// Calculates convex hull on xz-plane of points on 'pts'
ConvexVolume::ConvexVolume(InputGeom* geom, float offset)
{
// TODO protect against too many vectors!
int hullVertIndices[MAX_CONVEXVOL_PTS];
float* pts = geom->getVerts();
int npts = geom->getVertCount();
// Find lower-leftmost point.
int hull = 0;
for (int i = 1; i < npts; ++i)
if (ConvexVolume::cmppt(&pts[i*3], &pts[hull*3]))
hull = i;
// Gift wrap hull.
int endpt = 0;
int i = 0;
do
{
hullVertIndices[i++] = hull;
endpt = 0;
for (int j = 1; j < npts; ++j)
if (hull == endpt || ConvexVolume::left(&pts[hull*3], &pts[endpt*3], &pts[j*3]))
endpt = j;
hull = endpt;
}
while (endpt != hullVertIndices[0] && i < MAX_CONVEXVOL_PTS/2); // TODO: number of hull points is limited, but in a naive way. In large meshes the best candidate points for the hull might not be selected
// Leave the other half of the points for expanding the hull
nverts = i;
// Copy geometry vertices to convex hull
for (int i = 0; i < nverts; i++)
rcVcopy(&verts[i*3], &pts[hullVertIndices[i]*3]);
area = SAMPLE_POLYAREA_DOOR; // You can choose whatever flag you assing to the poly area
// Find min and max height of convex hull
hmin = geom->getMeshBoundsMin()[1];
hmax = geom->getMeshBoundsMax()[1];
// 3D mesh min and max bounds
rcVcopy(bmin, geom->getMeshBoundsMin());
rcVcopy(bmax, geom->getMeshBoundsMax());
//TODO offsetting is still broken for a lot of shapes! Fix this!
// Offset convex hull if needed
if(offset > 0.01f) {
float offsetVerts[MAX_CONVEXVOL_PTS * 3]; // An offset hull is allowed twice the number of vertices
int nOffsetVerts = rcOffsetPoly(verts, nverts, offset, offsetVerts, MAX_CONVEXVOL_PTS);
if (nOffsetVerts <= 0)
return;
for(int i = 0; i < nOffsetVerts; i++)
rcVcopy(&verts[i*3], &offsetVerts[i*3]);
nverts = nOffsetVerts;
// Modify the bounds with offset (except height)
bmin[0] = bmin[0]-offset;
bmin[2] = bmin[2]-offset;
bmax[0] = bmax[0]+offset;
bmax[2] = bmax[2]+offset;
}
}
bool OgreRecast::NavMeshBuild(InputGeom* input)
{
// TODO: clean up unused variables
m_pLog->logMessage("NavMeshBuild Start");
//
// Step 1. Initialize build config.
//
// Reset build times gathering.
m_ctx->resetTimers();
// Start the build process.
m_ctx->startTimer(RC_TIMER_TOTAL);
//
// Step 2. Rasterize input polygon soup.
//
InputGeom *inputGeom = input;
rcVcopy(m_cfg.bmin, inputGeom->getMeshBoundsMin());
rcVcopy(m_cfg.bmax, inputGeom->getMeshBoundsMax());
rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, &m_cfg.width, &m_cfg.height);
int nverts = inputGeom->getVertCount();
int ntris = inputGeom->getTriCount();
Ogre::Vector3 min; FloatAToOgreVect3(inputGeom->getMeshBoundsMin(), min);
Ogre::Vector3 max; FloatAToOgreVect3(inputGeom->getMeshBoundsMax(), max);
//Ogre::LogManager::getSingletonPtr()->logMessage("Bounds: "+Ogre::StringConverter::toString(min) + " "+ Ogre::StringConverter::toString(max));
m_pLog->logMessage("Building navigation:");
m_pLog->logMessage(" - " + Ogre::StringConverter::toString(m_cfg.width) + " x " + Ogre::StringConverter::toString(m_cfg.height) + " cells");
m_pLog->logMessage(" - " + Ogre::StringConverter::toString(nverts/1000.0f) + " K verts, " + Ogre::StringConverter::toString(ntris/1000.0f) + " K tris");
// Allocate voxel heightfield where we rasterize our input data to.
m_solid = rcAllocHeightfield();
if (!m_solid)
{
m_pLog->logMessage("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_pLog->logMessage("ERROR: buildNavigation: Could not create solid heightfield. Possibly it requires too much memory, try setting a higher cellSize and cellHeight value.");
return false;
}
// Allocate array that can hold triangle area types.
// If you have multiple meshes you need to process, allocate
// an array which can hold the max number of triangles you need to process.
m_triareas = new unsigned char[ntris];
if (!m_triareas)
{
m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'm_triareas' ("+Ogre::StringConverter::toString(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, inputGeom->getVerts(), inputGeom->getVertCount(), inputGeom->getTris(), inputGeom->getTriCount(), m_triareas);
rcRasterizeTriangles(m_ctx, inputGeom->getVerts(), inputGeom->getVertCount(), inputGeom->getTris(), m_triareas, inputGeom->getTriCount(), *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_pLog->logMessage("ERROR: buildNavigation: Out of memory 'chf'.");
return false;
}
if (!rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid, *m_chf))
{
m_pLog->logMessage("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_pLog->logMessage("ERROR: buildNavigation: Could not erode walkable areas.");
return false;
}
// TODO implement
// (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_pLog->logMessage("ERROR: buildNavigation: Could not build distance field.");
return false;
}
// 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_pLog->logMessage("ERROR: buildNavigation: Could not build regions.");
return false;
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
m_cset = rcAllocContourSet();
if (!m_cset)
{
m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'cset'.");
return false;
}
if (!rcBuildContours(m_ctx, *m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, *m_cset))
{
m_pLog->logMessage("ERROR: buildNavigation: Could not create contours.");
return false;
}
if (m_cset->nconts == 0)
{
// In case of errors see: http://groups.google.com/group/recastnavigation/browse_thread/thread/a6fbd509859a12c8
// You should probably tweak the parameters
m_pLog->logMessage("ERROR: No contours created (Recast)!");
}
//
// Step 6. Build polygons mesh from contours.
//
// Build polygon navmesh from the contours.
m_pmesh = rcAllocPolyMesh();
if (!m_pmesh)
{
m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'pmesh'.");
return false;
}
if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
{
// Try modifying the parameters. I experienced this error when setting agentMaxClimb too high.
m_pLog->logMessage("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_pLog->logMessage("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_pLog->logMessage("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)
{
m_pLog->logMessage("Detour 1000");
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;
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK;
}
}
// Set navmesh params
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;
// no off mesh connections yet
m_offMeshConCount=0 ;
params.offMeshConVerts = m_offMeshConVerts ;
params.offMeshConRad = m_offMeshConRads ;
params.offMeshConDir = m_offMeshConDirs ;
params.offMeshConAreas = m_offMeshConAreas ;
params.offMeshConFlags = m_offMeshConFlags ;
params.offMeshConUserID = m_offMeshConId ;
params.offMeshConCount = m_offMeshConCount ;
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;
m_pLog->logMessage("Detour 2000");
if (!dtCreateNavMeshData(¶ms, &navData, &navDataSize))
{
m_pLog->logMessage("ERROR: Could not build Detour navmesh.");
return false;
}
m_pLog->logMessage("Detour 3000");
m_navMesh = dtAllocNavMesh();
if (!m_navMesh)
{
dtFree(navData);
m_pLog->logMessage("ERROR: Could not create Detour navmesh");
return false;
}
m_pLog->logMessage("Detour 4000");
dtStatus status;
status = m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA);
if (dtStatusFailed(status))
{
dtFree(navData);
m_pLog->logMessage("ERROR: Could not init Detour navmesh");
return false;
}
m_pLog->logMessage("Detour 5000");
m_navQuery = dtAllocNavMeshQuery();
status = m_navQuery->init(m_navMesh, 2048);
m_pLog->logMessage("Detour 5500");
if (dtStatusFailed(status))
{
m_pLog->logMessage("ERROR: Could not init Detour navmesh query");
return false;
}
m_pLog->logMessage("Detour 6000");
}
m_ctx->stopTimer(RC_TIMER_TOTAL);
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// cleanup stuff we don't need
// delete [] rc_verts ;
// delete [] rc_tris ;
// delete [] rc_trinorms ;
//CreateRecastPolyMesh(*m_pmesh) ; // Debug render it
m_pLog->logMessage("NavMeshBuild End");
return true;
}
/// @par
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int walkableHeight,
rcHeightfieldLayerSet& lset)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_LAYERS);
const int w = chf.width;
const int h = chf.height;
rcScopedDelete<unsigned char> srcReg = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
if (!srcReg)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' (%d).", chf.spanCount);
return false;
}
memset(srcReg,0xff,sizeof(unsigned char)*chf.spanCount);
const int nsweeps = chf.width;
rcScopedDelete<rcLayerSweepSpan> sweeps = (rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP);
if (!sweeps)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps);
return false;
}
// Partition walkable area into monotone regions.
int prevCount[256];
unsigned char regId = 0;
for (int y = borderSize; y < h-borderSize; ++y)
{
memset(prevCount,0,sizeof(int)*regId);
unsigned char sweepId = 0;
for (int x = borderSize; x < w-borderSize; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA) continue;
unsigned char sid = 0xff;
// -x
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(0);
const int ay = y + rcGetDirOffsetY(0);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff)
sid = srcReg[ai];
}
if (sid == 0xff)
{
sid = sweepId++;
sweeps[sid].nei = 0xff;
sweeps[sid].ns = 0;
}
// -y
if (rcGetCon(s,3) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(3);
const int ay = y + rcGetDirOffsetY(3);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
const unsigned char nr = srcReg[ai];
if (nr != 0xff)
{
// Set neighbour when first valid neighbour is encoutered.
if (sweeps[sid].ns == 0)
sweeps[sid].nei = nr;
if (sweeps[sid].nei == nr)
{
// Update existing neighbour
sweeps[sid].ns++;
prevCount[nr]++;
}
else
{
// This is hit if there is nore than one neighbour.
// Invalidate the neighbour.
sweeps[sid].nei = 0xff;
}
}
}
srcReg[i] = sid;
}
}
// Create unique ID.
for (int i = 0; i < sweepId; ++i)
{
// If the neighbour is set and there is only one continuous connection to it,
// the sweep will be merged with the previous one, else new region is created.
if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
if (regId == 255)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow.");
return false;
}
sweeps[i].id = regId++;
}
}
// Remap local sweep ids to region ids.
for (int x = borderSize; x < w-borderSize; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (srcReg[i] != 0xff)
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
// Allocate and init layer regions.
const int nregs = (int)regId;
rcScopedDelete<rcLayerRegion> regs = (rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP);
if (!regs)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs);
return false;
}
memset(regs, 0, sizeof(rcLayerRegion)*nregs);
for (int i = 0; i < nregs; ++i)
{
regs[i].layerId = 0xff;
regs[i].ymin = 0xffff;
regs[i].ymax = 0;
}
// Find region neighbours and overlapping regions.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
unsigned char lregs[RC_MAX_LAYERS];
int nlregs = 0;
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
const unsigned char ri = srcReg[i];
if (ri == 0xff) continue;
regs[ri].ymin = rcMin(regs[ri].ymin, s.y);
regs[ri].ymax = rcMax(regs[ri].ymax, s.y);
// Collect all region layers.
if (nlregs < RC_MAX_LAYERS)
lregs[nlregs++] = ri;
// Update neighbours
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
const unsigned char rai = srcReg[ai];
if (rai != 0xff && rai != ri)
addUnique(regs[ri].neis, regs[ri].nneis, rai);
}
}
}
// Update overlapping regions.
for (int i = 0; i < nlregs-1; ++i)
{
for (int j = i+1; j < nlregs; ++j)
{
if (lregs[i] != lregs[j])
{
rcLayerRegion& ri = regs[lregs[i]];
rcLayerRegion& rj = regs[lregs[j]];
addUnique(ri.layers, ri.nlayers, lregs[j]);
addUnique(rj.layers, rj.nlayers, lregs[i]);
}
}
}
}
}
// Create 2D layers from regions.
unsigned char layerId = 0;
static const int MAX_STACK = 64;
unsigned char stack[MAX_STACK];
int nstack = 0;
for (int i = 0; i < nregs; ++i)
{
rcLayerRegion& root = regs[i];
// Skip alreadu visited.
if (root.layerId != 0xff)
continue;
// Start search.
root.layerId = layerId;
root.base = 1;
nstack = 0;
stack[nstack++] = (unsigned char)i;
while (nstack)
{
// Pop front
rcLayerRegion& reg = regs[stack[0]];
nstack--;
for (int j = 0; j < nstack; ++j)
stack[j] = stack[j+1];
const int nneis = (int)reg.nneis;
for (int j = 0; j < nneis; ++j)
{
const unsigned char nei = reg.neis[j];
rcLayerRegion& regn = regs[nei];
// Skip already visited.
if (regn.layerId != 0xff)
continue;
// Skip if the neighbour is overlapping root region.
if (contains(root.layers, root.nlayers, nei))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(root.ymin, regn.ymin);
const int ymax = rcMax(root.ymax, regn.ymax);
if ((ymax - ymin) >= 255)
continue;
if (nstack < MAX_STACK)
{
// Deepen
stack[nstack++] = (unsigned char)nei;
// Mark layer id
regn.layerId = layerId;
// Merge current layers to root.
for (int k = 0; k < regn.nlayers; ++k)
addUnique(root.layers, root.nlayers, regn.layers[k]);
root.ymin = rcMin(root.ymin, regn.ymin);
root.ymax = rcMax(root.ymax, regn.ymax);
}
}
}
layerId++;
}
// Merge non-overlapping regions that are close in height.
const unsigned short mergeHeight = (unsigned short)walkableHeight * 4;
for (int i = 0; i < nregs; ++i)
{
rcLayerRegion& ri = regs[i];
if (!ri.base) continue;
unsigned char newId = ri.layerId;
for (;;)
{
unsigned char oldId = 0xff;
for (int j = 0; j < nregs; ++j)
{
if (i == j) continue;
rcLayerRegion& rj = regs[j];
if (!rj.base) continue;
// Skip if teh regions are not close to each other.
if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(ri.ymin, rj.ymin);
const int ymax = rcMax(ri.ymax, rj.ymax);
if ((ymax - ymin) >= 255)
continue;
// Make sure that there is no overlap when mergin 'ri' and 'rj'.
bool overlap = false;
// Iterate over all regions which have the same layerId as 'rj'
for (int k = 0; k < nregs; ++k)
{
if (regs[k].layerId != rj.layerId)
continue;
// Check if region 'k' is overlapping region 'ri'
// Index to 'regs' is the same as region id.
if (contains(ri.layers,ri.nlayers, (unsigned char)k))
{
overlap = true;
break;
}
}
// Cannot merge of regions overlap.
if (overlap)
continue;
// Can merge i and j.
oldId = rj.layerId;
break;
}
// Could not find anything to merge with, stop.
if (oldId == 0xff)
break;
// Merge
for (int j = 0; j < nregs; ++j)
{
rcLayerRegion& rj = regs[j];
if (rj.layerId == oldId)
{
rj.base = 0;
// Remap layerIds.
rj.layerId = newId;
// Add overlaid layers from 'rj' to 'ri'.
for (int k = 0; k < rj.nlayers; ++k)
addUnique(ri.layers, ri.nlayers, rj.layers[k]);
// Update heigh bounds.
ri.ymin = rcMin(ri.ymin, rj.ymin);
ri.ymax = rcMax(ri.ymax, rj.ymax);
}
}
}
}
// Compact layerIds
unsigned char remap[256];
memset(remap, 0, 256);
// Find number of unique layers.
layerId = 0;
for (int i = 0; i < nregs; ++i)
remap[regs[i].layerId] = 1;
for (int i = 0; i < 256; ++i)
{
if (remap[i])
remap[i] = layerId++;
else
remap[i] = 0xff;
}
// Remap ids.
for (int i = 0; i < nregs; ++i)
regs[i].layerId = remap[regs[i].layerId];
// No layers, return empty.
if (layerId == 0)
{
ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
return true;
}
// Create layers.
rcAssert(lset.layers == 0);
const int lw = w - borderSize*2;
const int lh = h - borderSize*2;
// Build contracted bbox for layers.
float bmin[3], bmax[3];
rcVcopy(bmin, chf.bmin);
rcVcopy(bmax, chf.bmax);
bmin[0] += borderSize*chf.cs;
bmin[2] += borderSize*chf.cs;
bmax[0] -= borderSize*chf.cs;
bmax[2] -= borderSize*chf.cs;
lset.nlayers = (int)layerId;
lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
if (!lset.layers)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' (%d).", lset.nlayers);
return false;
}
memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
// Store layers.
for (int i = 0; i < lset.nlayers; ++i)
{
unsigned char curId = (unsigned char)i;
// Allocate memory for the current layer.
rcHeightfieldLayer* layer = &lset.layers[i];
memset(layer, 0, sizeof(rcHeightfieldLayer));
const int gridSize = sizeof(unsigned char)*lw*lh;
layer->heights = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->heights)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' (%d).", gridSize);
return false;
}
memset(layer->heights, 0xff, gridSize);
layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->areas)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' (%d).", gridSize);
return false;
}
memset(layer->areas, 0, gridSize);
layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->cons)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' (%d).", gridSize);
return false;
}
memset(layer->cons, 0, gridSize);
// Find layer height bounds.
