unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const float* bmin, const float* bmax, int& dataSize)
{
if (!m_geom || !m_geom->getMesh() || !m_geom->getChunkyMesh())
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Input mesh is not specified.");
return 0;
}
m_tileMemUsage = 0;
m_tileBuildTime = 0;
cleanup();
const float* verts = m_geom->getMesh()->getVerts();
const int nverts = m_geom->getMesh()->getVertCount();
const int ntris = m_geom->getMesh()->getTriCount();
const rcChunkyTriMesh* chunkyMesh = m_geom->getChunkyMesh();
// 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.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;
// Expand the heighfield bounding box by border size to find the extents of geometry we need to build this tile.
//
// This is done in order to make sure that the navmesh tiles connect correctly at the borders,
// and the obstacles close to the border work correctly with the dilation process.
// No polygons (or contours) will be created on the border area.
//
// IMPORTANT!
//
// :''''''''':
// : +-----+ :
// : | | :
// : | |<--- tile to build
// : | | :
// : +-----+ :<-- geometry needed
// :.........:
//
// You should use this bounding box to query your input geometry.
//
// For example if you build a navmesh for terrain, and want the navmesh tiles to match the terrain tile size
// you will need to pass in data from neighbour terrain tiles too! In a simple case, just pass in all the 8 neighbours,
// or use the bounding box below to only pass in a sliver of each of the 8 neighbours.
rcVcopy(m_cfg.bmin, bmin);
rcVcopy(m_cfg.bmax, bmax);
m_cfg.bmin[0] -= m_cfg.borderSize*m_cfg.cs;
m_cfg.bmin[2] -= m_cfg.borderSize*m_cfg.cs;
m_cfg.bmax[0] += m_cfg.borderSize*m_cfg.cs;
m_cfg.bmax[2] += m_cfg.borderSize*m_cfg.cs;
// 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);
// 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 0;
}
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 0;
}
// Allocate array that can hold triangle flags.
// 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 AreaType[chunkyMesh->maxTrisPerChunk];
if (!m_triareas)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (%d).", chunkyMesh->maxTrisPerChunk);
return 0;
}
float tbmin[2], tbmax[2];
tbmin[0] = m_cfg.bmin[0];
tbmin[1] = m_cfg.bmin[2];
tbmax[0] = m_cfg.bmax[0];
tbmax[1] = m_cfg.bmax[2];
int cid[512];// TODO: Make grow when returning too many items.
const int ncid = rcGetChunksOverlappingRect(chunkyMesh, tbmin, tbmax, cid, 512);
if (!ncid)
return 0;
m_tileTriCount = 0;
for (int i = 0; i < ncid; ++i)
{
const rcChunkyTriMeshNode& node = chunkyMesh->nodes[cid[i]];
const int* ctris = &chunkyMesh->tris[node.i*3];
const int nctris = node.n;
m_tileTriCount += nctris;
memset(m_triareas, 0, nctris*sizeof(unsigned char));
rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle,
verts, nverts, ctris, nctris, m_triareas);
if (!rcRasterizeTriangles(m_ctx, verts, nverts, ctris, m_triareas, nctris, *m_solid, m_cfg.walkableClimb))
return 0;
}
if (!m_keepInterResults)
{
delete [] m_triareas;
m_triareas = 0;
}
// Once all geometry 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);
// 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 0;
}
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 0;
}
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 0;
}
// (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);
// Partition the heightfield so that we can use simple algorithm later to triangulate the walkable areas.
// There are 3 martitioning methods, each with some pros and cons:
// 1) Watershed partitioning
// - the classic Recast partitioning
// - creates the nicest tessellation
// - usually slowest
// - partitions the heightfield into nice regions without holes or overlaps
// - the are some corner cases where this method creates produces holes and overlaps
// - holes may appear when a small obstacles is close to large open area (triangulation can handle this)
// - overlaps may occur if you have narrow spiral corridors (i.e stairs), this make triangulation to fail
// * generally the best choice if you precompute the nacmesh, use this if you have large open areas
// 2) Monotone partioning
// - fastest
// - partitions the heightfield into regions without holes and overlaps (guaranteed)
// - creates long thin polygons, which sometimes causes paths with detours
// * use this if you want fast navmesh generation
// 3) Layer partitoining
// - quite fast
// - partitions the heighfield into non-overlapping regions
// - relies on the triangulation code to cope with holes (thus slower than monotone partitioning)
// - produces better triangles than monotone partitioning
// - does not have the corner cases of watershed partitioning
// - can be slow and create a bit ugly tessellation (still better than monotone)
// if you have large open areas with small obstacles (not a problem if you use tiles)
// * good choice to use for tiled navmesh with medium and small sized tiles
if (m_partitionType == SAMPLE_PARTITION_WATERSHED)
{
// 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 0;
}
// Partition the walkable surface into simple regions without holes.
if (!rcBuildRegions(m_ctx, *m_chf, m_cfg.borderSize, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build watershed regions.");
return 0;
}
}
else if (m_partitionType == SAMPLE_PARTITION_MONOTONE)
{
// Partition the walkable surface into simple regions without holes.
// Monotone partitioning does not need distancefield.
if (!rcBuildRegionsMonotone(m_ctx, *m_chf, m_cfg.borderSize, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build monotone regions.");
return 0;
}
}
else // SAMPLE_PARTITION_LAYERS
{
// Partition the walkable surface into simple regions without holes.
if (!rcBuildLayerRegions(m_ctx, *m_chf, m_cfg.borderSize, m_cfg.minRegionArea))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build layer regions.");
return 0;
}
}
// Create contours.
m_cset = rcAllocContourSet();
if (!m_cset)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
return 0;
}
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 0;
}
if (m_cset->nconts == 0)
{
return 0;
}
// Build polygon navmesh from the contours.
m_pmesh = rcAllocPolyMesh();
if (!m_pmesh)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
return 0;
}
if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
return 0;
}
// Build detail mesh.
m_dmesh = rcAllocPolyMeshDetail();
if (!m_dmesh)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'dmesh'.");
return 0;
}
if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf,
m_cfg.detailSampleDist, m_cfg.detailSampleMaxError,
*m_dmesh))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could build polymesh detail.");
return 0;
}
if (!m_keepInterResults)
{
rcFreeCompactHeightfield(m_chf);
m_chf = 0;
rcFreeContourSet(m_cset);
m_cset = 0;
}
unsigned char* navData = 0;
int navDataSize = 0;
if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
{
if (m_pmesh->nverts >= 0xffff)
{
// The vertex indices are ushorts, and cannot point to more than 0xffff vertices.
