Exemple #1
0
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;
}
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;
}
Exemple #3
0
static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short rem, const int maxTris)
{
	const int nvp = mesh.nvp;

	// Count number of polygons to remove.
	int numRemovedVerts = 0;
	for (int i = 0; i < mesh.npolys; ++i)
	{
		unsigned short* p = &mesh.polys[i*nvp*2];
		const int nv = countPolyVerts(p, nvp);
		for (int j = 0; j < nv; ++j)
		{
			if (p[j] == rem)
				numRemovedVerts++;
		}
	}
	
	int nedges = 0;
	rcScopedDelete<int> edges = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp*4, RC_ALLOC_TEMP);
	if (!edges)
	{
		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'edges' (%d).", numRemovedVerts*nvp*4);
		return false;
	}

	int nhole = 0;
	rcScopedDelete<int> hole = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP);
	if (!hole)
	{
		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hole' (%d).", numRemovedVerts*nvp);
		return false;
	}
	
	int nhreg = 0;
	rcScopedDelete<int> hreg = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP);
	if (!hreg)
	{
		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hreg' (%d).", numRemovedVerts*nvp);
		return false;
	}

	int nharea = 0;
	rcScopedDelete<int> harea = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP);
	if (!harea)
	{
		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'harea' (%d).", numRemovedVerts*nvp);
		return false;
	}
	
	for (int i = 0; i < mesh.npolys; ++i)
	{
		unsigned short* p = &mesh.polys[i*nvp*2];
		const int nv = countPolyVerts(p, nvp);
		bool hasRem = false;
		for (int j = 0; j < nv; ++j)
			if (p[j] == rem) hasRem = true;
		if (hasRem)
		{
			// Collect edges which does not touch the removed vertex.
			for (int j = 0, k = nv-1; j < nv; k = j++)
			{
				if (p[j] != rem && p[k] != rem)
				{
					int* e = &edges[nedges*4];
					e[0] = p[k];
					e[1] = p[j];
					e[2] = mesh.regs[i];
					e[3] = mesh.areas[i];
					nedges++;
				}
			}
			// Remove the polygon.
			unsigned short* p2 = &mesh.polys[(mesh.npolys-1)*nvp*2];
			memcpy(p,p2,sizeof(unsigned short)*nvp);
			memset(p+nvp,0xff,sizeof(unsigned short)*nvp);
			mesh.regs[i] = mesh.regs[mesh.npolys-1];
			mesh.areas[i] = mesh.areas[mesh.npolys-1];
			mesh.npolys--;
			--i;
		}
	}
	
	// Remove vertex.
	for (int i = (int)rem; i < mesh.nverts; ++i)
	{
		mesh.verts[i*3+0] = mesh.verts[(i+1)*3+0];
		mesh.verts[i*3+1] = mesh.verts[(i+1)*3+1];
		mesh.verts[i*3+2] = mesh.verts[(i+1)*3+2];
	}
	mesh.nverts--;

	// Adjust indices to match the removed vertex layout.
	for (int i = 0; i < mesh.npolys; ++i)
	{
		unsigned short* p = &mesh.polys[i*nvp*2];
		const int nv = countPolyVerts(p, nvp);
		for (int j = 0; j < nv; ++j)
			if (p[j] > rem) p[j]--;
	}
	for (int i = 0; i < nedges; ++i)
	{
		if (edges[i*4+0] > rem) edges[i*4+0]--;
		if (edges[i*4+1] > rem) edges[i*4+1]--;
	}

	if (nedges == 0)
		return true;