int hmin = 0, hmax = 0;
for (int j = 0; j < nregs; ++j)
{
if (regs[j].base && regs[j].layerId == curId)
{
hmin = (int)regs[j].ymin;
hmax = (int)regs[j].ymax;
}
}
layer->width = lw;
layer->height = lh;
layer->cs = chf.cs;
layer->ch = chf.ch;
// Adjust the bbox to fit the heighfield.
rcVcopy(layer->bmin, bmin);
rcVcopy(layer->bmax, bmax);
layer->bmin[1] = bmin[1] + hmin*chf.ch;
layer->bmax[1] = bmin[1] + hmax*chf.ch;
layer->hmin = hmin;
layer->hmax = hmax;
// Update usable data region.
layer->minx = layer->width;
layer->maxx = 0;
layer->miny = layer->height;
layer->maxy = 0;
// Copy height and area from compact heighfield.
for (int y = 0; y < lh; ++y)
{
for (int x = 0; x < lw; ++x)
{
const int cx = borderSize+x;
const int cy = borderSize+y;
const rcCompactCell& c = chf.cells[cx+cy*w];
for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
{
const rcCompactSpan& s = chf.spans[j];
// Skip unassigned regions.
if (srcReg[j] == 0xff)
continue;
// Skip of does nto belong to current layer.
unsigned char lid = regs[srcReg[j]].layerId;
if (lid != curId)
continue;
// Update data bounds.
layer->minx = rcMin(layer->minx, x);
layer->maxx = rcMax(layer->maxx, x);
layer->miny = rcMin(layer->miny, y);
layer->maxy = rcMax(layer->maxy, y);
// Store height and area type.
const int idx = x+y*lw;
layer->heights[idx] = (unsigned char)(s.y - hmin);
layer->areas[idx] = chf.areas[j];
// Check connection.
unsigned char portal = 0;
unsigned char con = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
unsigned char alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff;
// Portal mask
if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
{
portal |= (unsigned char)(1<<dir);
// Update height so that it matches on both sides of the portal.
const rcCompactSpan& as = chf.spans[ai];
if (as.y > hmin)
layer->heights[idx] = rcMax(layer->heights[idx], (unsigned char)(as.y - hmin));
}
// Valid connection mask
if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
{
const int nx = ax - borderSize;
const int ny = ay - borderSize;
if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
con |= (unsigned char)(1<<dir);
}
}
}
layer->cons[idx] = (portal << 4) | con;
}
}
}
if (layer->minx > layer->maxx)
layer->minx = layer->maxx = 0;
if (layer->miny > layer->maxy)
layer->miny = layer->maxy = 0;
}
ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
return true;
}
dtNavMesh* buildMesh(InputGeom* geom, WCellBuildContext* wcellContext, int numCores)
{
dtNavMesh* mesh = 0;
if (!geom || !geom->getMesh())
{
CleanupAfterBuild();
wcellContext->log(RC_LOG_ERROR, "buildTiledNavigation: No vertices and triangles.");
return 0;
}
mesh = dtAllocNavMesh();
if (!mesh)
{
CleanupAfterBuild();
wcellContext->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate navmesh.");
return 0;
}
// setup some default parameters
rcConfig cfg;
memset(&cfg, 0, sizeof(rcConfig));
const float agentHeight = 2.1f; // most character toons are about this tall
const float agentRadius = 0.6f; // most character toons are about this big around
const float agentClimb = 1.0f; // character toons can step up this far. Seems ridiculously high ...
const float tileSize = 1600.0f/3.0f/16.0f; // The size of one chunk
cfg.cs = 0.1f; // cell size is a sort of resolution -> the bigger the faster
cfg.ch = 0.05f; // cell height -> distance from mesh to ground, if too low, recast will not build essential parts of the mesh for some reason
cfg.walkableSlopeAngle = 50.0f; // max climbable slope, bigger values won't make much of a change
cfg.walkableHeight = (int)ceilf(agentHeight/cfg.ch);// minimum space to ceiling
cfg.walkableClimb = (int)floorf(agentClimb/cfg.ch); // how high the agent can climb in one step
cfg.walkableRadius = (int)ceilf(agentRadius/cfg.cs);// minimum distance to objects
cfg.tileSize = (int)(tileSize/cfg.cs + 0.5f);
cfg.maxEdgeLen = cfg.tileSize/2;;
cfg.borderSize = cfg.walkableRadius + 3;
cfg.width = cfg.tileSize + cfg.borderSize*2;
cfg.height = cfg.tileSize + cfg.borderSize*2;
cfg.maxSimplificationError = 1.3f;
cfg.minRegionArea = (int)rcSqr(8); // Note: area = size*size
cfg.mergeRegionArea = (int)rcSqr(20); // Note: area = size*size
cfg.maxVertsPerPoly = 3;
cfg.detailSampleDist = cfg.cs * 9;
cfg.detailSampleMaxError = cfg.ch * 1.0f;
// default calculations - for some reason not included in basic recast
const float* bmin = geom->getMeshBoundsMin();
const float* bmax = geom->getMeshBoundsMax();
int gw = 0, gh = 0;
rcCalcGridSize(bmin, bmax, cfg.cs, &gw, &gh);
const int ts = cfg.tileSize;
const int tw = (gw + ts-1) / ts;
const int th = (gh + ts-1) / ts;
// Max tiles and max polys affect how the tile IDs are caculated.
// There are 22 bits available for identifying a tile and a polygon.
int tileBits = rcMin((int)ilog2(nextPow2(tw*th)), 14);
if (tileBits > 14) tileBits = 14;
int polyBits = 22 - tileBits;
int maxTiles = 1 << tileBits;
int maxPolysPerTile = 1 << polyBits;
dtNavMeshParams params;
rcVcopy(params.orig, geom->getMeshBoundsMin());
params.tileWidth = cfg.tileSize * cfg.cs;
params.tileHeight = cfg.tileSize * cfg.cs;
params.maxTiles = maxTiles;
params.maxPolys = maxPolysPerTile;
dtStatus status;
status = mesh->init(¶ms);
if (dtStatusFailed(status))
{
CleanupAfterBuild();
wcellContext->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
return 0;
}
// start building
const float tcs = cfg.tileSize*cfg.cs;
wcellContext->startTimer(RC_TIMER_TEMP);
TileAdder Adder;
dispatcher.Reset();
dispatcher.maxHeight = th;
dispatcher.maxWidth = tw;
int numThreads = 0;
numThreads = std::min(2*numCores, 8);
boost::thread *threads[8];
for(int i = 0; i < numThreads; ++i)
{
QuadrantTiler newTiler;
newTiler.geom = geom;
newTiler.cfg = cfg;
newTiler.ctx = *wcellContext;
boost::thread newThread(boost::ref(newTiler));
threads[i] = &newThread;
}
Adder.mesh = mesh;
Adder.numThreads = numThreads;
boost::thread AdderThread(boost::ref(Adder));
AdderThread.join();
// Start the build process.
wcellContext->stopTimer(RC_TIMER_TEMP);
return mesh;
}
bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
rcHeightfield& hf, rcCompactHeightfield& chf)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
const int w = hf.width;
const int h = hf.height;
const int spanCount = rcGetHeightFieldSpanCount(ctx, hf);
// Fill in header.
chf.width = w;
chf.height = h;
chf.spanCount = spanCount;
chf.walkableHeight = walkableHeight;
chf.walkableClimb = walkableClimb;
chf.maxRegions = 0;
rcVcopy(chf.bmin, hf.bmin);
rcVcopy(chf.bmax, hf.bmax);
chf.bmax[1] += walkableHeight*hf.ch;
chf.cs = hf.cs;
chf.ch = hf.ch;
chf.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell)*w*h, RC_ALLOC_PERM);
if (!chf.cells)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", w*h);
return false;
}
memset(chf.cells, 0, sizeof(rcCompactCell)*w*h);
chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*spanCount, RC_ALLOC_PERM);
if (!chf.spans)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.spans' (%d)", spanCount);
return false;
}
memset(chf.spans, 0, sizeof(rcCompactSpan)*spanCount);
chf.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*spanCount, RC_ALLOC_PERM);
if (!chf.areas)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.areas' (%d)", spanCount);
return false;
}
memset(chf.areas, RC_NULL_AREA, sizeof(unsigned char)*spanCount);
const int MAX_HEIGHT = 0xffff;
// Fill in cells and spans.
int idx = 0;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcSpan* s = hf.spans[x + y*w];
// If there are no spans at this cell, just leave the data to index=0, count=0.
if (!s) continue;
rcCompactCell& c = chf.cells[x+y*w];
c.index = idx;
c.count = 0;
while (s)
{
if (s->area != RC_NULL_AREA)
{
const int bot = (int)s->smax;
const int top = s->next ? (int)s->next->smin : MAX_HEIGHT;
chf.spans[idx].y = (unsigned short)rcClamp(bot, 0, 0xffff);
chf.spans[idx].h = (unsigned char)rcClamp(top - bot, 0, 0xff);
chf.areas[idx] = s->area;
idx++;
c.count++;
}
s = s->next;
}
}
}
// Find neighbour connections.
const int MAX_LAYERS = RC_NOT_CONNECTED-1;
int tooHighNeighbour = 0;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
rcCompactSpan& s = chf.spans[i];
for (int dir = 0; dir < 4; ++dir)
{
rcSetCon(s, dir, RC_NOT_CONNECTED);
const int nx = x + rcGetDirOffsetX(dir);
const int ny = y + rcGetDirOffsetY(dir);
// First check that the neighbour cell is in bounds.
if (nx < 0 || ny < 0 || nx >= w || ny >= h)
continue;
// Iterate over all neighbour spans and check if any of the is
// accessible from current cell.
const rcCompactCell& nc = chf.cells[nx+ny*w];
for (int k = (int)nc.index, nk = (int)(nc.index+nc.count); k < nk; ++k)
{
const rcCompactSpan& ns = chf.spans[k];
const int bot = rcMax(s.y, ns.y);
const int top = rcMin(s.y+s.h, ns.y+ns.h);
// Check that the gap between the spans is walkable,
// and that the climb height between the gaps is not too high.
if ((top - bot) >= walkableHeight && rcAbs((int)ns.y - (int)s.y) <= walkableClimb)
{
// Mark direction as walkable.
const int idx = k - (int)nc.index;
if (idx < 0 || idx > MAX_LAYERS)
{
tooHighNeighbour = rcMax(tooHighNeighbour, idx);
continue;
}
rcSetCon(s, dir, idx);
break;
}
}
}
}
}
}
if (tooHighNeighbour > MAX_LAYERS)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)",
tooHighNeighbour, MAX_LAYERS);
}
ctx->stopTimer(RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
return true;
}
void KX_NavMeshObject::DrawNavMesh(NavMeshRenderMode renderMode)
{
if (!m_navMesh)
return;
MT_Vector3 color(0.f, 0.f, 0.f);
switch (renderMode)
{
case RM_POLYS :
case RM_WALLS :
for (int pi=0; pi<m_navMesh->getPolyCount(); pi++)
{
const dtStatPoly* poly = m_navMesh->getPoly(pi);
for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++)
{
if (poly->n[j] && renderMode==RM_WALLS)
continue;
const float* vif = m_navMesh->getVertex(poly->v[i]);
const float* vjf = m_navMesh->getVertex(poly->v[j]);
MT_Point3 vi(vif[0], vif[2], vif[1]);
MT_Point3 vj(vjf[0], vjf[2], vjf[1]);
vi = TransformToWorldCoords(vi);
vj = TransformToWorldCoords(vj);
KX_RasterizerDrawDebugLine(vi, vj, color);
}
}
break;
case RM_TRIS :
for (int i = 0; i < m_navMesh->getPolyDetailCount(); ++i)
{
const dtStatPoly* p = m_navMesh->getPoly(i);
const dtStatPolyDetail* pd = m_navMesh->getPolyDetail(i);
for (int j = 0; j < pd->ntris; ++j)
{
const unsigned char* t = m_navMesh->getDetailTri(pd->tbase+j);
MT_Point3 tri[3];
for (int k = 0; k < 3; ++k)
{
const float* v;
if (t[k] < p->nv)
v = m_navMesh->getVertex(p->v[t[k]]);
else
v = m_navMesh->getDetailVertex(pd->vbase+(t[k]-p->nv));
float pos[3];
rcVcopy(pos, v);
flipAxes(pos);
tri[k].setValue(pos);
}
for (int k=0; k<3; k++)
tri[k] = TransformToWorldCoords(tri[k]);
for (int k=0; k<3; k++)
KX_RasterizerDrawDebugLine(tri[k], tri[(k+1)%3], color);
}
}
break;
default:
/* pass */
break;
}
}
static bool buildPolyDetail(const float* in, const int nin,
const float sampleDist, const float sampleMaxError,
const rcCompactHeightfield& chf, const rcHeightPatch& hp,
float* verts, int& nverts, rcIntArray& tris,
rcIntArray& edges, rcIntArray& samples)
{
static const int MAX_VERTS = 256;
static const int MAX_EDGE = 64;
float edge[(MAX_EDGE+1)*3];
int hull[MAX_VERTS];
int nhull = 0;
nverts = 0;
for (int i = 0; i < nin; ++i)
rcVcopy(&verts[i*3], &in[i*3]);
nverts = nin;
const float cs = chf.cs;
const float ics = 1.0f/cs;
// Tesselate outlines.
// This is done in separate pass in order to ensure
// seamless height values across the ply boundaries.
if (sampleDist > 0)
{
for (int i = 0, j = nin-1; i < nin; j=i++)
{
const float* vj = &in[j*3];
const float* vi = &in[i*3];
bool swapped = false;
// Make sure the segments are always handled in same order
// using lexological sort or else there will be seams.
if (fabsf(vj[0]-vi[0]) < 1e-6f)
{
if (vj[2] > vi[2])
{
rcSwap(vj,vi);
swapped = true;
}
}
else
{
if (vj[0] > vi[0])
{
rcSwap(vj,vi);
swapped = true;
}
}
// Create samples along the edge.
float dx = vi[0] - vj[0];
float dy = vi[1] - vj[1];
float dz = vi[2] - vj[2];
float d = sqrtf(dx*dx + dz*dz);
int nn = 1 + (int)floorf(d/sampleDist);
if (nn > MAX_EDGE) nn = MAX_EDGE;
if (nverts+nn >= MAX_VERTS)
nn = MAX_VERTS-1-nverts;
for (int k = 0; k <= nn; ++k)
{
float u = (float)k/(float)nn;
float* pos = &edge[k*3];
pos[0] = vj[0] + dx*u;
pos[1] = vj[1] + dy*u;
pos[2] = vj[2] + dz*u;
pos[1] = getHeight(pos[0],pos[1],pos[2], cs, ics, chf.ch, hp)*chf.ch;
}
// Simplify samples.
int idx[MAX_EDGE] = {0,nn};
int nidx = 2;
for (int k = 0; k < nidx-1; )
{
const int a = idx[k];
const int b = idx[k+1];
const float* va = &edge[a*3];
const float* vb = &edge[b*3];
// Find maximum deviation along the segment.
float maxd = 0;
int maxi = -1;
for (int m = a+1; m < b; ++m)
{
float d = distancePtSeg(&edge[m*3],va,vb);
if (d > maxd)
{
maxd = d;
maxi = m;
}
}
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (maxi != -1 && maxd > rcSqr(sampleMaxError))
{
for (int m = nidx; m > k; --m)
idx[m] = idx[m-1];
idx[k+1] = maxi;
nidx++;
}
else
{
++k;
}
}
hull[nhull++] = j;
// Add new vertices.
if (swapped)
{
for (int k = nidx-2; k > 0; --k)
{
rcVcopy(&verts[nverts*3], &edge[idx[k]*3]);
hull[nhull++] = nverts;
nverts++;
}
}
else
{
for (int k = 1; k < nidx-1; ++k)
{
rcVcopy(&verts[nverts*3], &edge[idx[k]*3]);
hull[nhull++] = nverts;
nverts++;
}
}
}
}
// Tesselate the base mesh.
edges.resize(0);
tris.resize(0);
delaunayHull(nverts, verts, nhull, hull, tris, edges);
if (tris.size() == 0)
{
// Could not triangulate the poly, make sure there is some valid data there.
if (rcGetLog())
rcGetLog()->log(RC_LOG_WARNING, "buildPolyDetail: Could not triangulate polygon, adding default data.");
for (int i = 2; i < nverts; ++i)
{
tris.push(0);
tris.push(i-1);
tris.push(i);
tris.push(0);
}
return true;
}
if (sampleDist > 0)
{
// Create sample locations in a grid.
float bmin[3], bmax[3];
rcVcopy(bmin, in);
rcVcopy(bmax, in);
for (int i = 1; i < nin; ++i)
{
rcVmin(bmin, &in[i*3]);
rcVmax(bmax, &in[i*3]);
}
int x0 = (int)floorf(bmin[0]/sampleDist);
int x1 = (int)ceilf(bmax[0]/sampleDist);
int z0 = (int)floorf(bmin[2]/sampleDist);
int z1 = (int)ceilf(bmax[2]/sampleDist);
samples.resize(0);
for (int z = z0; z < z1; ++z)
{
for (int x = x0; x < x1; ++x)
{
float pt[3];
pt[0] = x*sampleDist;
pt[1] = (bmax[1]+bmin[1])*0.5f;
pt[2] = z*sampleDist;
// Make sure the samples are not too close to the edges.
if (distToPoly(nin,in,pt) > -sampleDist/2) continue;
samples.push(x);
samples.push(getHeight(pt[0], pt[1], pt[2], cs, ics, chf.ch, hp));
samples.push(z);
}
}
// Add the samples starting from the one that has the most
// error. The procedure stops when all samples are added
// or when the max error is within treshold.
const int nsamples = samples.size()/3;
for (int iter = 0; iter < nsamples; ++iter)
{
// Find sample with most error.
float bestpt[3] = {0,0,0};
float bestd = 0;
for (int i = 0; i < nsamples; ++i)
{
float pt[3];
pt[0] = samples[i*3+0]*sampleDist;
pt[1] = samples[i*3+1]*chf.ch;
pt[2] = samples[i*3+2]*sampleDist;
float d = distToTriMesh(pt, verts, nverts, &tris[0], tris.size()/4);
if (d < 0) continue; // did not hit the mesh.
if (d > bestd)
{
bestd = d;
rcVcopy(bestpt,pt);
}
}
// If the max error is within accepted threshold, stop tesselating.
if (bestd <= sampleMaxError)
break;
// Add the new sample point.
rcVcopy(&verts[nverts*3],bestpt);
nverts++;
// Create new triangulation.
