EXPORT_API int nmlsBuildLayers(nmgBuildContext* ctx
, rcCompactHeightfield* chf
, const int borderSize
, const int walkableHeight
, rcHeightfieldLayerSet** resultSet)
{
if (!ctx || !chf)
return -1;
rcHeightfieldLayerSet* lset = rcAllocHeightfieldLayerSet();
if (!lset)
return -1;
if (!rcBuildHeightfieldLayers(ctx
, *chf
, borderSize
, walkableHeight
, *lset))
{
rcFreeHeightfieldLayerSet(lset);
return -1;
}
if (lset->nlayers == 0)
{
rcFreeHeightfieldLayerSet(lset);
return -1;
}
*resultSet = lset;
return lset->nlayers;
}
int OgreDetourTileCache::rasterizeTileLayers(InputGeom* geom, const int tx, const int ty, const rcConfig& cfg, TileCacheData* tiles, const int maxTiles)
{
if (!geom || geom->isEmpty()) {
m_recast->m_pLog->logMessage("ERROR: buildTile: Input mesh is not specified.");
return 0;
}
if (!geom->getChunkyMesh()) {
m_recast->m_pLog->logMessage("ERROR: buildTile: Input mesh has no chunkyTriMesh built.");
return 0;
}
//TODO make these member variables?
FastLZCompressor comp;
RasterizationContext rc;
const float* verts = geom->getVerts();
const int nverts = geom->getVertCount();
// The chunky tri mesh in the inputgeom is a simple spatial subdivision structure that allows to
// process the vertices in the geometry relevant to this part of the tile.
// The chunky tri mesh is a grid of axis aligned boxes that store indices to the vertices in verts
// that are positioned in that box.
const rcChunkyTriMesh* chunkyMesh = geom->getChunkyMesh();
// Tile bounds.
const float tcs = m_tileSize * m_cellSize;
rcConfig tcfg;
memcpy(&tcfg, &m_cfg, sizeof(tcfg));
tcfg.bmin[0] = m_cfg.bmin[0] + tx*tcs;
tcfg.bmin[1] = m_cfg.bmin[1];
tcfg.bmin[2] = m_cfg.bmin[2] + ty*tcs;
tcfg.bmax[0] = m_cfg.bmin[0] + (tx+1)*tcs;
tcfg.bmax[1] = m_cfg.bmax[1];
tcfg.bmax[2] = m_cfg.bmin[2] + (ty+1)*tcs;
tcfg.bmin[0] -= tcfg.borderSize*tcfg.cs;
tcfg.bmin[2] -= tcfg.borderSize*tcfg.cs;
tcfg.bmax[0] += tcfg.borderSize*tcfg.cs;
tcfg.bmax[2] += tcfg.borderSize*tcfg.cs;
// This is part of the regular recast navmesh generation pipeline as in OgreRecast::NavMeshBuild()
// but only up till step 4 and slightly modified.
// Allocate voxel heightfield where we rasterize our input data to.
rc.solid = rcAllocHeightfield();
if (!rc.solid)
{
m_recast->m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'solid'.");
return 0;
}
if (!rcCreateHeightfield(m_ctx, *rc.solid, tcfg.width, tcfg.height, tcfg.bmin, tcfg.bmax, tcfg.cs, tcfg.ch))
{
m_recast->m_pLog->logMessage("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
// an array which can hold the max number of triangles you need to process.
rc.triareas = new unsigned char[chunkyMesh->maxTrisPerChunk];
if (!rc.triareas)
{
m_recast->m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'm_triareas' ("+Ogre::StringConverter::toString(chunkyMesh->maxTrisPerChunk)+").");
return 0;
}
float tbmin[2], tbmax[2];
tbmin[0] = tcfg.bmin[0];
tbmin[1] = tcfg.bmin[2];
tbmax[0] = tcfg.bmax[0];
tbmax[1] = tcfg.bmax[2];
int cid[512];// TODO: Make grow when returning too many items.
const int ncid = rcGetChunksOverlappingRect(chunkyMesh, tbmin, tbmax, cid, 512);
if (!ncid)
{
return 0; // empty
}
for (int i = 0; i < ncid; ++i)
{
const rcChunkyTriMeshNode& node = chunkyMesh->nodes[cid[i]];
const int* tris = &chunkyMesh->tris[node.i*3];
const int ntris = node.n;
memset(rc.triareas, 0, ntris*sizeof(unsigned char));
rcMarkWalkableTriangles(m_ctx, tcfg.walkableSlopeAngle,
verts, nverts, tris, ntris, rc.triareas);
rcRasterizeTriangles(m_ctx, verts, nverts, tris, rc.triareas, ntris, *rc.solid, tcfg.walkableClimb);
}
// Once all geometry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
rcFilterLowHangingWalkableObstacles(m_ctx, tcfg.walkableClimb, *rc.solid);
rcFilterLedgeSpans(m_ctx, tcfg.walkableHeight, tcfg.walkableClimb, *rc.solid);
rcFilterWalkableLowHeightSpans(m_ctx, tcfg.walkableHeight, *rc.solid);
rc.chf = rcAllocCompactHeightfield();
if (!rc.chf)
{
m_recast->m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'chf'.");
return 0;
}
if (!rcBuildCompactHeightfield(m_ctx, tcfg.walkableHeight, tcfg.walkableClimb, *rc.solid, *rc.chf))
{
m_recast->m_pLog->logMessage("ERROR: buildNavigation: Could not build compact data.");
return 0;
}
// Erode the walkable area by agent radius.
