static void addUnique(rcIntArray& a, int v)
{
if (!a.contains(v))
{
a.push(v);
}
}
static void push3(rcIntArray& queue, int v1, int v2, int v3)
{
queue.resize(queue.size() + 3);
queue[queue.size() - 3] = v1;
queue[queue.size() - 2] = v2;
queue[queue.size() - 1] = v3;
}
static void appendStacks(rcIntArray& srcStack, rcIntArray& dstStack,
unsigned short* srcReg)
{
for (int j=0; j<srcStack.size(); j+=3)
{
int i = srcStack[j+2];
if ((i < 0) || (srcReg[i] != 0))
continue;
dstStack.push(srcStack[j]);
dstStack.push(srcStack[j+1]);
dstStack.push(srcStack[j+2]);
}
}
static void removeDegenerateSegments(rcIntArray& simplified)
{
// Remove adjacent vertices which are equal on xz-plane,
// or else the triangulator will get confused.
int npts = simplified.size()/4;
for (int i = 0; i < npts; ++i)
{
int ni = next(i, npts);
if (vequal(&simplified[i*4], &simplified[ni*4]))
{
// Degenerate segment, remove.
for (int j = i; j < simplified.size()/4-1; ++j)
{
simplified[j*4+0] = simplified[(j+1)*4+0];
simplified[j*4+1] = simplified[(j+1)*4+1];
simplified[j*4+2] = simplified[(j+1)*4+2];
simplified[j*4+3] = simplified[(j+1)*4+3];
}
simplified.resize(simplified.size()-4);
npts--;
}
}
}
static bool buildPolyDetail(rcContext* ctx, 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 = 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 = 0;
for (int i = 0; i < nin; ++i)
rcVcopy(&verts[i*3], &in[i*3]);
nverts = nin;
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, 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 thing 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, 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 void triangulateHull(const int nverts, const float* verts, const int nhull, const int* hull, rcIntArray& tris)
{
int start = 0, left = 1, right = nhull-1;
// Start from an ear with shortest perimeter.
// This tends to favor well formed triangles as starting point.
float dmin = 0;
for (int i = 0; i < nhull; i++)
{
int pi = prev(i, nhull);
int ni = next(i, nhull);
const float* pv = &verts[hull[pi]*3];
const float* cv = &verts[hull[i]*3];
const float* nv = &verts[hull[ni]*3];
const float d = vdist2(pv,cv) + vdist2(cv,nv) + vdist2(nv,pv);
if (d < dmin)
{
start = i;
left = ni;
right = pi;
dmin = d;
}
}
// Add first triangle
tris.push(hull[start]);
tris.push(hull[left]);
tris.push(hull[right]);
tris.push(0);
// Triangulate the polygon by moving left or right,
// depending on which triangle has shorter perimeter.
// This heuristic was chose emprically, since it seems
// handle tesselated straight edges well.
while (next(left, nhull) != right)
{
// Check to see if se should advance left or right.
int nleft = next(left, nhull);
int nright = prev(right, nhull);
const float* cvleft = &verts[hull[left]*3];
const float* nvleft = &verts[hull[nleft]*3];
const float* cvright = &verts[hull[right]*3];
const float* nvright = &verts[hull[nright]*3];
const float dleft = vdist2(cvleft, nvleft) + vdist2(nvleft, cvright);
const float dright = vdist2(cvright, nvright) + vdist2(cvleft, nvright);
if (dleft < dright)
{
tris.push(hull[left]);
tris.push(hull[nleft]);
tris.push(hull[right]);
tris.push(0);
left = nleft;
}
else
{
tris.push(hull[left]);
tris.push(hull[nright]);
tris.push(hull[right]);
tris.push(0);
right = nright;
}
}
}
static void delaunayHull(rcContext* ctx, const int npts, const float* pts,
const int nhull, const int* hull,
rcIntArray& tris, rcIntArray& edges)
{
int nfaces = 0;
int nedges = 0;
const int maxEdges = npts*10;
edges.resize(maxEdges*4);
for (int i = 0, j = nhull-1; i < nhull; j=i++)
addEdge(ctx, &edges[0], nedges, maxEdges, hull[j],hull[i], HULL, UNDEF);
int currentEdge = 0;
while (currentEdge < nedges)
{
if (edges[currentEdge*4+2] == UNDEF)
completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
if (edges[currentEdge*4+3] == UNDEF)
completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
currentEdge++;
}
// Create tris
tris.resize(nfaces*4);
for (int i = 0; i < nfaces*4; ++i)
tris[i] = -1;
for (int i = 0; i < nedges; ++i)
{
const int* e = &edges[i*4];
if (e[3] >= 0)
{
// Left face
int* t = &tris[e[3]*4];
if (t[0] == -1)
{
t[0] = e[0];
t[1] = e[1];
}
else if (t[0] == e[1])
t[2] = e[0];
else if (t[1] == e[0])
t[2] = e[1];
}
if (e[2] >= 0)
{
// Right
int* t = &tris[e[2]*4];
if (t[0] == -1)
{
t[0] = e[1];
t[1] = e[0];
}
else if (t[0] == e[0])
t[2] = e[1];
else if (t[1] == e[1])
t[2] = e[0];
}
}
for (int i = 0; i < tris.size()/4; ++i)
{
int* t = &tris[i*4];
if (t[0] == -1 || t[1] == -1 || t[2] == -1)
{
ctx->log(RC_LOG_WARNING, "delaunayHull: Removing dangling face %d [%d,%d,%d].", i, t[0],t[1],t[2]);
t[0] = tris[tris.size()-4];
t[1] = tris[tris.size()-3];
t[2] = tris[tris.size()-2];
t[3] = tris[tris.size()-1];
tris.resize(tris.size()-4);
--i;
}
}
}
static void seedArrayWithPolyCenter(rcContext* ctx, const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& array)
{
// Note: Reads to the compact heightfield are offset by border size (bs)
// since border size offset is already removed from the polymesh vertices.
