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Rewrote the delaunay triangulation code of the detail mesh generation. Fixed some cases where detail mesh height was bad.

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Mikko Mononen 2009-10-23 13:02:10 +00:00
parent 02477f981f
commit aa62a15161
3 changed files with 1599 additions and 1580 deletions
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734
Recast/Source/RecastMeshDetail.cpp
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@ -36,256 +36,55 @@ struct rcHeightPatch
}; };
static int circumCircle(const float xp, const float yp,
const float x1, const float y1,
const float x2, const float y2,
const float x3, const float y3,
float& xc, float& yc, float& rsqr)
{
static const float EPSILON = 1e-6f;
const float fabsy1y2 = rcAbs(y1-y2);
const float fabsy2y3 = rcAbs(y2-y3);
/* Check for coincident points */
if (fabsy1y2 < EPSILON && fabsy2y3 < EPSILON)
return 0;
if (fabsy1y2 < EPSILON)
{
const float m2 = - (x3-x2) / (y3-y2);
const float mx2 = (x2 + x3) / 2.0f;
const float my2 = (y2 + y3) / 2.0f;
xc = (x2 + x1) / 2.0f;
yc = m2 * (xc - mx2) + my2;
}
else if (fabsy2y3 < EPSILON)
{
const float m1 = - (x2-x1) / (y2-y1);
const float mx1 = (x1 + x2) / 2.0f;
const float my1 = (y1 + y2) / 2.0f;
xc = (x3 + x2) / 2.0f;
yc = m1 * (xc - mx1) + my1;
}
else
{
const float m1 = - (x2-x1) / (y2-y1);
const float m2 = - (x3-x2) / (y3-y2);
const float mx1 = (x1 + x2) / 2.0f;
const float mx2 = (x2 + x3) / 2.0f;
const float my1 = (y1 + y2) / 2.0f;
const float my2 = (y2 + y3) / 2.0f;
xc = (m1 * mx1 - m2 * mx2 + my2 - my1) / (m1 - m2);
if (fabsy1y2 > fabsy2y3)
yc = m1 * (xc - mx1) + my1;
else
yc = m2 * (xc - mx2) + my2;
}
float dx,dy;
dx = x2 - xc;
dy = y2 - yc;
rsqr = dx*dx + dy*dy;
dx = xp - xc;
dy = yp - yc;
const float drsqr = dx*dx + dy*dy;
return (drsqr <= rsqr) ? 1 : 0;
}
static int ptcmp(void* up, const void *v1, const void *v2)
{
const float* verts = (const float*)up;
const float* p1 = &verts[(*(const int*)v1)*3];
const float* p2 = &verts[(*(const int*)v2)*3];
if (p1[0] < p2[0])
return -1;
else if (p1[0] > p2[0])
return 1;
else
return 0;
}
// Naive qsort implementation, since qsort_r is not standard.
inline void iqswap(unsigned char* a, unsigned char* b, const int size)
{
for (int i = 0; i < size; ++i) rcSwap(a[i], b[i]);
}
void qsortr(void* data, int n, int stride, void* thunk, int (*cmp)(void *, const void *, const void *))
{
if (n <= 1) return;
unsigned char* d = (unsigned char*)data;
unsigned char* v = &d[0];
int i = 0, j = n;
for (;;)
{
do { ++i; } while (i < n && cmp(thunk, &d[i*stride], v) < 0);
do { --j; } while (cmp(thunk, &d[j*stride], v) > 0);
if (i >= j) break;
iqswap(&d[i*stride], &d[j*stride], stride);
}
iqswap(&d[(i-1)*stride], &d[0], stride);
qsortr(d, i-1, stride, thunk, cmp);
qsortr(d+i*stride, n-i, stride, thunk, cmp);
}
// Based on Paul Bourke's triangulate.c
// http://astronomy.swin.edu.au/~pbourke/terrain/triangulate/triangulate.c
static void delaunay(const int nv, float *verts, rcIntArray& idx, rcIntArray& tris, rcIntArray& edges)
{
// Sort vertices
idx.resize(nv);
for (int i = 0; i < nv; ++i)
idx[i] = i;
qsortr(&idx[0], idx.size(), sizeof(int), verts, ptcmp);
// Find the maximum and minimum vertex bounds.
// This is to allow calculation of the bounding triangle
float xmin = verts[0];
float ymin = verts[2];
float xmax = xmin;
float ymax = ymin;
for (int i = 1; i < nv; ++i)
{
xmin = rcMin(xmin, verts[i*3+0]);
xmax = rcMax(xmax, verts[i*3+0]);
ymin = rcMin(ymin, verts[i*3+2]);
ymax = rcMax(ymax, verts[i*3+2]);
}
float dx = xmax - xmin;
float dy = ymax - ymin;
float dmax = (dx > dy) ? dx : dy;
float xmid = (xmax + xmin) / 2.0f;
float ymid = (ymax + ymin) / 2.0f;
// Set up the supertriangle
// This is a triangle which encompasses all the sample points.
// The supertriangle coordinates are added to the end of the
// vertex list. The supertriangle is the first triangle in
// the triangle list.
float sv[3*3];
sv[0] = xmid - 20 * dmax;
sv[1] = 0;
sv[2] = ymid - dmax;
sv[3] = xmid;
sv[4] = 0;
sv[5] = ymid + 20 * dmax;
sv[6] = xmid + 20 * dmax;
sv[7] = 0;
sv[8] = ymid - dmax;
tris.push(-3);
tris.push(-2);
tris.push(-1);
tris.push(0); // not completed
for (int i = 0; i < nv; ++i)
{
const float xp = verts[idx[i]*3+0];
const float yp = verts[idx[i]*3+2];
edges.resize(0);
// Set up the edge buffer.