m_ctx->log(RC_LOG_ERROR, "Too many vertices per tile %d (max: %d).", m_pmesh->nverts, 0xffff);
return 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(¶ms, 0, sizeof(params));
params.verts = m_pmesh->verts;
params.vertCount = m_pmesh->nverts;
params.polys = m_pmesh->polys;
params.polyAreas = m_pmesh->areas;
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;
params.tileX = tx;
params.tileY = ty;
params.tileLayer = 0;
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(¶ms, &navData, &navDataSize))
{
m_ctx->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
return 0;
}
}
m_tileMemUsage = navDataSize/1024.0f;
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_tileBuildTime = m_ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;
dataSize = navDataSize;
return navData;
}
unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const float* bmin, const float* bmax, int& dataSize)
{
if (!m_geom || !m_geom->getMesh() || !m_geom->getChunkyMesh())
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Input mesh is not specified.");
return 0;
}
m_tileMemUsage = 0;
m_tileBuildTime = 0;
cleanup();
const float* verts = m_geom->getMesh()->getVerts();
const int nverts = m_geom->getMesh()->getVertCount();
const int ntris = m_geom->getMesh()->getTriCount();
const rcChunkyTriMesh* chunkyMesh = m_geom->getChunkyMesh();
// 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.minRegionSize = (int)rcSqr(m_regionMinSize);
m_cfg.mergeRegionSize = (int)rcSqr(m_regionMergeSize);
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;
rcVcopy(m_cfg.bmin, bmin);
rcVcopy(m_cfg.bmax, bmax);
m_cfg.bmin[0] -= m_cfg.borderSize*m_cfg.cs;
m_cfg.bmin[2] -= m_cfg.borderSize*m_cfg.cs;
m_cfg.bmax[0] += m_cfg.borderSize*m_cfg.cs;
m_cfg.bmax[2] += m_cfg.borderSize*m_cfg.cs;
// Reset build times gathering.
m_ctx->resetBuildTimes();
// Start the build process.
rcTimeVal totStartTime = m_ctx->getTime();
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);
// Allocate voxel heighfield 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 0;
}
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 0;
}
// Allocate array that can hold triangle flags.
// 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[chunkyMesh->maxTrisPerChunk];
if (!m_triareas)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (%d).", chunkyMesh->maxTrisPerChunk);
return 0;
}
float tbmin[2], tbmax[2];
tbmin[0] = m_cfg.bmin[0];
tbmin[1] = m_cfg.bmin[2];
tbmax[0] = m_cfg.bmax[0];
tbmax[1] = m_cfg.bmax[2];
int cid[512];// TODO: Make grow when returning too many items.
const int ncid = rcGetChunksInRect(chunkyMesh, tbmin, tbmax, cid, 512);
if (!ncid)
return 0;
m_tileTriCount = 0;
for (int i = 0; i < ncid; ++i)
{
const rcChunkyTriMeshNode& node = chunkyMesh->nodes[cid[i]];
const int* tris = &chunkyMesh->tris[node.i*3];
const int ntris = node.n;
m_tileTriCount += ntris;
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;
}
// Once all geometry 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);
// 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 0;
}
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 0;
}
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);
// 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 0;
}
// Partition the walkable surface into simple regions without holes.
if (!rcBuildRegions(m_ctx, *m_chf, m_cfg.borderSize, m_cfg.minRegionSize, m_cfg.mergeRegionSize))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
return 0;
}
// Create contours.
m_cset = rcAllocContourSet();
if (!m_cset)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
return 0;
}
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 0;
}
if (m_cset->nconts == 0)
{
return 0;
}
// Build polygon navmesh from the contours.
m_pmesh = rcAllocPolyMesh();
if (!m_pmesh)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
return 0;
}
if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
return 0;
}
// Build detail mesh.
m_dmesh = rcAllocPolyMeshDetail();
if (!m_dmesh)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'dmesh'.");
return 0;
}
if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf,
m_cfg.detailSampleDist, m_cfg.detailSampleMaxError,
*m_dmesh))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could build polymesh detail.");
return 0;
}
if (!m_keepInterResults)
{
rcFreeCompactHeightfield(m_chf);
m_chf = 0;
rcFreeContourSet(m_cset);
m_cset = 0;
}
unsigned char* navData = 0;
int navDataSize = 0;
if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
{
// Remove padding from the polymesh data. TODO: Remove this odditity.
for (int i = 0; i < m_pmesh->nverts; ++i)
{
unsigned short* v = &m_pmesh->verts[i*3];
v[0] -= (unsigned short)m_cfg.borderSize;
v[2] -= (unsigned short)m_cfg.borderSize;
}
if (m_pmesh->nverts >= 0xffff)
{
// The vertex indices are ushorts, and cannot point to more than 0xffff vertices.
m_ctx->log(RC_LOG_ERROR, "Too many vertices per tile %d (max: %d).", m_pmesh->nverts, 0xffff);
return false;
}
// 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(¶ms, 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.offMeshConCount = m_geom->getOffMeshConnectionCount();
params.walkableHeight = m_agentHeight;
params.walkableRadius = m_agentRadius;
params.walkableClimb = m_agentMaxClimb;
params.tileX = tx;
params.tileY = ty;
rcVcopy(params.bmin, bmin);
rcVcopy(params.bmax, bmax);
params.cs = m_cfg.cs;
params.ch = m_cfg.ch;
params.tileSize = m_cfg.tileSize;
if (!dtCreateNavMeshData(¶ms, &navData, &navDataSize))
{
m_ctx->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
return 0;
}
// Restore padding so that the debug visualization is correct.
for (int i = 0; i < m_pmesh->nverts; ++i)
{
unsigned short* v = &m_pmesh->verts[i*3];
v[0] += (unsigned short)m_cfg.borderSize;
v[2] += (unsigned short)m_cfg.borderSize;
}
}
m_tileMemUsage = navDataSize/1024.0f;
rcTimeVal totEndTime = m_ctx->getTime();
// Show performance stats.
duLogBuildTimes(m_ctx, m_ctx->getDeltaTimeUsec(totStartTime, totEndTime));
m_ctx->log(RC_LOG_PROGRESS, ">> Polymesh: %d vertices %d polygons", m_pmesh->nverts, m_pmesh->npolys);
m_tileBuildTime = m_ctx->getDeltaTimeUsec(totStartTime, totEndTime)/1000.0f;
dataSize = navDataSize;
return navData;
}
bool Sample_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(¶ms, 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(¶ms, &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;
if (m_tool)
m_tool->init(this);
return true;
}
/*!
