server_common/recastnavigation_v1.6.0
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Merge pull request #2 from memononen/master

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Merging back from source
This commit is contained in:
Kromster80 2014-12-14 18:48:44 +03:00
commit 5095fbe28b
16 changed files with 189 additions and 48 deletions
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2
Detour/Source/DetourNavMesh.cpp
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@ -717,7 +717,7 @@ dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile,
float closestPtPoly[3];
float diff[3];
bool posOverPoly = false;
float d = 0;
float d;
closestPointOnPoly(ref, center, closestPtPoly, &posOverPoly);
// If a point is directly over a polygon and closer than

4
Detour/Source/DetourNavMeshQuery.cpp
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@ -308,7 +308,7 @@ dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*fr
return DT_SUCCESS;
}
dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius,
const dtQueryFilter* filter, float (*frand)(),
dtPolyRef* randomRef, float* randomPt) const
{
@ -340,7 +340,7 @@ dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const f
dtStatus status = DT_SUCCESS;
const float radiusSqr = dtSqr(radius);
const float radiusSqr = dtSqr(maxRadius);
float areaSum = 0.0f;
const dtMeshTile* randomTile = 0;

2
DetourCrowd/Include/DetourLocalBoundary.h
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@ -40,7 +40,7 @@ class dtLocalBoundary
dtPolyRef m_polys[MAX_LOCAL_POLYS];
int m_npolys;
void addSegment(const float dist, const float* seg);
void addSegment(const float dist, const float* s);
public:
dtLocalBoundary();

3
DetourCrowd/Include/DetourObstacleAvoidance.h
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@ -131,9 +131,6 @@ private:
const float minPenalty,
dtObstacleAvoidanceDebugData* debug);
dtObstacleCircle* insertCircle(const float dist);
dtObstacleSegment* insertSegment(const float dist);
dtObstacleAvoidanceParams m_params;
float m_invHorizTime;
float m_vmax;

3
DetourCrowd/Include/DetourProximityGrid.h
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@ -21,7 +21,6 @@
class dtProximityGrid
{
int m_maxItems;
float m_cellSize;
float m_invCellSize;
@ -44,7 +43,7 @@ public:
dtProximityGrid();
~dtProximityGrid();
bool init(const int maxItems, const float cellSize);
bool init(const int poolSize, const float cellSize);
void clear();

4
DetourCrowd/Source/DetourObstacleAvoidance.cpp
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@ -281,7 +281,7 @@ void dtObstacleAvoidanceQuery::prepare(const float* pos, const float* dvel)
const float* pa = pos;
const float* pb = cir->p;
const float orig[3] = {0,0};
const float orig[3] = {0,0,0};
float dv[3];
dtVsub(cir->dp,pb,pa);
dtVnormalize(cir->dp);
@ -614,4 +614,4 @@ int dtObstacleAvoidanceQuery::sampleVelocityAdaptive(const float* pos, const flo
dtVcopy(nvel, res);
return ns;
}
}

1
DetourCrowd/Source/DetourProximityGrid.cpp
View File

@ -47,7 +47,6 @@ inline int hashPos2(int x, int y, int n)
dtProximityGrid::dtProximityGrid() :
m_maxItems(0),
m_cellSize(0),
m_pool(0),
m_poolHead(0),

1
DetourTileCache/Source/DetourTileCacheBuilder.cpp
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@ -1068,6 +1068,7 @@ static bool buildMeshAdjacency(dtTileCacheAlloc* alloc,
}
// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv).
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; }

