bool OgreDetourTileCache::buildTile(const int tx, const int ty, InputGeom *inputGeom)
{
if (tx < 0 || tx >= m_tw)
return false;
if (ty < 0 || ty >= m_th)
return false;
//TODO maybe I want to keep these values up to date
/*
m_cacheLayerCount = 0;
m_cacheCompressedSize = 0;
m_cacheRawSize = 0;
*/
TileCacheData tiles[MAX_LAYERS];
memset(tiles, 0, sizeof(tiles));
int ntiles = rasterizeTileLayers(inputGeom, tx, ty, m_cfg, tiles, MAX_LAYERS); // This is where the tile is built
dtStatus status;
// I don't know exactly why this can still be multiple tiles (??)
for (int i = 0; i < ntiles; ++i)
{
TileCacheData* tile = &tiles[i];
dtTileCacheLayerHeader* header = (dtTileCacheLayerHeader*)tile->data;
// Important: if a tile already exists at this position, first remove the old one or it will not be updated!
removeTile( m_tileCache->getTileRef(m_tileCache->getTileAt(header->tx, header->ty,header->tlayer)) );
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0); // Add compressed tiles to tileCache
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue; // TODO maybe return false here?
}
// TODO this has to be recalculated differently when rebuilding a tile
/*
m_cacheLayerCount++;
m_cacheCompressedSize += tile->dataSize;
m_cacheRawSize += calcLayerBufferSize(m_tcparams.width, m_tcparams.height);
*/
}
//TODO add a deferred command for this?
// Build navmesh tile from cached tile
m_tileCache->buildNavMeshTilesAt(tx,ty, m_recast->m_navMesh); // This immediately builds the tile, without the need of a dtTileCache::update()
//TODO update this value?
//m_cacheBuildMemUsage = m_talloc->high;
// TODO extract debug drawing to a separate class
drawDetail(tx, ty);
return true;
}
bool OgreDetourTileCache::TileCacheBuild(InputGeom *inputGeom)
{
// Init configuration for specified geometry
configure(inputGeom);
dtStatus status;
// Preprocess tiles.
// Prepares navmesh tiles in a 2D intermediary format that allows quick conversion to a 3D navmesh
m_cacheLayerCount = 0;
m_cacheCompressedSize = 0;
m_cacheRawSize = 0;
for (int y = 0; y < m_th; ++y)
{
for (int x = 0; x < m_tw; ++x)
{
TileCacheData tiles[MAX_LAYERS];
memset(tiles, 0, sizeof(tiles));
int ntiles = rasterizeTileLayers(m_geom, x, y, m_cfg, tiles, MAX_LAYERS); // This is where the tile is built
for (int i = 0; i < ntiles; ++i)
{
TileCacheData* tile = &tiles[i];
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0); // Add compressed tiles to tileCache
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue;
}
m_cacheLayerCount++;
m_cacheCompressedSize += tile->dataSize;
m_cacheRawSize += calcLayerBufferSize(m_tcparams.width, m_tcparams.height);
}
}
}
buildInitialNavmesh();
return true;
}
//-----------------------------------------------------------------------------
// Purpose: Partial rebuild. Destroys tiles at bounds touching the mesh and
// rebuilds those tiles.