// If the point (xp,yp) lies inside the circumcircle then the
// three edges of that triangle are added to the edge buffer
// and that triangle is removed.
for (int j = 0; j < tris.size()/4; ++j)
{
int* t = &tris[j*4];
if (t[3]) // completed?
continue;
const float* v1 = t[0] < 0 ? &sv[(t[0]+3)*3] : &verts[idx[t[0]]*3];
const float* v2 = t[1] < 0 ? &sv[(t[1]+3)*3] : &verts[idx[t[1]]*3];
const float* v3 = t[2] < 0 ? &sv[(t[2]+3)*3] : &verts[idx[t[2]]*3];
float xc,yc,rsqr;
int inside = circumCircle(xp,yp, v1[0],v1[2], v2[0],v2[2], v3[0],v3[2], xc,yc,rsqr);
if (xc < xp && rcSqr(xp-xc) > rsqr)
t[3] = 1;
if (inside)
{
// Collect triangle edges.
edges.push(t[0]);
edges.push(t[1]);
edges.push(t[1]);
edges.push(t[2]);
edges.push(t[2]);
edges.push(t[0]);
// Remove triangle j.
t[0] = tris[tris.size()-4];
t[1] = tris[tris.size()-3];
t[2] = tris[tris.size()-2];
t[3] = tris[tris.size()-1];
tris.resize(tris.size()-4);
j--;
}
}
// Remove duplicate edges.
const int ne = edges.size()/2;
for (int j = 0; j < ne-1; ++j)
{
for (int k = j+1; k < ne; ++k)
{
// Dupe?, make null.
if ((edges[j*2+0] == edges[k*2+1]) && (edges[j*2+1] == edges[k*2+0]))
{
edges[j*2+0] = 0;
edges[j*2+1] = 0;
edges[k*2+0] = 0;
edges[k*2+1] = 0;
}
}
}
// Form new triangles for the current point
// Skipping over any null.
// All edges are arranged in clockwise order.
for (int j = 0; j < ne; ++j)
{
if (edges[j*2+0] == edges[j*2+1]) continue;
tris.push(edges[j*2+0]);
tris.push(edges[j*2+1]);
tris.push(i);
tris.push(0); // not completed
}
}
// Remove triangles with supertriangle vertices
// These are triangles which have a vertex number greater than nv
for (int i = 0; i < tris.size()/4; ++i)
{
int* t = &tris[i*4];
if (t[0] < 0 || t[1] < 0 || t[2] < 0)
{
t[0] = tris[tris.size()-4];
t[1] = tris[tris.size()-3];
t[2] = tris[tris.size()-2];
t[3] = tris[tris.size()-1];
tris.resize(tris.size()-4);
i--;
}
}
// Triangle vertices are pointing to sorted vertices, remap indices.
for (int i = 0; i < tris.size(); ++i)
tris[i] = idx[tris[i]];
}
inline float vdot2(const float* a, const float* b) inline float vdot2(const float* a, const float* b)
{ {
return a[0]*b[0] + a[2]*b[2]; return a[0]*b[0] + a[2]*b[2];
} }
inline float vdistSq2(const float* p, const float* q)
{
const float dx = q[0] - p[0];
const float dy = q[2] - p[2];
return dx*dx + dy*dy;
}
inline float vdist2(const float* p, const float* q)
{
return sqrtf(vdistSq2(p,q));
}
inline float vcross2(const float* p1, const float* p2, const float* p3)
{
const float u1 = p2[0] - p1[0];
const float v1 = p2[2] - p1[2];
const float u2 = p3[0] - p1[0];
const float v2 = p3[2] - p1[2];
return u1 * v2 - v1 * u2;
}
static bool circumCircle(const float* p1, const float* p2, const float* p3,
float* c, float& r)
{
static const float EPS = 1e-6f;
const float cp = vcross2(p1, p2, p3);
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);
return true;
}
c[0] = p1[0];
c[2] = p1[2];
r = 0;
return false;
}
static float distPtTri(const float* p, const float* a, const float* b, const float* c) static float distPtTri(const float* p, const float* a, const float* b, const float* c)
{ {
float v0[3], v1[3], v2[3]; float v0[3], v1[3], v2[3];
@ -393,25 +192,306 @@ static float distToPoly(int nvert, const float* verts, const float* p)
} }
static unsigned short getHeight(const float* pos, const float* bmin, const float ics, const rcHeightPatch& hp) static unsigned short getHeight(const float* pos, const float* bmin, const float cs, const float ics, const rcHeightPatch& hp)
{ {
int ix = (int)floorf((pos[0]-bmin[0])*ics + 0.01f); int ix = (int)floorf((pos[0]-bmin[0])*ics + 0.01f);
int iz = (int)floorf((pos[2]-bmin[2])*ics + 0.01f); int iz = (int)floorf((pos[2]-bmin[2])*ics + 0.01f);
ix = rcClamp(ix-hp.xmin, 0, hp.width); ix = rcClamp(ix-hp.xmin, 0, hp.width);
iz = rcClamp(iz-hp.ymin, 0, hp.height); iz = rcClamp(iz-hp.ymin, 0, hp.height);
unsigned short h = hp.data[ix+iz*hp.width]; unsigned short h = hp.data[ix+iz*hp.width];
if (h == 0xffff)
{
// Special case when data might be bad.