// TODO: Incremental add instead of full rebuild.
edges.resize(0);
tris.resize(0);
delaunayHull(nverts, verts, nhull, hull, tris, edges);
if (nverts >= MAX_VERTS)
break;
}
}
return true;
}
bool Sample_TempObstacles::handleBuild()
{
dtStatus status;
if (!m_geom || !m_geom->getMesh())
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: No vertices and triangles.");
return false;
}
m_tmproc->init(m_geom);
// Init cache
const float* bmin = m_geom->getMeshBoundsMin();
const float* bmax = m_geom->getMeshBoundsMax();
int gw = 0, gh = 0;
rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
const int ts = (int)m_tileSize;
const int tw = (gw + ts-1) / ts;
const int th = (gh + ts-1) / ts;
// Generation params.
rcConfig cfg;
memset(&cfg, 0, sizeof(cfg));
cfg.cellSizeXZ = m_cellSize;
cfg.cellSizeY = m_cellHeight;
cfg.walkableSlopeAngle = m_agentMaxSlope;
cfg.walkableHeight = (int)ceilf(m_agentHeight / cfg.cellSizeY);
cfg.walkableClimb = (int)floorf(m_agentMaxClimb / cfg.cellSizeY);
cfg.walkableRadius = (int)ceilf(m_agentRadius / cfg.cellSizeXZ);
cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
cfg.maxSimplificationError = m_edgeMaxError;
cfg.minRegionArea = (int)rcSqr(m_regionMinSize); // Note: area = size*size
cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize); // Note: area = size*size
cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
cfg.tileSize = (int)m_tileSize;
cfg.borderSize = cfg.walkableRadius + 3; // Reserve enough padding.
cfg.width = cfg.tileSize + cfg.borderSize*2;
cfg.height = cfg.tileSize + cfg.borderSize*2;
cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
rcVcopy(cfg.bmin, bmin);
rcVcopy(cfg.bmax, bmax);
// Tile cache params.
dtTileCacheParams tcparams;
memset(&tcparams, 0, sizeof(tcparams));
rcVcopy(tcparams.orig, bmin);
tcparams.cs = m_cellSize;
tcparams.ch = m_cellHeight;
tcparams.width = (int)m_tileSize;
tcparams.height = (int)m_tileSize;
tcparams.walkableHeight = m_agentHeight;
tcparams.walkableRadius = m_agentRadius;
tcparams.walkableClimb = m_agentMaxClimb;
tcparams.maxSimplificationError = m_edgeMaxError;
tcparams.maxTiles = tw*th*EXPECTED_LAYERS_PER_TILE;
tcparams.maxObstacles = 128;
dtFreeTileCache(m_tileCache);
m_tileCache = dtAllocTileCache();
if (!m_tileCache)
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate tile cache.");
return false;
}
status = m_tileCache->init(&tcparams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init tile cache.");
return false;
}
dtFreeNavMesh(m_navMesh);
m_navMesh = dtAllocNavMesh();
if (!m_navMesh)
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate navmesh.");
return false;
}
dtNavMeshParams params;
memset(¶ms, 0, sizeof(params));
rcVcopy(params.orig, m_geom->getMeshBoundsMin());
params.tileWidth = m_tileSize*m_cellSize;
params.tileHeight = m_tileSize*m_cellSize;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
status = m_navMesh->init(¶ms);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
return false;
}
status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init Detour navmesh query");
return false;
}
// Preprocess tiles.
m_ctx->resetTimers();
m_cacheLayerCount = 0;
m_cacheCompressedSize = 0;
m_cacheRawSize = 0;
for (int y = 0; y < th; ++y)
{
for (int x = 0; x < tw; ++x)
{
TileCacheData tiles[MAX_LAYERS];
memset(tiles, 0, sizeof(tiles));
int ntiles = rasterizeTileLayers(m_ctx, m_geom, x, y, cfg, tiles, MAX_LAYERS);
for (int i = 0; i < ntiles; ++i)
{
TileCacheData* tile = &tiles[i];
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0);
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue;
}
m_cacheLayerCount++;
m_cacheCompressedSize += tile->dataSize;
m_cacheRawSize += calcLayerBufferSize(tcparams.width, tcparams.height);
}
}
}
// Build initial meshes
m_ctx->startTimer(RC_TIMER_TOTAL);
for (int y = 0; y < th; ++y)
for (int x = 0; x < tw; ++x)
m_tileCache->buildNavMeshTilesAt(x,y, m_navMesh);
m_ctx->stopTimer(RC_TIMER_TOTAL);
m_cacheBuildTimeMs = m_ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;
m_cacheBuildMemUsage = m_talloc->high;
const dtNavMesh* nav = m_navMesh;
int navmeshMemUsage = 0;
for (int i = 0; i < nav->getMaxTiles(); ++i)
{
const dtMeshTile* tile = nav->getTile(i);
if (tile->header)
navmeshMemUsage += tile->dataSize;
}
printf("navmeshMemUsage = %.1f kB", navmeshMemUsage/1024.0f);
if (m_tool)
m_tool->init(this);
initToolStates(this);
return true;
}
virtual void handleClick(const float* /*s*/, const float* p, bool /*shift*/)
{
m_hitPosSet = true;
rcVcopy(m_hitPos,p);
}
/// @see rcAllocPolyMeshDetail, rcPolyMeshDetail
bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_MERGE_POLYMESHDETAIL);
int maxVerts = 0;
int maxTris = 0;
int maxMeshes = 0;
for (int i = 0; i < nmeshes; ++i)
{
if (!meshes[i]) continue;
maxVerts += meshes[i]->nverts;
maxTris += meshes[i]->ntris;
maxMeshes += meshes[i]->nmeshes;
}
mesh.nmeshes = 0;
mesh.meshes = (unsigned int*)rcAlloc(sizeof(unsigned int)*maxMeshes*4, RC_ALLOC_PERM);
if (!mesh.meshes)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'pmdtl.meshes' (%d).", maxMeshes*4);
return false;
}
mesh.ntris = 0;
mesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris*4, RC_ALLOC_PERM);
if (!mesh.tris)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", maxTris*4);
return false;
}
mesh.nverts = 0;
mesh.verts = (dtCoordinates*)rcAlloc(sizeof(dtCoordinates)*maxVerts, RC_ALLOC_PERM);
if (!mesh.verts)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", maxVerts*3);
return false;
}
// Merge datas.
for (int i = 0; i < nmeshes; ++i)
{
rcPolyMeshDetail* dm = meshes[i];
if (!dm) continue;
for (int j = 0; j < dm->nmeshes; ++j)
{
unsigned int* dst = &mesh.meshes[mesh.nmeshes*4];
unsigned int* src = &dm->meshes[j*4];
dst[0] = (unsigned int)mesh.nverts+src[0];
dst[1] = src[1];
dst[2] = (unsigned int)mesh.ntris+src[2];
dst[3] = src[3];
mesh.nmeshes++;
}
for (int k = 0; k < dm->nverts; ++k)
{
rcVcopy(mesh.verts[mesh.nverts], dm->verts[k]);
mesh.nverts++;
}
for (int k = 0; k < dm->ntris; ++k)
{
mesh.tris[mesh.ntris*4+0] = dm->tris[k*4+0];
mesh.tris[mesh.ntris*4+1] = dm->tris[k*4+1];
mesh.tris[mesh.ntris*4+2] = dm->tris[k*4+2];
mesh.tris[mesh.ntris*4+3] = dm->tris[k*4+3];
mesh.ntris++;
}
}
ctx->stopTimer(RC_TIMER_MERGE_POLYMESHDETAIL);
return true;
}
static bool buildPolyDetail(rcContext* ctx, const dtCoordinates* in, const int nin,
const float sampleDist, const float sampleMaxError,
const rcCompactHeightfield& chf, const rcHeightPatch& hp,
dtCoordinates* verts, int& nverts, rcIntArray& tris,
rcIntArray& edges, rcIntArray& samples
#ifdef MODIFY_VOXEL_FLAG
, const char /*area*/
#endif // MODIFY_VOXEL_FLAG
)
{
static const int MAX_VERTS = 127;
static const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
static const int MAX_VERTS_PER_EDGE = 32;
dtCoordinates edge[(MAX_VERTS_PER_EDGE+1)];
int hull[MAX_VERTS];
int nhull = 0;
nverts = 0;
for (int i = 0; i < nin; ++i)
rcVcopy(verts[i], in[i]);
nverts = nin;
const float cs = chf.cs;
const float ics = 1.0f/cs;
// Tessellate outlines.
// This is done in separate pass in order to ensure
// seamless height values across the ply boundaries.
#ifdef MODIFY_VOXEL_FLAG
if( 0 < sampleDist /*&& rcIsTerrainArea( area )*/ )
#else // MODIFY_VOXEL_FLAG
if (sampleDist > 0)
#endif // MODIFY_VOXEL_FLAG
{
for (int i = 0, j = nin-1; i < nin; j=i++)
{
const dtCoordinates* vj = &in[j];
const dtCoordinates* vi = &in[i];
bool swapped = false;
// Make sure the segments are always handled in same order
// using lexological sort or else there will be seams.
if (fabsf(vj->X()-vi->X()) < 1e-6f)
{
if (vj->Z() > vi->Z())
{
rcSwap(vj,vi);
swapped = true;
}
}
else
{
if (vj->X() > vi->X())
{
rcSwap(vj,vi);
swapped = true;
}
}
// Create samples along the edge.
float dx = vi->X() - vj->X();
float dy = vi->Y() - vj->Y();
float dz = vi->Z() - vj->Z();
float d = sqrtf(dx*dx + dz*dz);
int nn = 1 + (int)floorf(d/sampleDist);
if (nn >= MAX_VERTS_PER_EDGE) nn = MAX_VERTS_PER_EDGE-1;
if (nverts+nn >= MAX_VERTS)
nn = MAX_VERTS-1-nverts;
for (int k = 0; k <= nn; ++k)
{
float u = (float)k/(float)nn;
dtCoordinates* pos = &edge[k];
pos->SetX( vj->X() + dx*u );
pos->SetY( vj->Y() + dy*u );
pos->SetZ( vj->Z() + dz*u );
pos->SetY( getHeight(pos->X(),pos->Y(),pos->Z(), cs, ics, chf.ch, hp)*chf.ch );
}
// Simplify samples.
int idx[MAX_VERTS_PER_EDGE] = {0,nn};
int nidx = 2;
for (int k = 0; k < nidx-1; )
{
const int a = idx[k];
const int b = idx[k+1];
const dtCoordinates va( edge[a] );
const dtCoordinates vb( edge[b] );
// Find maximum deviation along the segment.
float maxd = 0;
int maxi = -1;
for (int m = a+1; m < b; ++m)
{
float dev = distancePtSeg(edge[m],va,vb);
if (dev > maxd)
{
maxd = dev;
maxi = m;
}
}
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (maxi != -1 && maxd > rcSqr(sampleMaxError))
{
for (int m = nidx; m > k; --m)
idx[m] = idx[m-1];
idx[k+1] = maxi;
nidx++;
}
else
{
++k;
}
}
hull[nhull++] = j;
// Add new vertices.
if (swapped)
{
for (int k = nidx-2; k > 0; --k)
{
rcVcopy(verts[nverts], edge[idx[k]]);
hull[nhull++] = nverts;
nverts++;
}
}
else
{
for (int k = 1; k < nidx-1; ++k)
{
rcVcopy(verts[nverts], edge[idx[k]]);
hull[nhull++] = nverts;
nverts++;
}
}
}
}
// Tessellate the base mesh.
edges.resize(0);
tris.resize(0);
delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges);
if (tris.size() == 0)
{
// Could not triangulate the poly, make sure there is some valid data there.
ctx->log(RC_LOG_WARNING, "buildPolyDetail: Could not triangulate polygon, adding default data.");
for (int i = 2; i < nverts; ++i)
{
tris.push(0);
tris.push(i-1);
tris.push(i);
tris.push(0);
}
return true;
}
#ifdef MODIFY_VOXEL_FLAG
if( 0 < sampleDist /*&& rcIsTerrainArea( area )*/ )
#else // MODIFY_VOXEL_FLAG
if (sampleDist > 0)
#endif // MODIFY_VOXEL_FLAG
{
// Create sample locations in a grid.
dtCoordinates bmin, bmax;
rcVcopy(bmin, in[0]);
rcVcopy(bmax, in[0]);
for (int i = 1; i < nin; ++i)
{
rcVmin(bmin, in[i]);
rcVmax(bmax, in[i]);
}
int x0 = (int)floorf(bmin.X()/sampleDist);
int x1 = (int)ceilf(bmax.X()/sampleDist);
int z0 = (int)floorf(bmin.Z()/sampleDist);
int z1 = (int)ceilf(bmax.Z()/sampleDist);
samples.resize(0);
for (int z = z0; z < z1; ++z)
{
for (int x = x0; x < x1; ++x)
{
const dtCoordinates pt( x*sampleDist, (bmax.Y()+bmin.Y())*0.5f, z*sampleDist );
// Make sure the samples are not too close to the edges.
if (distToPoly(nin,in,pt) > -sampleDist/2) continue;
samples.push(x);
samples.push(getHeight(pt.X(), pt.Y(), pt.Z(), cs, ics, chf.ch, hp));
samples.push(z);
samples.push(0); // Not added
}
}
// Add the samples starting from the one that has the most
// error. The procedure stops when all samples are added
// or when the max error is within treshold.
const int nsamples = samples.size()/4;
for (int iter = 0; iter < nsamples; ++iter)
{
if (nverts >= MAX_VERTS)
break;
// Find sample with most error.
dtCoordinates bestpt;
float bestd = 0;
int besti = -1;
for (int i = 0; i < nsamples; ++i)
{
const int* s = &samples[i*4];
if (s[3]) continue; // skip added.
const dtCoordinates pt( s[0]*sampleDist + getJitterX(i)*cs*0.1f, s[1]*chf.ch, s[2]*sampleDist + getJitterY(i)*cs*0.1f );
// The sample location is jittered to get rid of some bad triangulations
// which are cause by symmetrical data from the grid structure.
float d = distToTriMesh(pt, verts, nverts, &tris[0], tris.size()/4);
if (d < 0) continue; // did not hit the mesh.
if (d > bestd)
{
bestd = d;
besti = i;
rcVcopy(bestpt,pt);
}
}
// If the max error is within accepted threshold, stop tesselating.
if (bestd <= sampleMaxError || besti == -1)
break;
// Mark sample as added.
samples[besti*4+3] = 1;
// Add the new sample point.
rcVcopy(verts[nverts],bestpt);
nverts++;
// Create new triangulation.
// TODO: Incremental add instead of full rebuild.
edges.resize(0);
tris.resize(0);
delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges);
}
}
const int ntris = tris.size()/4;
if (ntris > MAX_TRIS)
{
tris.resize(MAX_TRIS*4);
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Shrinking triangle count from %d to max %d.", ntris, MAX_TRIS);
}
return true;
}
static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
const float sampleDist, const float sampleMaxError,
const int heightSearchRadius, const rcCompactHeightfield& chf,
const rcHeightPatch& hp, float* verts, int& nverts,
rcIntArray& tris, rcIntArray& edges, rcIntArray& samples)
{
static const int MAX_VERTS = 127;
static const int MAX_TRIS = 255; // Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
static const int MAX_VERTS_PER_EDGE = 32;
float edge[(MAX_VERTS_PER_EDGE+1)*3];
int hull[MAX_VERTS];
int nhull = 0;
nverts = nin;
for (int i = 0; i < nin; ++i)
rcVcopy(&verts[i*3], &in[i*3]);
edges.resize(0);
tris.resize(0);
const float cs = chf.cs;
const float ics = 1.0f/cs;
// Calculate minimum extents of the polygon based on input data.
float minExtent = polyMinExtent(verts, nverts);
// Tessellate outlines.
