dtProximityGrid::~dtProximityGrid()
{
	dtFree(m_buckets);
	dtFree(m_pool);
}
Esempio n. 2
0
/// @par
///
/// This function will only free the memory for tiles with the #DT_TILE_FREE_DATA
/// flag set.
void dtFreeNavMesh(dtNavMesh* navmesh)
{
	if (!navmesh) return;
	navmesh->~dtNavMesh();
	dtFree(navmesh);
}
void dtFreeProximityGrid(dtProximityGrid* ptr)
{
	if (!ptr) return;
	ptr->~dtProximityGrid();
	dtFree(ptr);
}
void dtFreeCrowd(dtCrowd* ptr)
{
	if (!ptr) return;
	ptr->~dtCrowd();
	dtFree(ptr);
}
Esempio n. 5
0
/// @par
///
/// This function returns the data for the tile so that, if desired,
/// it can be added back to the navigation mesh at a later point.
///
/// @see #addTile
dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize)
{
	if (!ref)
		return DT_FAILURE | DT_INVALID_PARAM;
	unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref);
	unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref);
	if ((int)tileIndex >= m_maxTiles)
		return DT_FAILURE | DT_INVALID_PARAM;
	dtMeshTile* tile = &m_tiles[tileIndex];
	if (tile->salt != tileSalt)
		return DT_FAILURE | DT_INVALID_PARAM;
	
	// Remove tile from hash lookup.
	int h = computeTileHash(tile->header->x,tile->header->y,m_tileLutMask);
	dtMeshTile* prev = 0;
	dtMeshTile* cur = m_posLookup[h];
	while (cur)
	{
		if (cur == tile)
		{
			if (prev)
				prev->next = cur->next;
			else
				m_posLookup[h] = cur->next;
			break;
		}
		prev = cur;
		cur = cur->next;
	}
	
	// Remove connections to neighbour tiles.
	// Create connections with neighbour tiles.
	static const int MAX_NEIS = 32;
	dtMeshTile* neis[MAX_NEIS];
	int nneis;
	
	// Connect with layers in current tile.
	nneis = getTilesAt(tile->header->x, tile->header->y, neis, MAX_NEIS);
	for (int j = 0; j < nneis; ++j)
	{
		if (neis[j] == tile) continue;
		unconnectExtLinks(neis[j], tile);
	}
	
	// Connect with neighbour tiles.
	for (int i = 0; i < 8; ++i)
	{
		nneis = getNeighbourTilesAt(tile->header->x, tile->header->y, i, neis, MAX_NEIS);
		for (int j = 0; j < nneis; ++j)
			unconnectExtLinks(neis[j], tile);
	}
		
	// Reset tile.
	if (tile->flags & DT_TILE_FREE_DATA)
	{
		// Owns data
		dtFree(tile->data);
		tile->data = 0;
		tile->dataSize = 0;
		if (data) *data = 0;
		if (dataSize) *dataSize = 0;
	}
	else
	{
		if (data) *data = tile->data;
		if (dataSize) *dataSize = tile->dataSize;
	}

	tile->header = 0;
	tile->flags = 0;
	tile->linksFreeList = 0;
	tile->polys = 0;
	tile->verts = 0;
	tile->links = 0;
	tile->detailMeshes = 0;
	tile->detailVerts = 0;
	tile->detailTris = 0;
	tile->bvTree = 0;
	tile->offMeshCons = 0;

	// Update salt, salt should never be zero.
	tile->salt = (tile->salt+1) & ((1<<m_saltBits)-1);
	if (tile->salt == 0)
		tile->salt++;

	// Add to free list.
	tile->next = m_nextFree;
	m_nextFree = tile;

	return DT_SUCCESS;
}
/// @par
/// 
/// The output data array is allocated using the detour allocator (dtAlloc()).  The method
/// used to free the memory will be determined by how the tile is added to the navigation
/// mesh.
///
/// @see dtNavMesh, dtNavMesh::addTile()
bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize)
{
	if (params->nvp > DT_VERTS_PER_POLYGON)
		return false;
	if (params->vertCount >= 0xffff)
		return false;
	if (!params->vertCount || !params->verts)
		return false;
	if (!params->polyCount || !params->polys)
		return false;

	const int nvp = params->nvp;
	
	// Classify off-mesh connection points. We store only the connections
	// whose start point is inside the tile.
	unsigned char* offMeshConClass = 0;
	int storedOffMeshConCount = 0;
	int offMeshConLinkCount = 0;
	int storedOffMeshSegCount = 0;

	if (params->offMeshConCount > 0)
	{
		offMeshConClass = (unsigned char*)dtAlloc(sizeof(unsigned char)*params->offMeshConCount*2, DT_ALLOC_TEMP);
		if (!offMeshConClass)
			return false;

		memset(offMeshConClass, 0, sizeof(unsigned char)*params->offMeshConCount*2);

		// Find tight heigh bounds, used for culling out off-mesh start locations.
		float hmin = FLT_MAX;
		float hmax = -FLT_MAX;
		
		for (int i = 0; i < params->vertCount; ++i)
		{
			const unsigned short* iv = &params->verts[i*3];
			const float h = params->bmin[1] + iv[1] * params->ch;
			hmin = dtMin(hmin,h);
			hmax = dtMax(hmax,h);
		}

		if (params->detailVerts && params->detailVertsCount)
		{
			for (int i = 0; i < params->detailVertsCount; ++i)
			{
				const float h = params->detailVerts[i*3+1];
				hmin = dtMin(hmin,h);
				hmax = dtMax(hmax,h);
			}
		}

		hmin -= params->walkableClimb;
		hmax += params->walkableClimb;

		float bmin[3], bmax[3];
		dtVcopy(bmin, params->bmin);
		dtVcopy(bmax, params->bmax);
		bmin[1] = hmin;
		bmax[1] = hmax;
		
		float bverts[3*4];
		bverts[ 0] = bmin[0]; bverts[ 2] = bmin[2];
		bverts[ 3] = bmax[0]; bverts[ 5] = bmin[2];
		bverts[ 6] = bmax[0]; bverts[ 8] = bmax[2];
		bverts[ 9] = bmin[0]; bverts[11] = bmax[2];

		for (int i = 0; i < params->offMeshConCount; ++i)
		{
			const dtOffMeshLinkCreateParams& offMeshCon = params->offMeshCons[i];
			if (offMeshCon.type & DT_OFFMESH_CON_POINT)
			{
				offMeshConClass[i*2+0] = classifyOffMeshPoint(offMeshCon.vertsA0, bmin, bmax);
				offMeshConClass[i*2+1] = classifyOffMeshPoint(offMeshCon.vertsB0, bmin, bmax);

