server_common/recastnavigation_v1.6.0
5
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added option to tesselate edges between areas. Fixed bug in orphan contour merging, which could create overlapping contour.

Browse Source
This commit is contained in:
Mikko Mononen 2010-05-26 09:20:57 +00:00
parent 49f2b03cd8
commit 11386cedcf
10 changed files with 3285 additions and 1821 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
Recast/Include/Recast.h
View File

@ -160,7 +160,7 @@ struct rcContourSet
// z = bmin[2] + verts[i*3+2]*cs;
struct rcPolyMesh
{
inline rcPolyMesh() : verts(0), polys(0), regs(0), flags(0), areas(0), nverts(0), npolys(0), nvp(3) {}
inline rcPolyMesh() : verts(0), polys(0), regs(0), flags(0), areas(0), nverts(0), npolys(0), maxpolys(0), nvp(3) {}
inline ~rcPolyMesh() { delete [] verts; delete [] polys; delete [] regs; delete [] flags; delete [] areas; }
@ -171,6 +171,7 @@ struct rcPolyMesh
unsigned char* areas; // Area ID of polygons.
int nverts; // Number of vertices.
int npolys; // Number of polygons.
int maxpolys; // Number of allocated polygons.
int nvp; // Max number of vertices per polygon.
float bmin[3], bmax[3]; // Bounding box of the mesh.
float cs, ch; // Cell size and height.
@ -250,6 +251,12 @@ static const int RC_BORDER_VERTEX = 0x10000;
static const int RC_AREA_BORDER = 0x20000;
enum rcBuildContoursFlags
{
RC_CONTOUR_TESS_WALL_EDGES = 0x01, // Tesselate wall edges
RC_CONTOUR_TESS_AREA_EDGES = 0x02, // Tesselate edges between areas.
};
// Mask used with contours to extract region id.
static const int RC_CONTOUR_REG_MASK = 0xffff;
@ -552,7 +559,6 @@ void rcMarkConvexPolyArea(const float* verts, const int nverts,
const float hmin, const float hmax, unsigned char areaId,
rcCompactHeightfield& chf);
// Builds distance field and stores it into the combat heightfield.
// Params:
// chf - (in/out) compact heightfield representing the open space.
@ -573,7 +579,7 @@ bool rcBuildDistanceField(rcCompactHeightfield& chf);
// maxMergeRegionSize - (in) the largest allowed regions size which can be merged.
// Returns false if operation ran out of memory.
bool rcBuildRegions(rcCompactHeightfield& chf,
int borderSize, int minRegionSize, int mergeRegionSize);
const int borderSize, const int minRegionSize, const int mergeRegionSize);
// Divides the walkable heighfied into simple regions using simple monotone partitioning.
// Each region has only one contour and no overlaps.
@ -589,7 +595,7 @@ bool rcBuildRegions(rcCompactHeightfield& chf,
// maxMergeRegionSize - (in) the largest allowed regions size which can be merged.
// Returns false if operation ran out of memory.
bool rcBuildRegionsMonotone(rcCompactHeightfield& chf,
int borderSize, int minRegionSize, int mergeRegionSize);
const int borderSize, const int minRegionSize, const int mergeRegionSize);
// Builds simplified contours from the regions outlines.
// Params:
@ -597,10 +603,11 @@ bool rcBuildRegionsMonotone(rcCompactHeightfield& chf,
// maxError - (in) maximum allowed distance between simplified countour and cells.
// maxEdgeLen - (in) maximum allowed contour edge length in cells.
// cset - (out) Resulting contour set.
// flags - (in) build flags, see rcBuildContoursFlags.
// Returns false if operation ran out of memory.
bool rcBuildContours(rcCompactHeightfield& chf,
const float maxError, const int maxEdgeLen,
rcContourSet& cset);
rcContourSet& cset, const int flags = RC_CONTOUR_TESS_WALL_EDGES);
// Builds connected convex polygon mesh from contour polygons.
// Params:

2
Recast/Source/RecastArea.cpp
View File

@ -321,6 +321,4 @@ void rcMarkConvexPolyArea(const float* verts, const int nverts,
}
}
}

