server_common/recastnavigation_v1.6.0
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Better handling of low obstacles.

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This commit is contained in:
Mikko Mononen 2010-01-29 11:37:14 +00:00
parent bd2e60a008
commit 9bf68216a3
12 changed files with 2818 additions and 180 deletions
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5
DebugUtils/Source/RecastDebugDraw.cpp
View File

@ -126,15 +126,16 @@ void duDebugDrawHeightfieldWalkable(duDebugDraw* dd, const rcHeightfield& hf)
const int h = hf.height;
unsigned int fcol0[6], fcol1[6], fcol2[6];
duCalcBoxColors(fcol0, duRGBA(128,192,217,255), duRGBA(217,217,217,255)); // Culled
duCalcBoxColors(fcol0, duRGBA(64,48,32,255), duRGBA(217,217,217,255)); // Culled
duCalcBoxColors(fcol1, duRGBA(77,140,165,255), duRGBA(217,217,217,255)); // Walkable
duCalcBoxColors(fcol2, duRGBA(38,102,128,255), duRGBA(217,217,217,255)); // Ledge
duCalcBoxColors(fcol2, duRGBA(128,38,102,255), duRGBA(217,217,217,255)); // Ledge
dd->begin(DU_DRAW_QUADS);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
float fx = orig[0] + x*cs;
float fz = orig[2] + y*cs;

19
Recast/Include/Recast.h
View File

@ -416,8 +416,10 @@ void rcMarkWalkableTriangles(const float walkableSlopeAngle,
// v0,v1,v2 - (in) the vertices of the triangle.
// flags - (in) triangle flags (uses WALKABLE)
// solid - (in) heighfield where the triangle is rasterized
// flagMergeThr - (in) distance in voxel where walkable flag is favored over non-walkable.
void rcRasterizeTriangle(const float* v0, const float* v1, const float* v2,
unsigned char flags, rcHeightfield& solid);
unsigned char flags, rcHeightfield& solid,
const int flagMergeThr = 1);
// Rasterizes the triangles into heightfield spans.
// Params:
@ -427,9 +429,10 @@ void rcRasterizeTriangle(const float* v0, const float* v1, const float* v2,
// flags - (in) array of triangle flags (uses WALKABLE)
// nt - (in) triangle count
// solid - (in) heighfield where the triangles are rasterized
// flagMergeThr - (in) distance in voxel where walkable flag is favored over non-walkable.
void rcRasterizeTriangles(const float* verts, int nv,
const int* tris, const unsigned char* flags, int nt,
rcHeightfield& solid);
rcHeightfield& solid, const int flagMergeThr = 1);
// Rasterizes the triangles into heightfield spans.
// Params:
@ -439,9 +442,10 @@ void rcRasterizeTriangles(const float* verts, int nv,
// flags - (in) array of triangle flags (uses WALKABLE)
// nt - (in) triangle count
// solid - (in) heighfield where the triangles are rasterized
// flagMergeThr - (in) distance in voxel where walkable flag is favored over non-walkable.
void rcRasterizeTriangles(const float* verts, int nv,
const unsigned short* tris, const unsigned char* flags, int nt,
rcHeightfield& solid);
rcHeightfield& solid, const int flagMergeThr = 1);
// Rasterizes the triangles into heightfield spans.
// Params:
@ -452,6 +456,15 @@ void rcRasterizeTriangles(const float* verts, int nv,
void rcRasterizeTriangles(const float* verts, const unsigned char* flags, int nt,
rcHeightfield& solid);
// Marks non-walkable low obstacles as walkable if they are closer than walkableClimb
// from a walkable surface. Applying this filter allows to step over low hanging
// low obstacles.
// Params:
// walkableHeight - (in) minimum height where the agent can still walk
// solid - (in/out) heightfield describing the solid space
// TODO: Missuses ledge flag, must be called before rcFilterLedgeSpans!
void rcFilterLowHangingWalkableObstacles(const int walkableClimb, rcHeightfield& solid);
// Removes WALKABLE flag from all spans that are at ledges. This filtering
// removes possible overestimation of the conservative voxelization so that
// the resulting mesh will not have regions hanging in air over ledges.

