Add support for AABB shaped obstacles to dtTileCache (#215)

DetourTileCache/Include/DetourTileCache.h

@@ -35,13 +35,38 @@ enum ObstacleState
 	DT_OBSTACLE_REMOVING,
 };
 
+enum ObstacleType
+{
+	DT_OBSTACLE_CYLINDER,
+	DT_OBSTACLE_BOX,
+};
+
+struct dtObstacleCylinder
+{
+	float pos[ 3 ];
+	float radius;
+	float height;
+};
+
+struct dtObstacleBox
+{
+	float bmin[ 3 ];
+	float bmax[ 3 ];
+};
+
 static const int DT_MAX_TOUCHED_TILES = 8;
 struct dtTileCacheObstacle
 {
-	float pos[3], radius, height;
+	union
+	{
+		dtObstacleCylinder cylinder;
+		dtObstacleBox box;
+	};
+
 	dtCompressedTileRef touched[DT_MAX_TOUCHED_TILES];
 	dtCompressedTileRef pending[DT_MAX_TOUCHED_TILES];
 	unsigned short salt;
+	unsigned char type;
 	unsigned char state;
 	unsigned char ntouched;
 	unsigned char npending;
@@ -106,6 +131,8 @@ public:
 	dtStatus removeTile(dtCompressedTileRef ref, unsigned char** data, int* dataSize);
 	
 	dtStatus addObstacle(const float* pos, const float radius, const float height, dtObstacleRef* result);
+	dtStatus addBoxObstacle(const float* bmin, const float* bmax, dtObstacleRef* result);
+	
 	dtStatus removeObstacle(const dtObstacleRef ref);
 	
 	dtStatus queryTiles(const float* bmin, const float* bmax,

DetourTileCache/Include/DetourTileCacheBuilder.h

@@ -127,6 +127,9 @@ void dtFreeTileCachePolyMesh(dtTileCacheAlloc* alloc, dtTileCachePolyMesh* lmesh
 dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
 							const float* pos, const float radius, const float height, const unsigned char areaId);
 
+dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
+					   const float* bmin, const float* bmax, const unsigned char areaId);
+
 dtStatus dtBuildTileCacheRegions(dtTileCacheAlloc* alloc,
 								 dtTileCacheLayer& layer,
 								 const int walkableClimb);

DetourTileCache/Source/DetourTileCache.cpp

@@ -370,9 +370,44 @@ dtStatus dtTileCache::addObstacle(const float* pos, const float radius, const fl
 	memset(ob, 0, sizeof(dtTileCacheObstacle));
 	ob->salt = salt;
 	ob->state = DT_OBSTACLE_PROCESSING;
-	dtVcopy(ob->pos, pos);
+	ob->type = DT_OBSTACLE_CYLINDER;
-	ob->radius = radius;
+	dtVcopy(ob->cylinder.pos, pos);
-	ob->height = height;
+	ob->cylinder.radius = radius;
+	ob->cylinder.height = height;
+	
+	ObstacleRequest* req = &m_reqs[m_nreqs++];
+	memset(req, 0, sizeof(ObstacleRequest));
+	req->action = REQUEST_ADD;
+	req->ref = getObstacleRef(ob);
+	
+	if (result)
+		*result = req->ref;
+	
+	return DT_SUCCESS;
+}
+
+dtStatus dtTileCache::addBoxObstacle(const float* bmin, const float* bmax, dtObstacleRef* result)
+{
+	if (m_nreqs >= MAX_REQUESTS)
+		return DT_FAILURE | DT_BUFFER_TOO_SMALL;
+	
+	dtTileCacheObstacle* ob = 0;
+	if (m_nextFreeObstacle)
+	{
+		ob = m_nextFreeObstacle;
+		m_nextFreeObstacle = ob->next;
+		ob->next = 0;
+	}
+	if (!ob)
+		return DT_FAILURE | DT_OUT_OF_MEMORY;
+	
+	unsigned short salt = ob->salt;
+	memset(ob, 0, sizeof(dtTileCacheObstacle));
+	ob->salt = salt;
+	ob->state = DT_OBSTACLE_PROCESSING;
+	ob->type = DT_OBSTACLE_BOX;
+	dtVcopy(ob->box.bmin, bmin);
+	dtVcopy(ob->box.bmax, bmax);
 	