				// Zero out off-mesh start positions which are not even potentially touching the mesh.
				if (offMeshConClass[i*2+0] == 0xff)
				{
					if ((offMeshCon.vertsA0[1] - offMeshCon.snapHeight) > bmax[1] ||
						(offMeshCon.vertsA0[1] + offMeshCon.snapHeight) < bmin[1])
					{
						offMeshConClass[i * 2 + 0] = 0;
					}
				}

				// Count how many links should be allocated for off-mesh connections.
				if (offMeshConClass[i*2+0] == 0xff)
					offMeshConLinkCount++;
				if (offMeshConClass[i*2+1] == 0xff)
					offMeshConLinkCount++;

				if (offMeshConClass[i*2+0] == 0xff)
					storedOffMeshConCount++;
			}
			else if (offMeshCon.type & DT_OFFMESH_CON_SEGMENT)
			{
				int smin, smax;
				float tmin, tmax;
				if ((offMeshCon.vertsA0[1] >= bmin[1] && offMeshCon.vertsA0[1] <= bmax[1] && classifyOffMeshPoint(offMeshCon.vertsA0, bmin, bmax) == 0xff) ||
					(offMeshCon.vertsA1[1] >= bmin[1] && offMeshCon.vertsA1[1] <= bmax[1] && classifyOffMeshPoint(offMeshCon.vertsA1, bmin, bmax) == 0xff) ||
					(offMeshCon.vertsB0[1] >= bmin[1] && offMeshCon.vertsB0[1] <= bmax[1] && classifyOffMeshPoint(offMeshCon.vertsB0, bmin, bmax) == 0xff) ||
					(offMeshCon.vertsB1[1] >= bmin[1] && offMeshCon.vertsB1[1] <= bmax[1] && classifyOffMeshPoint(offMeshCon.vertsB1, bmin, bmax) == 0xff) ||
					dtIntersectSegmentPoly2D(offMeshCon.vertsA0, offMeshCon.vertsA1, bverts, 4, tmin, tmax, smin, smax) ||
					dtIntersectSegmentPoly2D(offMeshCon.vertsB0, offMeshCon.vertsB1, bverts, 4, tmin, tmax, smin, smax))
				{
					offMeshConClass[i*2] = 0xff;
					storedOffMeshSegCount++;
				}
			}
		}
	}
	
	// Off-mesh connections are stored as polygons, adjust values.
	const int firstSegVert = params->vertCount + storedOffMeshConCount*2;
	const int firstSegPoly = params->polyCount + storedOffMeshConCount;
	const int totPolyCount = firstSegPoly + storedOffMeshSegCount*DT_MAX_OFFMESH_SEGMENT_PARTS;
	const int totVertCount = firstSegVert + storedOffMeshSegCount*DT_MAX_OFFMESH_SEGMENT_PARTS*4;
	
	// Find portal edges which are at tile borders.
	int edgeCount = 0;
	int portalCount = 0;
	for (int i = 0; i < params->polyCount; ++i)
	{
		const unsigned short* p = &params->polys[i*2*nvp];
		for (int j = 0; j < nvp; ++j)
		{
			if (p[j] == MESH_NULL_IDX) break;
			edgeCount++;
			
			if (p[nvp+j] & 0x8000)
			{
				unsigned short dir = p[nvp+j] & 0xf;
				if (dir != 0xf)
					portalCount++;
			}
		}
	}

	// offmesh links will be added in dynamic array
	const int maxLinkCount = edgeCount + portalCount*2;
	
	// Find unique detail vertices.
	int uniqueDetailVertCount = 0;
	int detailTriCount = 0;
	if (params->detailMeshes)
	{
		// Has detail mesh, count unique detail vertex count and use input detail tri count.
		detailTriCount = params->detailTriCount;
		for (int i = 0; i < params->polyCount; ++i)
		{
			const unsigned short* p = &params->polys[i*nvp*2];
			int ndv = params->detailMeshes[i*4+1];
			int nv = 0;
			for (int j = 0; j < nvp; ++j)
			{
				if (p[j] == MESH_NULL_IDX) break;
				nv++;
			}
			ndv -= nv;
			uniqueDetailVertCount += ndv;
		}
	}
	else
	{
		// No input detail mesh, build detail mesh from nav polys.
		uniqueDetailVertCount = 0; // No extra detail verts.
		detailTriCount = 0;
		for (int i = 0; i < params->polyCount; ++i)
		{
			const unsigned short* p = &params->polys[i*nvp*2];
			int nv = 0;
			for (int j = 0; j < nvp; ++j)
			{
				if (p[j] == MESH_NULL_IDX) break;
				nv++;
			}
			detailTriCount += nv-2;
		}
	}
 