74
Recast/Source/RecastContour.cpp
View File

@ -227,7 +227,8 @@ static float distancePtSeg(const int x, const int z,
return dx*dx + dz*dz;
}
static void simplifyContour(rcIntArray& points, rcIntArray& simplified, float maxError, int maxEdgeLen)
static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
const float maxError, const int maxEdgeLen, const int buildFlags)
{
// Add initial points.
bool noConnections = true;
@ -382,7 +383,7 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified, float ma
}
// Split too long edges.
if (maxEdgeLen > 0)
if (maxEdgeLen > 0 && (buildFlags & (RC_CONTOUR_TESS_WALL_EDGES|RC_CONTOUR_TESS_AREA_EDGES)) != 0)
{
for (int i = 0; i < simplified.size()/4; )
{
@ -395,20 +396,39 @@ static void simplifyContour(rcIntArray& points, rcIntArray& simplified, float ma
const int bx = simplified[ii*4+0];
const int bz = simplified[ii*4+2];
const int bi = simplified[ii*4+3];
// Find maximum deviation from the segment.
int maxi = -1;
int ci = (ai+1) % pn;
// Tesselate only outer edges or edges between areas.
bool tess = false;
// Wall edges.
if ((buildFlags & RC_CONTOUR_TESS_WALL_EDGES) && (points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0)
tess = true;
// Edges between areas.
if ((buildFlags & RC_CONTOUR_TESS_AREA_EDGES) && (points[ci*4+3] & RC_AREA_BORDER))
tess = true;
// Tesselate only outer edges.
if ((points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0)
if (tess)
{
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;
// Round based on the segments in lexilogical order so that the
// max tesselation is consistent regardles in which direction
// segments are traversed.
if (bx > ax || (bx == ax && bz > az))
{
const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
maxi = (ai + n/2) % pn;
}
else
{
const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
maxi = (ai + (n+1)/2) % pn;
}
}
}
@ -488,25 +508,40 @@ static int calcAreaOfPolygon2D(const int* verts, const int nverts)
return (area+1) / 2;
}
inline bool ileft(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]) <= 0;
}
static void getClosestIndices(const int* vertsa, const int nvertsa,
const int* vertsb, const int nvertsb,
int& ia, int& ib)
{
int closestDist = 0xfffffff;
ia = -1, ib = -1;
for (int i = 0; i < nvertsa; ++i)
{
const int in = (i+1) % nvertsa;
const int ip = (i+nvertsa-1) % nvertsa;
const int* va = &vertsa[i*4];
const int* van = &vertsa[in*4];
const int* vap = &vertsa[ip*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)
// vb must be "infront" of va.
if (ileft(vap,va,vb) && ileft(va,van,vb))
{
ia = i;
ib = j;
closestDist = d;
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;
}
}
}
}
@ -558,7 +593,7 @@ static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib)
bool rcBuildContours(rcCompactHeightfield& chf,
const float maxError, const int maxEdgeLen,
rcContourSet& cset)
rcContourSet& cset, const int buildFlags)
{
const int w = chf.width;
const int h = chf.height;
@ -647,7 +682,7 @@ bool rcBuildContours(rcCompactHeightfield& chf,
verts.resize(0);
simplified.resize(0);
walkContour(x, y, i, chf, flags, verts);
simplifyContour(verts, simplified, maxError, maxEdgeLen);
simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags);
removeDegenerateSegments(simplified);
// Store region->contour remap info.
@ -738,10 +773,17 @@ bool rcBuildContours(rcCompactHeightfield& chf,
// Merge by closest points.
int ia = 0, ib = 0;
getClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ia, ib);
if (ia == -1 || ib == -1)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_WARNING, "rcBuildContours: Failed to find merge points for %d and %d.", i, mergeIdx);
continue;
}
if (!mergeContours(mcont, cont, ia, ib))
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_WARNING, "rcBuildContours: Failed to merge contours %d and %d.", i, mergeIdx);
continue;
}
}
}