static const int offset[9*2] =
{
0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0,
};
// Find cell closest to a poly vertex
int startCellX = 0, startCellY = 0, startSpanIndex = -1;
int dmin = RC_UNSET_HEIGHT;
for (int j = 0; j < npoly && dmin > 0; ++j)
{
for (int k = 0; k < 9 && dmin > 0; ++k)
{
const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
const int ay = (int)verts[poly[j]*3+1];
const int az = (int)verts[poly[j]*3+2] + offset[k*2+1];
if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
az < hp.ymin || az >= hp.ymin+hp.height)
continue;
const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni && dmin > 0; ++i)
{
const rcCompactSpan& s = chf.spans[i];
int d = rcAbs(ay - (int)s.y);
if (d < dmin)
{
startCellX = ax;
startCellY = az;
startSpanIndex = i;
dmin = d;
}
}
}
}
rcAssert(startSpanIndex != -1);
// Find center of the polygon
int pcx = 0, pcy = 0;
for (int j = 0; j < npoly; ++j)
{
pcx += (int)verts[poly[j]*3+0];
pcy += (int)verts[poly[j]*3+2];
}
pcx /= npoly;
pcy /= npoly;
// Use seeds array as a stack for DFS
array.resize(0);
array.push(startCellX);
array.push(startCellY);
array.push(startSpanIndex);
int dirs[] = { 0, 1, 2, 3 };
memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
// DFS to move to the center. Note that we need a DFS here and can not just move
// directly towards the center without recording intermediate nodes, even though the polygons
// are convex. In very rare we can get stuck due to contour simplification if we do not
// record nodes.
int cx = -1, cy = -1, ci = -1;
while (true)
{
if (array.size() < 3)
{
ctx->log(RC_LOG_WARNING, "Walk towards polygon center failed to reach center");
break;
}
ci = array.pop();
cy = array.pop();
cx = array.pop();
if (cx == pcx && cy == pcy)
break;
// If we are already at the correct X-position, prefer direction
// directly towards the center in the Y-axis; otherwise prefer
// direction in the X-axis
int directDir;
if (cx == pcx)
directDir = rcGetDirForOffset(0, pcy > cy ? 1 : -1);
else
directDir = rcGetDirForOffset(pcx > cx ? 1 : -1, 0);
// Push the direct dir last so we start with this on next iteration
rcSwap(dirs[directDir], dirs[3]);
const rcCompactSpan& cs = chf.spans[ci];
for (int i = 0; i < 4; i++)
{
int dir = dirs[i];
if (rcGetCon(cs, dir) == RC_NOT_CONNECTED)
continue;
int newX = cx + rcGetDirOffsetX(dir);
int newY = cy + rcGetDirOffsetY(dir);
int hpx = newX - hp.xmin;
int hpy = newY - hp.ymin;
if (hpx < 0 || hpx >= hp.width || hpy < 0 || hpy >= hp.height)
continue;
if (hp.data[hpx+hpy*hp.width] != 0)
continue;
hp.data[hpx+hpy*hp.width] = 1;
array.push(newX);
array.push(newY);
array.push((int)chf.cells[(newX+bs)+(newY+bs)*chf.width].index + rcGetCon(cs, dir));
}
rcSwap(dirs[directDir], dirs[3]);
}
array.resize(0);
// getHeightData seeds are given in coordinates with borders
array.push(cx+bs);
array.push(cy+bs);
array.push(ci);
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
const rcCompactSpan& cs = chf.spans[ci];
hp.data[cx-hp.xmin+(cy-hp.ymin)*hp.width] = cs.y;
}
static void getHeightData(const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts,
rcHeightPatch& hp, rcIntArray& stack)
{
// Floodfill the heightfield to get 2D height data,
// starting at vertex locations as seeds.
memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
stack.resize(0);
static const int offset[9*2] =
{
0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0,
};
// Use poly vertices as seed points for the flood fill.
for (int j = 0; j < npoly; ++j)
{
int cx = 0, cz = 0, ci =-1;
int dmin = RC_UNSET_HEIGHT;
for (int k = 0; k < 9; ++k)
{
const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
const int ay = (int)verts[poly[j]*3+1];
const int az = (int)verts[poly[j]*3+2] + offset[k*2+1];
if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
az < hp.ymin || az >= hp.ymin+hp.height)
continue;
const rcCompactCell& c = chf.cells[ax+az*chf.width];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
int d = rcAbs(ay - (int)s.y);
if (d < dmin)
{
cx = ax;
cz = az;
ci = i;
dmin = d;
}
}
}
if (ci != -1)
{
stack.push(cx);
stack.push(cz);
stack.push(ci);
}
}
// Find center of the polygon using flood fill.
int pcx = 0, pcz = 0;
for (int j = 0; j < npoly; ++j)
{
pcx += (int)verts[poly[j]*3+0];
pcz += (int)verts[poly[j]*3+2];
}
pcx /= npoly;
pcz /= npoly;
for (int i = 0; i < stack.size(); i += 3)
{
int cx = stack[i+0];
int cy = stack[i+1];
int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
hp.data[idx] = 1;
}
while (stack.size() > 0)
{
int ci = stack.pop();
int cy = stack.pop();
int cx = stack.pop();
// Check if close to center of the polygon.
if (rcAbs(cx-pcx) <= 1 && rcAbs(cy-pcz) <= 1)
{
stack.resize(0);
stack.push(cx);
stack.push(cy);
stack.push(ci);
break;
}
const rcCompactSpan& cs = chf.spans[ci];
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
ay < hp.ymin || ay >= (hp.ymin+hp.height))
continue;
if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != 0)
continue;
const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(cs, dir);
int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
hp.data[idx] = 1;
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
}
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
// Mark start locations.