if (!rcErodeWalkableArea(m_ctx, tcfg.walkableRadius, *rc.chf))
{
m_recast->m_pLog->logMessage("ERROR: buildNavigation: Could not erode.");
return 0;
}
// Mark areas of dynamically added convex polygons
const ConvexVolume* const* vols = geom->getConvexVolumes();
for (int i = 0; i < geom->getConvexVolumeCount(); ++i)
{
rcMarkConvexPolyArea(m_ctx, vols[i]->verts, vols[i]->nverts,
vols[i]->hmin, vols[i]->hmax,
(unsigned char)vols[i]->area, *rc.chf);
}
// Up till this part was more or less the same as OgreRecast::NavMeshBuild()
// The following part is specific for creating a 2D intermediary navmesh tile.
rc.lset = rcAllocHeightfieldLayerSet();
if (!rc.lset)
{
m_recast->m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'lset'.");
return 0;
}
if (!rcBuildHeightfieldLayers(m_ctx, *rc.chf, tcfg.borderSize, tcfg.walkableHeight, *rc.lset))
{
m_recast->m_pLog->logMessage("ERROR: buildNavigation: Could not build heightfield layers.");
return 0;
}
rc.ntiles = 0;
for (int i = 0; i < rcMin(rc.lset->nlayers, MAX_LAYERS); ++i)
{
TileCacheData* tile = &rc.tiles[rc.ntiles++];
const rcHeightfieldLayer* layer = &rc.lset->layers[i];
// Store header
dtTileCacheLayerHeader header;
header.magic = DT_TILECACHE_MAGIC;
header.version = DT_TILECACHE_VERSION;
// Tile layer location in the navmesh.
header.tx = tx;
header.ty = ty;
header.tlayer = i;
dtVcopy(header.bmin, layer->bmin);
dtVcopy(header.bmax, layer->bmax);
// Tile info.
header.width = (unsigned char)layer->width;
header.height = (unsigned char)layer->height;
header.minx = (unsigned char)layer->minx;
header.maxx = (unsigned char)layer->maxx;
header.miny = (unsigned char)layer->miny;
header.maxy = (unsigned char)layer->maxy;
header.hmin = (unsigned short)layer->hmin;
header.hmax = (unsigned short)layer->hmax;
dtStatus status = dtBuildTileCacheLayer(&comp, &header, layer->heights, layer->areas, layer->cons,
&tile->data, &tile->dataSize);
if (dtStatusFailed(status))
{
return 0;
}
}
// Transfer ownsership of tile data from build context to the caller.
int n = 0;
for (int i = 0; i < rcMin(rc.ntiles, maxTiles); ++i)
{
tiles[n++] = rc.tiles[i];
rc.tiles[i].data = 0;
rc.tiles[i].dataSize = 0;
}
return n;
}
static int rasterizeTileLayers(BuildContext* ctx, CMapMesh* geom,
const int tx, const int ty,
const rcConfig& cfg,
TileCacheData* tiles,
const int maxTiles)
{
if (!geom || !geom->GetChunkyMesh())
{
ctx->log(RC_LOG_ERROR, "buildTile: Input mesh is not specified.");
return 0;
}
FastLZCompressor comp;
RasterizationContext rc;
const float* verts = geom->GetVerts();
const int nverts = geom->GetNumVerts();
const rcChunkyTriMesh* chunkyMesh = geom->GetChunkyMesh();
// Tile bounds.
const float tcs = cfg.tileSize * cfg.cs;
rcConfig tcfg;
memcpy(&tcfg, &cfg, sizeof(tcfg));
tcfg.bmin[0] = cfg.bmin[0] + tx*tcs;
tcfg.bmin[1] = cfg.bmin[1];
tcfg.bmin[2] = cfg.bmin[2] + ty*tcs;
tcfg.bmax[0] = cfg.bmin[0] + (tx+1)*tcs;
tcfg.bmax[1] = cfg.bmax[1];
tcfg.bmax[2] = cfg.bmin[2] + (ty+1)*tcs;
tcfg.bmin[0] -= tcfg.borderSize*tcfg.cs;
tcfg.bmin[2] -= tcfg.borderSize*tcfg.cs;
tcfg.bmax[0] += tcfg.borderSize*tcfg.cs;
tcfg.bmax[2] += tcfg.borderSize*tcfg.cs;
// Allocate voxel heightfield where we rasterize our input data to.
rc.solid = rcAllocHeightfield();
if (!rc.solid)
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
return 0;
}
if (!rcCreateHeightfield(ctx, *rc.solid, tcfg.width, tcfg.height, tcfg.bmin, tcfg.bmax, tcfg.cs, tcfg.ch))
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");
return 0;
}
// Allocate array that can hold triangle flags.
