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;
if (!params->detailMeshes || !params->detailVerts || !params->detailTris)
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;
for (int i = 0; i < params->offMeshConCount; ++i)
{
offMeshConClass[i*2+0] = classifyOffMeshPoint(¶ms->offMeshConVerts[(i*2+0)*3], params->bmin, params->bmax);
offMeshConClass[i*2+1] = classifyOffMeshPoint(¶ms->offMeshConVerts[(i*2+1)*3], params->bmin, params->bmax);
// 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 = ¶ms->polys[i*2*nvp];
for (int j = 0; j < nvp; ++j)
{
if (p[j] == MESH_NULL_IDX) break;
int nj = j+1;
if (nj >= nvp || p[nj] == MESH_NULL_IDX) nj = 0;
const unsigned short* va = ¶ms->verts[p[j]*3];
const unsigned short* vb = ¶ms->verts[p[nj]*3];
edgeCount++;
if (params->tileSize > 0)
{
if (va[0] == params->tileSize && vb[0] == params->tileSize)
portalCount++; // x+
else if (va[2] == params->tileSize && vb[2] == params->tileSize)
portalCount++; // z+
else if (va[0] == 0 && vb[0] == 0)
portalCount++; // x-
else if (va[2] == 0 && vb[2] == 0)
portalCount++; // z-
}
}
}
const int maxLinkCount = edgeCount + portalCount*2 + offMeshConLinkCount*2;
// Find unique detail vertices.
int uniqueDetailVertCount = 0;
for (int i = 0; i < params->polyCount; ++i)
{
const unsigned short* p = ¶ms->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;
}
// 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*params->detailTriCount);
const int bvTreeSize = dtAlign4(sizeof(dtBVNode)*params->polyCount*2);
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 = (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;
// Store header
header->magic = DT_NAVMESH_MAGIC;
header->version = DT_NAVMESH_VERSION;
header->x = params->tileX;
header->y = params->tileY;
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 = params->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->polyCount*2;
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 = ¶ms->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 = ¶ms->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->area = params->polyAreas[i];
p->type = DT_POLYTYPE_GROUND;
for (int j = 0; j < nvp; ++j)
{
if (src[j] == MESH_NULL_IDX) break;
p->verts[j] = src[j];
p->neis[j] = (src[nvp+j]+1) & 0xffff;
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->area = params->offMeshConAreas[i];
p->type = DT_POLYTYPE_OFFMESH_CONNECTION;
n++;
}
}
// Store portal edges.
if (params->tileSize > 0)
{
for (int i = 0; i < params->polyCount; ++i)
{
dtPoly* poly = &navPolys[i];
for (int j = 0; j < poly->vertCount; ++j)
{
int nj = j+1;
if (nj >= poly->vertCount) nj = 0;
const unsigned short* va = ¶ms->verts[poly->verts[j]*3];
const unsigned short* vb = ¶ms->verts[poly->verts[nj]*3];
if (va[0] == params->tileSize && vb[0] == params->tileSize) // x+
poly->neis[j] = DT_EXT_LINK | 0;
else if (va[2] == params->tileSize && vb[2] == params->tileSize) // z+
poly->neis[j] = DT_EXT_LINK | 2;
else if (va[0] == 0 && vb[0] == 0) // x-
poly->neis[j] = DT_EXT_LINK | 4;
else if (va[2] == 0 && vb[2] == 0) // z-
poly->neis[j] = DT_EXT_LINK | 6;
}
}
}
// 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.
unsigned short vbase = 0;
for (int i = 0; i < params->polyCount; ++i)
{
dtPolyDetail& dtl = navDMeshes[i];
const int vb = params->detailMeshes[i*4+0];
const int ndv = params->detailMeshes[i*4+1];
const int nv = navPolys[i].vertCount;
dtl.vertBase = vbase;
dtl.vertCount = (unsigned short)(ndv-nv);
dtl.triBase = params->detailMeshes[i*4+2];
dtl.triCount = 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], ¶ms->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);
// Store and create BVtree.