// This is done in separate pass in order to ensure
// seamless height values across the ply boundaries.
if (sampleDist > 0)
{
for (int i = 0, j = nin-1; i < nin; j=i++)
{
const float* vj = &in[j*3];
const float* vi = &in[i*3];
bool swapped = false;
// Make sure the segments are always handled in same order
// using lexological sort or else there will be seams.
if (fabsf(vj[0]-vi[0]) < 1e-6f)
{
if (vj[2] > vi[2])
{
rcSwap(vj,vi);
swapped = true;
}
}
else
{
if (vj[0] > vi[0])
{
rcSwap(vj,vi);
swapped = true;
}
}
// Create samples along the edge.
float dx = vi[0] - vj[0];
float dy = vi[1] - vj[1];
float dz = vi[2] - vj[2];
float d = sqrtf(dx*dx + dz*dz);
int nn = 1 + (int)floorf(d/sampleDist);
if (nn >= MAX_VERTS_PER_EDGE) nn = MAX_VERTS_PER_EDGE-1;
if (nverts+nn >= MAX_VERTS)
nn = MAX_VERTS-1-nverts;
for (int k = 0; k <= nn; ++k)
{
float u = (float)k/(float)nn;
float* pos = &edge[k*3];
pos[0] = vj[0] + dx*u;
pos[1] = vj[1] + dy*u;
pos[2] = vj[2] + dz*u;
pos[1] = getHeight(pos[0],pos[1],pos[2], cs, ics, chf.ch, heightSearchRadius, hp)*chf.ch;
}
// Simplify samples.
int idx[MAX_VERTS_PER_EDGE] = {0,nn};
int nidx = 2;
for (int k = 0; k < nidx-1; )
{
const int a = idx[k];
const int b = idx[k+1];
const float* va = &edge[a*3];
const float* vb = &edge[b*3];
// Find maximum deviation along the segment.
float maxd = 0;
int maxi = -1;
for (int m = a+1; m < b; ++m)
{
float dev = distancePtSeg(&edge[m*3],va,vb);
if (dev > maxd)
{
maxd = dev;
maxi = m;
}
}
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (maxi != -1 && maxd > rcSqr(sampleMaxError))
{
for (int m = nidx; m > k; --m)
idx[m] = idx[m-1];
idx[k+1] = maxi;
nidx++;
}
else
{
++k;
}
}
hull[nhull++] = j;
// Add new vertices.
if (swapped)
{
for (int k = nidx-2; k > 0; --k)
{
rcVcopy(&verts[nverts*3], &edge[idx[k]*3]);
hull[nhull++] = nverts;
nverts++;
}
}
else
{
for (int k = 1; k < nidx-1; ++k)
{
rcVcopy(&verts[nverts*3], &edge[idx[k]*3]);
hull[nhull++] = nverts;
nverts++;
}
}
}
}
// If the polygon minimum extent is small (sliver or small triangle), do not try to add internal points.
if (minExtent < sampleDist*2)
{
triangulateHull(nverts, verts, nhull, hull, tris);
return true;
}
// Tessellate the base mesh.
// We're using the triangulateHull instead of delaunayHull as it tends to
// create a bit better triangulation for long thin triangles when there
// are no internal points.
triangulateHull(nverts, verts, nhull, hull, tris);
if (tris.size() == 0)
{
// Could not triangulate the poly, make sure there is some valid data there.
ctx->log(RC_LOG_WARNING, "buildPolyDetail: Could not triangulate polygon (%d verts).", nverts);
return true;
}
if (sampleDist > 0)
{
// Create sample locations in a grid.
float bmin[3], bmax[3];
rcVcopy(bmin, in);
rcVcopy(bmax, in);
for (int i = 1; i < nin; ++i)
{
rcVmin(bmin, &in[i*3]);
rcVmax(bmax, &in[i*3]);
}
int x0 = (int)floorf(bmin[0]/sampleDist);
int x1 = (int)ceilf(bmax[0]/sampleDist);
int z0 = (int)floorf(bmin[2]/sampleDist);
int z1 = (int)ceilf(bmax[2]/sampleDist);
samples.resize(0);
for (int z = z0; z < z1; ++z)
{
for (int x = x0; x < x1; ++x)
{
float pt[3];
pt[0] = x*sampleDist;
pt[1] = (bmax[1]+bmin[1])*0.5f;
pt[2] = z*sampleDist;
// Make sure the samples are not too close to the edges.
if (distToPoly(nin,in,pt) > -sampleDist/2) continue;
samples.push(x);
samples.push(getHeight(pt[0], pt[1], pt[2], cs, ics, chf.ch, heightSearchRadius, hp));
samples.push(z);
samples.push(0); // Not added
}
}
// Add the samples starting from the one that has the most
// error. The procedure stops when all samples are added
// or when the max error is within treshold.
const int nsamples = samples.size()/4;
for (int iter = 0; iter < nsamples; ++iter)
{
if (nverts >= MAX_VERTS)
break;
// Find sample with most error.
float bestpt[3] = {0,0,0};
float bestd = 0;
int besti = -1;
for (int i = 0; i < nsamples; ++i)
{
const int* s = &samples[i*4];
if (s[3]) continue; // skip added.
float pt[3];
// The sample location is jittered to get rid of some bad triangulations
// which are cause by symmetrical data from the grid structure.
pt[0] = s[0]*sampleDist + getJitterX(i)*cs*0.1f;
pt[1] = s[1]*chf.ch;
pt[2] = s[2]*sampleDist + getJitterY(i)*cs*0.1f;
float d = distToTriMesh(pt, verts, nverts, &tris[0], tris.size()/4);
if (d < 0) continue; // did not hit the mesh.
if (d > bestd)
{
bestd = d;
besti = i;
rcVcopy(bestpt,pt);
}
}
// If the max error is within accepted threshold, stop tesselating.
if (bestd <= sampleMaxError || besti == -1)
break;
// Mark sample as added.
samples[besti*4+3] = 1;
// Add the new sample point.
rcVcopy(&verts[nverts*3],bestpt);
nverts++;
// Create new triangulation.
// TODO: Incremental add instead of full rebuild.
edges.resize(0);
tris.resize(0);
delaunayHull(ctx, nverts, verts, nhull, hull, tris, edges);
}
}
const int ntris = tris.size()/4;
if (ntris > MAX_TRIS)
{
tris.resize(MAX_TRIS*4);
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Shrinking triangle count from %d to max %d.", ntris, MAX_TRIS);
}
return true;
}
static bool SplitAndStoreLayerRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int walkableHeight,
unsigned short* srcReg, rcLayerRegionMonotone* regs, const int nregs,
rcHeightfieldLayerSet& lset)
{
// Create 2D layers from regions.
unsigned short layerId = 0;
rcIntArray stack(64);
stack.resize(0);
for (int i = 0; i < nregs; ++i)
{
rcLayerRegionMonotone& root = regs[i];
// Skip already visited.
if (root.layerId != 0xffff)
continue;
// Start search.
root.layerId = layerId;
root.base = 1;
stack.push(i);
while (stack.size())
{
// Pop front
rcLayerRegionMonotone& reg = regs[stack[0]];
for (int j = 1; j < stack.size(); ++j)
stack[j - 1] = stack[j];
stack.pop();
const int nneis = (int)reg.neis.size();
for (int j = 0; j < nneis; ++j)
{
const int nei = reg.neis[j];
rcLayerRegionMonotone& regn = regs[nei];
// Skip already visited.
if (regn.layerId != 0xffff)
continue;
// Skip if the neighbour is overlapping root region.
if (root.layers.contains(nei))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(root.ymin, regn.ymin);
const int ymax = rcMin(root.ymax, regn.ymax);
if ((ymax - ymin) >= 255)
continue;
// Deepen
stack.push(nei);
// Mark layer id
regn.layerId = layerId;
// Merge current layers to root.
for (int k = 0; k < regn.layers.size(); ++k)
addUnique(root.layers, regn.layers[k]);
root.ymin = rcMin(root.ymin, regn.ymin);
root.ymax = rcMax(root.ymax, regn.ymax);
}
}
layerId++;
}
// Merge non-overlapping regions that are close in height.
const unsigned short mergeHeight = (unsigned short)walkableHeight * 4;
for (int i = 0; i < nregs; ++i)
{
rcLayerRegionMonotone& ri = regs[i];
if (!ri.base) continue;
unsigned short newId = ri.layerId;
for (;;)
{
unsigned short oldId = 0xffff;
for (int j = 0; j < nregs; ++j)
{
if (i == j) continue;
rcLayerRegionMonotone& rj = regs[j];
if (!rj.base) continue;
// Skip if the regions are not close to each other.
if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(ri.ymin, rj.ymin);
const int ymax = rcMin(ri.ymax, rj.ymax);
if ((ymax - ymin) >= 255)
continue;
// Make sure that there is no overlap when mergin 'ri' and 'rj'.
bool overlap = false;
// Iterate over all regions which have the same layerId as 'rj'
for (int k = 0; k < nregs; ++k)
{
if (regs[k].layerId != rj.layerId)
continue;
// Check if region 'k' is overlapping region 'ri'
// Index to 'regs' is the same as region id.
if (ri.layers.contains(k))
{
overlap = true;
break;
}
}
// Cannot merge of regions overlap.
if (overlap)
continue;
// Can merge i and j.
oldId = rj.layerId;
break;
}
// Could not find anything to merge with, stop.
if (oldId == 0xffff)
break;
// Merge
for (int j = 0; j < nregs; ++j)
{
rcLayerRegionMonotone& rj = regs[j];
if (rj.layerId == oldId)
{
rj.base = 0;
// Remap layerIds.
rj.layerId = newId;
// Add overlaid layers from 'rj' to 'ri'.
for (int k = 0; k < rj.layers.size(); ++k)
addUnique(ri.layers, rj.layers[k]);
// Update heigh bounds.
ri.ymin = rcMin(ri.ymin, rj.ymin);
ri.ymax = rcMax(ri.ymax, rj.ymax);
}
}
}
}
// Compact layerIds
layerId = 0;
if (nregs < 256)
{
// Compact ids.
unsigned short remap[256];
memset(remap, 0, sizeof(unsigned short)*256);
// Find number of unique regions.
for (int i = 0; i < nregs; ++i)
remap[regs[i].layerId] = 1;
for (int i = 0; i < 256; ++i)
if (remap[i])
remap[i] = layerId++;
// Remap ids.
for (int i = 0; i < nregs; ++i)
regs[i].layerId = remap[regs[i].layerId];
}
else
{
for (int i = 0; i < nregs; ++i)
regs[i].remap = true;
for (int i = 0; i < nregs; ++i)
{
if (!regs[i].remap)
continue;
unsigned short oldId = regs[i].layerId;
unsigned short newId = ++layerId;
for (int j = i; j < nregs; ++j)
{
if (regs[j].layerId == oldId)
{
regs[j].layerId = newId;
regs[j].remap = false;
}
}
}
}
// No layers, return empty.
if (layerId == 0)
{
ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
return true;
}
// Create layers.
rcAssert(lset.layers == 0);
const int w = chf.width;
const int h = chf.height;
const int lw = w - borderSize*2;
const int lh = h - borderSize*2;
// Build contracted bbox for layers.
float bmin[3], bmax[3];
rcVcopy(bmin, chf.bmin);
rcVcopy(bmax, chf.bmax);
bmin[0] += borderSize*chf.cs;
bmin[2] += borderSize*chf.cs;
bmax[0] -= borderSize*chf.cs;
bmax[2] -= borderSize*chf.cs;
lset.nlayers = (int)layerId;
lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
if (!lset.layers)
{
ctx->log(RC_LOG_ERROR, "SplitAndStoreLayerRegions: Out of memory 'layers' (%d).", lset.nlayers);
return false;
}
memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
// Store layers.
for (int i = 0; i < lset.nlayers; ++i)
{
unsigned short curId = (unsigned short)i;
// Allocate memory for the current layer.
rcHeightfieldLayer* layer = &lset.layers[i];
memset(layer, 0, sizeof(rcHeightfieldLayer));
const int gridSize = sizeof(unsigned char)*lw*lh;
const int gridSize2 = sizeof(unsigned short)*lw*lh;
layer->heights = (unsigned short*)rcAlloc(gridSize2, RC_ALLOC_PERM);
if (!layer->heights)
{
ctx->log(RC_LOG_ERROR, "SplitAndStoreLayerRegions: Out of memory 'heights' (%d).", gridSize2);
return false;
}
memset(layer->heights, 0xff, gridSize2);
layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->areas)
{
ctx->log(RC_LOG_ERROR, "SplitAndStoreLayerRegions: Out of memory 'areas' (%d).", gridSize);
return false;
}
memset(layer->areas, 0, gridSize);
layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->cons)
{
ctx->log(RC_LOG_ERROR, "SplitAndStoreLayerRegions: Out of memory 'cons' (%d).", gridSize);
return false;
}
memset(layer->cons, 0, gridSize);
// Find layer height bounds.
int hmin = 0, hmax = 0;
for (int j = 0; j < nregs; ++j)
{
if (regs[j].base && regs[j].layerId == curId)
{
hmin = (int)regs[j].ymin;
hmax = (int)regs[j].ymax;
}
}
layer->width = lw;
layer->height = lh;
layer->cs = chf.cs;
layer->ch = chf.ch;
// Adjust the bbox to fit the heighfield.
rcVcopy(layer->bmin, bmin);
rcVcopy(layer->bmax, bmax);
layer->bmin[1] = bmin[1] + hmin*chf.ch;
layer->bmax[1] = bmin[1] + hmax*chf.ch;
layer->hmin = hmin;
layer->hmax = hmax;
// Update usable data region.
layer->minx = layer->width;
layer->maxx = 0;
layer->miny = layer->height;
layer->maxy = 0;
// Copy height and area from compact heighfield.
for (int y = 0; y < lh; ++y)
{
for (int x = 0; x < lw; ++x)
{
const int cx = borderSize+x;
const int cy = borderSize+y;
const rcCompactCell& c = chf.cells[cx+cy*w];
for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
{
const rcCompactSpan& s = chf.spans[j];
// Skip unassigned regions.
if (srcReg[j] == 0xffff)
continue;
// Skip of does nto belong to current layer.
unsigned short lid = regs[srcReg[j]].layerId;
if (lid != curId)
continue;
// Update data bounds.
layer->minx = rcMin(layer->minx, x);
layer->maxx = rcMax(layer->maxx, x);
layer->miny = rcMin(layer->miny, y);
layer->maxy = rcMax(layer->maxy, y);
// Store height and area type.
const int idx = x+y*lw;
layer->heights[idx] = (unsigned short)(s.y - hmin);
layer->areas[idx] = chf.areas[j];
// Check connection.
unsigned char portal = 0;
unsigned char con = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
unsigned short alid = srcReg[ai] != 0xffff ? regs[srcReg[ai]].layerId : 0xffff;
// Portal mask
if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
{
portal |= (unsigned char)(1<<dir);
// Update height so that it matches on both sides of the portal.
const rcCompactSpan& as = chf.spans[ai];
if (as.y > hmin)
layer->heights[idx] = rcMax(layer->heights[idx], (unsigned short)(as.y - hmin));
}
// Valid connection mask
if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
{
const int nx = ax - borderSize;
const int ny = ay - borderSize;
if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
{
con |= (unsigned char)(1 << dir);
// [UE4: make sure that connections are bidirectional, otherwise contour tracing will stuck in infinite loop]
const int nidx = nx + (ny * lw);
layer->cons[nidx] |= (unsigned char)(1 << ((dir + 2) % 4));
}
}
}
}
layer->cons[idx] |= (portal << 4) | con;
}
}
}
if (layer->minx > layer->maxx)
layer->minx = layer->maxx = 0;
if (layer->miny > layer->maxy)
layer->miny = layer->maxy = 0;
}
return true;
}
/// @par
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int walkableHeight,
rcHeightfieldLayerSet& lset)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_BUILD_LAYERS);
rcScopedDelete<unsigned short> spanBuf4 = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount*4, RC_ALLOC_TEMP);
if (!spanBuf4)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'spanBuf4' (%d).", chf.spanCount*4);
return false;
}
ctx->startTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
unsigned short* srcReg = spanBuf4;
if (!rcGatherRegionsNoFilter(ctx, chf, borderSize, spanBuf4))
return false;
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_WATERSHED);
ctx->startTimer(RC_TIMER_BUILD_REGIONS_FILTER);
const int w = chf.width;
const int h = chf.height;
const int nreg = chf.maxRegions + 1;
rcScopedStructArrayDelete<rcLayerRegion> regions(nreg);
if (!regions)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regions' (%d).", nreg);
return false;
}
// Construct regions
memset(regions, 0, sizeof(rcLayerRegion)*nreg);
for (int i = 0; i < nreg; ++i)
{
regions[i].layerId = (unsigned short)i;
regions[i].ymax = 0;
regions[i].ymin = 0xffff;
}
// Find region neighbours and overlapping regions.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
const unsigned short ri = srcReg[i];
if (ri == 0 || ri >= nreg)
continue;
rcLayerRegion& reg = regions[ri];
reg.ymin = rcMin(reg.ymin, s.y);
reg.ymax = rcMax(reg.ymax, s.y);
reg.hasSpans = true;
// Collect all region layers.
for (int j = (int)c.index; j < ni; ++j)
{
unsigned short nri = srcReg[j];
if (nri == 0 || nri >= nreg)
continue;
if (nri != ri)
{
addUniqueLayerRegion(reg, nri);
}
}
// Have found contour
if (reg.connections.size() > 0)
continue;
// Check if this cell is next to a border.
int ndir = -1;
for (int dir = 0; dir < 4; ++dir)
{
if (isSolidEdge(chf, srcReg, x, y, i, dir))
{
ndir = dir;
break;
}
}
if (ndir != -1)
{
// The cell is at border.
