NavMeshGenerator::NavMeshGenerator(rcContext* ctx) :
m_ctx(ctx),
m_keepInterResults(true),
m_totalBuildTimeMs(0),
m_solid(0),
m_chf(0),
m_cset(0),
m_pmesh(0),
m_dmesh(0),
m_navMesh(0)
{
m_cellSize = 0.3f;
m_cellHeight = 0.2f;
m_agentHeight = 2.0f;
m_agentRadius = 0.6f;
m_agentMaxClimb = 0.9f;
m_agentMaxSlope = 45.0f;
m_regionMinSize = 8;
m_regionMergeSize = 20;
m_edgeMaxLen = 12.0f;
m_edgeMaxError = 1.3f;
m_vertsPerPoly = 6.0f;
m_detailSampleDist = 6.0f;
m_detailSampleMaxError = 1.0f;
m_partitionType = 0; //SAMPLE_PARTITION_WATERSHED;
m_navQuery = dtAllocNavMeshQuery();
m_crowd = dtAllocCrowd();
}
void CCollideInterface::ActivateMap(uint32 mapid)
{
m_navmaplock.Acquire();
std::map<uint32, NavMeshData*>::iterator itr = m_navdata.find(mapid);
if(itr != m_navdata.end())
++itr->second->refs;
else
{
//load params
char filename[1024];
sprintf(filename, "mmaps/%03i.mmap", mapid);
FILE* f = fopen(filename, "rb");
if(f == NULL)
{
m_navmaplock.Release();
return;
}
dtNavMeshParams params;
fread(¶ms, sizeof(params), 1, f);
fclose(f);
NavMeshData* d = new NavMeshData;
d->mesh = dtAllocNavMesh();
d->query = dtAllocNavMeshQuery();
d->mesh->init(¶ms);
d->query->init(d->mesh, 1024);
d->AddRef();
m_navdata.insert(std::make_pair(mapid, d));
}
m_navmaplock.Release();
}
dtCrowdQuery::dtCrowdQuery(unsigned maxAgents, const dtCrowdAgent* agents, const dtCrowdAgentEnvironment* env)
: m_agents(agents),
m_maxAgents(maxAgents),
m_agentsEnv(env)
{
m_navMeshQuery = dtAllocNavMeshQuery();
}
void NavMesh::InitMesh()
{
// common setting
m_cellSize = 0.3f;
m_cellHeight = 0.2f;
m_agentHeight = 2.0f;
m_agentRadius = 0.6f;
m_agentMaxClimb = 0.9f;
m_agentMaxSlope = 45.0f;
m_regionMinSize = 8;
m_regionMergeSize = 20;
m_edgeMaxLen = 12.0f;
m_edgeMaxError = 1.3f;
m_vertsPerPoly = 6.0f;
m_detailSampleDist = 6.0f;
m_detailSampleMaxError = 1.0f;
//
m_geom = 0;
m_navMesh = 0;
m_navQuery = dtAllocNavMeshQuery();
m_crowd = dtAllocCrowd();
m_tileCache = 0;
m_maxTiles = 0;
m_maxPolysPerTile = 0;
m_tileSize = 48;
m_talloc = new LinearAllocator(32000);
m_tcomp = new FastLZCompressor;
m_tmproc = new MeshProcess;
}
bool nav_mesh::load(const char* file)
{
mesh_ = loadAll(file);
if (mesh_ == nullptr)
{
return false;
}
query_ = dtAllocNavMeshQuery();
if (query_ == nullptr)
{
return false;
}
dtStatus status = query_->init(mesh_, 2048);
if (dtStatusFailed(status))
{
return false;
}
filter_.setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED);
filter_.setExcludeFlags(0);
filter_.setAreaCost(SAMPLE_POLYAREA_GROUND, 1.0f);
filter_.setAreaCost(SAMPLE_POLYAREA_WATER, 10.0f);
filter_.setAreaCost(SAMPLE_POLYAREA_ROAD, 1.0f);
filter_.setAreaCost(SAMPLE_POLYAREA_DOOR, 1.0f);
filter_.setAreaCost(SAMPLE_POLYAREA_GRASS, 2.0f);
filter_.setAreaCost(SAMPLE_POLYAREA_JUMP, 1.5f);
return true;
}
JNIEXPORT jlong JNICALL Java_ru_mmocore_external_recastnavigation_detour_NavMeshQuery_createContext
(JNIEnv *env, jobject)
{
Classes::initJavaClasses(env);
dtNavMeshQuery *context = dtAllocNavMeshQuery();
return reinterpret_cast<jlong>(context);
}
bool OgreDetourTileCache::initTileCache()
{
// BUILD TileCache
dtFreeTileCache(m_tileCache);
dtStatus status;
m_tileCache = dtAllocTileCache();
if (!m_tileCache)
{
m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not allocate tile cache.");
return false;
}
status = m_tileCache->init(&m_tcparams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status))
{
m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not init tile cache.");
return false;
}
dtFreeNavMesh(m_recast->m_navMesh);
m_recast->m_navMesh = dtAllocNavMesh();
if (!m_recast->m_navMesh)
{
m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not allocate navmesh.");
return false;
}
// Init multi-tile navmesh parameters
dtNavMeshParams params;
memset(¶ms, 0, sizeof(params));
rcVcopy(params.orig, m_tcparams.orig); // Set world-space origin of tile grid
params.tileWidth = m_tileSize*m_tcparams.cs;
params.tileHeight = m_tileSize*m_tcparams.cs;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
status = m_recast->m_navMesh->init(¶ms);
if (dtStatusFailed(status))
{
m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not init navmesh.");
return false;
}
// Init recast navmeshquery with created navmesh (in OgreRecast component)
m_recast->m_navQuery = dtAllocNavMeshQuery();
status = m_recast->m_navQuery->init(m_recast->m_navMesh, 2048);
if (dtStatusFailed(status))