	// Calculate data size
	const int headerSize = dtAlign4(sizeof(dtMeshHeader));
	const int vertsSize = dtAlign4(sizeof(float)*3*totVertCount);
	const int polysSize = dtAlign4(sizeof(dtPoly)*totPolyCount);
	const int linksSize = dtAlign4(sizeof(dtLink)*maxLinkCount);
	const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*params->polyCount);
	const int detailVertsSize = dtAlign4(sizeof(float)*3*uniqueDetailVertCount);
	const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*detailTriCount);
	const int bvTreeSize = params->buildBvTree ? dtAlign4(sizeof(dtBVNode)*params->polyCount*2) : 0;
	const int offMeshConsSize = dtAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount);
	const int offMeshSegSize = dtAlign4(sizeof(dtOffMeshSegmentConnection)*storedOffMeshSegCount);
	const int clustersSize = dtAlign4(sizeof(dtCluster)*params->clusterCount);
	const int polyClustersSize = dtAlign4(sizeof(unsigned short)*params->polyCount);
 
	
	const int dataSize = headerSize + vertsSize + polysSize + linksSize +
						 detailMeshesSize + detailVertsSize + detailTrisSize +
						 bvTreeSize + offMeshConsSize + offMeshSegSize +
						 clustersSize + polyClustersSize;
						 
	unsigned char* data = (unsigned char*)dtAlloc(sizeof(unsigned char)*dataSize, DT_ALLOC_PERM);
	if (!data)
	{
		dtFree(offMeshConClass);
		return false;
	}
	memset(data, 0, dataSize);
	
	unsigned char* d = data;
	dtMeshHeader* header = (dtMeshHeader*)d; d += headerSize;
	float* navVerts = (float*)d; d += vertsSize;
	dtPoly* navPolys = (dtPoly*)d; d += polysSize;
	d += linksSize;
	dtPolyDetail* navDMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
	float* navDVerts = (float*)d; d += detailVertsSize;
	unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
	dtBVNode* navBvtree = (dtBVNode*)d; d += bvTreeSize;
	dtOffMeshConnection* offMeshCons = (dtOffMeshConnection*)d; d += offMeshConsSize;
	dtOffMeshSegmentConnection* offMeshSegs = (dtOffMeshSegmentConnection*)d; d += offMeshSegSize;
	dtCluster* clusters = (dtCluster*)d; d += clustersSize;
	unsigned short* polyClusters = (unsigned short*)d; d += polyClustersSize;
	
	// Store header
	header->magic = DT_NAVMESH_MAGIC;
	header->version = DT_NAVMESH_VERSION;
	header->x = params->tileX;
	header->y = params->tileY;
	header->layer = params->tileLayer;
	header->userId = params->userId;
	header->polyCount = totPolyCount;
	header->vertCount = totVertCount;
	header->maxLinkCount = maxLinkCount;
	dtVcopy(header->bmin, params->bmin);
	dtVcopy(header->bmax, params->bmax);
	header->detailMeshCount = params->polyCount;
	header->detailVertCount = uniqueDetailVertCount;
	header->detailTriCount = detailTriCount;
	header->bvQuantFactor = 1.0f / params->cs;
	header->offMeshBase = params->polyCount;
	header->offMeshSegPolyBase = firstSegPoly;
	header->offMeshSegVertBase = firstSegVert;
	header->walkableHeight = params->walkableHeight;
	header->walkableRadius = params->walkableRadius;
	header->walkableClimb = params->walkableClimb;
	header->offMeshConCount = storedOffMeshConCount;
	header->offMeshSegConCount = storedOffMeshSegCount;
	header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0;
	header->clusterCount = params->clusterCount; 

	const int offMeshVertsBase = params->vertCount;
	const int offMeshPolyBase = params->polyCount;

	// Store vertices
	// Mesh vertices
	for (int i = 0; i < params->vertCount; ++i)
	{
		const unsigned short* iv = &params->verts[i*3];
		float* v = &navVerts[i*3];
		v[0] = params->bmin[0] + iv[0] * params->cs;
		v[1] = params->bmin[1] + iv[1] * params->ch;
		v[2] = params->bmin[2] + iv[2] * params->cs;
	}
	// Off-mesh point link vertices.
	int n = 0;
	for (int i = 0; i < params->offMeshConCount; ++i)
	{
		const dtOffMeshLinkCreateParams& offMeshCon = params->offMeshCons[i];

		// Only store connections which start from this tile.
		if ((offMeshConClass[i*2+0] == 0xff) && (offMeshCon.type & DT_OFFMESH_CON_POINT))
		{
			float* v = &navVerts[(offMeshVertsBase + n*2)*3];
			dtVcopy(&v[0], &offMeshCon.vertsA0[0]);
			dtVcopy(&v[3], &offMeshCon.vertsB0[0]);
			n++;
		}
	}

	// Store polygons
	// Mesh polys
	const unsigned short* src = params->polys;
	for (int i = 0; i < params->polyCount; ++i)
	{
		dtPoly* p = &navPolys[i];
		p->vertCount = 0;
		p->flags = params->polyFlags[i];
		p->setArea(params->polyAreas[i]);
		p->setType(DT_POLYTYPE_GROUND);
		for (int j = 0; j < nvp; ++j)
		{
			if (src[j] == MESH_NULL_IDX) break;
			p->verts[j] = src[j];
			if (src[nvp+j] & 0x8000)
			{
				// Border or portal edge.
				unsigned short dir = src[nvp+j] & 0xf;
				if (dir == 0xf) // Border
					p->neis[j] = 0;
				else if (dir == 0) // Portal x-
					p->neis[j] = DT_EXT_LINK | 4;
				else if (dir == 1) // Portal z+
					p->neis[j] = DT_EXT_LINK | 2;
				else if (dir == 2) // Portal x+
					p->neis[j] = DT_EXT_LINK | 0;
				else if (dir == 3) // Portal z-
					p->neis[j] = DT_EXT_LINK | 6;
			}
			else
			{
				// Normal connection
				p->neis[j] = src[nvp+j]+1;
			}
			
			p->vertCount++;
		}
		src += nvp*2;
	}
	// Off-mesh point connection polygons.
	n = 0;
	int nseg = 0;
	for (int i = 0; i < params->offMeshConCount; ++i)
	{
		const dtOffMeshLinkCreateParams& offMeshCon = params->offMeshCons[i];

		// Only store connections which start from this tile.
		if (offMeshConClass[i*2+0] == 0xff)
		{
			if (offMeshCon.type & DT_OFFMESH_CON_POINT)
			{
				dtPoly* p = &navPolys[offMeshPolyBase+n];
				p->vertCount = 2;
				p->verts[0] = (unsigned short)(offMeshVertsBase + n*2+0);
				p->verts[1] = (unsigned short)(offMeshVertsBase + n*2+1);
				p->flags = offMeshCon.polyFlag;
				p->setArea(offMeshCon.area);
				p->setType(DT_POLYTYPE_OFFMESH_POINT);
				n++;
			}
			else
			{
				for (int j = 0; j < DT_MAX_OFFMESH_SEGMENT_PARTS; j++)
				{
					dtPoly* p = &navPolys[firstSegPoly+nseg];
					p->vertCount = 0;
					p->flags = offMeshCon.polyFlag;
					p->setArea(offMeshCon.area);
					p->setType(DT_POLYTYPE_OFFMESH_SEGMENT);
					nseg++;
				}
			}
		}
	}

