Fix0ring r347...

RecastDemo/Source/NavMeshPruneTool.cpp

@@ -131,7 +131,7 @@ public:
 		
 		m_nav = nav;
 		
-		return true;
+		return false;
 	}
 	
 	inline void clearAllFlags()
@@ -166,7 +166,7 @@ public:
 	
 };
 
-static void floodNavmesh(const dtNavMesh* nav, NavmeshFlags* flags, dtPolyRef start, unsigned char flag, PolyRefArray* visited)
+static void floodNavmesh(dtNavMesh* nav, NavmeshFlags* flags, dtPolyRef start, unsigned char flag)
 {
 	// If already visited, skip.
 	if (flags->getFlags(start))
@@ -178,8 +178,6 @@ static void floodNavmesh(const dtNavMesh* nav, NavmeshFlags* flags, dtPolyRef st
 	while (openList.size())
 	{
 		const dtPolyRef ref = openList.pop();
-		if (visited)
-			visited->push(ref);
 		// Get current poly and tile.
 		// The API input has been cheked already, skip checking internal data.
 		const dtMeshTile* tile = 0;
@@ -201,102 +199,7 @@ static void floodNavmesh(const dtNavMesh* nav, NavmeshFlags* flags, dtPolyRef st
 	}
 }
 
-static int getPolyVerts(const dtNavMesh* nav, dtPolyRef ref, float* verts)
+static void disableUnvisitedPolys(dtNavMesh* nav, NavmeshFlags* flags)
-{
-	const dtMeshTile* tile = 0;
-	const dtPoly* poly = 0;
-	dtStatus status = nav->getTileAndPolyByRef(ref, &tile, &poly);
-	if (dtStatusFailed(status))
-		return 0;
-	for (int i = 0; i < (int)poly->vertCount; ++i)
-		dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]);
-	return (int)poly->vertCount;
-}
-
-static void calcBounds(const dtNavMesh* nav, const PolyRefArray& polys, float* bounds)
-{
-	dtVset(&bounds[0], FLT_MAX,FLT_MAX,FLT_MAX);
-	dtVset(&bounds[3], -FLT_MAX,-FLT_MAX,-FLT_MAX);
-	float verts[DT_VERTS_PER_POLYGON*3];
-	for (int i = 0; i < polys.size(); i++)
-	{
-		const dtPolyRef ref = polys[i];
-		int nv = getPolyVerts(nav, ref, verts);
-		for (int j = 0; j < nv; j++)
-		{
-			dtVmin(&bounds[0], &verts[j*3]);
-			dtVmax(&bounds[3], &verts[j*3]);
-		}
-	}
-}
-
-static bool selectSmallAreas(const dtNavMesh* nav, NavmeshFlags* flags,
-							 const float minSize, unsigned char flag)
-{
-	PolyRefArray visited;
-	NavmeshFlags oflags;
-	if (!oflags.init(nav))
-	{
-		return false;
-	}
-
-	for (int i = 0; i < nav->getMaxTiles(); ++i)
-	{
-		const dtMeshTile* tile = nav->getTile(i);
-		if (!tile->header) continue;
-		dtPolyRef base = nav->getPolyRefBase(tile);
-		for (int j = 0; j < tile->header->polyCount; j++)
-		{
-			dtPolyRef start = base | (dtPolyRef)j;
-			if (oflags.getFlags(start))
-				continue;
-				
-			// Flood connected polygons. 
-			visited.resize(0);
-			floodNavmesh(nav, &oflags, start, 1, &visited);
-			if (visited.size() > 0)
-			{
-				// Calculate the bbox of the visited polygons
-				float bounds[6];
-				calcBounds(nav, visited, bounds);
-				const float w = bounds[3]-bounds[0];
-				const float h = bounds[5]-bounds[2];
-				// The visited area is too small, mark it.
-				if (w < minSize && h < minSize)
-				{
-					for (int k = 0; k < visited.size(); k++)
-						flags->setFlags(visited[k], flag);
-				}
-			}
-		}
-		
-	}
-	
-	return true;
-}
-
-
-static void disableSelectedPolys(dtNavMesh* nav, NavmeshFlags* flags)
-{
-	for (int i = 0; i < nav->getMaxTiles(); ++i)
-	{
-		const dtMeshTile* tile = ((const dtNavMesh*)nav)->getTile(i);
-		if (!tile->header) continue;
-		const dtPolyRef base = nav->getPolyRefBase(tile);
-		for (int j = 0; j < tile->header->polyCount; ++j)
-		{
-			const dtPolyRef ref = base | (unsigned int)j;
-			if (flags->getFlags(ref))
-			{
-				unsigned short f = 0;
-				nav->getPolyFlags(ref, &f);
-				nav->setPolyFlags(ref, f | SAMPLE_POLYFLAGS_DISABLED);
-			}
-		}
-	}
-}
-
-static void disableUnselectedPolys(dtNavMesh* nav, NavmeshFlags* flags)
 {
 	for (int i = 0; i < nav->getMaxTiles(); ++i)
 	{
@@ -343,39 +246,19 @@ void NavMeshPruneTool::handleMenu()
 {
 	dtNavMesh* nav = m_sample->getNavMesh();
 	if (!nav) return;
-
-	if (imguiButton("Select Small Areas"))
-	{
-		if (!m_flags)
-		{
-			m_flags = new NavmeshFlags;
-			m_flags->init(nav);
-		}
-		const float minSize = m_sample->getAgentRadius()*2 * 5.0f;
-		selectSmallAreas(nav, m_flags, minSize, 1);
-	}
-
 	if (!m_flags) return;
 