// Find nearest neighbour pixel which has valid height.
const int off[8*2] = { -1,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1};
float dmin = FLT_MAX;
for (int i = 0; i < 8; ++i)
{
const int nx = ix+off[i*2+0];
const int nz = iz+off[i*2+1];
if (nx < 0 || nz < 0 || nx >= hp.width || nz >= hp.height) continue;
const unsigned short nh = hp.data[nx+nz*hp.width];
if (nh == 0xffff) continue;
const float dx = (nx+0.5f)*cs-pos[0];
const float dz = (nz+0.5f)*cs-pos[2];
const float d = dx*dx+dz*dz;
if (d < dmin)
{
h = nh;
dmin = d;
}
}
}
return h; return h;
} }
enum EdgeValues
{
UNDEF = -1,
HULL = -2,
};
static int findEdge(const int* edges, int nedges, int s, int t)
{
for (int i = 0; i < nedges; i++)
{
const int* e = &edges[i*4];
if ((e[0] == s && e[1] == t) || (e[0] == t && e[1] == s))
return i;
}
return UNDEF;
}
static int addEdge(int* edges, int& nedges, const int maxEdges, int s, int t, int l, int r)
{
if (nedges >= maxEdges)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "addEdge: Too many edges (%d/%d).", nedges, maxEdges);
return UNDEF;
}
// Add edge if not already in the triangulation.
int e = findEdge(edges, nedges, s, t);
if (e == UNDEF)
{
int* e = &edges[nedges*4];
e[0] = s;
e[1] = t;
e[2] = l;
e[3] = r;
return nedges++;
}
else
{
return UNDEF;
}
}
static void updateLeftFace(int* e, int s, int t, int f)
{
if (e[0] == s && e[2] == UNDEF)
e[2] = f;
else if (e[1] == s && e[3] == UNDEF)
e[3] = f;
}
static int overlapSegSeg2d(const float* a, const float* b, const float* c, const float* d)
{
const float a1 = vcross2(a, b, d);
const float a2 = vcross2(a, b, c);
if (a1*a2 < 0.0f)
{
float a3 = vcross2(c, d, a);
float a4 = a3 + a2 - a1;
if (a3 * a4 < 0.0f)
return 1;
}
return 0;
}
static bool overlapEdges(const float* pts, const int* edges, int nedges, int s1, int t1)
{
for (int i = 0; i < nedges; ++i)
{
const int s0 = edges[i*4+0];
const int t0 = edges[i*4+1];
// Same or connected edges do not overlap.
if (s0 == s1 || s0 == t1 || t0 == s1 || t0 == t1)
continue;
if (overlapSegSeg2d(&pts[s0*3],&pts[t0*3], &pts[s1*3],&pts[t1*3]))
return true;
}
return false;
}
static void completeFacet(const float* pts, int npts, int* edges, int& nedges, const int maxEdges, int& nfaces, int e)
{
static const float EPS = 1e-5f;
int* edge = &edges[e*4];
// Cache s and t.
int s,t;
if (edge[2] == UNDEF)
{
s = edge[0];
t = edge[1];
}
else if (edge[3] == UNDEF)
{
s = edge[1];
t = edge[0];
}
else
{
// Edge already completed.
return;
}
// Find best point on left of edge.
int pt = npts;
float c[3] = {0,0,0};
float r = -1;
for (int u = 0; u < npts; ++u)
{
if (u == s || u == t) continue;
if (vcross2(&pts[s*3], &pts[t*3], &pts[u*3]) > EPS)
{
if (r < 0)
{
// The circle is not updated yet, do it now.
pt = u;
circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r);
continue;
}
const float d = vdist2(c, &pts[u*3]);
const float tol = 0.001f;
if (d > r*(1+tol))
{
// Outside current circumcircle, skip.
continue;
}
else if (d < r*(1-tol))
{
// Inside safe circumcircle, update circle.
pt = u;
circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r);
}
else
{
// Inside epsilon circum circle, do extra tests to make sure the edge is valid.
// s-u and t-u cannot overlap with s-pt nor t-pt if they exists.
if (overlapEdges(pts, edges, nedges, s,u))
continue;
if (overlapEdges(pts, edges, nedges, t,u))
continue;
// Edge is valid.
pt = u;
circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r);
}
}
}
// Add new triangle or update edge info if s-t is on hull.
if (pt < npts)
{
// Update face information of edge being completed.
updateLeftFace(&edges[e*4], s, t, nfaces);
// Add new edge or update face info of old edge.