for (int i = 0; i < stack.size(); i += 3)
{
int cx = stack[i+0];
int cy = stack[i+1];
int ci = stack[i+2];
int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
const rcCompactSpan& cs = chf.spans[ci];
hp.data[idx] = cs.y;
}
static const int RETRACT_SIZE = 256;
int head = 0;
while (head*3 < stack.size())
{
int cx = stack[head*3+0];
int cy = stack[head*3+1];
int ci = stack[head*3+2];
head++;
if (head >= RETRACT_SIZE)
{
head = 0;
if (stack.size() > RETRACT_SIZE*3)
memmove(&stack[0], &stack[RETRACT_SIZE*3], sizeof(int)*(stack.size()-RETRACT_SIZE*3));
stack.resize(stack.size()-RETRACT_SIZE*3);
}
const rcCompactSpan& cs = chf.spans[ci];
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
ay < hp.ymin || ay >= (hp.ymin+hp.height))
continue;
if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != RC_UNSET_HEIGHT)
continue;
const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(cs, dir);
const rcCompactSpan& as = chf.spans[ai];
int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
hp.data[idx] = as.y;
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
}
}
// Based on Paul Bourke's triangulate.c
// http://astronomy.swin.edu.au/~pbourke/terrain/triangulate/triangulate.c
static void delaunay(const int nv, float *verts, rcIntArray& idx, rcIntArray& tris, rcIntArray& edges)
{
// Sort vertices
idx.resize(nv);
for (int i = 0; i < nv; ++i)
idx[i] = i;
#ifdef WIN32
qsort_s(&idx[0], idx.size(), sizeof(int), ptcmp, verts);
#else
qsort_r(&idx[0], idx.size(), sizeof(int), verts, ptcmp);
#endif
// Find the maximum and minimum vertex bounds.
// This is to allow calculation of the bounding triangle
float xmin = verts[0];
float ymin = verts[2];
float xmax = xmin;
float ymax = ymin;
for (int i = 1; i < nv; ++i)
{
xmin = rcMin(xmin, verts[i*3+0]);
xmax = rcMax(xmax, verts[i*3+0]);
ymin = rcMin(ymin, verts[i*3+2]);
ymax = rcMax(ymax, verts[i*3+2]);
}
float dx = xmax - xmin;
float dy = ymax - ymin;
float dmax = (dx > dy) ? dx : dy;
float xmid = (xmax + xmin) / 2.0f;
float ymid = (ymax + ymin) / 2.0f;
// Set up the supertriangle
// This is a triangle which encompasses all the sample points.
// The supertriangle coordinates are added to the end of the
// vertex list. The supertriangle is the first triangle in
// the triangle list.
float sv[3*3];
sv[0] = xmid - 20 * dmax;
sv[1] = 0;
sv[2] = ymid - dmax;
sv[3] = xmid;
sv[4] = 0;
sv[5] = ymid + 20 * dmax;
sv[6] = xmid + 20 * dmax;
sv[7] = 0;
sv[8] = ymid - dmax;
tris.push(-3);
tris.push(-2);
tris.push(-1);
tris.push(0); // not completed
for (int i = 0; i < nv; ++i)
{
const float xp = verts[idx[i]*3+0];
const float yp = verts[idx[i]*3+2];
edges.resize(0);
// Set up the edge buffer.
// If the point (xp,yp) lies inside the circumcircle then the
// three edges of that triangle are added to the edge buffer
// and that triangle is removed.
for (int j = 0; j < tris.size()/4; ++j)
{
int* t = &tris[j*4];
if (t[3]) // completed?
continue;
const float* v1 = t[0] < 0 ? &sv[(t[0]+3)*3] : &verts[idx[t[0]]*3];
const float* v2 = t[1] < 0 ? &sv[(t[1]+3)*3] : &verts[idx[t[1]]*3];
const float* v3 = t[2] < 0 ? &sv[(t[2]+3)*3] : &verts[idx[t[2]]*3];
float xc,yc,rsqr;
int inside = circumCircle(xp,yp, v1[0],v1[2], v2[0],v2[2], v3[0],v3[2], xc,yc,rsqr);
if (xc < xp && rcSqr(xp-xc) > rsqr)
t[3] = 1;
if (inside)
{
// Collect triangle edges.
edges.push(t[0]);
edges.push(t[1]);
edges.push(t[1]);
edges.push(t[2]);
edges.push(t[2]);
edges.push(t[0]);
// Remove triangle j.
t[0] = tris[tris.size()-4];
t[1] = tris[tris.size()-3];
t[2] = tris[tris.size()-2];
t[3] = tris[tris.size()-1];
tris.resize(tris.size()-4);
j--;
}
}
// Remove duplicate edges.
const int ne = edges.size()/2;
for (int j = 0; j < ne-1; ++j)
{
for (int k = j+1; k < ne; ++k)
{
// Dupe?, make null.
if ((edges[j*2+0] == edges[k*2+1]) && (edges[j*2+1] == edges[k*2+0]))
{
edges[j*2+0] = 0;
edges[j*2+1] = 0;
edges[k*2+0] = 0;
edges[k*2+1] = 0;
}
}
}
// Form new triangles for the current point
// Skipping over any null.
// All edges are arranged in clockwise order.
for (int j = 0; j < ne; ++j)
{
if (edges[j*2+0] == edges[j*2+1]) continue;
tris.push(edges[j*2+0]);
tris.push(edges[j*2+1]);
tris.push(i);
tris.push(0); // not completed
}
}
// Remove triangles with supertriangle vertices
// These are triangles which have a vertex number greater than nv
for (int i = 0; i < tris.size()/4; ++i)
{
int* t = &tris[i*4];
if (t[0] < 0 || t[1] < 0 || t[2] < 0)
{
t[0] = tris[tris.size()-4];
t[1] = tris[tris.size()-3];
t[2] = tris[tris.size()-2];
t[3] = tris[tris.size()-1];
tris.resize(tris.size()-4);
i--;
}
}
// Triangle vertices are pointing to sorted vertices, remap indices.
for (int i = 0; i < tris.size(); ++i)
tris[i] = idx[tris[i]];
}
static bool floodRegion(int x, int y, int i,
unsigned short level, unsigned short r,
rcCompactHeightfield& chf,
unsigned short* srcReg, unsigned short* srcDist,
rcIntArray& stack)
{
const int w = chf.width;
const unsigned char area = chf.areas[i];
// Flood fill mark region.
stack.resize(0);
stack.push((int)x);
stack.push((int)y);
stack.push((int)i);
srcReg[i] = r;
srcDist[i] = 0;
unsigned short lev = level >= 2 ? level-2 : 0;
int count = 0;
while (stack.size() > 0)
{
int ci = stack.pop();
int cy = stack.pop();
int cx = stack.pop();
const rcCompactSpan& cs = chf.spans[ci];
// Check if any of the neighbours already have a valid region set.
