tooHighNeighbour, MAX_LAYERS);
}
ctx->stopTimer(RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
return true;
}
static bool SplitAndStoreLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int walkableHeight,
unsigned short* srcReg, rcLayerRegionMonotone* regs, const int nregs,
rcHeightfieldLayerSet& lset)
{
// Create 2D layers from regions.
unsigned short layerId = 0;
rcIntArray stack(64);
stack.resize(0);
for (int i = 0; i < nregs; ++i)
{
rcLayerRegionMonotone& root = regs[i];
// Skip already visited.
if (root.layerId != 0xffff)
continue;
// Start search.
root.layerId = layerId;
root.base = 1;
stack.push(i);
while (stack.size())
{
// Pop front
rcLayerRegionMonotone& reg = regs[stack[0]];
for (int j = 1; j < stack.size(); ++j)
stack[j - 1] = stack[j];
stack.pop();
const int nneis = (int)reg.neis.size();
for (int j = 0; j < nneis; ++j)
{
const int nei = reg.neis[j];
rcLayerRegionMonotone& regn = regs[nei];
// Skip already visited.
if (regn.layerId != 0xffff)
continue;
// Skip if the neighbour is overlapping root region.
if (root.layers.contains(nei))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(root.ymin, regn.ymin);
const int ymax = rcMin(root.ymax, regn.ymax);
if ((ymax - ymin) >= 255)
continue;
// Deepen
stack.push(nei);
// Mark layer id
regn.layerId = layerId;
// Merge current layers to root.
for (int k = 0; k < regn.layers.size(); ++k)
addUnique(root.layers, regn.layers[k]);
root.ymin = rcMin(root.ymin, regn.ymin);
root.ymax = rcMax(root.ymax, regn.ymax);
}
}
layerId++;
}
// Merge non-overlapping regions that are close in height.
const unsigned short mergeHeight = (unsigned short)walkableHeight * 4;
for (int i = 0; i < nregs; ++i)
{
rcLayerRegionMonotone& ri = regs[i];
if (!ri.base) continue;
unsigned short newId = ri.layerId;
for (;;)
{
unsigned short oldId = 0xffff;
for (int j = 0; j < nregs; ++j)
{
if (i == j) continue;
rcLayerRegionMonotone& rj = regs[j];
if (!rj.base) continue;
// Skip if the regions are not close to each other.
if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(ri.ymin, rj.ymin);
const int ymax = rcMin(ri.ymax, rj.ymax);
if ((ymax - ymin) >= 255)
continue;
// Make sure that there is no overlap when mergin 'ri' and 'rj'.
bool overlap = false;
// Iterate over all regions which have the same layerId as 'rj'
for (int k = 0; k < nregs; ++k)
{
if (regs[k].layerId != rj.layerId)
continue;
// Check if region 'k' is overlapping region 'ri'
// Index to 'regs' is the same as region id.
if (ri.layers.contains(k))
{
overlap = true;
break;
}
}
// Cannot merge of regions overlap.
if (overlap)
continue;
// Can merge i and j.
oldId = rj.layerId;
break;
}
// Could not find anything to merge with, stop.
if (oldId == 0xffff)
break;
// Merge
for (int j = 0; j < nregs; ++j)
{
rcLayerRegionMonotone& rj = regs[j];
if (rj.layerId == oldId)
{
rj.base = 0;
// Remap layerIds.
rj.layerId = newId;
// Add overlaid layers from 'rj' to 'ri'.
for (int k = 0; k < rj.layers.size(); ++k)
addUnique(ri.layers, rj.layers[k]);
// Update heigh bounds.
ri.ymin = rcMin(ri.ymin, rj.ymin);
ri.ymax = rcMax(ri.ymax, rj.ymax);
}
}
}
}
// Compact layerIds
layerId = 0;
if (nregs < 256)
{
// Compact ids.
unsigned short remap[256];
memset(remap, 0, sizeof(unsigned short)*256);
// Find number of unique regions.
for (int i = 0; i < nregs; ++i)
remap[regs[i].layerId] = 1;
for (int i = 0; i < 256; ++i)
if (remap[i])
remap[i] = layerId++;
// Remap ids.
for (int i = 0; i < nregs; ++i)
regs[i].layerId = remap[regs[i].layerId];
}
else
{
for (int i = 0; i < nregs; ++i)
regs[i].remap = true;
for (int i = 0; i < nregs; ++i)
{
if (!regs[i].remap)
continue;
unsigned short oldId = regs[i].layerId;
unsigned short newId = ++layerId;
for (int j = i; j < nregs; ++j)
{
if (regs[j].layerId == oldId)
{
regs[j].layerId = newId;
regs[j].remap = false;
}
}
}
}
// No layers, return empty.
if (layerId == 0)
{
ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
return true;
}
// Create layers.