36
Recast/Source/RecastMesh.cpp
View File

@ -494,15 +494,19 @@ static int removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int ma
for (int i = 0; i < mesh.npolys; ++i)
{
unsigned short* p = &mesh.polys[i*nvp*2];
for (int j = 0; j < nvp; ++j)
const int nv = countPolyVerts(p, nvp);
int numRemoved = 0;
int numVerts = 0;
for (int j = 0; j < nv; ++j)
{
if (p[j] == RC_MESH_NULL_IDX) break;
numRemainingEdges++;
if (p[j] == rem)
{
numRemovedVerts++;
numRemainingEdges -= 2;
}
numRemoved++;
numVerts++;
}
if (numRemoved)
{
numRemovedVerts += numRemoved;
numRemainingEdges += numVerts-(numRemoved+1);
}
}
@ -574,6 +578,7 @@ static int removeVertex(rcPolyMesh& mesh, const unsigned short rem, const int ma
// Remove the polygon.
unsigned short* p2 = &mesh.polys[(mesh.npolys-1)*nvp*2];
memcpy(p,p2,sizeof(unsigned short)*nvp);
memset(p+nvp,0xff,sizeof(unsigned short)*nvp);
mesh.regs[i] = mesh.regs[mesh.npolys-1];
mesh.areas[i] = mesh.areas[mesh.npolys-1];
mesh.npolys--;
@ -884,6 +889,7 @@ bool rcBuildPolyMesh(rcContourSet& cset, int nvp, rcPolyMesh& mesh)
mesh.nverts = 0;
mesh.npolys = 0;
mesh.nvp = nvp;
mesh.maxpolys = maxTris;
memset(mesh.verts, 0, sizeof(unsigned short)*maxVertices*3);
memset(mesh.polys, 0xff, sizeof(unsigned short)*maxTris*nvp*2);
@ -948,18 +954,16 @@ bool rcBuildPolyMesh(rcContourSet& cset, int nvp, rcPolyMesh& mesh)
if (ntris <= 0)
{
// Bad triangulation, should not happen.
/* for (int k = 0; k < cont.nverts; ++k)
/* printf("\tconst float bmin[3] = {%ff,%ff,%ff};\n", cset.bmin[0], cset.bmin[1], cset.bmin[2]);
printf("\tconst float cs = %ff;\n", cset.cs);
printf("\tconst float ch = %ff;\n", cset.ch);
printf("\tconst int verts[] = {\n");
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++;
}
}*/
}
printf("\t};\n\tconst int nverts = sizeof(verts)/(sizeof(int)*4);\n");*/
ntris = -ntris;
}

4
Recast/Source/RecastRegion.cpp
View File

@ -983,7 +983,7 @@ struct rcSweepSpan
};
bool rcBuildRegionsMonotone(rcCompactHeightfield& chf,
int borderSize, int minRegionSize, int mergeRegionSize)
const int borderSize, const int minRegionSize, const int mergeRegionSize)
{
rcTimeVal startTime = rcGetPerformanceTimer();
@ -1134,7 +1134,7 @@ bool rcBuildRegionsMonotone(rcCompactHeightfield& chf,
}
bool rcBuildRegions(rcCompactHeightfield& chf,
int borderSize, int minRegionSize, int mergeRegionSize)
const int borderSize, const int minRegionSize, const int mergeRegionSize)
{
rcTimeVal startTime = rcGetPerformanceTimer();