	// Store detail meshes and vertices.
	// The nav polygon vertices are stored as the first vertices on each mesh.
	// We compress the mesh data by skipping them and using the navmesh coordinates.
	if (params->detailMeshes)
	{
		unsigned short vbase = 0;
		for (int i = 0; i < params->polyCount; ++i)
		{
			dtPolyDetail& dtl = navDMeshes[i];
			const int vb = (int)params->detailMeshes[i*4+0];
			const int ndv = (int)params->detailMeshes[i*4+1];
			const int nv = navPolys[i].vertCount;
			dtl.vertBase = (unsigned int)vbase;
			dtl.vertCount = (unsigned char)(ndv-nv);
			dtl.triBase = (unsigned int)params->detailMeshes[i*4+2];
			dtl.triCount = (unsigned char)params->detailMeshes[i*4+3];
			// Copy vertices except the first 'nv' verts which are equal to nav poly verts.
			if (ndv-nv)
			{
				memcpy(&navDVerts[vbase*3], &params->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv));
				vbase += (unsigned short)(ndv-nv);
			}
		}
		// Store triangles.
		memcpy(navDTris, params->detailTris, sizeof(unsigned char)*4*params->detailTriCount);
	}
	else
	{
		// Create dummy detail mesh by triangulating polys.
		int tbase = 0;
		for (int i = 0; i < params->polyCount; ++i)
		{
			dtPolyDetail& dtl = navDMeshes[i];
			const int nv = navPolys[i].vertCount;
			dtl.vertBase = 0;
			dtl.vertCount = 0;
			dtl.triBase = (unsigned int)tbase;
			dtl.triCount = (unsigned char)(nv-2);
			// Triangulate polygon (local indices).
			for (int j = 2; j < nv; ++j)
			{
				unsigned char* t = &navDTris[tbase*4];
				t[0] = 0;
				t[1] = (unsigned char)(j-1);
				t[2] = (unsigned char)j;
				// Bit for each edge that belongs to poly boundary.
				t[3] = (1<<2);
				if (j == 2) t[3] |= (1<<0);
				if (j == nv-1) t[3] |= (1<<4);
				tbase++;
			}
		}
	}

	// Store and create BVtree.
	if (params->buildBvTree)
	{
		createBVTree(params->verts, params->vertCount, params->polys, params->polyCount, nvp,
					 navDMeshes, navDVerts, navDTris, params->bmin,
					 params->cs, params->ch, params->polyCount*2, navBvtree);
	}
	
	// Store Off-Mesh connections.
	n = 0;
	nseg = 0;
	for (int i = 0; i < params->offMeshConCount; ++i)
	{
		const dtOffMeshLinkCreateParams& offMeshCon = params->offMeshCons[i];

		// Only store connections which start from this tile.
		if (offMeshConClass[i*2+0] == 0xff)
		{
			if (offMeshCon.type & DT_OFFMESH_CON_POINT)
			{
				dtOffMeshConnection* con = &offMeshCons[n];
				con->poly = (unsigned short)(offMeshPolyBase + n);
				// Copy connection end-points.
				dtVcopy(&con->pos[0], &offMeshCon.vertsA0[0]);
				dtVcopy(&con->pos[3], &offMeshCon.vertsB0[0]);
				con->rad = offMeshCon.snapRadius;
				con->height = offMeshCon.snapHeight;
				con->setFlags(offMeshCon.type);
				con->side = offMeshConClass[i*2+1] == 0xff ? DT_CONNECTION_INTERNAL : offMeshConClass[i*2+1];
				if (offMeshCon.userID)
					con->userId = offMeshCon.userID;
				n++;
			}
			else
			{
				dtOffMeshSegmentConnection* con = &offMeshSegs[nseg];
				dtVcopy(con->startA, &offMeshCon.vertsA0[0]);
				dtVcopy(con->endA, &offMeshCon.vertsA1[0]);
				dtVcopy(con->startB, &offMeshCon.vertsB0[0]);
				dtVcopy(con->endB, &offMeshCon.vertsB1[0]);

				con->rad = offMeshCon.snapRadius;
				con->height = offMeshCon.snapHeight;
				con->setFlags(offMeshCon.type);
				if (offMeshCon.userID)
					con->userId = offMeshCon.userID;

				nseg++;
			}
		}
	}

	dtFree(offMeshConClass);
	
	// Store clusters
	if (params->polyClusters)
	{
		memcpy(polyClusters, params->polyClusters, sizeof(unsigned short)*params->polyCount);
	}

	for (int i = 0; i < params->clusterCount; i++)
	{
		dtCluster& cluster = clusters[i];
		cluster.firstLink = DT_NULL_LINK;
		cluster.numLinks = 0;
		dtVset(cluster.center, 0.f, 0.f, 0.f);

		// calculate center point: take from first poly
		for (int j = 0; j < params->polyCount; j++)
		{
			if (polyClusters[j] != i)
			{
				continue;
			}

			const dtPoly* poly = &navPolys[j];
			float c[3] = { 0.0f, 0.0f, 0.0f };

			for (int iv = 0; iv < poly->vertCount; iv++)
			{
				dtVadd(c, c, &navVerts[poly->verts[iv] * 3]);
			}
			
			dtVmad(cluster.center, cluster.center, c, 1.0f / poly->vertCount);
			break;
		}
	}
 
	*outData = data;
	*outDataSize = dataSize;
	
	return true;
}
Esempio n. 7
0
void ContinentBuilder::Build()
{
    char buff[50];
    sprintf(buff, "mmaps/%03u.mmap", MapId);
    FILE* mmap = fopen(buff, "wb");
    if (!mmap)
    {
        printf("Could not create file %s. Check that you have write permissions to the destination folder and try again\n", buff);
        return;
    }

