Merge pull request #2 from memononen/master

Merging back from source

Detour/Source/DetourNavMesh.cpp

@@ -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

Detour/Source/DetourNavMeshQuery.cpp

@@ -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;

DetourCrowd/Include/DetourLocalBoundary.h

@@ -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();

DetourCrowd/Include/DetourObstacleAvoidance.h

@@ -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;

DetourCrowd/Include/DetourProximityGrid.h

@@ -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();
 	

DetourCrowd/Source/DetourObstacleAvoidance.cpp

@@ -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);

DetourCrowd/Source/DetourProximityGrid.cpp

@@ -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),

DetourTileCache/Source/DetourTileCacheBuilder.cpp

@@ -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; }
 

Recast/Source/Recast.cpp

@@ -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.

Recast/Source/RecastContour.cpp

@@ -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; }
 

Recast/Source/RecastMesh.cpp

@@ -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; }
 

Recast/Source/RecastMeshDetail.cpp

@@ -237,8 +237,8 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
 
 enum EdgeValues
 {
-	UNDEF = -1,
+	EV_UNDEF = -1,
-	HULL = -2,
+	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)
+		if (e == EV_UNDEF)
-		    addEdge(ctx, edges, nedges, maxEdges, pt, s, nfaces, 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)
+		if (e == EV_UNDEF)
-		    addEdge(ctx, edges, nedges, maxEdges, t, pt, nfaces, 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)
+// 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; }
-	return (i+1) % n;
+inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
-}
-
-inline int prev(int i, int n)
-{
-	return (i + n-1) % n;
-}
 
 static void triangulateHull(const int nverts, const float* verts, const int nhull, const int* hull, rcIntArray& tris)
 {

Recast/Source/RecastRasterization.cpp

@@ -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;

RecastDemo/Include/Sample_TempObstacles.h

@@ -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);
 };
 
 

RecastDemo/Source/NavMeshTesterTool.cpp

@@ -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;

RecastDemo/Source/Sample_TempObstacles.cpp

@@ -912,6 +912,27 @@ void Sample_TempObstacles::handleSettings()
 	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();
 }
 
 void Sample_TempObstacles::handleTools()
@@ -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);
+}