57
Recast/Source/RecastFilter.cpp
View File

@ -24,6 +24,42 @@
#include "RecastTimer.h"
// TODO: Missuses ledge flag, must be called before rcFilterLedgeSpans!
void rcFilterLowHangingWalkableObstacles(const int walkableClimb, rcHeightfield& solid)
{
const int w = solid.width;
const int h = solid.height;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcSpan* ps = 0;
for (rcSpan* s = solid.spans[x + y*w]; s; ps = s, s = s->next)
{
const bool walkable = (s->flags & RC_WALKABLE) != 0;
const bool previousWalkable = ps && (ps->flags & RC_WALKABLE) != 0;
// If current span is not walkable, but there is walkable
// span just below it, mark the span above it walkable too.
// Missuse the edge flag so that walkable flag cannot propagate
// past multiple non-walkable objects.
if (!walkable && previousWalkable)
{
if (rcAbs((int)s->smax - (int)ps->smax) <= walkableClimb)
s->flags |= RC_LEDGE;
}
}
// Transfer "fake ledges" to walkables.
for (rcSpan* s = solid.spans[x + y*w]; s; ps = s, s = s->next)
{
if (s->flags & RC_LEDGE)
s->flags |= RC_WALKABLE;
s->flags &= ~RC_LEDGE;
}
}
}
}
void rcFilterLedgeSpans(const int walkableHeight,
const int walkableClimb,
rcHeightfield& solid)
@ -51,6 +87,10 @@ void rcFilterLedgeSpans(const int walkableHeight,
// Find neighbours minimum height.
int minh = MAX_HEIGHT;
// Min and max height of accessible neighbours.
int asmin = s->smax;
int asmax = s->smax;
for (int dir = 0; dir < 4; ++dir)
{
int dx = x + rcGetDirOffsetX(dir);
@ -77,7 +117,17 @@ void rcFilterLedgeSpans(const int walkableHeight,
ntop = ns->next ? (int)ns->next->smin : MAX_HEIGHT;
// Skip neightbour if the gap between the spans is too small.
if (rcMin(top,ntop) - rcMax(bot,nbot) > walkableHeight)
{
minh = rcMin(minh, nbot - bot);
// Find min/max accessible neighbour height.
if (rcAbs(nbot - bot) <= walkableClimb)
{
if (nbot < asmin) asmin = nbot;
if (nbot > asmax) asmax = nbot;
}
}
}
}
@ -85,6 +135,13 @@ void rcFilterLedgeSpans(const int walkableHeight,
// neighbour span is less than the walkableClimb.
if (minh < -walkableClimb)
s->flags |= RC_LEDGE;
// If the difference between all neighbours is too large,
// we are at steep slope, mark the span as ledge.
if ((asmax - asmin) > walkableClimb)
{
s->flags |= RC_LEDGE;
}
}
}
}