{
m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not init Detour navmesh query");
return false;
}
return true;
}
dtNavMeshQuery* PathFinderManager::getNavQuery() {
dtNavMeshQuery* query = m_navQuery.get();
if (query == NULL) {
query = dtAllocNavMeshQuery();
m_navQuery.set(query);
}
return query;
}
Sample::Sample() :
m_geom(0),
m_navMesh(0),
m_navQuery(0),
m_navMeshDrawFlags(DU_DRAWNAVMESH_OFFMESHCONS|DU_DRAWNAVMESH_CLOSEDLIST),
m_tool(0),
m_ctx(0)
{
resetCommonSettings();
m_navQuery = dtAllocNavMeshQuery();
}
Sample::Sample() :
m_geom(0),
m_navMesh(0),
m_navQuery(0),
m_crowd(0),
m_ctx(0)
{
resetCommonSettings();
m_navQuery = dtAllocNavMeshQuery();
m_crowd = dtAllocCrowd();
}
Sample::Sample() :
m_geom(0),
m_navMesh(0),
m_navQuery(0),
m_crowd(0),
m_navMeshDrawFlags(DU_DRAWNAVMESH_OFFMESHCONS|DU_DRAWNAVMESH_CLOSEDLIST),
m_tool(0),
m_ctx(0)
{
resetCommonSettings();
m_navQuery = dtAllocNavMeshQuery();
m_crowd = dtAllocCrowd();
for (int i = 0; i < MAX_TOOLS; i++)
m_toolStates[i] = 0;
}
bool dtPathQueue::init(const int maxPathSize, const int maxSearchNodeCount, dtNavMesh* nav)
{
purge();
m_navquery = dtAllocNavMeshQuery();
if (!m_navquery)
return false;
if (dtStatusFailed(m_navquery->init(nav, maxSearchNodeCount)))
return false;
m_maxPathSize = maxPathSize;
for (int i = 0; i < MAX_QUEUE; ++i)
{
m_queue[i].ref = DT_PATHQ_INVALID;
m_queue[i].path = (dtPolyRef*)dtAlloc(sizeof(dtPolyRef)*m_maxPathSize, DT_ALLOC_PERM);
if (!m_queue[i].path)
return false;
}
m_queueHead = 0;
return true;
}
bool NavigationMesh::InitializeQuery()
{
if (!navMesh_ || !node_)
return false;
if (navMeshQuery_)
return true;
navMeshQuery_ = dtAllocNavMeshQuery();
if (!navMeshQuery_)
{
LOGERROR("Could not create navigation mesh query");
return false;
}
if (dtStatusFailed(navMeshQuery_->init(navMesh_, MAX_POLYS)))
{
LOGERROR("Could not init navigation mesh query");
return false;
}
return true;
}
bool NavPath::onAdd()
{
if(!Parent::onAdd())
return false;
if(gEditingMission)
mNetFlags.set(Ghostable);
resize();
addToScene();
if(isServerObject())
{
mQuery = dtAllocNavMeshQuery();
if(!mQuery)
return false;
checkAutoUpdate();
if(!plan())
setProcessTick(true);
}
return true;
}
////////////////// PathInfo //////////////////
PathInfo::PathInfo(const Unit* owner, const float destX, const float destY, const float destZ, bool useStraightPath) : m_pathPolyRefs(NULL),
m_polyLength(0), m_type(PATHFIND_BLANK), m_useStraightPath(useStraightPath), m_sourceUnit(owner),
m_navMesh(NULL), m_navMeshQuery(NULL)
{
PathNode endPoint(destX, destY, destZ);
setEndPosition(endPoint);
float x,y,z;
m_sourceUnit->GetPosition(x, y, z);
PathNode startPoint(x, y, z);
setStartPosition(startPoint);
PATH_DEBUG("++ PathInfo::PathInfo for %u \n", m_sourceUnit->GetGUID());
const Map* map = m_sourceUnit->GetMap();
if (map->IsPathfindingEnabled())
m_navMesh = map->GetNavMesh();
if (m_navMesh)
{
m_navMeshQuery = dtAllocNavMeshQuery();
ASSERT(m_navMeshQuery);
if(DT_SUCCESS != m_navMeshQuery->init(m_navMesh, MESH_MAX_NODES))
{
sLog->outError("%u's PathInfo navMeshQuery failed to init", m_sourceUnit->GetGUID());
return;
}
BuildPolyPath(startPoint, endPoint);
}
else
{
BuildShortcut();
m_type = PathType(PATHFIND_NORMAL | PATHFIND_NOT_USING_PATH);
}
}
/// @par
///
/// May be called more than once to purge and re-initialize the crowd.
bool dtCrowd::init(const int maxAgents, const float maxAgentRadius, dtNavMesh* nav)
{
purge();
m_maxAgents = maxAgents;
m_maxAgentRadius = maxAgentRadius;
dtVset(m_ext, m_maxAgentRadius*2.0f,m_maxAgentRadius*1.5f,m_maxAgentRadius*2.0f);
m_grid = dtAllocProximityGrid();
if (!m_grid)
return false;
if (!m_grid->init(m_maxAgents*4, maxAgentRadius*3))
return false;
m_obstacleQuery = dtAllocObstacleAvoidanceQuery();
if (!m_obstacleQuery)
return false;
if (!m_obstacleQuery->init(6, 8))
return false;
// Init obstacle query params.
memset(m_obstacleQueryParams, 0, sizeof(m_obstacleQueryParams));
for (int i = 0; i < DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS; ++i)
{
dtObstacleAvoidanceParams* params = &m_obstacleQueryParams[i];
params->velBias = 0.4f;
params->weightDesVel = 2.0f;
params->weightCurVel = 0.75f;
params->weightSide = 0.75f;
params->weightToi = 2.5f;
params->horizTime = 2.5f;
params->gridSize = 33;
params->adaptiveDivs = 7;
params->adaptiveRings = 2;
params->adaptiveDepth = 5;
}
// Allocate temp buffer for merging paths.
