LocalFloorfieldViaFM::LocalFloorfieldViaFM(const Room* const roomArg,
const Building* buildingArg,
const double hxArg, const double hyArg,
const double wallAvoidDistance, const bool useDistancefield) {
//ctor
//_threshold = -1; //negative value means: ignore threshold
_threshold = wallAvoidDistance;
_building = buildingArg;
_room = roomArg;
if (hxArg != hyArg) std::cerr << "ERROR: hx != hy <=========";
//parse building and create list of walls/obstacles (find xmin xmax, ymin, ymax, and add border?)
//Log->Write("INFO: \tStart Parsing: Room %d", roomArg->GetID());
parseRoom(roomArg, hxArg, hyArg);
//Log->Write("INFO: \tFinished Parsing: Room %d", roomArg->GetID());
//testoutput("AALineScan.vtk", "AALineScan.txt", dist2Wall);
prepareForDistanceFieldCalculation(false);
//here we need to draw blocker lines @todo: ar.graf
//drawBlockerLines();
//Log->Write("INFO: \tGrid initialized: Walls in room %d", roomArg->GetID());
calculateDistanceField(-1.); //negative threshold is ignored, so all distances get calculated. this is important since distances is used for slowdown/redirect
//Log->Write("INFO: \tGrid initialized: Walldistances in room %d", roomArg->GetID());
setSpeed(useDistancefield); //use distance2Wall
//Log->Write("INFO: \tGrid initialized: Speed in room %d", roomArg->GetID());
calculateFloorfield(_exitsFromScope, _cost, _neggrad);
//Log->Write("INFO: \tFloor field for \"goal -1\" done in room %d", roomArg->GetID());
};
dtStatus dtBuildTileCacheDistanceField(dtTileCacheAlloc* alloc, dtTileCacheLayer& layer, dtTileCacheDistanceField& dfield)
{
dtAssert(alloc);
const int w = (int)layer.header->width;
const int h = (int)layer.header->height;
dfield.data = (unsigned short*)alloc->alloc(w*h*sizeof(unsigned short));
if (!dfield.data)
{
return DT_FAILURE | DT_OUT_OF_MEMORY;
}
dtTileCacheDistanceField tmpField;
tmpField.data = (unsigned short*)alloc->alloc(w*h*sizeof(unsigned short));
if (!tmpField.data)
{
return DT_FAILURE | DT_OUT_OF_MEMORY;
}
calculateDistanceField(layer, dfield.data, dfield.maxDist);
if (boxBlur(layer, 1, dfield.data, tmpField.data) != dfield.data)
{
dtSwap(dfield.data, tmpField.data);
}
alloc->free(tmpField.data);
return DT_SUCCESS;
}
/// @par
///
/// This is usually the second to the last step in creating a fully built
/// compact heightfield. This step is required before regions are built
/// using #rcBuildRegions or #rcBuildRegionsMonotone.
///
/// After this step, the distance data is available via the rcCompactHeightfield::maxDistance
/// and rcCompactHeightfield::dist fields.
///
/// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone
bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_DISTANCEFIELD);
if (chf.dist)
{
rcFree(chf.dist);
chf.dist = 0;
}
unsigned short* src = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
if (!src)
{
ctx->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'src' (%d).", chf.spanCount);
return false;
}
unsigned short* dst = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
if (!dst)
{
ctx->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'dst' (%d).", chf.spanCount);
rcFree(src);
return false;
}
unsigned short maxDist = 0;
ctx->startTimer(RC_TIMER_BUILD_DISTANCEFIELD_DIST);
calculateDistanceField(chf, src, maxDist);
chf.maxDistance = maxDist;
ctx->stopTimer(RC_TIMER_BUILD_DISTANCEFIELD_DIST);
ctx->startTimer(RC_TIMER_BUILD_DISTANCEFIELD_BLUR);
// Blur
if (boxBlur(chf, 1, src, dst) != src)
rcSwap(src, dst);
// Store distance.
chf.dist = src;
ctx->stopTimer(RC_TIMER_BUILD_DISTANCEFIELD_BLUR);
ctx->stopTimer(RC_TIMER_BUILD_DISTANCEFIELD);
rcFree(dst);
return true;
}
/// @par
///
/// This is usually the second to the last step in creating a fully built
/// compact heightfield. This step is required before regions are built
/// using #rcBuildRegions or #rcBuildRegionsMonotone.
///
/// After this step, the distance data is available via the rcCompactHeightfield::maxDistance
/// and rcCompactHeightfield::dist fields.
///
/// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone
bool rcBuildDistanceField(rcCompactHeightfield& chf)
{
if (chf.dist)
{
rcFree(chf.dist);
chf.dist = 0;
}
unsigned short* src = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
if (!src)
{
return false;
}
unsigned short* dst = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_TEMP);
if (!dst)
{
rcFree(src);
return false;
}
unsigned short maxDist = 0;
calculateDistanceField(chf, src, maxDist);
chf.maxDistance = maxDist;
// Blur
if (boxBlur(chf, 1, src, dst) != src)
rcSwap(src, dst);
// Store distance.
chf.dist = src;
rcFree(dst);
return true;
}
bool rcBuildDistanceField(rcCompactHeightfield& chf)
{
rcTimeVal startTime = rcGetPerformanceTimer();
unsigned short* dist0 = new unsigned short[chf.spanCount];
if (!dist0)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'dist0' (%d).", chf.spanCount);
return false;
}
unsigned short* dist1 = new unsigned short[chf.spanCount];
if (!dist1)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'dist1' (%d).", chf.spanCount);
delete [] dist0;
return false;
}
unsigned short* src = dist0;
unsigned short* dst = dist1;
unsigned short maxDist = 0;
rcTimeVal distStartTime = rcGetPerformanceTimer();
if (calculateDistanceField(chf, src, dst, maxDist) != src)
rcSwap(src, dst);
chf.maxDistance = maxDist;
rcTimeVal distEndTime = rcGetPerformanceTimer();
rcTimeVal blurStartTime = rcGetPerformanceTimer();
// Blur
if (boxBlur(chf, 1, src, dst) != src)
rcSwap(src, dst);
// Store distance.
for (int i = 0; i < chf.spanCount; ++i)
chf.spans[i].dist = src[i];
rcTimeVal blurEndTime = rcGetPerformanceTimer();
delete [] dist0;
delete [] dist1;
rcTimeVal endTime = rcGetPerformanceTimer();
/* if (rcGetLog())
{
rcGetLog()->log(RC_LOG_PROGRESS, "Build distance field: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f);
rcGetLog()->log(RC_LOG_PROGRESS, " - dist: %.3f ms", rcGetDeltaTimeUsec(distStartTime, distEndTime)/1000.0f);
rcGetLog()->log(RC_LOG_PROGRESS, " - blur: %.3f ms", rcGetDeltaTimeUsec(blurStartTime, blurEndTime)/1000.0f);
}*/
if (rcGetBuildTimes())
{
rcGetBuildTimes()->buildDistanceField += rcGetDeltaTimeUsec(startTime, endTime);
rcGetBuildTimes()->buildDistanceFieldDist += rcGetDeltaTimeUsec(distStartTime, distEndTime);
rcGetBuildTimes()->buildDistanceFieldBlur += rcGetDeltaTimeUsec(blurStartTime, blurEndTime);
}
return true;
}