    CalculateTileBounds();

    dtNavMeshParams params;
    
    std::vector<BuilderThread*> Threads;

    if (TileMap->IsGlobalModel)
    {
        printf("Map %s ( %u ) is a WMO. Building with 1 thread.\n", Continent.c_str(), MapId);
        
        TileBuilder* builder = new TileBuilder(this, Continent, 0, 0, MapId);
        builder->AddGeometry(TileMap->Model, TileMap->ModelDefinition);
        uint8* nav = builder->BuildInstance(params);
        if (nav)
        {
            // Set some params for the navmesh
            dtMeshHeader* header = (dtMeshHeader*)nav;
            dtVcopy(params.orig, header->bmin);
            params.tileWidth = header->bmax[0] - header->bmin[0];
            params.tileHeight = header->bmax[2] - header->bmin[2];
            params.maxTiles = 1;
            params.maxPolys = header->polyCount;
            fwrite(&params, sizeof(dtNavMeshParams), 1, mmap);
            fclose(mmap);

            char buff[100];
            sprintf(buff, "mmaps/%03u%02i%02i.mmtile", MapId, 0, 0);
            FILE* f = fopen(buff, "wb");
            if (!f)
            {
                printf("Could not create file %s. Check that you have write permissions to the destination folder and try again\n", buff);
                return;
            }

            MmapTileHeader mheader;
            mheader.size = builder->DataSize;
            fwrite(&mheader, sizeof(MmapTileHeader), 1, f);
            fwrite(nav, sizeof(unsigned char), builder->DataSize, f);
            fclose(f);
        }

        dtFree(nav);
        delete builder;
    }
    else
    {
        params.maxPolys = 1 << STATIC_POLY_BITS;
        params.maxTiles = TileMap->TileTable.size();
        rcVcopy(params.orig, bmin);
        params.tileHeight = Constants::TileSize;
        params.tileWidth = Constants::TileSize;
        fwrite(&params, sizeof(dtNavMeshParams), 1, mmap);
        fclose(mmap);

        for (uint32 i = 0; i < NumberOfThreads; ++i)
            Threads.push_back(new BuilderThread(this, params));
        printf("Map %s ( %u ) has %u tiles. Building them with %u threads\n", Continent.c_str(), MapId, uint32(TileMap->TileTable.size()), NumberOfThreads);
        for (std::vector<TilePos>::iterator itr = TileMap->TileTable.begin(); itr != TileMap->TileTable.end(); ++itr)
        {
            bool next = false;
            while (!next)
            {
                for (std::vector<BuilderThread*>::iterator _th = Threads.begin(); _th != Threads.end(); ++_th)
                {
                    if ((*_th)->Free)
                    {
                        (*_th)->SetData(itr->X, itr->Y, MapId, Continent);
                        (*_th)->activate();
                        next = true;
                        break;
                    }
                }
                // Wait for 20 seconds
                ACE_OS::sleep(ACE_Time_Value (0, 20000));
            }
        }
    }

    Cache->Clear();

    // Free memory
    for (std::vector<BuilderThread*>::iterator _th = Threads.begin(); _th != Threads.end(); ++_th)
    {
        (*_th)->wait();
        delete *_th;
    }
}
/// @par
/// 
/// The output data array is allocated using the detour allocator (dtAlloc()).  The method
/// used to free the memory will be determined by how the tile is added to the navigation
/// mesh.
///
/// @see dtNavMesh, dtNavMesh::addTile()
bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize)
{
	if (params->nvp > DT_VERTS_PER_POLYGON)
		return false;
	if (params->vertCount >= 0xffff)
		return false;
	if (!params->vertCount || !params->verts)
		return false;
	if (!params->polyCount || !params->polys)
		return false;

	const int nvp = params->nvp;
	
	// Classify off-mesh connection points. We store only the connections
	// whose start point is inside the tile.
	unsigned char* offMeshConClass = 0;
	int storedOffMeshConCount = 0;
	int offMeshConLinkCount = 0;
	
	if (params->offMeshConCount > 0)
	{
		offMeshConClass = (unsigned char*)dtAlloc(sizeof(unsigned char)*params->offMeshConCount*2, DT_ALLOC_TEMP);
		if (!offMeshConClass)
			return false;

		// Find tight heigh bounds, used for culling out off-mesh start locations.
		float hmin = FLT_MAX;
		float hmax = -FLT_MAX;
		
		if (params->detailVerts && params->detailVertsCount)
		{
			for (int i = 0; i < params->detailVertsCount; ++i)
			{
				const float h = params->detailVerts[i*3+1];
				hmin = dtMin(hmin,h);
				hmax = dtMax(hmax,h);
			}
		}
		else
		{
			for (int i = 0; i < params->vertCount; ++i)
			{
				const unsigned short* iv = &params->verts[i*3];
				const float h = params->bmin[1] + iv[1] * params->ch;
				hmin = dtMin(hmin,h);
				hmax = dtMax(hmax,h);
			}
		}
		hmin -= params->walkableClimb;
		hmax += params->walkableClimb;
		float bmin[3], bmax[3];
		dtVcopy(bmin, params->bmin);
		dtVcopy(bmax, params->bmax);
		bmin[1] = hmin;
		bmax[1] = hmax;

		for (int i = 0; i < params->offMeshConCount; ++i)
		{
			const float* p0 = &params->offMeshConVerts[(i*2+0)*3];
			const float* p1 = &params->offMeshConVerts[(i*2+1)*3];
			offMeshConClass[i*2+0] = classifyOffMeshPoint(p0, bmin, bmax);
			offMeshConClass[i*2+1] = classifyOffMeshPoint(p1, bmin, bmax);

			// Zero out off-mesh start positions which are not even potentially touching the mesh.
			if (offMeshConClass[i*2+0] == 0xff)
			{
				if (p0[1] < bmin[1] || p0[1] > bmax[1])
					offMeshConClass[i*2+0] = 0;
			}