Build a NAVIGATION mesh from an OBJ mesh index. Usually this OBJMESH is either a collision map
or a mesh that have been built especially for navigation.
\param[in,out] navigation A valid NAVIGATION structure pointer.
\param[in] obj A valid OBJ structure pointer.
\param[in] mesh_index The mesh index of the OBJMESH to use to create the NAVIGATION mesh.
\return Return 1 if the NAVIGATION mesh have been generated successfully, else this function will return 0.
*/
unsigned char NAVIGATION_build( NAVIGATION *navigation, Object *obj, unsigned int mesh_index )
{
unsigned int i = 0,
j = 0,
k = 0,
triangle_count = 0;
int *indices = NULL;
Mesh *objmesh = obj->meshList[ mesh_index ];
// vec3 *vertex_array = ( vec3 * ) malloc( objmesh->n_objvertexdata * sizeof( vec3 ) ),
vec3 *vertex_array = ( vec3 * ) malloc( objmesh->uniqueVertexUVIndexList.size() * sizeof( vec3 ) ),
*vertex_start = vertex_array;
rcHeightfield *rcheightfield;
rcCompactHeightfield *rccompactheightfield;
rcContourSet *rccontourset;
rcPolyMesh *rcpolymesh;
rcPolyMeshDetail *rcpolymeshdetail;
while( i != objmesh->uniqueVertexUVIndexList.size() )
{
memcpy( vertex_array,
&obj->vertexMgr.uniqueVertexList[objmesh->uniqueVertexUVIndexList[i].vertexIndex],
sizeof( vec3 ) );
*vertex_array = vertex_array->toRecast();
// vec3_to_recast( vertex_array );
++vertex_array;
++i;
}
// while( i != objmesh->n_objvertexdata )
// {
// memcpy( vertex_array,
// &obj->indexed_vertex[ objmesh->objvertexdata[ i ].vertex_index ],
// sizeof( vec3 ) );
//
// vec3_to_recast( vertex_array );
//
// ++vertex_array;
// ++i;
// }
triangle_count += objmesh->vertexIndexList.size();
indices = ( int * ) realloc( indices, triangle_count * sizeof( int ) );
j = 0;
while( j != objmesh->vertexIndexList.size() )
{
indices[ k ] = objmesh->vertexIndexList[ j ];
++k;
++j;
}
//
// i = 0;
// while( i != objmesh->n_objtrianglelist )
// {
// triangle_count += objmesh->objtrianglelist[ i ].n_indice_array;
//
// indices = ( int * ) realloc( indices, triangle_count * sizeof( int ) );
//
// j = 0;
// while( j != objmesh->objtrianglelist[ i ].n_indice_array )
// {
// indices[ k ] = objmesh->objtrianglelist[ i ].indice_array[ j ];
//
// ++k;
// ++j;
// }
//
// ++i;
// }
triangle_count /= 3;
rcConfig rcconfig;
memset( &rcconfig, 0, sizeof( rcConfig ) );
rcconfig.cs = navigation->navigationconfiguration.cell_size;
rcconfig.ch = navigation->navigationconfiguration.cell_height;
rcconfig.walkableHeight = ( int )ceilf ( navigation->navigationconfiguration.agent_height / rcconfig.ch );
rcconfig.walkableRadius = ( int )ceilf ( navigation->navigationconfiguration.agent_radius / rcconfig.cs );
rcconfig.walkableClimb = ( int )floorf( navigation->navigationconfiguration.agent_max_climb / rcconfig.ch );
rcconfig.walkableSlopeAngle = navigation->navigationconfiguration.agent_max_slope;
rcconfig.minRegionSize = ( int )rcSqr( navigation->navigationconfiguration.region_min_size );
rcconfig.mergeRegionSize = ( int )rcSqr( navigation->navigationconfiguration.region_merge_size );
rcconfig.maxEdgeLen = ( int )( navigation->navigationconfiguration.edge_max_len / rcconfig.cs );
rcconfig.maxSimplificationError = navigation->navigationconfiguration.edge_max_error;
rcconfig.maxVertsPerPoly = ( int )navigation->navigationconfiguration.vert_per_poly;
rcconfig.detailSampleDist = rcconfig.cs * navigation->navigationconfiguration.detail_sample_dst;
rcconfig.detailSampleMaxError = rcconfig.ch * navigation->navigationconfiguration.detail_sample_max_error;
rcCalcBounds( ( float * )vertex_start,
(int)objmesh->uniqueVertexUVIndexList.size(),
// objmesh->n_objvertexdata,
rcconfig.bmin,
rcconfig.bmax );
rcCalcGridSize( rcconfig.bmin,
rcconfig.bmax,
rcconfig.cs,
&rcconfig.width,
&rcconfig.height );
rcheightfield = rcAllocHeightfield();
rcCreateHeightfield( *rcheightfield,
rcconfig.width,
rcconfig.height,
rcconfig.bmin,
rcconfig.bmax,
rcconfig.cs,
rcconfig.ch );
navigation->triangle_flags = new unsigned char[ triangle_count ];
memset( navigation->triangle_flags, 0, triangle_count * sizeof( unsigned char ) );
rcMarkWalkableTriangles( rcconfig.walkableSlopeAngle,
( float * )vertex_start,
(int)objmesh->uniqueVertexUVIndexList.size(),
// objmesh->n_objvertexdata,
indices,
triangle_count,
navigation->triangle_flags );
rcRasterizeTriangles( ( float * )vertex_start,
(int)objmesh->uniqueVertexUVIndexList.size(),
// objmesh->n_objvertexdata,
indices,
navigation->triangle_flags,
triangle_count,
*rcheightfield,
rcconfig.walkableClimb );
delete []navigation->triangle_flags;
navigation->triangle_flags = NULL;
free( vertex_start );
free( indices );
rcFilterLowHangingWalkableObstacles( rcconfig.walkableClimb,