8
Recast/Source/Recast.cpp
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@ -238,7 +238,7 @@ static void calcTriNormal(const float* v0, const float* v1, const float* v2, flo
/// @par
///
/// Only sets the aread id's for the walkable triangles. Does not alter the
/// Only sets the area id's for the walkable triangles. Does not alter the
/// area id's for unwalkable triangles.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
@ -267,7 +267,7 @@ void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
/// @par
///
/// Only sets the aread id's for the unwalkable triangles. Does not alter the
/// Only sets the area id's for the unwalkable triangles. Does not alter the
/// area id's for walkable triangles.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
@ -318,7 +318,7 @@ int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf)
/// @par
///
/// This is just the beginning of the process of fully building a compact heightfield.
/// Various filters may be applied applied, then the distance field and regions built.
/// Various filters may be applied, then the distance field and regions built.
/// E.g: #rcBuildDistanceField and #rcBuildRegions
///
/// See the #rcConfig documentation for more information on the configuration parameters.
@ -486,4 +486,4 @@ static int getCompactHeightFieldMemoryusage(const rcCompactHeightfield& chf)
size += sizeof(rcCompactCell) * chf.width * chf.height;
return size;
}
*/
*/

2
Recast/Source/RecastContour.cpp
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@ -464,7 +464,7 @@ static int calcAreaOfPolygon2D(const int* verts, const int nverts)
}
// TODO: these are the same as in RecastMesh.cpp, consider using the same.
// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv).
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; }

1
Recast/Source/RecastMesh.cpp
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@ -160,6 +160,7 @@ static unsigned short addVertex(unsigned short x, unsigned short y, unsigned sho
return (unsigned short)i;
}
// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv).
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; }

48
Recast/Source/RecastMeshDetail.cpp
View File

@ -237,8 +237,8 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
enum EdgeValues
{
UNDEF = -1,
HULL = -2,
EV_UNDEF = -1,
EV_HULL = -2,
};
static int findEdge(const int* edges, int nedges, int s, int t)
@ -249,7 +249,7 @@ static int findEdge(const int* edges, int nedges, int s, int t)
if ((e[0] == s && e[1] == t) || (e[0] == t && e[1] == s))
return i;
}
return UNDEF;
return EV_UNDEF;
}
static int addEdge(rcContext* ctx, int* edges, int& nedges, const int maxEdges, int s, int t, int l, int r)
@ -257,12 +257,12 @@ static int addEdge(rcContext* ctx, int* edges, int& nedges, const int maxEdges,
if (nedges >= maxEdges)
{
ctx->log(RC_LOG_ERROR, "addEdge: Too many edges (%d/%d).", nedges, maxEdges);
return UNDEF;
return EV_UNDEF;
}
// Add edge if not already in the triangulation.
int e = findEdge(edges, nedges, s, t);
if (e == UNDEF)
if (e == EV_UNDEF)
{
int* edge = &edges[nedges*4];
edge[0] = s;
@ -273,15 +273,15 @@ static int addEdge(rcContext* ctx, int* edges, int& nedges, const int maxEdges,
}
else
{
return UNDEF;
return EV_UNDEF;
}
}
static void updateLeftFace(int* e, int s, int t, int f)
{
if (e[0] == s && e[1] == t && e[2] == UNDEF)
if (e[0] == s && e[1] == t && e[2] == EV_UNDEF)
e[2] = f;
else if (e[1] == s && e[0] == t && e[3] == UNDEF)
else if (e[1] == s && e[0] == t && e[3] == EV_UNDEF)
e[3] = f;
}
@ -322,12 +322,12 @@ static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges
// Cache s and t.
int s,t;
if (edge[2] == UNDEF)
if (edge[2] == EV_UNDEF)
{
s = edge[0];
t = edge[1];
}
else if (edge[3] == UNDEF)
else if (edge[3] == EV_UNDEF)
{
s = edge[1];
t = edge[0];
@ -390,15 +390,15 @@ static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges
// Add new edge or update face info of old edge.
e = findEdge(edges, nedges, pt, s);
if (e == UNDEF)
addEdge(ctx, edges, nedges, maxEdges, pt, s, nfaces, UNDEF);
if (e == EV_UNDEF)
addEdge(ctx, edges, nedges, maxEdges, pt, s, nfaces, EV_UNDEF);
else
updateLeftFace(&edges[e*4], pt, s, nfaces);
// Add new edge or update face info of old edge.
e = findEdge(edges, nedges, t, pt);
if (e == UNDEF)
addEdge(ctx, edges, nedges, maxEdges, t, pt, nfaces, UNDEF);
if (e == EV_UNDEF)
addEdge(ctx, edges, nedges, maxEdges, t, pt, nfaces, EV_UNDEF);
else
updateLeftFace(&edges[e*4], t, pt, nfaces);
@ -406,7 +406,7 @@ static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges
}
else
{
updateLeftFace(&edges[e*4], s, t, HULL);
updateLeftFace(&edges[e*4], s, t, EV_HULL);
}
}
@ -420,14 +420,14 @@ static void delaunayHull(rcContext* ctx, const int npts, const float* pts,
edges.resize(maxEdges*4);
for (int i = 0, j = nhull-1; i < nhull; j=i++)
addEdge(ctx, &edges[0], nedges, maxEdges, hull[j],hull[i], HULL, UNDEF);
addEdge(ctx, &edges[0], nedges, maxEdges, hull[j],hull[i], EV_HULL, EV_UNDEF);
int currentEdge = 0;
while (currentEdge < nedges)
{
if (edges[currentEdge*4+2] == UNDEF)
if (edges[currentEdge*4+2] == EV_UNDEF)
completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
if (edges[currentEdge*4+3] == UNDEF)
if (edges[currentEdge*4+3] == EV_UNDEF)
completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
currentEdge++;
}
@ -507,15 +507,9 @@ static float polyMinExtent(const float* verts, const int nverts)
return rcSqrt(minDist);
}
inline int next(int i, int n)
{
return (i+1) % n;
}
inline int prev(int i, int n)
{
return (i + n-1) % n;
}
// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv).
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; }
static void triangulateHull(const int nverts, const float* verts, const int nhull, const int* hull, rcIntArray& tris)
{