m_maxPathResult = 256;
m_pathResult = (dtPolyRef*)dtAlloc(sizeof(dtPolyRef)*m_maxPathResult, DT_ALLOC_PERM);
if (!m_pathResult)
return false;
if (!m_pathq.init(m_maxPathResult, MAX_PATHQUEUE_NODES, nav))
return false;
m_agents = (dtCrowdAgent*)dtAlloc(sizeof(dtCrowdAgent)*m_maxAgents, DT_ALLOC_PERM);
if (!m_agents)
return false;
m_activeAgents = (dtCrowdAgent**)dtAlloc(sizeof(dtCrowdAgent*)*m_maxAgents, DT_ALLOC_PERM);
if (!m_activeAgents)
return false;
m_agentAnims = (dtCrowdAgentAnimation*)dtAlloc(sizeof(dtCrowdAgentAnimation)*m_maxAgents, DT_ALLOC_PERM);
if (!m_agentAnims)
return false;
for (int i = 0; i < m_maxAgents; ++i)
{
new(&m_agents[i]) dtCrowdAgent();
m_agents[i].active = 0;
if (!m_agents[i].corridor.init(m_maxPathResult))
return false;
}
for (int i = 0; i < m_maxAgents; ++i)
{
m_agentAnims[i].active = 0;
}
// The navquery is mostly used for local searches, no need for large node pool.
m_navquery = dtAllocNavMeshQuery();
if (!m_navquery)
return false;
if (dtStatusFailed(m_navquery->init(nav, MAX_COMMON_NODES)))
return false;
return true;
}
qboolean BotSetupNav( const botClass_t *botClass, qhandle_t *navHandle )
{
cvar_t *maxNavNodes = Cvar_Get( "bot_maxNavNodes", "4096", CVAR_ARCHIVE | CVAR_LATCH );
if ( !numNavData )
{
vec3_t clearVec = { 0, 0, 0 };
dtAllocSetCustom( dtAllocCustom, dtFreeCustom );
for ( int i = 0; i < MAX_CLIENTS; i++ )
{
// should only init the corridor once
if ( !agents[ i ].corridor.getPath() )
{
if ( !agents[ i ].corridor.init( MAX_BOT_PATH ) )
{
return qfalse;
}
}
agents[ i ].corridor.reset( 0, clearVec );
agents[ i ].clientNum = i;
agents[ i ].needReplan = true;
agents[ i ].nav = NULL;
agents[ i ].offMesh = false;
memset( agents[ i ].routeResults, 0, sizeof( agents[ i ].routeResults ) );
}
#ifndef DEDICATED
NavEditInit();
#endif
}
if ( numNavData == MAX_NAV_DATA )
{
Com_Printf( "^3ERROR: maximum number of navigation meshes exceeded\n" );
return qfalse;
}
NavData_t *nav = &BotNavData[ numNavData ];
const char *filename = botClass->name;
if ( !BotLoadNavMesh( filename, *nav ) )
{
BotShutdownNav();
return qfalse;
}
Q_strncpyz( nav->name, botClass->name, sizeof( nav->name ) );
nav->query = dtAllocNavMeshQuery();
if ( !nav->query )
{
Com_Printf( "Could not allocate Detour Navigation Mesh Query for navmesh %s\n", filename );
BotShutdownNav();
return qfalse;
}
if ( dtStatusFailed( nav->query->init( nav->mesh, maxNavNodes->integer ) ) )
{
Com_Printf( "Could not init Detour Navigation Mesh Query for navmesh %s\n", filename );
BotShutdownNav();
return qfalse;
}
nav->filter.setIncludeFlags( botClass->polyFlagsInclude );
nav->filter.setExcludeFlags( botClass->polyFlagsExclude );
*navHandle = numNavData;
numNavData++;
return qtrue;
}
DetourInterface::DetourInterface(rcPolyMesh* polyMesh,rcPolyMeshDetail* detailMesh,rcdtConfig& config)
: _navMesh(nullptr),
_navQuery(nullptr),
_isMeshBuilt(false)
{
detourCleanup();
unsigned char* navData = 0;
int navDataSize = 0;
if(config.recastConfig->maxVertsPerPoly > DT_VERTS_PER_POLYGON)
{
return;
}
#if defined(DEBUG) || defined(_DEBUG)
std::cout << "Detour - Stage 1" << std::endl;
#endif
for(int i = 0; i < polyMesh->npolys; ++i)
{
if(polyMesh->areas[i] == RC_WALKABLE_AREA)
{
polyMesh->areas[i] = DT_PA_GROUND;
polyMesh->flags[i] = DT_PF_WALK;
}
}
dtNavMeshCreateParams params;
memset(¶ms,0,sizeof(params));
params.verts = polyMesh->verts;
params.vertCount = polyMesh->nverts;
params.polys = polyMesh->polys;
params.polyAreas = polyMesh->areas;
params.polyFlags = polyMesh->flags;
params.polyCount = polyMesh->npolys;
params.nvp = polyMesh->nvp;
params.detailMeshes = detailMesh->meshes;
params.detailVerts = detailMesh->verts;
params.detailVertsCount = detailMesh->nverts;
params.detailTris = detailMesh->tris;
params.detailTriCount = detailMesh->ntris;
//offmesh connections are not implemented. I don't even know what they are!