31
Recast/Source/RecastRasterization.cpp
View File

@ -83,9 +83,9 @@ static void freeSpan(rcHeightfield& hf, rcSpan* ptr)
hf.freelist = ptr;
}
static void addSpan(rcHeightfield& hf, int x, int y,
unsigned short smin, unsigned short smax,
unsigned short flags)
static void addSpan(rcHeightfield& hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned short flags, const int flagMergeThr)
{
int idx = x + y*hf.width;
@ -127,8 +127,7 @@ static void addSpan(rcHeightfield& hf, int x, int y,
s->smax = cur->smax;
// Merge flags.
// if (s->smax == cur->smax)
if (rcAbs((int)s->smax - (int)cur->smax) <= 1)
if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr)
s->flags |= cur->flags;
// Remove current span.
@ -188,7 +187,8 @@ static int clipPoly(const float* in, int n, float* out, float pnx, float pnz, fl
static void rasterizeTri(const float* v0, const float* v1, const float* v2,
unsigned char flags, rcHeightfield& hf,
const float* bmin, const float* bmax,
const float cs, const float ics, const float ich)
const float cs, const float ics, const float ich,
const int flagMergeThr)
{
const int w = hf.width;
const int h = hf.height;
@ -263,19 +263,20 @@ static void rasterizeTri(const float* v0, const float* v1, const float* v2,
unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, 0x7fff);
unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), 0, 0x7fff);
addSpan(hf, x, y, ismin, ismax, flags);
addSpan(hf, x, y, ismin, ismax, flags, flagMergeThr);
}
}
}
void rcRasterizeTriangle(const float* v0, const float* v1, const float* v2,
unsigned char flags, rcHeightfield& solid)
unsigned char flags, rcHeightfield& solid,
const int flagMergeThr)
{
rcTimeVal startTime = rcGetPerformanceTimer();
const float ics = 1.0f/solid.cs;
const float ich = 1.0f/solid.ch;
rasterizeTri(v0, v1, v2, flags, solid, solid.bmin, solid.bmax, solid.cs, ics, ich);
rasterizeTri(v0, v1, v2, flags, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
rcTimeVal endTime = rcGetPerformanceTimer();
@ -285,7 +286,7 @@ void rcRasterizeTriangle(const float* v0, const float* v1, const float* v2,
void rcRasterizeTriangles(const float* verts, int nv,
const int* tris, const unsigned char* flags, int nt,
rcHeightfield& solid)
rcHeightfield& solid, const int flagMergeThr)
{
rcTimeVal startTime = rcGetPerformanceTimer();
@ -298,7 +299,7 @@ void rcRasterizeTriangles(const float* verts, int nv,
const float* v1 = &verts[tris[i*3+1]*3];
const float* v2 = &verts[tris[i*3+2]*3];
// Rasterize.
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich);
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
}
rcTimeVal endTime = rcGetPerformanceTimer();
@ -309,7 +310,7 @@ void rcRasterizeTriangles(const float* verts, int nv,
void rcRasterizeTriangles(const float* verts, int nv,
const unsigned short* tris, const unsigned char* flags, int nt,
rcHeightfield& solid)
rcHeightfield& solid, const int flagMergeThr)
{
rcTimeVal startTime = rcGetPerformanceTimer();
@ -322,7 +323,7 @@ void rcRasterizeTriangles(const float* verts, int nv,
const float* v1 = &verts[tris[i*3+1]*3];
const float* v2 = &verts[tris[i*3+2]*3];
// Rasterize.
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich);
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
}
rcTimeVal endTime = rcGetPerformanceTimer();
@ -332,7 +333,7 @@ void rcRasterizeTriangles(const float* verts, int nv,
}
void rcRasterizeTriangles(const float* verts, const unsigned char* flags, int nt,
rcHeightfield& solid)
rcHeightfield& solid, const int flagMergeThr)
{
rcTimeVal startTime = rcGetPerformanceTimer();
@ -345,7 +346,7 @@ void rcRasterizeTriangles(const float* verts, const unsigned char* flags, int nt
const float* v1 = &verts[(i*3+1)*3];
const float* v2 = &verts[(i*3+2)*3];
// Rasterize.
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich);
rasterizeTri(v0, v1, v2, flags[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
}
rcTimeVal endTime = rcGetPerformanceTimer();

BIN
RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
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2690
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
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File diff suppressed because it is too large Load Diff

