server_common/recastnavigation_v1.6.0
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Merge branch 'master' of https://github.com/memononen/recastnavigation

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This commit is contained in:
axelrodR 2014-06-24 22:55:04 +03:00
commit 86328ced48
5 changed files with 142 additions and 144 deletions
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2
DetourTileCache/Include/DetourTileCache.h
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@ -63,6 +63,8 @@ struct dtTileCacheParams
struct dtTileCacheMeshProcess
{
virtual ~dtTileCacheMeshProcess() { }
virtual void process(struct dtNavMeshCreateParams* params,
unsigned char* polyAreas, unsigned short* polyFlags) = 0;
};

4
DetourTileCache/Include/DetourTileCacheBuilder.h
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@ -78,6 +78,8 @@ struct dtTileCachePolyMesh
struct dtTileCacheAlloc
{
virtual ~dtTileCacheAlloc() { }
virtual void reset()
{
}
@ -95,6 +97,8 @@ struct dtTileCacheAlloc
struct dtTileCacheCompressor
{
virtual ~dtTileCacheCompressor() { }
virtual int maxCompressedSize(const int bufferSize) = 0;
virtual dtStatus compress(const unsigned char* buffer, const int bufferSize,
unsigned char* compressed, const int maxCompressedSize, int* compressedSize) = 0;

37
Recast/Source/RecastContour.cpp
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@ -188,27 +188,6 @@ static float distancePtSeg(const int x, const int z,
const int px, const int pz,
const int qx, const 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;*/
float pqx = (float)(qx - px);
float pqz = (float)(qz - pz);
float dx = (float)(x - px);
@ -1102,8 +1081,20 @@ bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
// Finally merge each regions holes into the outline.
for (int i = 0; i < nregions; i++)
{
if (regions[i].nholes > 0)
mergeRegionHoles(ctx, regions[i]);
rcContourRegion& reg = regions[i];
if (!reg.nholes) continue;
if (reg.outline)
{
mergeRegionHoles(ctx, reg);
}
else
{
// The region does not have an outline.
// This can happen if the contour becaomes selfoverlapping because of
// too aggressive simplification settings.
ctx->log(RC_LOG_ERROR, "rcBuildContours: Bad outline for region %d, contour simplification is likely too aggressive.", i);
}
}
}

2
Recast/Source/RecastMesh.cpp
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@ -1537,7 +1537,7 @@ bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst)
ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.flags' (%d).", src.npolys);
return false;
}
memcpy(dst.flags, src.flags, sizeof(unsigned char)*src.npolys);
memcpy(dst.flags, src.flags, sizeof(unsigned short)*src.npolys);
return true;
}

59
Recast/Source/RecastMeshDetail.cpp
View File

@ -68,21 +68,27 @@ static bool circumCircle(const float* p1, const float* p2, const float* p3,
float* c, float& r)
{
static const float EPS = 1e-6f;
// Calculate the circle relative to p1, to avoid some precision issues.
const float v1[3] = {0,0,0};
float v2[3], v3[3];
rcVsub(v2, p2,p1);
rcVsub(v3, p3,p1);
const float cp = vcross2(p1, p2, p3);
const float cp = vcross2(v1, v2, v3);
if (fabsf(cp) > EPS)
{
const float p1Sq = vdot2(p1,p1);
const float p2Sq = vdot2(p2,p2);
const float p3Sq = vdot2(p3,p3);
c[0] = (p1Sq*(p2[2]-p3[2]) + p2Sq*(p3[2]-p1[2]) + p3Sq*(p1[2]-p2[2])) / (2*cp);
c[2] = (p1Sq*(p3[0]-p2[0]) + p2Sq*(p1[0]-p3[0]) + p3Sq*(p2[0]-p1[0])) / (2*cp);
r = vdist2(c, p1);
const float v1Sq = vdot2(v1,v1);
const float v2Sq = vdot2(v2,v2);
const float v3Sq = vdot2(v3,v3);
c[0] = (v1Sq*(v2[2]-v3[2]) + v2Sq*(v3[2]-v1[2]) + v3Sq*(v1[2]-v2[2])) / (2*cp);
c[1] = 0;
c[2] = (v1Sq*(v3[0]-v2[0]) + v2Sq*(v1[0]-v3[0]) + v3Sq*(v2[0]-v1[0])) / (2*cp);
r = vdist2(c, v1);
rcVadd(c, c, p1);
return true;
}
c[0] = p1[0];
c[2] = p1[2];
rcVcopy(c, p1);
r = 0;
return false;
}
@ -223,15 +229,6 @@ static unsigned short getHeight(const float fx, const float fy, const float fz,
h = nh;
dmin = d;
}
/* const float dx = (nx+0.5f)*cs - fx;
const float dz = (nz+0.5f)*cs - fz;
const float d = dx*dx+dz*dz;
if (d < dmin)
{
h = nh;
dmin = d;
} */
}
}
return h;
@ -524,15 +521,17 @@ static void triangulateHull(const int nverts, const float* verts, const int nhul
{
int start = 0, left = 1, right = nhull-1;
// Start from shortest ear.
float dmin = FLT_MAX;
// Start from an ear with shortest perimeter.
// This tends to favor well formed triangles as starting point.
float dmin = 0;
for (int i = 0; i < nhull; i++)
{
int pi = prev(i, nhull);
int ni = next(i, nhull);
const float* pv = &verts[hull[pi]*3];
const float* cv = &verts[hull[i]*3];
const float* nv = &verts[hull[ni]*3];
const float d = vdistSq2(pv, nv);
const float d = vdist2(pv,cv) + vdist2(cv,nv) + vdist2(nv,pv);
if (d < dmin)
{
start = i;
@ -548,8 +547,10 @@ static void triangulateHull(const int nverts, const float* verts, const int nhul
tris.push(hull[right]);
tris.push(0);
// Triangulate the polygon by adding the shortest diagonal
// by moving left or right.
// Triangulate the polygon by moving left or right,
// depending on which triangle has shorter perimeter.
// This heuristic was chose emprically, since it seems
// handle tesselated straight edges well.
while (next(left, nhull) != right)
{
// Check to see if se should advance left or right.
@ -560,9 +561,9 @@ static void triangulateHull(const int nverts, const float* verts, const int nhul
const float* nvleft = &verts[hull[nleft]*3];
const float* cvright = &verts[hull[right]*3];
const float* nvright = &verts[hull[nright]*3];
const float dleft = vdist2(cvleft, nvleft) + vdist2(nvleft, cvright);
const float dright = vdist2(cvright, nvright) + vdist2(cvleft, nvright);
const float dleft = vdistSq2(nvleft, cvright);
const float dright = vdistSq2(cvleft, nvright);
if (dleft < dright)
{
tris.push(hull[left]);
@ -841,9 +842,9 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
static void getHeightDataSeedsFromVertices(const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& stack)
const unsigned short* poly, const int npoly,
const unsigned short* verts, const int bs,
rcHeightPatch& hp, rcIntArray& stack)
{
// Floodfill the heightfield to get 2D height data,
// starting at vertex locations as seeds.
@ -1217,7 +1218,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa
return false;
}
dmesh.ntris = 0;
dmesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char*)*tcap*4, RC_ALLOC_PERM);
dmesh.tris = (unsigned char*)rcAlloc(sizeof(unsigned char)*tcap*4, RC_ALLOC_PERM);
if (!dmesh.tris)
{
ctx->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (%d).", tcap*4);