e = findEdge(edges, nedges, pt, s);
if (e == UNDEF)
addEdge(edges, nedges, maxEdges, pt, s, nfaces, 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)
addEdge(edges, nedges, maxEdges, t, pt, nfaces, UNDEF);
else
updateLeftFace(&edges[e*4], t, pt, nfaces);
nfaces++;
}
else
{
updateLeftFace(&edges[e*4], s, t, HULL);
}
}
static void delaunayHull(const int npts, const float* pts,
const int nhull, const int* hull,
rcIntArray& tris, rcIntArray& edges)
{
int nfaces = 0;
int nedges = 0;
const int maxEdges = npts*10;
edges.resize(maxEdges*4);
for (int i = 0, j = nhull-1; i < nhull; j=i++)
addEdge(&edges[0], nedges, maxEdges, hull[j],hull[i], HULL, UNDEF);
int currentEdge = 0;
while (currentEdge < nedges)
{
if (edges[currentEdge*4+2] == UNDEF)
completeFacet(pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
if (edges[currentEdge*4+3] == UNDEF)
completeFacet(pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
currentEdge++;
}
// Create tris
tris.resize(nfaces*4);
for (int i = 0; i < nfaces*4; ++i)
tris[i] = -1;
for (int i = 0; i < nedges; ++i)
{
const int* e = &edges[i*4];
if (e[3] >= 0)
{
// Left face
int* t = &tris[e[3]*4];
if (t[0] == -1)
{
t[0] = e[0];
t[1] = e[1];
}
else if (t[0] == e[1])
t[2] = e[0];
else if (t[1] == e[0])
t[2] = e[1];
}
if (e[2] >= 0)
{
// Right
int* t = &tris[e[2]*4];
if (t[0] == -1)
{
t[0] = e[1];
t[1] = e[0];
}
else if (t[0] == e[0])
t[2] = e[1];
else if (t[1] == e[1])
t[2] = e[0];
}
}
for (int i = 0; i < tris.size()/4; ++i)
{
int* t = &tris[i*4];
if (t[0] == -1 || t[1] == -1 || t[2] == -1)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_WARNING, "delaunayHull: Removing dangling face %d [%d,%d,%d].", i, t[0],t[1],t[2]);
t[0] = tris[tris.size()-4];
t[1] = tris[tris.size()-3];
t[2] = tris[tris.size()-2];
t[3] = tris[tris.size()-1];
tris.resize(tris.size()-4);
}
}
}
static bool buildPolyDetail(const float* in, const int nin, unsigned short reg, static bool buildPolyDetail(const float* in, const int nin, unsigned short reg,
const float sampleDist, const float sampleMaxError, const float sampleDist, const float sampleMaxError,
const rcCompactHeightfield& chf, const rcHeightPatch& hp, const rcCompactHeightfield& chf, const rcHeightPatch& hp,
float* verts, int& nverts, rcIntArray& tris, float* verts, int& nverts, rcIntArray& tris,
rcIntArray& edges, rcIntArray& idx, rcIntArray& samples) rcIntArray& edges, rcIntArray& samples)
{ {
static const int MAX_VERTS = 256; static const int MAX_VERTS = 256;
static const int MAX_EDGE = 64; static const int MAX_EDGE = 64;
float edge[(MAX_EDGE+1)*3]; float edge[(MAX_EDGE+1)*3];
int hull[MAX_VERTS];
int nhull = 0;
nverts = 0; nverts = 0;
@ -419,7 +499,8 @@ static bool buildPolyDetail(const float* in, const int nin, unsigned short reg,
vcopy(&verts[i*3], &in[i*3]); vcopy(&verts[i*3], &in[i*3]);
nverts = nin; nverts = nin;
const float ics = 1.0f/chf.cs; const float cs = chf.cs;
const float ics = 1.0f/cs;
// Tesselate outlines. // Tesselate outlines.
// This is done in separate pass in order to ensure // This is done in separate pass in order to ensure
@ -430,17 +511,24 @@ static bool buildPolyDetail(const float* in, const int nin, unsigned short reg,
{ {
const float* vj = &in[j*3]; const float* vj = &in[j*3];
const float* vi = &in[i*3]; const float* vi = &in[i*3];
bool swapped = false;
// Make sure the segments are always handled in same order // Make sure the segments are always handled in same order
// using lexological sort or else there will be seams. // using lexological sort or else there will be seams.
if (fabsf(vj[0]-vi[0]) < 1e-6f) if (fabsf(vj[0]-vi[0]) < 1e-6f)
{ {
if (vj[2] > vi[2]) if (vj[2] > vi[2])
{
rcSwap(vj,vi); rcSwap(vj,vi);
swapped = true;
}
} }
else else
{ {
if (vj[0] > vi[0]) if (vj[0] > vi[0])
{
rcSwap(vj,vi); rcSwap(vj,vi);
swapped = true;
}
} }
// Create samples along the edge. // Create samples along the edge.
float dx = vi[0] - vj[0]; float dx = vi[0] - vj[0];
@ -458,7 +546,7 @@ static bool buildPolyDetail(const float* in, const int nin, unsigned short reg,
pos[0] = vj[0] + dx*u; pos[0] = vj[0] + dx*u;
pos[1] = vj[1] + dy*u; pos[1] = vj[1] + dy*u;
pos[2] = vj[2] + dz*u; pos[2] = vj[2] + dz*u;
pos[1] = chf.bmin[1] + getHeight(pos, chf.bmin, ics, hp)*chf.ch; pos[1] = chf.bmin[1] + getHeight(pos, chf.bmin, cs, ics, hp)*chf.ch;
} }
// Simplify samples. // Simplify samples.
int idx[MAX_EDGE] = {0,nn}; int idx[MAX_EDGE] = {0,nn};
@ -495,26 +583,50 @@ static bool buildPolyDetail(const float* in, const int nin, unsigned short reg,
++k; ++k;
} }
} }
hull[nhull++] = j;
// Add new vertices. // Add new vertices.