//-----------------------------------------------------------------------------
bool CRecastMesh::RebuildPartial( CMapMesh *pMapMesh, const Vector &vMins, const Vector &vMaxs )
{
double fStartTime = Plat_FloatTime();
BuildContext ctx;
dtStatus status;
const dtTileCacheParams &tcparams = *m_tileCache->getParams();
float bmin[3];
float bmax[3];
bmin[0] = vMins.x;
bmin[1] = vMins.z;
bmin[2] = vMins.y;
bmax[0] = vMaxs.x;
bmax[1] = vMaxs.z;
bmax[2] = vMaxs.y;
const float tw = tcparams.width * tcparams.cs;
const float th = tcparams.height * tcparams.cs;
const int tx0 = (int)dtMathFloorf((bmin[0]-tcparams.orig[0]) / tw);
const int tx1 = (int)dtMathFloorf((bmax[0]-tcparams.orig[0]) / tw);
const int ty0 = (int)dtMathFloorf((bmin[2]-tcparams.orig[2]) / th);
const int ty1 = (int)dtMathFloorf((bmax[2]-tcparams.orig[2]) / th);
TileCacheData tiles[MAX_LAYERS];
int ntiles;
dtCompressedTileRef results[128];
for (int ty = ty0; ty <= ty1; ++ty)
{
for (int tx = tx0; tx <= tx1; ++tx)
{
int nCount = m_tileCache->getTilesAt( tx, ty, results, 128 );
for( int i = 0; i < nCount; i++ )
{
unsigned char* data;
int dataSize;
m_tileCache->removeTile( results[i], &data, &dataSize );
}
memset(tiles, 0, sizeof(tiles));
ntiles = rasterizeTileLayers(&ctx, pMapMesh, tx, ty, m_cfg, tiles, MAX_LAYERS);
for (int i = 0; i < ntiles; ++i)
{
TileCacheData* tile = &tiles[i];
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0);
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue;
}
}
}
}
// Build initial meshes
for (int ty = ty0; ty <= ty1; ++ty)
{
for (int tx = tx0; tx <= tx1; ++tx)
{
m_tileCache->buildNavMeshTilesAt(tx,ty, m_navMesh);
}
}
if( recast_build_partial_debug.GetBool() )
DevMsg( "CRecastMesh: Generated partial mesh update %s in %f seconds\n", m_Name.Get(), Plat_FloatTime() - fStartTime );
return true;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
bool CRecastMesh::Build( CMapMesh *pMapMesh )
{
double fStartTime = Plat_FloatTime();
Reset(); // Clean any existing data
BuildContext ctx;
ctx.enableLog( true );
dtStatus status;
V_memset(&m_cfg, 0, sizeof(m_cfg));
// Init cache
rcCalcBounds( pMapMesh->GetVerts(), pMapMesh->GetNumVerts(), m_cfg.bmin, m_cfg.bmax );
rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, &m_cfg.width, &m_cfg.height);
int gw = 0, gh = 0;
rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cellSize, &gw, &gh);
const int ts = (int)m_tileSize;
const int tw = (gw + ts-1) / ts;
const int th = (gh + ts-1) / ts;
// Max tiles and max polys affect how the tile IDs are caculated.
// There are 22 bits available for identifying a tile and a polygon.
int tileBits = rcMin((int)dtIlog2(dtNextPow2(tw*th*EXPECTED_LAYERS_PER_TILE)), 14);
if (tileBits > 14) tileBits = 14;
int polyBits = 22 - tileBits;
m_maxTiles = 1 << tileBits;
m_maxPolysPerTile = 1 << polyBits;
// Generation params.
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.tileSize = (int)m_tileSize;
m_cfg.borderSize = m_cfg.walkableRadius + 3; // Reserve enough padding.
m_cfg.width = m_cfg.tileSize + m_cfg.borderSize*2;
m_cfg.height = m_cfg.tileSize + m_cfg.borderSize*2;
m_cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
m_cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
// Tile cache params.
dtTileCacheParams tcparams;
memset(&tcparams, 0, sizeof(tcparams));
rcVcopy(tcparams.orig, m_cfg.bmin);
tcparams.cs = m_cellSize;
tcparams.ch = m_cellHeight;
tcparams.width = (int)m_tileSize;
tcparams.height = (int)m_tileSize;
tcparams.walkableHeight = m_agentHeight;
tcparams.walkableRadius = m_agentRadius;
tcparams.walkableClimb = m_agentMaxClimb;
tcparams.maxSimplificationError = m_edgeMaxError;
tcparams.maxTiles = tw*th*EXPECTED_LAYERS_PER_TILE;
tcparams.maxObstacles = 2048;
dtFreeTileCache(m_tileCache);
m_tileCache = dtAllocTileCache();
if (!m_tileCache)
{
ctx.log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate tile cache.");
return false;
}
status = m_tileCache->init(&tcparams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status))
{
ctx.log(RC_LOG_ERROR, "buildTiledNavigation: Could not init tile cache.");
return false;
}
dtFreeNavMesh(m_navMesh);
m_navMesh = dtAllocNavMesh();
if (!m_navMesh)
{
ctx.log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate navmesh.");
return false;
}
dtNavMeshParams params;
memset(¶ms, 0, sizeof(params));
rcVcopy(params.orig, m_cfg.bmin);
params.tileWidth = m_tileSize*m_cellSize;
params.tileHeight = m_tileSize*m_cellSize;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
status = m_navMesh->init(¶ms);
if (dtStatusFailed(status))
{
ctx.log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
return false;
}
status = m_navQuery->init( m_navMesh, RECAST_NAVQUERY_MAXNODES );
if (dtStatusFailed(status))
{
ctx.log(RC_LOG_ERROR, "buildTiledNavigation: Could not init Detour navmesh query");
return false;
}
// Preprocess tiles.