135
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
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@ -281,13 +281,14 @@
<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
<array>
<array>
<integer>61</integer>
<integer>32</integer>
<integer>23</integer>
<integer>1</integer>
<integer>0</integer>
</array>
</array>
<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
<string>{{0, 539}, {358, 643}}</string>
<string>{{0, 247}, {358, 643}}</string>
</dict>
<key>PBXTopSmartGroupGIDs</key>
<array/>
@ -322,7 +323,7 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A30F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>TestCase.cpp</string>
<string>Sample_SoloMeshTiled.cpp</string>
<key>PBXSplitModuleInNavigatorKey</key>
<dict>
<key>Split0</key>
@ -330,11 +331,11 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A40F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>TestCase.cpp</string>
<string>Sample_SoloMeshTiled.cpp</string>
<key>_historyCapacity</key>
<integer>0</integer>
<key>bookmark</key>
<string>6BF7C24A1111DAC1002B3F46</string>
<string>6BF7C3791112FE75002B3F46</string>
<key>history</key>
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<string>6BF7C3601112EA84002B3F46</string>
<string>6BF7C3611112EA84002B3F46</string>
<string>6BF7C3621112EA84002B3F46</string>
<string>6BF7C3631112EA84002B3F46</string>
<string>6BF7C3641112EA84002B3F46</string>
<string>6BF7C3651112EA84002B3F46</string>
<string>6BF7C3661112EA84002B3F46</string>
<string>6BF7C3671112EA84002B3F46</string>
<string>6BF7C3681112EA84002B3F46</string>
<string>6BF7C36C1112EB0C002B3F46</string>
<string>6BF7C3701112EB25002B3F46</string>
<string>6BF7C3711112EB25002B3F46</string>
<string>6BF7C3781112FE75002B3F46</string>
</array>
</dict>
<key>SplitCount</key>
@ -520,18 +589,18 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {876, 555}}</string>
<string>{{0, 0}, {876, 502}}</string>
<key>RubberWindowFrame</key>
<string>11 76 1256 702 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXNavigatorGroup</string>
<key>Proportion</key>
<string>555pt</string>
<string>502pt</string>
</dict>
<dict>
<key>Proportion</key>
<string>101pt</string>
<string>154pt</string>
<key>Tabs</key>
<array>
<dict>
@ -599,7 +668,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {876, 74}}</string>
<string>{{10, 27}, {876, 127}}</string>
<key>RubberWindowFrame</key>
<string>11 76 1256 702 0 0 1280 778 </string>
</dict>

3
RecastDemo/Include/NavMeshTesterTool.h
View File

@ -27,9 +27,6 @@ class NavMeshTesterTool : public SampleTool
Sample* m_sample;
dtNavMesh* m_navMesh;
float m_agentRadius;
float m_agentHeight;
float m_agentClimb;
dtQueryFilter m_filter;