4654
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
View File

File diff suppressed because it is too large Load Diff

189
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
View File

@ -282,13 +282,14 @@
<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
<array>
<array>
<integer>46</integer>
<integer>21</integer>
<integer>20</integer>
<integer>1</integer>
<integer>0</integer>
</array>
</array>
<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
<string>{{0, 348}, {264, 643}}</string>
<string>{{0, 167}, {264, 643}}</string>
</dict>
<key>PBXTopSmartGroupGIDs</key>
<array/>
@ -323,7 +324,7 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A30F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>main.cpp</string>
<string>Sample_TileMesh.cpp</string>
<key>PBXSplitModuleInNavigatorKey</key>
<dict>
<key>Split0</key>
@ -331,11 +332,11 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A40F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>main.cpp</string>
<string>Sample_TileMesh.cpp</string>
<key>_historyCapacity</key>
<integer>0</integer>
<key>bookmark</key>
<string>6B5562FE1193F50A00843384</string>
<string>6B10017F11AD1F0E0098A59A</string>
<key>history</key>
<array>
<string>6BBB4A96115B4F3400CF791D</string>
@ -348,9 +349,7 @@
<string>6BBB4AB2115B4F3400CF791D</string>
<string>6BBB4ABB115B4F3400CF791D</string>
<string>6BBB4ABF115B4F3400CF791D</string>
<string>6BBB4AC2115B4F3400CF791D</string>
<string>6BBB4AC4115B4F3400CF791D</string>
<string>6BBB4AC6115B4F3400CF791D</string>
<string>6BBB4ACB115B4F3400CF791D</string>
<string>6BBB4ACD115B4F3400CF791D</string>
<string>6BBB4B7F115B639200CF791D</string>
@ -363,17 +362,12 @@
<string>6BF5F2E711748884000502A6</string>
<string>6BF5F31C117490A1000502A6</string>
<string>6BF5F32E11759C3C000502A6</string>
<string>6BF5F32F11759C3C000502A6</string>
<string>6BF5F33111759C3C000502A6</string>
<string>6BF5F474117644A2000502A6</string>
<string>6BF5F475117644A2000502A6</string>
<string>6BF5F476117644A2000502A6</string>
<string>6BF5F477117644A2000502A6</string>
<string>6BF5F478117644A2000502A6</string>
<string>6BF5F47E117644A2000502A6</string>
<string>6BF5F47F117644A2000502A6</string>
<string>6BF5F5041176F5F8000502A6</string>
<string>6BF5F5051176F5F8000502A6</string>
<string>6BF5F50D1176F5F8000502A6</string>
<string>6B4214AB11802FAA006C347B</string>
<string>6B4214AD11802FAA006C347B</string>
@ -382,26 +376,35 @@
<string>6B6F8E2311837A7400A069D7</string>
<string>6B6F8E2411837A7400A069D7</string>
<string>6B6F8E2511837A7400A069D7</string>
<string>6B555F431191AA4400843384</string>
<string>6B555F441191AA4400843384</string>
<string>6B555F451191AA4400843384</string>
<string>6B55622C119305F200843384</string>
<string>6B55623D1193E79A00843384</string>
<string>6B5562501193EF2F00843384</string>
<string>6B5562511193EF2F00843384</string>
<string>6B5562531193EF2F00843384</string>
<string>6B5562541193EF2F00843384</string>
<string>6B5562841193EFC500843384</string>
<string>6B5562D41193F20700843384</string>
<string>6B5562D51193F20700843384</string>
<string>6B5562DF1193F2A300843384</string>
<string>6B5562E01193F2A300843384</string>
<string>6B5562E11193F2A300843384</string>
<string>6B5562F21193F4CC00843384</string>