 	if (imguiButton("Clear Selection"))
 	{
 		m_flags->clearAllFlags();
 	}
-
-	if (imguiButton("Prune Selected"))
-	{
-		disableSelectedPolys(nav, m_flags);
-		delete m_flags;
-		m_flags = 0;
-	}
 	
 	if (imguiButton("Prune Unselected"))
 	{
-		disableUnselectedPolys(nav, m_flags);
+		disableUnvisitedPolys(nav, m_flags);
 		delete m_flags;
 		m_flags = 0;
 	}
-
 }
 
 void NavMeshPruneTool::handleClick(const float* /*s*/, const float* p, bool shift)
@@ -402,7 +285,7 @@ void NavMeshPruneTool::handleClick(const float* /*s*/, const float* p, bool shif
 	dtPolyRef ref = 0;
 	query->findNearestPoly(p, ext, &filter, &ref, 0);
 
-	floodNavmesh(nav, m_flags, ref, 1, 0);
+	floodNavmesh(nav, m_flags, ref, 1);
 }
 
 void NavMeshPruneTool::handleToggle()

RecastDemo/Source/Sample_Debug.cpp

@@ -50,6 +50,7 @@ static int loadBin(const char* path, unsigned char** data)
 */
 
 Sample_Debug::Sample_Debug() :
+	m_chf(0),
 	m_cset(0),
 	m_pmesh(0)
 {
@@ -137,7 +138,7 @@ Sample_Debug::Sample_Debug() :
 		if (m_cset)
 		{
 			FileIO io;
-			if (io.openForRead("dump.cset"))
+			if (io.openForRead("PathSet_TMP_NA_PathingTestAReg1_1_2_CS.rc"))
 			{
 				duReadContourSet(*m_cset, &io);
 				
@@ -145,23 +146,33 @@ Sample_Debug::Sample_Debug() :
 					   m_cset->bmin[0], m_cset->bmin[1], m_cset->bmin[2],
 					   m_cset->bmax[0], m_cset->bmax[1], m_cset->bmax[2]);
 				printf("cs=%f ch=%f\n", m_cset->cs, m_cset->ch);
-				m_cset->bmax[1] *= 0.1f;
 			}
 			else
 			{
-				printf("could not open dump.cset\n");
+				printf("could not open test.cset\n");
 			}
 		}
 		else
 		{
 			printf("Could not alloc cset\n");
 		}
+
+
+/*		if (m_cset)
+		{
+			m_pmesh = rcAllocPolyMesh();
+			if (m_pmesh)
+			{
+				rcBuildPolyMesh(m_ctx, *m_cset, 6, *m_pmesh);
+			}
+		}*/
 	}
 	
 }
 
 Sample_Debug::~Sample_Debug()
 {
+	rcFreeCompactHeightfield(m_chf);
 	rcFreeContourSet(m_cset);
 	rcFreePolyMesh(m_pmesh);
 }
@@ -182,6 +193,12 @@ void Sample_Debug::handleRender()
 {
 	DebugDrawGL dd;
 	
+	if (m_chf)
+	{
+		duDebugDrawCompactHeightfieldRegions(&dd, *m_chf);
+//		duDebugDrawCompactHeightfieldSolid(&dd, *m_chf);
+	}
+		
 	if (m_navMesh)
 		duDebugDrawNavMesh(&dd, *m_navMesh, DU_DRAWNAVMESH_OFFMESHCONS);
 
@@ -198,9 +215,6 @@ void Sample_Debug::handleRender()
 	{
 		duDebugDrawRawContours(&dd, *m_cset, 0.25f);
 		duDebugDrawContours(&dd, *m_cset);
-		const float* bmin = m_cset->bmin;
-		const float* bmax = m_cset->bmax;
-		duDebugDrawBoxWire(&dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duRGBA(255,255,255,128), 1.0f);
 	}
 	
 	if (m_pmesh)
@@ -319,6 +333,8 @@ const float* Sample_Debug::getBoundsMin()
 {
 	if (m_cset)
 		return m_cset->bmin;
+	if (m_chf)
+		return m_chf->bmin;
 	if (m_navMesh)
 		return m_bmin;
 	return 0;
@@ -328,6 +344,8 @@ const float* Sample_Debug::getBoundsMax()
 {
 	if (m_cset)
 		return m_cset->bmax;
+	if (m_chf)
+		return m_chf->bmax;
 	if (m_navMesh)
 		return m_bmax;
 	return 0;
@@ -348,12 +366,22 @@ void Sample_Debug::handleToggle()
 bool Sample_Debug::handleBuild()
 {
 
-	if (m_cset)
+	if (m_chf)
 	{
-		m_pmesh = rcAllocPolyMesh();
+		rcFreeContourSet(m_cset);
-		if (m_pmesh)
+		m_cset = 0;
+		
+		// Create contours.
+		m_cset = rcAllocContourSet();
+		if (!m_cset)
 		{
-			rcBuildPolyMesh(m_ctx, *m_cset, 6, *m_pmesh);
+			m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
+			return false;
+		}
+		if (!rcBuildContours(m_ctx, *m_chf, /*m_cfg.maxSimplificationError*/1.3f, /*m_cfg.maxEdgeLen*/12, *m_cset))
+		{
+			m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
+			return false;
 		}
 	}