			// Cound how many links should be allocated for off-mesh connections.
			if (offMeshConClass[i*2+0] == 0xff)
				offMeshConLinkCount++;
			if (offMeshConClass[i*2+1] == 0xff)
				offMeshConLinkCount++;

			if (offMeshConClass[i*2+0] == 0xff)
				storedOffMeshConCount++;
		}
	}
	
	// Off-mesh connectionss are stored as polygons, adjust values.
	const int totPolyCount = params->polyCount + storedOffMeshConCount;
	const int totVertCount = params->vertCount + storedOffMeshConCount*2;
	
	// Find portal edges which are at tile borders.
	int edgeCount = 0;
	int portalCount = 0;
	for (int i = 0; i < params->polyCount; ++i)
	{
		const unsigned short* p = &params->polys[i*2*nvp];
		for (int j = 0; j < nvp; ++j)
		{
			if (p[j] == MESH_NULL_IDX) break;
			edgeCount++;
			
			if (p[nvp+j] & 0x8000)
			{
				unsigned short dir = p[nvp+j] & 0xf;
				if (dir != 0xf)
					portalCount++;
			}
		}
	}

	const int maxLinkCount = edgeCount + portalCount*2 + offMeshConLinkCount*2;
	
	// Find unique detail vertices.
	int uniqueDetailVertCount = 0;
	int detailTriCount = 0;
	if (params->detailMeshes)
	{
		// Has detail mesh, count unique detail vertex count and use input detail tri count.
		detailTriCount = params->detailTriCount;
		for (int i = 0; i < params->polyCount; ++i)
		{
			const unsigned short* p = &params->polys[i*nvp*2];
			int ndv = params->detailMeshes[i*4+1];
			int nv = 0;
			for (int j = 0; j < nvp; ++j)
			{
				if (p[j] == MESH_NULL_IDX) break;
				nv++;
			}
			ndv -= nv;
			uniqueDetailVertCount += ndv;
		}
	}
	else
	{
		// No input detail mesh, build detail mesh from nav polys.
		uniqueDetailVertCount = 0; // No extra detail verts.
		detailTriCount = 0;
		for (int i = 0; i < params->polyCount; ++i)
		{
			const unsigned short* p = &params->polys[i*nvp*2];
			int nv = 0;
			for (int j = 0; j < nvp; ++j)
			{
				if (p[j] == MESH_NULL_IDX) break;
				nv++;
			}
			detailTriCount += nv-2;
		}
	}
	
	// Calculate data size
	const int headerSize = dtAlign4(sizeof(dtMeshHeader));
	const int vertsSize = dtAlign4(sizeof(float)*3*totVertCount);
	const int polysSize = dtAlign4(sizeof(dtPoly)*totPolyCount);
	const int linksSize = dtAlign4(sizeof(dtLink)*maxLinkCount);
	const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*params->polyCount);
	const int detailVertsSize = dtAlign4(sizeof(float)*3*uniqueDetailVertCount);
	const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*detailTriCount);
	const int bvTreeSize = params->buildBvTree ? dtAlign4(sizeof(dtBVNode)*params->polyCount*2) : 0;
	const int offMeshConsSize = dtAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount);
	
	const int dataSize = headerSize + vertsSize + polysSize + linksSize +
						 detailMeshesSize + detailVertsSize + detailTrisSize +
						 bvTreeSize + offMeshConsSize;
						 
	unsigned char* data = (unsigned char*)dtAlloc(sizeof(unsigned char)*dataSize, DT_ALLOC_PERM);
	if (!data)
	{
		dtFree(offMeshConClass);
		return false;
	}
	memset(data, 0, dataSize);
	
	unsigned char* d = data;

	dtMeshHeader* header = dtGetThenAdvanceBufferPointer<dtMeshHeader>(d, headerSize);
	float* navVerts = dtGetThenAdvanceBufferPointer<float>(d, vertsSize);
	dtPoly* navPolys = dtGetThenAdvanceBufferPointer<dtPoly>(d, polysSize);
	d += linksSize; // Ignore links; just leave enough space for them. They'll be created on load.
	dtPolyDetail* navDMeshes = dtGetThenAdvanceBufferPointer<dtPolyDetail>(d, detailMeshesSize);
	float* navDVerts = dtGetThenAdvanceBufferPointer<float>(d, detailVertsSize);
	unsigned char* navDTris = dtGetThenAdvanceBufferPointer<unsigned char>(d, detailTrisSize);
	dtBVNode* navBvtree = dtGetThenAdvanceBufferPointer<dtBVNode>(d, bvTreeSize);
	dtOffMeshConnection* offMeshCons = dtGetThenAdvanceBufferPointer<dtOffMeshConnection>(d, offMeshConsSize);
	
	
	// Store header
	header->magic = DT_NAVMESH_MAGIC;
	header->version = DT_NAVMESH_VERSION;
	header->x = params->tileX;
	header->y = params->tileY;
	header->layer = params->tileLayer;
	header->userId = params->userId;
	header->polyCount = totPolyCount;
	header->vertCount = totVertCount;
	header->maxLinkCount = maxLinkCount;
	dtVcopy(header->bmin, params->bmin);
	dtVcopy(header->bmax, params->bmax);
	header->detailMeshCount = params->polyCount;
	header->detailVertCount = uniqueDetailVertCount;
	header->detailTriCount = detailTriCount;
	header->bvQuantFactor = 1.0f / params->cs;
	header->offMeshBase = params->polyCount;
	header->walkableHeight = params->walkableHeight;
	header->walkableRadius = params->walkableRadius;
	header->walkableClimb = params->walkableClimb;
	header->offMeshConCount = storedOffMeshConCount;
	header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0;
	
	const int offMeshVertsBase = params->vertCount;
	const int offMeshPolyBase = params->polyCount;
	
	// Store vertices
	// Mesh vertices
	for (int i = 0; i < params->vertCount; ++i)
	{
		const unsigned short* iv = &params->verts[i*3];
		float* v = &navVerts[i*3];
		v[0] = params->bmin[0] + iv[0] * params->cs;
		v[1] = params->bmin[1] + iv[1] * params->ch;
		v[2] = params->bmin[2] + iv[2] * params->cs;
	}
	// Off-mesh link vertices.
	int n = 0;
	for (int i = 0; i < params->offMeshConCount; ++i)
	{
		// Only store connections which start from this tile.
		if (offMeshConClass[i*2+0] == 0xff)
		{
			const float* linkv = &params->offMeshConVerts[i*2*3];
			float* v = &navVerts[(offMeshVertsBase + n*2)*3];
			dtVcopy(&v[0], &linkv[0]);
			dtVcopy(&v[3], &linkv[3]);
			n++;
		}
	}
	