// TODO: take detail mesh into account! use byte per bbox extent?
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 = ¶ms->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];
n++;
}
}
dtFree(offMeshConClass);
*outData = data;
*outDataSize = dataSize;
return true;
}
/// @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 = ¶ms->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 = ¶ms->offMeshConVerts[(i*2+0)*3];
const float* p1 = ¶ms->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 = ¶ms->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 = ¶ms->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 = ¶ms->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 = (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;
// 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 = ¶ms->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 = ¶ms->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], ¶ms->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 = ¶ms->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;
}
bool KX_NavMeshObject::BuildNavMesh()
{
if (m_navMesh)
{
delete m_navMesh;
m_navMesh = NULL;
}
if (GetMeshCount()==0)
{
printf("Can't find mesh for navmesh object: %s\n", m_name.ReadPtr());
return false;
}
float *vertices = NULL, *dvertices = NULL;
unsigned short *polys = NULL, *dtris = NULL, *dmeshes = NULL;
int nverts = 0, npolys = 0, ndvertsuniq = 0, ndtris = 0;
int vertsPerPoly = 0;
if (!BuildVertIndArrays(vertices, nverts, polys, npolys,
dmeshes, dvertices, ndvertsuniq, dtris, ndtris, vertsPerPoly )
|| vertsPerPoly<3)
{
printf("Can't build navigation mesh data for object:%s\n", m_name.ReadPtr());
if (vertices) delete[] vertices;
return false;
}
MT_Point3 pos;
if (dmeshes==NULL)
{
for (int i=0; i<nverts; i++)
{
flipAxes(&vertices[i*3]);
}
for (int i=0; i<ndvertsuniq; i++)
{
flipAxes(&dvertices[i*3]);
}
}
buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly);
float cs = 0.2f;
if (!nverts || !npolys)
{
if (vertices) delete[] vertices;
return false;
}
float bmin[3], bmax[3];
calcMeshBounds(vertices, nverts, bmin, bmax);
//quantize vertex pos
unsigned short* vertsi = new unsigned short[3*nverts];
float ics = 1.f/cs;
for (int i=0; i<nverts; i++)
{
vertsi[3*i+0] = static_cast<unsigned short>((vertices[3*i+0]-bmin[0])*ics);
vertsi[3*i+1] = static_cast<unsigned short>((vertices[3*i+1]-bmin[1])*ics);
vertsi[3*i+2] = static_cast<unsigned short>((vertices[3*i+2]-bmin[2])*ics);
}
// Calculate data size
const int headerSize = sizeof(dtStatNavMeshHeader);
const int vertsSize = sizeof(float)*3*nverts;
const int polysSize = sizeof(dtStatPoly)*npolys;
const int nodesSize = sizeof(dtStatBVNode)*npolys*2;
const int detailMeshesSize = sizeof(dtStatPolyDetail)*npolys;
const int detailVertsSize = sizeof(float)*3*ndvertsuniq;
const int detailTrisSize = sizeof(unsigned char)*4*ndtris;
const int dataSize = headerSize + vertsSize + polysSize + nodesSize +
detailMeshesSize + detailVertsSize + detailTrisSize;
unsigned char* data = new unsigned char[dataSize];
if (!data)
return false;
memset(data, 0, dataSize);
unsigned char* d = data;
dtStatNavMeshHeader* header = (dtStatNavMeshHeader*)d; d += headerSize;
float* navVerts = (float*)d; d += vertsSize;
dtStatPoly* navPolys = (dtStatPoly*)d; d += polysSize;
dtStatBVNode* navNodes = (dtStatBVNode*)d; d += nodesSize;
dtStatPolyDetail* navDMeshes = (dtStatPolyDetail*)d; d += detailMeshesSize;