*rcheightfield );
rcFilterLedgeSpans( rcconfig.walkableHeight,
rcconfig.walkableClimb,
*rcheightfield );
rcFilterWalkableLowHeightSpans( rcconfig.walkableHeight,
*rcheightfield );
rccompactheightfield = rcAllocCompactHeightfield();
rcBuildCompactHeightfield( rcconfig.walkableHeight,
rcconfig.walkableClimb,
RC_WALKABLE,
*rcheightfield,
*rccompactheightfield );
rcFreeHeightField( rcheightfield );
rcheightfield = NULL;
rcErodeArea( RC_WALKABLE_AREA,
rcconfig.walkableRadius,
*rccompactheightfield );
rcBuildDistanceField( *rccompactheightfield );
rcBuildRegions( *rccompactheightfield,
rcconfig.borderSize,
rcconfig.minRegionSize,
rcconfig.mergeRegionSize );
rccontourset = rcAllocContourSet();
rcBuildContours( *rccompactheightfield,
rcconfig.maxSimplificationError,
rcconfig.maxEdgeLen,
*rccontourset );
rcpolymesh = rcAllocPolyMesh();
rcBuildPolyMesh( *rccontourset,
rcconfig.maxVertsPerPoly,
*rcpolymesh );
rcpolymeshdetail = rcAllocPolyMeshDetail();
rcBuildPolyMeshDetail( *rcpolymesh,
*rccompactheightfield,
rcconfig.detailSampleDist,
rcconfig.detailSampleMaxError,
*rcpolymeshdetail );
rcFreeCompactHeightfield( rccompactheightfield );
rccompactheightfield = NULL;
rcFreeContourSet( rccontourset );
rccontourset = NULL;
if( rcconfig.maxVertsPerPoly <= DT_VERTS_PER_POLYGON )
{
dtNavMeshCreateParams dtnavmeshcreateparams;
unsigned char *nav_data = NULL;
int nav_data_size = 0;
i = 0;
while( i != rcpolymesh->npolys )
{
if( rcpolymesh->areas[ i ] == RC_WALKABLE_AREA )
{
rcpolymesh->areas[ i ] = 0;
rcpolymesh->flags[ i ] = 0x01;
}
++i;
}
memset( &dtnavmeshcreateparams, 0, sizeof( dtNavMeshCreateParams ) );
dtnavmeshcreateparams.verts = rcpolymesh->verts;
dtnavmeshcreateparams.vertCount = rcpolymesh->nverts;
dtnavmeshcreateparams.polys = rcpolymesh->polys;
dtnavmeshcreateparams.polyAreas = rcpolymesh->areas;
dtnavmeshcreateparams.polyFlags = rcpolymesh->flags;
dtnavmeshcreateparams.polyCount = rcpolymesh->npolys;
dtnavmeshcreateparams.nvp = rcpolymesh->nvp;
dtnavmeshcreateparams.detailMeshes = rcpolymeshdetail->meshes;
dtnavmeshcreateparams.detailVerts = rcpolymeshdetail->verts;
dtnavmeshcreateparams.detailVertsCount = rcpolymeshdetail->nverts;
dtnavmeshcreateparams.detailTris = rcpolymeshdetail->tris;
dtnavmeshcreateparams.detailTriCount = rcpolymeshdetail->ntris;
dtnavmeshcreateparams.walkableHeight = navigation->navigationconfiguration.agent_height;
dtnavmeshcreateparams.walkableRadius = navigation->navigationconfiguration.agent_radius;
dtnavmeshcreateparams.walkableClimb = navigation->navigationconfiguration.agent_max_climb;
rcVcopy( dtnavmeshcreateparams.bmin, rcpolymesh->bmin );
rcVcopy( dtnavmeshcreateparams.bmax, rcpolymesh->bmax );
dtnavmeshcreateparams.cs = rcconfig.cs;
dtnavmeshcreateparams.ch = rcconfig.ch;
dtCreateNavMeshData( &dtnavmeshcreateparams,
&nav_data,
&nav_data_size );
if( !nav_data ) return 0;
navigation->dtnavmesh = dtAllocNavMesh();
navigation->dtnavmesh->init( nav_data,
nav_data_size,
DT_TILE_FREE_DATA,
NAVIGATION_MAX_NODE );
rcFreePolyMesh( rcpolymesh );
rcpolymesh = NULL;
rcFreePolyMeshDetail( rcpolymeshdetail );
rcpolymeshdetail = NULL;
return 1;
}
return 0;
}
static int rasterizeTileLayers(BuildContext* ctx, InputGeom* geom,
const int tx, const int ty,
const rcConfig& cfg,
TileCacheData* tiles,
const int maxTiles)
{
if (!geom || !geom->getMesh() || !geom->getChunkyMesh())
{
ctx->log(RC_LOG_ERROR, "buildTile: Input mesh is not specified.");
return 0;
}
FastLZCompressor comp;
RasterizationContext rc;
const float* verts = geom->getMesh()->getVerts();
const int nverts = geom->getMesh()->getVertCount();
const rcChunkyTriMesh* chunkyMesh = geom->getChunkyMesh();
// Tile bounds.
const float tcs = cfg.tileSize * cfg.cellSizeXZ;
rcConfig tcfg;
memcpy(&tcfg, &cfg, sizeof(tcfg));
tcfg.bmin[0] = cfg.bmin[0] + tx*tcs;
tcfg.bmin[1] = cfg.bmin[1];
tcfg.bmin[2] = cfg.bmin[2] + ty*tcs;
tcfg.bmax[0] = cfg.bmin[0] + (tx+1)*tcs;
tcfg.bmax[1] = cfg.bmax[1];
tcfg.bmax[2] = cfg.bmin[2] + (ty+1)*tcs;
tcfg.bmin[0] -= tcfg.borderSize*tcfg.cellSizeXZ;
tcfg.bmin[2] -= tcfg.borderSize*tcfg.cellSizeXZ;
tcfg.bmax[0] += tcfg.borderSize*tcfg.cellSizeXZ;
tcfg.bmax[2] += tcfg.borderSize*tcfg.cellSizeXZ;
// Allocate voxel heightfield where we rasterize our input data to.
rc.solid = rcAllocHeightfield();
if (!rc.solid)
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
return 0;
}
if (!rcCreateHeightfield(ctx, *rc.solid, tcfg.width, tcfg.height, tcfg.bmin, tcfg.bmax, tcfg.cellSizeXZ, tcfg.cellSizeY))
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");
return 0;
}
// Allocate array that can hold triangle flags.