// Walk around the contour to find all the neighbors.
walkContour(x, y, i, ndir, chf, srcReg, reg.connections);
}
}
}
}
// Create 2D layers from regions.
unsigned short layerId = 0;
rcIntArray stack(64);
for (int i = 0; i < nreg; i++)
{
rcLayerRegion& reg = regions[i];
if (reg.visited || !reg.hasSpans)
continue;
reg.layerId = layerId;
reg.visited = true;
reg.base = true;
stack.resize(0);
stack.push(i);
while (stack.size())
{
int ri = stack.pop();
rcLayerRegion& creg = regions[ri];
for (int j = 0; j < creg.connections.size(); j++)
{
const unsigned short nei = (unsigned short)creg.connections[j];
if (nei & RC_BORDER_REG)
continue;
rcLayerRegion& regn = regions[nei];
// Skip already visited.
if (regn.visited)
continue;
// Skip if the neighbor is overlapping root region.
if (reg.layers.contains(nei))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(reg.ymin, regn.ymin);
const int ymax = rcMin(reg.ymax, regn.ymax);
if ((ymax - ymin) >= 255)
continue;
// visit
stack.push(nei);
regn.visited = true;
regn.layerId = layerId;
// add layers to root
for (int k = 0; k < regn.layers.size(); k++)
addUniqueLayerRegion(reg, regn.layers[k]);
reg.ymin = rcMin(reg.ymin, regn.ymin);
reg.ymax = rcMax(reg.ymax, regn.ymax);
}
}
layerId++;
}
// Merge non-overlapping regions that are close in height.
const unsigned short mergeHeight = (unsigned short)walkableHeight * 4;
for (int i = 0; i < nreg; i++)
{
rcLayerRegion& ri = regions[i];
if (!ri.base) continue;
unsigned short newId = ri.layerId;
for (;;)
{
unsigned short oldId = 0xffff;
for (int j = 0; j < nreg; j++)
{
if (i == j) continue;
rcLayerRegion& rj = regions[j];
if (!rj.base) continue;
// Skip if the regions are not close to each other.
if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight))
continue;
// Skip if the height range would become too large.
const int ymin = rcMin(ri.ymin, rj.ymin);
const int ymax = rcMin(ri.ymax, rj.ymax);
if ((ymax - ymin) >= 255)
continue;
// Make sure that there is no overlap when mergin 'ri' and 'rj'.
bool overlap = false;
// Iterate over all regions which have the same layerId as 'rj'
for (int k = 0; k < nreg; ++k)
{
if (regions[k].layerId != rj.layerId)
continue;
// Check if region 'k' is overlapping region 'ri'
// Index to 'regs' is the same as region id.
if (ri.layers.contains(k))
{
overlap = true;
break;
}
}
// Cannot merge of regions overlap.
if (overlap)
continue;
// Can merge i and j.
oldId = rj.layerId;
break;
}
// Could not find anything to merge with, stop.
if (oldId == 0xffff)
break;
// Merge
for (int j = 0; j < nreg; ++j)
{
rcLayerRegion& rj = regions[j];
if (rj.layerId == oldId)
{
rj.base = 0;
// Remap layerIds.
rj.layerId = newId;
// Add overlaid layers from 'rj' to 'ri'.
for (int k = 0; k < rj.layers.size(); ++k)
addUniqueLayerRegion(ri, rj.layers[k]);
// Update height bounds.
ri.ymin = rcMin(ri.ymin, rj.ymin);
ri.ymax = rcMax(ri.ymax, rj.ymax);
}
}
}
}
// Compress layer Ids.
for (int i = 0; i < nreg; ++i)
{
regions[i].remap = regions[i].hasSpans;
if (!regions[i].hasSpans)
{
regions[i].layerId = 0xffff;
}
}
unsigned short maxLayerId = 0;
for (int i = 0; i < nreg; ++i)
{
if (!regions[i].remap)
continue;
unsigned short oldId = regions[i].layerId;
unsigned short newId = maxLayerId;
for (int j = i; j < nreg; ++j)
{
if (regions[j].layerId == oldId)
{
regions[j].layerId = newId;
regions[j].remap = false;
}
}
maxLayerId++;
}
ctx->stopTimer(RC_TIMER_BUILD_REGIONS_FILTER);
if (maxLayerId == 0)
{
ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
return true;
}
// Create layers.
rcAssert(lset.layers == 0);
const int lw = w - borderSize*2;
const int lh = h - borderSize*2;
// Build contracted bbox for layers.
float bmin[3], bmax[3];
rcVcopy(bmin, chf.bmin);
rcVcopy(bmax, chf.bmax);
bmin[0] += borderSize*chf.cs;
bmin[2] += borderSize*chf.cs;
bmax[0] -= borderSize*chf.cs;
bmax[2] -= borderSize*chf.cs;
lset.nlayers = (int)maxLayerId;
lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
if (!lset.layers)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' (%d).", lset.nlayers);
return false;
}
memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
// Store layers.
for (int i = 0; i < lset.nlayers; ++i)
{
unsigned short curId = (unsigned short)i;
// Allocate memory for the current layer.
rcHeightfieldLayer* layer = &lset.layers[i];
memset(layer, 0, sizeof(rcHeightfieldLayer));
const int gridSize = sizeof(unsigned char)*lw*lh;
const int gridSize2 = sizeof(unsigned short)*lw*lh;
layer->heights = (unsigned short*)rcAlloc(gridSize2, RC_ALLOC_PERM);
if (!layer->heights)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' (%d).", gridSize2);
return false;
}
memset(layer->heights, 0xff, gridSize2);
layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->areas)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' (%d).", gridSize);
return false;
}
memset(layer->areas, 0, gridSize);
layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (!layer->cons)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' (%d).", gridSize);
return false;
}
memset(layer->cons, 0, gridSize);
// Find layer height bounds.
int hmin = 0, hmax = 0;
for (int j = 0; j < nreg; ++j)
{
if (regions[j].base && regions[j].layerId == curId)
{
hmin = (int)regions[j].ymin;
hmax = (int)regions[j].ymax;
}
}
layer->width = lw;
layer->height = lh;
layer->cs = chf.cs;
layer->ch = chf.ch;
// Adjust the bbox to fit the heighfield.
rcVcopy(layer->bmin, bmin);
rcVcopy(layer->bmax, bmax);
layer->bmin[1] = bmin[1] + hmin*chf.ch;
layer->bmax[1] = bmin[1] + hmax*chf.ch;
layer->hmin = hmin;
layer->hmax = hmax;
// Update usable data region.
layer->minx = layer->width;
layer->maxx = 0;
layer->miny = layer->height;
layer->maxy = 0;
// Copy height and area from compact heighfield.
for (int y = 0; y < lh; ++y)
{
for (int x = 0; x < lw; ++x)
{
const int cx = borderSize+x;
const int cy = borderSize+y;
const rcCompactCell& c = chf.cells[cx+cy*w];
for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
{
const rcCompactSpan& s = chf.spans[j];
// Skip unassigned regions.
if (srcReg[j] == 0 || srcReg[j] >= nreg)
continue;
// Skip of does not belong to current layer.
unsigned short lid = regions[srcReg[j]].layerId;
if (lid != curId)
continue;
// Update data bounds.
layer->minx = rcMin(layer->minx, x);
layer->maxx = rcMax(layer->maxx, x);
layer->miny = rcMin(layer->miny, y);
layer->maxy = rcMax(layer->maxy, y);
// Store height and area type.
const int idx = x+y*lw;
layer->heights[idx] = (unsigned short)(s.y - hmin);
layer->areas[idx] = chf.areas[j];
// Check connection.
unsigned char portal = 0;
unsigned char con = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
unsigned short alid = (srcReg[ai] < nreg) ? regions[srcReg[ai]].layerId : 0xffff;
// Portal mask
if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
{
portal |= (unsigned char)(1<<dir);
// Update height so that it matches on both sides of the portal.
const rcCompactSpan& as = chf.spans[ai];
if (as.y > hmin)
layer->heights[idx] = rcMax(layer->heights[idx], (unsigned short)(as.y - hmin));
}
// Valid connection mask
if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
{
const int nx = ax - borderSize;
const int ny = ay - borderSize;
if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
con |= (unsigned char)(1<<dir);
}
}
}
layer->cons[idx] = (portal << 4) | con;
}
}
}
if (layer->minx > layer->maxx)
layer->minx = layer->maxx = 0;
if (layer->miny > layer->maxy)
layer->miny = layer->maxy = 0;
}
ctx->stopTimer(RC_TIMER_BUILD_LAYERS);
return true;
}
bool OgreDetourTileCache::configure(InputGeom *inputGeom)
{
m_geom = inputGeom;
// Reuse OgreRecast context for tiled navmesh building
m_ctx = m_recast->m_ctx;
if (!m_geom || m_geom->isEmpty()) {
m_recast->m_pLog->logMessage("ERROR: OgreDetourTileCache::configure: No vertices and triangles.");
return false;
}
if (!m_geom->getChunkyMesh()) {
m_recast->m_pLog->logMessage("ERROR: OgreDetourTileCache::configure: Input mesh has no chunkyTriMesh built.");
return false;
}
m_tmproc->init(m_geom);
// Init cache bounding box
const float* bmin = m_geom->getMeshBoundsMin();
const float* bmax = m_geom->getMeshBoundsMax();
// Navmesh generation params.
// Use config from recast module
m_cfg = m_recast->m_cfg;
// Most params are taken from OgreRecast::configure, except for these:
m_cfg.tileSize = m_tileSize;
m_cfg.borderSize = (int) (m_cfg.walkableRadius + BORDER_PADDING); // Reserve enough padding.
m_cfg.width = m_cfg.tileSize + m_cfg.borderSize*2;
m_cfg.height = m_cfg.tileSize + m_cfg.borderSize*2;
// Set mesh bounds
rcVcopy(m_cfg.bmin, bmin);
rcVcopy(m_cfg.bmax, bmax);
// Also define navmesh bounds in recast component
rcVcopy(m_recast->m_cfg.bmin, bmin);
rcVcopy(m_recast->m_cfg.bmax, bmax);
// Cell size navmesh generation property is copied from OgreRecast config
m_cellSize = m_cfg.cs;
// Determine grid size (number of tiles) based on bounding box and grid cell size
int gw = 0, gh = 0;
rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh); // Calculates total size of voxel grid
const int ts = m_tileSize;
const int tw = (gw + ts-1) / ts; // Tile width
const int th = (gh + ts-1) / ts; // Tile height
m_tw = tw;
m_th = th;
Ogre::LogManager::getSingletonPtr()->logMessage("Total Voxels: "+Ogre::StringConverter::toString(gw) + " x " + Ogre::StringConverter::toString(gh));
Ogre::LogManager::getSingletonPtr()->logMessage("Tilesize: "+Ogre::StringConverter::toString(m_tileSize)+" Cellsize: "+Ogre::StringConverter::toString(m_cellSize));
Ogre::LogManager::getSingletonPtr()->logMessage("Tiles: "+Ogre::StringConverter::toString(m_tw)+" x "+Ogre::StringConverter::toString(m_th));
// Max tiles and max polys affect how the tile IDs are caculated.
// There are 22 bits available for identifying a tile and a polygon.
int tileBits = rcMin((int)dtIlog2(dtNextPow2(tw*th*EXPECTED_LAYERS_PER_TILE)), 14);
if (tileBits > 14) tileBits = 14;
int polyBits = 22 - tileBits;
m_maxTiles = 1 << tileBits;
m_maxPolysPerTile = 1 << polyBits;
Ogre::LogManager::getSingletonPtr()->logMessage("Max Tiles: " + Ogre::StringConverter::toString(m_maxTiles));
Ogre::LogManager::getSingletonPtr()->logMessage("Max Polys: " + Ogre::StringConverter::toString(m_maxPolysPerTile));
// Tile cache params.
memset(&m_tcparams, 0, sizeof(m_tcparams));
rcVcopy(m_tcparams.orig, bmin);
m_tcparams.width = m_tileSize;
m_tcparams.height = m_tileSize;
m_tcparams.maxTiles = tw*th*EXPECTED_LAYERS_PER_TILE;
m_tcparams.maxObstacles = MAX_OBSTACLES; // Max number of temp obstacles that can be added to or removed from navmesh
// Copy the rest of the parameters from OgreRecast config
m_tcparams.cs = m_cfg.cs;
m_tcparams.ch = m_cfg.ch;
m_tcparams.walkableHeight = (float) m_cfg.walkableHeight;
m_tcparams.walkableRadius = (float) m_cfg.walkableRadius;
m_tcparams.walkableClimb = (float) m_cfg.walkableClimb;
m_tcparams.maxSimplificationError = m_cfg.maxSimplificationError;
return initTileCache();
}
/*!
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;
}
uint8* TileBuilder::Build(bool dbg, dtNavMeshParams& navMeshParams)
{
_Geometry = new Geometry();
_Geometry->Transform = true;
ADT* adt = new ADT(Utils::GetAdtPath(World, X, Y));
adt->Read();
_Geometry->AddAdt(adt);
delete adt;
if (_Geometry->Vertices.empty() && _Geometry->Triangles.empty())
return NULL;
// again, we load everything - wasteful but who cares
for (int ty = Y - 2; ty <= Y + 2; ty++)
{
for (int tx = X - 2; tx <= X + 2; tx++)
{
// don't load main tile again
if (tx == X && ty == Y)
continue;
ADT* _adt = new ADT(Utils::GetAdtPath(World, tx, ty));
// If this condition is met, it means that this wdt does not contain the ADT
if (!_adt->Data->Stream)
{
delete _adt;
continue;
}
_adt->Read();
_Geometry->AddAdt(_adt);
delete _adt;
}
}
if (dbg)
{
char buff[100];
sprintf(buff, "mmaps/%s_%02u%02u.obj", World.c_str(), Y, X);
FILE* debug = fopen(buff, "wb");
for (uint32 i = 0; i < _Geometry->Vertices.size(); ++i)
fprintf(debug, "v %f %f %f\n", _Geometry->Vertices[i].x, _Geometry->Vertices[i].y, _Geometry->Vertices[i].z);
for (uint32 i = 0; i < _Geometry->Triangles.size(); ++i)
fprintf(debug, "f %i %i %i\n", _Geometry->Triangles[i].V0 + 1, _Geometry->Triangles[i].V1 + 1, _Geometry->Triangles[i].V2 + 1);
fclose(debug);
}
uint32 numVerts = _Geometry->Vertices.size();
uint32 numTris = _Geometry->Triangles.size();
float* vertices;
int* triangles;
uint8* areas;
_Geometry->GetRawData(vertices, triangles, areas);
_Geometry->Vertices.clear();
_Geometry->Triangles.clear();
rcVcopy(Config.bmin, cBuilder->bmin);
rcVcopy(Config.bmax, cBuilder->bmax);
// this sets the dimensions of the heightfield - should maybe happen before border padding
rcCalcGridSize(Config.bmin, Config.bmax, Config.cs, &Config.width, &Config.height);
// Initialize per tile config.
rcConfig tileCfg = Config;
tileCfg.width = Config.tileSize + Config.borderSize * 2;
tileCfg.height = Config.tileSize + Config.borderSize * 2;
// merge per tile poly and detail meshes
rcPolyMesh** pmmerge = new rcPolyMesh*[Constants::TilesPerMap * Constants::TilesPerMap];
rcPolyMeshDetail** dmmerge = new rcPolyMeshDetail*[Constants::TilesPerMap * Constants::TilesPerMap];
int nmerge = 0;
for (int y = 0; y < Constants::TilesPerMap; ++y)
{
for (int x = 0; x < Constants::TilesPerMap; ++x)
{
// Calculate the per tile bounding box.
tileCfg.bmin[0] = Config.bmin[0] + float(x * Config.tileSize - Config.borderSize) * Config.cs;
tileCfg.bmin[2] = Config.bmin[2] + float(y * Config.tileSize - Config.borderSize) * Config.cs;
tileCfg.bmax[0] = Config.bmin[0] + float((x + 1) * Config.tileSize + Config.borderSize) * Config.cs;
tileCfg.bmax[2] = Config.bmin[2] + float((y + 1) * Config.tileSize + Config.borderSize) * Config.cs;
rcHeightfield* hf = rcAllocHeightfield();
rcCreateHeightfield(Context, *hf, tileCfg.width, tileCfg.height, tileCfg.bmin, tileCfg.bmax, tileCfg.cs, tileCfg.ch);
rcClearUnwalkableTriangles(Context, tileCfg.walkableSlopeAngle, vertices, numVerts, triangles, numTris, areas);
rcRasterizeTriangles(Context, vertices, numVerts, triangles, areas, numTris, *hf, Config.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(Context, Config.walkableClimb, *hf);
rcFilterLedgeSpans(Context, tileCfg.walkableHeight, tileCfg.walkableClimb, *hf);
rcFilterWalkableLowHeightSpans(Context, tileCfg.walkableHeight, *hf);
// Compact the heightfield so that it is faster to handle from now on.