<string>6B5562F31193F4CC00843384</string>
<string>6B5562F41193F4CC00843384</string>
<string>6B5562FB1193F50A00843384</string>
<string>6B5562FC1193F50A00843384</string>
<string>6B5564031194187500843384</string>
<string>6B2CDC911197F0720090FA4D</string>
<string>6B2CDD23119804010090FA4D</string>
<string>6B2CDD3211980B820090FA4D</string>
<string>6B2CDD6111980E3D0090FA4D</string>
<string>6B2CDD6C119810560090FA4D</string>
<string>6B2CDD94119818F90090FA4D</string>
<string>6B2CDDC9119830560090FA4D</string>
<string>6B57E96B11A7695700614060</string>
<string>6B10000A11ACFFFB0098A59A</string>
<string>6B10003311AD03030098A59A</string>
<string>6B1000FB11AD16DC0098A59A</string>
<string>6B10011711AD19F90098A59A</string>
<string>6B10011811AD19F90098A59A</string>
<string>6B10011911AD19F90098A59A</string>
<string>6B10016C11AD1DE70098A59A</string>
<string>6B10017811AD1F0E0098A59A</string>
<string>6B10017911AD1F0E0098A59A</string>
<string>6B10017A11AD1F0E0098A59A</string>
<string>6B10017B11AD1F0E0098A59A</string>
</array>
<key>prevStack</key>
<array>
@ -435,15 +438,10 @@
<string>6BBB4AFD115B4F3400CF791D</string>
<string>6BBB4AFF115B4F3400CF791D</string>
<string>6BBB4B03115B4F3400CF791D</string>
<string>6BBB4B04115B4F3400CF791D</string>
<string>6BBB4B07115B4F3400CF791D</string>
<string>6BBB4B08115B4F3400CF791D</string>
<string>6BBB4B0A115B4F3400CF791D</string>
<string>6BBB4B0C115B4F3400CF791D</string>
<string>6BBB4B0D115B4F3400CF791D</string>
<string>6BBB4B0E115B4F3400CF791D</string>
<string>6BBB4B0F115B4F3400CF791D</string>
<string>6BBB4B10115B4F3400CF791D</string>
<string>6BBB4B11115B4F3400CF791D</string>
<string>6BBB4B87115B639200CF791D</string>
<string>6BBB4C3B115B7A3D00CF791D</string>
@ -459,56 +457,47 @@
<string>6B4215DF1180672F006C347B</string>
<string>6B4216881180725E006C347B</string>
<string>6B4217131180803D006C347B</string>
<string>6B555F471191AA4400843384</string>
<string>6B555F481191AA4400843384</string>
<string>6B55623F1193E79A00843384</string>
<string>6B55625A1193EF2F00843384</string>
<string>6B55625B1193EF2F00843384</string>
<string>6B55625C1193EF2F00843384</string>
<string>6B55625D1193EF2F00843384</string>
<string>6B55625E1193EF2F00843384</string>
<string>6B55625F1193EF2F00843384</string>
<string>6B5562601193EF2F00843384</string>
<string>6B5562611193EF2F00843384</string>
<string>6B5562621193EF2F00843384</string>
<string>6B5562631193EF2F00843384</string>
<string>6B5562641193EF2F00843384</string>
<string>6B5562651193EF2F00843384</string>
<string>6B5562661193EF2F00843384</string>
<string>6B5562671193EF2F00843384</string>
<string>6B5562681193EF2F00843384</string>
<string>6B5562691193EF2F00843384</string>
<string>6B55626A1193EF2F00843384</string>
<string>6B55626B1193EF2F00843384</string>
<string>6B55626C1193EF2F00843384</string>
<string>6B55626D1193EF2F00843384</string>
<string>6B55626E1193EF2F00843384</string>
<string>6B55626F1193EF2F00843384</string>
<string>6B5562701193EF2F00843384</string>
<string>6B55627E1193EF9F00843384</string>
<string>6B5562871193EFC500843384</string>
<string>6B5562881193EFC500843384</string>
<string>6B5562891193EFC500843384</string>
<string>6B5562961193F05700843384</string>
<string>6B5562A21193F08C00843384</string>
