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Release; + }; +/* End XCBuildConfiguration section */ + +/* Begin XCConfigurationList section */ + C01FCF4A08A954540054247B /* Build configuration list for PBXNativeTarget "Recast" */ = { + isa = XCConfigurationList; + buildConfigurations = ( + C01FCF4B08A954540054247B /* Debug */, + C01FCF4C08A954540054247B /* Release */, + ); + defaultConfigurationIsVisible = 0; + defaultConfigurationName = Release; + }; + C01FCF4E08A954540054247B /* Build configuration list for PBXProject "Recast" */ = { + isa = XCConfigurationList; + buildConfigurations = ( + C01FCF4F08A954540054247B /* Debug */, + C01FCF5008A954540054247B /* Release */, + ); + defaultConfigurationIsVisible = 0; + defaultConfigurationName = Release; + }; +/* End XCConfigurationList section */ + }; + rootObject = 29B97313FDCFA39411CA2CEA /* Project object */; +} diff --git a/Recast/Build/Xcode/Recast_Prefix.pch b/Recast/Build/Xcode/Recast_Prefix.pch new file mode 100644 index 0000000..3b101c2 --- /dev/null +++ b/Recast/Build/Xcode/Recast_Prefix.pch @@ -0,0 +1,7 @@ +// +// Prefix header for all source files of the 'Recast' target in the 'Recast' project +// + +#ifdef __OBJC__ + #import +#endif diff --git a/Recast/Contrib/SDL/readme.txt b/Recast/Contrib/SDL/readme.txt new file mode 100644 index 0000000..051e80f --- /dev/null +++ b/Recast/Contrib/SDL/readme.txt @@ -0,0 +1 @@ +Download SDL Developer Libraries from http://www.libsdl.org and unzip them here. \ No newline at end of file diff --git a/Recast/Examples/MeshLoaderObj.cpp b/Recast/Examples/MeshLoaderObj.cpp new file mode 100644 index 0000000..b10d037 --- /dev/null +++ b/Recast/Examples/MeshLoaderObj.cpp @@ -0,0 +1,219 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include "MeshLoaderObj.h" +#include +#include +#include +#define _USE_MATH_DEFINES +#include + +rcMeshLoaderObj::rcMeshLoaderObj() : + m_verts(0), + m_normals(0), + m_tris(0), + m_vertCount(0), + m_triCount(0) +{ +} + +rcMeshLoaderObj::~rcMeshLoaderObj() +{ + delete [] m_verts; + delete [] m_normals; + delete [] m_tris; +} + +void rcMeshLoaderObj::addVertex(float x, float y, float z, int& cap) +{ + if (m_vertCount+1 > cap) + { + cap = !cap ? 8 : cap*2; + float* nv = new float[cap*3]; + if (m_vertCount) + memcpy(nv, m_verts, m_vertCount*3*sizeof(float)); + delete [] m_verts; + m_verts = nv; + } + float* dst = &m_verts[m_vertCount*3]; + *dst++ = x; + *dst++ = y; + *dst++ = z; + m_vertCount++; +} + +void rcMeshLoaderObj::addTriangle(int a, int b, int c, int& cap) +{ + if (m_triCount+1 > cap) + { + cap = !cap ? 8 : cap*2; + int* nv = new int[cap*3]; + if (m_triCount) + memcpy(nv, m_tris, m_triCount*3*sizeof(int)); + delete [] m_tris; + m_tris = nv; + } + int* dst = &m_tris[m_triCount*3]; + *dst++ = a; + *dst++ = b; + *dst++ = c; + m_triCount++; +} + +static char* parseRow(char* buf, char* bufEnd, char* row, int len) +{ + bool cont = false; + bool start = true; + bool done = false; + int n = 0; + while (!done && buf < bufEnd) + { + char c = *buf; + buf++; + // multirow + switch (c) + { + case '\\': + cont = true; // multirow + break; + case '\n': + if (start) break; + done = true; + break; + case '\r': + break; + case '\t': + case ' ': + if (start) break; + default: + start = false; + cont = false; + row[n++] = c; + if (n >= len-1) + done = true; + break; + } + } + row[n] = '\0'; + return buf; +} + +static int parseFace(char* row, int* data, int n, int vcnt) +{ + int j = 0; + while (*row != '\0') + { + // Skip initial white space + while (*row != '\0' && (*row == ' ' || *row == '\t')) + row++; + char* s = row; + // Find vertex delimiter and terminated the string there for conversion. + while (*row != '\0' && *row != ' ' && *row != '\t') + { + if (*row == '/') *row = '\0'; + row++; + } + if (*s == '\0') + continue; + int vi = atoi(s); + data[j++] = vi < 0 ? vi+vcnt : vi-1; + if (j >= n) return j; + } + return j; +} + +bool rcMeshLoaderObj::load(const char* filename) +{ + char* buf = 0; + FILE* fp = fopen(filename, "rb"); + if (!fp) + return false; + fseek(fp, 0, SEEK_END); + int bufSize = ftell(fp); + fseek(fp, 0, SEEK_SET); + buf = new char[bufSize]; + if (!buf) + { + fclose(fp); + return false; + } + fread(buf, bufSize, 1, fp); + fclose(fp); + + char* src = buf; + char* srcEnd = buf + bufSize; + char row[512]; + int face[32]; + float x,y,z; + int nv; + int vcap = 0; + int tcap = 0; + + while (src < srcEnd) + { + // Parse one row + row[0] = '\0'; + src = parseRow(src, srcEnd, row, sizeof(row)/sizeof(char)); + // Skip comments + if (row[0] == '#') continue; + if (row[0] == 'v' && row[1] != 'n' && row[1] != 't') + { + // Vertex pos + sscanf(row+1, "%f %f %f", &x, &y, &z); + addVertex(x, y, z, vcap); + } + if (row[0] == 'f') + { + // Faces + nv = parseFace(row+1, face, 32, m_vertCount); + for (int i = 2; i < nv; ++i) + addTriangle(face[0], face[i-1], face[i], tcap); + } + } + + delete [] buf; + + // Calculate normals. + m_normals = new float[m_triCount*3]; + for (int i = 0; i < m_triCount*3; i += 3) + { + const float* v0 = &m_verts[m_tris[i]*3]; + const float* v1 = &m_verts[m_tris[i+1]*3]; + const float* v2 = &m_verts[m_tris[i+2]*3]; + float e0[3], e1[3]; + for (int j = 0; j < 3; ++j) + { + e0[j] = v1[j] - v0[j]; + e1[j] = v2[j] - v0[j]; + } + float* n = &m_normals[i]; + n[0] = e0[1]*e1[2] - e0[2]*e1[1]; + n[1] = e0[2]*e1[0] - e0[0]*e1[2]; + n[2] = e0[0]*e1[1] - e0[1]*e1[0]; + float d = sqrtf(n[0]*n[0] + n[1]*n[1] + n[2]*n[2]); + if (d > 0) + { + d = 1.0f/d; + n[0] *= d; + n[1] *= d; + n[2] *= d; + } + } + + return true; +} diff --git a/Recast/Examples/MeshLoaderObj.h b/Recast/Examples/MeshLoaderObj.h new file mode 100644 index 0000000..4f1f7c0 --- /dev/null +++ b/Recast/Examples/MeshLoaderObj.h @@ -0,0 +1,48 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef MESHLOADER_OBJ +#define MESHLOADER_OBJ + +class rcMeshLoaderObj +{ +public: + rcMeshLoaderObj(); + ~rcMeshLoaderObj(); + + bool load(const char* fileName); + + inline const float* getVerts() const { return m_verts; } + inline const float* getNormals() const { return m_normals; } + inline const int* getTris() const { return m_tris; } + inline int getVertCount() const { return m_vertCount; } + inline int getTriCount() const { return m_triCount; } + +private: + + void addVertex(float x, float y, float z, int& cap); + void addTriangle(int a, int b, int c, int& cap); + + float* m_verts; + int* m_tris; + float* m_normals; + int m_vertCount; + int m_triCount; +}; + +#endif // MESHLOADER_OBJ diff --git a/Recast/Examples/Meshes/dungeon.obj b/Recast/Examples/Meshes/dungeon.obj new file mode 100644 index 0000000..8d17dce --- /dev/null +++ b/Recast/Examples/Meshes/dungeon.obj @@ -0,0 +1,15234 @@ +v 32.471557617 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881/884/881 877/879/877 878/878/878 +f 884/882/884 882/881/882 878/878/878 880/877/880 +f 883/883/883 884/882/884 880/877/880 879/880/879 +f 881/884/881 883/883/883 879/880/879 877/879/877 diff --git a/Recast/Examples/Recast.exe b/Recast/Examples/Recast.exe new file mode 100644 index 0000000..62787e1 Binary files /dev/null and b/Recast/Examples/Recast.exe differ diff --git a/Recast/Examples/SDL.dll b/Recast/Examples/SDL.dll new file mode 100644 index 0000000..3ce97a5 Binary files /dev/null and b/Recast/Examples/SDL.dll differ diff --git a/Recast/Examples/SDLMain.h b/Recast/Examples/SDLMain.h new file mode 100644 index 0000000..4683df5 --- /dev/null +++ b/Recast/Examples/SDLMain.h @@ -0,0 +1,11 @@ +/* SDLMain.m - main entry point for our Cocoa-ized SDL app + Initial Version: Darrell Walisser + Non-NIB-Code & other changes: Max Horn + + Feel free to customize this file to suit your needs +*/ + +#import + +@interface SDLMain : NSObject +@end diff --git a/Recast/Examples/SDLMain.m b/Recast/Examples/SDLMain.m new file mode 100644 index 0000000..2eaa1c1 --- /dev/null +++ b/Recast/Examples/SDLMain.m @@ -0,0 +1,384 @@ +/* SDLMain.m - main entry point for our Cocoa-ized SDL app + Initial Version: Darrell Walisser + Non-NIB-Code & other changes: Max Horn + + Feel free to customize this file to suit your needs +*/ + +#import "SDL.h" +#import "SDLMain.h" +#import /* for MAXPATHLEN */ +#import + +/* For some reaon, Apple removed setAppleMenu from the headers in 10.4, + but the method still is there and works. To avoid warnings, we declare + it ourselves here. */ +@interface NSApplication(SDL_Missing_Methods) +- (void)setAppleMenu:(NSMenu *)menu; +@end + +/* Use this flag to determine whether we use SDLMain.nib or not */ +#define SDL_USE_NIB_FILE 0 + +/* Use this flag to determine whether we use CPS (docking) or not */ +#define SDL_USE_CPS 1 +#ifdef SDL_USE_CPS +/* Portions of CPS.h */ +typedef struct CPSProcessSerNum +{ + UInt32 lo; + UInt32 hi; +} CPSProcessSerNum; + +extern OSErr CPSGetCurrentProcess( CPSProcessSerNum *psn); +extern OSErr CPSEnableForegroundOperation( CPSProcessSerNum *psn, UInt32 _arg2, UInt32 _arg3, UInt32 _arg4, UInt32 _arg5); +extern OSErr CPSSetFrontProcess( CPSProcessSerNum *psn); + +#endif /* SDL_USE_CPS */ + +static int gArgc; +static char **gArgv; +static BOOL gFinderLaunch; +static BOOL gCalledAppMainline = FALSE; + +static NSString *getApplicationName(void) +{ + NSDictionary *dict; + NSString *appName = 0; + + /* Determine the application name */ + dict = (NSDictionary *)CFBundleGetInfoDictionary(CFBundleGetMainBundle()); + if (dict) + appName = [dict objectForKey: @"CFBundleName"]; + + if (![appName length]) + appName = [[NSProcessInfo processInfo] processName]; + + return appName; +} + +#if SDL_USE_NIB_FILE +/* A helper category for NSString */ +@interface NSString (ReplaceSubString) +- (NSString *)stringByReplacingRange:(NSRange)aRange with:(NSString *)aString; +@end +#endif + +@interface SDLApplication : NSApplication +@end + +@implementation SDLApplication +/* Invoked from the Quit menu item */ +- (void)terminate:(id)sender +{ + /* Post a SDL_QUIT event */ + SDL_Event event; + event.type = SDL_QUIT; + SDL_PushEvent(&event); +} +@end + +/* The main class of the application, the application's delegate */ +@implementation SDLMain + +/* Set the working directory to the .app's parent directory */ +- (void) setupWorkingDirectory:(BOOL)shouldChdir +{ + if (shouldChdir) + { + char parentdir[MAXPATHLEN]; + CFURLRef url = CFBundleCopyBundleURL(CFBundleGetMainBundle()); + CFURLRef url2 = CFURLCreateCopyDeletingLastPathComponent(0, url); + if (CFURLGetFileSystemRepresentation(url2, true, (UInt8 *)parentdir, MAXPATHLEN)) { + assert ( chdir (parentdir) == 0 ); /* chdir to the binary app's parent */ + } + CFRelease(url); + CFRelease(url2); + } + +} + +#if SDL_USE_NIB_FILE + +/* Fix menu to contain the real app name instead of "SDL App" */ +- (void)fixMenu:(NSMenu *)aMenu withAppName:(NSString *)appName +{ + NSRange aRange; + NSEnumerator *enumerator; + NSMenuItem *menuItem; + + aRange = [[aMenu title] rangeOfString:@"SDL App"]; + if (aRange.length != 0) + [aMenu setTitle: [[aMenu title] stringByReplacingRange:aRange with:appName]]; + + enumerator = [[aMenu itemArray] objectEnumerator]; + while ((menuItem = [enumerator nextObject])) + { + aRange = [[menuItem title] rangeOfString:@"SDL App"]; + if (aRange.length != 0) + [menuItem setTitle: [[menuItem title] stringByReplacingRange:aRange with:appName]]; + if ([menuItem hasSubmenu]) + [self fixMenu:[menuItem submenu] withAppName:appName]; + } + [ aMenu sizeToFit ]; +} + +#else + +static void setApplicationMenu(void) +{ + /* warning: this code is very odd */ + NSMenu *appleMenu; + NSMenuItem *menuItem; + NSString *title; + NSString *appName; + + appName = getApplicationName(); + appleMenu = [[NSMenu alloc] initWithTitle:@""]; + + /* Add menu items */ + title = [@"About " stringByAppendingString:appName]; + [appleMenu addItemWithTitle:title action:@selector(orderFrontStandardAboutPanel:) keyEquivalent:@""]; + + [appleMenu addItem:[NSMenuItem separatorItem]]; + + title = [@"Hide " stringByAppendingString:appName]; + [appleMenu addItemWithTitle:title action:@selector(hide:) keyEquivalent:@"h"]; + + menuItem = (NSMenuItem *)[appleMenu addItemWithTitle:@"Hide Others" action:@selector(hideOtherApplications:) keyEquivalent:@"h"]; + [menuItem setKeyEquivalentModifierMask:(NSAlternateKeyMask|NSCommandKeyMask)]; + + [appleMenu addItemWithTitle:@"Show All" action:@selector(unhideAllApplications:) keyEquivalent:@""]; + + [appleMenu addItem:[NSMenuItem separatorItem]]; + + title = [@"Quit " stringByAppendingString:appName]; + [appleMenu addItemWithTitle:title action:@selector(terminate:) keyEquivalent:@"q"]; + + + /* Put menu into the menubar */ + menuItem = [[NSMenuItem alloc] initWithTitle:@"" action:nil keyEquivalent:@""]; + [menuItem setSubmenu:appleMenu]; + [[NSApp mainMenu] addItem:menuItem]; + + /* Tell the application object that this is now the application menu */ + [NSApp setAppleMenu:appleMenu]; + + /* Finally give up our references to the objects */ + [appleMenu release]; + [menuItem release]; +} + +/* Create a window menu */ +static void setupWindowMenu(void) +{ + NSMenu *windowMenu; + NSMenuItem *windowMenuItem; + NSMenuItem *menuItem; + + windowMenu = [[NSMenu alloc] initWithTitle:@"Window"]; + + /* "Minimize" item */ + menuItem = [[NSMenuItem alloc] initWithTitle:@"Minimize" action:@selector(performMiniaturize:) keyEquivalent:@"m"]; + [windowMenu addItem:menuItem]; + [menuItem release]; + + /* Put menu into the menubar */ + windowMenuItem = [[NSMenuItem alloc] initWithTitle:@"Window" action:nil keyEquivalent:@""]; + [windowMenuItem setSubmenu:windowMenu]; + [[NSApp mainMenu] addItem:windowMenuItem]; + + /* Tell the application object that this is now the window menu */ + [NSApp setWindowsMenu:windowMenu]; + + /* Finally give up our references to the objects */ + [windowMenu release]; + [windowMenuItem release]; +} + +/* Replacement for NSApplicationMain */ +static void CustomApplicationMain (int argc, char **argv) +{ + NSAutoreleasePool *pool = [[NSAutoreleasePool alloc] init]; + SDLMain *sdlMain; + + /* Ensure the application object is initialised */ + [SDLApplication sharedApplication]; + +#ifdef SDL_USE_CPS + { + CPSProcessSerNum PSN; + /* Tell the dock about us */ + if (!CPSGetCurrentProcess(&PSN)) + if (!CPSEnableForegroundOperation(&PSN,0x03,0x3C,0x2C,0x1103)) + if (!CPSSetFrontProcess(&PSN)) + [SDLApplication sharedApplication]; + } +#endif /* SDL_USE_CPS */ + + /* Set up the menubar */ + [NSApp setMainMenu:[[NSMenu alloc] init]]; + setApplicationMenu(); + setupWindowMenu(); + + /* Create SDLMain and make it the app delegate */ + sdlMain = [[SDLMain alloc] init]; + [NSApp setDelegate:sdlMain]; + + /* Start the main event loop */ + [NSApp run]; + + [sdlMain release]; + [pool release]; +} + +#endif + + +/* + * Catch document open requests...this lets us notice files when the app + * was launched by double-clicking a document, or when a document was + * dragged/dropped on the app's icon. You need to have a + * CFBundleDocumentsType section in your Info.plist to get this message, + * apparently. + * + * Files are added to gArgv, so to the app, they'll look like command line + * arguments. Previously, apps launched from the finder had nothing but + * an argv[0]. + * + * This message may be received multiple times to open several docs on launch. + * + * This message is ignored once the app's mainline has been called. + */ +- (BOOL)application:(NSApplication *)theApplication openFile:(NSString *)filename +{ + const char *temparg; + size_t arglen; + char *arg; + char **newargv; + + if (!gFinderLaunch) /* MacOS is passing command line args. */ + return FALSE; + + if (gCalledAppMainline) /* app has started, ignore this document. */ + return FALSE; + + temparg = [filename UTF8String]; + arglen = SDL_strlen(temparg) + 1; + arg = (char *) SDL_malloc(arglen); + if (arg == NULL) + return FALSE; + + newargv = (char **) realloc(gArgv, sizeof (char *) * (gArgc + 2)); + if (newargv == NULL) + { + SDL_free(arg); + return FALSE; + } + gArgv = newargv; + + SDL_strlcpy(arg, temparg, arglen); + gArgv[gArgc++] = arg; + gArgv[gArgc] = NULL; + return TRUE; +} + + +/* Called when the internal event loop has just started running */ +- (void) applicationDidFinishLaunching: (NSNotification *) note +{ + int status; + + /* Set the working directory to the .app's parent directory */ + [self setupWorkingDirectory:gFinderLaunch]; + +#if SDL_USE_NIB_FILE + /* Set the main menu to contain the real app name instead of "SDL App" */ + [self fixMenu:[NSApp mainMenu] withAppName:getApplicationName()]; +#endif + + /* Hand off to main application code */ + gCalledAppMainline = TRUE; + status = SDL_main (gArgc, gArgv); + + /* We're done, thank you for playing */ + exit(status); +} +@end + + +@implementation NSString (ReplaceSubString) + +- (NSString *)stringByReplacingRange:(NSRange)aRange with:(NSString *)aString +{ + unsigned int bufferSize; + unsigned int selfLen = [self length]; + unsigned int aStringLen = [aString length]; + unichar *buffer; + NSRange localRange; + NSString *result; + + bufferSize = selfLen + aStringLen - aRange.length; + buffer = NSAllocateMemoryPages(bufferSize*sizeof(unichar)); + + /* Get first part into buffer */ + localRange.location = 0; + localRange.length = aRange.location; + [self getCharacters:buffer range:localRange]; + + /* Get middle part into buffer */ + localRange.location = 0; + localRange.length = aStringLen; + [aString getCharacters:(buffer+aRange.location) range:localRange]; + + /* Get last part into buffer */ + localRange.location = aRange.location + aRange.length; + localRange.length = selfLen - localRange.location; + [self getCharacters:(buffer+aRange.location+aStringLen) range:localRange]; + + /* Build output string */ + result = [NSString stringWithCharacters:buffer length:bufferSize]; + + NSDeallocateMemoryPages(buffer, bufferSize); + + return result; +} + +@end + + + +#ifdef main +# undef main +#endif + + +/* Main entry point to executable - should *not* be SDL_main! */ +int main (int argc, char **argv) +{ + /* Copy the arguments into a global variable */ + /* This is passed if we are launched by double-clicking */ + if ( argc >= 2 && strncmp (argv[1], "-psn", 4) == 0 ) { + gArgv = (char **) SDL_malloc(sizeof (char *) * 2); + gArgv[0] = argv[0]; + gArgv[1] = NULL; + gArgc = 1; + gFinderLaunch = YES; + } else { + int i; + gArgc = argc; + gArgv = (char **) SDL_malloc(sizeof (char *) * (argc+1)); + for (i = 0; i <= argc; i++) + gArgv[i] = argv[i]; + gFinderLaunch = NO; + } + +#if SDL_USE_NIB_FILE + [SDLApplication poseAsClass:[NSApplication class]]; + NSApplicationMain (argc, argv); +#else + CustomApplicationMain (argc, argv); +#endif + return 0; +} + diff --git a/Recast/Examples/demo.cpp b/Recast/Examples/demo.cpp new file mode 100644 index 0000000..03a8606 --- /dev/null +++ b/Recast/Examples/demo.cpp @@ -0,0 +1,796 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include +#include +#define _USE_MATH_DEFINES +#include +#include +#ifdef WIN32 +# include +#else +# include +#endif +#include "SDL.h" +#include "SDL_Opengl.h" +#include "GLFont.h" +#include "RecastTimer.h" +#include "MeshLoaderObj.h" +#include "Recast.h" +#include "RecastLog.h" +#include "RecastDebugDraw.h" +#include "imgui.h" + +#ifdef WIN32 +# define snprintf _snprintf +#endif + +bool intersectSegmentTriangle(const float* sp, const float* sq, + const float* a, const float* b, const float* c, + float &t) +{ + float v, w; + float ab[3], ac[3], qp[3], ap[3], norm[3], e[3]; + vsub(ab, b, a); + vsub(ac, c, a); + vsub(qp, sp, sq); + + // Compute triangle normal. Can be precalculated or cached if + // intersecting multiple segments against the same triangle + vcross(norm, ab, ac); + + // Compute denominator d. If d <= 0, segment is parallel to or points + // away from triangle, so exit early + float d = vdot(qp, norm); + if (d <= 0.0f) return false; + + // Compute intersection t value of pq with plane of triangle. A ray + // intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay + // dividing by d until intersection has been found to pierce triangle + vsub(ap, sp, a); + t = vdot(ap, norm); + if (t < 0.0f) return false; + if (t > d) return false; // For segment; exclude this code line for a ray test + + // Compute barycentric coordinate components and test if within bounds + vcross(e, qp, ap); + v = vdot(ac, e); + if (v < 0.0f || v > d) return false; + w = -vdot(ab, e); + if (w < 0.0f || v + w > d) return false; + + // Segment/ray intersects triangle. Perform delayed division + t /= d; + + return true; +} + +static bool raycast(rcMeshLoaderObj& mesh, float* src, float* dst, float& tmin) +{ + float dir[3]; + vsub(dir, dst, src); + + int nt = mesh.getTriCount(); + const float* verts = mesh.getVerts(); + const float* normals = mesh.getNormals(); + const int* tris = mesh.getTris(); + tmin = 1.0f; + bool hit = false; + + for (int i = 0; i < nt*3; i += 3) + { + const float* n = &normals[i]; + if (vdot(dir, n) > 0) + continue; + + float t = 1; + if (intersectSegmentTriangle(src, dst, + &verts[tris[i]*3], + &verts[tris[i+1]*3], + &verts[tris[i+2]*3], t)) + { + if (t < tmin) + tmin = t; + hit = true; + } + } + + return hit; +} + +struct FileList +{ + static const int MAX_FILES = 256; + inline FileList() : size(0) {} + inline ~FileList() + { + clear(); + } + + void clear() + { + for (int i = 0; i < size; ++i) + delete [] files[i]; + size = 0; + } + + void add(const char* path) + { + if (size >= MAX_FILES) + return; + int n = strlen(path); + files[size] = new char[n+1]; + strcpy(files[size], path); + size++; + } + + char* files[MAX_FILES]; + int size; +}; + +void scanDirectory(const char* path, const char* ext, FileList& list) +{ + list.clear(); + +#ifdef WIN32 + _finddata_t dir; + char pathWithExt[MAX_PATH]; + long fh; + strcpy(pathWithExt, path); + strcat(pathWithExt, "/*"); + strcat(pathWithExt, ext); + fh = _findfirst(pathWithExt, &dir); + if (fh == -1L) + return; + do + { + list.add(dir.name); + } + while (_findnext(fh, &dir) == 0); + _findclose(fh); +#else + dirent* current = 0; + DIR* dp = opendir(path); + if (!dp) + return; + + while ((current = readdir(dp)) != 0) + { + int len = strlen(current->d_name); + if (len > 4 && strncmp(current->d_name+len-4, ext, 4) == 0) + { + list.add(current->d_name); + } + } + closedir(dp); +#endif +} + + +enum DrawMode +{ + DRAWMODE_POLYMESH, + DRAWMODE_POLYMESH_TRANS, + DRAWMODE_MESH, + DRAWMODE_VOXELS, + DRAWMODE_VOXELS_WALKABLE, + DRAWMODE_COMPACT, + DRAWMODE_COMPACT_DISTANCE, + DRAWMODE_COMPACT_REGIONS, + DRAWMODE_RAW_CONTOURS, + DRAWMODE_CONTOURS, + MAX_DRAWMODE, +}; + + +GLFont g_font; + +void drawText(int x, int y, int dir, const char* text, unsigned int col) +{ + if (dir < 0) + g_font.drawText((float)x - g_font.getTextLength(text), (float)y, text, col); + else + g_font.drawText((float)x, (float)y, text, col); +} + + +rcMeshLoaderObj* g_mesh = 0; +unsigned char* g_triangleFlags = 0; +rcHeightfield* g_solid = 0; +rcCompactHeightfield* g_chf = 0; +rcContourSet* g_cset = 0; +rcPolyMesh* g_polyMesh = 0; +rcConfig g_cfg; +rcLog g_log; + +static bool buildNavigation() +{ + delete g_solid; + delete g_chf; + delete g_cset; + delete g_polyMesh; + delete [] g_triangleFlags; + g_solid = 0; + g_chf = 0; + g_cset = 0; + g_polyMesh = 0; + g_triangleFlags = 0; + + g_log.clear(); + rcSetLog(&g_log); + + if (!g_mesh) + { + g_log.log(RC_LOG_ERROR, "Input mesh is not valid."); + return false; + } + + + rcTimeVal startTime = rcGetPerformanceTimer(); + + rcCalcBounds(g_mesh->getVerts(), g_mesh->getVertCount(), g_cfg.bmin, g_cfg.bmax); + rcCalcGridSize(g_cfg.bmin, g_cfg.bmax, g_cfg.cs, &g_cfg.width, &g_cfg.height); + + g_log.log(RC_LOG_PROGRESS, "Building navigation"); + g_log.log(RC_LOG_PROGRESS, " - %d x %d", g_cfg.width, g_cfg.height); + g_log.log(RC_LOG_PROGRESS, " - %d verts, %d tris", g_mesh->getVertCount(), g_mesh->getTriCount()); + + g_triangleFlags = new unsigned char[g_mesh->getTriCount()]; + memset(g_triangleFlags, 0, g_mesh->getTriCount()); + rcMarkWalkableTriangles(g_cfg.walkableSlopeAngle, + g_mesh->getTris(), g_mesh->getNormals(), g_mesh->getTriCount(), + g_triangleFlags); + + g_solid = new rcHeightfield; + g_chf = new rcCompactHeightfield; + g_cset = new rcContourSet; + g_polyMesh = new rcPolyMesh; + + if (!rcBuildNavMesh(g_cfg, g_mesh->getVerts(), g_mesh->getVertCount(), + g_mesh->getTris(), g_triangleFlags, g_mesh->getTriCount(), + *g_solid, *g_chf, *g_cset, *g_polyMesh)) + { + g_log.log(RC_LOG_ERROR, "Could not build navmesh."); + return false; + } + + rcTimeVal endTime = rcGetPerformanceTimer(); + g_log.log(RC_LOG_PROGRESS, "Build time: %.1f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f); + g_log.log(RC_LOG_PROGRESS, "NavMesh"); + g_log.log(RC_LOG_PROGRESS, " - %d verts, %d polys", g_polyMesh->nverts, g_polyMesh->npolys); + const int navMeshDataSize = g_polyMesh->nverts*3*sizeof(unsigned short) + + g_polyMesh->npolys*g_polyMesh->nvp*2*sizeof(unsigned short); + g_log.log(RC_LOG_PROGRESS, " - Approx data size %.1f kB", (float)navMeshDataSize/1024.f); + + for (int i = 0; i < g_log.getMessageCount(); ++i) + { + printf("%s\n", g_log.getMessageText(i)); + } + + return true; +} + + +int main(int argc, char *argv[]) +{ + // Init SDL + if (SDL_Init(SDL_INIT_EVERYTHING) != 0) + { + printf("Could not initialise SDL\n"); + return -1; + } + + // Init OpenGL + SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 1); + SDL_GL_SetAttribute(SDL_GL_DEPTH_SIZE, 32); + SDL_GL_SetAttribute(SDL_GL_RED_SIZE, 8); + SDL_GL_SetAttribute(SDL_GL_GREEN_SIZE, 8); + SDL_GL_SetAttribute(SDL_GL_BLUE_SIZE, 8); + SDL_GL_SetAttribute(SDL_GL_ALPHA_SIZE, 8); + + int width = 1200; + int height = 700; + SDL_Surface* screen = SDL_SetVideoMode(width, height, 0, SDL_OPENGL); + if (!screen) + { + printf("Could not initialise SDL opengl\n"); + return -1; + } + + SDL_WM_SetCaption("Recast Demo", 0); + + if(!g_font.create("font.cfnt")) + { + printf("Could not load font\n"); + SDL_Quit(); + return -1; + } + + float cellSize = 0.3f; + float cellHeight = 0.2f; + float agentHeight = 2.0f; + float agentRadius = 0.3f; + float agentMaxClimb = 0.9f; + float agentMaxSlope = 45.0f; + float regionMinSize = 50; + float regionMergeSize = 20; + float edgeMaxLen = 12.0f; + float edgeMaxError = 1.5f; + float vertsPerPoly = 6.0f; + int drawMode = DRAWMODE_POLYMESH; + bool showLevels = false; + bool showLog = false; + char curLevel[256] = "Choose Level..."; + bool mouseOverMenu = false; + FileList fileList; + + float t = 0.0f; + Uint32 lastTime = SDL_GetTicks(); + int mx = 0, my = 0; + float rx = 45; + float ry = -45; + float moveW = 0, moveS = 0, moveA = 0, moveD = 0; + float camx = 0, camy = 0, camz = 0, camr=10; + float origrx, origry; + int origx, origy; + bool rotate = false; + float rays[3], raye[3]; + float spos[3] = {0,0,0}; + + glEnable(GL_CULL_FACE); + + float fogCol[4] = { 0.1f,0.12f,0.14f,1 }; + glEnable(GL_FOG); + glFogi(GL_FOG_MODE, GL_LINEAR); + glFogf(GL_FOG_START, 0); + glFogf(GL_FOG_END, 10); + glFogfv(GL_FOG_COLOR, fogCol); + + bool done = false; + while(!done) + { + // Handle input events. + SDL_Event event; + while(SDL_PollEvent(&event)) + { + switch(event.type) + { + case SDL_KEYDOWN: + // Handle any key presses here. + if(event.key.keysym.sym == SDLK_ESCAPE) + { + done = true; + } + break; + + case SDL_MOUSEBUTTONDOWN: + // Handle mouse clicks here. + if (!mouseOverMenu) + { + if (event.button.button == SDL_BUTTON_LEFT) + { + // Rotate view + rotate = true; + origx = mx; + origy = my; + origrx = rx; + origry = ry; + } + else if (event.button.button == SDL_BUTTON_RIGHT) + { + // Hit test mesh. + if (g_mesh) + { + float t; + if (raycast(*g_mesh, rays, raye, t)) + { + spos[0] = rays[0] + (raye[0] - rays[0])*t; + spos[1] = rays[1] + (raye[1] - rays[1])*t; + spos[2] = rays[2] + (raye[2] - rays[2])*t; + } + } + } + } + break; + + case SDL_MOUSEBUTTONUP: + // Handle mouse clicks here. + if(event.button.button == SDL_BUTTON_LEFT) + { + rotate = false; + } + break; + + case SDL_MOUSEMOTION: + mx = event.motion.x; + my = height - 1 - event.motion.y; + if (rotate) + { + int dx = mx - origx; + int dy = my - origy; + rx = origrx - dy*0.25f; + ry = origry + dx*0.25f; + } + break; + + case SDL_QUIT: + done = true; + break; + + default: + break; + } + } + + Uint32 time = SDL_GetTicks(); + float dt = (time - lastTime) / 1000.0f; + lastTime = time; + + t += dt; + + + // Update and render + glViewport(0, 0, width, height); + glClearColor(0.3f, 0.3f, 0.32f, 1.0f); + glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT); + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + glDisable(GL_TEXTURE_2D); + + // Render 3d + glEnable(GL_DEPTH_TEST); + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + gluPerspective(50.0f, (float)width/(float)height, 1.0f, camr); + glMatrixMode(GL_MODELVIEW); + glLoadIdentity(); + glRotatef(rx,1,0,0); + glRotatef(ry,0,1,0); + glTranslatef(-camx, -camy, -camz); + + // Get hit ray position and direction. + GLdouble proj[16]; + GLdouble model[16]; + GLint view[4]; + glGetDoublev(GL_PROJECTION_MATRIX, proj); + glGetDoublev(GL_MODELVIEW_MATRIX, model); + glGetIntegerv(GL_VIEWPORT, view); + GLdouble x, y, z; + gluUnProject(mx, my, 0.0f, model, proj, view, &x, &y, &z); + rays[0] = (float)x; rays[1] = (float)y; rays[2] = (float)z; + gluUnProject(mx, my, 1.0f, model, proj, view, &x, &y, &z); + raye[0] = (float)x; raye[1] = (float)y; raye[2] = (float)z; + + // Handle keyboard movement. + Uint8* keystate = SDL_GetKeyState(NULL); + moveW = rcClamp(moveW + dt * 4 * (keystate[SDLK_w] ? 1 : -1), 0.0f, 1.0f); + moveS = rcClamp(moveS + dt * 4 * (keystate[SDLK_s] ? 1 : -1), 0.0f, 1.0f); + moveA = rcClamp(moveA + dt * 4 * (keystate[SDLK_a] ? 1 : -1), 0.0f, 1.0f); + moveD = rcClamp(moveD + dt * 4 * (keystate[SDLK_d] ? 1 : -1), 0.0f, 1.0f); + + float keybSpeed = 22.0f; + if (SDL_GetModState() & KMOD_SHIFT) + keybSpeed *= 4.0f; + + float movex = (moveD - moveA) * keybSpeed * dt; + float movey = (moveS - moveW) * keybSpeed * dt; + + camx += movex * (float)model[0]; + camy += movex * (float)model[4]; + camz += movex * (float)model[8]; + + camx += movey * (float)model[2]; + camy += movey * (float)model[6]; + camz += movey * (float)model[10]; + + glEnable(GL_FOG); + + if (drawMode == DRAWMODE_MESH) + { + if (g_mesh) + rcDebugDrawMesh(*g_mesh, g_triangleFlags); + } + else if (drawMode != DRAWMODE_POLYMESH_TRANS) + { + if (g_mesh) + rcDebugDrawMesh(*g_mesh, 0); + } + + glDepthMask(GL_FALSE); + + if (drawMode == DRAWMODE_POLYMESH || drawMode == DRAWMODE_POLYMESH_TRANS) + { + if (g_polyMesh) + rcDebugDrawPolyMesh(*g_polyMesh, g_cfg.bmin, g_cfg.cs, g_cfg.ch); + } + + glDepthMask(GL_TRUE); + + if (drawMode == DRAWMODE_COMPACT) + { + if (g_chf) + rcDebugDrawCompactHeightfieldSolid(*g_chf); + } + if (drawMode == DRAWMODE_COMPACT_DISTANCE) + { + if (g_chf) + rcDebugDrawCompactHeightfieldDistance(*g_chf); + } + if (drawMode == DRAWMODE_COMPACT_REGIONS) + { + if (g_chf) + rcDebugDrawCompactHeightfieldRegions(*g_chf); + } + if (drawMode == DRAWMODE_VOXELS) + { + if (g_solid) + rcDebugDrawHeightfieldSolid(*g_solid, g_cfg.bmin, g_cfg.cs, g_cfg.ch); + } + if (drawMode == DRAWMODE_VOXELS_WALKABLE) + { + if (g_solid) + rcDebugDrawHeightfieldWalkable(*g_solid, g_cfg.bmin, g_cfg.cs, g_cfg.ch); + } + if (drawMode == DRAWMODE_RAW_CONTOURS) + { + if (g_cset) + rcDebugDrawRawContours(*g_cset, g_cfg.bmin, g_cfg.cs, g_cfg.ch); + } + if (drawMode == DRAWMODE_CONTOURS) + { + if (g_cset) + rcDebugDrawContours(*g_cset, g_cfg.bmin, g_cfg.cs, g_cfg.ch); + } + + glDisable(GL_FOG); + + if (g_mesh) + { + // Agent dimensions. + const float r = agentRadius; + const float h = agentHeight; + float col[4]; + col[0] = 0.6f; col[1] = 0.1f; col[2] = 0.1f; col[3] = 0.75f; + rcDebugDrawCylinderWire(spos[0]-r, spos[1]+0.02f, spos[2]-r, spos[0]+r, spos[1]+h, spos[2]+r, col); + + glColor4ub(0,0,0,196); + glBegin(GL_LINES); + glVertex3f(spos[0], spos[1]-agentMaxClimb, spos[2]); + glVertex3f(spos[0], spos[1]+agentMaxClimb, spos[2]); + glVertex3f(spos[0]-r/2, spos[1]+0.02f, spos[2]); + glVertex3f(spos[0]+r/2, spos[1]+0.02f, spos[2]); + glVertex3f(spos[0], spos[1]+0.02f, spos[2]-r/2); + glVertex3f(spos[0], spos[1]+0.02f, spos[2]+r/2); + glEnd(); + + // Mesh bbox. + col[0] = 1.0f; col[1] = 1.0f; col[2] = 1.0f; col[3] = 0.25f; + rcDebugDrawBoxWire(g_cfg.bmin[0], g_cfg.bmin[1], g_cfg.bmin[2], + g_cfg.bmax[0], g_cfg.bmax[1], g_cfg.bmax[2], col); + } + + // Render GUI + glDisable(GL_DEPTH_TEST); + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + gluOrtho2D(0, width, 0, height); + glMatrixMode(GL_MODELVIEW); + glLoadIdentity(); + + + imguiBeginFrame(); + + mouseOverMenu = false; + + static int propScroll = 0; + if (imguiBeginScrollArea(GENID, "Properties", width - 250 - 10, 10, 250, height-20, &propScroll)) + mouseOverMenu = true; + + if (imguiButton(GENID, curLevel)) + { + showLevels = true; + scanDirectory("meshes", ".obj", fileList); + } + + imguiSeparator(); + + if (g_mesh) + { + if (imguiButton(GENID, "Build")) + { + memset(&g_cfg, 0, sizeof(g_cfg)); + g_cfg.cs = cellSize; + g_cfg.ch = cellHeight; + g_cfg.walkableSlopeAngle = agentMaxSlope; + g_cfg.walkableHeight = (int)ceilf(agentHeight / g_cfg.ch); + g_cfg.walkableClimb = (int)ceilf(agentMaxClimb / g_cfg.ch); + g_cfg.walkableRadius = (int)ceilf(agentRadius / g_cfg.cs); + g_cfg.maxEdgeLen = (int)(edgeMaxLen / cellSize); + g_cfg.maxSimplificationError = edgeMaxError; + g_cfg.minRegionSize = (int)rcSqr(regionMinSize); + g_cfg.mergeRegionSize = (int)rcSqr(regionMergeSize); + g_cfg.maxVertsPerPoly = (int)vertsPerPoly; + + buildNavigation(); + } + } + + imguiSeparator(); + + if (imguiCheck(GENID, "Show Log", showLog)) + showLog = !showLog; + + imguiSeparator(); + imguiLabel(GENID, "Rasterization"); + imguiSlider(GENID, "Cell Size", &cellSize, 0.1f, 1.0f, 0.01f); + imguiSlider(GENID, "Cell Height", &cellHeight, 0.1f, 1.0f, 0.01f); + + if (g_mesh) + { + int gw = 0, gh = 0; + rcCalcGridSize(g_cfg.bmin, g_cfg.bmax, cellSize, &gw, &gh); + char text[64]; + snprintf(text, 64, "Grid %d x %d", gw, gh); + imguiValue(GENID, text); + } + + imguiSeparator(); + imguiLabel(GENID, "Agent"); + imguiSlider(GENID, "Height", &agentHeight, 0.1f, 5.0f, 0.1f); + imguiSlider(GENID, "Ragius", &agentRadius, 0.1f, 5.0f, 0.1f); + imguiSlider(GENID, "Max Climb", &agentMaxClimb, 0.1f, 5.0f, 0.1f); + imguiSlider(GENID, "Max Slope", &agentMaxSlope, 0.0f, 90.0f, 1.0f); + + imguiSeparator(); + imguiLabel(GENID, "Region"); + imguiSlider(GENID, "Min Region Size", ®ionMinSize, 0.0f, 150.0f, 1.0f); + imguiSlider(GENID, "Merged Region Size", ®ionMergeSize, 0.0f, 150.0f, 1.0f); + + imguiSeparator(); + imguiLabel(GENID, "Polygonization"); + imguiSlider(GENID, "Max Edge Length", &edgeMaxLen, 0.0f, 50.0f, 1.0f); + imguiSlider(GENID, "Max Edge Error", &edgeMaxError, 0.1f, 3.0f, 0.1f); + imguiSlider(GENID, "Verts Per Poly", &vertsPerPoly, 3.0f, 12.0f, 1.0f); + + imguiSeparator(); + imguiLabel(GENID, "Draw"); + if (imguiCheck(GENID, "Input Mesh", drawMode == DRAWMODE_MESH)) + drawMode = DRAWMODE_MESH; + if (imguiCheck(GENID, "Navmesh", drawMode == DRAWMODE_POLYMESH)) + drawMode = DRAWMODE_POLYMESH; + if (imguiCheck(GENID, "Navmesh Trans", drawMode == DRAWMODE_POLYMESH_TRANS)) + drawMode = DRAWMODE_POLYMESH_TRANS; + if (imguiCheck(GENID, "Voxels", drawMode == DRAWMODE_VOXELS)) + drawMode = DRAWMODE_VOXELS; + if (imguiCheck(GENID, "Walkable Voxels", drawMode == DRAWMODE_VOXELS_WALKABLE)) + drawMode = DRAWMODE_VOXELS_WALKABLE; + if (imguiCheck(GENID, "Compact", drawMode == DRAWMODE_COMPACT)) + drawMode = DRAWMODE_COMPACT; + if (imguiCheck(GENID, "Compact Distance", drawMode == DRAWMODE_COMPACT_DISTANCE)) + drawMode = DRAWMODE_COMPACT_DISTANCE; + if (imguiCheck(GENID, "Compact Regions", drawMode == DRAWMODE_COMPACT_REGIONS)) + drawMode = DRAWMODE_COMPACT_REGIONS; + if (imguiCheck(GENID, "Raw Contours", drawMode == DRAWMODE_RAW_CONTOURS)) + drawMode = DRAWMODE_RAW_CONTOURS; + if (imguiCheck(GENID, "Contours", drawMode == DRAWMODE_CONTOURS)) + drawMode = DRAWMODE_CONTOURS; + + imguiEndScrollArea(); + + // Log + if (showLog) + { + static int logScroll = 0; + if (imguiBeginScrollArea(GENID, "Log", 10, 10, width - 300, 200, &logScroll)) + mouseOverMenu = true; + for (int i = 0; i < g_log.getMessageCount(); ++i) + imguiLabel(GENID1(i), g_log.getMessageText(i)); + imguiEndScrollArea(); + } + + // Level selection dialog. + if (showLevels) + { + static int scroll = 0; + if (imguiBeginScrollArea(GENID, "Choose Level", width-10-250-10-200, height-10-250, 200, 250, &scroll)) + mouseOverMenu = true; + + int levelToLoad = -1; + for (int i = 0; i < fileList.size; ++i) + { + if (imguiItem(GENID1(i), fileList.files[i])) + levelToLoad = i; + } + + if (levelToLoad != -1) + { + strncpy(curLevel, fileList.files[levelToLoad], sizeof(curLevel)); + curLevel[sizeof(curLevel)-1] = '\0'; + showLevels = false; + + delete g_mesh; + delete g_solid; + delete g_chf; + delete g_cset; + delete g_polyMesh; + delete [] g_triangleFlags; + g_mesh = 0; + g_solid = 0; + g_chf = 0; + g_cset = 0; + g_polyMesh = 0; + g_triangleFlags = 0; + + g_mesh = new rcMeshLoaderObj; + + char path[256]; + strcpy(path, "meshes/"); + strcat(path, curLevel); + + if (!g_mesh->load(path)) + { + printf("Could not load mesh\n"); + delete g_mesh; + g_mesh = 0; + } + + if (g_mesh) + { + rcCalcBounds(g_mesh->getVerts(), g_mesh->getVertCount(), g_cfg.bmin, g_cfg.bmax); + + // Reset camera. + camr = sqrtf(rcSqr(g_cfg.bmax[0]-g_cfg.bmin[0]) + + rcSqr(g_cfg.bmax[1]-g_cfg.bmin[1]) + + rcSqr(g_cfg.bmax[2]-g_cfg.bmin[2])) / 2; + camx = (g_cfg.bmax[0] + g_cfg.bmin[0]) / 2 + camr; + camy = (g_cfg.bmax[1] + g_cfg.bmin[1]) / 2 + camr; + camz = (g_cfg.bmax[2] + g_cfg.bmin[2]) / 2 + camr; + camr *= 3; + rx = 45; + ry = -45; + + glFogf(GL_FOG_START, camr*0.5f); + glFogf(GL_FOG_END, camr*2.5f); + } + + } + + imguiEndScrollArea(); + + } + + imguiEndFrame(); + imguiRender(&drawText); + + g_font.drawText(10.0f, (float)height-20.0f, "W/S/A/D: Move LMB: Rotate RMB: Place character", GLFont::RGBA(255,255,255,128)); + + glEnable(GL_DEPTH_TEST); + SDL_GL_SwapBuffers(); + } + + SDL_Quit(); + + delete g_mesh; + delete g_solid; + delete g_chf; + delete g_cset; + delete g_polyMesh; + delete [] g_triangleFlags; + + return 0; +} diff --git a/Recast/Examples/font.cfnt b/Recast/Examples/font.cfnt new file mode 100644 index 0000000..96a2047 Binary files /dev/null and b/Recast/Examples/font.cfnt differ diff --git a/Recast/Examples/glfont.cpp b/Recast/Examples/glfont.cpp new file mode 100644 index 0000000..cd99e42 --- /dev/null +++ b/Recast/Examples/glfont.cpp @@ -0,0 +1,285 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include "GlFont.h" +#include +#define _USE_MATH_DEFINES +#include +#include +#include + +GLFont::GLFont(int renderVerts) : + m_fd(0), + m_texId(0), + m_verts(0), + m_nverts(0), + m_maxVerts(renderVerts) +{ +} + +GLFont::~GLFont() +{ + if (m_texId) + glDeleteTextures(1, (GLuint*)&m_texId); + unsigned char* data = (unsigned char*)m_fd; + if (data) + free(data); + if (m_verts) + free(m_verts); +} + +bool GLFont::create(const char* fileName) +{ + unsigned char* data = 0; + + FILE* fp = fopen(fileName, "rb"); + if (!fp) + return false; + + // Read cache file + fseek(fp, 0, SEEK_END); + unsigned n = ftell(fp); + fseek(fp, 0, SEEK_SET); + data = (unsigned char*)malloc(n); + fread(data, n, 1, fp); + fclose(fp); + + if (!m_verts) + m_verts = (RenderVertex*)malloc(m_maxVerts*sizeof(RenderVertex)); + + return createFontFromFontData(data); +} + +bool GLFont::createFontFromFontData(unsigned char* data) +{ + if (!data) + { + printf("GLFont::createFontFromFontData: No input data!