// This will result in more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
rcCompactHeightfield* chf = rcAllocCompactHeightfield();
rcBuildCompactHeightfield(Context, tileCfg.walkableHeight, tileCfg.walkableClimb, *hf, *chf);
rcFreeHeightField(hf);
// Erode the walkable area by agent radius.
rcErodeWalkableArea(Context, Config.walkableRadius, *chf);
// Prepare for region partitioning, by calculating distance field along the walkable surface.
rcBuildDistanceField(Context, *chf);
// Partition the walkable surface into simple regions without holes.
rcBuildRegions(Context, *chf, tileCfg.borderSize, tileCfg.minRegionArea, tileCfg.mergeRegionArea);
// Create contours.
rcContourSet* cset = rcAllocContourSet();
rcBuildContours(Context, *chf, tileCfg.maxSimplificationError, tileCfg.maxEdgeLen, *cset);
// Build polygon navmesh from the contours.
rcPolyMesh* pmesh = rcAllocPolyMesh();
rcBuildPolyMesh(Context, *cset, tileCfg.maxVertsPerPoly, *pmesh);
// Build detail mesh.
rcPolyMeshDetail* dmesh = rcAllocPolyMeshDetail();
rcBuildPolyMeshDetail(Context, *pmesh, *chf, tileCfg.detailSampleDist, tileCfg.detailSampleMaxError, *dmesh);
// Free memory
rcFreeCompactHeightfield(chf);
rcFreeContourSet(cset);
pmmerge[nmerge] = pmesh;
dmmerge[nmerge] = dmesh;
++nmerge;
}
}
rcPolyMesh* pmesh = rcAllocPolyMesh();
rcMergePolyMeshes(Context, pmmerge, nmerge, *pmesh);
rcPolyMeshDetail* dmesh = rcAllocPolyMeshDetail();
rcMergePolyMeshDetails(Context, dmmerge, nmerge, *dmesh);
delete[] pmmerge;
delete[] dmmerge;
printf("[%02i,%02i] Meshes merged!\n", X, Y);
// Remove padding from the polymesh data. (Remove this odditity)
for (int i = 0; i < pmesh->nverts; ++i)
{
unsigned short* v = &pmesh->verts[i * 3];
v[0] -= (unsigned short)Config.borderSize;
v[2] -= (unsigned short)Config.borderSize;
}
// Set flags according to area types (e.g. Swim for Water)
for (int i = 0; i < pmesh->npolys; i++)
{
if (pmesh->areas[i] == Constants::POLY_AREA_ROAD || pmesh->areas[i] == Constants::POLY_AREA_TERRAIN)
pmesh->flags[i] = Constants::POLY_FLAG_WALK;
else if (pmesh->areas[i] == Constants::POLY_AREA_WATER)
pmesh->flags[i] = Constants::POLY_FLAG_SWIM;
}
dtNavMeshCreateParams params;
memset(¶ms, 0, sizeof(params));
// PolyMesh data
params.verts = pmesh->verts;
params.vertCount = pmesh->nverts;
params.polys = pmesh->polys;
params.polyAreas = pmesh->areas;
params.polyFlags = pmesh->flags;
params.polyCount = pmesh->npolys;
params.nvp = pmesh->nvp;
// PolyMeshDetail data
params.detailMeshes = dmesh->meshes;
params.detailVerts = dmesh->verts;
params.detailVertsCount = dmesh->nverts;
params.detailTris = dmesh->tris;
params.detailTriCount = dmesh->ntris;
rcVcopy(params.bmin, pmesh->bmin);
rcVcopy(params.bmax, pmesh->bmax);
// General settings
params.ch = Config.ch;
params.cs = Config.cs;
params.walkableClimb = Constants::BaseUnitDim * Config.walkableClimb;
params.walkableHeight = Constants::BaseUnitDim * Config.walkableHeight;
params.walkableRadius = Constants::BaseUnitDim * Config.walkableRadius;
params.tileX = (((cBuilder->bmin[0] + cBuilder->bmax[0]) / 2) - navMeshParams.orig[0]) / Constants::TileSize;
params.tileY = (((cBuilder->bmin[2] + cBuilder->bmax[2]) / 2) - navMeshParams.orig[2]) / Constants::TileSize;
rcVcopy(params.bmin, cBuilder->bmin);
rcVcopy(params.bmax, cBuilder->bmax);
// Offmesh-connection settings
params.offMeshConCount = 0; // none for now
params.tileSize = Constants::VertexPerMap;
if (!params.polyCount || !params.polys || Constants::TilesPerMap * Constants::TilesPerMap == params.polyCount)
{
// we have flat tiles with no actual geometry - don't build those, its useless
// keep in mind that we do output those into debug info
// drop tiles with only exact count - some tiles may have geometry while having less tiles
printf("[%02i,%02i] No polygons to build on tile, skipping.\n", X, Y);
rcFreePolyMesh(pmesh);
rcFreePolyMeshDetail(dmesh);
delete areas;
delete triangles;
delete vertices;
return NULL;
}
int navDataSize;
uint8* navData;
printf("[%02i,%02i] Creating the navmesh with %i vertices, %i polys, %i triangles!\n", X, Y, pmesh->nverts, pmesh->npolys, dmesh->ntris);
bool result = dtCreateNavMeshData(¶ms, &navData, &navDataSize);
// Free some memory
rcFreePolyMesh(pmesh);
rcFreePolyMeshDetail(dmesh);
delete areas;
delete triangles;
delete vertices;
if (result)
{
printf("[%02i,%02i] NavMesh created, size %i!\n", X, Y, navDataSize);
DataSize = navDataSize;
return navData;
}
return NULL;
}
bool NavMesh::BuildMesh()
{
dtStatus status;
if (!m_geom || !m_geom->getMesh()) return false;
m_tmproc->init(m_geom);
// Init cache
const float* bmin = m_geom->getMeshBoundsMin();
const float* bmax = m_geom->getMeshBoundsMax();
int gw = 0, gh = 0;
rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
const int ts = (int)m_tileSize;
const int tw = (gw + ts-1) / ts;
const int th = (gh + ts-1) / ts;
// Generation params.
rcConfig cfg;
memset(&cfg, 0, sizeof(cfg));
cfg.cs = m_cellSize;
cfg.ch = m_cellHeight;
cfg.walkableSlopeAngle = m_agentMaxSlope;
cfg.walkableHeight = (int)ceilf(m_agentHeight / cfg.ch);
cfg.walkableClimb = (int)floorf(m_agentMaxClimb / cfg.ch);
cfg.walkableRadius = (int)ceilf(m_agentRadius / cfg.cs);
cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
cfg.maxSimplificationError = m_edgeMaxError;
cfg.minRegionArea = (int)rcSqr(m_regionMinSize); // Note: area = size*size
cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize); // Note: area = size*size
cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
cfg.tileSize = (int)m_tileSize;
cfg.borderSize = cfg.walkableRadius + 3; // Reserve enough padding.
cfg.width = cfg.tileSize + cfg.borderSize*2;
cfg.height = cfg.tileSize + cfg.borderSize*2;
cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
rcVcopy(cfg.bmin, bmin);
rcVcopy(cfg.bmax, bmax);
// Tile cache params.
dtTileCacheParams tcparams;
memset(&tcparams, 0, sizeof(tcparams));
rcVcopy(tcparams.orig, bmin);
tcparams.cs = m_cellSize;
tcparams.ch = m_cellHeight;
tcparams.width = (int)m_tileSize;
tcparams.height = (int)m_tileSize;
tcparams.walkableHeight = m_agentHeight;
tcparams.walkableRadius = m_agentRadius;
tcparams.walkableClimb = m_agentMaxClimb;
tcparams.maxSimplificationError = m_edgeMaxError;
tcparams.maxTiles = tw*th*EXPECTED_LAYERS_PER_TILE;
tcparams.maxObstacles = 128;
dtFreeTileCache(m_tileCache);
m_tileCache = dtAllocTileCache();
if (!m_tileCache) return false;
status = m_tileCache->init(&tcparams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status)) return false;
dtFreeNavMesh(m_navMesh);
m_navMesh = dtAllocNavMesh();
if (!m_navMesh) return false;
dtNavMeshParams params;
memset(¶ms, 0, sizeof(params));
rcVcopy(params.orig, m_geom->getMeshBoundsMin());
params.tileWidth = m_tileSize*m_cellSize;
params.tileHeight = m_tileSize*m_cellSize;
params.maxTiles = m_maxTiles;
params.maxPolys = m_maxPolysPerTile;
status = m_navMesh->init(¶ms);
if (dtStatusFailed(status)) return false;
status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status)) return false;
for (int y = 0; y < th; ++y)
{
for (int x = 0; x < tw; ++x)
{
TileCacheData tiles[MAX_LAYERS];
memset(tiles, 0, sizeof(tiles));
int n = rasterizeTileLayers(m_geom, x, y, cfg, tiles, MAX_LAYERS);
for (int i = 0; i < n; ++i)
{
TileCacheData* tile = &tiles[i];
status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0);
if (dtStatusFailed(status))
{
dtFree(tile->data);
tile->data = 0;
continue;
}
}
}
}
for (int y = 0; y < th; ++y)
for (int x = 0; x < tw; ++x)
m_tileCache->buildNavMeshTilesAt(x,y, m_navMesh);
}
bool rcMergePolyMeshDetails(rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh)
{
rcTimeVal startTime = rcGetPerformanceTimer();
int maxVerts = 0;
int maxTris = 0;
int maxMeshes = 0;
for (int i = 0; i < nmeshes; ++i)
{
if (!meshes[i]) continue;
maxVerts += meshes[i]->nverts;
maxTris += meshes[i]->ntris;
maxMeshes += meshes[i]->nmeshes;
}
mesh.nmeshes = 0;
mesh.meshes = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxMeshes*4, RC_ALLOC_PERM);
if (!mesh.meshes)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'pmdtl.meshes' (%d).", maxMeshes*4);
return false;
}
mesh.ntris = 0;
mesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris*4, RC_ALLOC_PERM);
if (!mesh.tris)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", maxTris*4);
return false;
}
mesh.nverts = 0;
mesh.verts = (float*)rcAlloc(sizeof(float)*maxVerts*3, RC_ALLOC_PERM);
if (!mesh.verts)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' (%d).", maxVerts*3);
return false;
}
// Merge datas.
for (int i = 0; i < nmeshes; ++i)
{
rcPolyMeshDetail* dm = meshes[i];
if (!dm) continue;
for (int j = 0; j < dm->nmeshes; ++j)
{
unsigned short* dst = &mesh.meshes[mesh.nmeshes*4];
unsigned short* src = &dm->meshes[j*4];
dst[0] = (unsigned short)mesh.nverts+src[0];
dst[1] = src[1];
dst[2] = (unsigned short)mesh.ntris+src[2];
dst[3] = src[3];
mesh.nmeshes++;
}
for (int k = 0; k < dm->nverts; ++k)
{
rcVcopy(&mesh.verts[mesh.nverts*3], &dm->verts[k*3]);
mesh.nverts++;
}
for (int k = 0; k < dm->ntris; ++k)
{
mesh.tris[mesh.ntris*4+0] = dm->tris[k*4+0];
mesh.tris[mesh.ntris*4+1] = dm->tris[k*4+1];
mesh.tris[mesh.ntris*4+2] = dm->tris[k*4+2];
mesh.tris[mesh.ntris*4+3] = dm->tris[k*4+3];
mesh.ntris++;
}
}
rcTimeVal endTime = rcGetPerformanceTimer();
if (rcGetBuildTimes())
rcGetBuildTimes()->mergePolyMeshDetail += rcGetDeltaTimeUsec(startTime, endTime);
return true;
}
void MapBuilder::buildNavMesh(uint32 mapID, dtNavMesh* &navMesh)
{
set<uint32>* tiles = getTileList(mapID);
// old code for non-statically assigned bitmask sizes:
///*** calculate number of bits needed to store tiles & polys ***/
//int tileBits = dtIlog2(dtNextPow2(tiles->size()));
//if (tileBits < 1) tileBits = 1; // need at least one bit!
//int polyBits = sizeof(dtPolyRef)*8 - SALT_MIN_BITS - tileBits;
int tileBits = STATIC_TILE_BITS;
int polyBits = STATIC_POLY_BITS;
int maxTiles = tiles->size();
int maxPolysPerTile = 1 << polyBits;
/*** calculate bounds of map ***/
uint32 tileXMin = 64, tileYMin = 64, tileXMax = 0, tileYMax = 0, tileX, tileY;
for (set<uint32>::iterator it = tiles->begin(); it != tiles->end(); ++it)
{
StaticMapTree::unpackTileID((*it), tileX, tileY);
if (tileX > tileXMax)
tileXMax = tileX;
else if (tileX < tileXMin)
tileXMin = tileX;
if (tileY > tileYMax)
tileYMax = tileY;
else if (tileY < tileYMin)
tileYMin = tileY;
}
// use Max because '32 - tileX' is negative for values over 32
float bmin[3], bmax[3];
getTileBounds(tileXMax, tileYMax, NULL, 0, bmin, bmax);
/*** now create the navmesh ***/
// navmesh creation params
dtNavMeshParams navMeshParams;
memset(&navMeshParams, 0, sizeof(dtNavMeshParams));
navMeshParams.tileWidth = GRID_SIZE;
navMeshParams.tileHeight = GRID_SIZE;
rcVcopy(navMeshParams.orig, bmin);
navMeshParams.maxTiles = maxTiles;
navMeshParams.maxPolys = maxPolysPerTile;
navMesh = dtAllocNavMesh();
printf("Creating navMesh... \r");
if (!navMesh->init(&navMeshParams))
{
printf("Failed creating navmesh! \n");
return;
}
char fileName[25];
sprintf(fileName, "mmaps/%03u.mmap", mapID);
FILE* file = fopen(fileName, "wb");
if (!file)
{
dtFreeNavMesh(navMesh);
char message[1024];
sprintf(message, "Failed to open %s for writing!\n", fileName);
perror(message);
return;
}
// now that we know navMesh params are valid, we can write them to file
fwrite(&navMeshParams, sizeof(dtNavMeshParams), 1, file);
fclose(file);
}
void ContinentBuilder::Build()
{
char buff[50];
sprintf(buff, "mmaps/%03u.mmap", MapId);
FILE* mmap = fopen(buff, "wb");
if (!mmap)
{
printf("Could not create file %s. Check that you have write permissions to the destination folder and try again\n", buff);
return;
}
CalculateTileBounds();
dtNavMeshParams params;
std::vector<BuilderThread*> Threads;
if (TileMap->IsGlobalModel)
{
printf("Map %s ( %u ) is a WMO. Building with 1 thread.\n", Continent.c_str(), MapId);
TileBuilder* builder = new TileBuilder(this, Continent, 0, 0, MapId);
builder->AddGeometry(TileMap->Model, TileMap->ModelDefinition);
uint8* nav = builder->BuildInstance(params);
if (nav)
{
// Set some params for the navmesh
dtMeshHeader* header = (dtMeshHeader*)nav;
dtVcopy(params.orig, header->bmin);
params.tileWidth = header->bmax[0] - header->bmin[0];
params.tileHeight = header->bmax[2] - header->bmin[2];
params.maxTiles = 1;
params.maxPolys = header->polyCount;
fwrite(¶ms, sizeof(dtNavMeshParams), 1, mmap);
fclose(mmap);
char buff[100];
sprintf(buff, "mmaps/%03u%02i%02i.mmtile", MapId, 0, 0);
FILE* f = fopen(buff, "wb");
if (!f)
{
printf("Could not create file %s. Check that you have write permissions to the destination folder and try again\n", buff);
return;
}
MmapTileHeader mheader;
mheader.size = builder->DataSize;
fwrite(&mheader, sizeof(MmapTileHeader), 1, f);
fwrite(nav, sizeof(unsigned char), builder->DataSize, f);
fclose(f);
}
dtFree(nav);
delete builder;
}
else
{
params.maxPolys = 32768;
params.maxTiles = 4096;
rcVcopy(params.orig, Constants::Origin);
params.tileHeight = Constants::TileSize;
params.tileWidth = Constants::TileSize;
fwrite(¶ms, sizeof(dtNavMeshParams), 1, mmap);
fclose(mmap);
for (uint32 i = 0; i < NumberOfThreads; ++i)
Threads.push_back(new BuilderThread(this, params));
printf("Map %s ( %u ) has %u tiles. Building them with %u threads\n", Continent.c_str(), MapId, uint32(TileMap->TileTable.size()), NumberOfThreads);
for (std::vector<TilePos>::iterator itr = TileMap->TileTable.begin(); itr != TileMap->TileTable.end(); ++itr)
{
bool next = false;
while (!next)
{
for (std::vector<BuilderThread*>::iterator _th = Threads.begin(); _th != Threads.end(); ++_th)
{
if ((*_th)->Free)
{
(*_th)->SetData(itr->X, itr->Y, MapId, Continent);
(*_th)->activate();
next = true;
break;
}
}
// Wait for 20 seconds
ACE_OS::sleep(ACE_Time_Value (0, 20000));
}
}
}
Cache->Clear();
// Free memory
for (std::vector<BuilderThread*>::iterator _th = Threads.begin(); _th != Threads.end(); ++_th)
{
(*_th)->wait();
delete *_th;
}
}
void MapBuilder::buildMoveMapTile(uint32 mapID, uint32 tileX, uint32 tileY,
MeshData &meshData, float bmin[3], float bmax[3],
dtNavMesh* navMesh)
{
// console output
char tileString[10];
sprintf(tileString, "[%02i,%02i]: ", tileX, tileY);
printf("%s Building movemap tiles... \r", tileString);
IntermediateValues iv;
float* tVerts = meshData.solidVerts.getCArray();
int tVertCount = meshData.solidVerts.size() / 3;
int* tTris = meshData.solidTris.getCArray();
int tTriCount = meshData.solidTris.size() / 3;
float* lVerts = meshData.liquidVerts.getCArray();
int lVertCount = meshData.liquidVerts.size() / 3;
int* lTris = meshData.liquidTris.getCArray();
int lTriCount = meshData.liquidTris.size() / 3;
uint8* lTriFlags = meshData.liquidType.getCArray();
// these are WORLD UNIT based metrics
// this are basic unit dimentions
// value have to divide GRID_SIZE(533.33333f) ( aka: 0.5333, 0.2666, 0.3333, 0.1333, etc )
const static float BASE_UNIT_DIM = m_bigBaseUnit ? 0.533333f : 0.266666f;
// All are in UNIT metrics!