	// Store polygons
	// Mesh polys
	const unsigned short* src = params->polys;
	for (int i = 0; i < params->polyCount; ++i)
	{
		dtPoly* p = &navPolys[i];
		p->vertCount = 0;
		p->flags = params->polyFlags[i];
		p->setArea(params->polyAreas[i]);
		p->setType(DT_POLYTYPE_GROUND);
		for (int j = 0; j < nvp; ++j)
		{
			if (src[j] == MESH_NULL_IDX) break;
			p->verts[j] = src[j];
			if (src[nvp+j] & 0x8000)
			{
				// Border or portal edge.
				unsigned short dir = src[nvp+j] & 0xf;
				if (dir == 0xf) // Border
					p->neis[j] = 0;
				else if (dir == 0) // Portal x-
					p->neis[j] = DT_EXT_LINK | 4;
				else if (dir == 1) // Portal z+
					p->neis[j] = DT_EXT_LINK | 2;
				else if (dir == 2) // Portal x+
					p->neis[j] = DT_EXT_LINK | 0;
				else if (dir == 3) // Portal z-
					p->neis[j] = DT_EXT_LINK | 6;
			}
			else
			{
				// Normal connection
				p->neis[j] = src[nvp+j]+1;
			}
			
			p->vertCount++;
		}
		src += nvp*2;
	}
	// Off-mesh connection vertices.
	n = 0;
	for (int i = 0; i < params->offMeshConCount; ++i)
	{
		// Only store connections which start from this tile.
		if (offMeshConClass[i*2+0] == 0xff)
		{
			dtPoly* p = &navPolys[offMeshPolyBase+n];
			p->vertCount = 2;
			p->verts[0] = (unsigned short)(offMeshVertsBase + n*2+0);
			p->verts[1] = (unsigned short)(offMeshVertsBase + n*2+1);
			p->flags = params->offMeshConFlags[i];
			p->setArea(params->offMeshConAreas[i]);
			p->setType(DT_POLYTYPE_OFFMESH_CONNECTION);
			n++;
		}
	}

	// Store detail meshes and vertices.
	// The nav polygon vertices are stored as the first vertices on each mesh.
	// We compress the mesh data by skipping them and using the navmesh coordinates.
	if (params->detailMeshes)
	{
		unsigned short vbase = 0;
		for (int i = 0; i < params->polyCount; ++i)
		{
			dtPolyDetail& dtl = navDMeshes[i];
			const int vb = (int)params->detailMeshes[i*4+0];
			const int ndv = (int)params->detailMeshes[i*4+1];
			const int nv = navPolys[i].vertCount;
			dtl.vertBase = (unsigned int)vbase;
			dtl.vertCount = (unsigned char)(ndv-nv);
			dtl.triBase = (unsigned int)params->detailMeshes[i*4+2];
			dtl.triCount = (unsigned char)params->detailMeshes[i*4+3];
			// Copy vertices except the first 'nv' verts which are equal to nav poly verts.
			if (ndv-nv)
			{
				memcpy(&navDVerts[vbase*3], &params->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv));
				vbase += (unsigned short)(ndv-nv);
			}
		}
		// Store triangles.
		memcpy(navDTris, params->detailTris, sizeof(unsigned char)*4*params->detailTriCount);
	}
	else
	{
		// Create dummy detail mesh by triangulating polys.
		int tbase = 0;
		for (int i = 0; i < params->polyCount; ++i)
		{
			dtPolyDetail& dtl = navDMeshes[i];
			const int nv = navPolys[i].vertCount;
			dtl.vertBase = 0;
			dtl.vertCount = 0;
			dtl.triBase = (unsigned int)tbase;
			dtl.triCount = (unsigned char)(nv-2);
			// Triangulate polygon (local indices).
			for (int j = 2; j < nv; ++j)
			{
				unsigned char* t = &navDTris[tbase*4];
				t[0] = 0;
				t[1] = (unsigned char)(j-1);
				t[2] = (unsigned char)j;
				// Bit for each edge that belongs to poly boundary.
				t[3] = (1<<2);
				if (j == 2) t[3] |= (1<<0);
				if (j == nv-1) t[3] |= (1<<4);
				tbase++;
			}
		}
	}

	// Store and create BVtree.
	// TODO: take detail mesh into account! use byte per bbox extent?
	if (params->buildBvTree)
	{
		createBVTree(params->verts, params->vertCount, params->polys, params->polyCount,
					 nvp, params->cs, params->ch, params->polyCount*2, navBvtree);
	}
	
	// Store Off-Mesh connections.
	n = 0;
	for (int i = 0; i < params->offMeshConCount; ++i)
	{
		// Only store connections which start from this tile.
		if (offMeshConClass[i*2+0] == 0xff)
		{
			dtOffMeshConnection* con = &offMeshCons[n];
			con->poly = (unsigned short)(offMeshPolyBase + n);
			// Copy connection end-points.
			const float* endPts = &params->offMeshConVerts[i*2*3];
			dtVcopy(&con->pos[0], &endPts[0]);
			dtVcopy(&con->pos[3], &endPts[3]);
			con->rad = params->offMeshConRad[i];
			con->flags = params->offMeshConDir[i] ? DT_OFFMESH_CON_BIDIR : 0;
			con->side = offMeshConClass[i*2+1];
			if (params->offMeshConUserID)
				con->userId = params->offMeshConUserID[i];
			n++;
		}
	}
		
	dtFree(offMeshConClass);
	