\n"); + return false; + } + + m_fd = (FontData*)data; + + // Patch kern pointers. + for (int i = 0; i < m_fd->charCount; ++i) + m_fd->glyphs[i].kern = (KerningPair*)((int)m_fd->glyphs[i].kernOffset + data); + + unsigned char* texData = data + m_fd->textureOffset; + + // Create textures + glEnable(GL_TEXTURE_2D); + glGenTextures(1, (GLuint*)&m_texId); + glBindTexture(GL_TEXTURE_2D, m_texId); + + glPixelStorei(GL_UNPACK_ALIGNMENT, 1); + glTexImage2D(GL_TEXTURE_2D, 0, GL_ALPHA, m_fd->texWidth, m_fd->texHeight, 0, + GL_ALPHA, GL_UNSIGNED_BYTE, texData); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); + + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + + return true; +} + +int GLFont::getFontSize() const +{ + return m_fd ? m_fd->fontSize : 0; +} + +int GLFont::getDescender() const +{ + return m_fd ? m_fd->descender : 0; +} + +int GLFont::getAscender() const +{ + return m_fd ? m_fd->ascender : 0; +} + +float GLFont::getLineHeight() const +{ + return m_fd ? m_fd->lineHeight : 0.0f; +} + +float GLFont::getTextLength(const char* text, float size, float tracking) +{ + if (!m_texId) return 0.0f; + if (!m_fd) return 0.0f; + + float scale = size < 0 ? 1 : size / (float)m_fd->fontSize; + float track = scale * m_fd->ascender * tracking / 1000.0f; + + const unsigned char* src = (const unsigned char*)text; + + int prevc = -1; + float len = 0.0f; + float tx = 0.0f; + + for (; *src; ++src) + { + int c = (int)*src - m_fd->charMin; + if (c < 0 || c >= m_fd->charCount) + { + prevc = c; + continue; + } + + CachedGlyph& cg = m_fd->glyphs[c]; + if (prevc > 0 && prevc < m_fd->charCount) + { + CachedGlyph& prevcg = m_fd->glyphs[prevc]; + if (prevcg.nkern != 0) + { + for (int i = 0; i < prevcg.nkern; ++i) + { + if (prevcg.kern[i].c == c) + { + tx += prevcg.kern[i].dx * scale; + break; + } + } + } + } + + len = tx + (cg.ox + cg.w) * scale; + + tx += cg.adv * scale + track; + prevc = c; + } + + return len; +} + +void GLFont::drawText(float tx, float ty, const char* text, + unsigned int col, float size, float tracking) +{ + if (!m_fd) return; + if (!m_texId) return; + if (!m_verts) return; + + float scale = size < 0 ? 1 : size / (float)m_fd->fontSize; + float track = scale * m_fd->ascender * tracking / 1000.0f; + float su = 1.0f / m_fd->texWidth; + float sv = 1.0f / m_fd->texHeight; + + const unsigned char* src = (const unsigned char*)text; + + RenderVertex* v = &m_verts[m_nverts]; + + int prevc = -1; + + for (; *src; ++src) + { + int c = (int)*src - m_fd->charMin; + if (c == '\n') + { + ty -= getLineHeight(); + prevc = -1; + continue; + } + if (c < 0 || c >= m_fd->charCount) + { + prevc = c; + continue; + } + + CachedGlyph& cg = m_fd->glyphs[c]; + if (prevc > 0 && prevc < m_fd->charCount) + { + CachedGlyph& prevcg = m_fd->glyphs[prevc]; + if (prevcg.nkern != 0) + { + for (int i = 0; i < prevcg.nkern; ++i) + { + if (prevcg.kern[i].c == c) + { + tx += prevcg.kern[i].dx * scale; + break; + } + } + } + } + + float x0 = floorf(tx + (cg.ox - 1) * scale + 0.5f); + float y0 = floorf(ty + (cg.oy - 1) * scale + 0.5f); + float x1 = floorf(x0 + (cg.w + 2) * scale + 0.5f); + float y1 = floorf(y0 + (cg.h + 2) * scale + 0.5f); + + float u0 = (cg.tx - 1) * su; + float v0 = (cg.ty - 1) * sv; + float u1 = (cg.tx + cg.w + 1) * su; + float v1 = (cg.ty + cg.h + 1) * sv; + + if (m_nverts+6 > m_maxVerts) break; + + v->set(x0, y0, u0, v0, col); v++; + v->set(x1, y0, u1, v0, col); v++; + v->set(x1, y1, u1, v1, col); v++; + + v->set(x0, y0, u0, v0, col); v++; + v->set(x1, y1, u1, v1, col); v++; + v->set(x0, y1, u0, v1, col); v++; + + m_nverts += 6; + + tx += cg.adv * scale + track; + prevc = c; + } + + render(); +} + +void GLFont::render() +{ + if (!m_fd) return; + if (!m_texId) return; + if (!m_verts) return; + + // Render + glEnable(GL_TEXTURE_2D); + glBindTexture(GL_TEXTURE_2D, m_texId); + glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE); + + glDisableClientState(GL_NORMAL_ARRAY); + glEnableClientState(GL_COLOR_ARRAY); + glEnableClientState(GL_VERTEX_ARRAY); + glEnableClientState(GL_TEXTURE_COORD_ARRAY); + glVertexPointer(2, GL_FLOAT, sizeof(RenderVertex), &m_verts[0].x); + glTexCoordPointer(2, GL_FLOAT, sizeof(RenderVertex), &m_verts[0].u); + glColorPointer(4, GL_UNSIGNED_BYTE, sizeof(RenderVertex), &m_verts[0].col); + + glDrawArrays(GL_TRIANGLES, 0, m_nverts); + m_nverts = 0; + + glDisableClientState(GL_COLOR_ARRAY); + glDisableClientState(GL_VERTEX_ARRAY); + glDisableClientState(GL_TEXTURE_COORD_ARRAY); + glDisable(GL_TEXTURE_2D); +} + +unsigned int GLFont::RGBA(unsigned char r, unsigned char g, unsigned char b, unsigned char a) +{ + return (a<<24) | (b<<16) | (g<<8) | r; +/*#ifdef WIN32 + return (a<<24) | (b<<16) | (g<<8) | r; +#else + return (r<<24) | (g<<16) | (b<<8) | a; +#endif*/ +} diff --git a/Recast/Examples/glfont.h b/Recast/Examples/glfont.h new file mode 100644 index 0000000..4d7a4e9 --- /dev/null +++ b/Recast/Examples/glfont.h @@ -0,0 +1,106 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef GLFONT_H +#define GLFONT_H + +class GLFont +{ +public: + GLFont(int renderVerts = 4096); + ~GLFont(); + + bool create(const char* fileName); + + int getFontSize() const; + int getDescender() const; + int getAscender() const; + float getLineHeight() const; + + float getTextLength(const char* text, float size = -1, float tracking = 0); + void drawText(float x, float y, const char* text, + unsigned int col, float size = -1, float tracking = 0); + + void render(); + + void debugDraw(); + + static unsigned int RGBA(unsigned char r, unsigned char g, unsigned char b, unsigned char a = 255); + +private: + bool createFontFromFontData(unsigned char* fd); + + struct KerningPair + { + inline KerningPair() {} + inline KerningPair(unsigned char c_, float dx_) : dx(dx_), c(c_) {} + inline void Set(unsigned char c_, float dx_) { dx = dx_; c = c_; } + float dx; + unsigned char c, pad[3]; + }; + + struct CachedGlyph + { + inline CachedGlyph() : w(0), h(0), ox(0), oy(0), tx(0), ty(0), adv(0.0f), nkern(0), kern(0) {} + int w, h; + int ox, oy; + int tx, ty; + float adv; + int nkern; + union + { + KerningPair* kern; + int kernOffset; + }; + }; + + struct FontData + { + unsigned int endian; + unsigned int version; + unsigned int dataSize; + unsigned int kernOffset; + unsigned int textureOffset; + int fontSize; + unsigned int texWidth; + unsigned int texHeight; + int numMipmaps; + int ascender; + int descender; + int lineHeight; + int charMin; + int charCount; + CachedGlyph glyphs[1]; + }; + + FontData* m_fd; + unsigned int m_texId; + + struct RenderVertex + { + inline void set(float x_, float y_, float u_, float v_, unsigned int c) { x=x_; y=y_; u=u_; v=v_; col=c; } + float x, y, u, v; + unsigned int col; + }; + RenderVertex* m_verts; + int m_nverts; + const int m_maxVerts; +}; + + +#endif // GLFONT_H diff --git a/Recast/Examples/imgui.cpp b/Recast/Examples/imgui.cpp new file mode 100644 index 0000000..2869452 --- /dev/null +++ b/Recast/Examples/imgui.cpp @@ -0,0 +1,851 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include +#define _USE_MATH_DEFINES +#include +#include "imgui.h" +#include "SDL.h" +#include "SDL_opengl.h" + +#ifdef WIN32 +# define snprintf _snprintf +#endif + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +enum GfxCmdType +{ + GFXCMD_RECT, + GFXCMD_TRIANGLE, + GFXCMD_TEXT, + GFXCMD_SCISSOR, +}; + +struct GfxRect +{ + short x,y,w,h,r; +}; +struct GfxText +{ + short x,y,dir; + const char* text; +}; + +struct GfxCmd +{ + char type; + char flags; + char pad[2]; + unsigned int col; + union + { + GfxRect rect; + GfxText text; + }; +}; + +unsigned int RGBA(unsigned char r, unsigned char g, unsigned char b, unsigned char a) +{ + return (r) | (g << 8) | (b << 16) | (a << 24); +} + +static const unsigned TEXT_POOL_SIZE = 4096; +static char g_textPool[TEXT_POOL_SIZE]; +static unsigned g_textPoolSize = 0; +const char* allocText(const char* text) +{ + unsigned len = strlen(text)+1; + if (g_textPoolSize + len >= TEXT_POOL_SIZE) + return 0; + char* dst = &g_textPool[g_textPoolSize]; + memcpy(dst, text, len); + g_textPoolSize += len; + return dst; +} + +static const unsigned GFXCMD_QUEUE_SIZE = 1024; +static GfxCmd g_gfxCmdQueue[GFXCMD_QUEUE_SIZE]; +static unsigned g_gfxCmdQueueSize = 0; + +void resetGfxCmdQueue() +{ + g_gfxCmdQueueSize = 0; + g_textPoolSize = 0; +} + + +static const unsigned TEMP_COORD_COUNT = 100; +static float g_tempCoords[TEMP_COORD_COUNT*2]; +static float g_tempNormals[TEMP_COORD_COUNT*2]; + +static void drawPolygon(const float* coords, unsigned numCoords, float r, unsigned int col) +{ + if (numCoords > TEMP_COORD_COUNT) numCoords = TEMP_COORD_COUNT; + + for (unsigned i = 0, j = numCoords-1; i < numCoords; j=i++) + { + const float* v0 = &coords[j*2]; + const float* v1 = &coords[i*2]; + float dx = v1[0] - v0[0]; + float dy = v1[1] - v0[1]; + float d = sqrtf(dx*dx+dy*dy); + if (d > 0) + { + d = 1.0f/d; + dx *= d; + dy *= d; + } + g_tempNormals[j*2+0] = dy; + g_tempNormals[j*2+1] = -dx; + } + + for (unsigned i = 0, j = numCoords-1; i < numCoords; j=i++) + { + float dlx0 = g_tempNormals[j*2+0]; + float dly0 = g_tempNormals[j*2+1]; + float dlx1 = g_tempNormals[i*2+0]; + float dly1 = g_tempNormals[i*2+1]; + float dmx = (dlx0 + dlx1) * 0.5f; + float dmy = (dly0 + dly1) * 0.5f; + float dmr2 = dmx*dmx + dmy*dmy; + if (dmr2 > 0.000001f) + { + float scale = 1.0f / dmr2; + if (scale > 10.0f) scale = 10.0f; + dmx *= scale; + dmy *= scale; + } + g_tempCoords[i*2+0] = coords[i*2+0]+dmx*r; + g_tempCoords[i*2+1] = coords[i*2+1]+dmy*r; + } + + unsigned int colTrans = RGBA(col&0xff, (col>>8)&0xff, (col>>16)&0xff, 0); + + glBegin(GL_TRIANGLES); + + glColor4ubv((GLubyte*)&col); + + for (unsigned i = 0, j = numCoords-1; i < numCoords; j=i++) + { + glVertex2fv(&coords[i*2]); + glVertex2fv(&coords[j*2]); + glColor4ubv((GLubyte*)&colTrans); + glVertex2fv(&g_tempCoords[j*2]); + + glVertex2fv(&g_tempCoords[j*2]); + glVertex2fv(&g_tempCoords[i*2]); + + glColor4ubv((GLubyte*)&col); + glVertex2fv(&coords[i*2]); + } + + glColor4ubv((GLubyte*)&col); + for (unsigned i = 2; i < numCoords; ++i) + { + glVertex2fv(&coords[0]); + glVertex2fv(&coords[(i-1)*2]); + glVertex2fv(&coords[i*2]); + } + + glEnd(); +} + +static const int CIRCLE_VERTS = 8*4; +static float g_circleVerts[CIRCLE_VERTS*2]; +static bool g_circleVertsInitialized = false; + +const float* getCircleVerts() +{ + if (!g_circleVertsInitialized) + { + g_circleVertsInitialized = true; + for (unsigned i = 0; i < CIRCLE_VERTS; ++i) + { + float a = (float)i/(float)CIRCLE_VERTS * (float)M_PI*2; + g_circleVerts[i*2+0] = cosf(a); + g_circleVerts[i*2+1] = sinf(a); + } + } + return g_circleVerts; +} + +static void drawRect(float x, float y, float w, float h, float fth, unsigned int col) +{ + float verts[4*2] = + { + x, y, + x+w, y, + x+w, y+h, + x, y+h, + }; + drawPolygon(verts, 4, fth, col); +} + +static void drawEllipse(float x, float y, float w, float h, float fth, unsigned int col) +{ + float verts[CIRCLE_VERTS*2]; + const float* cverts = getCircleVerts(); + float* v = verts; + + for (unsigned i = 0; i < CIRCLE_VERTS; ++i) + { + *v++ = x + cverts[i*2]*w; + *v++ = y + cverts[i*2+1]*h; + } + + drawPolygon(verts, CIRCLE_VERTS, fth, col); +} + +static void drawRoundedRect(float x, float y, float w, float h, float r, float fth, unsigned int col) +{ + const unsigned n = CIRCLE_VERTS/4; + float verts[(n+1)*4*2]; + const float* cverts = getCircleVerts(); + float* v = verts; + + for (unsigned i = 0; i <= n; ++i) + { + *v++ = x+w-r + cverts[i*2]*r; + *v++ = y+h-r + cverts[i*2+1]*r; + } + + for (unsigned i = n; i <= n*2; ++i) + { + *v++ = x+r + cverts[i*2]*r; + *v++ = y+h-r + cverts[i*2+1]*r; + } + + for (unsigned i = n*2; i <= n*3; ++i) + { + *v++ = x+r + cverts[i*2]*r; + *v++ = y+r + cverts[i*2+1]*r; + } + + for (unsigned i = n*3; i < n*4; ++i) + { + *v++ = x+w-r + cverts[i*2]*r; + *v++ = y+r + cverts[i*2+1]*r; + } + *v++ = x+w-r + cverts[0]*r; + *v++ = y+r + cverts[1]*r; + + drawPolygon(verts, (n+1)*4, fth, col); +} + +static void drawLine(float x0, float y0, float x1, float y1, float r, float fth, unsigned int col) +{ + float dx = x1-x0; + float dy = y1-y0; + float d = sqrtf(dx*dx+dy*dy); + if (d > 0.0001f) + { + d = 1.0f/d; + dx *= d; + dy *= d; + } + float t = dx; + dx = dy; + dy = -t; + float verts[4*2]; + r -= fth; + r *= 0.5f; + if (r < 0.01f) r = 0.01f; + dx *= r; + dy *= r; + + verts[0] = x0-dx; + verts[1] = y0-dy; + + verts[2] = x0+dx; + verts[3] = y0+dy; + + verts[4] = x1+dx; + verts[5] = y1+dy; + + verts[6] = x1-dx; + verts[7] = y1-dy; + + drawPolygon(verts, 4, fth, col); +} + + +void renderGfxCmdQueue(void (*drawText)(int x, int y, int dir, const char* text, unsigned int col)) +{ + glDisable(GL_SCISSOR_TEST); + for (unsigned i = 0; i < g_gfxCmdQueueSize; ++i) + { + const GfxCmd& cmd = g_gfxCmdQueue[i]; + if (cmd.type == GFXCMD_RECT) + { + if (cmd.rect.r == 0) + { + drawRect((float)cmd.rect.x+0.5f, (float)cmd.rect.y+0.5f, + (float)cmd.rect.w-1, (float)cmd.rect.h-1, + 1.0f, cmd.col); + } + else + { + drawRoundedRect((float)cmd.rect.x+0.5f, (float)cmd.rect.y+0.5f, + (float)cmd.rect.w-1, (float)cmd.rect.h-1, + (float)cmd.rect.r, 1.0f, cmd.col); + } + } + else if (cmd.type == GFXCMD_TRIANGLE) + { + glColor4ub(cmd.col&0xff, (cmd.col>>8)&0xff, (cmd.col>>16)&0xff, (cmd.col>>24)&0xff); + if (cmd.flags == 1) + { + const float verts[3*2] = + { + (float)cmd.rect.x+0.5f, (float)cmd.rect.y+0.5f, + (float)cmd.rect.x+0.5f+(float)cmd.rect.w-1, (float)cmd.rect.y+0.5f+(float)cmd.rect.h/2-0.5f, + (float)cmd.rect.x+0.5f, (float)cmd.rect.y+0.5f+(float)cmd.rect.h-1, + }; + drawPolygon(verts, 3, 1.0f, cmd.col); + } + if (cmd.flags == 2) + { + const float verts[3*2] = + { + (float)cmd.rect.x+0.5f, (float)cmd.rect.y+(float)cmd.rect.h-1, + (float)cmd.rect.x+0.5f+(float)cmd.rect.w/2-0.5f, (float)cmd.rect.y+0.5f, + (float)cmd.rect.x+0.5f+(float)cmd.rect.w-1, (float)cmd.rect.y+0.5f+(float)cmd.rect.h-1, + }; + drawPolygon(verts, 3, 1.0f, cmd.col); + } + } + else if (cmd.type == GFXCMD_TEXT) + { + drawText(cmd.text.x, cmd.text.y, cmd.text.dir, cmd.text.text, cmd.col); + } + else if (cmd.type == GFXCMD_SCISSOR) + { + if (cmd.flags) + { + glEnable(GL_SCISSOR_TEST); + glScissor(cmd.rect.x, cmd.rect.y, cmd.rect.w, cmd.rect.h); + } + else + { + glDisable(GL_SCISSOR_TEST); + } + } + } + glDisable(GL_SCISSOR_TEST); +} + +void addGfxCmdScissor(int x, int y, int w, int h) +{ + if (g_gfxCmdQueueSize >= GFXCMD_QUEUE_SIZE) + return; + GfxCmd& cmd = g_gfxCmdQueue[g_gfxCmdQueueSize++]; + cmd.type = GFXCMD_SCISSOR; + cmd.flags = x < 0 ? 0 : 1; // on/off flag. + cmd.col = 0; + cmd.rect.x = (short)x; + cmd.rect.y = (short)y; + cmd.rect.w = (short)w; + cmd.rect.h = (short)h; +} + +void addGfxCmdRect(int x, int y, int w, int h, unsigned int color) +{ + if (g_gfxCmdQueueSize >= GFXCMD_QUEUE_SIZE) + return; + GfxCmd& cmd = g_gfxCmdQueue[g_gfxCmdQueueSize++]; + cmd.type = GFXCMD_RECT; + cmd.flags = 0; + cmd.col = color; + cmd.rect.x = (short)x; + cmd.rect.y = (short)y; + cmd.rect.w = (short)w; + cmd.rect.h = (short)h; + cmd.rect.r = 0; +} + +void addGfxCmdRoundedRect(int x, int y, int w, int h, int r, unsigned int color) +{ + if (g_gfxCmdQueueSize >= GFXCMD_QUEUE_SIZE) + return; + GfxCmd& cmd = g_gfxCmdQueue[g_gfxCmdQueueSize++]; + cmd.type = GFXCMD_RECT; + cmd.flags = 0; + cmd.col = color; + cmd.rect.x = (short)x; + cmd.rect.y = (short)y; + cmd.rect.w = (short)w; + cmd.rect.h = (short)h; + cmd.rect.r = (short)r; +} + +void addGfxCmdTriangle(int x, int y, int w, int h, int flags, unsigned int color) +{ + if (g_gfxCmdQueueSize >= GFXCMD_QUEUE_SIZE) + return; + GfxCmd& cmd = g_gfxCmdQueue[g_gfxCmdQueueSize++]; + cmd.type = GFXCMD_TRIANGLE; + cmd.flags = (char)flags; + cmd.col = color; + cmd.rect.x = (short)x; + cmd.rect.y = (short)y; + cmd.rect.w = (short)w; + cmd.rect.h = (short)h; +} + +void addGfxCmdText(int x, int y, int dir, const char* text, unsigned int color) +{ + if (g_gfxCmdQueueSize >= GFXCMD_QUEUE_SIZE) + return; + GfxCmd& cmd = g_gfxCmdQueue[g_gfxCmdQueueSize++]; + cmd.type = GFXCMD_TEXT; + cmd.flags = 0; + cmd.col = color; + cmd.text.x = (short)x; + cmd.text.y = (short)y; + cmd.text.dir = (short)dir; + cmd.text.text = allocText(text); +} + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +struct GuiState +{ + GuiState() : + mbutPressed(false), mbutReleased(false), mbut(false), mx(-1), my(-1), + isHot(false), isActive(false), wentActive(false), + dragX(0), dragY(0), dragOrig(0), + widgetX(0), widgetY(0), widgetW(100), + active(0), hot(0), hotToBe(0) + { + } + + bool mbutPressed, mbutReleased; + bool mbut; + int mx,my; + unsigned int active; + unsigned int hot; + unsigned int hotToBe; + bool isHot; + bool isActive; + bool wentActive; + int dragX, dragY; + float dragOrig; + int widgetX, widgetY, widgetW; +}; + +static GuiState g_state; + +inline bool anyActive() +{ + return g_state.active != 0; +} + +inline bool isActive(unsigned int id) +{ + return g_state.active == id; +} + +inline bool isHot(unsigned int id) +{ + return g_state.hot == id; +} + +inline bool inRect(int x, int y, int w, int h) +{ + return g_state.mx >= x && g_state.mx <= x+w && g_state.my >= y && g_state.my <= y+h; +} + +void clearInput() +{ + g_state.mbutPressed = false; + g_state.mbutReleased = false; +} + +void clearActive(void) +{ + g_state.active = 0; + // mark all UI for this frame as processed + clearInput(); +} + +void setActive(unsigned int id) +{ + g_state.active = id; + g_state.wentActive = true; +} + +void setHot(unsigned int id) +{ + g_state.hotToBe = id; +} + + +bool buttonLogic(unsigned int id, bool over) +{ + bool res = false; + // process down + if (!anyActive()) + { + if (over) + setHot(id); + if (isHot(id) && g_state.mbutPressed) + setActive(id); + } + + // if button is active, then react on left up + if (isActive(id)) + { + g_state.isActive = true; + if (over) + setHot(id); + if (g_state.mbutReleased) + { + if (isHot(id)) + res = true; + clearActive(); + } + } + + if (isHot(id)) + g_state.isHot = true; + + return res; +} + +static void updateInput() +{ + int mx, my; + Uint8 state = SDL_GetMouseState(&mx, &my); + bool mbut = (state & SDL_BUTTON_LMASK) != 0; + SDL_Surface* screen = SDL_GetVideoSurface(); + my = screen->h-1 - my; + + g_state.mx = mx; + g_state.my = my; + g_state.mbutPressed = !g_state.mbut && mbut; + g_state.mbutReleased = g_state.mbut && !mbut; + g_state.mbut = mbut; +} + +void imguiBeginFrame() +{ + updateInput(); + + g_state.hot = g_state.hotToBe; + g_state.hotToBe = 0; + + g_state.wentActive = false; + g_state.isActive = false; + g_state.isHot = false; + + g_state.widgetX = 0; + g_state.widgetY = 0; + g_state.widgetW = 0; + + resetGfxCmdQueue(); +} + +void imguiEndFrame() +{ + clearInput(); +} + +void imguiRender(void (*drawText)(int x, int y, int dir, const char* text, unsigned int col)) +{ + renderGfxCmdQueue(drawText); +} + + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +static const int BUTTON_HEIGHT = 20; +static const int SLIDER_HEIGHT = 20; +static const int SLIDER_MARKER_WIDTH = 10; +static const int CHECK_SIZE = 8; +static const int DEFAULT_SPACING = 4; +static const int TEXT_HEIGHT = 8; +static const int SCROLL_AREA_PADDING = 6; +static const int INTEND_SIZE = 16; +static const int AREA_HEADER = 28; + +static int g_scrollTop = 0; +static int g_scrollBottom = 0; +static int g_scrollRight = 0; +static int g_scrollAreaTop = 0; +static int* g_scrollVal = 0; +static int g_focusTop = 0; +static int g_focusBottom = 0; +static unsigned int g_scrollId = 0; + +bool imguiBeginScrollArea(unsigned int id, const char* name, int x, int y, int w, int h, int* scroll) +{ + g_scrollId = id; + + g_state.widgetX = x + SCROLL_AREA_PADDING; + g_state.widgetY = y+h-AREA_HEADER + (*scroll); + g_state.widgetW = w - SCROLL_AREA_PADDING*4; + g_scrollTop = y-AREA_HEADER+h; + g_scrollBottom = y+SCROLL_AREA_PADDING; + g_scrollRight = x+w - SCROLL_AREA_PADDING*3; + g_scrollVal = scroll; + + g_scrollAreaTop = g_state.widgetY; + + g_focusTop = y-AREA_HEADER; + g_focusBottom = y-AREA_HEADER+h; + + addGfxCmdRoundedRect(x, y, w, h, 6, RGBA(0,0,0,192)); + + addGfxCmdText(x+AREA_HEADER/2, y+h-AREA_HEADER/2-TEXT_HEIGHT/2, 1, name, RGBA(255,255,255,128)); + + addGfxCmdScissor(x+SCROLL_AREA_PADDING, y+SCROLL_AREA_PADDING, w-SCROLL_AREA_PADDING*4, h-AREA_HEADER-SCROLL_AREA_PADDING); + + return inRect(x, y, w, h); +} + +void imguiEndScrollArea() +{ + // Disable scissoring. + addGfxCmdScissor(-1,-1,-1,-1); + + // Draw scroll bar + int x = g_scrollRight+SCROLL_AREA_PADDING/2; + int y = g_scrollBottom; + int w = SCROLL_AREA_PADDING*2; + int h = g_scrollTop - g_scrollBottom; + + int stop = g_scrollAreaTop; + int sbot = g_state.widgetY; + int sh = stop - sbot; // The scrollable area height. + + float barHeight = (float)h/(float)sh; + + if (barHeight < 1) + { + float barY = (float)(y - sbot)/(float)sh; + if (barY < 0) barY = 0; + if (barY > 1) barY = 1; + + // Handle scroll bar logic. + unsigned int hid = g_scrollId; + int hx = x; + int hy = y + (int)(barY*h); + int hw = w; + int hh = (int)(barHeight*h); + + const int range = h - (hh-1); + bool over = inRect(hx, hy, hw, hh); + buttonLogic(hid, over); + if (isActive(hid)) + { + float u = (float)(hy-y) / (float)range; + if (g_state.wentActive) + { + g_state.dragY = g_state.my; + g_state.dragOrig = u; + } + if (g_state.dragY != g_state.my) + { + u = g_state.dragOrig + (g_state.my - g_state.dragY) / (float)range; + if (u < 0) u = 0; + if (u > 1) u = 1; + *g_scrollVal = (int)((1-u) * (sh - h)); + } + } + + // BG + addGfxCmdRoundedRect(x, y, w, h, w/2-1, RGBA(0,0,0,196)); + // Bar + if (isActive(hid)) + addGfxCmdRoundedRect(hx, hy, hw, hh, w/2-1, RGBA(255,196,0,196)); + else + addGfxCmdRoundedRect(hx, hy, hw, hh, w/2-1, isHot(hid) ? RGBA(255,196,0,96) : RGBA(255,255,255,64)); + } +} + +bool imguiButton(unsigned int id, const char* text) +{ + int x = g_state.widgetX; + int y = g_state.widgetY - BUTTON_HEIGHT; + int w = g_state.widgetW; + int h = BUTTON_HEIGHT; + g_state.widgetY -= BUTTON_HEIGHT + DEFAULT_SPACING; + + bool over = inRect(x, y, w, h); + bool res = buttonLogic(id, over); + + addGfxCmdRoundedRect(x, y, w, h, BUTTON_HEIGHT/2-1, RGBA(128,128,128, isActive(id)?196:96)); + addGfxCmdText(x+BUTTON_HEIGHT/2, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, 1, text, isHot(id) ? RGBA(255,196,0,255) : RGBA(255,255,255,200)); + + return res; +} + +bool imguiItem(unsigned int id, const char* text) +{ + int x = g_state.widgetX; + int y = g_state.widgetY - BUTTON_HEIGHT; + int w = g_state.widgetW; + int h = BUTTON_HEIGHT; + g_state.widgetY -= BUTTON_HEIGHT + DEFAULT_SPACING; + + bool over = inRect(x, y, w, h); + bool res = buttonLogic(id, over); + + if (isHot(id)) + addGfxCmdRoundedRect(x, y, w, h, 2, RGBA(255,196,0,isActive(id)?196:96)); + addGfxCmdText(x+BUTTON_HEIGHT/2, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, 1, text, RGBA(255,255,255,200)); + + return res; +} + +bool imguiCheck(unsigned int id, const char* text, bool checked) +{ + int x = g_state.widgetX; + int y = g_state.widgetY - BUTTON_HEIGHT; + int w = g_state.widgetW; + int h = BUTTON_HEIGHT; + g_state.widgetY -= BUTTON_HEIGHT + DEFAULT_SPACING; + + bool over = inRect(x, y, w, h); + bool res = buttonLogic(id, over); + + const int cx = x+BUTTON_HEIGHT/2-CHECK_SIZE/2; + const int cy = y+BUTTON_HEIGHT/2-CHECK_SIZE/2; + addGfxCmdRoundedRect(cx-3, cy-3, CHECK_SIZE+6, CHECK_SIZE+6, 4, RGBA(128,128,128, isActive(id)?196:96)); + if (checked) + addGfxCmdRoundedRect(cx, cy, CHECK_SIZE, CHECK_SIZE, CHECK_SIZE/2-1, RGBA(255,255,255,isActive(id)?255:200)); + + addGfxCmdText(x+BUTTON_HEIGHT, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, 1, text, isHot(id) ? RGBA(255,196,0,255) : RGBA(255,255,255,200)); + + return res; +} + +bool imguiCollapse(unsigned int id, const char* text, bool checked) +{ + int x = g_state.widgetX; + int y = g_state.widgetY - BUTTON_HEIGHT; + int w = g_state.widgetW; + int h = BUTTON_HEIGHT; + g_state.widgetY -= BUTTON_HEIGHT; // + DEFAULT_SPACING; + + const int cx = x+BUTTON_HEIGHT/2-CHECK_SIZE/2; + const int cy = y+BUTTON_HEIGHT/2-CHECK_SIZE/2; + + bool over = inRect(x, y, w, h); + bool res = buttonLogic(id, over); + + if (checked) + addGfxCmdTriangle(cx, cy, CHECK_SIZE, CHECK_SIZE, 1, RGBA(255,255,255,isActive(id)?255:200)); + else + addGfxCmdTriangle(cx, cy, CHECK_SIZE, CHECK_SIZE, 2, RGBA(255,255,255,isActive(id)?255:200)); + + addGfxCmdText(x+BUTTON_HEIGHT, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, 1, text, isHot(id) ? RGBA(255,196,0,255) : RGBA(255,255,255,200)); + + return res; +} + +void imguiLabel(unsigned int /*id*/, const char* text) +{ + int x = g_state.widgetX; + int y = g_state.widgetY - BUTTON_HEIGHT; + g_state.widgetY -= BUTTON_HEIGHT; + addGfxCmdText(x, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, 1, text, RGBA(255,255,255,255)); +} + +void imguiValue(unsigned int /*id*/, const char* text) +{ + const int x = g_state.widgetX; + const int y = g_state.widgetY - BUTTON_HEIGHT; + const int w = g_state.widgetW; + g_state.widgetY -= BUTTON_HEIGHT; + + addGfxCmdText(x+w-BUTTON_HEIGHT/2, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, -1, text, RGBA(255,255,255,200)); +} + +bool imguiSlider(unsigned int id, const char* text, float* val, float vmin, float vmax, float vinc) +{ + int x = g_state.widgetX; + int y = g_state.widgetY - BUTTON_HEIGHT; + int w = g_state.widgetW; + int h = SLIDER_HEIGHT; + g_state.widgetY -= SLIDER_HEIGHT + DEFAULT_SPACING; + + addGfxCmdRoundedRect(x, y, w, h, 4, RGBA(0,0,0,128)); + + const int range = w - SLIDER_MARKER_WIDTH; + + float u = (*val - vmin) / (vmax-vmin); + if (u < 0) u = 0; + if (u > 1) u = 1; + int m = (int)(u * range); + + bool over = inRect(x+m, y, SLIDER_MARKER_WIDTH, SLIDER_HEIGHT); + bool res = buttonLogic(id, over); + bool valChanged = false; + + if (isActive(id)) + { + if (g_state.wentActive) + { + g_state.dragX = g_state.mx; + g_state.dragOrig = u; + } + if (g_state.dragX != g_state.mx) + { + u = g_state.dragOrig + (float)(g_state.mx - g_state.dragX) / (float)range; + if (u < 0) u = 0; + if (u > 1) u = 1; + *val = vmin + u*(vmax-vmin); + *val = floorf(*val / vinc)*vinc; // Snap to vinc + m = (int)(u * range); + valChanged = true; + } + } + + if (isActive(id)) + addGfxCmdRoundedRect(x+m, y, SLIDER_MARKER_WIDTH, SLIDER_HEIGHT, 4, RGBA(255,255,255,255)); + else + addGfxCmdRoundedRect(x+m, y, SLIDER_MARKER_WIDTH, SLIDER_HEIGHT, 4, isHot(id) ? RGBA(255,196,0,128) : RGBA(255,255,255,64)); + + int digits = (int)(ceilf(log10f(vinc))); + char fmt[16]; + snprintf(fmt, 16, "%%.%df", digits >= 0 ? 0 : -digits); + char msg[128]; + snprintf(msg, 128, fmt, *val); + + addGfxCmdText(x+SLIDER_HEIGHT/2, y+SLIDER_HEIGHT/2-TEXT_HEIGHT/2, 1, text, isHot(id) ? RGBA(255,196,0,255) : RGBA(255,255,255,200)); + addGfxCmdText(x+w-SLIDER_HEIGHT/2, y+SLIDER_HEIGHT/2-TEXT_HEIGHT/2, -1, msg, isHot(id) ? RGBA(255,196,0,255) : RGBA(255,255,255,200)); + + return res || valChanged; +} + + +void imguiIndent() +{ + g_state.widgetX += INTEND_SIZE; + g_state.widgetW -= INTEND_SIZE; +} + +void imguiUnindent() +{ + g_state.widgetX -= INTEND_SIZE; + g_state.widgetW += INTEND_SIZE; +} + +void imguiSeparator() +{ + g_state.widgetY -= DEFAULT_SPACING*3; +} \ No newline at end of file diff --git a/Recast/Examples/imgui.h b/Recast/Examples/imgui.h new file mode 100644 index 0000000..16e80e0 --- /dev/null +++ b/Recast/Examples/imgui.h @@ -0,0 +1,45 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef IMGUI_H +#define IMGUI_H + +#define GENID ((__LINE__) << 16) +#define GENID1(x) ((__LINE__) << 16 | (x)) + +void imguiBeginFrame(); +void imguiEndFrame(); +void imguiRender(void (*drawText)(int x, int y, int dir, const char* text, unsigned int col)); + +bool imguiBeginScrollArea(unsigned int id, const char* name, int x, int y, int w, int h, int* scroll); +void imguiEndScrollArea(); + +void imguiIndent(); +void imguiUnindent(); +void imguiSeparator(); + +bool imguiButton(unsigned int id, const char* text); +bool imguiItem(unsigned int id, const char* text); +bool imguiCheck(unsigned int id, const char* text, bool checked); +bool imguiCollapse(unsigned int id, const char* text, bool checked); +void imguiLabel(unsigned int id, const char* text); +void imguiValue(unsigned int id, const char* text); +bool imguiSlider(unsigned int id, const char* text, float* val, float vmin, float vmax, float vinc); + + +#endif // IMGUI_H \ No newline at end of file diff --git a/Recast/Include/Recast.h b/Recast/Include/Recast.h new file mode 100644 index 0000000..064304f --- /dev/null +++ b/Recast/Include/Recast.h @@ -0,0 +1,390 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef RECAST_H +#define RECAST_H + +struct rcConfig +{ + int width, height; // Dimensions of the rasterized heighfield + float cs, ch; // Grid cell size and height. + float bmin[3], bmax[3]; // Grid bounds. + float walkableSlopeAngle; // Maximum walkble slope angle in degrees. + int walkableHeight; // Minimum height where the agent can still walk. + int walkableClimb; // Maximum height between grid cells the agent can climb. + int walkableRadius; // Radius of the agent in cells. + int maxEdgeLen; // Maximum contour edge length in cells. + float maxSimplificationError; // Maximum distance error from contour to cells. + int minRegionSize; // Minimum regions size. Smaller regions will be deleted. + int mergeRegionSize; // Minimum regions size. Smaller regions will be merged. + int maxVertsPerPoly; // Max number of vertices per polygon. +}; + +struct rcSpan +{ + unsigned int smin : 15; // Span min height. + unsigned int smax : 15; // Span max height. + unsigned int flags : 2; // Span flags. + rcSpan* next; +}; + +struct rcSpanPool +{ + rcSpanPool* next; + rcSpan items[1]; +}; + +struct rcHeightfield +{ + inline rcHeightfield() : width(0), height(0), spans(0), pools(0), freelist(0) {} + inline ~rcHeightfield() + { + delete [] spans; + while (pools) + { + rcSpanPool* next = pools->next; + delete [] reinterpret_cast(pools); + pools = next; + } + } + int width, height; + rcSpan** spans; + rcSpanPool* pools; + rcSpan* freelist; +}; + +struct rcCompactCell +{ + unsigned int index : 24; + unsigned int count : 8; +}; + +struct rcCompactSpan +{ + unsigned short y; + unsigned short reg; + unsigned short dist; + unsigned short con; + unsigned char h; + unsigned char flags; +}; + +struct rcCompactHeightfield +{ + inline rcCompactHeightfield() : cells(0), spans(0), maxDistance(0), maxRegions(0) {} + inline ~rcCompactHeightfield() { delete [] cells; delete [] spans; } + int width, height; + int spanCount; + int walkableHeight, walkableClimb; + unsigned short maxDistance; + unsigned short maxRegions; + float minx, miny, minz; + float maxx, maxy, maxz; + float cs, ch; + rcCompactCell* cells; + rcCompactSpan* spans; +}; + +struct rcContour +{ + inline rcContour() : verts(0), nverts(0), rverts(0), nrverts(0), cx(0), cy(0), cz(0) { } + inline ~rcContour() { delete [] verts; delete [] rverts; } + int* verts; + int nverts; + int* rverts; + int nrverts; + int cx,cy,cz; + unsigned short reg; +}; + +struct rcContourSet +{ + inline rcContourSet() : conts(0), nconts(0) {} + inline ~rcContourSet() { delete [] conts; } + rcContour* conts; + int nconts; +}; + +struct rcPolyMesh +{ + inline rcPolyMesh() : verts(0), polys(0), nverts(0), npolys(0), nvp(3) {} + inline ~rcPolyMesh() { delete [] verts; delete [] polys; } + unsigned short* verts; + unsigned short* polys; + int nverts; + int npolys; + int nvp; +}; + +class rcIntArray +{ + int* m_data; + int m_size, m_cap; +public: + inline rcIntArray() : m_data(0), m_size(0), m_cap(0) {} + inline rcIntArray(int n) : m_data(0), m_size(0), m_cap(n) { m_data = new int[n]; } + inline ~rcIntArray() { delete [] m_data; } + void resize(int n); + inline void push(int item) { resize(m_size+1); m_data[m_size-1] = item; } + inline int pop() { if (m_size > 0) m_size--; return m_data[m_size]; } + inline const int& operator[](int i) const { return m_data[i]; } + inline int& operator[](int i) { return m_data[i]; } + inline int size() const { return m_size; } +}; + +enum rcSpanFlags +{ + RC_WALKABLE = 0x01, + RC_REACHABLE = 0x02, +}; + +// Comppact span neighbour helpers. +inline int rcGetCon(const rcCompactSpan& s, int dir) +{ + return (s.con >> (dir*4)) & 0xf; +} + +inline int rcGetDirOffsetX(int dir) +{ + const int offset[4] = { -1, 0, 1, 0, }; + return offset[dir&0x03]; +} + +inline int rcGetDirOffsetY(int dir) +{ + const int offset[4] = { 0, 1, 0, -1 }; + return offset[dir&0x03]; +} + +// Common helper functions +template inline void rcSwap(T& a, T& b) { T t = a; a = b; b = t; } +template inline T rcMin(T a, T b) { return a < b ? a : b; } +template inline T rcMax(T a, T b) { return a > b ? a : b; } +template inline T rcAbs(T a) { return a < 0 ? -a : a; } +template inline T rcSqr(T a) { return a*a; } +template inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } + +// Common vector helper functions. +inline void vcross(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; + dest[1] = v1[2]*v2[0] - v1[0]*v2[2]; + dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; +} + +inline float vdot(const float* v1, const float* v2) +{ + return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; +} + +inline void vsub(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[0]-v2[0]; + dest[1] = v1[1]-v2[1]; + dest[2] = v1[2]-v2[2]; +} + +inline void vmin(float* mn, const float* v) +{ + mn[0] = rcMin(mn[0], v[0]); + mn[1] = rcMin(mn[1], v[1]); + mn[2] = rcMin(mn[2], v[2]); +} + +inline void vmax(float* mx, const float* v) +{ + mx[0] = rcMax(mx[0], v[0]); + mx[1] = rcMax(mx[1], v[1]); + mx[2] = rcMax(mx[2], v[2]); +} + +inline void vcopy(float* dest, const float* v) +{ + dest[0] = v[0]; + dest[1] = v[1]; + dest[2] = v[2]; +} + +inline float vdistSqr(const float* v1, const float* v2) +{ + float dx = v2[0] - v1[0]; + float dy = v2[1] - v1[1]; + float dz = v2[2] - v1[2]; + return dx*dx + dy*dy + dz*dz; +} + +inline void vnormalize(float* v) +{ + float d = 1.0f / sqrtf(rcSqr(v[0]) + rcSqr(v[1]) + rcSqr(v[2])); + v[0] *= d; + v[1] *= d; + v[2] *= d; +} + +inline bool vequal(const float* p0, const float* p1) +{ + static const float thr = rcSqr(1.0f/16384.0f); + const float d = vdistSqr(p0, p1); + return d < thr; +} + + +// Calculated bounding box of array of vertices. +// Params: +// verts - (in) array of vertices +// nv - (in) vertex count +// bmin, bmax - (out) bounding box +void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax); + +// Calculates grid size based on bounding box and grid cell size. +// Params: +// bmin, bmax - (in) bounding box +// cs - (in) grid cell size +// w - (out) grid width +// h - (out) grid height +void rcCalcGridSize(float* bmin, float* bmax, float cs, int* w, int* h); + +// Creates and initializes new heightfield. +// Params: +// hf - (in/out) heightfield to initialize. +// width - (in) width of the heightfield. +// height - (in) height of the heightfield. +bool rcCreateHeightfield(rcHeightfield& hf, int width, int height); + +// Sets the WALKABLE flag for every triangle whose slope is below +// the maximun walkable slope angle. +// Params: +// walkableSlopeAngle - (in) maximun slope angle in degrees. +// tris - (in) array of triangle vertex indices +// norms - (in) array of triangle normals +// nt - (in) triangle count +// flags - (out) array of triangle flags +void rcMarkWalkableTriangles(const float walkableSlopeAngle, + const int* tris, const float* norms, int nt, + unsigned char* flags); + +// Rasterizes the triangles into heightfield spans. +// Params: +// bmin, bmax - (in) bounding box of the heightfield +// cs - (in) grid cell size +// ch - (in) grid cell height +// verts - (in) array of vertices +// nv - (in) vertex count +// tris - (in) array of triangle vertex indices +// norms - (in) array of triangle normals +// flags - (in) array of triangle flags (uses WALKABLE) +// nt - (in) triangle count +// solid - (in) heighfield where the triangles are rasterized +void rcRasterizeTriangles(const float* bmin, const float* bmax, + float cs, float ch, + const float* verts, int nv, + const int* tris, const unsigned char* flags, int nt, + rcHeightfield& solid); + +void rcFilterWalkableBorderSpans(const int walkableHeight, + const int walkableClimb, + rcHeightfield& solid); + +// Removes WALKABLE flag from all spans which have smaller than +// 'walkableHeight' clearane above them. +// Params: +// walkableHeight - (in) minimum height where the agent can still walk +// solid - (in/out) heightfield describing the solid space +void rcFilterWalkableLowHeightSpans(int walkableHeight, + rcHeightfield& solid); + +// Marks spans which are reachable from any of the topmost spans. +// Params: +// walkableHeight - (in) minimum height where the agent can still walk +// walkableClimb - (in) maximum height between grid cells the agent can climb +// solid - (in/out) heightfield describing the solid space +// Returns false if operation ran out of memory. +bool rcMarkReachableSpans(const int walkableHeight, + const int walkableClimb, + rcHeightfield& solid); + +// Builds compact representation of the heightfield. +// Params: +// bmin, bmax - (in) bounding box of the heightfield +// cs - (in) grid cell size +// ch - (in) grid cell height +// walkableHeight - (in) minimum height where the agent can still walk +// walkableClimb - (in) maximum height between grid cells the agent can climb +// hf - (in) heightfield to be compacted +// chf - (out) compact heightfield representing the open space. +// Returns false if operation ran out of memory. +bool rcBuildCompactHeightfield(const float* bmin, const float* bmax, + const float cs, const float ch, + const int walkableHeight, const int walkableClimb, + unsigned char flags, + rcHeightfield& hf, + rcCompactHeightfield& chf); + +// Builds distance field and stores it into the combat heightfield. +// Params: +// chf - (in/out) compact heightfield representing the open space. +// Returns false if operation ran out of memory. +bool rcBuildDistanceField(rcCompactHeightfield& chf); + +// Divides the walkable heighfied into simple regions. +// Each region has only one contour and no overlaps. +// The regions are stored in the compact heightfield 'reg' field. +// The regions will be shrinked by the radius of the agent. +// The process sometimes creates small regions. The parameter +// 'minRegionSize' specifies the smallest allowed regions size. +// If the area of a regions is smaller than allowed, the regions is +// removed or merged to neighbour region. +// Params: +// chf - (in/out) compact heightfield representing the open space. +// walkableRadius - (in) the radius of the agent. +// minRegionSize - (in) the smallest allowed regions size. +// maxMergeRegionSize - (in) the largest allowed regions size which can be merged. +// Returns false if operation ran out of memory. +bool rcBuildRegions(rcCompactHeightfield& chf, + int walkableRadius, int minRegionSize, int mergeRegionSize); + +// Builds simplified contours from the regions outlines. +// Params: +// chf - (in) compact heightfield which has regions set. +// maxError - (in) maximum allowed distance between simplified countour and cells. +// maxEdgeLen - (in) maximum allowed contour edge length in cells. +// cset - (out) Resulting contour set. +// Returns false if operation ran out of memory. +bool rcBuildContours(rcCompactHeightfield& chf, + float maxError, int maxEdgeLen, + rcContourSet& cset); + +// Builds connected convex polygon mesh from contour polygons. +// Params: +// cset - (in) contour set. +// mesh - (out) poly mesh. +// nvp - (int) maximum number of vertices per polygon. +// Returns false if operation ran out of memory. +bool rcBuildPolyMesh(rcContourSet& cset, rcPolyMesh& mesh, int nvp); + + +bool rcBuildNavMesh(const rcConfig& cfg, + const float* verts, const int nverts, + const int* tris, const unsigned char* tflags, const int ntris, + rcHeightfield& solid, + rcCompactHeightfield& chf, + rcContourSet& cset, + rcPolyMesh& polyMesh); + + +#endif // RECAST_H diff --git a/Recast/Include/RecastDebugDraw.h b/Recast/Include/RecastDebugDraw.h new file mode 100644 index 0000000..31d6099 --- /dev/null +++ b/Recast/Include/RecastDebugDraw.h @@ -0,0 +1,59 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef RECAST_DEBUGDRAW_H +#define RECAST_DEBUGDRAW_H + +inline int bit(int a, int b) +{ + return (a & (1 << b)) >> b; +} + +inline void intToCol(int i, float* col) +{ + int r = bit(i, 0) + bit(i, 3) * 2 + 1; + int g = bit(i, 1) + bit(i, 4) * 2 + 1; + int b = bit(i, 2) + bit(i, 5) * 2 + 1; + col[0] = 1 - r*63.0f/255.0f; + col[1] = 1 - g*63.0f/255.0f; + col[2] = 1 - b*63.0f/255.0f; +} + +void rcDebugDrawHeightfieldSolid(const struct rcHeightfield& hf, + const float* orig, float cs, float ch); + +void rcDebugDrawHeightfieldWalkable(const struct rcHeightfield& hf, + const float* orig, float cs, float ch); + +void rcDebugDrawMesh(const class rcMeshLoaderObj& mesh, const unsigned char* flags); + +void rcDebugDrawCompactHeightfieldSolid(const struct rcCompactHeightfield& chf); +void rcDebugDrawCompactHeightfieldRegions(const struct rcCompactHeightfield& chf); +void rcDebugDrawCompactHeightfieldDistance(const struct rcCompactHeightfield& chf); + +void rcDebugDrawRawContours(const struct rcContourSet& cset, const float* orig, float cs, float ch); +void rcDebugDrawContours(const struct rcContourSet& cset, const float* orig, float cs, float ch); +void rcDebugDrawPolyMesh(const struct rcPolyMesh& mesh, const float* orig, float cs, float ch); + +void rcDebugDrawCylinderWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col); +void rcDebugDrawBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col); +void rcDebugDrawBox(float minx, float miny, float minz, float maxx, float maxy, float maxz, + const float* col1, const float* col2); + + +#endif // RECAST_DEBUGDRAW_H \ No newline at end of file diff --git a/Recast/Include/RecastLog.h b/Recast/Include/RecastLog.h new file mode 100644 index 0000000..8dc432d --- /dev/null +++ b/Recast/Include/RecastLog.h @@ -0,0 +1,53 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#ifndef RECAST_LOG_H +#define RECAST_LOG_H + +enum rcLogCategory +{ + RC_LOG_PROGRESS = 1, + RC_LOG_WARNING, + RC_LOG_ERROR, +}; + +class rcLog +{ +public: + rcLog(); + ~rcLog(); + + void log(rcLogCategory category, const char* format, ...); + inline void clear() { m_messageCount = 0; m_textPoolSize = 0; } + inline int getMessageCount() const { return m_messageCount; } + inline char getMessageType(int i) const { return *m_messages[i]; } + inline const char* getMessageText(int i) const { return m_messages[i]+1; } + +private: + static const int MAX_MESSAGES = 1000; + const char* m_messages[MAX_MESSAGES]; + int m_messageCount; + static const int TEXT_POOL_SIZE = 8000; + char m_textPool[TEXT_POOL_SIZE]; + int m_textPoolSize; +}; + +void rcSetLog(rcLog* log); +rcLog* rcGetLog(); + +#endif // RECAST_LOG_H diff --git a/Recast/Include/RecastTimer.h b/Recast/Include/RecastTimer.h new file mode 100644 index 0000000..b065d6f --- /dev/null +++ b/Recast/Include/RecastTimer.h @@ -0,0 +1,38 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// +#ifndef RECAST_TIMER_H +#define RECAST_TIMER_H + +#ifdef WIN32 + +//#include +typedef __int64 rcTimeVal; +rcTimeVal rcGetPerformanceTimer(); +int rcGetDeltaTimeUsec(rcTimeVal start, rcTimeVal end); + +#else + +// OSX +#include +typedef uint64_t rcTimeVal; +rcTimeVal rcGetPerformanceTimer(); +int rcGetDeltaTimeUsec(rcTimeVal start, rcTimeVal end); + +#endif + +#endif // RECAST_TIMER_H diff --git a/Recast/License.txt b/Recast/License.txt new file mode 100644 index 0000000..c259ddf --- /dev/null +++ b/Recast/License.txt @@ -0,0 +1,18 @@ +Copyright (c) 2009 Mikko Mononen memon@inside.org + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. + +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not +claim that you wrote the original software. If you use this software +in a product, an acknowledgment in the product documentation would be +appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be +misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. + diff --git a/Recast/Readme.txt b/Recast/Readme.txt new file mode 100644 index 0000000..b29fe89 --- /dev/null +++ b/Recast/Readme.txt @@ -0,0 +1,13 @@ +Detour Version 1.0 + +Welcome to Detour! + +Detour is a navigation system for games. The system comes with two parts: 1) Automatic preprocess which generates navmesh automatically from a polygon soup and, 2) runtime library which allows to do spatic queries and pathfinding on the navmesh. + +The project files with this distribution with with Microsoft Visual C++ 2008 (you can download it for free) and XCode 3.1. + +You can find examples how to use the preprocess and runtime on the Examples directory. + + +Mikko Mononen +memon@inside.org diff --git a/Recast/Source/Recast.cpp b/Recast/Source/Recast.cpp new file mode 100644 index 0000000..c5bada5 --- /dev/null +++ b/Recast/Source/Recast.cpp @@ -0,0 +1,302 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include +#define _USE_MATH_DEFINES +#include +#include +#include +#include +#include "Recast.h" +#include "RecastLog.h" +#include "RecastTimer.h" + + +void rcIntArray::resize(int n) +{ + if (n > m_cap) + { + if (!m_cap) m_cap = 8; + while (m_cap < n) m_cap *= 2; + int* newData = new int[m_cap]; + if (m_size && newData) memcpy(newData, m_data, m_size*sizeof(int)); + delete [] m_data; + m_data = newData; + } + m_size = n; +} + +void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax) +{ + // Calculate bounding box. + vcopy(bmin, verts); + vcopy(bmax, verts); + for (int i = 1; i < nv; ++i) + { + const float* v = &verts[i*3]; + vmin(bmin, v); + vmax(bmax, v); + } +} + +void rcCalcGridSize(float* bmin, float* bmax, float cs, int* w, int* h) +{ + *w = (int)((bmax[0] - bmin[0])/cs+0.5f); + *h = (int)((bmax[2] - bmin[2])/cs+0.5f); +} + +bool rcCreateHeightfield(rcHeightfield& hf, int width, int height) +{ + hf.width = width; + hf.height = height; + hf.spans = new rcSpan*[hf.width*hf.height]; + if (!hf.spans) + return false; + memset(hf.spans, 0, sizeof(rcSpan*)*hf.width*hf.height); + return true; +} + +void rcMarkWalkableTriangles(const float walkableSlopeAngle, + const int* tris, const float* norms, int nt, + unsigned char* flags) +{ + const float walkableThr = cosf(walkableSlopeAngle/180.0f*(float)M_PI); + + for (int i = 0; i < nt; ++i) + { + // Check if the face is walkable. + if (norms[i*3+1] > walkableThr) + flags[i] |= RC_WALKABLE; + } +} + +static int getSpanCount(unsigned char flags, rcHeightfield& hf) +{ + const int w = hf.width; + const int h = hf.height; + int spanCount = 0; + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + for (rcSpan* s = hf.spans[x + y*w]; s; s = s->next) + { + if (s->flags == flags) + spanCount++; + } + } + } + return spanCount; +} + +inline void setCon(rcCompactSpan& s, int dir, int i) +{ + s.con &= ~(0xf << (dir*4)); + s.con |= (i&0xf) << (dir*4); +} + +bool rcBuildCompactHeightfield(const float* bmin, const float* bmax, + const float cs, const float ch, + const int walkableHeight, const int walkableClimb, + unsigned char flags, rcHeightfield& hf, + rcCompactHeightfield& chf) +{ + rcTimeVal startTime = rcGetPerformanceTimer(); + + const int w = hf.width; + const int h = hf.height; + const int spanCount = getSpanCount(flags, hf); + + // Fill in header. + chf.width = w; + chf.height = h; + chf.spanCount = spanCount; + chf.walkableHeight = walkableHeight; + chf.walkableClimb = walkableClimb; + chf.maxRegions = 0; + chf.minx = bmin[0]; + chf.miny = bmin[1]; + chf.minz = bmin[2]; + chf.maxx = bmax[0]; + chf.maxy = bmax[1] + walkableHeight*ch; + chf.maxz = bmax[2]; + chf.cs = cs; + chf.ch = ch; + chf.cells = new rcCompactCell[w*h]; + if (!chf.cells) + { + if (rcGetLog()) + rcGetLog()->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 = new rcCompactSpan[spanCount]; + if (!chf.spans) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.spans' (%d)", spanCount); + return false; + } + memset(chf.spans, 0, sizeof(rcCompactSpan)*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->flags == flags) + { + const int bot = (int)s->smax; + const int top = (int)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); + idx++; + c.count++; + } + s = s->next; + } + } + } + + // Find neighbour connections. + 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) + { + setCon(s, dir, 0xf); + 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. + setCon(s, dir, k - (int)nc.index); + break; + } + } + } + } + } + } + + rcTimeVal endTime = rcGetPerformanceTimer(); + + if (rcGetLog()) + rcGetLog()->log(RC_LOG_PROGRESS, "Build compact: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f); + + return true; +} + +bool rcBuildNavMesh(const rcConfig& cfg, + const float* verts, const int nverts, + const int* tris, const unsigned char* tflags, const int ntris, + rcHeightfield& solid, + rcCompactHeightfield& chf, + rcContourSet& cset, + rcPolyMesh& polyMesh) +{ + if (!rcCreateHeightfield(solid, cfg.width, cfg.height)) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildNavMesh: Could not create solid heightfield."); + return false; + } + + rcRasterizeTriangles(cfg.bmin, cfg.bmax, cfg.cs, cfg.ch, + verts, nverts, tris, tflags, ntris, solid); + + rcFilterWalkableBorderSpans(cfg.walkableHeight, cfg.walkableClimb, solid); + + rcFilterWalkableLowHeightSpans(cfg.walkableHeight, solid); + + if (!rcMarkReachableSpans(cfg.walkableHeight, cfg.walkableClimb, solid)) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildNavMesh: Could not build navigable heightfield."); + return false; + } + + if (!rcBuildCompactHeightfield(cfg.bmin, cfg.bmax, cfg.cs, cfg.ch, + cfg.walkableHeight, cfg.walkableClimb, + RC_WALKABLE|RC_REACHABLE, solid, chf)) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildNavMesh: Could not build compact data."); + return false; + } + + if (!rcBuildDistanceField(chf)) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildNavMesh: Could not build distance fields."); + return false; + } + + if (!rcBuildRegions(chf, cfg.walkableRadius, cfg.minRegionSize, cfg.mergeRegionSize)) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildNavMesh: Could not build regions."); + return false; + } + + if (!rcBuildContours(chf, cfg.maxSimplificationError, cfg.maxEdgeLen, cset)) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildNavMesh: Could not create contours."); + return false; + } + + if (!rcBuildPolyMesh(cset, polyMesh, cfg.maxVertsPerPoly)) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildNavMesh: Could not triangulate contours."); + return false; + } + + return true; +} diff --git a/Recast/Source/RecastContour.cpp b/Recast/Source/RecastContour.cpp new file mode 100644 index 0000000..67112bb --- /dev/null +++ b/Recast/Source/RecastContour.cpp @@ -0,0 +1,665 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include +#include +#include +#include "Recast.h" +#include "RecastLog.h" +#include "RecastTimer.h" + + +static int getCornerHeight(int x, int y, int i, int dir, + const rcCompactHeightfield& chf) +{ + const rcCompactSpan& s = chf.spans[i]; + int ch = (int)s.y; + int dirp = (dir+1) & 0x3; + if (rcGetCon(s, dir) != 0xf) + { + 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]; + ch = rcMax(ch, (int)as.y); + if (rcGetCon(as, dirp) != 0xf) + { + const int ax2 = ax + rcGetDirOffsetX(dirp); + const int ay2 = ay + rcGetDirOffsetY(dirp); + const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dirp); + const rcCompactSpan& as2 = chf.spans[ai2]; + ch = rcMax(ch, (int)as2.y); + } + } + if (rcGetCon(s, dirp) != 0xf) + { + const int ax = x + rcGetDirOffsetX(dirp); + const int ay = y + rcGetDirOffsetY(dirp); + const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dirp); + const rcCompactSpan& as = chf.spans[ai]; + ch = rcMax(ch, (int)as.y); + if (rcGetCon(as, dir) != 0xf) + { + const int ax2 = ax + rcGetDirOffsetX(dir); + const int ay2 = ay + rcGetDirOffsetY(dir); + const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dir); + const rcCompactSpan& as2 = chf.spans[ai2]; + ch = rcMax(ch, (int)as2.y); + } + } + + return ch; +} + +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; + + int iter = 0; + while (++iter < 40000) + { + if (flags[i] & (1 << dir)) + { + // Choose the edge corner + int px = x; + int py = getCornerHeight(x, y, i, dir, chf); + 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) != 0xf) + { + 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]; + r = (int)as.reg; + } + + 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) != 0xf) + { + 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 float distancePtSeg(int x, int y, int z, + int px, int py, int pz, + int qx, int qy, int qz) +{ + float pqx = (float)(qx - px); + float pqy = (float)(qy - py); + float pqz = (float)(qz - pz); + float dx = (float)(x - px); + float dy = (float)(y - py); + float dz = (float)(z - pz); + float d = pqx*pqx + pqy*pqy + pqz*pqz; + float t = pqx*dx + pqy*dy + pqz*dz; + if (d > 0) + t /= d; + if (t < 0) + t = 0; + else if (t > 1) + t = 1; + + dx = px + t*pqx - x; + dy = py + t*pqy - y; + dz = pz + t*pqz - z; + + return dx*dx + dy*dy + dz*dz; +} + +static void simplifyContour(rcIntArray& points, rcIntArray& simplified, float maxError, int maxEdgeLen) +{ + // Add initial points. + bool noConnections = true; + for (int i = 0; i < points.size(); i += 4) + { + if (points[i+3] != 0) + { + noConnections = false; + break; + } + } + + if (noConnections) + { + // 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); + } + else + { + // 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; + if (points[i*4+3] != points[ii*4+3]) + { + simplified.push(points[i*4+0]); + simplified.push(points[i*4+1]); + simplified.push(points[i*4+2]); + simplified.push(i); + } + } + } + + // 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 ay = simplified[i*4+1]; + int az = simplified[i*4+2]; + int ai = simplified[i*4+3]; + + int bx = simplified[ii*4+0]; + int by = simplified[ii*4+1]; + 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 = (ai+1) % pn; + + // Tesselate only outer edges. + if (points[ci*4+3] == 0) + { + while (ci != bi) + { + float d = distancePtSeg(points[ci*4+0], points[ci*4+1]/4, points[ci*4+2], + ax, ay/4, az, bx, by/4, bz); + if (d > maxd) + { + maxd = d; + maxi = ci; + } + ci = (ci+1) % 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); + 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) + { + 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. + int maxi = -1; + int ci = (ai+1) % pn; + + // Tesselate only outer edges. + if (points[ci*4+3] == 0) + { + int dx = bx - ax; + int dz = bz - az; + if (dx*dx + dz*dz > maxEdgeLen*maxEdgeLen) + { + int n = bi < ai ? (bi+pn - ai) : (bi - ai); + maxi = (ai + n/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); + 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) + { + int ai = (simplified[i*4+3]+1) % pn; + simplified[i*4+3] = points[ai*4+3]; + } + +} + +static void removeDegenerateSegments(rcIntArray& simplified) +{ + // Remove adjacent vertices which are equal on xz-plane, + // or else the triangulator will get confused. + for (int i = 0; i < simplified.size()/4; ++i) + { + int ni = i+1; + if (ni >= (simplified.size()/4)) + ni = 0; + + if (simplified[i*4+0] == simplified[ni*4+0] && + simplified[i*4+2] == simplified[ni*4+2]) + { + // 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.pop(); + } + } +} + +static int calcAreaOfPolygon2D(const int* verts, const int nverts) +{ + int area = 0; + for (int i = 0, j = nverts-1; i < nverts; j=i++) + { + const int* vi = &verts[i*4]; + const int* vj = &verts[j*4]; + area += vi[0] * vj[2] - vj[0] * vi[2]; + } + return (area+1) / 2; +} + +static void getClosestIndices(const int* vertsa, const int nvertsa, + const int* vertsb, const int nvertsb, + int& ia, int& ib) +{ + int closestDist = 0xfffffff; + for (int i = 0; i < nvertsa; ++i) + { + const int* va = &vertsa[i*4]; + for (int j = 0; j < nvertsb; ++j) + { + const int* vb = &vertsb[j*4]; + const int dx = vb[0] - va[0]; + const int dz = vb[2] - va[2]; + const int d = dx*dx + dz*dz; + if (d < closestDist) + { + ia = i; + ib = j; + closestDist = d; + } + } + } +} + +static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib) +{ + const int maxVerts = ca.nverts + cb.nverts + 2; + int* verts = new int[maxVerts*4]; + if (!verts) + return false; + + int nv = 0; + + // Copy contour A. + for (int i = 0; i <= ca.nverts; ++i) + { + int* dst = &verts[nv*4]; + const int* src = &ca.verts[((ia+i)%ca.nverts)*4]; + dst[0] = src[0]; + dst[1] = src[1]; + dst[2] = src[2]; + dst[3] = src[3]; + nv++; + } + + // Copy contour B + for (int i = 0; i <= cb.nverts; ++i) + { + int* dst = &verts[nv*4]; + const int* src = &cb.verts[((ib+i)%cb.nverts)*4]; + dst[0] = src[0]; + dst[1] = src[1]; + dst[2] = src[2]; + dst[3] = src[3]; + nv++; + } + + delete [] ca.verts; + ca.verts = verts; + ca.nverts = nv; + + delete [] cb.verts; + cb.verts = 0; + cb.nverts = 0; + + return true; +} + +bool rcBuildContours(rcCompactHeightfield& chf, + float maxError, int maxEdgeLen, + rcContourSet& cset) +{ + const int w = chf.width; + const int h = chf.height; + + rcTimeVal startTime = rcGetPerformanceTimer(); + + const int maxContours = chf.maxRegions*2; + cset.conts = new rcContour[maxContours]; + if (!cset.conts) + return false; + cset.nconts = 0; + + unsigned char* flags = new unsigned char[chf.spanCount]; + if (!flags) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags'."); + return false; + } + + rcTimeVal boundaryStartTime = rcGetPerformanceTimer(); + + // Mark boundaries. + 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 char res = 0; + const rcCompactSpan& s = chf.spans[i]; + if (s.reg == 0) + { + flags[i] = 0; + continue; + } + for (int dir = 0; dir < 4; ++dir) + { + unsigned short r = 0; + if (rcGetCon(s, dir) != 0xf) + { + 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 rcCompactSpan& as = chf.spans[ai]; + r = as.reg; + } + if (r == s.reg) + res |= (1 << dir); + } + flags[i] = res ^ 0xf; // Inverse, mark non connected edges. + } + } + } + + rcTimeVal boundaryEndTime = rcGetPerformanceTimer(); + + rcTimeVal contourStartTime = rcGetPerformanceTimer(); + + rcIntArray verts(256); + rcIntArray simplified(64); + + 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) + { + if (flags[i] == 0 || flags[i] == 0xf) + { + flags[i] = 0; + continue; + } + + verts.resize(0); + simplified.resize(0); + walkContour(x, y, i, chf, flags, verts); + simplifyContour(verts, simplified, maxError, maxEdgeLen); + removeDegenerateSegments(simplified); + + // Store region->contour remap info. + unsigned short reg = chf.spans[i].reg; + // Create contour. + if (simplified.size()/4 >= 3) + { + if (cset.nconts >= maxContours) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildContours: Too many contours %d, max %d.", cset.nconts, maxContours); + return false; + } + + rcContour* cont = &cset.conts[cset.nconts++]; + + cont->nverts = simplified.size()/4; + cont->verts = new int[cont->nverts*4]; + memcpy(cont->verts, &simplified[0], sizeof(int)*cont->nverts*4); + + cont->nrverts = verts.size()/4; + cont->rverts = new int[cont->nrverts*4]; + memcpy(cont->rverts, &verts[0], sizeof(int)*cont->nrverts*4); + + cont->cx = cont->cy = cont->cz = 0; + for (int i = 0; i < cont->nverts; ++i) + { + cont->cx += cont->verts[i*4+0]; + cont->cy += cont->verts[i*4+1]; + cont->cz += cont->verts[i*4+2]; + } + cont->cx /= cont->nverts; + cont->cy /= cont->nverts; + cont->cz /= cont->nverts; + + cont->reg = reg; + } + } + } + } + + // Check and merge droplings. + // Sometimes the previous algorithms can fail and create several countours + // per area. This pass will try to merge the holes into the main region. + for (int i = 0; i < cset.nconts; ++i) + { + rcContour& cont = cset.conts[i]; + // Check if the contour is would backwards. + if (calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0) + { + // Find another contour which has the same region ID. + int mergeIdx = -1; + for (int j = 0; j < cset.nconts; ++j) + { + if (i == j) continue; + if (cset.conts[j].nverts && cset.conts[j].reg == cont.reg) + { + // Make sure the polygon is correctly oriented. + if (calcAreaOfPolygon2D(cset.conts[j].verts, cset.conts[j].nverts)) + { + mergeIdx = j; + break; + } + } + } + if (mergeIdx == -1) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_WARNING, "rcBuildContours: Could not find merge target for bad contour %d.", i); + } + else + { + rcContour& mcont = cset.conts[mergeIdx]; + // Merge by closest points. + int