<string>6B5562A31193F08C00843384</string>
<string>6B5562A41193F08C00843384</string>
<string>6B5562A51193F08C00843384</string>
<string>6B5562AD1193F0BA00843384</string>
<string>6B5562B91193F10000843384</string>
<string>6B5562CD1193F1C000843384</string>
<string>6B5562D71193F20700843384</string>
<string>6B5562D81193F20700843384</string>
<string>6B5562D91193F20700843384</string>
<string>6B5562DA1193F20700843384</string>
<string>6B5562E31193F2A300843384</string>
<string>6B5562E41193F2A300843384</string>
<string>6B5562E51193F2A300843384</string>
<string>6B5562E61193F2A300843384</string>
<string>6B5562F61193F4CC00843384</string>
<string>6B5562F71193F4CC00843384</string>
<string>6B5562F81193F4CC00843384</string>
<string>6B5562FD1193F50A00843384</string>
<string>6B2CDD181197FE370090FA4D</string>
<string>6B2CDD3511980B820090FA4D</string>
<string>6B2CDD71119810560090FA4D</string>
<string>6B2CDD98119818F90090FA4D</string>
<string>6B57E94D11A7646800614060</string>
<string>6B10FFC911ACF80A0098A59A</string>
<string>6B10FFD711ACF8990098A59A</string>
<string>6B10FFD811ACF8990098A59A</string>
<string>6B10FFD911ACF8990098A59A</string>
<string>6B10FFDA11ACF8990098A59A</string>
<string>6B10FFE411ACF95E0098A59A</string>
<string>6B10005B11AD08FA0098A59A</string>
<string>6B10005C11AD08FA0098A59A</string>
<string>6B10005D11AD08FA0098A59A</string>
<string>6B10006811AD09950098A59A</string>
<string>6B10011D11AD19F90098A59A</string>
<string>6B10011E11AD19F90098A59A</string>
<string>6B10011F11AD19F90098A59A</string>
<string>6B10012011AD19F90098A59A</string>
<string>6B10012111AD19F90098A59A</string>
<string>6B10012211AD19F90098A59A</string>
<string>6B10012311AD19F90098A59A</string>
<string>6B10012411AD19F90098A59A</string>
<string>6B10013011AD1A7B0098A59A</string>
<string>6B10014F11AD1C240098A59A</string>
<string>6B10015711AD1C530098A59A</string>
<string>6B10015811AD1C530098A59A</string>
<string>6B10015911AD1C530098A59A</string>
<string>6B10015A11AD1C530098A59A</string>
<string>6B10016011AD1C900098A59A</string>
<string>6B10016A11AD1D9C0098A59A</string>
<string>6B10016E11AD1DE70098A59A</string>
<string>6B10017211AD1E790098A59A</string>
<string>6B10017C11AD1F0E0098A59A</string>
<string>6B10017D11AD1F0E0098A59A</string>
<string>6B10017E11AD1F0E0098A59A</string>
</array>
</dict>
<key>SplitCount</key>
@ -522,18 +511,18 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {970, 535}}</string>
<string>{{0, 0}, {970, 460}}</string>
<key>RubberWindowFrame</key>
<string>13 75 1256 702 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXNavigatorGroup</string>
<key>Proportion</key>
<string>535pt</string>
<string>460pt</string>
</dict>
<dict>
<key>Proportion</key>
<string>121pt</string>
<string>196pt</string>
<key>Tabs</key>
<array>
<dict>
@ -547,7 +536,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {970, 56}}</string>
<string>{{10, 27}, {970, 68}}</string>
</dict>
<key>Module</key>
<string>XCDetailModule</string>
@ -563,7 +552,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {970, 287}}</string>
<string>{{10, 27}, {970, 52}}</string>
</dict>
<key>Module</key>
<string>PBXProjectFindModule</string>
@ -601,7 +590,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {970, 94}}</string>
