static EjsArray *makeUnion(Ejs *ejs, EjsArray *lhs, EjsArray *rhs)
{
EjsArray *result;
EjsObj **l, **r;
int i;
result = ejsCreateArray(ejs, 0);
l = lhs->data;
r = rhs->data;
for (i = 0; i < lhs->length; i++) {
addUnique(ejs, result, l[i]);
}
for (i = 0; i < rhs->length; i++) {
addUnique(ejs, result, r[i]);
}
return result;
}
/// @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;
}
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;
}
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;
}
// All roots returned in interval [0,1]. Assumed geometry followed a linear
// trajectory between x and xnew.
void getCoplanarityTimes( const Vec3& x0, const Vec3& x1, const Vec3& x2, const Vec3& x3,
const Vec3& xnew0, const Vec3& xnew1, const Vec3& xnew2, const Vec3& xnew3,
double* times, double* errors, unsigned &num_times )
{
const double tol = 1e-8;
num_times = 0;
// cubic coefficients, A*t^3+B*t^2+C*t+D (for t in [0,1])
const Vec3 x03 = x0 - x3;
const Vec3 x13 = x1 - x3;
const Vec3 x23 = x2 - x3;
const Vec3 v03 = ( xnew0 - xnew3 ) - x03;
const Vec3 v13 = ( xnew1 - xnew3 ) - x13;
const Vec3 v23 = ( xnew2 - xnew3 ) - x23;
double A = triple( v03, v13, v23 );
double B = triple( x03, v13, v23 ) + triple( v03, x13, v23 ) + triple( v03, v13, x23 );
double C = triple( x03, x13, v23 ) + triple( x03, v13, x23 ) + triple( v03, x13, x23 );
double D = triple( x03, x13, x23 );
const double convergence_tol = tol
* ( std::fabs( A ) + std::fabs( B ) + std::fabs( C ) + std::fabs( D ) );
// find intervals to check, or just solve it if it reduces to a quadratic =============================
double interval_times[4];
unsigned interval_times_size = 0;
double discriminant = B * B - 3 * A * C; // of derivative of cubic, 3*A*t^2+2*B*t+C, divided by 4 for convenience
if ( discriminant <= 0 )
{ // monotone cubic: only one root in [0,1] possible
// so we just
interval_times[0] = 0;
interval_times[1] = 1;
interval_times_size = 2;
}
else
{ // positive discriminant, B!=0
if ( A == 0 )
{ // the cubic is just a quadratic, B*t^2+C*t+D ========================================
discriminant = C * C - 4 * B * D; // of the quadratic
if ( discriminant <= 0 )
{
double t = -C / ( 2 * B );
if ( t >= -tol && t <= 1 + tol )
{
t = clamp( t, 0., 1. );
double val = std::fabs(
signed_volume( ( 1 - t ) * x0 + t * xnew0, ( 1 - t ) * x1 + t * xnew1,
( 1 - t ) * x2 + t * xnew2, ( 1 - t ) * x3 + t * xnew3 ) );
if ( val < convergence_tol )
{
times[num_times++] = t;
}
}
}
else
{ // two separate real roots
double t0, t1;
if ( C > 0 )
t0 = ( -C - std::sqrt( discriminant ) ) / ( 2 * B );
else
t0 = ( -C + std::sqrt( discriminant ) ) / ( 2 * B );
t1 = D / ( B * t0 );
if ( t1 < t0 )
std::swap( t0, t1 );
if ( t0 >= -tol && t0 <= 1 + tol )
{
times[num_times++] = clamp( t0, 0., 1. );
}
if ( t1 >= -tol && t1 <= 1 + tol )
{
addUnique( times, num_times, clamp( t1, 0., 1. ) );
}
}
if ( errors )
{
for ( unsigned i = 0; i < num_times; ++i )
{
double ti = times[i];
double val = std::fabs(
signed_volume( ( 1 - ti ) * x0 + ti * xnew0,
( 1 - ti ) * x1 + ti * xnew1, ( 1 - ti ) * x2 + ti * xnew2,
( 1 - ti ) * x3 + ti * xnew3 ) );
errors[i] = val;
}
}
return;
}
else
{ // cubic is not monotone: divide up [0,1] accordingly =====================================
double t0, t1;
if ( B > 0 )
t0 = ( -B - std::sqrt( discriminant ) ) / ( 3 * A );
else
t0 = ( -B + std::sqrt( discriminant ) ) / ( 3 * A );
t1 = C / ( 3 * A * t0 );
if ( t1 < t0 )
std::swap( t0, t1 );
interval_times[interval_times_size++] = 0;
if ( t0 > 0 && t0 < 1 )
interval_times[interval_times_size++] = t0;
if ( t1 > 0 && t1 < 1 )
interval_times[interval_times_size++] = t1;
interval_times[interval_times_size++] = 1;
}
}
// look for roots in indicated intervals ==============================================================
// evaluate coplanarity more accurately at each endpoint of the intervals
double interval_values[interval_times_size];
for ( unsigned int i = 0; i < interval_times_size; ++i )
{
double t = interval_times[i];
interval_values[i] = signed_volume( ( 1 - t ) * x0 + t * xnew0, ( 1 - t ) * x1 + t * xnew1,
( 1 - t ) * x2 + t * xnew2, ( 1 - t ) * x3 + t * xnew3 );
}
// first look for interval endpoints that are close enough to zero, without a sign change
for ( unsigned int i = 0; i < interval_times_size; ++i )
{
if ( interval_values[i] == 0 )