// If you have multiple meshes you need to process, allocate
// and array which can hold the max number of triangles you need to process.
rc.triareaMask = new navAreaMask[chunkyMesh->maxTrisPerChunk];
if (!rc.triareaMask)
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (%d).", chunkyMesh->maxTrisPerChunk);
return 0;
}
float tbmin[2], tbmax[2];
tbmin[0] = tcfg.bmin[0];
tbmin[1] = tcfg.bmin[2];
tbmax[0] = tcfg.bmax[0];
tbmax[1] = tcfg.bmax[2];
int cid[512];// TODO: Make grow when returning too many items.
const int ncid = rcGetChunksOverlappingRect(chunkyMesh, tbmin, tbmax, cid, 512);
if (!ncid)
{
return 0; // empty
}
for (int i = 0; i < ncid; ++i)
{
const rcChunkyTriMeshNode& node = chunkyMesh->nodes[cid[i]];
const int* tris = &chunkyMesh->tris[node.i*3];
const int ntris = node.n;
memset(rc.triareaMask, 0, ntris*sizeof(navAreaMask));
rcMarkWalkableTriangles(ctx, tcfg.walkableSlopeAngle,
verts, nverts, tris, ntris, rc.triareaMask);
rcRasterizeTriangles(ctx, verts, nverts, tris, rc.triareaMask, ntris, *rc.solid, tcfg.walkableClimb);
}
// Once all geometry 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(ctx, tcfg.walkableClimb, *rc.solid);
rcFilterLedgeSpans(ctx, tcfg.walkableHeight, tcfg.walkableClimb, *rc.solid);
rcFilterWalkableLowHeightSpans(ctx, tcfg.walkableHeight, *rc.solid);
rc.chf = rcAllocCompactHeightfield();
if (!rc.chf)
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
return 0;
}
if (!rcBuildCompactHeightfield(ctx, tcfg.walkableHeight, tcfg.walkableClimb, *rc.solid, *rc.chf))
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
return 0;
}
// Erode the walkable area by agent radius.
if (!rcErodeWalkableArea(ctx, tcfg.walkableRadius, *rc.chf))
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
return 0;
}
// (Optional) Mark areas.
const ConvexVolume* vols = geom->getConvexVolumes();
for (int i = 0; i < geom->getConvexVolumeCount(); ++i)
{
rcMarkConvexPolyArea(ctx, vols[i].verts, vols[i].nverts,
vols[i].hmin, vols[i].hmax,
vols[i].areaMask, *rc.chf);
}
rc.lset = rcAllocHeightfieldLayerSet();
if (!rc.lset)
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'lset'.");
return 0;
}
if (!rcBuildHeightfieldLayers(ctx, *rc.chf, tcfg.borderSize, tcfg.walkableHeight, *rc.lset))
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build heighfield layers.");
return 0;
}
rc.ntiles = 0;
for (int i = 0; i < rcMin(rc.lset->nlayers, MAX_LAYERS); ++i)
{
TileCacheData* tile = &rc.tiles[rc.ntiles++];
const rcHeightfieldLayer* layer = &rc.lset->layers[i];
// Store header
dtTileCacheLayerHeader header;
header.magic = DT_TILECACHE_MAGIC;
header.version = DT_TILECACHE_VERSION;
// Tile layer location in the navmesh.
header.tx = tx;
header.ty = ty;
header.tlayer = i;
dtVcopy(header.bmin, layer->bmin);
dtVcopy(header.bmax, layer->bmax);
// Tile info.
header.width = (unsigned char)layer->width;
header.height = (unsigned char)layer->height;
header.minx = (unsigned char)layer->minx;
header.maxx = (unsigned char)layer->maxx;
header.miny = (unsigned char)layer->miny;
header.maxy = (unsigned char)layer->maxy;
header.hmin = (unsigned short)layer->hmin;
header.hmax = (unsigned short)layer->hmax;
dtStatus status = dtBuildTileCacheLayer(&comp, &header, layer->heights, layer->areaMasks, layer->cons,
&tile->data, &tile->dataSize);
if (dtStatusFailed(status))
{
return 0;
}
}
// Transfer ownsership of tile data from build context to the caller.
int n = 0;
for (int i = 0; i < rcMin(rc.ntiles, maxTiles); ++i)
{
tiles[n++] = rc.tiles[i];
rc.tiles[i].data = 0;
rc.tiles[i].dataSize = 0;
}
return n;
}
bool NavigationMesh::BuildTile(Vector<NavigationGeometryInfo>& geometryList, int x, int z)
{
PROFILE(BuildNavigationMeshTile);
// Remove previous tile (if any)
navMesh_->removeTile(navMesh_->getTileRefAt(x, z, 0), 0, 0);
float tileEdgeLength = (float)tileSize_ * cellSize_;
BoundingBox tileBoundingBox(Vector3(
boundingBox_.min_.x_ + tileEdgeLength * (float)x,
boundingBox_.min_.y_,
boundingBox_.min_.z_ + tileEdgeLength * (float)z
),
Vector3(
boundingBox_.min_.x_ + tileEdgeLength * (float)(x + 1),
boundingBox_.max_.y_,
boundingBox_.min_.z_ + tileEdgeLength * (float)(z + 1)
));
NavigationBuildData build;
rcConfig cfg;
memset(&cfg, 0, sizeof cfg);
cfg.cs = cellSize_;
cfg.ch = cellHeight_;
cfg.walkableSlopeAngle = agentMaxSlope_;
cfg.walkableHeight = (int)ceilf(agentHeight_ / cfg.ch);
cfg.walkableClimb = (int)floorf(agentMaxClimb_ / cfg.ch);
cfg.walkableRadius = (int)ceilf(agentRadius_ / cfg.cs);
cfg.maxEdgeLen = (int)(edgeMaxLength_ / cellSize_);
cfg.maxSimplificationError = edgeMaxError_;
cfg.minRegionArea = (int)sqrtf(regionMinSize_);
cfg.mergeRegionArea = (int)sqrtf(regionMergeSize_);
cfg.maxVertsPerPoly = 6;
cfg.tileSize = tileSize_;
cfg.borderSize = cfg.walkableRadius + 3; // Add padding
cfg.width = cfg.tileSize + cfg.borderSize * 2;
cfg.height = cfg.tileSize + cfg.borderSize * 2;
cfg.detailSampleDist = detailSampleDistance_ < 0.9f ? 0.0f : cellSize_ * detailSampleDistance_;
cfg.detailSampleMaxError = cellHeight_ * detailSampleMaxError_;
rcVcopy(cfg.bmin, &tileBoundingBox.min_.x_);
rcVcopy(cfg.bmax, &tileBoundingBox.max_.x_);
cfg.bmin[0] -= cfg.borderSize * cfg.cs;
cfg.bmin[2] -= cfg.borderSize * cfg.cs;
cfg.bmax[0] += cfg.borderSize * cfg.cs;
cfg.bmax[2] += cfg.borderSize * cfg.cs;
BoundingBox expandedBox(*reinterpret_cast<Vector3*>(cfg.bmin), *reinterpret_cast<Vector3*>(cfg.bmax));
GetTileGeometry(build, geometryList, expandedBox);