ia, ib; + getClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ia, ib); + if (!mergeContours(mcont, cont, ia, ib)) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_WARNING, "rcBuildContours: Failed to merge contours %d and %d.", i, mergeIdx); + } + } + } + } + + + rcTimeVal contourEndTime = rcGetPerformanceTimer(); + + // Delete vertices. + delete [] flags; + + rcTimeVal endTime = rcGetPerformanceTimer(); + + if (rcGetLog()) + { + rcGetLog()->log(RC_LOG_PROGRESS, "Create contours: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f); + rcGetLog()->log(RC_LOG_PROGRESS, " - boundary: %.3f ms", rcGetDeltaTimeUsec(boundaryStartTime, boundaryEndTime)/1000.0f); + rcGetLog()->log(RC_LOG_PROGRESS, " - contour: %.3f ms", rcGetDeltaTimeUsec(contourStartTime, contourEndTime)/1000.0f); + } + + return true; +} diff --git a/Recast/Source/RecastDebugDraw.cpp b/Recast/Source/RecastDebugDraw.cpp new file mode 100644 index 0000000..1ba932c --- /dev/null +++ b/Recast/Source/RecastDebugDraw.cpp @@ -0,0 +1,491 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include +#include "RecastDebugDraw.h" +#include "SDL.h" +#include "SDL_Opengl.h" +#include "MeshLoaderObj.h" +#include "Recast.h" + +void rcDebugDrawMesh(const rcMeshLoaderObj& mesh, const unsigned char* flags) +{ + int nt = mesh.getTriCount(); + const float* verts = mesh.getVerts(); + const float* normals = mesh.getNormals(); + const int* tris = mesh.getTris(); + glBegin(GL_TRIANGLES); + for (int i = 0; i < nt*3; i += 3) + { + float a = (2+normals[i+0]+normals[i+1])/4; + if (flags && !flags[i/3]) + glColor3f(a,a*0.3f,a*0.1f); + else + glColor3f(a,a,a); + glVertex3fv(&verts[tris[i]*3]); + glVertex3fv(&verts[tris[i+1]*3]); + glVertex3fv(&verts[tris[i+2]*3]); + } + glEnd(); +} + +void drawBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col) +{ + glColor4fv(col); + + // Top + glVertex3f(minx, miny, minz); + glVertex3f(maxx, miny, minz); + glVertex3f(maxx, miny, minz); + glVertex3f(maxx, miny, maxz); + glVertex3f(maxx, miny, maxz); + glVertex3f(minx, miny, maxz); + glVertex3f(minx, miny, maxz); + glVertex3f(minx, miny, minz); + + // bottom + glVertex3f(minx, maxy, minz); + glVertex3f(maxx, maxy, minz); + glVertex3f(maxx, maxy, minz); + glVertex3f(maxx, maxy, maxz); + glVertex3f(maxx, maxy, maxz); + glVertex3f(minx, maxy, maxz); + glVertex3f(minx, maxy, maxz); + glVertex3f(minx, maxy, minz); + + // Sides + glVertex3f(minx, miny, minz); + glVertex3f(minx, maxy, minz); + glVertex3f(maxx, miny, minz); + glVertex3f(maxx, maxy, minz); + glVertex3f(maxx, miny, maxz); + glVertex3f(maxx, maxy, maxz); + glVertex3f(minx, miny, maxz); + glVertex3f(minx, maxy, maxz); +} + +void drawBox(float minx, float miny, float minz, float maxx, float maxy, float maxz, + const float* col1, const float* col2) +{ + float verts[8*3] = + { + minx, miny, minz, + maxx, miny, minz, + maxx, miny, maxz, + minx, miny, maxz, + minx, maxy, minz, + maxx, maxy, minz, + maxx, maxy, maxz, + minx, maxy, maxz, + }; + static const float dim[6] = + { + 0.95f, 0.55f, 0.65f, 0.85f, 0.65f, 0.85f, + }; + static const unsigned char inds[6*5] = + { + 0, 7, 6, 5, 4, + 1, 0, 1, 2, 3, + 2, 1, 5, 6, 2, + 3, 3, 7, 4, 0, + 4, 2, 6, 7, 3, + 5, 0, 4, 5, 1, + }; + + const unsigned char* in = inds; + for (int i = 0; i < 6; ++i) + { + float d = dim[*in]; in++; + if (i == 0) + glColor4f(d*col2[0],d*col2[1],d*col2[2], col2[3]); + else + glColor4f(d*col1[0],d*col1[1],d*col1[2], col1[3]); + glVertex3fv(&verts[*in*3]); in++; + glVertex3fv(&verts[*in*3]); in++; + glVertex3fv(&verts[*in*3]); in++; + glVertex3fv(&verts[*in*3]); in++; + } +} + +void rcDebugDrawCylinderWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col) +{ + static const int NUM_SEG = 16; + float dir[NUM_SEG*2]; + for (int i = 0; i < NUM_SEG; ++i) + { + const float a = (float)i/(float)NUM_SEG*(float)M_PI*2; + dir[i*2] = cosf(a); + dir[i*2+1] = sinf(a); + } + + const float cx = (maxx + minx)/2; + const float cz = (maxz + minz)/2; + const float rx = (maxx - minx)/2; + const float rz = (maxz - minz)/2; + + glColor4fv(col); + glBegin(GL_LINES); + for (int i = 0, j=NUM_SEG-1; i < NUM_SEG; j=i++) + { + glVertex3f(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz); + glVertex3f(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz); + glVertex3f(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz); + glVertex3f(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz); + } + for (int i = 0; i < NUM_SEG; i += NUM_SEG/4) + { + glVertex3f(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz); + glVertex3f(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz); + } + glEnd(); +} + +void rcDebugDrawBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col) +{ + glBegin(GL_LINES); + drawBoxWire(minx, miny, minz, maxx, maxy, maxz, col); + glEnd(); +} + +void rcDebugDrawBox(float minx, float miny, float minz, float maxx, float maxy, float maxz, + const float* col1, const float* col2) +{ + glBegin(GL_QUADS); + drawBox(minx, miny, minz, maxx, maxy, maxz, col1, col2); + glEnd(); +} + + +void rcDebugDrawHeightfieldSolid(const rcHeightfield& hf, + const float* orig, float cs, float ch) +{ + static const float col0[4] = { 1,1,1,1 }; + + const int w = hf.width; + const int h = hf.height; + + glBegin(GL_QUADS); + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + float fx = orig[0] + x*cs; + float fz = orig[2] + y*cs; + const rcSpan* s = hf.spans[x + y*w]; + while (s) + { + drawBox(fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, col0, col0); + s = s->next; + } + } + } + glEnd(); +} + +void rcDebugDrawHeightfieldWalkable(const rcHeightfield& hf, + const float* orig, float cs, float ch) +{ + static const float col0[4] = { 1,1,1,1 }; + static const float col1[4] = { 0.25f,0.44f,0.5f,1 }; + + const int w = hf.width; + const int h = hf.height; + + glBegin(GL_QUADS); + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + float fx = orig[0] + x*cs; + float fz = orig[2] + y*cs; + const rcSpan* s = hf.spans[x + y*w]; + while (s) + { + bool csel = (s->flags & 0x2) == 0; + drawBox(fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, col0, csel ? col0 : col1); + s = s->next; + } + } + } + glEnd(); +} + +void rcDebugDrawCompactHeightfieldSolid(const rcCompactHeightfield& chf) +{ + const float cs = chf.cs; + const float ch = chf.ch; + + glColor3ub(64,112,128); + + glBegin(GL_QUADS); + for (int y = 0; y < chf.height; ++y) + { + for (int x = 0; x < chf.width; ++x) + { + const float fx = chf.minx + x*cs; + const float fz = chf.minz + y*cs; + const rcCompactCell& c = chf.cells[x+y*chf.width]; + + for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) + { + const rcCompactSpan& s = chf.spans[i]; + const float fy = chf.miny + (s.y+1)*ch; + glVertex3f(fx, fy, fz); + glVertex3f(fx, fy, fz+cs); + glVertex3f(fx+cs, fy, fz+cs); + glVertex3f(fx+cs, fy, fz); + } + } + } + glEnd(); +} + +void rcDebugDrawCompactHeightfieldRegions(const rcCompactHeightfield& chf) +{ + const float cs = chf.cs; + const float ch = chf.ch; + + float col[4] = { 1,1,1,1 }; + + glBegin(GL_QUADS); + for (int y = 0; y < chf.height; ++y) + { + for (int x = 0; x < chf.width; ++x) + { + const float fx = chf.minx + x*cs; + const float fz = chf.minz + y*cs; + const rcCompactCell& c = chf.cells[x+y*chf.width]; + + for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) + { + const rcCompactSpan& s = chf.spans[i]; + if (s.reg) + { + intToCol(s.reg, col); + glColor4fv(col); + } + else + glColor4ub(0,0,0,128); + const float fy = chf.miny + (s.y+1)*ch; + glVertex3f(fx, fy, fz); + glVertex3f(fx, fy, fz+cs); + glVertex3f(fx+cs, fy, fz+cs); + glVertex3f(fx+cs, fy, fz); + } + } + } + glEnd(); +} + + +void rcDebugDrawCompactHeightfieldDistance(const rcCompactHeightfield& chf) +{ + const float cs = chf.cs; + const float ch = chf.ch; + + float maxd = chf.maxDistance; + if (maxd < 1.0f) maxd = 1; + float dscale = 1.0f / maxd; + + glBegin(GL_QUADS); + for (int y = 0; y < chf.height; ++y) + { + for (int x = 0; x < chf.width; ++x) + { + const float fx = chf.minx + x*cs; + const float fz = chf.minz + y*cs; + const rcCompactCell& c = chf.cells[x+y*chf.width]; + + for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) + { + const rcCompactSpan& s = chf.spans[i]; + const float fy = chf.miny + (s.y+1)*ch; + float cd = (float)s.dist * dscale; + glColor3f(cd, cd, cd); + glVertex3f(fx, fy, fz); + glVertex3f(fx, fy, fz+cs); + glVertex3f(fx+cs, fy, fz+cs); + glVertex3f(fx+cs, fy, fz); + } + } + } + glEnd(); +} + +void rcDebugDrawRawContours(const rcContourSet& cset, const float* orig, float cs, float ch) +{ + float col[4] = { 1,1,1,1 }; + glLineWidth(3.0f); + for (int i = 0; i < cset.nconts; ++i) + { + const rcContour& c = cset.conts[i]; + intToCol(c.reg, col); + glColor4fv(col); + glBegin(GL_LINE_LOOP); + for (int j = 0; j < c.nrverts; ++j) + { + const int* v = &c.rverts[j*4]; + float fx = orig[0] + v[0]*cs; + float fy = orig[1] + (v[1]+1+(i&1))*ch; + float fz = orig[2] + v[2]*cs; + glVertex3f(fx,fy,fz); + } + glEnd(); + } + glLineWidth(1.0f); +} + +void rcDebugDrawContours(const rcContourSet& cset, const float* orig, float cs, float ch) +{ + float col[4] = { 1,1,1,1 }; + glLineWidth(3.0f); + glPointSize(4.0f); + for (int i = 0; i < cset.nconts; ++i) + { + const rcContour& c = cset.conts[i]; + intToCol(c.reg, col); + glColor4fv(col); + glBegin(GL_LINE_LOOP); + for (int j = 0; j < c.nverts; ++j) + { + const int* v = &c.verts[j*4]; + float fx = orig[0] + v[0]*cs; + float fy = orig[1] + (v[1]+1+(i&1))*ch; + float fz = orig[2] + v[2]*cs; + glVertex3f(fx,fy,fz); + } + glEnd(); + glColor4ub(0,0,0,128); + glBegin(GL_POINTS); + for (int j = 0; j < c.nverts; ++j) + { + const int* v = &c.verts[j*4]; + float fx = orig[0] + v[0]*cs; + float fy = orig[1] + (v[1]+1+(i&1))*ch; + float fz = orig[2] + v[2]*cs; + glVertex3f(fx,fy,fz); + } + glEnd(); + } + glLineWidth(1.0f); + glPointSize(1.0f); +} + +void rcDebugDrawPolyMesh(const struct rcPolyMesh& mesh, const float* orig, float cs, float ch) +{ + const int nvp = mesh.nvp; + glColor4ub(0,196,255,64); + glBegin(GL_TRIANGLES); + for (int i = 0; i < mesh.npolys; ++i) + { + const unsigned short* p = &mesh.polys[i*nvp*2]; + unsigned short vi[3]; + for (int j = 2; j < nvp; ++j) + { + if (p[j] == 0xffff) break; + vi[0] = p[0]; + vi[1] = p[j-1]; + vi[2] = p[j]; + for (int k = 0; k < 3; ++k) + { + const unsigned short* v = &mesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+2)*ch; + const float z = orig[2] + v[2]*cs; + glVertex3f(x, y, z); + } + } + } + glEnd(); + + // Draw tri boundaries + glColor4ub(0,0,0,64); + glLineWidth(1.0f); + glBegin(GL_LINES); + for (int i = 0; i < mesh.npolys; ++i) + { + const unsigned short* poly = &mesh.polys[i*nvp*2]; + for (int j = 0; j < nvp; ++j) + { + if (poly[j] == 0xffff) break; + if (poly[nvp+j] == 0xffff) continue; + int vi[2]; + vi[0] = poly[j]; + if (j+1 >= nvp || poly[j+1] == 0xffff) + vi[1] = poly[0]; + else + vi[1] = poly[j+1]; + for (int k = 0; k < 2; ++k) + { + const unsigned short* v = &mesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+2)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + glVertex3f(x, y, z); + } + } + } + glEnd(); + + // Draw boundaries + glLineWidth(3.0f); + glColor4ub(0,0,0,128); + glBegin(GL_LINES); + for (int i = 0; i < mesh.npolys; ++i) + { + const unsigned short* poly = &mesh.polys[i*nvp*2]; + for (int j = 0; j < nvp; ++j) + { + if (poly[j] == 0xffff) break; + if (poly[nvp+j] != 0xffff) continue; + int vi[2]; + vi[0] = poly[j]; + if (j+1 >= nvp || poly[j+1] == 0xffff) + vi[1] = poly[0]; + else + vi[1] = poly[j+1]; + for (int k = 0; k < 2; ++k) + { + const unsigned short* v = &mesh.verts[vi[k]*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+2)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + glVertex3f(x, y, z); + } + } + } + glEnd(); + glLineWidth(1.0f); + + glPointSize(4.0f); + glColor4ub(0,0,0,128); + glBegin(GL_POINTS); + for (int i = 0; i < mesh.nverts; ++i) + { + const unsigned short* v = &mesh.verts[i*3]; + const float x = orig[0] + v[0]*cs; + const float y = orig[1] + (v[1]+2)*ch + 0.1f; + const float z = orig[2] + v[2]*cs; + glVertex3f(x, y, z); + } + glEnd(); + glPointSize(1.0f); +} diff --git a/Recast/Source/RecastFilter.cpp b/Recast/Source/RecastFilter.cpp new file mode 100644 index 0000000..1077a1e --- /dev/null +++ b/Recast/Source/RecastFilter.cpp @@ -0,0 +1,232 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include +#include +#include "Recast.h" +#include "RecastLog.h" +#include "RecastTimer.h" + + +void rcFilterWalkableBorderSpans(const int walkableHeight, + const int walkableClimb, + rcHeightfield& solid) +{ + rcTimeVal startTime = rcGetPerformanceTimer(); + + const int w = solid.width; + const int h = solid.height; + const int MAX_HEIGHT = 0xffff; + + // Mark border spans. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next) + { + // Skip non walkable spans. + if ((s->flags & RC_WALKABLE) == 0) + continue; + + // The span is valid only if it has four neighbours. + int neighbourCount = 0; + + const int bot = (int)s->smax; + const int top = (int)s->next ? (int)s->next->smin : MAX_HEIGHT; + + // Visit neighbours in all 4 directions. + for (int dir = 0; dir < 4; ++dir) + { + int dx = x + rcGetDirOffsetX(dir); + int dy = y + rcGetDirOffsetY(dir); + // Skip neighbours which are out of bounds. + if (dx < 0 || dy < 0 || dx >= w || dy >= h) + continue; + for (rcSpan* ns = solid.spans[dx + dy*w]; ns; ns = ns->next) + { + const int nbot = (int)ns->smax; + const int ntop = (int)ns->next ? (int)ns->next->smin : MAX_HEIGHT; + // Skip neightbour if the gap between the spans is too small. + if (rcMin(top,ntop) - rcMax(bot,nbot) <= walkableHeight) + continue; + // Skip neightbour if the climb height to the neighbour is too high. + if (rcAbs(nbot - bot) >= walkableClimb) + continue; + // This neighbour is reachable. + neighbourCount++; + } + } + // Remove walkable flag. + if (neighbourCount != 4) + s->flags &= ~RC_WALKABLE; + } + } + } + + rcTimeVal endTime = rcGetPerformanceTimer(); + if (rcGetLog()) + rcGetLog()->log(RC_LOG_PROGRESS, "Filter border: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f); +} + +void rcFilterWalkableLowHeightSpans(int walkableHeight, + rcHeightfield& solid) +{ + rcTimeVal startTime = rcGetPerformanceTimer(); + + const int w = solid.width; + const int h = solid.height; + const int MAX_HEIGHT = 0xffff; + + // Remove walkable flag from spans which do not have enough + // space above them for the agent to stand there. + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + for (rcSpan* s = solid.spans[x + y*w]; s; s = s->next) + { + const int bot = (int)s->smax; + const int top = (int)s->next ? (int)s->next->smin : MAX_HEIGHT; + if ((top - bot) <= walkableHeight) + s->flags &= ~RC_WALKABLE; + } + } + } + + rcTimeVal endTime = rcGetPerformanceTimer(); + + if (rcGetLog()) + rcGetLog()->log(RC_LOG_PROGRESS, "Filter walkable: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f); +} + +struct rcReachableSeed +{ + inline void set(int ix, int iy, rcSpan* is) + { + x = (unsigned short)ix; + y = (unsigned short)iy; + s = is; + } + unsigned short x, y; + rcSpan* s; +}; + +bool rcMarkReachableSpans(const int walkableHeight, + const int walkableClimb, + rcHeightfield& solid) +{ + const int w = solid.width; + const int h = solid.height; + const int MAX_HEIGHT = 0xffff; + + rcTimeVal startTime = rcGetPerformanceTimer(); + + // Build navigable space. + const int MAX_SEEDS = w*h; + rcReachableSeed* stack = new rcReachableSeed[MAX_SEEDS]; + if (!stack) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcMarkReachableSpans: Out of memory 'stack' (%d).", MAX_SEEDS); + return false; + } + int stackSize = 0; + + for (int y = 0; y < h; ++y) + { + for (int x = 0; x < w; ++x) + { + rcSpan* topSpan = solid.spans[x + y*w]; + if (!topSpan) + continue; + while (topSpan->next) + topSpan = topSpan->next; + + // If the span is not walkable, skip it. + if ((topSpan->flags & RC_WALKABLE) == 0) + continue; + // If the span has been visited already, skip it. + if (topSpan->flags & RC_REACHABLE) + continue; + + // Start flood fill. + topSpan->flags |= RC_REACHABLE; + stackSize = 0; + stack[stackSize].set(x, y, topSpan); + stackSize++; + + while (stackSize) + { + // Pop a seed from the stack. + stackSize--; + rcReachableSeed cur = stack[stackSize]; + + const int bot = (int)cur.s->smax; + const int top = (int)cur.s->next ? (int)cur.s->next->smin : MAX_HEIGHT; + + // Visit neighbours in all 4 directions. + for (int dir = 0; dir < 4; ++dir) + { + int dx = (int)cur.x + rcGetDirOffsetX(dir); + int dy = (int)cur.y + rcGetDirOffsetY(dir); + // Skip neighbour which are out of bounds. + if (dx < 0 || dy < 0 || dx >= w || dy >= h) + continue; + for (rcSpan* ns = solid.spans[dx + dy*w]; ns; ns = ns->next) + { + // Skip neighbour if it is not walkable. + if ((ns->flags & RC_WALKABLE) == 0) + continue; + // Skip the neighbour if it has been visited already. + if (ns->flags & RC_REACHABLE) + continue; + + const int nbot = (int)ns->smax; + const int ntop = (int)ns->next ? (int)ns->next->smin : MAX_HEIGHT; + // Skip neightbour if the gap between the spans is too small. + if (rcMin(top,ntop) - rcMax(bot,nbot) < walkableHeight) + continue; + // Skip neightbour if the climb height to the neighbour is too high. + if (rcAbs(nbot - bot) >= walkableClimb) + continue; + + // This neighbour has not been visited yet. + // Mark it as reachable and add it to the seed stack. + ns->flags |= RC_REACHABLE; + if (stackSize < MAX_SEEDS) + { + stack[stackSize].set(dx, dy, ns); + stackSize++; + } + } + } + } + } + } + + delete [] stack; + + rcTimeVal endTime = rcGetPerformanceTimer(); + + if (rcGetLog()) + rcGetLog()->log(RC_LOG_PROGRESS, "Mark reachable: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f); + + return true; +} diff --git a/Recast/Source/RecastLog.cpp b/Recast/Source/RecastLog.cpp new file mode 100644 index 0000000..cc05f22 --- /dev/null +++ b/Recast/Source/RecastLog.cpp @@ -0,0 +1,66 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include "RecastLog.h" +#include +#include + +static rcLog* g_log = 0; + +rcLog::rcLog() : + m_messageCount(0), + m_textPoolSize(0) +{ +} + +rcLog::~rcLog() +{ + if (g_log == this) + g_log = 0; +} + +void rcLog::log(rcLogCategory category, const char* format, ...) +{ + if (m_messageCount >= MAX_MESSAGES) + return; + char* dst = &m_textPool[m_textPoolSize]; + int n = TEXT_POOL_SIZE - m_textPoolSize; + if (n < 2) + return; + // Store category + *dst = (char)category; + n--; + // Store message + va_list ap; + va_start(ap, format); + int ret = vsnprintf(dst+1, n-1, format, ap); + va_end(ap); + if (ret > 0) + m_textPoolSize += ret+2; + m_messages[m_messageCount++] = dst; +} + +void rcSetLog(rcLog* log) +{ + g_log = log; +} + +rcLog* rcGetLog() +{ + return g_log; +} diff --git a/Recast/Source/RecastMesh.cpp b/Recast/Source/RecastMesh.cpp new file mode 100644 index 0000000..243298d --- /dev/null +++ b/Recast/Source/RecastMesh.cpp @@ -0,0 +1,699 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include +#include +#include +#include "Recast.h" +#include "RecastLog.h" +#include "RecastTimer.h" + + +struct rcEdge +{ + unsigned short vert[2]; + unsigned short polyEdge[2]; + unsigned short poly[2]; +}; + +static bool buildMeshAdjacency(unsigned short* polys, const int npolys, + const int nverts, const int vertsPerPoly) +{ + // Based on code by Eric Lengyel from: + // http://www.terathon.com/code/edges.php + + int maxEdgeCount = npolys*vertsPerPoly; + unsigned short* firstEdge = new unsigned short[nverts + maxEdgeCount]; + if (!firstEdge) + return false; + unsigned short* nextEdge = firstEdge + nverts; + int edgeCount = 0; + + rcEdge* edges = new rcEdge[maxEdgeCount]; + if (!edges) + return false; + + for (int i = 0; i < nverts; i++) + firstEdge[i] = 0xffff; + + // Invalida indices are marked as 0xffff, the following code + // handles them just fine. + + for (int i = 0; i < npolys; ++i) + { + unsigned short* t = &polys[i*vertsPerPoly*2]; + for (int j = 0; j < vertsPerPoly; ++j) + { + unsigned short v0 = t[j]; + unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == 0xffff) ? t[0] : t[j+1]; + if (v0 < v1) + { + rcEdge& edge = edges[edgeCount]; + edge.vert[0] = v0; + edge.vert[1] = v1; + edge.poly[0] = (unsigned short)i; + edge.polyEdge[0] = (unsigned short)j; + edge.poly[1] = (unsigned short)i; + edge.polyEdge[1] = 0; + // Insert edge + nextEdge[edgeCount] = firstEdge[v0]; + firstEdge[v0] = edgeCount; + edgeCount++; + } + } + } + + for (int i = 0; i < npolys; ++i) + { + unsigned short* t = &polys[i*vertsPerPoly*2]; + for (int j = 0; j < vertsPerPoly; ++j) + { + unsigned short v0 = t[j]; + unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == 0xffff) ? t[0] : t[j+1]; + if (v0 > v1) + { + for (unsigned short e = firstEdge[v1]; e != 0xffff; e = nextEdge[e]) + { + rcEdge& edge = edges[e]; + if (edge.vert[1] == v0 && edge.poly[0] == edge.poly[1]) + { + edge.poly[1] = (unsigned short)i; + edge.polyEdge[1] = (unsigned short)j; + break; + } + } + } + } + } + + // Store adjacency + for (int i = 0; i < edgeCount; ++i) + { + const rcEdge& e = edges[i]; + if (e.poly[0] != e.poly[1]) + { + unsigned short* p0 = &polys[e.poly[0]*vertsPerPoly*2]; + unsigned short* p1 = &polys[e.poly[1]*vertsPerPoly*2]; + p0[vertsPerPoly + e.polyEdge[0]] = e.poly[1]; + p1[vertsPerPoly + e.polyEdge[1]] = e.poly[0]; + } + } + + delete [] firstEdge; + delete [] edges; + + return true; +} + + +static const int VERTEX_BUCKET_COUNT = (1<<12); + +inline int computeVertexHash(int x, int y, int z) +{ + const unsigned int h1 = 0x8da6b343; // Large multiplicative constants; + const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes + const unsigned int h3 = 0xcb1ab31f; + unsigned int n = h1 * x + h2 * y + h3 * z; + return (int)(n & (VERTEX_BUCKET_COUNT-1)); +} + +static int addVertex(unsigned short x, unsigned short y, unsigned short z, + unsigned short* verts, int* firstVert, int* nextVert, int& nv) +{ + int bucket = computeVertexHash(x, y, z); + int i = firstVert[bucket]; + + while (i != -1) + { + const unsigned short* v = &verts[i*3]; + if (v[0] == x && v[1] == y && v[2] == z) + return i; + i = nextVert[i]; // next + } + + // Could not find, create new. + i = nv; nv++; + unsigned short* v = &verts[i*3]; + v[0] = x; + v[1] = y; + v[2] = z; + nextVert[i] = firstVert[bucket]; + firstVert[bucket] = i; + + return i; +} + +inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; } +inline int next(int i, int n) { return i+1 < n ? i+1 : 0; } + +inline int area2(const int* a, const int* b, const int* c) +{ + return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]); +} + +// Exclusive or: true iff exactly one argument is true. +// The arguments are negated to ensure that they are 0/1 +// values. Then the bitwise Xor operator may apply. +// (This idea is due to Michael Baldwin.) +inline bool xorb(bool x, bool y) +{ + return !x ^ !y; +} + +// Returns true iff c is strictly to the left of the directed +// line through a to b. +inline bool left(const int* a, const int* b, const int* c) +{ + return area2(a, b, c) < 0; +} + +inline bool leftOn(const int* a, const int* b, const int* c) +{ + return area2(a, b, c) <= 0; +} + +inline bool collinear(const int* a, const int* b, const int* c) +{ + return area2(a, b, c) == 0; +} + +// Returns true iff ab properly intersects cd: they share +// a point interior to both segments. The properness of the +// intersection is ensured by using strict leftness. +bool intersectProp(const int* a, const int* b, const int* c, const int* d) +{ + // Eliminate improper cases. + if (collinear(a,b,c) || collinear(a,b,d) || + collinear(c,d,a) || collinear(c,d,b)) + return false; + + return xorb(left(a,b,c), left(a,b,d)) && xorb(left(c,d,a), left(c,d,b)); +} + +// Returns T iff (a,b,c) are collinear and point c lies +// on the closed segement ab. +static bool between(const int* a, const int* b, const int* c) +{ + if (!collinear(a, b, c)) + return false; + // If ab not vertical, check betweenness on x; else on y. + if (a[0] != b[0]) + return ((a[0] <= c[0]) && (c[0] <= b[0])) || ((a[0] >= c[0]) && (c[0] >= b[0])); + else + return ((a[2] <= c[2]) && (c[2] <= b[2])) || ((a[2] >= c[2]) && (c[2] >= b[2])); +} + +// Returns true iff segments ab and cd intersect, properly or improperly. +static bool intersect(const int* a, const int* b, const int* c, const int* d) +{ + if (intersectProp(a, b, c, d)) + return true; + else if (between(a, b, c) || between(a, b, d) || + between(c, d, a) || between(c, d, b)) + return true; + else + return false; +} + +static bool vequal(const int* a, const int* b) +{ + return a[0] == b[0] && a[2] == b[2]; +} + +// Returns T iff (v_i, v_j) is a proper internal *or* external +// diagonal of P, *ignoring edges incident to v_i and v_j*. +static bool diagonalie(int i, int j, int n, const int* verts, int* indices) +{ + const int* d0 = &verts[(indices[i] & 0x0fffffff) * 4]; + const int* d1 = &verts[(indices[j] & 0x0fffffff) * 4]; + + // For each edge (k,k+1) of P + for (int k = 0; k < n; k++) + { + int k1 = next(k, n); + // Skip edges incident to i or j + if (!((k == i) || (k1 == i) || (k == j) || (k1 == j))) + { + const int* p0 = &verts[(indices[k] & 0x0fffffff) * 4]; + const int* p1 = &verts[(indices[k1] & 0x0fffffff) * 4]; + + if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1)) + continue; + + if (intersect(d0, d1, p0, p1)) + return false; + } + } + return true; +} + +// Returns true iff the diagonal (i,j) is strictly internal to the +// polygon P in the neighborhood of the i endpoint. +static bool inCone(int i, int j, int n, const int* verts, int* indices) +{ + const int* pi = &verts[(indices[i] & 0x0fffffff) * 4]; + const int* pj = &verts[(indices[j] & 0x0fffffff) * 4]; + const int* pi1 = &verts[(indices[next(i, n)] & 0x0fffffff) * 4]; + const int* pin1 = &verts[(indices[prev(i, n)] & 0x0fffffff) * 4]; + + // If P[i] is a convex vertex [ i+1 left or on (i-1,i) ]. + if (leftOn(pin1, pi, pi1)) + return left(pi, pj, pin1) && left(pj, pi, pi1); + // Assume (i-1,i,i+1) not collinear. + // else P[i] is reflex. + return !(leftOn(pi, pj, pi1) && leftOn(pj, pi, pin1)); +} + +// Returns T iff (v_i, v_j) is a proper internal +// diagonal of P. +static bool diagonal(int i, int j, int n, const int* verts, int* indices) +{ + return inCone(i, j, n, verts, indices) && diagonalie(i, j, n, verts, indices); +} + +int triangulate(int n, const int* verts, int* indices, int* tris) +{ + int ntris = 0; + int* dst = tris; + + // The last bit of the index is used to indicate if the vertex can be removed. + for (int i = 0; i < n; i++) + { + int i1 = next(i, n); + int i2 = next(i1, n); + if (diagonal(i, i2, n, verts, indices)) + indices[i1] |= 0x80000000; + } + + while (n > 3) + { + int minLen = -1; + int mini = -1; + for (int i = 0; i < n; i++) + { + int i1 = next(i, n); + if (indices[i1] & 0x80000000) + { + const int* p0 = &verts[(indices[i] & 0x0fffffff) * 4]; + const int* p2 = &verts[(indices[next(i1, n)] & 0x0fffffff) * 4]; + + int dx = p2[0] - p0[0]; + int dy = p2[2] - p0[2]; + int len = dx*dx + dy*dy; + + if (minLen < 0 || len < minLen) + { + minLen = len; + mini = i; + } + } + } + + if (mini == -1) + { + // Should not happen. + if (rcGetLog()) + rcGetLog()->log(RC_LOG_WARNING, "triangulate: Failed to triangulate polygon."); +/* printf("mini == -1 ntris=%d n=%d\n", ntris, n); + for (int i = 0; i < n; i++) + { + printf("%d ", indices[i] & 0x0fffffff); + } + printf("\n");*/ + return -ntris; + } + + int i = mini; + int i1 = next(i, n); + int i2 = next(i1, n); + + *dst++ = indices[i] & 0x0fffffff; + *dst++ = indices[i1] & 0x0fffffff; + *dst++ = indices[i2] & 0x0fffffff; + ntris++; + + // Removes P[i1] by copying P[i+1]...P[n-1] left one index. + n--; + for (int k = i1; k < n; k++) + indices[k] = indices[k+1]; + + if (i1 >= n) i1 = 0; + i = prev(i1,n); + // Update diagonal flags. + if (diagonal(prev(i, n), i1, n, verts, indices)) + indices[i] |= 0x80000000; + else + indices[i] &= 0x0fffffff; + + if (diagonal(i, next(i1, n), n, verts, indices)) + indices[i1] |= 0x80000000; + else + indices[i1] &= 0x0fffffff; + } + + // Append the remaining triangle. + *dst++ = indices[0] & 0x0fffffff; + *dst++ = indices[1] & 0x0fffffff; + *dst++ = indices[2] & 0x0fffffff; + ntris++; + + return ntris; +} + +static int countPolyVerts(const unsigned short* p, const int nvp) +{ + for (int i = 0; i < nvp; ++i) + if (p[i] == 0xffff) + return i; + return nvp; +} + +inline bool uleftOn(const unsigned short* a, const unsigned short* b, const unsigned short* c) +{ + return ((int)b[0] - (int)a[0]) * ((int)c[2] - (int)a[2]) - + ((int)c[0] - (int)a[0]) * ((int)b[2] - (int)a[2]) <= 0; +} + +static int getPolyMergeValue(unsigned short* pa, unsigned short* pb, + const unsigned short* verts, int& ea, int& eb, + const int nvp) +{ + const int na = countPolyVerts(pa, nvp); + const int nb = countPolyVerts(pb, nvp); + + // If the merged polygon would be too big, do not merge. + if (na+nb-2 > nvp) + return -1; + + // Check if the polygons share an edge. + ea = -1; + eb = -1; + + for (int i = 0; i < na; ++i) + { + unsigned short va0 = pa[i]; + unsigned short va1 = pa[(i+1) % na]; + if (va0 > va1) + rcSwap(va0, va1); + for (int j = 0; j < nb; ++j) + { + unsigned short vb0 = pb[j]; + unsigned short vb1 = pb[(j+1) % nb]; + if (vb0 > vb1) + rcSwap(vb0, vb1); + if (va0 == vb0 && va1 == vb1) + { + ea = i; + eb = j; + break; + } + } + } + + // No common edge, cannot merge. + if (ea == -1 || eb == -1) + return -1; + + // Check to see if the merged polygon would be convex. + unsigned short va, vb, vc; + + va = pa[(ea+na-1) % na]; + vb = pa[ea]; + vc = pb[(eb+2) % nb]; + if (!uleftOn(&verts[va*3], &verts[vb*3], &verts[vc*3])) + return -1; + + va = pb[(eb+nb-1) % nb]; + vb = pb[eb]; + vc = pa[(ea+2) % na]; + if (!uleftOn(&verts[va*3], &verts[vb*3], &verts[vc*3])) + return -1; + + va = pa[ea]; + vb = pa[(ea+1)%na]; + + int dx = (int)verts[va*3+0] - (int)verts[vb*3+0]; + int dy = (int)verts[va*3+2] - (int)verts[vb*3+2]; + + return dx*dx + dy*dy; +} + +static void mergePolys(unsigned short* pa, unsigned short* pb, + const unsigned short* verts, int ea, int eb, + unsigned short* tmp, const int nvp) +{ + const int na = countPolyVerts(pa, nvp); + const int nb = countPolyVerts(pb, nvp); + + // Merge polygons. + memset(tmp, 0xff, sizeof(unsigned short)*nvp); + int n = 0; + // Add pa + for (int i = 0; i < na-1; ++i) + tmp[n++] = pa[(ea+1+i) % na]; + // Add pb + for (int i = 0; i < nb-1; ++i) + tmp[n++] = pb[(eb+1+i) % nb]; + + memcpy(pa, tmp, sizeof(unsigned short)*nvp); +} + +bool rcBuildPolyMesh(rcContourSet& cset, rcPolyMesh& mesh, const int nvp) +{ + rcTimeVal startTime = rcGetPerformanceTimer(); + + int maxVertices = 0; + int maxTris = 0; + int maxVertsPerCont = 0; + for (int i = 0; i < cset.nconts; ++i) + { + maxVertices += cset.conts[i].nverts; + maxTris += cset.conts[i].nverts - 2; + maxVertsPerCont = rcMax(maxVertsPerCont, cset.conts[i].nverts); + } + + if (maxVertices >= 0xfffe) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many vertices %d.", maxVertices); + return false; + } + + mesh.verts = new unsigned short[maxVertices*3]; + if (!mesh.verts) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices); + return false; + } + mesh.polys = new unsigned short[maxTris*nvp*2]; + if (!mesh.polys) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxTris*nvp); + return false; + } + mesh.nverts = 0; + mesh.npolys = 0; + mesh.nvp = nvp; + + memset(mesh.verts, 0, sizeof(unsigned short)*maxVertices*3); + memset(mesh.polys, 0xff, sizeof(unsigned short)*maxTris*nvp*2); + + int* nextVert = new int[maxVertices]; + if (!nextVert) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'nextVert' (%d).", maxVertices); + return false; + } + memset(nextVert, 0, sizeof(int)*maxVertices); + + int* firstVert = new int[VERTEX_BUCKET_COUNT]; + if (!firstVert) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT); + return false; + } + for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i) + firstVert[i] = -1; + + int* indices = new int[maxVertsPerCont]; + if (!indices) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'indices' (%d).", maxVertsPerCont); + return false; + } + int* tris = new int[maxVertsPerCont*3]; + if (!tris) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'tris' (%d).", maxVertsPerCont*3); + return false; + } + unsigned short* polys = new unsigned short[maxVertsPerCont*nvp]; + if (!polys) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'polys' (%d).", maxVertsPerCont*nvp); + return false; + } + unsigned short* tmpPoly = new unsigned short[nvp]; + if (!tmpPoly) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'tmpPoly' (%d).", nvp); + return false; + } + + for (int i = 0; i < cset.nconts; ++i) + { + rcContour& cont = cset.conts[i]; + + // Skip empty contours. + if (cont.nverts < 3) + continue; + + // Triangulate contour + for (int j = 0; j < cont.nverts; ++j) + indices[j] = j; + + int ntris = triangulate(cont.nverts, cont.verts, &indices[0], &tris[0]); + if (ntris <= 0) + { + // Bad triangulation, should not happen. +/* for (int k = 0; k < cont.nverts; ++k) + { + const int* v = &cont.verts[k*4]; + printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]); + if (nBadPos < 100) + { + badPos[nBadPos*3+0] = v[0]; + badPos[nBadPos*3+1] = v[1]; + badPos[nBadPos*3+2] = v[2]; + nBadPos++; + } + }*/ + ntris = -ntris; + } + // Add and merge vertices. + for (int j = 0; j < cont.nverts; ++j) + { + const int* v = &cont.verts[j*4]; + indices[j] = addVertex((unsigned short)v[0], (unsigned short)v[1], (unsigned short)v[2], + mesh.verts, firstVert, nextVert, mesh.nverts); + } + + // Build initial polygons. + int npolys = 0; + memset(polys, 0xff, maxVertsPerCont*nvp*sizeof(unsigned short)); + for (int j = 0; j < ntris; ++j) + { + int* t = &tris[j*3]; + if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2]) + { + polys[npolys*nvp+0] = (unsigned short)indices[t[0]]; + polys[npolys*nvp+1] = (unsigned short)indices[t[1]]; + polys[npolys*nvp+2] = (unsigned short)indices[t[2]]; + npolys++; + } + } + if (!npolys) + continue; + + // Merge polygons. + if (nvp > 3) + { + while (true) + { + // Find best polygons to merge. + int bestMergeVal = 0; + int bestPa, bestPb, bestEa, bestEb; + + for (int j = 0; j < npolys-1; ++j) + { + unsigned short* pj = &polys[j*nvp]; + for (int k = j+1; k < npolys; ++k) + { + unsigned short* pk = &polys[k*nvp]; + int ea, eb; + int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp); + if (v > bestMergeVal) + { + bestMergeVal = v; + bestPa = j; + bestPb = k; + bestEa = ea; + bestEb = eb; + } + } + } + + if (bestMergeVal > 0) + { + // Found best, merge. + unsigned short* pa = &polys[bestPa*nvp]; + unsigned short* pb = &polys[bestPb*nvp]; + mergePolys(pa, pb, mesh.verts, bestEa, bestEb, tmpPoly, nvp); + memcpy(pb, &polys[(npolys-1)*nvp], sizeof(unsigned short)*nvp); + npolys--; + } + else + { + // Could not merge any polygons, stop. + break; + } + } + } + + + // Store polygons. + for (int j = 0; j < npolys; ++j) + { + unsigned short* p = &mesh.polys[mesh.npolys*nvp*2]; + unsigned short* q = &polys[j*nvp]; + for (int k = 0; k < nvp; ++k) + p[k] = q[k]; + mesh.npolys++; + } + } + + delete [] tmpPoly; + delete [] firstVert; + delete [] nextVert; + delete [] indices; + delete [] tris; + + // Calculate adjacency. + if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, nvp)) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMesh: Adjacency failed."); + return false; + } + + rcTimeVal endTime = rcGetPerformanceTimer(); + + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "Build polymesh: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f); + + return true; +} diff --git a/Recast/Source/RecastRasterization.cpp b/Recast/Source/RecastRasterization.cpp new file mode 100644 index 0000000..fc9e171 --- /dev/null +++ b/Recast/Source/RecastRasterization.cpp @@ -0,0 +1,295 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#define _USE_MATH_DEFINES +#include +#include +#include "Recast.h" +#include "RecastTimer.h" +#include "RecastLog.h" + +inline bool overlapBounds(const float* amin, const float* amax, const float* bmin, const float* bmax) +{ + bool overlap = true; + overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; + overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; + overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; + return overlap; +} + +inline bool overlapInterval(unsigned short amin, unsigned short amax, + unsigned short bmin, unsigned short bmax) +{ + if (amax < bmin) return false; + if (amin > bmax) return false; + return true; +} + + +static rcSpan* allocSpan(rcHeightfield& hf) +{ + static const int SPANS_PER_POOL = 2048; + // If running out of memory, allocate new page and update the freelist. + if (!hf.freelist || !hf.freelist->next) + { + // Create new page. + // Allocate memory for the new pool. + const int size = (sizeof(rcSpanPool)-sizeof(rcSpan)) + sizeof(rcSpan)*SPANS_PER_POOL; + rcSpanPool* pool = reinterpret_cast(new unsigned char[size]); + if (!pool) return 0; + pool->next = 0; + // Add the pool into the list of pools. + pool->next = hf.pools; + hf.pools = pool; + // Add new items to the free list. + rcSpan* freelist = hf.freelist; + rcSpan* head = &pool->items[0]; + rcSpan* it = &pool->items[SPANS_PER_POOL]; + do + { + --it; + it->next = freelist; + freelist = it; + } + while (it != head); + hf.freelist = it; + } + + // Pop item from in front of the free list. + rcSpan* it = hf.freelist; + hf.freelist = hf.freelist->next; + return it; +} + +static void freeSpan(rcHeightfield& hf, rcSpan* ptr) +{ + if (!ptr) return; + // Add the node in front of the free list. + ptr->next = hf.freelist; + hf.freelist = ptr; +} + +static void addSpan(rcHeightfield& hf, int x, int y, + unsigned short smin, unsigned short smax, + unsigned short flags) +{ + int idx = x + y*hf.width; + + rcSpan* s = allocSpan(hf); + s->smin = smin; + s->smax = smax; + s->flags = flags; + s->next = 0; + + // Empty cell, add he first span. + if (!hf.spans[idx]) + { + hf.spans[idx] = s; + return; + } + rcSpan* prev = 0; + rcSpan* cur = hf.spans[idx]; + + // Insert and merge spans. + while (cur) + { + if (cur->smin > s->smax) + { + // Current span is further than the new span, break. + break; + } + else if (cur->smax < s->smin) + { + // Current span is before the new span advance. + prev = cur; + cur = cur->next; + } + else + { + // Merge spans. + if (cur->smin < s->smin) + s->smin = cur->smin; + if (cur->smax > s->smax) + s->smax = cur->smax; + + // Merge flags. +// if (s->smax == cur->smax) + if (rcAbs((int)s->smax - (int)cur->smax) <= 1) + s->flags |= cur->flags; + + // Remove current span. + rcSpan* next = cur->next; + freeSpan(hf, cur); + if (prev) + prev->next = next; + else + hf.spans[idx] = next; + cur = next; + } + } + + // Insert new span. + if (prev) + { + s->next = prev->next; + prev->next = s; + } + else + { + s->next = hf.spans[idx]; + hf.spans[idx] = s; + } +} + +static int clipPoly(const float* in, int n, float* out, float pnx, float pnz, float pd) +{ + float d[12]; + for (int i = 0; i < n; ++i) + d[i] = pnx*in[i*3+0] + pnz*in[i*3+2] + pd; + + int m = 0; + for (int i = 0, j = n-1; i < n; j=i, ++i) + { + bool ina = d[j] >= 0; + bool inb = d[i] >= 0; + if (ina != inb) + { + float s = d[j] / (d[j] - d[i]); + out[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s; + out[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s; + out[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s; + m++; + } + if (inb) + { + out[m*3+0] = in[i*3+0]; + out[m*3+1] = in[i*3+1]; + out[m*3+2] = in[i*3+2]; + m++; + } + } + return m; +} + +static void rasterizeTri(const float* v0, const float* v1, const float* v2, + unsigned char flags, rcHeightfield& hf, + const float* bmin, const float* bmax, + const float cs, const float ics, const float ich) +{ + 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. + vcopy(tmin, v0); + vcopy(tmax, v0); + vmin(tmin, v1); + vmin(tmin, v2); + vmax(tmax, v1); + vmax(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. + vcopy(&in[0], v0); + vcopy(&in[1*3], v1); + vcopy(&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 = bmin[1]; + if (smax > by) smax = bmax[1]; + + // Snap the span to the heightfield height grid. + unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, 0x7fff); + unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), 0, 0x7fff); + + addSpan(hf, x, y, ismin, ismax, flags); + } + } +} + +void rcRasterizeTriangles(const float* bmin, const float* bmax, const float cs, const float ch, + const float* verts, int nv, + const int* tris, const unsigned char* flags, int nt, + rcHeightfield& solid) +{ + rcTimeVal startTime = rcGetPerformanceTimer(); + + const float ics = 1.0f/cs; + const float ich = 1.0f/ch; + // Rasterize triangles. + for (int i = 0; i < nt; ++i) + { + const float* v0 = &verts[tris[i*3+0]*3]; + const float* v1 = &verts[tris[i*3+1]*3]; + const float* v2 = &verts[tris[i*3+2]*3]; + // Rasterize. + rasterizeTri(v0, v1, v2, flags[i], solid, bmin, bmax, cs, ics, ich); + } + + rcTimeVal endTime = rcGetPerformanceTimer(); + + if (rcGetLog()) + rcGetLog()->log(RC_LOG_PROGRESS, "Rasterize: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f); +} diff --git a/Recast/Source/RecastRegion.cpp b/Recast/Source/RecastRegion.cpp new file mode 100644 index 0000000..9197283 --- /dev/null +++ b/Recast/Source/RecastRegion.cpp @@ -0,0 +1,1037 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// This software is provided 'as-is', without any express or implied +// warranty. In no event will the authors be held liable for any damages +// arising from the use of this software. +// Permission is granted to anyone to use this software for any purpose, +// including commercial applications, and to alter it and redistribute it +// freely, subject to the following restrictions: +// 1. The origin of this software must not be misrepresented; you must not +// claim that you wrote the original software. If you use this software +// in a product, an acknowledgment in the product documentation would be +// appreciated but is not required. +// 2. Altered source versions must be plainly marked as such, and must not be +// misrepresented as being the original software. +// 3. This notice may not be removed or altered from any source distribution. +// + +#include +#define _USE_MATH_DEFINES +#include +#include +#include +#include +#include "Recast.h" +#include "RecastLog.h" +#include "RecastTimer.h" + + +static unsigned short* calculateDistanceField(rcCompactHeightfield& chf, + unsigned short* src, unsigned short* dst, + unsigned short& maxDist) +{ + const int w = chf.width; + const int h = chf.height; + + // Init distance and points. + for (int i = 0; i < chf.spanCount; ++i) + src[i] = 0xffff; + + // Mark boundary cells. + 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]; + int nc = 0; + for (int dir = 0; dir < 4; ++dir) + { + if (rcGetCon(s, dir) != 0xf) + nc++; + } + if (nc != 4) + src[i] = 0; + } + } + } + + // Pass 1 + 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]; + + if (rcGetCon(s, 0) != 0xf) + { + // (-1,0) + 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); + const rcCompactSpan& as = chf.spans[ai]; + if (src[ai]+2 < src[i]) + src[i] = src[ai]+2; + + // (-1,-1) + if (rcGetCon(as, 3) != 0xf) + { + const int aax = ax + rcGetDirOffsetX(3); + const int aay = ay + rcGetDirOffsetY(3); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3); + if (src[aai]+3 < src[i]) + src[i] = src[aai]+3; + } + } + if (rcGetCon(s, 3) != 0xf) + { + // (0,-1) + 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 rcCompactSpan& as = chf.spans[ai]; + if (src[ai]+2 < src[i]) + src[i] = src[ai]+2; + + // (1,-1) + if (rcGetCon(as, 2) != 0xf) + { + const int aax = ax + rcGetDirOffsetX(2); + const int aay = ay + rcGetDirOffsetY(2); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2); + if (src[aai]+3 < src[i]) + src[i] = src[aai]+3; + } + } + } + } + } + + // Pass 2 + for (int y = h-1; y >= 0; --y) + { + for (int x = w-1; x >= 0; --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 (rcGetCon(s, 2) != 0xf) + { + // (1,0) + const int ax = x + rcGetDirOffsetX(2); + const int ay = y + rcGetDirOffsetY(2); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2); + const rcCompactSpan& as = chf.spans[ai]; + if (src[ai]+2 < src[i]) + src[i] = src[ai]+2; + + // (1,1) + if (rcGetCon(as, 1) != 0xf) + { + const int aax = ax + rcGetDirOffsetX(1); + const int aay = ay + rcGetDirOffsetY(1); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1); + if (src[aai]+3 < src[i]) + src[i] = src[aai]+3; + } + } + if (rcGetCon(s, 1) != 0xf) + { + // (0,1) + const int ax = x + rcGetDirOffsetX(1); + const int ay = y + rcGetDirOffsetY(1); + const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1); + const rcCompactSpan& as = chf.spans[ai]; + if (src[ai]+2 < src[i]) + src[i] = src[ai]+2; + + // (-1,1) + if (rcGetCon(as, 0) != 0xf) + { + const int aax = ax + rcGetDirOffsetX(0); + const int aay = ay + rcGetDirOffsetY(0); + const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0); + if (src[aai]+3 < src[i]) + src[i] = src[aai]+3; + } + } + } + } + } + + maxDist = 0; + for (int i = 0; i < chf.spanCount; ++i) + maxDist = rcMax(src[i], maxDist); + + return src; + +} + +static unsigned short* boxBlur(rcCompactHeightfield& chf, int thr, + unsigned short* src, unsigned short* dst) +{ + const int w = chf.width; + const int h = chf.height; + + thr *= 2; + + 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]; + int cd = (int)src[i]; + if (cd <= thr) + { + dst[i] = cd; + continue; + } + + int d = cd; + for (int dir = 0; dir < 4; ++dir) + { + if (rcGetCon(s, dir) != 0xf) + { + 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); + d += (int)src[ai]; + + 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); + d += (int)src[ai2]; + } + else + { + d += cd; + } + } + else + { + d += cd*2; + } + } + dst[i] = (unsigned short)((d+5)/9); + } + } + } + return dst; +} + + +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 unsigned short* expandRegions(int maxIter, unsigned short level, + rcCompactHeightfield& chf, + unsigned short* src, + unsigned short* dst, + rcIntArray& stack) +{ + const int w = chf.width; + const int h = chf.height; + + // Find cells revealed by the raised level. + stack.resize(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) + { + if (chf.spans[i].dist >= level && src[i*2] == 0) + { + stack.push(x); + stack.push(y); + stack.push(i); + } + } + } + } + + int iter = 0; + while (stack.size() > 0) + { + int failed = 0; + + memcpy(dst, src, sizeof(unsigned short)*chf.spanCount*2); + + for (int j = 0; j < stack.size(); j += 3) + { + int x = stack[j+0]; + int y = stack[j+1]; + int i = stack[j+2]; + if (i < 0) + { + failed++; + continue; + } + + unsigned short r = src[i*2]; + unsigned short d2 = 0xffff; + const rcCompactSpan& s = chf.spans[i]; + for (int dir = 0; dir < 4; ++dir) + { + if (rcGetCon(s, dir) == 0xf) continue; + 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); + if (src[ai*2]) + { + if ((int)src[ai*2+1]+2 < (int)d2) + { + r = src[ai*2]; + d2 = src[ai*2+1]+2; + } + } + } + if (r) + { + stack[j+2] = -1; // mark as used + dst[i*2] = r; + dst[i*2+1] = d2; + } + else + { + failed++; + } + } + + // rcSwap source and dest. + rcSwap(src, dst); + + if (failed*3 == stack.size()) + break; + + if (level > 0) + { + ++iter; + if (iter >= maxIter) + break; + } + } + + return src; +} + + +struct rcRegion +{ + inline rcRegion() : count(0), id(0) {} + + int count; + unsigned short id; + rcIntArray connections; + rcIntArray floors; +}; + +static void removeAdjacentNeighbours(rcRegion& reg) +{ + // Remove adjacent duplicates. + for (int i = 0; i < reg.connections.size() && reg.connections.size() > 1; ) + { + int ni = (i+1) % reg.connections.size(); + if (reg.connections[i] == reg.connections[ni]) + { + // Remove duplicate + for (int j = i; j < reg.connections.size()-1; ++j) + reg.connections[j] = reg.connections[j+1]; + reg.connections.pop(); + } + else + ++i; + } +} + +void replaceNeighbour(rcRegion& reg, unsigned short oldId, unsigned short newId) +{ + bool neiChanged = false; + for (int i = 0; i < reg.connections.size(); ++i) + { + if (reg.connections[i] == oldId) + { + reg.connections[i] = newId; + neiChanged = true; + } + } + for (int i = 0; i < reg.floors.size(); ++i) + { + if (reg.floors[i] == oldId) + reg.floors[i] = newId; + } + if (neiChanged) + removeAdjacentNeighbours(reg); +} + +bool canMergeWithRegion(rcRegion& reg, unsigned short id) +{ + int n = 0; + for (int i = 0; i < reg.connections.size(); ++i) + { + if (reg.connections[i] == id) + n++; + } + if (n > 1) + return false; + for (int i = 0; i < reg.floors.size(); ++i) + { + if (reg.floors[i] == id) + return false; + } + return true; +} + +static void addUniqueFloorRegion(rcRegion& reg, unsigned short n) +{ + for (int i = 0; i < reg.floors.size(); ++i) + if (reg.floors[i] == n) + return; + reg.floors.push(n); +} + +static bool mergeRegions(rcRegion& rega, rcRegion& regb) +{ + unsigned short aid = rega.id; + unsigned short bid = regb.id; + + // Duplicate current neighbourhood. + rcIntArray acon; + acon.resize(rega.connections.size()); + for (int i = 0; i < rega.connections.size(); ++i) + acon[i] = rega.connections[i]; + rcIntArray& bcon = regb.connections; + + // Find insertion point on A. + int insa = -1; + for (int i = 0; i < acon.size(); ++i) + { + if (acon[i] == bid) + { + insa = i; + break; + } + } + if (insa == -1) + return false; + + // Find insertion point on B. + int insb = -1; + for (int i = 0; i < bcon.size(); ++i) + { + if (bcon[i] == aid) + { + insb = i; + break; + } + } + if (insb == -1) + return false; + + // Merge neighbours. + rega.connections.resize(0); + for (int i = 0, ni = acon.size(); i < ni-1; ++i) + rega.connections.push(acon[(insa+1+i) % ni]); + + for (int i = 0, ni = bcon.size(); i < ni-1; ++i) + rega.connections.push(bcon[(insb+1+i) % ni]); + + removeAdjacentNeighbours(rega); + + for (int j = 0; j < regb.floors.size(); ++j) + addUniqueFloorRegion(rega, regb.floors[j]); + rega.count += regb.count; + regb.count = 0; + regb.connections.resize(0); + + return true; +} + +static bool isRegionConnectedToBorder(const rcRegion& reg) +{ + // Region is connected to border if + // one of the neighbours is null id. + for (int i = 0; i < reg.connections.size(); ++i) + { + if (reg.connections[i] == 0) + return true; + } + return false; +} + +static bool isSolidEdge(rcCompactHeightfield& chf, unsigned short* src, + int x, int y, int i, int dir) +{ + const rcCompactSpan& s = chf.spans[i]; + unsigned short r = 0; + if (rcGetCon(s, dir) != 0xf) + { + 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 = src[ai*2]; + } + if (r == src[i*2]) + return false; + return true; +} + +static void walkContour(int x, int y, int i, int dir, + rcCompactHeightfield& chf, + unsigned short* src, + rcIntArray& cont) +{ + int startDir = dir; + int starti = i; + + const rcCompactSpan& ss = chf.spans[i]; + unsigned short curReg = 0; + if (rcGetCon(ss, dir) != 0xf) + { + 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 = src[ai*2]; + } + cont.push(curReg); + + int iter = 0; + while (++iter < 40000) + { + const rcCompactSpan& s = chf.spans[i]; + + if (isSolidEdge(chf, src, x, y, i, dir)) + { + // Choose the edge corner + unsigned short r = 0; + if (rcGetCon(s, dir) != 0xf) + { + 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 = src[ai*2]; + } + 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) != 0xf) + { + 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 i = 0; i < cont.size(); ) + { + int ni = (i+1) % cont.size(); + if (cont[i] == cont[ni]) + { + for (int j = i; j < cont.size()-1; ++j) + cont[j] = cont[j+1]; + cont.pop(); + } + else + ++i; + } + } +} + +static bool filterSmallRegions(int minRegionSize, int mergeRegionSize, + unsigned short& maxRegionId, + rcCompactHeightfield& chf, + unsigned short* src) +{ + const int w = chf.width; + const int h = chf.height; + + int nreg = maxRegionId+1; + rcRegion* regions = new rcRegion[nreg]; + if (!regions) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "filterSmallRegions: Out of memory 'regions' (%d).", nreg); + return false; + } + + for (int i = 0; i < nreg; ++i) + regions[i].id = (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 = src[i*2]; + if (r == 0 || r >= nreg) + continue; + + rcRegion& reg = regions[r]; + reg.count++; + + + // Update floors. + for (int j = (int)c.index; j < ni; ++j) + { + if (i == j) continue; + unsigned short floorId = src[j*2]; + if (floorId == 0 || floorId >= nreg) + continue; + addUniqueFloorRegion(reg, floorId); + } + + // 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, src, 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, src, reg.connections); + } + } + } + } + + // Remove too small unconnected regions. + for (int i = 0; i < nreg; ++i) + { + rcRegion& reg = regions[i]; + if (reg.id == 0) + continue; + if (reg.count == 0) + continue; + + if (reg.connections.size() == 1 && reg.connections[0] == 0) + { + if (reg.count < minRegionSize) + { + // Non-connected small region, remove. + reg.count = 0; + reg.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) + continue; + if (reg.count == 0) + continue; + + // Check to see if the region should be merged. + if (reg.count > 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) + { + rcRegion& mreg = regions[reg.connections[j]]; + if (mreg.id == 0) continue; + if (mreg.count < smallest && + canMergeWithRegion(reg, mreg.id) && + canMergeWithRegion(mreg, reg.id)) + { + smallest = mreg.count; + 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) 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) + { + if (regions[i].id == 0) continue; + regions[i].id |= 0x8000; + } + + unsigned short regIdGen = 0; + for (int i = 0; i < nreg; ++i) + { + if ((regions[i].id & 0x8000) == 0) + 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; + } + } + maxRegionId = regIdGen; + + // Remap regions. + for (int i = 0; i < chf.spanCount; ++i) + src[i*2] = regions[src[i*2]].id; + + delete [] regions; + + return true; +} + +bool rcBuildDistanceField(rcCompactHeightfield& chf) +{ + rcTimeVal startTime = rcGetPerformanceTimer(); + + unsigned short* dist0 = new unsigned short[chf.spanCount]; + if (!dist0) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'dist0' (%d).", chf.spanCount); + return false; + } + unsigned short* dist1 = new unsigned short[chf.spanCount]; + if (!dist1) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'dist1' (%d).", chf.spanCount); + delete [] dist0; + return false; + } + + unsigned short* src = dist0; + unsigned short* dst = dist1; + + unsigned short maxDist = 0; + + rcTimeVal distStartTime = rcGetPerformanceTimer(); + + if (calculateDistanceField(chf, src, dst, maxDist) != src) + rcSwap(src, dst); + + chf.maxDistance = maxDist; + + rcTimeVal distEndTime = rcGetPerformanceTimer(); + + rcTimeVal blurStartTime = rcGetPerformanceTimer(); + + // Blur + int blurThr[4] = { 2, 4, 8, 16 }; + for (int i = 0; i < 4; ++i) + { + if (boxBlur(chf, blurThr[i], src, dst) != src) + rcSwap(src, dst); + } + + // Store distance. + for (int i = 0; i < chf.spanCount; ++i) + chf.spans[i].dist = src[i]; + + rcTimeVal blurEndTime = rcGetPerformanceTimer(); + + delete [] dist0; + delete [] dist1; + + rcTimeVal endTime = rcGetPerformanceTimer(); + + if (rcGetLog()) + { + rcGetLog()->log(RC_LOG_PROGRESS, "Build distance field: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f); + rcGetLog()->log(RC_LOG_PROGRESS, " - dist: %.3f ms", rcGetDeltaTimeUsec(distStartTime, distEndTime)/1000.0f); + rcGetLog()->log(RC_LOG_PROGRESS, " - blur: %.3f ms", rcGetDeltaTimeUsec(blurStartTime, blurEndTime)/1000.0f); + } + + return true; +} + +bool rcBuildRegions(rcCompactHeightfield& chf, + int walkableRadius, int minRegionSize, int mergeRegionSize) +{ + rcTimeVal startTime = rcGetPerformanceTimer(); + + const int w = chf.width; + const int h = chf.height; + + unsigned short* tmp1 = new unsigned short[chf.spanCount*2]; + if (!tmp1) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'tmp1' (%d).", chf.spanCount*2); + return false; + } + unsigned short* tmp2 = new unsigned short[chf.spanCount*2]; + if (!tmp2) + { + if (rcGetLog()) + rcGetLog()->log(RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'tmp2' (%d).", chf.spanCount*2); + delete [] tmp1; + return false; + } + + rcTimeVal regStartTime = rcGetPerformanceTimer(); + + rcIntArray stack(1024); + rcIntArray visited(1024); + + unsigned short* src = tmp1; + unsigned short* dst = tmp2; + + memset(src, 0, sizeof(unsigned short) * chf.spanCount*2); + + unsigned short regionId = 1; + unsigned short level = (chf.maxDistance+1) & ~1; + + unsigned short minLevel = (unsigned short)walkableRadius * 2; + + const int expandIters = 4 + walkableRadius * 2; + + rcTimeVal expTime = 0; + rcTimeVal marknewTime = 0; + rcTimeVal floodTime = 0; + + while (level > minLevel) + { + level = level >= 2 ? level-2 : 0; + + rcTimeVal expStartTime = rcGetPerformanceTimer(); + + // Expand current regions until no empty connected cells found. + if (expandRegions(expandIters, level, chf, src, dst, stack) != src) + rcSwap(src, dst); + + expTime += rcGetPerformanceTimer() - expStartTime; + + rcTimeVal floodStartTime = rcGetPerformanceTimer(); + + // Mark new regions with IDs. + 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) + { + if (chf.spans[i].dist < level || src[i*2] != 0) + continue; + + if (floodRegion(x, y, i, minLevel, level, regionId, chf, src, stack)) + regionId++; + } + } + } + + floodTime += rcGetPerformanceTimer() - floodStartTime; + + } + + // Expand current regions until no empty connected cells found. + if (expandRegions(expandIters, minLevel, chf, src, dst, stack) != src) + rcSwap(src, dst); + + + rcTimeVal regEndTime = rcGetPerformanceTimer(); + + rcTimeVal filterStartTime = rcGetPerformanceTimer(); + + // Filter out small regions. + chf.maxRegions = regionId; + if (!filterSmallRegions(minRegionSize, mergeRegionSize, chf.maxRegions, chf, src)) + return false; + + rcTimeVal filterEndTime = rcGetPerformanceTimer(); + + // Write the result out. + for (int i = 0; i < chf.spanCount; ++i) + chf.spans[i].reg = src[i*2]; + + delete [] tmp1; + delete [] tmp2; + + rcTimeVal endTime = rcGetPerformanceTimer(); + + if (rcGetLog()) + { + rcGetLog()->log(RC_LOG_PROGRESS, "Build regions: %.3f ms", rcGetDeltaTimeUsec(startTime, endTime)/1000.0f); + rcGetLog()->log(RC_LOG_PROGRESS, " - reg: %.3f ms", rcGetDeltaTimeUsec(regStartTime, regEndTime)/1000.0f); + rcGetLog()->log(RC_LOG_PROGRESS, " - exp: %.3f ms", rcGetDeltaTimeUsec(0, expTime)/1000.0f); + rcGetLog()->log(RC_LOG_PROGRESS, " - new: %.3f ms", rcGetDeltaTimeUsec(0, marknewTime)/1000.0f); + rcGetLog()->log(RC_LOG_PROGRESS, " - flood: %.3f ms", rcGetDeltaTimeUsec(0, floodTime)/1000.0f); + rcGetLog()->log(RC_LOG_PROGRESS, " - filter: %.3f ms", rcGetDeltaTimeUsec(filterStartTime, filterEndTime)/1000.0f); + } + + return true; +} + + diff --git a/Recast/Source/RecastTimer.cpp b/Recast/Source/RecastTimer.cpp new file mode 100644 index 0000000..e58df1b --- /dev/null +++ b/Recast/Source/RecastTimer.cpp @@ -0,0 +1,43 @@ +#include "RecastTimer.h" + +#ifdef WIN32 + +#include + +rcTimeVal rcGetPerformanceTimer() +{ + __int64 count; + QueryPerformanceCounter((LARGE_INTEGER*)&count); + return count; +} + +int rcGetDeltaTimeUsec(rcTimeVal start, rcTimeVal end) +{ + static __int64 freq = 0; + if (freq == 0) + QueryPerformanceFrequency((LARGE_INTEGER*)&freq); + __int64 elapsed = end - start; + return (int)(elapsed*1000000 / freq); +} + +#else + +#include + + +rcTimeVal rcGetPerformanceTimer() +{ + return mach_absolute_time(); +} + +int rcGetDeltaTimeUsec(rcTimeVal start, rcTimeVal end) +{ + static mach_timebase_info_data_t timebaseInfo; + if (timebaseInfo.denom == 0) + mach_timebase_info(&timebaseInfo); + uint64_t elapsed = end - start; + uint64_t nanosec = elapsed * timebaseInfo.numer / timebaseInfo.denom; + return (int)(nanosec / 1000); +} + +#endif \ No newline at end of file