37
RecastDemo/Source/NavMeshTesterTool.cpp
View File

@ -50,8 +50,6 @@ inline bool inRange(const float* v1, const float* v2, const float r, const float
NavMeshTesterTool::NavMeshTesterTool() :
m_sample(0),
m_navMesh(0),
m_agentRadius(0),
m_agentHeight(0),
m_toolMode(TOOLMODE_PATHFIND_ITER),
m_startRef(0),
m_endRef(0),
@ -84,9 +82,6 @@ NavMeshTesterTool::~NavMeshTesterTool()
void NavMeshTesterTool::init(Sample* sample)
{
m_sample = sample;
m_agentRadius = sample->getAgentRadius();
m_agentHeight = sample->getAgentHeight();
m_agentClimb = sample->getAgentClimb();
m_navMesh = sample->getNavMesh();
recalc();
@ -494,9 +489,6 @@ static void getPolyCenter(dtNavMesh* navMesh, dtPolyRef ref, float* center)
void NavMeshTesterTool::handleRender()
{
if (!m_navMesh)
return;
DebugDrawGL dd;
static const unsigned int startCol = duRGBA(128,25,0,192);
@ -505,11 +497,18 @@ void NavMeshTesterTool::handleRender()
glDepthMask(GL_FALSE);
if (m_sposSet)
drawAgent(m_spos, m_agentRadius, m_agentHeight, 0/*m_agentMaxClimb*/, startCol);
if (m_eposSet)
drawAgent(m_epos, m_agentRadius, m_agentHeight, 0/*m_agentMaxClimb*/, endCol);
const float agentRadius = m_sample->getAgentRadius();
const float agentHeight = m_sample->getAgentHeight();
const float agentClimb = m_sample->getAgentClimb();
if (m_sposSet)
drawAgent(m_spos, agentRadius, agentHeight, agentClimb, startCol);
if (m_eposSet)
drawAgent(m_epos, agentRadius, agentHeight, agentClimb, endCol);
if (!m_navMesh)
return;
if (m_toolMode == TOOLMODE_PATHFIND_ITER)
{
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_startRef, startCol);
@ -600,19 +599,19 @@ void NavMeshTesterTool::handleRender()
const unsigned int hitCol = duRGBA(0,0,0,128);
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(m_hitPos[0], m_hitPos[1] + 0.4f, m_hitPos[2], hitCol);
dd.vertex(m_hitPos[0] + m_hitNormal[0]*m_agentRadius,
m_hitPos[1] + 0.4f + m_hitNormal[1]*m_agentRadius,
m_hitPos[2] + m_hitNormal[2]*m_agentRadius, hitCol);
dd.vertex(m_hitPos[0] + m_hitNormal[0]*agentRadius,
m_hitPos[1] + 0.4f + m_hitNormal[1]*agentRadius,
m_hitPos[2] + m_hitNormal[2]*agentRadius, hitCol);
dd.end();
}
}
else if (m_toolMode == TOOLMODE_DISTANCE_TO_WALL)
{
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_startRef, startCol);
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+m_agentHeight/2, m_spos[2], m_distanceToWall, duRGBA(64,16,0,220), 2.0f);
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+agentHeight/2, m_spos[2], m_distanceToWall, duRGBA(64,16,0,220), 2.0f);
dd.begin(DU_DRAW_LINES, 3.0f);
dd.vertex(m_hitPos[0], m_hitPos[1] + 0.02f, m_hitPos[2], duRGBA(0,0,0,192));
dd.vertex(m_hitPos[0], m_hitPos[1] + m_agentHeight, m_hitPos[2], duRGBA(0,0,0,192));
dd.vertex(m_hitPos[0], m_hitPos[1] + agentHeight, m_hitPos[2], duRGBA(0,0,0,192));
dd.end();
}
else if (m_toolMode == TOOLMODE_FIND_POLYS_AROUND)
@ -637,7 +636,7 @@ void NavMeshTesterTool::handleRender()
const float dx = m_epos[0] - m_spos[0];
const float dz = m_epos[2] - m_spos[2];
const float dist = sqrtf(dx*dx + dz*dz);
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+m_agentHeight/2, m_spos[2], dist, duRGBA(64,16,0,220), 2.0f);
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+agentHeight/2, m_spos[2], dist, duRGBA(64,16,0,220), 2.0f);
dd.depthMask(true);
}
}
@ -671,6 +670,8 @@ void NavMeshTesterTool::drawAgent(const float* pos, float r, float h, float c, c
// Agent dimensions.
duDebugDrawCylinderWire(&dd, pos[0]-r, pos[1]+0.02f, pos[2]-r, pos[0]+r, pos[1]+h, pos[2]+r, col, 2.0f);
duDebugDrawCircle(&dd, pos[0],pos[1]+c,pos[2],r,duRGBA(0,0,0,64),1.0f);
unsigned int colb = duRGBA(0,0,0,196);
dd.begin(DU_DRAW_LINES);
dd.vertex(pos[0], pos[1]-c, pos[2], colb);