// If you have multiple meshes you need to process, allocate
// and array which can hold the max number of triangles you need to process.
rc.triareas = new unsigned char[chunkyMesh->maxTrisPerChunk];
if (!rc.triareas)
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (%d).", chunkyMesh->maxTrisPerChunk);
return 0;
}
float tbmin[2], tbmax[2];
tbmin[0] = tcfg.bmin[0];
tbmin[1] = tcfg.bmin[2];
tbmax[0] = tcfg.bmax[0];
tbmax[1] = tcfg.bmax[2];
int cid[512];// TODO: Make grow when returning too many items.
const int ncid = rcGetChunksOverlappingRect(chunkyMesh, tbmin, tbmax, cid, 512);
if (!ncid)
{
return 0; // empty
}
for (int i = 0; i < ncid; ++i)
{
const rcChunkyTriMeshNode& node = chunkyMesh->nodes[cid[i]];
const int* tris = &chunkyMesh->tris[node.i*3];
const int ntris = node.n;
memset(rc.triareas, 0, ntris*sizeof(unsigned char));
rcMarkWalkableTriangles(ctx, tcfg.walkableSlopeAngle,
verts, nverts, tris, ntris, rc.triareas);
rcRasterizeTriangles(ctx, verts, nverts, tris, rc.triareas, ntris, *rc.solid, tcfg.walkableClimb);
}
// Once all geometry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
rcFilterLowHangingWalkableObstacles(ctx, tcfg.walkableClimb, *rc.solid);
rcFilterLedgeSpans(ctx, tcfg.walkableHeight, tcfg.walkableClimb, *rc.solid);
rcFilterWalkableLowHeightSpans(ctx, tcfg.walkableHeight, *rc.solid);
rc.chf = rcAllocCompactHeightfield();
if (!rc.chf)
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
return 0;
}
if (!rcBuildCompactHeightfield(ctx, tcfg.walkableHeight, tcfg.walkableClimb, *rc.solid, *rc.chf))
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
return 0;
}
// Erode the walkable area by agent radius.
if (!rcErodeWalkableArea(ctx, tcfg.walkableRadius, *rc.chf))
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
return 0;
}
#if 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, *rc.chf);
}
#endif // 0
rc.lset = rcAllocHeightfieldLayerSet();
if (!rc.lset)
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'lset'.");
return 0;
}
if (!rcBuildHeightfieldLayers(ctx, *rc.chf, tcfg.borderSize, tcfg.walkableHeight, *rc.lset))
{
ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build heighfield layers.");
return 0;
}
rc.ntiles = 0;
for (int i = 0; i < rcMin(rc.lset->nlayers, MAX_LAYERS); ++i)
{
TileCacheData* tile = &rc.tiles[rc.ntiles++];
const rcHeightfieldLayer* layer = &rc.lset->layers[i];
// Store header
dtTileCacheLayerHeader header;
header.magic = DT_TILECACHE_MAGIC;
header.version = DT_TILECACHE_VERSION;
// Tile layer location in the navmesh.
header.tx = tx;
header.ty = ty;
header.tlayer = i;
dtVcopy(header.bmin, layer->bmin);
dtVcopy(header.bmax, layer->bmax);
// Tile info.
header.width = (unsigned char)layer->width;
header.height = (unsigned char)layer->height;
header.minx = (unsigned char)layer->minx;
header.maxx = (unsigned char)layer->maxx;
header.miny = (unsigned char)layer->miny;
header.maxy = (unsigned char)layer->maxy;
header.hmin = (unsigned short)layer->hmin;
header.hmax = (unsigned short)layer->hmax;
dtStatus status = dtBuildTileCacheLayer(&comp, &header, layer->heights, layer->areas, layer->cons,
&tile->data, &tile->dataSize);
if (dtStatusFailed(status))
{
return 0;
}
}
// Transfer ownsership of tile data from build context to the caller.
int n = 0;
for (int i = 0; i < rcMin(rc.ntiles, maxTiles); ++i)
{
tiles[n++] = rc.tiles[i];
rc.tiles[i].data = 0;
rc.tiles[i].dataSize = 0;
}
return n;
}