const static int VERTEX_PER_MAP = int(GRID_SIZE/BASE_UNIT_DIM + 0.5f);
const static int VERTEX_PER_TILE = m_bigBaseUnit ? 40 : 80; // must divide VERTEX_PER_MAP
const static int TILES_PER_MAP = VERTEX_PER_MAP/VERTEX_PER_TILE;
rcConfig config;
memset(&config, 0, sizeof(rcConfig));
rcVcopy(config.bmin, bmin);
rcVcopy(config.bmax, bmax);
config.maxVertsPerPoly = DT_VERTS_PER_POLYGON;
config.cs = BASE_UNIT_DIM;
config.ch = BASE_UNIT_DIM;
config.walkableSlopeAngle = m_maxWalkableAngle;
config.tileSize = VERTEX_PER_TILE;
config.walkableRadius = m_bigBaseUnit ? 1 : 2;
config.borderSize = config.walkableRadius + 3;
config.maxEdgeLen = VERTEX_PER_TILE + 1; //anything bigger than tileSize
config.walkableHeight = m_bigBaseUnit ? 3 : 6;
config.walkableClimb = m_bigBaseUnit ? 2 : 4; // keep less than walkableHeight
config.minRegionArea = rcSqr(60);
config.mergeRegionArea = rcSqr(50);
config.maxSimplificationError = 2.0f; // eliminates most jagged edges (tinny polygons)
config.detailSampleDist = config.cs * 64;
config.detailSampleMaxError = config.ch * 2;
// this sets the dimensions of the heightfield - should maybe happen before border padding
rcCalcGridSize(config.bmin, config.bmax, config.cs, &config.width, &config.height);
// allocate subregions : tiles
Tile* tiles = new Tile[TILES_PER_MAP * TILES_PER_MAP];
// Initialize per tile config.
rcConfig tileCfg;
memcpy(&tileCfg, &config, sizeof(rcConfig));
tileCfg.width = config.tileSize + config.borderSize*2;
tileCfg.height = config.tileSize + config.borderSize*2;
// build all tiles
for (int y = 0; y < TILES_PER_MAP; ++y)
{
for (int x = 0; x < TILES_PER_MAP; ++x)
{
Tile& tile = tiles[x + y*TILES_PER_MAP];
// Calculate the per tile bounding box.
tileCfg.bmin[0] = config.bmin[0] + (x*config.tileSize - config.borderSize)*config.cs;
tileCfg.bmin[2] = config.bmin[2] + (y*config.tileSize - config.borderSize)*config.cs;
tileCfg.bmax[0] = config.bmin[0] + ((x+1)*config.tileSize + config.borderSize)*config.cs;
tileCfg.bmax[2] = config.bmin[2] + ((y+1)*config.tileSize + config.borderSize)*config.cs;
float tbmin[2], tbmax[2];
tbmin[0] = tileCfg.bmin[0];
tbmin[1] = tileCfg.bmin[2];
tbmax[0] = tileCfg.bmax[0];
tbmax[1] = tileCfg.bmax[2];
// build heightfield
tile.solid = rcAllocHeightfield();
if (!tile.solid || !rcCreateHeightfield(m_rcContext, *tile.solid, tileCfg.width, tileCfg.height, tileCfg.bmin, tileCfg.bmax, tileCfg.cs, tileCfg.ch))
{
printf("%sFailed building heightfield! \n", tileString);
continue;
}
// mark all walkable tiles, both liquids and solids
unsigned char* triFlags = new unsigned char[tTriCount];
memset(triFlags, NAV_GROUND, tTriCount*sizeof(unsigned char));
rcClearUnwalkableTriangles(m_rcContext, tileCfg.walkableSlopeAngle, tVerts, tVertCount, tTris, tTriCount, triFlags);
rcRasterizeTriangles(m_rcContext, tVerts, tVertCount, tTris, triFlags, tTriCount, *tile.solid, config.walkableClimb);
delete [] triFlags;
rcFilterLowHangingWalkableObstacles(m_rcContext, config.walkableClimb, *tile.solid);
rcFilterLedgeSpans(m_rcContext, tileCfg.walkableHeight, tileCfg.walkableClimb, *tile.solid);
rcFilterWalkableLowHeightSpans(m_rcContext, tileCfg.walkableHeight, *tile.solid);
rcRasterizeTriangles(m_rcContext, lVerts, lVertCount, lTris, lTriFlags, lTriCount, *tile.solid, config.walkableClimb);
// compact heightfield spans
tile.chf = rcAllocCompactHeightfield();
if (!tile.chf || !rcBuildCompactHeightfield(m_rcContext, tileCfg.walkableHeight, tileCfg.walkableClimb, *tile.solid, *tile.chf))
{
printf("%sFailed compacting heightfield! \n", tileString);
continue;
}
// build polymesh intermediates
if (!rcErodeWalkableArea(m_rcContext, config.walkableRadius, *tile.chf))
{
printf("%sFailed eroding area! \n", tileString);
continue;
}
if (!rcBuildDistanceField(m_rcContext, *tile.chf))
{
printf("%sFailed building distance field! \n", tileString);
continue;
}
if (!rcBuildRegions(m_rcContext, *tile.chf, tileCfg.borderSize, tileCfg.minRegionArea, tileCfg.mergeRegionArea))
{
printf("%sFailed building regions! \n", tileString);
continue;
}
tile.cset = rcAllocContourSet();
if (!tile.cset || !rcBuildContours(m_rcContext, *tile.chf, tileCfg.maxSimplificationError, tileCfg.maxEdgeLen, *tile.cset))
{
printf("%sFailed building contours! \n", tileString);
continue;
}
// build polymesh
tile.pmesh = rcAllocPolyMesh();
if (!tile.pmesh || !rcBuildPolyMesh(m_rcContext, *tile.cset, tileCfg.maxVertsPerPoly, *tile.pmesh))
{
printf("%sFailed building polymesh! \n", tileString);
continue;
}
tile.dmesh = rcAllocPolyMeshDetail();
if (!tile.dmesh || !rcBuildPolyMeshDetail(m_rcContext, *tile.pmesh, *tile.chf, tileCfg.detailSampleDist, tileCfg .detailSampleMaxError, *tile.dmesh))
{
printf("%sFailed building polymesh detail! \n", tileString);
continue;
}
// free those up
// we may want to keep them in the future for debug
// but right now, we don't have the code to merge them
rcFreeHeightField(tile.solid);
tile.solid = NULL;
rcFreeCompactHeightfield(tile.chf);
tile.chf = NULL;
rcFreeContourSet(tile.cset);
tile.cset = NULL;
}
}
// merge per tile poly and detail meshes
rcPolyMesh** pmmerge = new rcPolyMesh*[TILES_PER_MAP * TILES_PER_MAP];
if (!pmmerge)
{
printf("%s alloc pmmerge FIALED! \r", tileString);
return;
}
rcPolyMeshDetail** dmmerge = new rcPolyMeshDetail*[TILES_PER_MAP * TILES_PER_MAP];
if (!dmmerge)
{
printf("%s alloc dmmerge FIALED! \r", tileString);
return;
}
int nmerge = 0;
for (int y = 0; y < TILES_PER_MAP; ++y)
{
for (int x = 0; x < TILES_PER_MAP; ++x)
{
Tile& tile = tiles[x + y*TILES_PER_MAP];
if (tile.pmesh)
{
pmmerge[nmerge] = tile.pmesh;
dmmerge[nmerge] = tile.dmesh;
nmerge++;
}
}
}
iv.polyMesh = rcAllocPolyMesh();
if (!iv.polyMesh)
{
printf("%s alloc iv.polyMesh FIALED! \r", tileString);
return;
}
rcMergePolyMeshes(m_rcContext, pmmerge, nmerge, *iv.polyMesh);
iv.polyMeshDetail = rcAllocPolyMeshDetail();
if (!iv.polyMeshDetail)
{
printf("%s alloc m_dmesh FIALED! \r", tileString);
return;
}
rcMergePolyMeshDetails(m_rcContext, dmmerge, nmerge, *iv.polyMeshDetail);
// free things up
delete [] pmmerge;
delete [] dmmerge;
delete [] tiles;
// remove padding for extraction
for (int i = 0; i < iv.polyMesh->nverts; ++i)
{
unsigned short* v = &iv.polyMesh->verts[i*3];
v[0] -= (unsigned short)config.borderSize;
v[2] -= (unsigned short)config.borderSize;
}
// set polygons as walkable
// TODO: special flags for DYNAMIC polygons, ie surfaces that can be turned on and off
for (int i = 0; i < iv.polyMesh->npolys; ++i)
if (iv.polyMesh->areas[i] & RC_WALKABLE_AREA)
iv.polyMesh->flags[i] = iv.polyMesh->areas[i];
// setup mesh parameters
dtNavMeshCreateParams params;
memset(¶ms, 0, sizeof(params));
params.verts = iv.polyMesh->verts;
params.vertCount = iv.polyMesh->nverts;
params.polys = iv.polyMesh->polys;
params.polyAreas = iv.polyMesh->areas;
params.polyFlags = iv.polyMesh->flags;
params.polyCount = iv.polyMesh->npolys;
params.nvp = iv.polyMesh->nvp;
params.detailMeshes = iv.polyMeshDetail->meshes;
params.detailVerts = iv.polyMeshDetail->verts;
params.detailVertsCount = iv.polyMeshDetail->nverts;
params.detailTris = iv.polyMeshDetail->tris;
params.detailTriCount = iv.polyMeshDetail->ntris;
params.offMeshConVerts = meshData.offMeshConnections.getCArray();
params.offMeshConCount = meshData.offMeshConnections.size()/6;
params.offMeshConRad = meshData.offMeshConnectionRads.getCArray();
params.offMeshConDir = meshData.offMeshConnectionDirs.getCArray();
params.offMeshConAreas = meshData.offMeshConnectionsAreas.getCArray();
params.offMeshConFlags = meshData.offMeshConnectionsFlags.getCArray();
params.walkableHeight = BASE_UNIT_DIM*config.walkableHeight; // agent height
params.walkableRadius = BASE_UNIT_DIM*config.walkableRadius; // agent radius
params.walkableClimb = BASE_UNIT_DIM*config.walkableClimb; // keep less that walkableHeight (aka agent height)!
params.tileX = (((bmin[0] + bmax[0]) / 2) - navMesh->getParams()->orig[0]) / GRID_SIZE;
params.tileY = (((bmin[2] + bmax[2]) / 2) - navMesh->getParams()->orig[2]) / GRID_SIZE;
rcVcopy(params.bmin, bmin);
rcVcopy(params.bmax, bmax);
params.cs = config.cs;
params.ch = config.ch;
params.tileSize = VERTEX_PER_MAP;
// will hold final navmesh
unsigned char* navData = NULL;
int navDataSize = 0;
do
{
// these values are checked within dtCreateNavMeshData - handle them here
// so we have a clear error message
if (params.nvp > DT_VERTS_PER_POLYGON)
{
printf("%s Invalid verts-per-polygon value! \n", tileString);
continue;
}
if (params.vertCount >= 0xffff)
{
printf("%s Too many vertices! \n", tileString);
continue;
}
if (!params.vertCount || !params.verts)
{
// occurs mostly when adjacent tiles have models
// loaded but those models don't span into this tile
// message is an annoyance
//printf("%sNo vertices to build tile! \n", tileString);
continue;
}
if (!params.polyCount || !params.polys ||
TILES_PER_MAP*TILES_PER_MAP == params.polyCount)
{
// we have flat tiles with no actual geometry - don't build those, its useless
// keep in mind that we do output those into debug info
// drop tiles with only exact count - some tiles may have geometry while having less tiles
printf("%s No polygons to build on tile! \n", tileString);
continue;
}
if (!params.detailMeshes || !params.detailVerts || !params.detailTris)
{
printf("%s No detail mesh to build tile! \n", tileString);
continue;
}
printf("%s Building navmesh tile... \r", tileString);
if (!dtCreateNavMeshData(¶ms, &navData, &navDataSize))
{
printf("%s Failed building navmesh tile! \n", tileString);
continue;
}
dtTileRef tileRef = 0;
printf("%s Adding tile to navmesh... \r", tileString);
// DT_TILE_FREE_DATA tells detour to unallocate memory when the tile
// is removed via removeTile()
dtStatus dtResult = navMesh->addTile(navData, navDataSize, DT_TILE_FREE_DATA, 0, &tileRef);
if (!tileRef || dtResult != DT_SUCCESS)
{
printf("%s Failed adding tile to navmesh! \n", tileString);
continue;
}
// file output
char fileName[255];
sprintf(fileName, "mmaps/%03u%02i%02i.mmtile", mapID, tileY, tileX);
FILE* file = fopen(fileName, "wb");
if (!file)
{
char message[1024];
sprintf(message, "Failed to open %s for writing!\n", fileName);
perror(message);
navMesh->removeTile(tileRef, NULL, NULL);
continue;
}
printf("%s Writing to file... \r", tileString);
// write header
MmapTileHeader header;
header.usesLiquids = m_terrainBuilder->usesLiquids();
header.size = uint32(navDataSize);
fwrite(&header, sizeof(MmapTileHeader), 1, file);
// write data
fwrite(navData, sizeof(unsigned char), navDataSize, file);
fclose(file);
// now that tile is written to disk, we can unload it
navMesh->removeTile(tileRef, NULL, NULL);
}
while (0);
if (m_debugOutput)
{
// restore padding so that the debug visualization is correct
for (int i = 0; i < iv.polyMesh->nverts; ++i)
{
unsigned short* v = &iv.polyMesh->verts[i*3];
v[0] += (unsigned short)config.borderSize;
v[2] += (unsigned short)config.borderSize;
}
iv.generateObjFile(mapID, tileX, tileY, meshData);
iv.writeIV(mapID, tileX, tileY);
}
}
unsigned char* buildTileMesh(const int tx, const int ty,
const float* bmin, const float* bmax, int& dataSize,
InputGeom* geom,
rcConfig cfg,
rcContext* ctx)
{
const float* verts = geom->getMesh()->getVerts();
const int nverts = geom->getMesh()->getVertCount();
const int ntris = geom->getMesh()->getTriCount();
const rcChunkyTriMesh* chunkyMesh = geom->getChunkyMesh();
rcVcopy(cfg.bmin, bmin);
rcVcopy(cfg.bmax, bmax);
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;
// Reset build times gathering.
ctx->resetTimers();
// Start the build process.
ctx->startTimer(RC_TIMER_TOTAL);
ctx->log(RC_LOG_PROGRESS, "Building navigation:");
ctx->log(RC_LOG_PROGRESS, " - %d x %d cells", cfg.width, cfg.height);
ctx->log(RC_LOG_PROGRESS, " - %.1fK verts, %.1fK tris", nverts/1000.0f, ntris/1000.0f);
// all involved objects
rcHeightfield* m_solid = 0;
unsigned char* m_triareas = 0;
rcCompactHeightfield* m_chf = 0;
rcContourSet* m_cset = 0;
rcPolyMesh* m_pmesh = 0;
rcPolyMeshDetail* m_dmesh = 0;
// Allocate voxel heightfield where we rasterize our input data to.
m_solid = rcAllocHeightfield();
if (!m_solid)
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
return 0;
}
if (!rcCreateHeightfield(ctx, *m_solid, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch))
{
CleanupAfterTileBuild();
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)
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (%d).", chunkyMesh->maxTrisPerChunk);
return 0;
}
float tbmin[2], tbmax[2];
tbmin[0] = cfg.bmin[0];
tbmin[1] = cfg.bmin[2];
tbmax[0] = cfg.bmax[0];
tbmax[1] = 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) {
CleanupAfterTileBuild();
return 0;
}
int 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(ctx, cfg.walkableSlopeAngle,
verts, nverts, tris, ntris, m_triareas);
rcRasterizeTriangles(ctx, verts, nverts, tris, m_triareas, ntris, *m_solid, cfg.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.
// Domi edit: Do not filter any triangles
#ifndef DOMI_EDIT
rcFilterLowHangingWalkableObstacles(ctx, cfg.walkableClimb, *m_solid);
rcFilterLedgeSpans(ctx, cfg.walkableHeight, cfg.walkableClimb, *m_solid);
rcFilterWalkableLowHeightSpans(ctx, cfg.walkableHeight, *m_solid);
#endif
// 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)
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
return 0;
}
if (!rcBuildCompactHeightfield(ctx, cfg.walkableHeight, cfg.walkableClimb, *m_solid, *m_chf))
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
return 0;
}
// Erode the walkable area by agent radius.
if (!rcErodeWalkableArea(ctx, cfg.walkableRadius, *m_chf))
{
CleanupAfterTileBuild();
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, (unsigned char)vols[i].area, *m_chf);
if (0) // m_monotonePartitioning
{
// Partition the walkable surface into simple regions without holes.
if (!rcBuildRegionsMonotone(ctx, *m_chf, cfg.borderSize, cfg.minRegionArea, cfg.mergeRegionArea))
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
return 0;
}
}
else
{
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!rcBuildDistanceField(ctx, *m_chf))
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build distance field.");
return 0;
}
// Partition the walkable surface into simple regions without holes.
if (!rcBuildRegions(ctx, *m_chf, cfg.borderSize, cfg.minRegionArea, cfg.mergeRegionArea))
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
return 0;
}
}
// Create contours.
m_cset = rcAllocContourSet();
if (!m_cset)
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
return 0;
}
if (!rcBuildContours(ctx, *m_chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *m_cset))
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
return 0;
}
if (m_cset->nconts == 0)
{
CleanupAfterTileBuild();
return 0;
}
// Build polygon navmesh from the contours.
m_pmesh = rcAllocPolyMesh();
if (!m_pmesh)
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
return 0;
}
if (!rcBuildPolyMesh(ctx, *m_cset, cfg.maxVertsPerPoly, *m_pmesh))
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
return 0;
}
// Build detail mesh.
m_dmesh = rcAllocPolyMeshDetail();
if (!m_dmesh)
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'dmesh'.");
return 0;
}
if (!rcBuildPolyMeshDetail(ctx, *m_pmesh, *m_chf,
cfg.detailSampleDist, cfg.detailSampleMaxError,
*m_dmesh))
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "buildNavigation: Could build polymesh detail.");
return 0;
}
unsigned char* navData = 0;
int navDataSize = 0;
if (cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
{
if (m_pmesh->nverts >= 0xffff)
{
CleanupAfterTileBuild();
// The vertex indices are ushorts, and cannot point to more than 0xffff vertices.