rcAssert(lset.layers == 0);
const int w = chf.width;
const int h = chf.height;
const int lw = w - borderSize*2;
const int lh = h - borderSize*2;
// Build contracted bbox for layers.
float bmin[3], bmax[3];
rcVcopy(bmin, chf.bmin);
rcVcopy(bmax, chf.bmax);
bmin[0] += borderSize*chf.cs;
bmin[2] += borderSize*chf.cs;
bmax[0] -= borderSize*chf.cs;
bmax[2] -= borderSize*chf.cs;
lset.nlayers = (int)layerId;
lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
if (!lset.layers)
{
ctx->log(RC_LOG_ERROR, "SplitAndStoreLayerRegions: Out of memory 'layers' (%d).", lset.nlayers);
return false;
}
memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
// Store layers.
for (int i = 0; i < lset.nlayers; ++i)
{
unsigned short curId = (unsigned short)i;
// Allocate memory for the current layer.
rcHeightfieldLayer* layer = &lset.layers[i];
memset(layer, 0, sizeof(rcHeightfieldLayer));
const int gridSize = sizeof(unsigned char)*lw*lh;
layer->heights = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->heights)
{
ctx->log(RC_LOG_ERROR, "SplitAndStoreLayerRegions: Out of memory 'heights' (%d).", gridSize);
return false;
}
memset(layer->heights, 0xff, gridSize);
layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->areas)
{
ctx->log(RC_LOG_ERROR, "SplitAndStoreLayerRegions: Out of memory 'areas' (%d).", gridSize);
return false;
}
memset(layer->areas, 0, gridSize);
layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->cons)
{
ctx->log(RC_LOG_ERROR, "SplitAndStoreLayerRegions: Out of memory 'cons' (%d).", gridSize);
return false;
}
memset(layer->cons, 0, gridSize);
// Find layer height bounds.
int hmin = 0, hmax = 0;
for (int j = 0; j < nregs; ++j)
{
if (regs[j].base && regs[j].layerId == curId)
{
hmin = (int)regs[j].ymin;
hmax = (int)regs[j].ymax;
}
}
layer->width = lw;
layer->height = lh;
layer->cs = chf.cs;
layer->ch = chf.ch;
// Adjust the bbox to fit the heighfield.
rcVcopy(layer->bmin, bmin);
rcVcopy(layer->bmax, bmax);
layer->bmin[1] = bmin[1] + hmin*chf.ch;
layer->bmax[1] = bmin[1] + hmax*chf.ch;
layer->hmin = hmin;
layer->hmax = hmax;
// Update usable data region.
layer->minx = layer->width;
layer->maxx = 0;
layer->miny = layer->height;
layer->maxy = 0;
// Copy height and area from compact heighfield.
for (int y = 0; y < lh; ++y)
{
for (int x = 0; x < lw; ++x)
{
const int cx = borderSize+x;
const int cy = borderSize+y;
const rcCompactCell& c = chf.cells[cx+cy*w];
for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
{
const rcCompactSpan& s = chf.spans[j];
// Skip unassigned regions.
if (srcReg[j] == 0xffff)
continue;
// Skip of does nto belong to current layer.
unsigned short lid = regs[srcReg[j]].layerId;
if (lid != curId)
continue;
// Update data bounds.
layer->minx = rcMin(layer->minx, x);
layer->maxx = rcMax(layer->maxx, x);
layer->miny = rcMin(layer->miny, y);
layer->maxy = rcMax(layer->maxy, y);
// Store height and area type.
const int idx = x+y*lw;
layer->heights[idx] = (unsigned char)(s.y - hmin);
layer->areas[idx] = chf.areas[j];
// Check connection.
unsigned char portal = 0;
unsigned char con = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
unsigned short alid = srcReg[ai] != 0xffff ? regs[srcReg[ai]].layerId : 0xffff;
// Portal mask
if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
{
portal |= (unsigned char)(1<<dir);
// Update height so that it matches on both sides of the portal.
const rcCompactSpan& as = chf.spans[ai];
if (as.y > hmin)
layer->heights[idx] = rcMax(layer->heights[idx], (unsigned char)(as.y - hmin));
}
// Valid connection mask
if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
{
const int nx = ax - borderSize;
const int ny = ay - borderSize;
if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
{
con |= (unsigned char)(1 << dir);
// [UE4: make sure that connections are bidirectional, otherwise contour tracing will stuck in infinite loop]
const int nidx = nx + (ny * lw);
layer->cons[nidx] |= (unsigned char)(1 << ((dir + 2) % 4));
}
}
}
}
layer->cons[idx] |= (portal << 4) | con;
}
}
}
if (layer->minx > layer->maxx)
layer->minx = layer->maxx = 0;
if (layer->miny > layer->maxy)
layer->miny = layer->maxy = 0;
}
return true;
}