	*outData = data;
	*outDataSize = dataSize;
	
	return true;
}
static int createBVTree(const unsigned short* verts, const int /*nverts*/,
						const unsigned short* polys, const int npolys, const int nvp,
						const dtPolyDetail* DMeshes, const float* DVerts, const unsigned char* DTris, const float* tbmin,
						const float cs, const float ch,
						const int /*nnodes*/, dtBVNode* nodes)
{
	// Build tree
	BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*npolys, DT_ALLOC_TEMP);
	for (int i = 0; i < npolys; i++)
	{
		BVItem& it = items[i];
		it.i = i;
		// Calc polygon bounds.
		const unsigned short* p = &polys[i*nvp*2];
		it.bmin[0] = it.bmax[0] = verts[p[0]*3+0];
		it.bmin[1] = it.bmax[1] = verts[p[0]*3+1];
		it.bmin[2] = it.bmax[2] = verts[p[0]*3+2];
		
		int vertCount = 0;
		for (int j = 1; j < nvp; ++j)
		{
			if (p[j] == MESH_NULL_IDX)
			{
				vertCount = j;
				break;
			}

			unsigned short x = verts[p[j]*3+0];
			unsigned short y = verts[p[j]*3+1];
			unsigned short z = verts[p[j]*3+2];
			
			if (x < it.bmin[0]) it.bmin[0] = x;
			if (y < it.bmin[1]) it.bmin[1] = y;
			if (z < it.bmin[2]) it.bmin[2] = z;
			
			if (x > it.bmax[0]) it.bmax[0] = x;
			if (y > it.bmax[1]) it.bmax[1] = y;
			if (z > it.bmax[2]) it.bmax[2] = z;
		}

		// include y from detail mesh
		const dtPolyDetail* pd = &DMeshes[i];
		for (int k = 0; k < pd->triCount; ++k)
		{
			const unsigned char* t = &DTris[(pd->triBase + k) * 4];
			for (int m = 0; m < 3; ++m)
			{
				if (t[m] >= vertCount)
				{
					const float* detailCoords = &DVerts[(pd->vertBase + (t[m] - vertCount)) * 3];
					const float qY = (detailCoords[1] - tbmin[1]) / ch;
					const unsigned short qYmin = (unsigned short)floorf(qY);
					const unsigned short qYmax = (unsigned short)ceilf(qY);

					if (qYmin < it.bmin[1]) it.bmin[1] = qYmin;
					if (qYmax > it.bmax[1]) it.bmax[1] = qYmax;
				}
			}
		}

		// Remap y
		it.bmin[1] = (unsigned short)floorf((float)it.bmin[1]*ch/cs);
		it.bmax[1] = (unsigned short)ceilf((float)it.bmax[1]*ch/cs);
	}
	
	int curNode = 0;
	subdivide(items, npolys, 0, npolys, curNode, nodes);
	
	dtFree(items);
	
	return curNode;
}
Esempio n. 10
0
/*
const float* SoloMesh::getBoundsMin()
{
	if (!m_geom) return 0;
	return m_geom->getMeshBoundsMin();
}

const float* SoloMesh::getBoundsMax()
{
	if (!m_geom) return 0;
	return m_geom->getMeshBoundsMax();
}

dtNavMesh* SoloMesh::getNavMesh()
{
	return m_navMesh;
}

dtCrowd* SoloMesh::getCrowd()
{
	return m_crowd;
}

dtNavMeshQuery* SoloMesh::getNavMeshQuery()
{
	return m_navQuery;
}

void SoloMesh::resetCommonSettings()
{
	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_monotonePartitioning = false;
	m_edgeMaxLen = 12.0f;
	m_edgeMaxError = 1.3f;
	m_vertsPerPoly = 6.0f;
	m_detailSampleDist = 6.0f;
	m_detailSampleMaxError = 1.0f;
}
*/
bool SoloMesh::handleBuild()
{
    if (!m_geom || !m_geom->getMesh())
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Input mesh is not specified.");
        return false;
    }

    cleanup();

    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();

    //
    // 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 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)
    {
        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;
            }
        }


        dtNavMeshCreateParams params;
        memset(&params, 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;
        params.offMeshConVerts = m_geom->getOffMeshConnectionVerts();
        params.offMeshConRad = m_geom->getOffMeshConnectionRads();
        params.offMeshConDir = m_geom->getOffMeshConnectionDirs();
        params.offMeshConAreas = m_geom->getOffMeshConnectionAreas();
        params.offMeshConFlags = m_geom->getOffMeshConnectionFlags();
        params.offMeshConUserID = m_geom->getOffMeshConnectionId();
        params.offMeshConCount = m_geom->getOffMeshConnectionCount();
        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;
        params.buildBvTree = true;

        if (!dtCreateNavMeshData(&params, &navData, &navDataSize))
        {
            m_ctx->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
            return false;
        }

        m_navMesh = dtAllocNavMesh();
        if (!m_navMesh)
        {
            dtFree(navData);
            m_ctx->log(RC_LOG_ERROR, "Could not create Detour navmesh");
            return false;
        }

        dtStatus status;

        status = m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA);
        if (dtStatusFailed(status))
        {
            dtFree(navData);
            m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh");
            return false;
        }

        status = m_navQuery->init(m_navMesh, 2048);
        if (dtStatusFailed(status))
        {
            m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh query");
            return false;
        }
    }

    m_ctx->stopTimer(RC_TIMER_TOTAL);

    // Show performance stats.
    duLogBuildTimes(*m_ctx, m_ctx->getAccumulatedTime(RC_TIMER_TOTAL));
    m_ctx->log(RC_LOG_PROGRESS, ">> Polymesh: %d vertices  %d polygons", m_pmesh->nverts, m_pmesh->npolys);

    m_totalBuildTimeMs = m_ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;

    return true;
}
dtPathCorridor::~dtPathCorridor()
{
	dtFree(m_path);
}
void dtFreeObstacleAvoidanceDebugData(dtObstacleAvoidanceDebugData* ptr)
{
	if (!ptr) return;
	ptr->~dtObstacleAvoidanceDebugData();
	dtFree(ptr);
}
dtObstacleAvoidanceQuery::~dtObstacleAvoidanceQuery()
{
	dtFree(m_circles);
	dtFree(m_segments);
}
void dtFreeObstacleAvoidanceQuery(dtObstacleAvoidanceQuery* ptr)
{
	if (!ptr) return;
	ptr->~dtObstacleAvoidanceQuery();
	dtFree(ptr);
}