	// Start with one vertex, keep appending connected
	// segments to the start and end of the hole.
	pushBack(edges[0], hole, nhole);
	pushBack(edges[2], hreg, nhreg);
	pushBack(edges[3], harea, nharea);
	
	while (nedges)
	{
		bool match = false;
		
		for (int i = 0; i < nedges; ++i)
		{
			const int ea = edges[i*4+0];
			const int eb = edges[i*4+1];
			const int r = edges[i*4+2];
			const int a = edges[i*4+3];
			bool add = false;
			if (hole[0] == eb)
			{
				// The segment matches the beginning of the hole boundary.
				pushFront(ea, hole, nhole);
				pushFront(r, hreg, nhreg);
				pushFront(a, harea, nharea);
				add = true;
			}
			else if (hole[nhole-1] == ea)
			{
				// The segment matches the end of the hole boundary.
				pushBack(eb, hole, nhole);
				pushBack(r, hreg, nhreg);
				pushBack(a, harea, nharea);
				add = true;
			}
			if (add)
			{
				// The edge segment was added, remove it.
				edges[i*4+0] = edges[(nedges-1)*4+0];
				edges[i*4+1] = edges[(nedges-1)*4+1];
				edges[i*4+2] = edges[(nedges-1)*4+2];
				edges[i*4+3] = edges[(nedges-1)*4+3];
				--nedges;
				match = true;
				--i;
			}
		}
		
		if (!match)
			break;
	}

	rcScopedDelete<int> tris = (int*)rcAlloc(sizeof(int)*nhole*3, RC_ALLOC_TEMP);
	if (!tris)
	{
		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tris' (%d).", nhole*3);
		return false;
	}

	rcScopedDelete<int> tverts = (int*)rcAlloc(sizeof(int)*nhole*4, RC_ALLOC_TEMP);
	if (!tverts)
	{
		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tverts' (%d).", nhole*4);
		return false;
	}

	rcScopedDelete<int> thole = (int*)rcAlloc(sizeof(int)*nhole, RC_ALLOC_TEMP);
	if (!tverts)
	{
		ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'thole' (%d).", nhole);
		return false;
	}

	// Generate temp vertex array for triangulation.
	for (int i = 0; i < nhole; ++i)
	{
		const int pi = hole[i];
		tverts[i*4+0] = mesh.verts[pi*3+0];
		tverts[i*4+1] = mesh.verts[pi*3+1];
		tverts[i*4+2] = mesh.verts[pi*3+2];
		tverts[i*4+3] = 0;
		thole[i] = i;
	}

	// Triangulate the hole.
	int ntris = triangulate(nhole, &tverts[0], &thole[0], tris);
	if (ntris < 0)
	{
		ntris = -ntris;
		ctx->log(RC_LOG_WARNING, "removeVertex: triangulate() returned bad results.");
	}
	
	// Merge the hole triangles back to polygons.
	rcScopedDelete<unsigned short> polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*(ntris+1)*nvp, RC_ALLOC_TEMP);
	if (!polys)
	{
		ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'polys' (%d).", (ntris+1)*nvp);
		return false;
	}
	rcScopedDelete<unsigned short> pregs = (unsigned short*)rcAlloc(sizeof(unsigned short)*ntris, RC_ALLOC_TEMP);
	if (!pregs)
	{
		ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pregs' (%d).", ntris);
		return false;
	}
	rcScopedDelete<unsigned char> pareas = (unsigned char*)rcAlloc(sizeof(unsigned char)*ntris, RC_ALLOC_TEMP);
	if (!pregs)
	{
		ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pareas' (%d).", ntris);
		return false;
	}
	
	unsigned short* tmpPoly = &polys[ntris*nvp];
			
	// Build initial polygons.
	int npolys = 0;
	memset(polys, 0xff, ntris*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)hole[t[0]];
			polys[npolys*nvp+1] = (unsigned short)hole[t[1]];
			polys[npolys*nvp+2] = (unsigned short)hole[t[2]];
			pregs[npolys] = (unsigned short)hreg[t[0]];
			pareas[npolys] = (unsigned char)harea[t[0]];
			npolys++;
		}
	}
	if (!npolys)
		return true;
	
	// 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);
				pregs[bestPb] = pregs[npolys-1];
				pareas[bestPb] = pareas[npolys-1];
				npolys--;
			}
			else
			{
				// Could not merge any polygons, stop.
				break;
			}
		}
	}
	