<string>{{10, 27}, {970, 169}}</string>
<key>RubberWindowFrame</key>
<string>13 75 1256 702 0 0 1280 778 </string>
</dict>
@ -631,11 +620,11 @@
</array>
<key>TableOfContents</key>
<array>
<string>6B5562411193E79A00843384</string>
<string>6B10FFC111ACF6790098A59A</string>
<string>1CA23ED40692098700951B8B</string>
<string>6B5562421193E79A00843384</string>
<string>6B10FFC211ACF6790098A59A</string>
<string>6B8632A30F78115100E2684A</string>
<string>6B5562431193E79A00843384</string>
<string>6B10FFC311ACF6790098A59A</string>
<string>1CA23EDF0692099D00951B8B</string>
<string>1CA23EE00692099D00951B8B</string>
<string>1CA23EE10692099D00951B8B</string>
@ -686,12 +675,12 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {1256, 133}}</string>
<string>{{0, 0}, {1256, 251}}</string>
</dict>
<key>Module</key>
<string>PBXDebugCLIModule</string>
<key>Proportion</key>
<string>133pt</string>
<string>251pt</string>
</dict>
<dict>
<key>ContentConfiguration</key>
@ -710,8 +699,8 @@
<string>yes</string>
<key>sizes</key>
<array>
<string>{{0, 0}, {533, 123}}</string>
<string>{{533, 0}, {723, 123}}</string>
<string>{{0, 0}, {567, 93}}</string>
<string>{{567, 0}, {689, 93}}</string>
</array>
</dict>
<key>VerticalSplitView</key>
@ -726,8 +715,8 @@
<string>yes</string>
<key>sizes</key>
<array>
<string>{{0, 0}, {1256, 123}}</string>
<string>{{0, 123}, {1256, 400}}</string>
<string>{{0, 0}, {1256, 93}}</string>
<string>{{0, 93}, {1256, 312}}</string>
</array>
</dict>
</dict>
@ -747,7 +736,7 @@
<key>DebugSTDIOWindowFrame</key>
<string>{{200, 200}, {500, 300}}</string>
<key>Frame</key>
<string>{{0, 138}, {1256, 523}}</string>
<string>{{0, 256}, {1256, 405}}</string>
<key>PBXDebugSessionStackFrameViewKey</key>
<dict>
<key>DebugVariablesTableConfiguration</key>
@ -757,16 +746,16 @@
<string>Value</string>
<real>85</real>
<string>Summary</string>
<real>430</real>
<real>396</real>
</array>
<key>Frame</key>
<string>{{533, 0}, {723, 123}}</string>
<string>{{567, 0}, {689, 93}}</string>
</dict>
</dict>
<key>Module</key>
<string>PBXDebugSessionModule</string>
<key>Proportion</key>
<string>523pt</string>
<string>405pt</string>
</dict>
</array>
<key>Name</key>
@ -784,14 +773,14 @@
</array>
<key>TableOfContents</key>
<array>
<string>6B5562721193EF2F00843384</string>
<string>6B10FFCC11ACF80A0098A59A</string>
<string>1CCC7628064C1048000F2A68</string>
<string>1CCC7629064C1048000F2A68</string>
<string>6B5562731193EF2F00843384</string>
<string>6B5562741193EF2F00843384</string>
<string>6B5562751193EF2F00843384</string>
<string>6B5562761193EF2F00843384</string>
<string>6B5562771193EF2F00843384</string>
<string>6B10FFCD11ACF80A0098A59A</string>
<string>6B10FFCE11ACF80A0098A59A</string>
<string>6B10FFCF11ACF80A0098A59A</string>
<string>6B10FFD011ACF80A0098A59A</string>
<string>6B10FFD111ACF80A0098A59A</string>
</array>
<key>ToolbarConfigUserDefaultsMinorVersion</key>
<string>2</string>
@ -823,8 +812,8 @@
<integer>5</integer>
<key>WindowOrderList</key>
<array>
<string>6B5562811193EF9F00843384</string>
<string>6B5562821193EF9F00843384</string>
<string>6B10001111ACFFFB0098A59A</string>
<string>6B10001211ACFFFB0098A59A</string>
<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
</array>
<key>WindowString</key>