unsigned short ar = 0;
for (int dir = 0; dir < 4; ++dir)
{
// 8 connected
if (rcGetCon(cs, 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(cs, dir);
if (chf.areas[ai] != area)
continue;
unsigned short nr = srcReg[ai];
if (nr & RC_BORDER_REG) // Do not take borders into account.
continue;
if (nr != 0 && nr != r)
ar = nr;
const rcCompactSpan& as = chf.spans[ai];
const int dir2 = (dir+1) & 0x3;
if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
{
const int ax2 = ax + rcGetDirOffsetX(dir2);
const int ay2 = ay + rcGetDirOffsetY(dir2);
const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
if (chf.areas[ai2] != area)
continue;
unsigned short nr2 = srcReg[ai2];
if (nr2 != 0 && nr2 != r)
ar = nr2;
}
}
}
if (ar != 0)
{
srcReg[ci] = 0;
continue;
}
count++;
// Expand neighbours.
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(cs, 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(cs, dir);
if (chf.areas[ai] != area)
continue;
if (chf.dist[ai] >= lev && srcReg[ai] == 0)
{
srcReg[ai] = r;
srcDist[ai] = 0;
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
}
}
}
return count > 0;
}
static void walkContour(int x, int y, int i,
rcCompactHeightfield& chf,
unsigned char* flags, rcIntArray& points)
{
// Choose the first non-connected edge
unsigned char dir = 0;
while ((flags[i] & (1 << dir)) == 0)
dir++;
unsigned char startDir = dir;
int starti = i;
const navAreaMask area = chf.areaMasks[ i ];
int iter = 0;
while (++iter < 40000)
{
if (flags[i] & (1 << dir))
{
// Choose the edge corner
bool isBorderVertex = false;
bool isAreaBorder = false;
int px = x;
int py = getCornerHeight(x, y, i, dir, chf, isBorderVertex);
int pz = y;
switch(dir)
{
case 0: pz++; break;
case 1: px++; pz++; break;
case 2: px++; break;
}
int r = 0;
const rcCompactSpan& s = chf.spans[i];
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*chf.width].index + rcGetCon(s, dir);
r = (int)chf.spans[ai].regionID;
if (area != chf.areaMasks[ai])
isAreaBorder = true;
}
if (isBorderVertex)
r |= RC_BORDER_VERTEX;
if (isAreaBorder)
r |= RC_AREA_BORDER;
points.push(px);
points.push(py);
points.push(pz);
points.push(r);
flags[i] &= ~(1 << dir); // Remove visited edges
dir = (dir+1) & 0x3; // Rotate CW
}
else
{
int ni = -1;
const int nx = x + rcGetDirOffsetX(dir);
const int ny = y + rcGetDirOffsetY(dir);
const rcCompactSpan& s = chf.spans[i];
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const rcCompactCell& nc = chf.cells[nx+ny*chf.width];
ni = (int)nc.index + rcGetCon(s, dir);
}
if (ni == -1)
{
// Should not happen.
return;
}
x = nx;
y = ny;
i = ni;
dir = (dir+3) & 0x3; // Rotate CCW
}
if (starti == i && startDir == dir)
{
break;
}
}
}
static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
const float maxError, const int maxEdgeLen, const int buildFlags)
{
// Add initial points.
bool hasConnections = false;
for (int i = 0; i < points.size(); i += 4)
{
if ((points[i+3] & RC_CONTOUR_REG_MASK) != 0)
{
hasConnections = true;
break;
}
}
if (hasConnections)
{
// The contour has some portals to other regions.
// Add a new point to every location where the region changes.
for (int i = 0, ni = points.size()/4; i < ni; ++i)
{
int ii = (i+1) % ni;
const bool differentRegs = (points[i*4+3] & RC_CONTOUR_REG_MASK) != (points[ii*4+3] & RC_CONTOUR_REG_MASK);
const bool areaBorders = (points[i*4+3] & RC_AREA_BORDER) != (points[ii*4+3] & RC_AREA_BORDER);
if (differentRegs || areaBorders)
{
simplified.push(points[i*4+0]);
simplified.push(points[i*4+1]);
simplified.push(points[i*4+2]);
simplified.push(i);
}
}
}
if (simplified.size() == 0)
{
// If there is no connections at all,
// create some initial points for the simplification process.
// Find lower-left and upper-right vertices of the contour.
int llx = points[0];
int lly = points[1];
int llz = points[2];
int lli = 0;
int urx = points[0];
int ury = points[1];
int urz = points[2];
int uri = 0;
for (int i = 0; i < points.size(); i += 4)
{
int x = points[i+0];
int y = points[i+1];
int z = points[i+2];
if (x < llx || (x == llx && z < llz))
{
llx = x;
lly = y;
llz = z;
lli = i/4;
}
if (x > urx || (x == urx && z > urz))
{
urx = x;
ury = y;
urz = z;
uri = i/4;
}
}
simplified.push(llx);
simplified.push(lly);
simplified.push(llz);
simplified.push(lli);
simplified.push(urx);
simplified.push(ury);
simplified.push(urz);
simplified.push(uri);
}
// Add points until all raw points are within
// error tolerance to the simplified shape.
const int pn = points.size()/4;
for (int i = 0; i < simplified.size()/4; )
{
int ii = (i+1) % (simplified.size()/4);
int ax = simplified[i*4+0];
int az = simplified[i*4+2];
int ai = simplified[i*4+3];
int bx = simplified[ii*4+0];
int bz = simplified[ii*4+2];
int bi = simplified[ii*4+3];
// Find maximum deviation from the segment.
float maxd = 0;
int maxi = -1;
int ci, cinc, endi;
// Traverse the segment in lexilogical order so that the
// max deviation is calculated similarly when traversing
// opposite segments.
if (bx > ax || (bx == ax && bz > az))
{
cinc = 1;
ci = (ai+cinc) % pn;
endi = bi;
}
else
{
cinc = pn-1;
ci = (bi+cinc) % pn;
endi = ai;
rcSwap(ax, bx);
rcSwap(az, bz);
}
// Tessellate only outer edges or edges between areas.