	// Store polygons.
	for (int i = 0; i < npolys; ++i)
	{
		if (mesh.npolys >= maxTris) break;
		unsigned short* p = &mesh.polys[mesh.npolys*nvp*2];
		memset(p,0xff,sizeof(unsigned short)*nvp*2);
		for (int j = 0; j < nvp; ++j)
			p[j] = polys[i*nvp+j];
		mesh.regs[mesh.npolys] = pregs[i];
		mesh.areas[mesh.npolys] = pareas[i];
		mesh.npolys++;
		if (mesh.npolys > maxTris)
		{
			ctx->log(RC_LOG_ERROR, "removeVertex: Too many polygons %d (max:%d).", mesh.npolys, maxTris);
			return false;
		}
	}
	
	return true;
}
static bool removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int maxTris)
{
	static const int nvp = mesh.nvp;

	int* edges = 0;
	int nedges = 0;
	int* hole = 0;
	int nhole = 0;
	int* hreg = 0;
	int nhreg = 0;
	int* tris = 0;
	int* tverts = 0;
	int* thole = 0;
	unsigned short* polys = 0;
	unsigned short* pregs = 0;
	int npolys = 0;

	// Count number of polygons to remove.
	int nrem = 0;
	for (int i = 0; i < mesh.npolys; ++i)
	{
		unsigned short* p = &mesh.polys[i*nvp*2];
		for (int j = 0; j < nvp; ++j)
			if (p[j] == rem) { nrem++; break; }
	}

	edges = new int[nrem*nvp*3];
	if (!edges)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'edges' (%d).", nrem*nvp*3);
		goto failure;
	}

	hole = new int[nrem*nvp];
	if (!hole)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hole' (%d).", nrem*nvp);
		goto failure;
	}
	hreg = new int[nrem*nvp];
	if (!hreg)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hreg' (%d).", nrem*nvp);
		goto failure;
	}
	
		
	for (int i = 0; i < mesh.npolys; ++i)
	{
		unsigned short* p = &mesh.polys[i*nvp*2];
		const int nv = countPolyVerts(p, nvp);
		bool hasRem = false;
		for (int j = 0; j < nv; ++j)
			if (p[j] == rem) hasRem = true;
		if (hasRem)
		{
			// Collect edges which does not touch the removed vertex.
			for (int j = 0, k = nv-1; j < nv; k = j++)
			{
				if (p[j] != rem && p[k] != rem)
				{
					int* e = &edges[nedges*3];
					e[0] = p[k];
					e[1] = p[j];
					e[2] = mesh.regs[i];
					nedges++;
				}
			}
			// Remove the polygon.
			unsigned short* p2 = &mesh.polys[(mesh.npolys-1)*nvp*2];
			memcpy(p,p2,sizeof(unsigned short)*nvp);
			mesh.regs[i] = mesh.regs[mesh.npolys-1];
			mesh.npolys--;
			--i;
		}
	}
	
	// Remove vertex.
	for (int i = (int)rem; i < mesh.nverts; ++i)
	{
		mesh.verts[i*3+0] = mesh.verts[(i+1)*3+0];
		mesh.verts[i*3+1] = mesh.verts[(i+1)*3+1];
		mesh.verts[i*3+2] = mesh.verts[(i+1)*3+2];
	}
	mesh.nverts--;