2
RecastDemo/Include/Sample_TileMesh.h
View File

@ -72,6 +72,8 @@ public:
virtual void handleMeshChanged(class InputGeom* geom);
virtual bool handleBuild();
void getTilePos(const float* pos, int& tx, int& ty);
void buildTile(const float* pos);
void removeTile(const float* pos);
void buildAllTiles();

102
RecastDemo/Source/Sample_Debug.cpp
View File

@ -57,7 +57,7 @@ Sample_Debug::Sample_Debug() :
resetCommonSettings();
// Test
m_chf = new rcCompactHeightfield;
/* m_chf = new rcCompactHeightfield;
FileIO io;
if (!io.openForRead("test.chf"))
{
@ -71,7 +71,7 @@ Sample_Debug::Sample_Debug() :
delete m_chf;
m_chf = 0;
}
}
}*/
/* if (m_chf)
{
@ -131,6 +131,8 @@ Sample_Debug::Sample_Debug() :
vcopy(m_ext, ext);
vcopy(m_center, center);*/
}
Sample_Debug::~Sample_Debug()
@ -175,6 +177,102 @@ void Sample_Debug::handleRender()
if (m_cset)
duDebugDrawRawContours(&dd, *m_cset);
dd.depthMask(false);
{
const float bmin[3] = {-32.000004f,-11.488281f,-115.343544f};
const float cs = 0.300000f;
const float ch = 0.200000f;
const int verts[] = {
158,46,336,0,
157,47,331,0,
161,53,330,0,
162,52,335,0,
158,46,336,0,
154,46,339,5,
161,46,365,5,
171,46,385,5,
174,46,400,5,
177,46,404,5,
177,46,410,5,
183,46,416,5,
188,49,416,5,
193,52,411,6,
194,53,382,6,
188,52,376,6,
188,57,363,6,
174,57,349,6,
174,60,342,6,
168,58,336,6,
167,59,328,6,
162,55,324,6,
159,53,324,5,
152,46,328,5,
151,46,336,5,
154,46,339,5,
158,46,336,0,
160,46,340,0,
164,52,339,0,
168,55,343,0,
168,50,351,0,
182,54,364,0,
182,47,378,0,
188,50,383,0,
188,49,409,0,
183,46,409,0,
183,46,403,0,
180,46,399,0,
177,46,384,0,
165,46,359,0,
160,46,340,0,
};
const int nverts = sizeof(verts)/(sizeof(int)*4);
const unsigned int colln = duRGBA(255,255,255,128);
dd.begin(DU_DRAW_LINES, 1.0f);
for (int i = 0, j = nverts-1; i < nverts; j=i++)
{
const int* va = &verts[j*4];
const int* vb = &verts[i*4];
dd.vertex(bmin[0]+va[0]*cs, bmin[1]+va[1]*ch+j*0.01f, bmin[2]+va[2]*cs, colln);
dd.vertex(bmin[0]+vb[0]*cs, bmin[1]+vb[1]*ch+i*0.01f, bmin[2]+vb[2]*cs, colln);
}
dd.end();
const unsigned int colpt = duRGBA(255,255,255,255);
dd.begin(DU_DRAW_POINTS, 3.0f);
for (int i = 0, j = nverts-1; i < nverts; j=i++)
{
const int* va = &verts[j*4];
dd.vertex(bmin[0]+va[0]*cs, bmin[1]+va[1]*ch+j*0.01f, bmin[2]+va[2]*cs, colpt);
}
dd.end();
extern int triangulate(int n, const int* verts, int* indices, int* tris);
static int indices[nverts];
static int tris[nverts*3];
for (int j = 0; j < nverts; ++j)
indices[j] = j;
static int ntris = 0;
if (!ntris)
{
ntris = triangulate(nverts, verts, &indices[0], &tris[0]);
if (ntris < 0) ntris = -ntris;
}
const unsigned int coltri = duRGBA(255,255,255,64);
dd.begin(DU_DRAW_TRIS);
for (int i = 0; i < ntris*3; ++i)
{
const int* va = &verts[indices[tris[i]]*4];
dd.vertex(bmin[0]+va[0]*cs, bmin[1]+va[1]*ch, bmin[2]+va[2]*cs, coltri);
}
dd.end();
}
dd.depthMask(true);
}
void Sample_Debug::handleRenderOverlay(double* /*proj*/, double* /*model*/, int* /*view*/)

26
RecastDemo/Source/Sample_TileMesh.cpp
View File

@ -146,8 +146,19 @@ public:
}
}
virtual void handleRenderOverlay(double* /*proj*/, double* /*model*/, int* /*view*/)
virtual void handleRenderOverlay(double* proj, double* model, int* view)
{
GLdouble x, y, z;
if (m_hitPosSet && gluProject((GLdouble)m_hitPos[0], (GLdouble)m_hitPos[1], (GLdouble)m_hitPos[2],
model, proj, view, &x, &y, &z))
{
int tx=0, ty=0;
m_sample->getTilePos(m_hitPos, tx, ty);
char text[32];
snprintf(text,32,"(%d,%d)", tx,ty);
imguiDrawText((int)x, (int)y-25, IMGUI_ALIGN_CENTER, text, imguiRGBA(0,0,0,220));
}
}
};
@ -577,6 +588,17 @@ void Sample_TileMesh::buildTile(const float* pos)
}
}
void Sample_TileMesh::getTilePos(const float* pos, int& tx, int& ty)
{
if (!m_geom) return;
const float* bmin = m_geom->getMeshBoundsMin();
const float ts = m_tileSize*m_cellSize;
tx = (int)((pos[0] - bmin[0]) / ts);
ty = (int)((pos[2] - bmin[2]) / ts);
}
void Sample_TileMesh::removeTile(const float* pos)
{
if (!m_geom) return;
@ -624,6 +646,8 @@ void Sample_TileMesh::buildAllTiles()
{
for (int x = 0; x < tw; ++x)
{
printf("processing: %d,%d\n", x,y);
m_tileBmin[0] = bmin[0] + x*tcs;
m_tileBmin[1] = bmin[1];
m_tileBmin[2] = bmin[2] + y*tcs;