if ((points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0 ||
(points[ci*4+3] & RC_AREA_BORDER))
{
while (ci != endi)
{
float d = distancePtSeg(points[ci*4+0], points[ci*4+2], ax, az, bx, bz);
if (d > maxd)
{
maxd = d;
maxi = ci;
}
ci = (ci+cinc) % pn;
}
}
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (maxi != -1 && maxd > (maxError*maxError))
{
// Add space for the new point.
simplified.resize(simplified.size()+4);
const int n = simplified.size()/4;
for (int j = n-1; j > i; --j)
{
simplified[j*4+0] = simplified[(j-1)*4+0];
simplified[j*4+1] = simplified[(j-1)*4+1];
simplified[j*4+2] = simplified[(j-1)*4+2];
simplified[j*4+3] = simplified[(j-1)*4+3];
}
// Add the point.
simplified[(i+1)*4+0] = points[maxi*4+0];
simplified[(i+1)*4+1] = points[maxi*4+1];
simplified[(i+1)*4+2] = points[maxi*4+2];
simplified[(i+1)*4+3] = maxi;
}
else
{
++i;
}
}
// Split too long edges.
if (maxEdgeLen > 0 && (buildFlags & (RC_CONTOUR_TESS_WALL_EDGES|RC_CONTOUR_TESS_AREA_EDGES)) != 0)
{
for (int i = 0; i < simplified.size()/4; )
{
const int ii = (i+1) % (simplified.size()/4);
const int ax = simplified[i*4+0];
const int az = simplified[i*4+2];
const int ai = simplified[i*4+3];
const int bx = simplified[ii*4+0];
const int bz = simplified[ii*4+2];
const int bi = simplified[ii*4+3];
// Find maximum deviation from the segment.
int maxi = -1;
int ci = (ai+1) % pn;
// Tessellate only outer edges or edges between areas.
bool tess = false;
// Wall edges.
if ((buildFlags & RC_CONTOUR_TESS_WALL_EDGES) && (points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0)
tess = true;
// Edges between areas.
if ((buildFlags & RC_CONTOUR_TESS_AREA_EDGES) && (points[ci*4+3] & RC_AREA_BORDER))
tess = true;
if (tess)
{
int dx = bx - ax;
int dz = bz - az;
if (dx*dx + dz*dz > maxEdgeLen*maxEdgeLen)
{
// Round based on the segments in lexilogical order so that the
// max tesselation is consistent regardles in which direction
// segments are traversed.
const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
if (n > 1)
{
if (bx > ax || (bx == ax && bz > az))
maxi = (ai + n/2) % pn;
else
maxi = (ai + (n+1)/2) % pn;
}
}
}
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (maxi != -1)
{
// Add space for the new point.
simplified.resize(simplified.size()+4);
const int n = simplified.size()/4;
for (int j = n-1; j > i; --j)
{
simplified[j*4+0] = simplified[(j-1)*4+0];
simplified[j*4+1] = simplified[(j-1)*4+1];
simplified[j*4+2] = simplified[(j-1)*4+2];
simplified[j*4+3] = simplified[(j-1)*4+3];
}
// Add the point.
simplified[(i+1)*4+0] = points[maxi*4+0];
simplified[(i+1)*4+1] = points[maxi*4+1];
simplified[(i+1)*4+2] = points[maxi*4+2];
simplified[(i+1)*4+3] = maxi;
}
else
{
++i;
}
}
}
for (int i = 0; i < simplified.size()/4; ++i)
{
// The edge vertex flag is take from the current raw point,
// and the neighbour region is take from the next raw point.
const int ai = (simplified[i*4+3]+1) % pn;
const int bi = simplified[i*4+3];
simplified[i*4+3] = (points[ai*4+3] & (RC_CONTOUR_REG_MASK|RC_AREA_BORDER)) | (points[bi*4+3] & RC_BORDER_VERTEX);
}
}
static bool floodRegion(int x, int y, int i,
unsigned short level, unsigned short minLevel, unsigned short r,
rcCompactHeightfield& chf,
unsigned short* src,
rcIntArray& stack)
{
const int w = chf.width;
// Flood fill mark region.
stack.resize(0);
stack.push((int)x);
stack.push((int)y);
stack.push((int)i);
src[i*2] = r;
src[i*2+1] = 0;
unsigned short lev = level >= minLevel+2 ? level-2 : minLevel;
int count = 0;
while (stack.size() > 0)
{
int ci = stack.pop();
int cy = stack.pop();
int cx = stack.pop();
const rcCompactSpan& cs = chf.spans[ci];
// Check if any of the neighbours already have a valid region set.
unsigned short ar = 0;
for (int dir = 0; dir < 4; ++dir)
{
// 8 connected
if (rcGetCon(cs, dir) != 0xf)
{
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir);
unsigned short nr = src[ai*2];
if (nr != 0 && nr != r)
ar = nr;
const rcCompactSpan& as = chf.spans[ai];
const int dir2 = (dir+1) & 0x3;
if (rcGetCon(as, dir2) != 0xf)
{
const int ax2 = ax + rcGetDirOffsetX(dir2);
const int ay2 = ay + rcGetDirOffsetY(dir2);
const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
unsigned short nr = src[ai2*2];
if (nr != 0 && nr != r)
ar = nr;
}
}
}
if (ar != 0)
{
src[ci*2] = 0;
continue;
}
count++;
// Expand neighbours.
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(cs, dir) != 0xf)
{
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir);
if (chf.spans[ai].dist >= lev)
{
if (src[ai*2] == 0)
{
src[ai*2] = r;
src[ai*2+1] = 0;
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
}
}
}
}
return count > 0;
}
static void getHeightData(const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts,
rcHeightPatch& hp, rcIntArray& stack)
{
// Floodfill the heightfield to get 2D height data,
// starting at vertex locations as seeds.