for (int k = 1; k < nidx-1; ++k) if (swapped)
{ {
vcopy(&verts[nverts*3], &edge[idx[k]*3]); for (int k = nidx-2; k > 0; --k)
nverts++; {
vcopy(&verts[nverts*3], &edge[idx[k]*3]);
hull[nhull++] = nverts;
nverts++;
}
}
else
{
for (int k = 1; k < nidx-1; ++k)
{
vcopy(&verts[nverts*3], &edge[idx[k]*3]);
hull[nhull++] = nverts;
nverts++;
}
} }
} }
} }
// Tesselate the base mesh. // Tesselate the base mesh.
edges.resize(0); edges.resize(0);
tris.resize(0); tris.resize(0);
idx.resize(0);
delaunay(nverts, verts, idx, tris, edges); delaunayHull(nverts, verts, nhull, hull, tris, edges);
if (tris.size() == 0) if (tris.size() == 0)
{ {
// Could not triangulate the poly, make sure there is some valid data there.
if (rcGetLog()) if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "buildPolyDetail: Could not triangulate polygon."); rcGetLog()->log(RC_LOG_WARNING, "buildPolyDetail: Could not triangulate polygon, adding default data.");
return false; for (int i = 2; i < nverts; ++i)
{
tris.push(0);
tris.push(i-1);
tris.push(i);
tris.push(0);
}
return true;
} }
if (sampleDist > 0) if (sampleDist > 0)
@ -543,7 +655,7 @@ static bool buildPolyDetail(const float* in, const int nin, unsigned short reg,
// Make sure the samples are not too close to the edges. // Make sure the samples are not too close to the edges.
if (distToPoly(nin,in,pt) > -sampleDist/2) continue; if (distToPoly(nin,in,pt) > -sampleDist/2) continue;
samples.push(x); samples.push(x);
samples.push(getHeight(pt, chf.bmin, ics, hp)); samples.push(getHeight(pt, chf.bmin, cs, ics, hp));
samples.push(z); samples.push(z);
} }
} }
@ -583,8 +695,7 @@ static bool buildPolyDetail(const float* in, const int nin, unsigned short reg,
// TODO: Incremental add instead of full rebuild. // TODO: Incremental add instead of full rebuild.
edges.resize(0); edges.resize(0);
tris.resize(0); tris.resize(0);
idx.resize(0); delaunayHull(nverts, verts, nhull, hull, tris, edges);
delaunay(nverts, verts, idx, tris, edges);
if (nverts >= MAX_VERTS) if (nverts >= MAX_VERTS)
break; break;
@ -597,7 +708,7 @@ static bool buildPolyDetail(const float* in, const int nin, unsigned short reg,
static void getHeightData(const rcCompactHeightfield& chf, static void getHeightData(const rcCompactHeightfield& chf,
const unsigned short* poly, const int npoly, const unsigned short* poly, const int npoly,
const unsigned short* verts, const unsigned short* verts,
rcHeightPatch& hp, rcIntArray& stack) rcHeightPatch& hp, rcIntArray& stack, unsigned short* tmpData)
{ {
// Floodfill the heightfield to get 2D height data, // Floodfill the heightfield to get 2D height data,
// starting at vertex locations as seeds. // starting at vertex locations as seeds.
@ -636,6 +747,45 @@ static void getHeightData(const rcCompactHeightfield& chf,
stack.push(ai); stack.push(ai);
} }
} }
// Not no match, try polygon center.
if (stack.size() == 0)
{
int cx = 0, cy = 0, cz = 0;
for (int j = 0; j < npoly; ++j)
{
cx += (int)verts[poly[j]*3+0];
cy += (int)verts[poly[j]*3+1];
cz += (int)verts[poly[j]*3+2];
}
cx /= npoly;
cy /= npoly;
cz /= npoly;
if (cx >= hp.xmin || cx < hp.xmin+hp.width ||
cz >= hp.ymin || cz < hp.ymin+hp.height)
{
const rcCompactCell& c = chf.cells[cx+cz*chf.width];
int dmin = 0xffff;
int ci = -1;
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
int d = rcAbs(cy - (int)s.y);
if (d < dmin)
{
ci = i;
dmin = d;
}
}
if (ci != -1)
{
stack.push(cx);
stack.push(cz);
stack.push(ci);
}
}
}
while (stack.size() > 0) while (stack.size() > 0)
{ {
@ -671,7 +821,54 @@ static void getHeightData(const rcCompactHeightfield& chf,
stack.push(ay); stack.push(ay);
stack.push(ai); stack.push(ai);
} }
} }
/* unsigned short* src = hp.data;
unsigned short* dst = tmpData;
for (int y = 0; y < hp.height-1; ++y)
{
for (int x = 0; x < hp.width-1; ++x)
{
const int idx = x+y*hp.width;
if (src[idx] != 0xffff)
{
dst[idx] = src[idx];
continue;
}
unsigned short h = 0xffff;
h = rcMin(h,src[idx+1]);
h = rcMin(h,src[idx+hp.width]);
h = rcMin(h,src[idx+1+hp.width]);
dst[idx] = h;
}
}
rcSwap(src,dst);
for (int y = 1; y < hp.height; ++y)
{
for (int x = 1; x < hp.width; ++x)
{
const int idx = x+y*hp.width;
if (src[idx] != 0xffff)
{
dst[idx] = src[idx];
continue;
}
unsigned short h = 0xffff;
h = rcMin(h,src[idx-1]);
h = rcMin(h,src[idx-hp.width]);
h = rcMin(h,src[idx-1-hp.width]);
dst[idx] = h;
}
}