float* navDVerts = (float*)d; d += detailVertsSize;
unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
// Store header
header->magic = DT_STAT_NAVMESH_MAGIC;
header->version = DT_STAT_NAVMESH_VERSION;
header->npolys = npolys;
header->nverts = nverts;
header->cs = cs;
header->bmin[0] = bmin[0];
header->bmin[1] = bmin[1];
header->bmin[2] = bmin[2];
header->bmax[0] = bmax[0];
header->bmax[1] = bmax[1];
header->bmax[2] = bmax[2];
header->ndmeshes = npolys;
header->ndverts = ndvertsuniq;
header->ndtris = ndtris;
// Store vertices
for (int i = 0; i < nverts; ++i)
{
const unsigned short* iv = &vertsi[i*3];
float* v = &navVerts[i*3];
v[0] = bmin[0] + iv[0] * cs;
v[1] = bmin[1] + iv[1] * cs;
v[2] = bmin[2] + iv[2] * cs;
}
//memcpy(navVerts, vertices, nverts*3*sizeof(float));
// Store polygons
const unsigned short* src = polys;
for (int i = 0; i < npolys; ++i)
{
dtStatPoly* p = &navPolys[i];
p->nv = 0;
for (int j = 0; j < vertsPerPoly; ++j)
{
if (src[j] == 0xffff) break;
p->v[j] = src[j];
p->n[j] = src[vertsPerPoly+j]+1;
p->nv++;
}
src += vertsPerPoly*2;
}
header->nnodes = createBVTree(vertsi, nverts, polys, npolys, vertsPerPoly,
cs, cs, npolys*2, navNodes);
if (dmeshes==NULL)
{
//create fake detail meshes
for (int i = 0; i < npolys; ++i)
{
dtStatPolyDetail& dtl = navDMeshes[i];
dtl.vbase = 0;
dtl.nverts = 0;
dtl.tbase = i;
dtl.ntris = 1;
}
// setup triangles.
unsigned char* tri = navDTris;
for (size_t i=0; i<ndtris; i++)
{
for (size_t j=0; j<3; j++)
tri[4*i+j] = j;
}
}
else
{
//verts
memcpy(navDVerts, dvertices, ndvertsuniq*3*sizeof(float));
//tris
unsigned char* tri = navDTris;
for (size_t i=0; i<ndtris; i++)
{
for (size_t j=0; j<3; j++)
tri[4*i+j] = dtris[6*i+j];
}
//detailed meshes
for (int i = 0; i < npolys; ++i)
{
dtStatPolyDetail& dtl = navDMeshes[i];
dtl.vbase = dmeshes[i*4+0];
dtl.nverts = dmeshes[i*4+1];
dtl.tbase = dmeshes[i*4+2];
dtl.ntris = dmeshes[i*4+3];
}
}
m_navMesh = new dtStatNavMesh;
m_navMesh->init(data, dataSize, true);
delete [] vertices;
/* navmesh conversion is using C guarded alloc for memory allocaitons */
MEM_freeN(polys);
if (dmeshes) MEM_freeN(dmeshes);
if (dtris) MEM_freeN(dtris);
if (dvertices)
delete [] dvertices;
if (vertsi)
delete [] vertsi;
return true;
}
/// @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 = ¶ms->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) < bmin[1] &&
(offMeshCon.vertsA0[1] + offMeshCon.snapHeight) > bmax[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 = ¶ms->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 = ¶ms->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 = ¶ms->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 = ¶ms->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], ¶ms->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;
}
bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
const unsigned short* polys, const int npolys, const int nvp,
const float* bmin, const float* bmax, float cs, float ch,
const unsigned short* dmeshes, const float* dverts, const int ndverts,
const unsigned char* dtris, const int ndtris,
unsigned char** outData, int* outDataSize)
{
if (nvp > DT_STAT_VERTS_PER_POLYGON)
return false;
if (nverts >= 0xffff)
return false;
if (!nverts)
return false;
if (!npolys)
return false;
if (!dmeshes || !dverts || ! dtris)
return false;
// Find unique detail vertices.