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
stack.resize(0);
// Use poly vertices as seed points for the flood fill.
for (int j = 0; j < npoly; ++j)
{
const int ax = (int)verts[poly[j]*3+0];
const int ay = (int)verts[poly[j]*3+1];
const int az = (int)verts[poly[j]*3+2];
if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
az < hp.ymin || az >= hp.ymin+hp.height)
continue;
const rcCompactCell& c = chf.cells[ax+az*chf.width];
int dmin = 0xffff;
int ai = -1;
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
int d = rcAbs(ay - (int)s.y);
if (d < dmin)
{
ai = i;
dmin = d;
}
}
if (ai != -1)
{
stack.push(ax);
stack.push(az);
stack.push(ai);
}
}
while (stack.size() > 0)
{
int ci = stack.pop();
int cy = stack.pop();
int cx = stack.pop();
// Skip already visited locations.
int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
if (hp.data[idx] != 0xffff)
continue;
const rcCompactSpan& cs = chf.spans[ci];
hp.data[idx] = cs.y;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(cs, dir) == 0xf) continue;
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
ay < hp.ymin || ay >= (hp.ymin+hp.height))
continue;
if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != 0xffff)
continue;
const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(cs, dir);
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
}
}
static bool buildPolyDetail(const float* in, const int nin, unsigned short reg,
const float sampleDist, const float sampleMaxError,
const rcCompactHeightfield& chf, const rcHeightPatch& hp,
float* verts, int& nverts, rcIntArray& tris,
rcIntArray& edges, rcIntArray& idx, rcIntArray& samples)
{
static const int MAX_VERTS = 256;
static const int MAX_EDGE = 64;
float edge[(MAX_EDGE+1)*3];
nverts = 0;
for (int i = 0; i < nin; ++i)
vcopy(&verts[i*3], &in[i*3]);
nverts = nin;
const float ics = 1.0f/chf.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];
// 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);
}
else
{
if (vj[0] > vi[0])
rcSwap(vj,vi);
}
// 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] = chf.bmin[1] + getHeight(pos, chf.bmin, ics, 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;
}
}
// Add new vertices.
for (int k = 1; k < nidx-1; ++k)
{
vcopy(&verts[nverts*3], &edge[idx[k]*3]);
nverts++;
}
}
}
// Tesselate the base mesh.
edges.resize(0);
tris.resize(0);
idx.resize(0);
delaunay(nverts, verts, idx, tris, edges);
if (sampleDist > 0)
{
// Create sample locations in a grid.
float bmin[3], bmax[3];
vcopy(bmin, in);
vcopy(bmax, in);
for (int i = 1; i < nin; ++i)
{
vmin(bmin, &in[i*3]);
vmax(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[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, chf.bmin, ics, 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];
float bestd = 0;
for (int i = 0; i < nsamples; ++i)
{
float pt[3];
pt[0] = samples[i*3+0]*sampleDist;
pt[1] = chf.bmin[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;
vcopy(bestpt,pt);
}
}
// If the max error is within accepted threshold, stop tesselating.
if (bestd <= sampleMaxError)
break;
// Add the new sample point.
vcopy(&verts[nverts*3],bestpt);
nverts++;
// Create new triangulation.
// TODO: Incremental add instead of full rebuild.
edges.resize(0);
tris.resize(0);
idx.resize(0);
delaunay(nverts, verts, idx, tris, edges);
if (nverts >= MAX_VERTS)
break;
}
}
return true;
}
static void getHeightDataSeedsFromVertices(const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& stack)
{
// Floodfill the heightfield to get 2D height data,
// starting at vertex locations as seeds.
// Note: Reads to the compact heightfield are offset by border size (bs)
// since border size offset is already removed from the polymesh vertices.
memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
stack.resize(0);
static const int offset[9*2] =
{
0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0,
};
// Use poly vertices as seed points for the flood fill.
for (int j = 0; j < npoly; ++j)
{
int cx = 0, cz = 0, ci =-1;
int dmin = RC_UNSET_HEIGHT;
for (int k = 0; k < 9; ++k)
{
const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
const int ay = (int)verts[poly[j]*3+1];
const int az = (int)verts[poly[j]*3+2] + offset[k*2+1];
if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
az < hp.ymin || az >= hp.ymin+hp.height)
continue;
const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
int d = rcAbs(ay - (int)s.y);
if (d < dmin)
{
cx = ax;
cz = az;
ci = i;
dmin = d;
}
}
}
if (ci != -1)
{
stack.push(cx);
stack.push(cz);
stack.push(ci);
}
}
// Find center of the polygon using flood fill.
int pcx = 0, pcz = 0;
for (int j = 0; j < npoly; ++j)
{
pcx += (int)verts[poly[j]*3+0];
pcz += (int)verts[poly[j]*3+2];
}
pcx /= npoly;
pcz /= npoly;
for (int i = 0; i < stack.size(); i += 3)
{
int cx = stack[i+0];
int cy = stack[i+1];
int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
hp.data[idx] = 1;
}
while (stack.size() > 0)
{
int ci = stack.pop();
int cy = stack.pop();
int cx = stack.pop();
// Check if close to center of the polygon.
if (rcAbs(cx-pcx) <= 1 && rcAbs(cy-pcz) <= 1)
{
stack.resize(0);
stack.push(cx);
stack.push(cy);
stack.push(ci);
break;
}
const rcCompactSpan& cs = chf.spans[ci];
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
ay < hp.ymin || ay >= (hp.ymin+hp.height))
continue;
if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != 0)
continue;
const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir);
int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
hp.data[idx] = 1;
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
}
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
// Mark start locations.
for (int i = 0; i < stack.size(); i += 3)
{
int cx = stack[i+0];
int cy = stack[i+1];
int ci = stack[i+2];
int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
const rcCompactSpan& cs = chf.spans[ci];
hp.data[idx] = cs.y;
// getHeightData seeds are given in coordinates with borders
stack[i+0] += bs;
stack[i+1] += bs;
}
}
static void getHeightData(rcContext* ctx, const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& queue,
int region)
{
// Note: Reads to the compact heightfield are offset by border size (bs)
// since border size offset is already removed from the polymesh vertices.
queue.resize(0);
// Set all heights to RC_UNSET_HEIGHT.