params.offMeshConCount = 0;
params.walkableHeight = config.userConfig->getAgentHeight();
params.walkableRadius = config.userConfig->getAgentRadius();
params.walkableClimb = config.userConfig->getAgentMaxClimb();
params.buildBvTree = true;
rcVcopy(params.bmin, config.recastConfig->bmin);
rcVcopy(params.bmax, config.recastConfig->bmax);
params.cs = config.recastConfig->cs;
params.ch = config.recastConfig->ch;
#if defined(DEBUG) || defined(_DEBUG)
std::cout << "Detour - Stage 2" << std::endl;
#endif
if(!dtCreateNavMeshData(¶ms,&navData,&navDataSize))
{
std::cout << "Error! Detour - could not build navmesh!" << std::endl;
std::cout << " - " << params.cs << std::endl;
std::cout << " - " << params.ch << std::endl;
std::cout << " - " << params.walkableRadius << std::endl;
//_isMeshBuilt = false;
return;
}
#if defined(DEBUG) || defined(_DEBUG)
std::cout << "Detour - Stage 3" << std::endl;
#endif
_navMesh = dtAllocNavMesh();
if(!_navMesh)
{
dtFree(_navMesh);
std::cout << "Error! Detour - could not create Detour navmesh!" << std::endl;
return;
}
#if defined(DEBUG) || defined(_DEBUG)
std::cout << "Detour - Stage 4" << std::endl;
#endif
dtStatus status;
status = _navMesh->init(navData,navDataSize,DT_TILE_FREE_DATA);
if(dtStatusFailed(status))
{
dtFree(navData);
std::cout << "Error! Could not initialize Detour NavMesh." << std::endl;
return;
}
#if defined(DEBUG) || defined(_DEBUG)
std::cout << "Detour - Stage 5" << std::endl;
#endif
_navQuery = dtAllocNavMeshQuery();
status = _navQuery->init(_navMesh,2048);
if(dtStatusFailed(status))
{
std::cout << "Error! Detour - could not initialize Detour navmesh query." << std::endl;
return;
}
_isMeshBuilt = true;
}
/// @par
///
/// May be called more than once to purge and re-initialize the crowd.
bool dtCrowd::init(const int maxAgents, const float maxAgentRadius, dtNavMesh* nav)
{
purge();
m_maxAgents = maxAgents;
m_maxAgentRadius = maxAgentRadius;
m_numActiveAgents = 0;
dtVset(m_ext, m_maxAgentRadius*2.0f,m_maxAgentRadius*1.5f,m_maxAgentRadius*2.0f);
m_grid = dtAllocProximityGrid();
if (!m_grid)
return false;
if (!m_grid->init(m_maxAgents*4, maxAgentRadius*3))
return false;
// [UE4] moved avoidance query init to separate function
// Allocate temp buffer for merging paths.
m_maxPathResult = 256;
m_pathResult = (dtPolyRef*)dtAlloc(sizeof(dtPolyRef)*m_maxPathResult, DT_ALLOC_PERM);
if (!m_pathResult)
return false;
if (!m_pathq.init(m_maxPathResult, MAX_PATHQUEUE_NODES, nav))
return false;
m_agents = (dtCrowdAgent*)dtAlloc(sizeof(dtCrowdAgent)*m_maxAgents, DT_ALLOC_PERM);
if (!m_agents)
return false;
m_activeAgents = (dtCrowdAgent**)dtAlloc(sizeof(dtCrowdAgent*)*m_maxAgents, DT_ALLOC_PERM);
if (!m_activeAgents)
return false;
m_agentAnims = (dtCrowdAgentAnimation*)dtAlloc(sizeof(dtCrowdAgentAnimation)*m_maxAgents, DT_ALLOC_PERM);
if (!m_agentAnims)
return false;
for (int i = 0; i < m_maxAgents; ++i)
{
new(&m_agents[i]) dtCrowdAgent();
m_agents[i].active = 0;
if (!m_agents[i].corridor.init(m_maxPathResult))
return false;
}
for (int i = 0; i < m_maxAgents; ++i)
{
m_agentAnims[i].active = 0;
}
for (int i = 0; i < DT_MAX_AREAS; i++)
{
m_raycastFilter.setAreaCost(i, DT_UNWALKABLE_POLY_COST);
}
// The navquery is mostly used for local searches, no need for large node pool.
m_navquery = dtAllocNavMeshQuery();
if (!m_navquery)
return false;
if (dtStatusFailed(m_navquery->init(nav, MAX_COMMON_NODES)))
return false;
return true;
}
bool NavMesh::loadNavMeshFile()
{
auto data = FileUtils::getInstance()->getDataFromFile(_navFilePath);
if (data.isNull()) return false;
// Read header.
unsigned int offset = 0;
TileCacheSetHeader header = *((TileCacheSetHeader*)(data.getBytes() + offset));
offset += sizeof(TileCacheSetHeader);
if (header.magic != TILECACHESET_MAGIC)
{
return false;
}
if (header.version != TILECACHESET_VERSION)
{
return false;
}
_navMesh = dtAllocNavMesh();
if (!_navMesh)
{
return false;
}
dtStatus status = _navMesh->init(&header.meshParams);
if (dtStatusFailed(status))
{
return false;
}
_tileCache = dtAllocTileCache();
if (!_tileCache)
{
return false;
}
_allocator = new LinearAllocator(32000);
_compressor = new FastLZCompressor;
_meshProcess = new MeshProcess(_geomData);
status = _tileCache->init(&header.cacheParams, _allocator, _compressor, _meshProcess);
if (dtStatusFailed(status))
{
return false;
}
// Read tiles.
for (int i = 0; i < header.numTiles; ++i)
{
TileCacheTileHeader tileHeader = *((TileCacheTileHeader*)(data.getBytes() + offset));
offset += sizeof(TileCacheTileHeader);
if (!tileHeader.tileRef || !tileHeader.dataSize)
break;
unsigned char* tileData = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
if (!tileData) break;
memcpy(tileData, (data.getBytes() + offset), tileHeader.dataSize);
offset += tileHeader.dataSize;
dtCompressedTileRef tile = 0;
_tileCache->addTile(tileData, tileHeader.dataSize, DT_COMPRESSEDTILE_FREE_DATA, &tile);
if (tile)
_tileCache->buildNavMeshTile(tile, _navMesh);
}
//create crowed
_crowed = dtAllocCrowd();
_crowed->init(MAX_AGENTS, header.cacheParams.walkableRadius, _navMesh);
//create NavMeshQuery
_navMeshQuery = dtAllocNavMeshQuery();
_navMeshQuery->init(_navMesh, 2048);
_agentList.assign(MAX_AGENTS, nullptr);
_obstacleList.assign(header.cacheParams.maxObstacles, nullptr);
//duDebugDrawNavMesh(&_debugDraw, *_navMesh, DU_DRAWNAVMESH_OFFMESHCONS);
return true;
}
bool OgreDetourTileCache::loadAll(Ogre::String filename)
{
FILE* fp = fopen(filename.data(), "rb");
if (!fp) {
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). Could not open file.");
return false;
}
// Read header.