ctx.resetTimers();
m_cacheLayerCount = 0;
m_cacheCompressedSize = 0;
m_cacheRawSize = 0;
for (int y = 0; y < th; ++y)
{
for (int x = 0; x < tw; ++x)
{
TileCacheData tiles[MAX_LAYERS];
memset(tiles, 0, sizeof(tiles));
int ntiles = rasterizeTileLayers(&ctx, pMapMesh, x, y, m_cfg, tiles, MAX_LAYERS);
for (int i = 0; i < ntiles; ++i)
{
TileCacheData* tile = &tiles[i];
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0);
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue;
}
m_cacheLayerCount++;
m_cacheCompressedSize += tile->dataSize;
m_cacheRawSize += calcLayerBufferSize(tcparams.width, tcparams.height);
}
}
}
// Build initial meshes
ctx.startTimer(RC_TIMER_TOTAL);
for (int y = 0; y < th; ++y)
for (int x = 0; x < tw; ++x)
m_tileCache->buildNavMeshTilesAt(x,y, m_navMesh);
ctx.stopTimer(RC_TIMER_TOTAL);
m_cacheBuildTimeMs = ctx.getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;
m_cacheBuildMemUsage = ((LinearAllocator *)m_talloc)->high;
const dtNavMesh* nav = m_navMesh;
int navmeshMemUsage = 0;
for (int i = 0; i < nav->getMaxTiles(); ++i)
{
const dtMeshTile* tile = nav->getTile(i);
if (tile->header)
navmeshMemUsage += tile->dataSize;
}
DevMsg( "CRecastMesh: Generated navigation mesh %s in %f seconds\n", m_Name.Get(), Plat_FloatTime() - fStartTime );
return true;
}
bool Sample_TempObstacles::handleBuild()
{
dtStatus status;
if (!m_geom || !m_geom->getMesh())
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: No vertices and triangles.");
return false;
}
m_tmproc->init(m_geom);
// Init cache
const float* bmin = m_geom->getNavMeshBoundsMin();
const float* bmax = m_geom->getNavMeshBoundsMax();
int gw = 0, gh = 0;
rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
const int ts = (int)m_tileSize;
const int tw = (gw + ts-1) / ts;
const int th = (gh + ts-1) / ts;
// Generation params.
rcConfig cfg;
memset(&cfg, 0, sizeof(cfg));
cfg.cs = m_cellSize;
cfg.ch = m_cellHeight;
cfg.walkableSlopeAngle = m_agentMaxSlope;
cfg.walkableHeight = (int)ceilf(m_agentHeight / cfg.ch);
cfg.walkableClimb = (int)floorf(m_agentMaxClimb / cfg.ch);
cfg.walkableRadius = (int)ceilf(m_agentRadius / cfg.cs);
cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
cfg.maxSimplificationError = m_edgeMaxError;
cfg.minRegionArea = (int)rcSqr(m_regionMinSize); // Note: area = size*size
cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize); // Note: area = size*size
cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
cfg.tileSize = (int)m_tileSize;
cfg.borderSize = cfg.walkableRadius + 3; // Reserve enough padding.
cfg.width = cfg.tileSize + cfg.borderSize*2;
cfg.height = cfg.tileSize + cfg.borderSize*2;
cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
rcVcopy(cfg.bmin, bmin);
rcVcopy(cfg.bmax, bmax);
// Tile cache params.