if (build.vertices_.Empty() || build.indices_.Empty())
return true; // Nothing to do
build.heightField_ = rcAllocHeightfield();
if (!build.heightField_)
{
LOGERROR("Could not allocate heightfield");
return false;
}
if (!rcCreateHeightfield(build.ctx_, *build.heightField_, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs,
cfg.ch))
{
LOGERROR("Could not create heightfield");
return false;
}
unsigned numTriangles = build.indices_.Size() / 3;
SharedArrayPtr<unsigned char> triAreas(new unsigned char[numTriangles]);
memset(triAreas.Get(), 0, numTriangles);
rcMarkWalkableTriangles(build.ctx_, cfg.walkableSlopeAngle, &build.vertices_[0].x_, build.vertices_.Size(),
&build.indices_[0], numTriangles, triAreas.Get());
rcRasterizeTriangles(build.ctx_, &build.vertices_[0].x_, build.vertices_.Size(), &build.indices_[0],
triAreas.Get(), numTriangles, *build.heightField_, cfg.walkableClimb);
rcFilterLowHangingWalkableObstacles(build.ctx_, cfg.walkableClimb, *build.heightField_);
rcFilterLedgeSpans(build.ctx_, cfg.walkableHeight, cfg.walkableClimb, *build.heightField_);
rcFilterWalkableLowHeightSpans(build.ctx_, cfg.walkableHeight, *build.heightField_);
build.compactHeightField_ = rcAllocCompactHeightfield();
if (!build.compactHeightField_)
{
LOGERROR("Could not allocate create compact heightfield");
return false;
}
if (!rcBuildCompactHeightfield(build.ctx_, cfg.walkableHeight, cfg.walkableClimb, *build.heightField_,
*build.compactHeightField_))
{
LOGERROR("Could not build compact heightfield");
return false;
}
if (!rcErodeWalkableArea(build.ctx_, cfg.walkableRadius, *build.compactHeightField_))
{
LOGERROR("Could not erode compact heightfield");
return false;
}
if (!rcBuildDistanceField(build.ctx_, *build.compactHeightField_))
{
LOGERROR("Could not build distance field");
return false;
}
if (!rcBuildRegions(build.ctx_, *build.compactHeightField_, cfg.borderSize, cfg.minRegionArea,
cfg.mergeRegionArea))
{
LOGERROR("Could not build regions");
return false;
}
build.contourSet_ = rcAllocContourSet();
if (!build.contourSet_)
{
LOGERROR("Could not allocate contour set");
return false;
}
if (!rcBuildContours(build.ctx_, *build.compactHeightField_, cfg.maxSimplificationError, cfg.maxEdgeLen,
*build.contourSet_))
{
LOGERROR("Could not create contours");
return false;
}
build.polyMesh_ = rcAllocPolyMesh();
if (!build.polyMesh_)
{
LOGERROR("Could not allocate poly mesh");
return false;
}
if (!rcBuildPolyMesh(build.ctx_, *build.contourSet_, cfg.maxVertsPerPoly, *build.polyMesh_))
{
LOGERROR("Could not triangulate contours");
return false;
}
build.polyMeshDetail_ = rcAllocPolyMeshDetail();
if (!build.polyMeshDetail_)
{
LOGERROR("Could not allocate detail mesh");
return false;
}
if (!rcBuildPolyMeshDetail(build.ctx_, *build.polyMesh_, *build.compactHeightField_, cfg.detailSampleDist,
cfg.detailSampleMaxError, *build.polyMeshDetail_))
{
LOGERROR("Could not build detail mesh");
return false;
}
// Set polygon flags
/// \todo Allow to define custom flags
for (int i = 0; i < build.polyMesh_->npolys; ++i)
{
if (build.polyMesh_->areas[i] == RC_WALKABLE_AREA)
build.polyMesh_->flags[i] = 0x1;
}
unsigned char* navData = 0;
int navDataSize = 0;
dtNavMeshCreateParams params;
memset(¶ms, 0, sizeof params);
params.verts = build.polyMesh_->verts;
params.vertCount = build.polyMesh_->nverts;
params.polys = build.polyMesh_->polys;
params.polyAreas = build.polyMesh_->areas;
params.polyFlags = build.polyMesh_->flags;
params.polyCount = build.polyMesh_->npolys;
params.nvp = build.polyMesh_->nvp;
params.detailMeshes = build.polyMeshDetail_->meshes;
params.detailVerts = build.polyMeshDetail_->verts;
params.detailVertsCount = build.polyMeshDetail_->nverts;
params.detailTris = build.polyMeshDetail_->tris;
params.detailTriCount = build.polyMeshDetail_->ntris;
params.walkableHeight = agentHeight_;
params.walkableRadius = agentRadius_;
params.walkableClimb = agentMaxClimb_;
params.tileX = x;
params.tileY = z;
rcVcopy(params.bmin, build.polyMesh_->bmin);
rcVcopy(params.bmax, build.polyMesh_->bmax);
params.cs = cfg.cs;
params.ch = cfg.ch;
params.buildBvTree = true;
// Add off-mesh connections if have them
if (build.offMeshRadii_.Size())
{
params.offMeshConCount = build.offMeshRadii_.Size();
params.offMeshConVerts = &build.offMeshVertices_[0].x_;
params.offMeshConRad = &build.offMeshRadii_[0];
params.offMeshConFlags = &build.offMeshFlags_[0];
params.offMeshConAreas = &build.offMeshAreas_[0];
params.offMeshConDir = &build.offMeshDir_[0];
}
if (!dtCreateNavMeshData(¶ms, &navData, &navDataSize))
{
LOGERROR("Could not build navigation mesh tile data");
return false;
}
if (dtStatusFailed(navMesh_->addTile(navData, navDataSize, DT_TILE_FREE_DATA, 0, 0)))
{
LOGERROR("Failed to add navigation mesh tile");
dtFree(navData);
return false;
}
return true;
}
bool NavMesh::createPolyMesh(rcConfig &cfg, NavModelData &data, rcContext *ctx)
{
// Create a heightfield to voxelise our input geometry
hf = rcAllocHeightfield();
if(!hf || !rcCreateHeightfield(ctx, *hf, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch))
{
Con::errorf("Could not generate rcHeightField for NavMesh %s", getIdString());
return false;
}
unsigned char *areas = new unsigned char[data.getTriCount()];
if (!areas)
{
Con::errorf("Out of memory (area flags) for NavMesh %s", getIdString());
return false;
}
memset(areas, 0, data.getTriCount()*sizeof(unsigned char));
// Subtract 1 from all indices!