TileCacheSetHeader header;
fread(&header, sizeof(TileCacheSetHeader), 1, fp);
if (header.magic != TILECACHESET_MAGIC)
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). File does not appear to contain valid tilecache data.");
return false;
}
if (header.version != TILECACHESET_VERSION)
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). File contains a different version of the tilecache data format ("+Ogre::StringConverter::toString(header.version)+" instead of "+Ogre::StringConverter::toString(TILECACHESET_VERSION)+").");
return false;
}
m_recast->m_navMesh = dtAllocNavMesh();
if (!m_recast->m_navMesh)
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). Could not allocate navmesh.");
return false;
}
dtStatus status = m_recast->m_navMesh->init(&header.meshParams);
if (dtStatusFailed(status))
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). Could not init navmesh.");
return false;
}
m_tileCache = dtAllocTileCache();
if (!m_tileCache)
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). Could not allocate tilecache.");
return false;
}
status = m_tileCache->init(&header.cacheParams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status))
{
fclose(fp);
Ogre::LogManager::getSingletonPtr()->logMessage("Error: OgreDetourTileCache::loadAll("+filename+"). Could not init tilecache.");
return false;
}
memcpy(&m_cfg, &header.recastConfig, sizeof(rcConfig));
// Read tiles.
for (int i = 0; i < header.numTiles; ++i)
{
TileCacheTileHeader tileHeader;
fread(&tileHeader, sizeof(tileHeader), 1, fp);
if (!tileHeader.tileRef || !tileHeader.dataSize)
break;
unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
if (!data) break;
memset(data, 0, tileHeader.dataSize);
fread(data, tileHeader.dataSize, 1, fp);
dtCompressedTileRef tile = 0;
m_tileCache->addTile(data, tileHeader.dataSize, DT_COMPRESSEDTILE_FREE_DATA, &tile);
if (tile)
m_tileCache->buildNavMeshTile(tile, m_recast->m_navMesh);
}
fclose(fp);
// Init recast navmeshquery with created navmesh (in OgreRecast component)
m_recast->m_navQuery = dtAllocNavMeshQuery();
m_recast->m_navQuery->init(m_recast->m_navMesh, 2048);
// Config
// TODO handle this nicer, also inputGeom is not inited, making some functions crash
m_cellSize = m_cfg.cs;
m_tileSize = m_cfg.tileSize;
// cache bounding box
const float* bmin = m_cfg.bmin;
const float* bmax = m_cfg.bmax;
// Copy loaded config back to recast module
memcpy(&m_recast->m_cfg, &m_cfg, sizeof(rcConfig));
m_tileSize = m_cfg.tileSize;
m_cellSize = m_cfg.cs;
m_tcparams = header.cacheParams;
// Determine grid size (number of tiles) based on bounding box and grid cell size
int gw = 0, gh = 0;
rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh); // Calculates total size of voxel grid
const int ts = m_tileSize;
const int tw = (gw + ts-1) / ts; // Tile width
const int th = (gh + ts-1) / ts; // Tile height
m_tw = tw;
m_th = th;
Ogre::LogManager::getSingletonPtr()->logMessage("Total Voxels: "+Ogre::StringConverter::toString(gw) + " x " + Ogre::StringConverter::toString(gh));
Ogre::LogManager::getSingletonPtr()->logMessage("Tilesize: "+Ogre::StringConverter::toString(m_tileSize)+" Cellsize: "+Ogre::StringConverter::toString(m_cellSize));
Ogre::LogManager::getSingletonPtr()->logMessage("Tiles: "+Ogre::StringConverter::toString(m_tw)+" x "+Ogre::StringConverter::toString(m_th));
// Max tiles and max polys affect how the tile IDs are caculated.
// There are 22 bits available for identifying a tile and a polygon.
int tileBits = rcMin((int)dtIlog2(dtNextPow2(tw*th*EXPECTED_LAYERS_PER_TILE)), 14);
if (tileBits > 14) tileBits = 14;
int polyBits = 22 - tileBits;
m_maxTiles = 1 << tileBits;
m_maxPolysPerTile = 1 << polyBits;
Ogre::LogManager::getSingletonPtr()->logMessage("Max Tiles: " + Ogre::StringConverter::toString(m_maxTiles));
Ogre::LogManager::getSingletonPtr()->logMessage("Max Polys: " + Ogre::StringConverter::toString(m_maxPolysPerTile));
// End config ////
buildInitialNavmesh();
return true;
}
bool OgreRecast::NavMeshBuild(InputGeom* input)
{
// TODO: clean up unused variables
m_pLog->logMessage("NavMeshBuild Start");
//
// Step 1. Initialize build config.
//
// Reset build times gathering.
m_ctx->resetTimers();
// Start the build process.
m_ctx->startTimer(RC_TIMER_TOTAL);
//
// Step 2. Rasterize input polygon soup.
//
InputGeom *inputGeom = input;
rcVcopy(m_cfg.bmin, inputGeom->getMeshBoundsMin());
rcVcopy(m_cfg.bmax, inputGeom->getMeshBoundsMax());
rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, &m_cfg.width, &m_cfg.height);
int nverts = inputGeom->getVertCount();
int ntris = inputGeom->getTriCount();
Ogre::Vector3 min; FloatAToOgreVect3(inputGeom->getMeshBoundsMin(), min);
Ogre::Vector3 max; FloatAToOgreVect3(inputGeom->getMeshBoundsMax(), max);
//Ogre::LogManager::getSingletonPtr()->logMessage("Bounds: "+Ogre::StringConverter::toString(min) + " "+ Ogre::StringConverter::toString(max));
m_pLog->logMessage("Building navigation:");
m_pLog->logMessage(" - " + Ogre::StringConverter::toString(m_cfg.width) + " x " + Ogre::StringConverter::toString(m_cfg.height) + " cells");
m_pLog->logMessage(" - " + Ogre::StringConverter::toString(nverts/1000.0f) + " K verts, " + Ogre::StringConverter::toString(ntris/1000.0f) + " K tris");
// Allocate voxel heightfield where we rasterize our input data to.
m_solid = rcAllocHeightfield();
if (!m_solid)
{
m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'solid'.");
return false;
}
if (!rcCreateHeightfield(m_ctx, *m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch))
{
m_pLog->logMessage("ERROR: buildNavigation: Could not create solid heightfield. Possibly it requires too much memory, try setting a higher cellSize and cellHeight value.");
return false;
}
// Allocate array that can hold triangle area types.