memcpy(src, dst, sizeof(unsigned short)*hp.width*hp.height);*/
} }
static unsigned char getEdgeFlags(const float* va, const float* vb, static unsigned char getEdgeFlags(const float* va, const float* vb,
@ -716,7 +913,6 @@ bool rcBuildPolyMeshDetail(const rcPolyMesh& mesh, const rcCompactHeightfield& c
rcIntArray edges(64); rcIntArray edges(64);
rcIntArray tris(512); rcIntArray tris(512);
rcIntArray idx(512);
rcIntArray stack(512); rcIntArray stack(512);
rcIntArray samples(512); rcIntArray samples(512);
float verts[256*3]; float verts[256*3];
@ -777,7 +973,15 @@ bool rcBuildPolyMeshDetail(const rcPolyMesh& mesh, const rcCompactHeightfield& c
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'hp.data' (%d).", maxhw*maxhh); rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'hp.data' (%d).", maxhw*maxhh);
return false; return false;
} }
rcScopedDelete<unsigned short> tmpData = new unsigned short[maxhw*maxhh];
if (!tmpData)
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'tmpData' (%d).", maxhw*maxhh);
return false;
}
dmesh.nmeshes = mesh.npolys; dmesh.nmeshes = mesh.npolys;
dmesh.nverts = 0; dmesh.nverts = 0;
dmesh.ntris = 0; dmesh.ntris = 0;
@ -830,14 +1034,14 @@ bool rcBuildPolyMeshDetail(const rcPolyMesh& mesh, const rcCompactHeightfield& c
hp.ymin = bounds[i*4+2]; hp.ymin = bounds[i*4+2];
hp.width = bounds[i*4+1]-bounds[i*4+0]; hp.width = bounds[i*4+1]-bounds[i*4+0];
hp.height = bounds[i*4+3]-bounds[i*4+2]; hp.height = bounds[i*4+3]-bounds[i*4+2];
getHeightData(chf, p, npoly, mesh.verts, hp, stack); getHeightData(chf, p, npoly, mesh.verts, hp, stack, tmpData);
// Build detail mesh. // Build detail mesh.
int nverts = 0; int nverts = 0;
if (!buildPolyDetail(poly, npoly, mesh.regs[i], if (!buildPolyDetail(poly, npoly, mesh.regs[i],
sampleDist, sampleMaxError, sampleDist, sampleMaxError,
chf, hp, verts, nverts, tris, chf, hp, verts, nverts, tris,
edges, idx, samples)) edges, samples))
{ {
return false; return false;
} }

2335
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
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110
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
View File

@ -268,6 +268,7 @@
<array> <array>
<string>29B97314FDCFA39411CA2CEA</string> <string>29B97314FDCFA39411CA2CEA</string>
<string>080E96DDFE201D6D7F000001</string> <string>080E96DDFE201D6D7F000001</string>
<string>6BDD9E030F91110C00904EEF</string>
<string>6B137C7D0F7FCBE800459200</string> <string>6B137C7D0F7FCBE800459200</string>
<string>6B555DF5100B25FC00247EA3</string> <string>6B555DF5100B25FC00247EA3</string>
<string>29B97315FDCFA39411CA2CEA</string> <string>29B97315FDCFA39411CA2CEA</string>
@ -278,13 +279,14 @@
<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key> <key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
<array> <array>
<array> <array>
<integer>30</integer> <integer>26</integer>
<integer>18</integer>
<integer>1</integer> <integer>1</integer>
<integer>0</integer> <integer>0</integer>
</array> </array>
</array> </array>
<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key> <key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
<string>{{0, 157}, {282, 660}}</string> <string>{{0, 280}, {282, 660}}</string>
</dict> </dict>
<key>PBXTopSmartGroupGIDs</key> <key>PBXTopSmartGroupGIDs</key>
<array/> <array/>
@ -319,7 +321,7 @@
<key>PBXProjectModuleGUID</key> <key>PBXProjectModuleGUID</key>
<string>6B8632A30F78115100E2684A</string> <string>6B8632A30F78115100E2684A</string>
<key>PBXProjectModuleLabel</key> <key>PBXProjectModuleLabel</key>
<string>main.cpp</string> <string>RecastMeshDetail.cpp</string>
<key>PBXSplitModuleInNavigatorKey</key> <key>PBXSplitModuleInNavigatorKey</key>
<dict> <dict>
<key>Split0</key> <key>Split0</key>
@ -327,14 +329,44 @@
<key>PBXProjectModuleGUID</key> <key>PBXProjectModuleGUID</key>
<string>6B8632A40F78115100E2684A</string> <string>6B8632A40F78115100E2684A</string>
<key>PBXProjectModuleLabel</key> <key>PBXProjectModuleLabel</key>
<string>main.cpp</string> <string>RecastMeshDetail.cpp</string>
<key>_historyCapacity</key> <key>_historyCapacity</key>
<integer>0</integer> <integer>0</integer>
<key>bookmark</key> <key>bookmark</key>
<string>6B6FA35D1070BF26009B0572</string> <string>6B7FB7461091E02E001BA51A</string>
<key>history</key> <key>history</key>
<array> <array>
<string>6B6FA35C1070BF26009B0572</string> <string>6B6FA3B31076452F009B0572</string>