	// Adjust indices to match the removed vertex layout.
	for (int i = 0; i < mesh.npolys; ++i)
	{
		unsigned short* p = &mesh.polys[i*nvp*2];
		const int nv = countPolyVerts(p, nvp);
		for (int j = 0; j < nv; ++j)
			if (p[j] > rem) p[j]--;
	}
	for (int i = 0; i < nedges; ++i)
	{
		if (edges[i*3+0] > rem) edges[i*3+0]--;
		if (edges[i*3+1] > rem) edges[i*3+1]--;
	}

	if (nedges == 0)
		return true;

	hole[nhole] = edges[0];
	hreg[nhole] = edges[2];
	nhole++;
	
	while (nedges)
	{
		bool match = false;
		
		for (int i = 0; i < nedges; ++i)
		{
			const int ea = edges[i*3+0];
			const int eb = edges[i*3+1];
			const int r = edges[i*3+2];
			bool add = false;
			if (hole[0] == eb)
			{
				pushFront(ea, hole, nhole);
				pushFront(r, hreg, nhreg);
				add = true;
			}
			else if (hole[nhole-1] == ea)
			{
				pushBack(eb, hole, nhole);
				pushBack(r, hreg, nhreg);
				add = true;
			}
			if (add)
			{
				// Remove edge.
				edges[i*3+0] = edges[(nedges-1)*3+0];
				edges[i*3+1] = edges[(nedges-1)*3+1];
				edges[i*3+2] = edges[(nedges-1)*3+2];
				--nedges;
				match = true;
				--i;
			}
		}
		
		if (!match)
			break;
	}

	tris = new int[nhole*3];
	if (!tris)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tris' (%d).", nhole*3);
		goto failure;
	}

	tverts = new int[nhole*4];
	if (!tverts)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tverts' (%d).", nhole*4);
		goto failure;
	}

	thole = new int[nhole];
	if (!tverts)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'thole' (%d).", nhole);
		goto failure;
	}

	// Generate temp vertex array for triangulation.
	for (int i = 0; i < nhole; ++i)
	{
		const int pi = hole[i];
		tverts[i*4+0] = mesh.verts[pi*3+0];
		tverts[i*4+1] = mesh.verts[pi*3+1];
		tverts[i*4+2] = mesh.verts[pi*3+2];
		tverts[i*4+3] = 0;
		thole[i] = i;
	}

	// Triangulate the hole.
	int ntris = triangulate(nhole, &tverts[0], &thole[0], tris);

	// Merge the hole triangles back to polygons.
	polys = new unsigned short[(ntris+1)*nvp];
	if (!polys)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'polys' (%d).", (ntris+1)*nvp);
		goto failure;
	}
	pregs = new unsigned short[ntris];
	if (!pregs)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_WARNING, "removeVertex: Out of memory 'pregs' (%d).", ntris);
		goto failure;
	}
	
	unsigned short* tmpPoly = &polys[ntris*nvp];
			
	// Build initial polygons.
	memset(polys, 0xff, ntris*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)hole[t[0]];
			polys[npolys*nvp+1] = (unsigned short)hole[t[1]];
			polys[npolys*nvp+2] = (unsigned short)hole[t[2]];
			pregs[npolys] = hreg[t[0]];
			npolys++;
		}
	}
	if (!npolys)
		return true;
	
	// 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);
				pregs[bestPb] = pregs[npolys-1];
				npolys--;
			}
			else
			{
				// Could not merge any polygons, stop.
				break;
			}
		}
	}
	
	// Store polygons.
	for (int i = 0; i < npolys; ++i)
	{
		if (mesh.npolys >= maxTris) break;
		unsigned short* p = &mesh.polys[mesh.npolys*nvp*2];
		memset(p,0xff,sizeof(unsigned short)*nvp*2);
		for (int j = 0; j < nvp; ++j)
			p[j] = polys[i*nvp+j];
		mesh.regs[mesh.npolys] = pregs[i];
		mesh.npolys++;
	}
	
	delete [] edges;
	delete [] hole;
	delete [] hreg;
	delete [] tris;
	delete [] thole;
	delete [] tverts;
	delete [] polys;
	delete [] pregs;
	
	return true;

failure:
	delete [] edges;
	delete [] hole;
	delete [] hreg;
	delete [] tris;
	delete [] thole;
	delete [] tverts;
	delete [] polys;
	delete [] pregs;
	
	return false;
}