int polyIsConvex(const unsigned short *p, const int vertsPerPoly, const float *verts)
{
int j, nv = polyNumVerts(p, vertsPerPoly);
if (nv < 3)
return 0;
for (j = 0; j < nv; j++) {
const float *v = &verts[3 * p[j]];
const float *v_next = &verts[3 * p[(j + 1) % nv]];
const float *v_prev = &verts[3 * p[(nv + j - 1) % nv]];
if (!left(v_prev, v, v_next))
return 0;
}
return 1;
}
bool KX_NavMeshObject::BuildVertIndArrays(float *&vertices, int& nverts,
unsigned short* &polys, int& npolys, unsigned short *&dmeshes,
float *&dvertices, int &ndvertsuniq, unsigned short *&dtris,
int& ndtris, int &vertsPerPoly)
{
DerivedMesh* dm = mesh_create_derived_no_virtual(GetScene()->GetBlenderScene(), GetBlenderObject(),
NULL, CD_MASK_MESH);
CustomData *pdata = dm->getPolyDataLayout(dm);
int* recastData = (int*) CustomData_get_layer(pdata, CD_RECAST);
if (recastData)
{
int *dtrisToPolysMap=NULL, *dtrisToTrisMap=NULL, *trisToFacesMap=NULL;
int nAllVerts = 0;
float *allVerts = NULL;
buildNavMeshDataByDerivedMesh(dm, &vertsPerPoly, &nAllVerts, &allVerts, &ndtris, &dtris,
&npolys, &dmeshes, &polys, &dtrisToPolysMap, &dtrisToTrisMap, &trisToFacesMap);
MEM_SAFE_FREE(dtrisToPolysMap);
MEM_SAFE_FREE(dtrisToTrisMap);
MEM_SAFE_FREE(trisToFacesMap);
unsigned short *verticesMap = (unsigned short *)MEM_mallocN(sizeof(*verticesMap) * nAllVerts, __func__);
memset(verticesMap, 0xff, sizeof(*verticesMap) * nAllVerts);
int curIdx = 0;
//vertices - mesh verts
//iterate over all polys and create map for their vertices first...
for (int polyidx=0; polyidx<npolys; polyidx++)
{
unsigned short* poly = &polys[polyidx*vertsPerPoly*2];
for (int i=0; i<vertsPerPoly; i++)
{
unsigned short idx = poly[i];
if (idx==0xffff)
break;
if (verticesMap[idx]==0xffff)
{
verticesMap[idx] = curIdx++;
}
poly[i] = verticesMap[idx];
}
}
nverts = curIdx;
//...then iterate over detailed meshes
//transform indices to local ones (for each navigation polygon)
for (int polyidx=0; polyidx<npolys; polyidx++)
{
unsigned short *poly = &polys[polyidx*vertsPerPoly*2];
int nv = polyNumVerts(poly, vertsPerPoly);
unsigned short *dmesh = &dmeshes[4*polyidx];
unsigned short tribase = dmesh[2];
unsigned short trinum = dmesh[3];
unsigned short vbase = curIdx;
for (int j=0; j<trinum; j++)
{
unsigned short* dtri = &dtris[(tribase+j)*3*2];
for (int k=0; k<3; k++)
{
int newVertexIdx = verticesMap[dtri[k]];
if (newVertexIdx==0xffff)
{
newVertexIdx = curIdx++;
verticesMap[dtri[k]] = newVertexIdx;
}
if (newVertexIdx<nverts)
{
//it's polygon vertex ("shared")
int idxInPoly = polyFindVertex(poly, vertsPerPoly, newVertexIdx);
if (idxInPoly==-1)
{
printf("Building NavMeshObject: Error! Can't find vertex in polygon\n");
return false;
}
dtri[k] = idxInPoly;
}
else
{
dtri[k] = newVertexIdx - vbase + nv;
}
}
}
dmesh[0] = vbase-nverts; //verts base
dmesh[1] = curIdx-vbase; //verts num
}
vertices = new float[nverts*3];
ndvertsuniq = curIdx - nverts;
if (ndvertsuniq>0)
{
dvertices = new float[ndvertsuniq*3];
}
for (int vi=0; vi<nAllVerts; vi++)
{
int newIdx = verticesMap[vi];
if (newIdx!=0xffff)
{
if (newIdx<nverts)
{
//navigation mesh vertex
memcpy(vertices+3*newIdx, allVerts+3*vi, 3*sizeof(float));
}
else
{
//detailed mesh vertex
memcpy(dvertices+3*(newIdx-nverts), allVerts+3*vi, 3*sizeof(float));
}
}
}
MEM_SAFE_FREE(allVerts);
MEM_freeN(verticesMap);
}
else
{
//create from RAS_MeshObject (detailed mesh is fake)
RAS_MeshObject* meshobj = GetMesh(0);
vertsPerPoly = 3;
nverts = meshobj->m_sharedvertex_map.size();
if (nverts >= 0xffff)
return false;
//calculate count of tris
int nmeshpolys = meshobj->NumPolygons();
npolys = nmeshpolys;
for (int p=0; p<nmeshpolys; p++)
{
int vertcount = meshobj->GetPolygon(p)->VertexCount();
npolys+=vertcount-3;
}
//create verts
vertices = new float[nverts*3];
float* vert = vertices;
for (int vi=0; vi<nverts; vi++)
{
const float* pos = !meshobj->m_sharedvertex_map[vi].empty() ? meshobj->GetVertexLocation(vi) : NULL;
if (pos)
copy_v3_v3(vert, pos);
else
{
memset(vert, 0, 3*sizeof(float)); //vertex isn't in any poly, set dummy zero coordinates
}
vert+=3;
}
//create tris
polys = (unsigned short *)MEM_callocN(sizeof(unsigned short)*3*2*npolys, "BuildVertIndArrays polys");
memset(polys, 0xff, sizeof(unsigned short)*3*2*npolys);
unsigned short *poly = polys;
RAS_Polygon* raspoly;
for (int p=0; p<nmeshpolys; p++)
{
raspoly = meshobj->GetPolygon(p);
for (int v=0; v<raspoly->VertexCount()-2; v++)
{
poly[0] = raspoly->GetVertex(0)->getOrigIndex();
for (size_t i=1; i<3; i++)
{
poly[i] = raspoly->GetVertex(v+i)->getOrigIndex();
}
poly += 6;
}
}
dmeshes = NULL;
dvertices = NULL;
ndvertsuniq = 0;
dtris = NULL;
ndtris = npolys;
}
dm->release(dm);
return true;
}