2
Recast/Source/RecastRasterization.cpp
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@ -50,7 +50,7 @@ static rcSpan* allocSpan(rcHeightfield& hf)
// Allocate memory for the new pool.
rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
if (!pool) return 0;
pool->next = 0;
// Add the pool into the list of pools.
pool->next = hf.pools;
hf.pools = pool;

3
RecastDemo/Include/Sample_TempObstacles.h
View File

@ -82,6 +82,9 @@ public:
void addTempObstacle(const float* pos);
void removeTempObstacle(const float* sp, const float* sq);
void clearAllTempObstacles();
void saveAll(const char* path);
void loadAll(const char* path);
};

6
RecastDemo/Source/NavMeshTesterTool.cpp
View File

@ -1143,7 +1143,7 @@ void NavMeshTesterTool::handleRender()
dd.begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < m_nstraightPath-1; ++i)
{
unsigned int col = 0;
unsigned int col;
if (m_straightPathFlags[i] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
col = offMeshCol;
else
@ -1156,10 +1156,10 @@ void NavMeshTesterTool::handleRender()
dd.begin(DU_DRAW_POINTS, 6.0f);
for (int i = 0; i < m_nstraightPath; ++i)
{
unsigned int col = 0;
unsigned int col;
if (m_straightPathFlags[i] & DT_STRAIGHTPATH_START)
col = startCol;
else if (m_straightPathFlags[i] & DT_STRAIGHTPATH_START)
else if (m_straightPathFlags[i] & DT_STRAIGHTPATH_END)
col = endCol;
else if (m_straightPathFlags[i] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
col = offMeshCol;