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
bool empty = true;
// We cannot sample from this poly if it was created from polys
// of different regions. If it was then it could potentially be overlapping
// with polys of that region and the heights sampled here could be wrong.
if (region != RC_MULTIPLE_REGS)
{
// Copy the height from the same region, and mark region borders
// as seed points to fill the rest.
for (int hy = 0; hy < hp.height; hy++)
{
int y = hp.ymin + hy + bs;
for (int hx = 0; hx < hp.width; hx++)
{
int x = hp.xmin + hx + bs;
const rcCompactCell& c = chf.cells[x + y*chf.width];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
if (s.reg == region)
{
// Store height
hp.data[hx + hy*hp.width] = s.y;
empty = false;
// If any of the neighbours is not in same region,
// add the current location as flood fill start
bool border = false;
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*chf.width].index + rcGetCon(s, dir);
const rcCompactSpan& as = chf.spans[ai];
if (as.reg != region)
{
border = true;
break;
}
}
}
if (border)
push3(queue, x, y, i);
break;
}
}
}
}
}
// if the polygon does not contain any points from the current region (rare, but happens)
// or if it could potentially be overlapping polygons of the same region,
// then use the center as the seed point.
if (empty)
seedArrayWithPolyCenter(ctx, chf, poly, npoly, verts, bs, hp, queue);
static const int RETRACT_SIZE = 256;
int head = 0;
// We assume the seed is centered in the polygon, so a BFS to collect
// height data will ensure we do not move onto overlapping polygons and
// sample wrong heights.
while (head*3 < queue.size())
{
int cx = queue[head*3+0];
int cy = queue[head*3+1];
int ci = queue[head*3+2];
head++;
if (head >= RETRACT_SIZE)
{
head = 0;
if (queue.size() > RETRACT_SIZE*3)
memmove(&queue[0], &queue[RETRACT_SIZE*3], sizeof(int)*(queue.size()-RETRACT_SIZE*3));
queue.resize(queue.size()-RETRACT_SIZE*3);
}
const rcCompactSpan& cs = chf.spans[ci];
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int hx = ax - hp.xmin - bs;
const int hy = ay - hp.ymin - bs;
if ((unsigned int)hx >= (unsigned int)hp.width || (unsigned int)hy >= (unsigned int)hp.height)
continue;
if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT)
continue;
const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(cs, dir);
const rcCompactSpan& as = chf.spans[ai];
hp.data[hx + hy*hp.width] = as.y;
push3(queue, ax, ay, ai);
}
}
}
static void getHeightData(const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& stack,
int region)
{
// Note: Reads to the compact heightfield are offset by border size (bs)
// since border size offset is already removed from the polymesh vertices.
stack.resize(0);
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
bool empty = true;
// Copy the height from the same region, and mark region borders
// as seed points to fill the rest.
for (int hy = 0; hy < hp.height; hy++)
{
int y = hp.ymin + hy + bs;
for (int hx = 0; hx < hp.width; hx++)
{
int x = hp.xmin + hx + bs;
const rcCompactCell& c = chf.cells[x+y*chf.width];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
if (s.reg == region)
{
// Store height
hp.data[hx + hy*hp.width] = s.y;
empty = false;
// If any of the neighbours is not in same region,
// add the current location as flood fill start
bool border = false;
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*chf.width].index + rcGetCon(s, dir);
const rcCompactSpan& as = chf.spans[ai];
if (as.reg != region)
{
border = true;
break;
}
}
}
if (border)
{
stack.push(x);
stack.push(y);
stack.push(i);
}
break;
}
}
}
}
// if the polygon does not contian any points from the current region (rare, but happens)
// then use the cells closest to the polygon vertices as seeds to fill the height field
if (empty)
getHeightDataSeedsFromVertices(chf, poly, npoly, verts, bs, hp, stack);
static const int RETRACT_SIZE = 256;
int head = 0;
while (head*3 < stack.size())
{
int cx = stack[head*3+0];
int cy = stack[head*3+1];
int ci = stack[head*3+2];
head++;
if (head >= RETRACT_SIZE)
{
head = 0;
if (stack.size() > RETRACT_SIZE*3)
memmove(&stack[0], &stack[RETRACT_SIZE*3], sizeof(int)*(stack.size()-RETRACT_SIZE*3));
stack.resize(stack.size()-RETRACT_SIZE*3);
}
const rcCompactSpan& cs = chf.spans[ci];
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir);
const int hx = ax - hp.xmin - bs;
const int hy = ay - hp.ymin - bs;
if (hx < 0 || hx >= hp.width || hy < 0 || hy >= hp.height)
continue;
if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT)
continue;
const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(cs, dir);
const rcCompactSpan& as = chf.spans[ai];
hp.data[hx + hy*hp.width] = as.y;
stack.push(ax);
stack.push(ay);
stack.push(ai);
}
}
}
static bool mergeAndFilterRegions(rcContext* ctx, int minRegionArea, int mergeRegionSize,
unsigned short& maxRegionId,
rcCompactHeightfield& chf,
unsigned short* srcReg, rcIntArray& overlaps)
{
const int w = chf.width;
const int h = chf.height;
const int nreg = maxRegionId+1;
rcRegion* regions = (rcRegion*)rcAlloc(sizeof(rcRegion)*nreg, RC_ALLOC_TEMP);
if (!regions)
{
ctx->log(RC_LOG_ERROR, "mergeAndFilterRegions: Out of memory 'regions' (%d).", nreg);
return false;
}
// Construct regions
for (int i = 0; i < nreg; ++i)
new(®ions[i]) rcRegion((unsigned short)i);
// Find edge of a region and find connections around the contour.
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)
{
unsigned short r = srcReg[i];
if (r == 0 || r >= nreg)
continue;
rcRegion& reg = regions[r];
reg.spanCount++;
// Update floors.
for (int j = (int)c.index; j < ni; ++j)
{
if (i == j) continue;
unsigned short floorId = srcReg[j];
if (floorId == 0 || floorId >= nreg)
continue;
if (floorId == r)
reg.overlap = true;
addUniqueFloorRegion(reg, floorId);
}
// Have found contour
if (reg.connections.size() > 0)
continue;
reg.areaType = chf.areas[i];
// 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 neighbours.
walkContour(x, y, i, ndir, chf, srcReg, reg.connections);
}
}
}
}
// Remove too small regions.
rcIntArray stack(32);
rcIntArray trace(32);
for (int i = 0; i < nreg; ++i)
{
rcRegion& reg = regions[i];
if (reg.id == 0 || (reg.id & RC_BORDER_REG))
continue;
if (reg.spanCount == 0)
continue;
if (reg.visited)
continue;
// Count the total size of all the connected regions.