5
RecastDemo/Source/Sample_SoloMeshSimple.cpp
View File

@ -349,7 +349,7 @@ bool Sample_SoloMeshSimple::handleBuild()
m_cfg.ch = m_cellHeight;
m_cfg.walkableSlopeAngle = m_agentMaxSlope;
m_cfg.walkableHeight = (int)ceilf(m_agentHeight / m_cfg.ch);
m_cfg.walkableClimb = (int)ceilf(m_agentMaxClimb / m_cfg.ch);
m_cfg.walkableClimb = (int)floorf(m_agentMaxClimb / m_cfg.ch);
m_cfg.walkableRadius = (int)ceilf(m_agentRadius / m_cfg.cs);
m_cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
m_cfg.maxSimplificationError = m_edgeMaxError;
@ -415,7 +415,7 @@ bool Sample_SoloMeshSimple::handleBuild()
// the flags for each of the meshes and rasterize them.
memset(m_triflags, 0, ntris*sizeof(unsigned char));
rcMarkWalkableTriangles(m_cfg.walkableSlopeAngle, verts, nverts, tris, ntris, m_triflags);
rcRasterizeTriangles(verts, nverts, tris, m_triflags, ntris, *m_solid);
rcRasterizeTriangles(verts, nverts, tris, m_triflags, ntris, *m_solid, m_cfg.walkableClimb);
if (!m_keepInterResults)
{
@ -430,6 +430,7 @@ bool Sample_SoloMeshSimple::handleBuild()
// Once all geoemtry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
rcFilterLowHangingWalkableObstacles(m_cfg.walkableClimb, *m_solid);
rcFilterLedgeSpans(m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
rcFilterWalkableLowHeightSpans(m_cfg.walkableHeight, *m_solid);

4
RecastDemo/Source/Sample_SoloMeshTiled.cpp
View File

@ -731,11 +731,11 @@ bool Sample_SoloMeshTiled::handleBuild()
rcMarkWalkableTriangles(tileCfg.walkableSlopeAngle,
verts, nverts, tris, ntris, triangleFlags);
rcRasterizeTriangles(verts, nverts, tris, triangleFlags, ntris, *solid);
rcRasterizeTriangles(verts, nverts, tris, triangleFlags, ntris, *solid, m_cfg.walkableClimb);
}
rcFilterLowHangingWalkableObstacles(m_cfg.walkableClimb, *solid);
rcFilterLedgeSpans(tileCfg.walkableHeight, tileCfg.walkableClimb, *solid);
rcFilterWalkableLowHeightSpans(tileCfg.walkableHeight, *solid);
chf = new rcCompactHeightfield;

12
RecastDemo/Source/Sample_TileMesh.cpp
View File

@ -638,7 +638,7 @@ unsigned char* Sample_TileMesh::buildTileMesh(const float* bmin, const float* bm
rcMarkWalkableTriangles(m_cfg.walkableSlopeAngle,
verts, nverts, tris, ntris, m_triflags);
rcRasterizeTriangles(verts, nverts, tris, m_triflags, ntris, *m_solid);
rcRasterizeTriangles(verts, nverts, tris, m_triflags, ntris, *m_solid, m_cfg.walkableClimb);
}
if (!m_keepInterResults)
@ -650,6 +650,7 @@ unsigned char* Sample_TileMesh::buildTileMesh(const float* bmin, const float* bm
// Once all geoemtry is rasterized, we do initial pass of filtering to
// remove unwanted overhangs caused by the conservative rasterization
// as well as filter spans where the character cannot possibly stand.
rcFilterLowHangingWalkableObstacles(m_cfg.walkableClimb, *m_solid);
rcFilterLedgeSpans(m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
rcFilterWalkableLowHeightSpans(m_cfg.walkableHeight, *m_solid);
@ -772,15 +773,6 @@ unsigned char* Sample_TileMesh::buildTileMesh(const float* bmin, const float* bm
rcGetLog()->log(RC_LOG_ERROR, "Too many vertices per tile %d (max: %d).", m_pmesh->nverts, 0xffff);
return false;
}
/* if (m_pmesh->npolys > DT_MAX_TILES)
{
// If you hit this error, you have too many polygons per tile.
// You can trade off tile count to poly count by adjusting DT_TILE_REF_TILE_BITS and DT_TILE_REF_POLY_BITS.
// The current setup is optimized for large number of tiles and small number of polys per tile.
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "Too many polygons per tile %d (max: %d).", m_pmesh->npolys, DT_MAX_TILES);
return false;
}*/
dtNavMeshCreateParams params;
memset(&params, 0, sizeof(params));