dtTileCacheParams tcparams;
memset(&tcparams, 0, sizeof(tcparams));
rcVcopy(tcparams.orig, bmin);
tcparams.cs = m_cellSize;
tcparams.ch = m_cellHeight;
tcparams.width = (int)m_tileSize;
tcparams.height = (int)m_tileSize;
tcparams.walkableHeight = m_agentHeight;
tcparams.walkableRadius = m_agentRadius;
tcparams.walkableClimb = m_agentMaxClimb;
tcparams.maxSimplificationError = m_edgeMaxError;
tcparams.maxTiles = tw*th*EXPECTED_LAYERS_PER_TILE;
tcparams.maxObstacles = 128;
dtFreeTileCache(m_tileCache);
m_tileCache = dtAllocTileCache();
if (!m_tileCache)
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate tile cache.");
return false;
}
status = m_tileCache->init(&tcparams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init tile cache.");
return false;
}
dtFreeNavMesh(m_navMesh);
m_navMesh = dtAllocNavMesh();
if (!m_navMesh)
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate navmesh.");
return false;
}
dtNavMeshParams params;
memset(¶ms, 0, sizeof(params));
rcVcopy(params.orig, bmin);
params.tileWidth = m_tileSize*m_cellSize;
params.tileHeight = m_tileSize*m_cellSize;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
status = m_navMesh->init(¶ms);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
return false;
}
status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init Detour navmesh query");
return false;
}
// Preprocess tiles.
m_ctx->resetTimers();
m_cacheLayerCount = 0;
m_cacheCompressedSize = 0;
m_cacheRawSize = 0;
for (int y = 0; y < th; ++y)
{
for (int x = 0; x < tw; ++x)
{
TileCacheData tiles[MAX_LAYERS];
memset(tiles, 0, sizeof(tiles));
int ntiles = rasterizeTileLayers(m_ctx, m_geom, x, y, cfg, tiles, MAX_LAYERS);
for (int i = 0; i < ntiles; ++i)
{
TileCacheData* tile = &tiles[i];
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0);
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue;
}
m_cacheLayerCount++;
m_cacheCompressedSize += tile->dataSize;
m_cacheRawSize += calcLayerBufferSize(tcparams.width, tcparams.height);
}
}
}
// Build initial meshes
m_ctx->startTimer(RC_TIMER_TOTAL);
for (int y = 0; y < th; ++y)
for (int x = 0; x < tw; ++x)
m_tileCache->buildNavMeshTilesAt(x,y, m_navMesh);
m_ctx->stopTimer(RC_TIMER_TOTAL);
m_cacheBuildTimeMs = m_ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;
m_cacheBuildMemUsage = m_talloc->high;
const dtNavMesh* nav = m_navMesh;
int navmeshMemUsage = 0;
for (int i = 0; i < nav->getMaxTiles(); ++i)
{
const dtMeshTile* tile = nav->getTile(i);
if (tile->header)
navmeshMemUsage += tile->dataSize;
}
printf("navmeshMemUsage = %.1f kB", navmeshMemUsage/1024.0f);
if (m_tool)
m_tool->init(this);
initToolStates(this);
return true;
}
bool OgreDetourTileCache::TileCacheBuild(InputGeom *inputGeom)
{
// Init configuration for specified geometry
configure(inputGeom);
dtStatus status;
// Preprocess tiles.
// Prepares navmesh tiles in a 2D intermediary format that allows quick conversion to a 3D navmesh
// ctx->resetTimers();
m_cacheLayerCount = 0;
m_cacheCompressedSize = 0;
m_cacheRawSize = 0;
for (int y = 0; y < m_th; ++y)
{
for (int x = 0; x < m_tw; ++x)
{
TileCacheData tiles[MAX_LAYERS];
memset(tiles, 0, sizeof(tiles));
int ntiles = rasterizeTileLayers(m_geom, x, y, m_cfg, tiles, MAX_LAYERS); // This is where the tile is built
for (int i = 0; i < ntiles; ++i)
{
TileCacheData* tile = &tiles[i];
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0); // Add compressed tiles to tileCache
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue;
}
m_cacheLayerCount++;
m_cacheCompressedSize += tile->dataSize;
m_cacheRawSize += calcLayerBufferSize(m_tcparams.width, m_tcparams.height);
}
}
}
// Build initial meshes
// Builds detour compatible navmesh from all tiles.
// A tile will have to be rebuilt if something changes, eg. a temporary obstacle is placed on it.