// If you have multiple meshes you need to process, allocate
// an array which can hold the max number of triangles you need to process.
m_triareas = new unsigned char[ntris];
if (!m_triareas)
{
m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'm_triareas' ("+Ogre::StringConverter::toString(ntris)+").");
return false;
}
// Find triangles which are walkable based on their slope and rasterize them.
// If your input data is multiple meshes, you can transform them here, calculate
// the are type for each of the meshes and rasterize them.
memset(m_triareas, 0, ntris*sizeof(unsigned char));
rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle, inputGeom->getVerts(), inputGeom->getVertCount(), inputGeom->getTris(), inputGeom->getTriCount(), m_triareas);
rcRasterizeTriangles(m_ctx, inputGeom->getVerts(), inputGeom->getVertCount(), inputGeom->getTris(), m_triareas, inputGeom->getTriCount(), *m_solid, m_cfg.walkableClimb);
if (!m_keepInterResults)
{
delete [] m_triareas;
m_triareas = 0;
}
//
// Step 3. Filter walkables surfaces.
//
// Once all geoemtry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, *m_solid);
rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, *m_solid);
//
// Step 4. Partition walkable surface to simple regions.
//
// Compact the heightfield so that it is faster to handle from now on.
// This will result more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
m_chf = rcAllocCompactHeightfield();
if (!m_chf)
{
m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'chf'.");
return false;
}
if (!rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid, *m_chf))
{
m_pLog->logMessage("ERROR: buildNavigation: Could not build compact data.");
return false;
}
if (!m_keepInterResults)
{
rcFreeHeightField(m_solid);
m_solid = 0;
}
// Erode the walkable area by agent radius.
if (!rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, *m_chf))
{
m_pLog->logMessage("ERROR: buildNavigation: Could not erode walkable areas.");
return false;
}
// TODO implement
// (Optional) Mark areas.
//const ConvexVolume* vols = m_geom->getConvexVolumes();
//for (int i = 0; i < m_geom->getConvexVolumeCount(); ++i)
// rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!rcBuildDistanceField(m_ctx, *m_chf))
{
m_pLog->logMessage("ERROR: buildNavigation: Could not build distance field.");
return false;
}
// Partition the walkable surface into simple regions without holes.
if (!rcBuildRegions(m_ctx, *m_chf, m_cfg.borderSize, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
{
m_pLog->logMessage("ERROR: buildNavigation: Could not build regions.");
return false;
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
m_cset = rcAllocContourSet();
if (!m_cset)
{
m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'cset'.");
return false;
}
if (!rcBuildContours(m_ctx, *m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, *m_cset))
{
m_pLog->logMessage("ERROR: buildNavigation: Could not create contours.");
return false;
}
if (m_cset->nconts == 0)
{
// In case of errors see: http://groups.google.com/group/recastnavigation/browse_thread/thread/a6fbd509859a12c8
// You should probably tweak the parameters
m_pLog->logMessage("ERROR: No contours created (Recast)!");
}
//
// Step 6. Build polygons mesh from contours.
//
// Build polygon navmesh from the contours.
m_pmesh = rcAllocPolyMesh();
if (!m_pmesh)
{
m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'pmesh'.");
return false;
}
if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
{
// Try modifying the parameters. I experienced this error when setting agentMaxClimb too high.
m_pLog->logMessage("ERROR: buildNavigation: Could not triangulate contours.");
return false;
}
//
// Step 7. Create detail mesh which allows to access approximate height on each polygon.
//
m_dmesh = rcAllocPolyMeshDetail();
if (!m_dmesh)
{
m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'pmdtl'.");
return false;
}
if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, *m_dmesh))
{
m_pLog->logMessage("ERROR: buildNavigation: Could not build detail mesh.");
return false;
}
if (!m_keepInterResults)
{
rcFreeCompactHeightfield(m_chf);
m_chf = 0;
rcFreeContourSet(m_cset);
m_cset = 0;
}
// At this point the navigation mesh data is ready, you can access it from m_pmesh.
// See duDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.
//
// (Optional) Step 8. Create Detour data from Recast poly mesh.
//
// The GUI may allow more max points per polygon than Detour can handle.
// Only build the detour navmesh if we do not exceed the limit.
if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
{
m_pLog->logMessage("Detour 1000");
unsigned char* navData = 0;
int navDataSize = 0;
// Update poly flags from areas.