// Also keep track of the regions connects to a tile border.
bool connectsToBorder = false;
int spanCount = 0;
stack.resize(0);
trace.resize(0);
reg.visited = true;
stack.push(i);
while (stack.size())
{
// Pop
int ri = stack.pop();
rcRegion& creg = regions[ri];
spanCount += creg.spanCount;
trace.push(ri);
for (int j = 0; j < creg.connections.size(); ++j)
{
if (creg.connections[j] & RC_BORDER_REG)
{
connectsToBorder = true;
continue;
}
rcRegion& neireg = regions[creg.connections[j]];
if (neireg.visited)
continue;
if (neireg.id == 0 || (neireg.id & RC_BORDER_REG))
continue;
// Visit
stack.push(neireg.id);
neireg.visited = true;
}
}
// If the accumulated regions size is too small, remove it.
// Do not remove areas which connect to tile borders
// as their size cannot be estimated correctly and removing them
// can potentially remove necessary areas.
if (spanCount < minRegionArea && !connectsToBorder)
{
// Kill all visited regions.
for (int j = 0; j < trace.size(); ++j)
{
regions[trace[j]].spanCount = 0;
regions[trace[j]].id = 0;
}
}
}
// Merge too small regions to neighbour regions.
int mergeCount = 0 ;
do
{
mergeCount = 0;
for (int i = 0; i < nreg; ++i)
{
rcRegion& reg = regions[i];
if (reg.id == 0 || (reg.id & RC_BORDER_REG))
continue;
if (reg.overlap)
continue;
if (reg.spanCount == 0)
continue;
// Check to see if the region should be merged.
if (reg.spanCount > mergeRegionSize && isRegionConnectedToBorder(reg))
continue;
// Small region with more than 1 connection.
// Or region which is not connected to a border at all.
// Find smallest neighbour region that connects to this one.
int smallest = 0xfffffff;
unsigned short mergeId = reg.id;
for (int j = 0; j < reg.connections.size(); ++j)
{
if (reg.connections[j] & RC_BORDER_REG) continue;
rcRegion& mreg = regions[reg.connections[j]];
if (mreg.id == 0 || (mreg.id & RC_BORDER_REG) || mreg.overlap) continue;
if (mreg.spanCount < smallest &&
canMergeWithRegion(reg, mreg) &&
canMergeWithRegion(mreg, reg))
{
smallest = mreg.spanCount;
mergeId = mreg.id;
}
}
// Found new id.
if (mergeId != reg.id)
{
unsigned short oldId = reg.id;
rcRegion& target = regions[mergeId];
// Merge neighbours.
if (mergeRegions(target, reg))
{
// Fixup regions pointing to current region.
for (int j = 0; j < nreg; ++j)
{
if (regions[j].id == 0 || (regions[j].id & RC_BORDER_REG)) continue;
// If another region was already merged into current region
// change the nid of the previous region too.
if (regions[j].id == oldId)
regions[j].id = mergeId;
// Replace the current region with the new one if the
// current regions is neighbour.
replaceNeighbour(regions[j], oldId, mergeId);
}
mergeCount++;
}
}
}
}
while (mergeCount > 0);
// Compress region Ids.
for (int i = 0; i < nreg; ++i)
{
regions[i].remap = false;
if (regions[i].id == 0) continue; // Skip nil regions.
if (regions[i].id & RC_BORDER_REG) continue; // Skip external regions.
regions[i].remap = true;
}
unsigned short regIdGen = 0;
for (int i = 0; i < nreg; ++i)
{
if (!regions[i].remap)
continue;
unsigned short oldId = regions[i].id;
unsigned short newId = ++regIdGen;
for (int j = i; j < nreg; ++j)
{
if (regions[j].id == oldId)
{
regions[j].id = newId;
regions[j].remap = false;
}
}
}
maxRegionId = regIdGen;
// Remap regions.
for (int i = 0; i < chf.spanCount; ++i)
{
if ((srcReg[i] & RC_BORDER_REG) == 0)
srcReg[i] = regions[srcReg[i]].id;
}
// Return regions that we found to be overlapping.
for (int i = 0; i < nreg; ++i)
if (regions[i].overlap)
overlaps.push(regions[i].id);
for (int i = 0; i < nreg; ++i)
regions[i].~rcRegion();
rcFree(regions);
return true;
}
static void walkContour(int x, int y, int i, int dir,
rcCompactHeightfield& chf,
unsigned short* srcReg,
rcIntArray& cont)
{
int startDir = dir;
int starti = i;
const rcCompactSpan& ss = chf.spans[i];
unsigned short curReg = 0;
if (rcGetCon(ss, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(ss, dir);
curReg = srcReg[ai];
}
cont.push(curReg);
int iter = 0;
while (++iter < 40000)
{
const rcCompactSpan& s = chf.spans[i];
if (isSolidEdge(chf, srcReg, x, y, i, dir))
{
// Choose the edge corner
unsigned short r = 0;
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*chf.width].index + rcGetCon(s, dir);
r = srcReg[ai];
}
if (r != curReg)
{
curReg = r;
cont.push(curReg);
}
dir = (dir+1) & 0x3; // Rotate CW
}
else
{
int ni = -1;
const int nx = x + rcGetDirOffsetX(dir);
const int ny = y + rcGetDirOffsetY(dir);
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const rcCompactCell& nc = chf.cells[nx+ny*chf.width];
ni = (int)nc.index + rcGetCon(s, dir);
}
if (ni == -1)
{
// Should not happen.
return;
}
x = nx;
y = ny;
i = ni;
dir = (dir+3) & 0x3; // Rotate CCW
}
if (starti == i && startDir == dir)
{
break;
}
}
// Remove adjacent duplicates.
if (cont.size() > 1)
{
for (int j = 0; j < cont.size(); )
{
int nj = (j+1) % cont.size();
if (cont[j] == cont[nj])
{
for (int k = j; k < cont.size()-1; ++k)
cont[k] = cont[k+1];
cont.pop();
}
else
++j;
}
}
}
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;
}