{
times[num_times++] = interval_times[i];
}
else if ( std::fabs( interval_values[i] ) < convergence_tol )
{
if ( ( i == 0 || ( interval_values[i - 1] >= 0 && interval_values[i] >= 0 )
|| ( interval_values[i - 1] <= 0 && interval_values[i] <= 0 ) )
&& ( i == interval_times_size - 1
|| ( interval_values[i + 1] >= 0 && interval_values[i] >= 0 )
|| ( interval_values[i + 1] <= 0 && interval_values[i] <= 0 ) ) )
{
times[num_times++] = interval_times[i];
}
}
}
// and then search in intervals with a sign change
for ( unsigned int i = 1; i < interval_times_size; ++i )
{
double tlo = interval_times[i - 1], thi = interval_times[i], tmid;
double vlo = interval_values[i - 1], vhi = interval_values[i], vmid;
if ( ( vlo < 0 && vhi > 0 ) || ( vlo > 0 && vhi < 0 ) )
{
// start off with secant approximation (in case the cubic is actually linear)
double alpha = vhi / ( vhi - vlo );
tmid = alpha * tlo + ( 1 - alpha ) * thi;
for ( int iteration = 0; iteration < 50; ++iteration )
{
vmid = signed_volume( ( 1 - tmid ) * x0 + tmid * xnew0,
( 1 - tmid ) * x1 + tmid * xnew1, ( 1 - tmid ) * x2 + tmid * xnew2,
( 1 - tmid ) * x3 + tmid * xnew3 );
if ( std::fabs( vmid ) < 1e-2 * convergence_tol )
break;
if ( ( vlo < 0 && vmid > 0 ) || ( vlo > 0 && vmid < 0 ) )
{ // if sign change between lo and mid
thi = tmid;
vhi = vmid;
}
else
{ // otherwise sign change between hi and mid
tlo = tmid;
vlo = vmid;
}
if ( iteration % 2 )
alpha = 0.5; // sometimes go with bisection to guarantee we make progress
else
alpha = vhi / ( vhi - vlo ); // other times go with secant to hopefully get there fast
tmid = alpha * tlo + ( 1 - alpha ) * thi;
}
times[num_times++] = tmid;
}
}
sort( times, num_times );
if ( errors )
{
for ( unsigned i = 0; i < num_times; ++i )
{
double ti = times[i];
double val = std::fabs(
signed_volume( ( 1 - ti ) * x0 + ti * xnew0, ( 1 - ti ) * x1 + ti * xnew1,
( 1 - ti ) * x2 + ti * xnew2, ( 1 - ti ) * x3 + ti * xnew3 ) );
errors[i] = val;
}
}
}
void setUnique(complex arr[], int i, int j, int stats[]){
stats[UNIQUES_GENERATED] += addUnique(arr, i, j, stats);
}
KService::List KServiceType::offers(const QString &_servicetype)
{
QDict< KService > dict(53);
KService::List lst;
// Services associated directly with this servicetype (the normal case)
KServiceType::Ptr serv = KServiceTypeFactory::self()->findServiceTypeByName(_servicetype);
if(serv)
addUnique(lst, dict, KServiceFactory::self()->offers(serv->offset()), false);
else
kdWarning(7009) << "KServiceType::offers : servicetype " << _servicetype << " not found" << endl;
// Find services associated with any mimetype parents. e.g. text/x-java -> text/plain
KMimeType::Ptr mime = dynamic_cast< KMimeType * >(static_cast< KServiceType * >(serv));
bool isAMimeType = (mime != 0);
if(mime)
{
while(true)
{
QString parent = mime->parentMimeType();
if(parent.isEmpty())
break;
mime = dynamic_cast< KMimeType * >(KServiceTypeFactory::self()->findServiceTypeByName(parent));
if(!mime)
break;
addUnique(lst, dict, KServiceFactory::self()->offers(mime->offset()), false);
}
}
serv = mime = 0;
// QValueListIterator<KService::Ptr> it = lst.begin();
// for( ; it != lst.end(); ++it )
// kdDebug() << (*it).data() << " " << (*it)->name() << endl;
// Support for all/* is deactivated by KServiceTypeProfile::configurationMode()
// (and makes no sense when querying for an "all" servicetype itself
// nor for non-mimetypes service types)
if(!KServiceTypeProfile::configurationMode() && isAMimeType && _servicetype.left(4) != "all/")
{
// Support for services associated with "all"
KServiceType *servAll = KServiceTypeFactory::self()->findServiceTypeByName("all/all");
if(servAll)
{
addUnique(lst, dict, KServiceFactory::self()->offers(servAll->offset()), true);
}
else
kdWarning(7009) << "KServiceType::offers : servicetype all/all not found" << endl;
delete servAll;
// Support for services associated with "allfiles"
if(_servicetype != "inode/directory" && _servicetype != "inode/directory-locked")
{
KServiceType *servAllFiles = KServiceTypeFactory::self()->findServiceTypeByName("all/allfiles");
if(servAllFiles)
{
addUnique(lst, dict, KServiceFactory::self()->offers(servAllFiles->offset()), true);
}
else
kdWarning(7009) << "KServiceType::offers : servicetype all/allfiles not found" << endl;
delete servAllFiles;
}
}
return lst;
}