<string>6B6FA3B41076452F009B0572</string>
<string>6B6FA3B61076452F009B0572</string>
<string>6B3BFADD107A80E1006284CD</string>
<string>6B3BFB0C107A8979006284CD</string>
<string>6B3BFB0D107A8979006284CD</string>
<string>6B9BE372107BC6A40036CC81</string>
<string>6B57D358108C66B200DDD053</string>
<string>6B57D372108C692900DDD053</string>
<string>6B57D38F108C69E400DDD053</string>
<string>6B57D391108C69E400DDD053</string>
<string>6B7FB7351091DD43001BA51A</string>
<string>6B7FB7451091E02E001BA51A</string>
</array>
<key>prevStack</key>
<array>
<string>6B6FA3611070C102009B0572</string>
<string>6B6FA36B1070C1F7009B0572</string>
<string>6B6FA3B81076452F009B0572</string>
<string>6B6FA3B91076452F009B0572</string>
<string>6B6FA3BA1076452F009B0572</string>
<string>6B6FA3BC1076452F009B0572</string>
<string>6B3BFADF107A80E1006284CD</string>
<string>6B3BFB12107A8979006284CD</string>
<string>6B3BFB13107A8979006284CD</string>
<string>6B9BE374107BC6A40036CC81</string>
<string>6B57D35B108C66B200DDD053</string>
<string>6B57D376108C692900DDD053</string>
<string>6B57D393108C69E400DDD053</string>
<string>6B7FB7371091DD43001BA51A</string>
<string>6B7FB7381091DD43001BA51A</string>
</array> </array>
</dict> </dict>
<key>SplitCount</key> <key>SplitCount</key>
@ -348,18 +380,18 @@
<key>GeometryConfiguration</key> <key>GeometryConfiguration</key>
<dict> <dict>
<key>Frame</key> <key>Frame</key>
<string>{{0, 0}, {976, 593}}</string> <string>{{0, 0}, {976, 551}}</string>
<key>RubberWindowFrame</key> <key>RubberWindowFrame</key>
<string>0 59 1280 719 0 0 1280 778 </string> <string>0 59 1280 719 0 0 1280 778 </string>
</dict> </dict>
<key>Module</key> <key>Module</key>
<string>PBXNavigatorGroup</string> <string>PBXNavigatorGroup</string>
<key>Proportion</key> <key>Proportion</key>
<string>593pt</string> <string>551pt</string>
</dict> </dict>
<dict> <dict>
<key>Proportion</key> <key>Proportion</key>
<string>80pt</string> <string>122pt</string>
<key>Tabs</key> <key>Tabs</key>
<array> <array>
<dict> <dict>
@ -373,9 +405,7 @@
<key>GeometryConfiguration</key> <key>GeometryConfiguration</key>
<dict> <dict>
<key>Frame</key> <key>Frame</key>
<string>{{10, 27}, {976, 53}}</string> <string>{{10, 27}, {976, 145}}</string>
<key>RubberWindowFrame</key>
<string>0 59 1280 719 0 0 1280 778 </string>
</dict> </dict>
<key>Module</key> <key>Module</key>
<string>XCDetailModule</string> <string>XCDetailModule</string>
@ -391,7 +421,7 @@
<key>GeometryConfiguration</key> <key>GeometryConfiguration</key>
<dict> <dict>
<key>Frame</key> <key>Frame</key>
<string>{{10, 27}, {769, 146}}</string> <string>{{10, 27}, {976, 166}}</string>
</dict> </dict>
<key>Module</key> <key>Module</key>
<string>PBXProjectFindModule</string> <string>PBXProjectFindModule</string>
@ -429,7 +459,9 @@
<key>GeometryConfiguration</key> <key>GeometryConfiguration</key>
<dict> <dict>
<key>Frame</key> <key>Frame</key>
<string>{{10, 27}, {976, 166}}</string> <string>{{10, 27}, {976, 95}}</string>
<key>RubberWindowFrame</key>
<string>0 59 1280 719 0 0 1280 778 </string>
</dict> </dict>
<key>Module</key> <key>Module</key>
<string>PBXBuildResultsModule</string> <string>PBXBuildResultsModule</string>
@ -457,11 +489,11 @@
</array> </array>
<key>TableOfContents</key> <key>TableOfContents</key>
<array> <array>
<string>6B6FA33D1070B90A009B0572</string> <string>6B7FB6F31091CF16001BA51A</string>
<string>1CA23ED40692098700951B8B</string> <string>1CA23ED40692098700951B8B</string>
<string>6B6FA33E1070B90A009B0572</string> <string>6B7FB6F41091CF16001BA51A</string>
<string>6B8632A30F78115100E2684A</string> <string>6B8632A30F78115100E2684A</string>
<string>6B6FA33F1070B90A009B0572</string> <string>6B7FB6F51091CF16001BA51A</string>
<string>1CA23EDF0692099D00951B8B</string> <string>1CA23EDF0692099D00951B8B</string>
<string>1CA23EE00692099D00951B8B</string> <string>1CA23EE00692099D00951B8B</string>
<string>1CA23EE10692099D00951B8B</string> <string>1CA23EE10692099D00951B8B</string>
@ -510,12 +542,12 @@
<key>GeometryConfiguration</key> <key>GeometryConfiguration</key>
<dict> <dict>
<key>Frame</key> <key>Frame</key>
<string>{{0, 0}, {1280, 136}}</string> <string>{{0, 0}, {1280, 233}}</string>
</dict> </dict>
<key>Module</key> <key>Module</key>
<string>PBXDebugCLIModule</string> <string>PBXDebugCLIModule</string>