for(U32 i = 0; i < data.getTriCount(); i++)
{
data.tris[i*3]--;
data.tris[i*3+1]--;
data.tris[i*3+2]--;
}
// Filter triangles by angle and rasterize
rcMarkWalkableTriangles(ctx, cfg.walkableSlopeAngle,
data.getVerts(), data.getVertCount(),
data.getTris(), data.getTriCount(), areas);
rcRasterizeTriangles(ctx, data.getVerts(), data.getVertCount(),
data.getTris(), areas, data.getTriCount(),
*hf, cfg.walkableClimb);
delete [] areas;
// Filter out areas with low ceilings and other stuff
rcFilterLowHangingWalkableObstacles(ctx, cfg.walkableClimb, *hf);
rcFilterLedgeSpans(ctx, cfg.walkableHeight, cfg.walkableClimb, *hf);
rcFilterWalkableLowHeightSpans(ctx, cfg.walkableHeight, *hf);
chf = rcAllocCompactHeightfield();
if(!chf || !rcBuildCompactHeightfield(ctx, cfg.walkableHeight, cfg.walkableClimb, *hf, *chf))
{
Con::errorf("Could not generate rcCompactHeightField for NavMesh %s", getIdString());
return false;
}
if(!rcErodeWalkableArea(ctx, cfg.walkableRadius, *chf))
{
Con::errorf("Could not erode walkable area for NavMesh %s", getIdString());
return false;
}
if(false)
{
if(!rcBuildRegionsMonotone(ctx, *chf, cfg.borderSize, cfg.minRegionArea, cfg.mergeRegionArea))
{
Con::errorf("Could not build regions for NavMesh %s", getIdString());
return false;
}
}
else
{
if(!rcBuildDistanceField(ctx, *chf))
return false;
if(!rcBuildRegions(ctx, *chf, cfg.borderSize, cfg.minRegionArea, cfg.mergeRegionArea))
return false;
}
cs = rcAllocContourSet();
if(!cs || !rcBuildContours(ctx, *chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cs))
{
Con::errorf("Could not construct rcContourSet for NavMesh %s", getIdString());
return false;
}
pm = rcAllocPolyMesh();
if(!pm || !rcBuildPolyMesh(ctx, *cs, cfg.maxVertsPerPoly, *pm))
{
Con::errorf("Could not construct rcPolyMesh for NavMesh %s", getIdString());
return false;
}
pmd = rcAllocPolyMeshDetail();
if(!pmd || !rcBuildPolyMeshDetail(ctx, *pm, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *pmd))
{
Con::errorf("Could not construct rcPolyMeshDetail for NavMesh %s", getIdString());
return false;
}
return true;
}
/*
* Tries to load vmap and tilemap for a gridtile and creates a navmesh for it.
*
*/
bool
ModelContainerView::generateMoveMapForTile (int pMapId, int x, int y)
{
bool result = iVMapManager.loadMap (gVMapDataDir.c_str (), pMapId, x, y) == VMAP_LOAD_RESULT_OK;
if (result == VMAP_LOAD_RESULT_OK)
{
//VMap loaded. Add data from vmap to global Triangle-Array
parseVMap (pMapId, x, y);
}
// Add data from Height-Map to global Triangle-Array
generateHeightMap(pMapId,x,y);
// We will now add all triangles inside the given zone to the vectormap.
// We could also do additional checks here.
double x_max = (32-x)*SIZE_OF_GRIDS + 50;
double y_max = (32-y)*SIZE_OF_GRIDS + 50;
double x_min = x_max - SIZE_OF_GRIDS - 100;
double y_min = y_max - SIZE_OF_GRIDS - 100;
Vector3 low = Vector3(x_min,y_min,-inf());
Vector3 high = Vector3(x_max,y_max,inf());
AABox checkBox = AABox(low,high);
AABox check;
Triangle t;
//each triangle has mangos format.
for (int i = 0; i < globalTriangleArray.size(); i++) {
t = globalTriangleArray[i];
t.getBounds(check);
if (checkBox.contains(check)) {
// Write it down in detour format.
iGlobArray.append(t.vertex(0).y,t.vertex(0).z,t.vertex(0).x);
iGlobArray.append(t.vertex(1).y,t.vertex(1).z,t.vertex(1).x);
iGlobArray.append(t.vertex(2).y,t.vertex(2).z,t.vertex(2).x);
}
}
if (iGlobArray.size() == 0) {
printf("No models - check your mmap.datadir in your config");
return true;
}
if(gMakeObjFile)
debugGenerateObjFile(); // create obj file for Recast Demo viewer
//return true;
float bmin[3], bmax[3];
/*
* The format looks like this
* Verticle = float[3]
* Triangle = Verticle[3]
* So there are
* array.size() floats
* that means there are
* nverts = array.size()/3 Verticles
* that means there are
* ntris = nverts/3
*/
//array/3 verticles
const int nverts = iGlobArray.size()/3; // because 1 vert is 3 float.
// -> vert = float[3]
const float* verts = iGlobArray.getCArray();
rcCalcBounds(verts,nverts,bmin,bmax);
// nverts/3 triangles
// -> Triangle = vert[3] = float[9]
int* tris = new int[nverts];// because 1 triangle is 3 verts
for (int i = 0; i< nverts; i++)
tris[i] = i;
/* tris[i] = 1,2,3;4,5,6;7,8,9;
*
*/
const int ntris = (nverts/3);
rcConfig m_cfg;
//
// Step 1. Initialize build config.
//
// Init build configuration from GUI
memset(&m_cfg, 0, sizeof(m_cfg));
// Change config settings here!
m_cfg.cs = 0.3f;
m_cfg.ch = 0.2f;
m_cfg.walkableSlopeAngle = 50.0f;
m_cfg.walkableHeight = 10;
m_cfg.walkableClimb = 4;
m_cfg.walkableRadius = 2;
m_cfg.maxEdgeLen = (int)(12 / 0.3f);
m_cfg.maxSimplificationError = 1.3f;
m_cfg.minRegionSize = (int)rcSqr(50);
m_cfg.mergeRegionSize = (int)rcSqr(20);
m_cfg.maxVertsPerPoly = (int)6;
m_cfg.detailSampleDist = 1.8f;
m_cfg.detailSampleMaxError = 0.2f * 1;
bool m_keepInterResults = false;
printf("CellSize : %.2f\n",m_cfg.cs);
printf("CellHeight : %.2f\n",m_cfg.ch);
printf("WalkableSlope : %.2f\n",m_cfg.walkableSlopeAngle);
printf("WalkableHeight : %i\n",m_cfg.walkableHeight);
printf("walkableClimb : %i\n",m_cfg.walkableClimb);
printf("walkableRadius : %i\n",m_cfg.walkableRadius);
printf("maxEdgeLen : %i\n",m_cfg.maxEdgeLen);
printf("maxSimplific.Er.: %.2f\n",m_cfg.maxSimplificationError);
printf("minRegionSize : %i\n",m_cfg.minRegionSize);
printf("mergedRegSize : %i\n",m_cfg.mergeRegionSize);
printf("maxVertsPerPoly : %i\n",m_cfg.maxVertsPerPoly);
printf("detailSampledist: %.2f\n",m_cfg.detailSampleDist);
printf("det.Samp.max.err: %.2f\n",m_cfg.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.
vcopy(m_cfg.bmin, bmin);
vcopy(m_cfg.bmax, bmax);
rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, &m_cfg.width, &m_cfg.height);
//
// Step 2. Rasterize input polygon soup.