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.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 = geom->getOffMeshConnectionVerts();
params.offMeshConRad = geom->getOffMeshConnectionRads();
params.offMeshConDir = geom->getOffMeshConnectionDirs();
params.offMeshConAreas = geom->getOffMeshConnectionAreas();
params.offMeshConFlags = geom->getOffMeshConnectionFlags();
params.offMeshConUserID = geom->getOffMeshConnectionId();
params.offMeshConCount = geom->getOffMeshConnectionCount();
params.walkableHeight = (float)cfg.walkableHeight;
params.walkableRadius = (float)cfg.walkableRadius;
params.walkableClimb = (float)cfg.walkableClimb;
params.tileX = tx;
params.tileY = ty;
params.tileLayer = 0;
rcVcopy(params.bmin, m_pmesh->bmin);
rcVcopy(params.bmax, m_pmesh->bmax);
params.cs = cfg.cs;
params.ch = cfg.ch;
params.buildBvTree = true;
if (!dtCreateNavMeshData(¶ms, &navData, &navDataSize))
{
CleanupAfterTileBuild();
ctx->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
return 0;
}
}
ctx->stopTimer(RC_TIMER_TOTAL);
// Show performance stats.
ctx->log(RC_LOG_PROGRESS, ">> Polymesh: %d vertices %d polygons", m_pmesh->nverts, m_pmesh->npolys);
dataSize = navDataSize;
CleanupAfterTileBuild();
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.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;
}
PDT_NAV_MESH gkRecast::createNavMesh(PMESHDATA meshData, const Config& config)
{
if (!meshData.get())
return PDT_NAV_MESH(0);
rcConfig cfg;
cfg.cs = config.CELL_SIZE;
cfg.ch = config.CELL_HEIGHT;
GK_ASSERT(cfg.ch && "cfg.ch cannot be zero");
GK_ASSERT(cfg.ch && "cfg.ch cannot be zero");
cfg.walkableSlopeAngle = config.AGENT_MAX_SLOPE;
cfg.walkableHeight = (int)ceilf(config.AGENT_HEIGHT / cfg.ch);
cfg.walkableClimb = (int)ceilf(config.AGENT_MAX_CLIMB / cfg.ch);
cfg.walkableRadius = (int)ceilf(config.AGENT_RADIUS / cfg.cs);
cfg.maxEdgeLen = (int)(config.EDGE_MAX_LEN / cfg.cs);
cfg.maxSimplificationError = config.EDGE_MAX_ERROR;
cfg.minRegionSize = (int)rcSqr(config.REGION_MIN_SIZE);
cfg.mergeRegionSize = (int)rcSqr(config.REGION_MERGE_SIZE);
cfg.maxVertsPerPoly = gkMin(config.VERTS_PER_POLY, DT_VERTS_PER_POLYGON);
cfg.tileSize = config.TILE_SIZE;
cfg.borderSize = cfg.walkableRadius + 4; // Reserve enough padding.
cfg.detailSampleDist = config.DETAIL_SAMPLE_DIST < 0.9f ? 0 : cfg.cs * config.DETAIL_SAMPLE_DIST;
cfg.detailSampleMaxError = cfg.ch * config.DETAIL_SAMPLE_ERROR;
if (!meshData->getVertCount())
return PDT_NAV_MESH(0);
gkScalar bmin[3], bmax[3];
const gkScalar* verts = meshData->getVerts();
int nverts = meshData->getVertCount();
const int* tris = meshData->getTris();
const gkScalar* trinorms = meshData->getNormals();
int ntris = meshData->getTriCount();
rcCalcBounds(verts, nverts, bmin, bmax);
//
// Step 1. Initialize build config.
//
// 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(cfg.bmin, bmin);
rcVcopy(cfg.bmax, bmax);
rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
rcBuildTimes m_buildTimes;
// Reset build times gathering.
memset(&m_buildTimes, 0, sizeof(m_buildTimes));
rcSetBuildTimes(&m_buildTimes);
// Start the build process.
rcTimeVal totStartTime = rcGetPerformanceTimer();
//gkPrintf("Building navigation:");
//gkPrintf(" - %d x %d cells", cfg.width, cfg.height);
//gkPrintf(" - %.1fK verts, %.1fK tris", nverts/1000.0f, ntris/1000.0f);
//
// Step 2. Rasterize input polygon soup.
//
// Allocate voxel heighfield where we rasterize our input data to.
rcHeightfield heightField;
if (!rcCreateHeightfield(heightField, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch))
{
gkPrintf("buildNavigation: Could not create solid heightfield.");
return PDT_NAV_MESH(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.
utArray<unsigned char> triflags;
triflags.resize(ntris);
// 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(triflags.ptr(), 0, ntris * sizeof(unsigned char));
rcMarkWalkableTriangles(cfg.walkableSlopeAngle, verts, nverts, tris, ntris, triflags.ptr());
rcRasterizeTriangles(verts, nverts, tris, triflags.ptr(), ntris, heightField);
}
//
// 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.
rcFilterLedgeSpans(cfg.walkableHeight, cfg.walkableClimb, heightField);
rcFilterWalkableLowHeightSpans(cfg.walkableHeight, heightField);
//
// 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 chf;
if (!rcBuildCompactHeightfield(cfg.walkableHeight, cfg.walkableClimb, RC_WALKABLE, heightField, chf))
{
gkPrintf("buildNavigation: Could not build compact data.");
return PDT_NAV_MESH(0);
}
// Erode the walkable area by agent radius.
if (!rcErodeArea(RC_WALKABLE_AREA, cfg.walkableRadius, chf))
{
gkPrintf("buildNavigation: Could not erode.");
return PDT_NAV_MESH(0);
}
//
// Mark areas from objects
//
gkScene* scene = gkEngine::getSingleton().getActiveScene();
gkGameObjectSet& objects = scene->getInstancedObjects();
gkGameObjectSet::Iterator it = objects.iterator();
while (it.hasMoreElements())
{
gkGameObject* obj = it.getNext();
if (!obj->getNavData().isEmpty())
{
size_t tBaseIndex = obj->getNavData().triangleBaseIndex;
size_t vBaseIndex = tBaseIndex / 2;
const float* v = verts + vBaseIndex;
const int nVerts = obj->getNavData().nIndex / 3;
const gkGameObjectProperties& prop = obj->getProperties();
rcMarkConvexPolyArea(v, nVerts, obj->getNavData().hmin, obj->getNavData().hmax, prop.m_findPathFlag, chf);
}
}
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!rcBuildDistanceField(chf))
{
gkPrintf("buildNavigation: Could not build distance field.");
return PDT_NAV_MESH(0);
}
// Partition the walkable surface into simple regions without holes.
if (!rcBuildRegions(chf, cfg.borderSize, cfg.minRegionSize, cfg.mergeRegionSize))
{
gkPrintf("buildNavigation: Could not build regions.");
return PDT_NAV_MESH(0);
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
rcContourSet cset;
if (!rcBuildContours(chf, cfg.maxSimplificationError, cfg.maxEdgeLen, cset))
{
gkPrintf("buildNavigation: Could not create contours.");
return PDT_NAV_MESH(0);
}
//
// Step 6. Build polygons mesh from contours.
//
// Build polygon navmesh from the contours.
rcPolyMesh pmesh;
if (!rcBuildPolyMesh(cset, cfg.maxVertsPerPoly, pmesh))
{
gkPrintf("buildNavigation: Could not triangulate contours.");
return PDT_NAV_MESH(0);
}
//
// Step 7. Create detail mesh which allows to access approximate height on each polygon.
//
rcPolyMeshDetail dmesh;
if (!rcBuildPolyMeshDetail(pmesh, chf, cfg.detailSampleDist, cfg.detailSampleMaxError, dmesh))
{
gkPrintf("buildNavigation: Could not build detail mesh.");
return PDT_NAV_MESH(0);
}
// At this point the navigation mesh data is ready, you can access it from pmesh.
// See rcDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.
//
// Step 8. Create Detour data from Recast poly mesh.
//
PDT_NAV_MESH navMesh;
// Update poly flags from areas.
for (int i = 0; i < pmesh.npolys; ++i)
pmesh.flags[i] = 0xFFFF & pmesh.areas[i];
dtNavMeshCreateParams params;
memset(¶ms, 0, sizeof(params));
params.verts = pmesh.verts;
params.vertCount = pmesh.nverts;
params.polys = pmesh.polys;
params.polyAreas = pmesh.areas;
params.polyFlags = pmesh.flags;
params.polyCount = pmesh.npolys;
params.nvp = pmesh.nvp;
params.detailMeshes = dmesh.meshes;
params.detailVerts = dmesh.verts;
params.detailVertsCount = dmesh.nverts;
params.detailTris = dmesh.tris;
params.detailTriCount = 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 = cfg.walkableHeight * cfg.ch;
params.walkableRadius = cfg.walkableRadius * cfg.cs;;
params.walkableClimb = cfg.walkableClimb * cfg.ch;
rcVcopy(params.bmin, pmesh.bmin);
rcVcopy(params.bmax, pmesh.bmax);
params.cs = cfg.cs;
params.ch = cfg.ch;
unsigned char* navData = 0;
int navDataSize = 0;
if (!dtCreateNavMeshData(¶ms, &navData, &navDataSize))
{
gkPrintf("Could not build Detour navmesh.");
return PDT_NAV_MESH(0);
}
navMesh = PDT_NAV_MESH(new gkDetourNavMesh(new dtNavMesh));
if (!navMesh->m_p->init(navData, navDataSize, DT_TILE_FREE_DATA, 2048))
{
delete [] navData;
gkPrintf("Could not init Detour navmesh");
return PDT_NAV_MESH(0);
}
rcTimeVal totEndTime = rcGetPerformanceTimer();
gkPrintf("Navigation mesh created: %.1fms", rcGetDeltaTimeUsec(totStartTime, totEndTime) / 1000.0f);
return navMesh;
}
bool Sample_SoloMeshSimple::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);
// 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, m_cfg.borderSize, 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;
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;
}
if (m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA) != DT_SUCCESS)
{
dtFree(navData);
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh");
return false;
}
if (m_navQuery->init(m_navMesh, 2048) != DT_SUCCESS)
{
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;
}
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;
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 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 = 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* 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 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);
// 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 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 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;
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;
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;
}
static void rasterizeTri(const float* v0, const float* v1, const float* v2,
const unsigned char area, rcHeightfield& hf,
const float* bmin, const float* bmax,
const float cs, const float ics, const float ich,
const int flagMergeThr)
{
const int w = hf.width;
const int h = hf.height;
float tmin[3], tmax[3];
const float by = bmax[1] - bmin[1];
// Calculate the bounding box of the triangle.
rcVcopy(tmin, v0);
rcVcopy(tmax, v0);
rcVmin(tmin, v1);
rcVmin(tmin, v2);
rcVmax(tmax, v1);
rcVmax(tmax, v2);
// If the triangle does not touch the bbox of the heightfield, skip the triagle.
if (!overlapBounds(bmin, bmax, tmin, tmax))
return;
// Calculate the footpring of the triangle on the grid.
int x0 = (int)((tmin[0] - bmin[0])*ics);
int y0 = (int)((tmin[2] - bmin[2])*ics);
int x1 = (int)((tmax[0] - bmin[0])*ics);
int y1 = (int)((tmax[2] - bmin[2])*ics);
x0 = rcClamp(x0, 0, w-1);
y0 = rcClamp(y0, 0, h-1);
x1 = rcClamp(x1, 0, w-1);
y1 = rcClamp(y1, 0, h-1);
// Clip the triangle into all grid cells it touches.
float in[7*3], out[7*3], inrow[7*3];
for (int y = y0; y <= y1; ++y)
{
// Clip polygon to row.
rcVcopy(&in[0], v0);
rcVcopy(&in[1*3], v1);
rcVcopy(&in[2*3], v2);
int nvrow = 3;
const float cz = bmin[2] + y*cs;
nvrow = clipPoly(in, nvrow, out, 0, 1, -cz);
if (nvrow < 3) continue;
nvrow = clipPoly(out, nvrow, inrow, 0, -1, cz+cs);
if (nvrow < 3) continue;
for (int x = x0; x <= x1; ++x)
{
// Clip polygon to column.
int nv = nvrow;
const float cx = bmin[0] + x*cs;
nv = clipPoly(inrow, nv, out, 1, 0, -cx);
if (nv < 3) continue;
nv = clipPoly(out, nv, in, -1, 0, cx+cs);
if (nv < 3) continue;
// Calculate min and max of the span.
float smin = in[1], smax = in[1];
for (int i = 1; i < nv; ++i)
{
smin = rcMin(smin, in[i*3+1]);
smax = rcMax(smax, in[i*3+1]);
}
smin -= bmin[1];
smax -= bmin[1];
// Skip the span if it is outside the heightfield bbox
if (smax < 0.0f) continue;
if (smin > by) continue;
// Clamp the span to the heightfield bbox.
if (smin < 0.0f) smin = 0;
if (smax > by) smax = by;
// Snap the span to the heightfield height grid.
unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, RC_SPAN_MAX_HEIGHT);
unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), (int)ismin+1, RC_SPAN_MAX_HEIGHT);
rcAddSpan(hf, x, y, ismin, ismax, area, flagMergeThr);
}
}
}
void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts, const float hmin, const float hmax, unsigned char areaId, rcCompactHeightfield& chf)
{
rcAssert(ctx);
ctx->startTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
float bmin[3], bmax[3];
rcVcopy(bmin, verts);
rcVcopy(bmax, verts);
for (int i = 1; i < nverts; ++i)
{
rcVmin(bmin, &verts[i*3]);
rcVmax(bmax, &verts[i*3]);
}
bmin[1] = hmin;
bmax[1] = hmax;
int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
if (maxx < 0)
return;
if (minx >= chf.width)
return;
if (maxz < 0)
return;
if (minz >= chf.height)
return;
if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width-1;
if (minz < 0) minz = 0;
if (maxz >= chf.height) maxz = chf.height-1;
// TODO: Optimize.
for (int z = minz; z <= maxz; ++z)
{
for (int x = minx; x <= maxx; ++x)
{
const rcCompactCell& c = chf.cells[x+z*chf.width];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
rcCompactSpan& s = chf.spans[i];
if ((int)s.y >= miny && (int)s.y <= maxy)
{
float p[3];
p[0] = chf.bmin[0] + (x+0.5f)*chf.cs;
p[1] = 0;
p[2] = chf.bmin[2] + (z+0.5f)*chf.cs;
if (pointInPoly(nverts, verts, p))
{
chf.areas[i] = areaId;
}
}
}
}
}
ctx->stopTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
}
void NavigationMesh::SetNavigationDataAttr(PODVector<unsigned char> value)
{
ReleaseNavigationMesh();
if (value.Empty())
return;
MemoryBuffer buffer(value);
boundingBox_ = buffer.ReadBoundingBox();
numTilesX_ = buffer.ReadInt();
numTilesZ_ = buffer.ReadInt();
dtNavMeshParams params;
rcVcopy(params.orig, &boundingBox_.min_.x_);
params.tileWidth = buffer.ReadFloat();
params.tileHeight = buffer.ReadFloat();
params.maxTiles = buffer.ReadInt();
params.maxPolys = buffer.ReadInt();
navMesh_ = dtAllocNavMesh();
if (!navMesh_)
{
LOGERROR("Could not allocate navigation mesh");
return;
}
if (dtStatusFailed(navMesh_->init(¶ms)))
{
LOGERROR("Could not initialize navigation mesh");
ReleaseNavigationMesh();
return;
}
unsigned numTiles = 0;
while (!buffer.IsEof())
{
/*int x =*/ buffer.ReadInt();
/*int z =*/ buffer.ReadInt();
/*dtTileRef tileRef =*/ buffer.ReadUInt();
unsigned navDataSize = buffer.ReadUInt();
unsigned char* navData = (unsigned char*)dtAlloc(navDataSize, DT_ALLOC_PERM);
if (!navData)
{
LOGERROR("Could not allocate data for navigation mesh tile");
return;
}
buffer.Read(navData, navDataSize);
if (dtStatusFailed(navMesh_->addTile(navData, navDataSize, DT_TILE_FREE_DATA, 0, 0)))
{
LOGERROR("Failed to add navigation mesh tile");
dtFree(navData);
return;
}
else
++numTiles;
}
LOGDEBUG("Created navigation mesh with " + String(numTiles) + " tiles from serialized data");
}