147
RecastDemo/Source/Sample_TempObstacles.cpp
View File

@ -910,6 +910,27 @@ void Sample_TempObstacles::handleSettings()
imguiValue(msg);
snprintf(msg, 64, "Build Peak Mem Usage %.1f kB", m_cacheBuildMemUsage/1024.0f);
imguiValue(msg);
imguiSeparator();
imguiIndent();
imguiIndent();
if (imguiButton("Save"))
{
saveAll("all_tiles_tilecache.bin");
}
if (imguiButton("Load"))
{
dtFreeNavMesh(m_navMesh);
dtFreeTileCache(m_tileCache);
loadAll("all_tiles_tilecache.bin");
m_navQuery->init(m_navMesh, 2048);
}
imguiUnindent();
imguiUnindent();
imguiSeparator();
}
@ -1361,3 +1382,129 @@ void Sample_TempObstacles::getTilePos(const float* pos, int& tx, int& ty)
tx = (int)((pos[0] - bmin[0]) / ts);
ty = (int)((pos[2] - bmin[2]) / ts);
}
static const int TILECACHESET_MAGIC = 'T'<<24 | 'S'<<16 | 'E'<<8 | 'T'; //'TSET';
static const int TILECACHESET_VERSION = 1;
struct TileCacheSetHeader
{
int magic;
int version;
int numTiles;
dtNavMeshParams meshParams;
dtTileCacheParams cacheParams;
};
struct TileCacheTileHeader
{
dtCompressedTileRef tileRef;
int dataSize;
};
void Sample_TempObstacles::saveAll(const char* path)
{
if (!m_tileCache) return;
FILE* fp = fopen(path, "wb");
if (!fp)
return;
// Store header.
TileCacheSetHeader header;
header.magic = TILECACHESET_MAGIC;
header.version = TILECACHESET_VERSION;
header.numTiles = 0;
for (int i = 0; i < m_tileCache->getTileCount(); ++i)
{
const dtCompressedTile* tile = m_tileCache->getTile(i);
if (!tile || !tile->header || !tile->dataSize) continue;
header.numTiles++;
}
memcpy(&header.cacheParams, m_tileCache->getParams(), sizeof(dtTileCacheParams));
memcpy(&header.meshParams, m_navMesh->getParams(), sizeof(dtNavMeshParams));
fwrite(&header, sizeof(TileCacheSetHeader), 1, fp);
// Store tiles.
for (int i = 0; i < m_tileCache->getTileCount(); ++i)
{
const dtCompressedTile* tile = m_tileCache->getTile(i);
if (!tile || !tile->header || !tile->dataSize) continue;
TileCacheTileHeader tileHeader;
tileHeader.tileRef = m_tileCache->getTileRef(tile);
tileHeader.dataSize = tile->dataSize;
fwrite(&tileHeader, sizeof(tileHeader), 1, fp);
fwrite(tile->data, tile->dataSize, 1, fp);
}
fclose(fp);
}
void Sample_TempObstacles::loadAll(const char* path)
{
FILE* fp = fopen(path, "rb");
if (!fp) return;
// Read header.
TileCacheSetHeader header;
fread(&header, sizeof(TileCacheSetHeader), 1, fp);
if (header.magic != TILECACHESET_MAGIC)
{
fclose(fp);
return;
}
if (header.version != TILECACHESET_VERSION)
{
fclose(fp);
return;
}
m_navMesh = dtAllocNavMesh();
if (!m_navMesh)
{
fclose(fp);
return;
}
dtStatus status = m_navMesh->init(&header.meshParams);
if (dtStatusFailed(status))
{
fclose(fp);
return;
}
m_tileCache = dtAllocTileCache();
if (!m_tileCache)
{
fclose(fp);
return;
}
status = m_tileCache->init(&header.cacheParams, m_talloc, m_tcomp, m_tmproc);
if (dtStatusFailed(status))
{
fclose(fp);
return;
}
// Read tiles.
for (int i = 0; i < header.numTiles; ++i)
{
TileCacheTileHeader tileHeader;
fread(&tileHeader, sizeof(tileHeader), 1, fp);
if (!tileHeader.tileRef || !tileHeader.dataSize)
break;
unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
if (!data) break;
memset(data, 0, tileHeader.dataSize);
fread(data, tileHeader.dataSize, 1, fp);
dtCompressedTileRef tile = 0;
m_tileCache->addTile(data, tileHeader.dataSize, DT_COMPRESSEDTILE_FREE_DATA, &tile);
if (tile)
m_tileCache->buildNavMeshTile(tile, m_navMesh);
}
fclose(fp);
}