//
// Allocate voxel heighfield where we rasterize our input data to.
rcHeightfield* m_solid = new rcHeightfield;
if (!m_solid)
{
printf("buildNavigation: Out of memory 'solid'.\n");
return false;
}
if (!rcCreateHeightfield(*m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch))
{
printf("buildNavigation: Could not create solid heightfield.\n");
return false;
}
// Allocate array that can hold triangle flags.
// If you have multiple meshes you need to process, allocate
// and array which can hold the max number of triangles you need to process.
unsigned char* m_triflags = new unsigned char[ntris];
if (!m_triflags)
{
printf("buildNavigation: Out of memory 'triangleFlags' (%d).\n", 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 flags for each of the meshes and rasterize them.
memset(m_triflags, 0, ntris*sizeof(unsigned char));
rcMarkWalkableTriangles(m_cfg.walkableSlopeAngle, verts, nverts, tris, ntris, m_triflags);
rcRasterizeTriangles(verts, nverts, tris, m_triflags, ntris, *m_solid, m_cfg.walkableClimb);
// should delete [] verts? - probably not, this is just pointer to data in a G3D Array
// should delete [] tris?
if (!m_keepInterResults)
{
delete [] m_triflags;
m_triflags = 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_cfg.walkableClimb, *m_solid);
rcFilterLedgeSpans(m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
rcFilterWalkableLowHeightSpans(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.
rcCompactHeightfield* m_chf = new rcCompactHeightfield;
if (!m_chf)
{
printf("buildNavigation: Out of memory 'chf'.\n");
return false;
}
if (!rcBuildCompactHeightfield(m_cfg.walkableHeight, m_cfg.walkableClimb, RC_WALKABLE, *m_solid, *m_chf))
{
printf( "buildNavigation: Could not build compact data.\n");
return false;
}
if (!m_keepInterResults)
{
delete m_solid;
m_solid = 0;
}
// Erode the walkable area by agent radius.
if (!rcErodeArea(RC_WALKABLE_AREA, m_cfg.walkableRadius, *m_chf))
{
printf("buildNavigation: Could not erode.\n");
return false;
}
// (Optional) Mark areas.
//const ConvexVolume* vols = m_geom->getConvexVolumes();
//for (int i = 0; i < m_geom->getConvexVolumeCount(); ++i)
// rcMarkConvexPolyArea(vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!rcBuildDistanceField(*m_chf))
{
printf("buildNavigation: Could not build distance field.\n");
return false;
}
// Partition the walkable surface into simple regions without holes.
if (!rcBuildRegions(*m_chf, m_cfg.borderSize, m_cfg.minRegionSize, m_cfg.mergeRegionSize))
{
printf("buildNavigation: Could not build regions.\n");
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
rcContourSet* m_cset = new rcContourSet;
if (!m_cset)
{
printf("buildNavigation: Out of memory 'cset'.\n");
return false;
}
if (!rcBuildContours(*m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, *m_cset))
{
printf("buildNavigation: Could not create contours.\n");
return false;
}
//
// Step 6. Build polygons mesh from contours.
//
// Build polygon navmesh from the contours.
rcPolyMesh* m_pmesh = new rcPolyMesh;
if (!m_pmesh)
{
printf("buildNavigation: Out of memory 'pmesh'.\n");
return false;
}
if (!rcBuildPolyMesh(*m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
{
printf( "buildNavigation: Could not triangulate contours.\n");
return false;
}
//
// Step 7. Create detail mesh which allows to access approximate height on each polygon.
//
rcPolyMeshDetail* m_dmesh = new rcPolyMeshDetail;
if (!m_dmesh)
{
printf("buildNavigation: Out of memory 'pmdtl'.\n");
return false;
}
if (!rcBuildPolyMeshDetail(*m_pmesh, *m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, *m_dmesh))
{
printf("buildNavigation: Could not build detail mesh.\n");
}
if (!m_keepInterResults)
{
delete m_chf;
m_chf = 0;
delete 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)
{
// for now all generated navmesh is walkable by everyone.
// else there will be no pathfinding at all!
m_pmesh->flags[i] = RC_WALKABLE_AREA;
}
dtNavMeshCreateParams params;
memset(¶ms, 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 = 0;
params.offMeshConRad = 0;
params.offMeshConDir = 0;
params.offMeshConAreas = 0;
params.offMeshConFlags = 0;
params.offMeshConCount = 0;
params.walkableHeight = 2.0f;
params.walkableRadius = 0.6f;
params.walkableClimb = 0.9f;
vcopy(params.bmin, m_pmesh->bmin);
vcopy(params.bmax, m_pmesh->bmax);
params.cs = m_cfg.cs;
params.ch = m_cfg.ch;
printf("vertcount : %05u\n",params.vertCount);
printf("polycount : %05u\n",params.polyCount);
printf("detailVertsCount: %05u\n",params.detailVertsCount);
printf("detailTriCount : %05u\n",params.detailTriCount);
printf("walkableClimb : %.2f\n",params.walkableClimb);
printf("walkableRadius : %.2f\n",params.walkableRadius);
printf("walkableHeight : %.2f\n",params.walkableHeight);
if (!dtCreateNavMeshData(¶ms, &navData, &navDataSize))
{
printf("Could not build Detour navmesh.\n");
return false;
}
// navData now contains the MoveMap
printf("Generated Navigation Mesh! Size: %i bytes/ %i kB / %i MB\n",navDataSize,navDataSize/1024,navDataSize/(1024*1024));
char tmp[14];
sprintf(tmp, "%03u%02u%02u.mmap",iMap,ix,iy);
std::string savefilepath = gMMapDataDir + "/" + tmp;
ofstream inf( savefilepath.c_str(),ofstream::binary );
if( inf )
{
inf.write( (char*)( &navData[0] ), navDataSize ) ;
}
printf("MoveMap saved under %s\n", savefilepath.c_str());
delete [] navData;
}
// debugLoadNavMesh();
return (result);
}