for (int i = 0; i < m_pmesh->npolys; ++i)
{
if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
{
m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK;
}
}
// Set navmesh params
dtNavMeshCreateParams params;
memset(¶ms, 0, sizeof(params));
params.verts = m_pmesh->verts;
params.vertCount = m_pmesh->nverts;
params.polys = m_pmesh->polys;
params.polyAreas = m_pmesh->areas;
params.polyFlags = m_pmesh->flags;
params.polyCount = m_pmesh->npolys;
params.nvp = m_pmesh->nvp;
params.detailMeshes = m_dmesh->meshes;
params.detailVerts = m_dmesh->verts;
params.detailVertsCount = m_dmesh->nverts;
params.detailTris = m_dmesh->tris;
params.detailTriCount = m_dmesh->ntris;
// no off mesh connections yet
m_offMeshConCount=0 ;
params.offMeshConVerts = m_offMeshConVerts ;
params.offMeshConRad = m_offMeshConRads ;
params.offMeshConDir = m_offMeshConDirs ;
params.offMeshConAreas = m_offMeshConAreas ;
params.offMeshConFlags = m_offMeshConFlags ;
params.offMeshConUserID = m_offMeshConId ;
params.offMeshConCount = m_offMeshConCount ;
params.walkableHeight = m_agentHeight;
params.walkableRadius = m_agentRadius;
params.walkableClimb = m_agentMaxClimb;
rcVcopy(params.bmin, m_pmesh->bmin);
rcVcopy(params.bmax, m_pmesh->bmax);
params.cs = m_cfg.cs;
params.ch = m_cfg.ch;
m_pLog->logMessage("Detour 2000");
if (!dtCreateNavMeshData(¶ms, &navData, &navDataSize))
{
m_pLog->logMessage("ERROR: Could not build Detour navmesh.");
return false;
}
m_pLog->logMessage("Detour 3000");
m_navMesh = dtAllocNavMesh();
if (!m_navMesh)
{
dtFree(navData);
m_pLog->logMessage("ERROR: Could not create Detour navmesh");
return false;
}
m_pLog->logMessage("Detour 4000");
dtStatus status;
status = m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA);
if (dtStatusFailed(status))
{
dtFree(navData);
m_pLog->logMessage("ERROR: Could not init Detour navmesh");
return false;
}
m_pLog->logMessage("Detour 5000");
m_navQuery = dtAllocNavMeshQuery();
status = m_navQuery->init(m_navMesh, 2048);
m_pLog->logMessage("Detour 5500");
if (dtStatusFailed(status))
{
m_pLog->logMessage("ERROR: Could not init Detour navmesh query");
return false;
}
m_pLog->logMessage("Detour 6000");
}
m_ctx->stopTimer(RC_TIMER_TOTAL);
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// cleanup stuff we don't need
// delete [] rc_verts ;
// delete [] rc_tris ;
// delete [] rc_trinorms ;
//CreateRecastPolyMesh(*m_pmesh) ; // Debug render it
m_pLog->logMessage("NavMeshBuild End");
return true;
}
bool NavMesher::Build()
{
// ******* Only for OBJ Loading ****
cleanup();
const char * filepath = "../../media/models/";
if (!m_geom || !m_geom->loadMesh(filepath))
{
delete m_geom;
m_geom = 0;
m_ctx->log(RC_LOG_ERROR, "Geom load log %s:");
}
assert(m_geom);
if (!m_geom || !m_geom->getMesh())
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Input mesh is not specified.");
return false;
}
if(m_geom->getMesh()->getTriCount() <= 0 || m_geom->getMesh()->getVertCount()<=0)
Ogre::Exception(0,Ogre::String("Bad verts or Triangle count. Verts: "+
StringConverter::toString( m_geom->getMesh()->getVertCount()) + "/n"
+ "Triangles :" +StringConverter::toString(m_geom->getMesh()->getTriCount())),"NavMesher::Build");
//reset timer
Ogre::Timer tm;
tm.reset();
unsigned long stime = tm.getMicroseconds();
//clear existing
Clear();
// ******* Only for OBJ Loading ****
const float* bmin = m_geom->getMeshBoundsMin();
const float* bmax = m_geom->getMeshBoundsMax();
const float* verts = m_geom->getMesh()->getVerts();
const int nverts = m_geom->getMesh()->getVertCount();
const int *tris = m_geom->getMesh()->getTris();
const int ntris = m_geom->getMesh()->getTriCount();
if(sizeof(tris) <= 0 || ntris <= 0) {
return false;
}
//
// Step 1. Initialize build config.
//
// Init build configuration from GUI
memset(&m_cfg, 0, sizeof(m_cfg));
m_cfg.cs = m_cellSize;
m_cfg.ch = m_cellHeight;
m_cfg.walkableSlopeAngle = m_agentMaxSlope;
m_cfg.walkableHeight = (int)ceilf(m_agentHeight / m_cfg.ch);
m_cfg.walkableClimb = (int)floorf(m_agentMaxClimb / m_cfg.ch);
m_cfg.walkableRadius = (int)ceilf(m_agentRadius / m_cfg.cs);
m_cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
m_cfg.maxSimplificationError = m_edgeMaxError;
m_cfg.minRegionArea = (int)rcSqr(m_regionMinSize); // Note: area = size*size
m_cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize); // Note: area = size*size
m_cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
m_cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
m_cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
// Set the area where the navigation will be build.
// Here the bounds of the input mesh are used, but the
// area could be specified by an user defined box, etc.
rcVcopy(m_cfg.bmin, bmin);
rcVcopy(m_cfg.bmax, bmax);
rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, &m_cfg.width, &m_cfg.height);
// Reset build times gathering.
m_ctx->resetTimers();
// Start the build process.
m_ctx->startTimer(RC_TIMER_TOTAL);
m_ctx->log(RC_LOG_PROGRESS, "Building navigation:");
m_ctx->log(RC_LOG_PROGRESS, " - %d x %d cells", m_cfg.width, m_cfg.height);
m_ctx->log(RC_LOG_PROGRESS, " - %.1fK verts, %.1fK tris", nverts/1000.0f, ntris/1000.0f);
//
// Step 2. Rasterize input polygon soup.
//
// Allocate voxel heightfield where we rasterize our input data to.
m_solid = rcAllocHeightfield();
if (!m_solid)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
return false;
}
if (!rcCreateHeightfield(m_ctx, *m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");
return false;
}
// Allocate array that can hold triangle area types.
// If you have multiple meshes you need to process, allocate
// and array which can hold the max number of triangles you need to process.
m_triareas = new unsigned char[ntris];
if (!m_triareas)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (%d).", ntris);
return false;
}
// Find triangles which are walkable based on their slope and rasterize them.
// If your input data is multiple meshes, you can transform them here, calculate
// the are type for each of the meshes and rasterize them.
memset(m_triareas, 0, ntris*sizeof(unsigned char));
rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle, verts, nverts, tris, ntris, m_triareas);
rcRasterizeTriangles(m_ctx, verts, nverts, tris, m_triareas, ntris, *m_solid, m_cfg.walkableClimb);
if (!m_keepInterResults)
{
delete [] m_triareas;
m_triareas = 0;
}
//
// Step 3. Filter walkables surfaces.