// ctx->startTimer(RC_TIMER_TOTAL);
for (int y = 0; y < m_th; ++y)
for (int x = 0; x < m_tw; ++x)
m_tileCache->buildNavMeshTilesAt(x,y, m_recast->m_navMesh); // This immediately builds the tile, without the need of a dtTileCache::update()
// ctx->stopTimer(RC_TIMER_TOTAL);
// m_cacheBuildTimeMs = ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;
m_cacheBuildMemUsage = m_talloc->high;
// Count the total size of all generated tiles of the tiled navmesh
const dtNavMesh* nav = m_recast->m_navMesh;
int navmeshMemUsage = 0;
for (int i = 0; i < nav->getMaxTiles(); ++i)
{
const dtMeshTile* tile = nav->getTile(i);
if (tile->header)
navmeshMemUsage += tile->dataSize;
}
// printf("navmeshMemUsage = %.1f kB\n", navmeshMemUsage/1024.0f);
Ogre::LogManager::getSingletonPtr()->logMessage("Navmesh Mem Usage = "+ Ogre::StringConverter::toString(navmeshMemUsage/1024.0f) +" kB");
Ogre::LogManager::getSingletonPtr()->logMessage("Tilecache Mem Usage = " +Ogre::StringConverter::toString(m_cacheCompressedSize/1024.0f) +" kB");
return true;
}
bool NavMesh::BuildMesh()
{
dtStatus status;
if (!m_geom || !m_geom->getMesh()) return false;
m_tmproc->init(m_geom);
// Init cache
const float* bmin = m_geom->getMeshBoundsMin();
const float* bmax = m_geom->getMeshBoundsMax();
int gw = 0, gh = 0;
rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
const int ts = (int)m_tileSize;
const int tw = (gw + ts-1) / ts;
const int th = (gh + ts-1) / ts;
// Generation params.
rcConfig cfg;
memset(&cfg, 0, sizeof(cfg));
cfg.cs = m_cellSize;
cfg.ch = m_cellHeight;
cfg.walkableSlopeAngle = m_agentMaxSlope;
cfg.walkableHeight = (int)ceilf(m_agentHeight / cfg.ch);
cfg.walkableClimb = (int)floorf(m_agentMaxClimb / cfg.ch);
cfg.walkableRadius = (int)ceilf(m_agentRadius / cfg.cs);
cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
cfg.maxSimplificationError = m_edgeMaxError;
cfg.minRegionArea = (int)rcSqr(m_regionMinSize); // Note: area = size*size
cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize); // Note: area = size*size
cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
cfg.tileSize = (int)m_tileSize;
cfg.borderSize = cfg.walkableRadius + 3; // Reserve enough padding.
cfg.width = cfg.tileSize + cfg.borderSize*2;
cfg.height = cfg.tileSize + cfg.borderSize*2;
cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
rcVcopy(cfg.bmin, bmin);
rcVcopy(cfg.bmax, bmax);
// Tile cache params.
dtTileCacheParams tcparams;
memset(&tcparams, 0, sizeof(tcparams));
rcVcopy(tcparams.orig, bmin);
tcparams.cs = m_cellSize;
tcparams.ch = m_cellHeight;
tcparams.width = (int)m_tileSize;
tcparams.height = (int)m_tileSize;
tcparams.walkableHeight = m_agentHeight;
tcparams.walkableRadius = m_agentRadius;
tcparams.walkableClimb = m_agentMaxClimb;
tcparams.maxSimplificationError = m_edgeMaxError;
tcparams.maxTiles = tw*th*EXPECTED_LAYERS_PER_TILE;
tcparams.maxObstacles = 128;
dtFreeTileCache(m_tileCache);
m_tileCache = dtAllocTileCache();
if (!m_tileCache) return false;
status = m_tileCache->init(&tcparams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status)) return false;
dtFreeNavMesh(m_navMesh);
m_navMesh = dtAllocNavMesh();
if (!m_navMesh) return false;
dtNavMeshParams params;
memset(¶ms, 0, sizeof(params));
rcVcopy(params.orig, m_geom->getMeshBoundsMin());
params.tileWidth = m_tileSize*m_cellSize;
params.tileHeight = m_tileSize*m_cellSize;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
status = m_navMesh->init(¶ms);
if (dtStatusFailed(status)) return false;
status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status)) return false;
for (int y = 0; y < th; ++y)
{
for (int x = 0; x < tw; ++x)
{
TileCacheData tiles[MAX_LAYERS];
memset(tiles, 0, sizeof(tiles));
int n = rasterizeTileLayers(m_geom, x, y, cfg, tiles, MAX_LAYERS);
for (int i = 0; i < n; ++i)
{
TileCacheData* tile = &tiles[i];
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0);
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue;
}
}
}
}
for (int y = 0; y < th; ++y)
for (int x = 0; x < tw; ++x)
m_tileCache->buildNavMeshTilesAt(x,y, m_navMesh);
}
