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Merge pull request #154 from Janiels/fix-detail-unsampled-heights

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Increase recover radius for unsampled heights
This commit is contained in:
Jakob Botsch Nielsen 2016-01-14 22:18:43 +01:00
commit 0143337a64
4 changed files with 73 additions and 20 deletions
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2
Recast/Include/Recast.h
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@ -392,6 +392,7 @@ struct rcContourSet
int width; ///< The width of the set. (Along the x-axis in cell units.)
int height; ///< The height of the set. (Along the z-axis in cell units.)
int borderSize; ///< The AABB border size used to generate the source data from which the contours were derived.
float maxError; ///< The max edge error that this contour set was simplified with.
};
/// Represents a polygon mesh suitable for use in building a navigation mesh.
@ -412,6 +413,7 @@ struct rcPolyMesh
float cs; ///< The size of each cell. (On the xz-plane.)
float ch; ///< The height of each cell. (The minimum increment along the y-axis.)
int borderSize; ///< The AABB border size used to generate the source data from which the mesh was derived.
float maxEdgeError; ///< The max error of the polygon edges in the mesh.
};
/// Contains triangle meshes that represent detailed height data associated

1
Recast/Source/RecastContour.cpp
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@ -849,6 +849,7 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
cset.width = chf.width - chf.borderSize*2;
cset.height = chf.height - chf.borderSize*2;
cset.borderSize = chf.borderSize;
cset.maxError = maxError;
int maxContours = rcMax((int)chf.maxRegions, 8);
cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);

2
Recast/Source/RecastMesh.cpp
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@ -1000,6 +1000,7 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe
mesh.cs = cset.cs;
mesh.ch = cset.ch;
mesh.borderSize = cset.borderSize;
mesh.maxEdgeError = cset.maxError;
int maxVertices = 0;
int maxTris = 0;
@ -1505,6 +1506,7 @@ bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst)
dst.cs = src.cs;
dst.ch = src.ch;
dst.borderSize = src.borderSize;
dst.maxEdgeError = src.maxEdgeError;
dst.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.nverts*3, RC_ALLOC_PERM);
if (!dst.verts)

88
Recast/Source/RecastMeshDetail.cpp
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@ -202,7 +202,7 @@ static float distToPoly(int nvert, const float* verts, const float* p)
static unsigned short getHeight(const float fx, const float fy, const float fz,
const float /*cs*/, const float ics, const float ch,
const rcHeightPatch& hp)
const int radius, const rcHeightPatch& hp)
{
int ix = (int)floorf(fx*ics + 0.01f);
int iz = (int)floorf(fz*ics + 0.01f);
@ -212,23 +212,69 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
if (h == RC_UNSET_HEIGHT)
{
// Special case when data might be bad.
// Find nearest neighbour pixel which has valid height.
const int off[8*2] = { -1,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1};
// Walk adjacent cells in a spiral up to 'radius', and look
// for a pixel which has a valid height.
int x = 1, z = 0, dx = 1, dz = 0;
int maxSize = radius * 2 + 1;
int maxIter = maxSize * maxSize - 1;
int nextRingIterStart = 8;
int nextRingIters = 16;
float dmin = FLT_MAX;
for (int i = 0; i < 8; ++i)
for (int i = 0; i < maxIter; i++)
{
const int nx = ix+off[i*2+0];
const int nz = iz+off[i*2+1];
if (nx < 0 || nz < 0 || nx >= hp.width || nz >= hp.height) continue;
const unsigned short nh = hp.data[nx+nz*hp.width];
if (nh == RC_UNSET_HEIGHT) continue;
const float d = fabsf(nh*ch - fy);
if (d < dmin)
const int nx = ix + x;
const int nz = iz + z;
if (nx >= 0 && nz >= 0 && nx < hp.width && nz < hp.height)
{
h = nh;
dmin = d;
const unsigned short nh = hp.data[nx + nz*hp.width];
if (nh != RC_UNSET_HEIGHT)
{
const float d = fabsf(nh*ch - fy);
if (d < dmin)
{
h = nh;
dmin = d;
}
}
}
// We are searching in a grid which looks approximately like this:
// __________
// |2 ______ 2|
// | |1 __ 1| |
// | | |__| | |
// | |______| |
// |__________|
// We want to find the best height as close to the center cell as possible. This means that
// if we find a height in one of the neighbor cells to the center, we don't want to
// expand further out than the 8 neighbors - we want to limit our search to the closest
// of these "rings", but the best height in the ring.
// For example, the center is just 1 cell. We checked that at the entrance to the function.
// The next "ring" contains 8 cells (marked 1 above). Those are all the neighbors to the center cell.
// The next one again contains 16 cells (marked 2). In general each ring has 8 additional cells, which
// can be thought of as adding 2 cells around the "center" of each side when we expand the ring.
// Here we detect if we are about to enter the next ring, and if we are and we have found
// a height, we abort the search.
if (i + 1 == nextRingIterStart)
{
if (h != RC_UNSET_HEIGHT)
break;
nextRingIterStart += nextRingIters;
nextRingIters += 8;
}
if ((x == z) || ((x < 0) && (x == -z)) || ((x > 0) && (x == 1 - z)))
{
int tmp = dx;
dx = -dz;
dz = tmp;
}
x += dx;
z += dz;
}
}
return h;
@ -590,9 +636,9 @@ inline float getJitterY(const int i)
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)
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).
@ -661,7 +707,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
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;
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};
@ -769,7 +815,7 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
// 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(getHeight(pt[0], pt[1], pt[2], cs, ics, chf.ch, heightSearchRadius, hp));
samples.push(z);
samples.push(0); // Not added
}
@ -1137,6 +1183,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
const float ch = mesh.ch;
const float* orig = mesh.bmin;
const int borderSize = mesh.borderSize;
const int heightSearchRadius = rcMax(1, (int)ceilf(mesh.maxEdgeError));
rcIntArray edges(64);
rcIntArray tris(512);
@ -1253,7 +1300,8 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
int nverts = 0;
if (!buildPolyDetail(ctx, poly, npoly,
sampleDist, sampleMaxError,
chf, hp, verts, nverts, tris,
heightSearchRadius, chf, hp,
verts, nverts, tris,
edges, samples))
{
return false;