//
// Once all geoemtry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, *m_solid);
rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, *m_solid);
//
// Step 4. Partition walkable surface to simple regions.
//
// Compact the heightfield so that it is faster to handle from now on.
// This will result more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
m_chf = rcAllocCompactHeightfield();
if (!m_chf)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
return false;
}
if (!rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid, *m_chf))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
return false;
}
if (!m_keepInterResults)
{
rcFreeHeightField(m_solid);
m_solid = 0;
}
// Erode the walkable area by agent radius.
if (!rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, *m_chf))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
return false;
}
// (Optional) Mark areas.
const ConvexVolume* vols = m_geom->getConvexVolumes();
for (int i = 0; i < m_geom->getConvexVolumeCount(); ++i)
rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);
if (m_monotonePartitioning)
{
// Partition the walkable surface into simple regions without holes.
// Monotone partitioning does not need distancefield.
if (!rcBuildRegionsMonotone(m_ctx, *m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
return false;
}
}
else
{
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!rcBuildDistanceField(m_ctx, *m_chf))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build distance field.");
return false;
}
// Partition the walkable surface into simple regions without holes.
if (!rcBuildRegions(m_ctx, *m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
return false;
}
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
m_cset = rcAllocContourSet();
if (!m_cset)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
return false;
}
if (!rcBuildContours(m_ctx, *m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, *m_cset))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
return false;
}
//
// Step 6. Build polygons mesh from contours.
//
// Build polygon navmesh from the contours.
m_pmesh = rcAllocPolyMesh();
if (!m_pmesh)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
return false;
}
if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
return false;
}
//
// Step 7. Create detail mesh which allows to access approximate height on each polygon.
//
m_dmesh = rcAllocPolyMeshDetail();
if (!m_dmesh)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmdtl'.");
return false;
}
if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, *m_dmesh))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build detail mesh.");
return false;
}
if (!m_keepInterResults)
{
rcFreeCompactHeightfield(m_chf);
m_chf = 0;
rcFreeContourSet(m_cset);
m_cset = 0;
}
// At this point the navigation mesh data is ready, you can access it from m_pmesh.
// See rcDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.
//
// (Optional) Step 8. Create Detour data from Recast poly mesh.
//
// The GUI may allow more max points per polygon than Detour can handle.
// Only build the detour navmesh if we do not exceed the limit.
unsigned char* navData = 0;
int navDataSize = 0;
// Update poly flags from areas.
for (int i = 0; i < m_pmesh->npolys; ++i)
{
if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;
if (m_pmesh->areas[i] == SAMPLE_POLYAREA_GROUND ||
m_pmesh->areas[i] == SAMPLE_POLYAREA_GRASS ||
m_pmesh->areas[i] == SAMPLE_POLYAREA_ROAD)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK;
}
else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_WATER)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_SWIM;
}
else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_DOOR)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR;
}
}
memset(&m_params, 0, sizeof(m_params));
m_params.verts = m_pmesh->verts;
m_params.vertCount = m_pmesh->nverts;
m_params.polys = m_pmesh->polys;
m_params.polyAreas = m_pmesh->areas;
m_params.polyFlags = m_pmesh->flags;
m_params.polyCount = m_pmesh->npolys;
m_params.nvp = m_pmesh->nvp;
m_params.detailMeshes = m_dmesh->meshes;
m_params.detailVerts = m_dmesh->verts;
m_params.detailVertsCount = m_dmesh->nverts;
m_params.detailTris = m_dmesh->tris;
m_params.detailTriCount = m_dmesh->ntris;
m_params.walkableHeight = m_agentHeight;
m_params.walkableRadius = m_agentRadius;
m_params.walkableClimb = m_agentMaxClimb;
rcVcopy(m_params.bmin, m_pmesh->bmin);
rcVcopy(m_params.bmax, m_pmesh->bmax);
m_params.cs = m_cfg.cs;
m_params.ch = m_cfg.ch;
m_params.buildBvTree = true;
if (!dtCreateNavMeshData(&m_params, &navData, &navDataSize)) {
m_ctx->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
return false;
}
m_navMesh = dtAllocNavMesh();
if (!m_navMesh) {
delete [] navData;
m_ctx->log(RC_LOG_ERROR, "Could not create Detour navmesh");
return false;
}
m_navQuery = dtAllocNavMeshQuery();
dtStatus status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status)) {
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh query");
return false;
}
if (!m_navMesh->init(navData, navDataSize, true)) {
delete [] navData;
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh");
return false;
}
//take time
stime = tm.getMicroseconds() - stime;
DrawDebug();
return true;
}
bool NavMeshLoader::load_cai(const char* path) {
FILE* fp = fopen(path, "rb");
if (!fp) return false;
// Read header.
NavMeshSetHeader_CAI header;
size_t readLen = fread(&header, sizeof(NavMeshSetHeader_CAI), 1, fp);
if (readLen != 1)
{
fclose(fp);
return false;
}
if (header.version != NAVMESHSET_VERSION)
{
fclose(fp);
return false;
}
dtNavMesh* mesh = dtAllocNavMesh();
if (!mesh)
{
fclose(fp);
return false;
}
dtStatus status = mesh->init(&header.params);
if (dtStatusFailed(status))
{
fclose(fp);
return false;
}
// Read tiles.
for (int i = 0; i < header.tileCount; ++i)
{
NavMeshTileHeader tileHeader;
readLen = fread(&tileHeader, sizeof(tileHeader), 1, fp);
if (readLen != 1)
{
fclose(fp);
return false;
}
if (!tileHeader.tileRef || !tileHeader.dataSize)
break;
unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
if (!data) break;
memset(data, 0, tileHeader.dataSize);
readLen = fread(data, tileHeader.dataSize, 1, fp);
if (readLen != 1)
{
fclose(fp);
return false;
}
mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
}
fclose(fp);
m_navMesh = mesh;
m_navQuery = dtAllocNavMeshQuery();
status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status))
{
return false;
}
return true;
}