<key>Proportion</key> <key>Proportion</key>
<string>136pt</string> <string>233pt</string>
</dict> </dict>
<dict> <dict>
<key>ContentConfiguration</key> <key>ContentConfiguration</key>
@ -534,8 +566,8 @@
<string>yes</string> <string>yes</string>
<key>sizes</key> <key>sizes</key>
<array> <array>
<string>{{0, 0}, {630, 114}}</string> <string>{{0, 0}, {620, 161}}</string>
<string>{{630, 0}, {650, 114}}</string> <string>{{620, 0}, {660, 161}}</string>
</array> </array>
</dict> </dict>
<key>VerticalSplitView</key> <key>VerticalSplitView</key>
@ -550,8 +582,8 @@
<string>yes</string> <string>yes</string>
<key>sizes</key> <key>sizes</key>
<array> <array>
<string>{{0, 0}, {1280, 114}}</string> <string>{{0, 0}, {1280, 161}}</string>
<string>{{0, 114}, {1280, 423}}</string> <string>{{0, 161}, {1280, 279}}</string>
</array> </array>
</dict> </dict>
</dict> </dict>
@ -571,7 +603,7 @@
<key>DebugSTDIOWindowFrame</key> <key>DebugSTDIOWindowFrame</key>
<string>{{200, 200}, {500, 300}}</string> <string>{{200, 200}, {500, 300}}</string>
<key>Frame</key> <key>Frame</key>
<string>{{0, 141}, {1280, 537}}</string> <string>{{0, 238}, {1280, 440}}</string>
<key>PBXDebugSessionStackFrameViewKey</key> <key>PBXDebugSessionStackFrameViewKey</key>
<dict> <dict>
<key>DebugVariablesTableConfiguration</key> <key>DebugVariablesTableConfiguration</key>
@ -581,16 +613,16 @@
<string>Value</string> <string>Value</string>
<real>85</real> <real>85</real>
<string>Summary</string> <string>Summary</string>
<real>420</real> <real>430</real>
</array> </array>
<key>Frame</key> <key>Frame</key>
<string>{{630, 0}, {650, 114}}</string> <string>{{620, 0}, {660, 161}}</string>
</dict> </dict>
</dict> </dict>
<key>Module</key> <key>Module</key>
<string>PBXDebugSessionModule</string> <string>PBXDebugSessionModule</string>
<key>Proportion</key> <key>Proportion</key>
<string>537pt</string> <string>440pt</string>
</dict> </dict>
</array> </array>
<key>Name</key> <key>Name</key>
@ -608,14 +640,14 @@
</array> </array>
<key>TableOfContents</key> <key>TableOfContents</key>
<array> <array>
<string>6B6FA3461070B941009B0572</string> <string>6B7FB6F61091CF16001BA51A</string>
<string>1CCC7628064C1048000F2A68</string> <string>1CCC7628064C1048000F2A68</string>
<string>1CCC7629064C1048000F2A68</string> <string>1CCC7629064C1048000F2A68</string>
<string>6B6FA3471070B941009B0572</string> <string>6B7FB6F71091CF16001BA51A</string>
<string>6B6FA3481070B941009B0572</string> <string>6B7FB6F81091CF16001BA51A</string>
<string>6B6FA3491070B941009B0572</string> <string>6B7FB6F91091CF16001BA51A</string>
<string>6B6FA34A1070B941009B0572</string> <string>6B7FB6FA1091CF16001BA51A</string>
<string>6B8632A30F78115100E2684A</string> <string>6B7FB6FB1091CF16001BA51A</string>
</array> </array>
<key>ToolbarConfiguration</key> <key>ToolbarConfiguration</key>
<string>xcode.toolbar.config.debugV3</string> <string>xcode.toolbar.config.debugV3</string>
@ -1144,6 +1176,8 @@
<key>Dock</key> <key>Dock</key>
<array> <array>
<dict> <dict>
<key>BecomeActive</key>
<true/>
<key>ContentConfiguration</key> <key>ContentConfiguration</key>
<dict> <dict>
<key>PBXBottomSmartGroupGIDs</key> <key>PBXBottomSmartGroupGIDs</key>
@ -1206,8 +1240,6 @@
<string>185pt</string> <string>185pt</string>
</dict> </dict>
<dict> <dict>
<key>BecomeActive</key>
<true/>
<key>ContentConfiguration</key> <key>ContentConfiguration</key>
<dict> <dict>
<key>PBXProjectModuleGUID</key> <key>PBXProjectModuleGUID</key>
@ -1247,8 +1279,8 @@
<true/> <true/>
<key>TableOfContents</key> <key>TableOfContents</key>
<array> <array>
<string>6B74D0B7103DE14B00623975</string> <string>6B57D33F108C659D00DDD053</string>
<string>6B74D0B8103DE14B00623975</string> <string>6B57D340108C659D00DDD053</string>
<string>1CE0B1FE06471DED0097A5F4</string> <string>1CE0B1FE06471DED0097A5F4</string>
<string>1CA1AED706398EBD00589147</string> <string>1CA1AED706398EBD00589147</string>
</array> </array>
@ -1257,9 +1289,9 @@
<key>WindowString</key> <key>WindowString</key>
<string>21 346 744 409 0 0 1280 778 </string> <string>21 346 744 409 0 0 1280 778 </string>
<key>WindowToolGUID</key> <key>WindowToolGUID</key>
<string>6B74D0B7103DE14B00623975</string> <string>6B57D33F108C659D00DDD053</string>
<key>WindowToolIsVisible</key> <key>WindowToolIsVisible</key>
<true/> <false/>
</dict> </dict>
<dict> <dict>
<key>Identifier</key> <key>Identifier</key>