int uniqueDetailVerts = 0;
if (dmeshes)
{
for (int i = 0; i < npolys; ++i)
{
const unsigned short* p = &polys[i*nvp*2];
int ndv = dmeshes[i*4+1];
int nv = 0;
for (int j = 0; j < nvp; ++j)
{
if (p[j] == 0xffff) break;
nv++;
}
ndv -= nv;
uniqueDetailVerts += ndv;
}
}
// Calculate data size
const int headerSize = sizeof(dtStatNavMeshHeader);
const int vertsSize = sizeof(float)*3*nverts;
const int polysSize = sizeof(dtStatPoly)*npolys;
const int nodesSize = sizeof(dtStatBVNode)*npolys*2;
const int detailMeshesSize = sizeof(dtStatPolyDetail)*npolys;
const int detailVertsSize = sizeof(float)*3*uniqueDetailVerts;
const int detailTrisSize = sizeof(unsigned char)*4*ndtris;
const int dataSize = headerSize + vertsSize + polysSize + nodesSize +
detailMeshesSize + detailVertsSize + detailTrisSize;
unsigned char* data = new unsigned char[dataSize];
if (!data)
return false;
memset(data, 0, dataSize);
unsigned char* d = data;
dtStatNavMeshHeader* header = (dtStatNavMeshHeader*)d; d += headerSize;
float* navVerts = (float*)d; d += vertsSize;
dtStatPoly* navPolys = (dtStatPoly*)d; d += polysSize;
dtStatBVNode* navNodes = (dtStatBVNode*)d; d += nodesSize;
dtStatPolyDetail* navDMeshes = (dtStatPolyDetail*)d; d += detailMeshesSize;
float* navDVerts = (float*)d; d += detailVertsSize;
unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
// Store header
header->magic = DT_STAT_NAVMESH_MAGIC;
header->version = DT_STAT_NAVMESH_VERSION;
header->npolys = npolys;
header->nverts = nverts;
header->cs = cs;
header->bmin[0] = bmin[0];
header->bmin[1] = bmin[1];
header->bmin[2] = bmin[2];
header->bmax[0] = bmax[0];
header->bmax[1] = bmax[1];
header->bmax[2] = bmax[2];
header->ndmeshes = dmeshes ? npolys : 0;
header->ndverts = dmeshes ? uniqueDetailVerts : 0;
header->ndtris = dmeshes ? ndtris : 0;
// Store vertices
for (int i = 0; i < nverts; ++i)
{
const unsigned short* iv = &verts[i*3];
float* v = &navVerts[i*3];
v[0] = bmin[0] + iv[0] * cs;
v[1] = bmin[1] + iv[1] * ch;
v[2] = bmin[2] + iv[2] * cs;
}
// Store polygons
const unsigned short* src = polys;
for (int i = 0; i < npolys; ++i)
{
dtStatPoly* p = &navPolys[i];
p->nv = 0;
for (int j = 0; j < nvp; ++j)
{
if (src[j] == 0xffff) break;
p->v[j] = src[j];
p->n[j] = src[nvp+j]+1;
p->nv++;
}
src += nvp*2;
}
header->nnodes = createBVTree(verts, nverts, polys, npolys, nvp,
cs, ch, npolys*2, navNodes);
// 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.
unsigned short vbase = 0;
for (int i = 0; i < npolys; ++i)
{
dtStatPolyDetail& dtl = navDMeshes[i];
const int vb = dmeshes[i*4+0];
const int ndv = dmeshes[i*4+1];
const int nv = navPolys[i].nv;
dtl.vbase = vbase;
dtl.nverts = ndv-nv;
dtl.tbase = dmeshes[i*4+2];
dtl.ntris = dmeshes[i*4+3];
// Copy vertices except the first 'nv' verts which are equal to nav poly verts.
if (ndv-nv)
{
memcpy(&navDVerts[vbase*3], &dverts[(vb+nv)*3], sizeof(float)*3*(ndv-nv));
vbase += ndv-nv;
}
}
// Store triangles.
memcpy(navDTris, dtris, sizeof(unsigned char)*4*ndtris);
*outData = data;
*outDataSize = dataSize;
return true;
}