 	ObstacleRequest* req = &m_reqs[m_nreqs++];
 	memset(req, 0, sizeof(ObstacleRequest));
@@ -606,9 +641,17 @@ dtStatus dtTileCache::buildNavMeshTile(const dtCompressedTileRef ref, dtNavMesh*
 		if (ob->state == DT_OBSTACLE_EMPTY || ob->state == DT_OBSTACLE_REMOVING)
 			continue;
 		if (contains(ob->touched, ob->ntouched, ref))
+		{
+			if (ob->type == DT_OBSTACLE_CYLINDER)
 			{
 				dtMarkCylinderArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch,
-							   ob->pos, ob->radius, ob->height, 0);
+							    ob->cylinder.pos, ob->cylinder.radius, ob->cylinder.height, 0);
+			}
+			else if (ob->type == DT_OBSTACLE_BOX)
+			{
+				dtMarkBoxArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch,
+							ob->box.bmin, ob->box.bmax, 0);
+			}
 		}
 	}
 	
@@ -702,10 +745,20 @@ void dtTileCache::calcTightTileBounds(const dtTileCacheLayerHeader* header, floa
 
 void dtTileCache::getObstacleBounds(const struct dtTileCacheObstacle* ob, float* bmin, float* bmax) const
 {
-	bmin[0] = ob->pos[0] - ob->radius;
+	if (ob->type == DT_OBSTACLE_CYLINDER)
-	bmin[1] = ob->pos[1];
+	{
-	bmin[2] = ob->pos[2] - ob->radius;
+		const dtObstacleCylinder &cl = ob->cylinder;
-	bmax[0] = ob->pos[0] + ob->radius;
+
-	bmax[1] = ob->pos[1] + ob->height;
+		bmin[0] = cl.pos[0] - cl.radius;
-	bmax[2] = ob->pos[2] + ob->radius;	
+		bmin[1] = cl.pos[1];
+		bmin[2] = cl.pos[2] - cl.radius;
+		bmax[0] = cl.pos[0] + cl.radius;
+		bmax[1] = cl.pos[1] + cl.height;
+		bmax[2] = cl.pos[2] + cl.radius;
+	}
+	else if (ob->type == DT_OBSTACLE_BOX)
+	{
+		dtVcopy(bmin, ob->box.bmin);
+		dtVcopy(bmax, ob->box.bmax);
+	}
 }

DetourTileCache/Source/DetourTileCacheBuilder.cpp

@@ -2002,6 +2002,44 @@ dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const fl
 	return DT_SUCCESS;
 }
 
+dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
+					   const float* bmin, const float* bmax, const unsigned char areaId)
+{
+	const int w = (int)layer.header->width;
+	const int h = (int)layer.header->height;
+	const float ics = 1.0f/cs;
+	const float ich = 1.0f/ch;
+
+	int minx = (int)floorf((bmin[0]-orig[0])*ics);
+	int miny = (int)floorf((bmin[1]-orig[1])*ich);
+	int minz = (int)floorf((bmin[2]-orig[2])*ics);
+	int maxx = (int)floorf((bmax[0]-orig[0])*ics);
+	int maxy = (int)floorf((bmax[1]-orig[1])*ich);
+	int maxz = (int)floorf((bmax[2]-orig[2])*ics);
+	
+	if (maxx < 0) return DT_SUCCESS;
+	if (minx >= w) return DT_SUCCESS;
+	if (maxz < 0) return DT_SUCCESS;
+	if (minz >= h) return DT_SUCCESS;
+
+	if (minx < 0) minx = 0;
+	if (maxx >= w) maxx = w-1;
+	if (minz < 0) minz = 0;
+	if (maxz >= h) maxz = h-1;
+	
+	for (int z = minz; z <= maxz; ++z)
+	{
+		for (int x = minx; x <= maxx; ++x)
+		{
+			const int y = layer.heights[x+z*w];
+			if (y < miny || y > maxy)
+				continue;
+			layer.areas[x+z*w] = areaId;
+		}
+	}
+
+	return DT_SUCCESS;
+}
 
 dtStatus dtBuildTileCacheLayer(dtTileCacheCompressor* comp,
 							   dtTileCacheLayerHeader* header,