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Detour: Optimized new cost code to removed redundant edge midpoint calculations.

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Detour: FIxed broken raycast code on TileNavmesh.
Detour: Added more comments to public API.
This commit is contained in:
Mikko Mononen 2009-07-20 08:05:18 +00:00
parent e1d7b3e1f5
commit cc0f1431cd
16 changed files with 1105 additions and 2403 deletions
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22
Detour/Include/DetourCommon.h
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@ -40,6 +40,20 @@ inline float vdot(const float* v1, const float* v2)
return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
}
inline void vmad(float* dest, const float* v1, const float* v2, const float s)
{
dest[0] = v1[0]+v2[0]*s;
dest[1] = v1[1]+v2[1]*s;
dest[2] = v1[2]+v2[2]*s;
}
inline void vadd(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]+v2[0];
dest[1] = v1[1]+v2[1];
dest[2] = v1[2]+v2[2];
}
inline void vsub(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]-v2[0];
@ -68,6 +82,14 @@ inline void vcopy(float* dest, const float* a)
dest[2] = a[2];
}
inline float vdist(const float* v1, const float* v2)
{
float dx = v2[0] - v1[0];
float dy = v2[1] - v1[1];
float dz = v2[2] - v1[2];
return sqrtf(dx*dx + dy*dy + dz*dz);
}
inline float vdistSqr(const float* v1, const float* v2)
{
float dx = v2[0] - v1[0];

2
Detour/Include/DetourDebugDraw.h
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@ -24,7 +24,7 @@
void dtDebugDrawStatNavMeshPoly(const dtStatNavMesh* mesh, dtStatPolyRef ref, const float* col);
void dtDebugDrawStatNavMeshBVTree(const dtStatNavMesh* mesh);
void dtDebugDrawStatNavMesh(const dtStatNavMesh* mesh);
void dtDebugDrawStatNavMesh(const dtStatNavMesh* mesh, bool drawClosedList = false);
void dtDebugDrawTiledNavMesh(const dtTiledNavMesh* mesh);
void dtDebugDrawTiledNavMeshPoly(const dtTiledNavMesh* mesh, dtTilePolyRef ref, const float* col);

7
Detour/Include/DetourStatNavMesh.h
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@ -171,7 +171,7 @@ public:
// Returns pointer to specified vertex.
inline const float* getVertex(int i) const { return &m_header->verts[i*3]; }
bool isInOpenList(dtStatPolyRef ref) const;
bool isInClosedList(dtStatPolyRef ref) const;
int getMemUsed() const;
@ -183,11 +183,6 @@ public:
private:
float getCost(dtStatPolyRef prev, dtStatPolyRef from, dtStatPolyRef to) const;
float getFirstCost(const float* pos, dtStatPolyRef from, dtStatPolyRef to) const;
float getLastCost(dtStatPolyRef from, dtStatPolyRef to, const float* pos) const;
float getHeuristic(const float* from, const float* to) const;
// Copies the locations of vertices of a polygon to an array.
int getPolyVerts(dtStatPolyRef ref, float* verts) const;
// Returns portal points between two polygons.

35
Detour/Include/DetourTileNavMesh.h
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@ -62,28 +62,27 @@ struct dtTileLink
struct dtTileHeader
{
int magic;
int version;
int npolys;
int nverts;
int nlinks;
int maxlinks;
float cs;
float bmin[3], bmax[3];
dtTilePoly* polys;
float* verts;
dtTileLink* links;
int magic; // Magic number, used to identify the data.
int version; // Data version number.
int npolys; // Number of polygons in the tile.
int nverts; // Number of vertices in the tile.
int nlinks; // Number of links in the tile (will be updated when tile is added).
int maxlinks; // Number of allocated links.
float bmin[3], bmax[3]; // Bounding box of the tile.
dtTilePoly* polys; // Pointer to the polygons (will be updated when tile is added).
float* verts; // Pointer to the vertices (will be updated when tile added).
dtTileLink* links; // Pointer to the links (will be updated when tile added).
};
struct dtTile
{
int salt;
int x,y;
dtTileHeader* header;
unsigned char* data;
int dataSize;
bool ownsData;
dtTile* next;
int salt; // Counter describing modifications to the tile.
int x,y; // Grid location of the tile.
dtTileHeader* header; // Pointer to tile header.
unsigned char* data; // Pointer to tile data.
int dataSize; // Size of the tile data.
bool ownsData; // Flag indicating of the navmesh should release the data.
dtTile* next; // Next free tile or, next tile in spatial grid.
};
// Encodes a tile id.

4
Detour/Source/DetourDebugDraw.cpp
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@ -103,14 +103,14 @@ void dtDebugDrawStatNavMeshBVTree(const dtStatNavMesh* mesh)
glEnd();
}
void dtDebugDrawStatNavMesh(const dtStatNavMesh* mesh)
void dtDebugDrawStatNavMesh(const dtStatNavMesh* mesh, bool drawClosedList)
{
glBegin(GL_TRIANGLES);
for (int i = 0; i < mesh->getPolyCount(); ++i)
{
const dtStatPoly* p = mesh->getPoly(i);
if (mesh->isInOpenList(i+1))
if (drawClosedList && mesh->isInClosedList(i+1))
glColor4ub(255,196,0,64);
else
glColor4ub(0,196,255,64);

80
Detour/Source/DetourStatNavMesh.cpp
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@ -85,36 +85,6 @@ const dtStatPoly* dtStatNavMesh::getPolyByRef(dtStatPolyRef ref) const
return &m_header->polys[ref-1];
}
float dtStatNavMesh::getCost(dtStatPolyRef prev, dtStatPolyRef from, dtStatPolyRef to) const
{
float midFrom[3], midTo[3];
if (!getEdgeMidPoint(prev,from,midFrom) || !getEdgeMidPoint(from,to,midTo))
return FLT_MAX;
return sqrtf(vdistSqr(midFrom,midTo));
}
float dtStatNavMesh::getFirstCost(const float* pos, dtStatPolyRef from, dtStatPolyRef to) const
{
float mid[3];
if (!getEdgeMidPoint(from,to,mid))
return FLT_MAX;
return sqrtf(vdistSqr(pos,mid));
}
float dtStatNavMesh::getLastCost(dtStatPolyRef from, dtStatPolyRef to, const float* pos) const
{
float mid[3];
if (!getEdgeMidPoint(from,to,mid))
return FLT_MAX;
return sqrtf(vdistSqr(mid,pos));
}
float dtStatNavMesh::getHeuristic(const float* from, const float* to) const
{
return sqrtf(vdistSqr(from,to)) * 1.1f;
}
int dtStatNavMesh::findPath(dtStatPolyRef startRef, dtStatPolyRef endRef,
const float* startPos, const float* endPos,
dtStatPolyRef* path, const int maxPathSize)
@ -136,10 +106,12 @@ int dtStatNavMesh::findPath(dtStatPolyRef startRef, dtStatPolyRef endRef,
m_nodePool->clear();
m_openList->clear();
static const float H_SCALE = 1.1f; // Heuristic scale.
dtNode* startNode = m_nodePool->getNode(startRef);
startNode->pidx = 0;
startNode->cost = 0;
startNode->total = getHeuristic(startPos, endPos);
startNode->total = vdist(startPos, endPos) * H_SCALE;
startNode->id = startRef;
startNode->flags = DT_NODE_OPEN;
m_openList->push(startNode);
@ -171,22 +143,22 @@ int dtStatNavMesh::findPath(dtStatPolyRef startRef, dtStatPolyRef endRef,
newNode.pidx = m_nodePool->getNodeIdx(parent);
newNode.id = neighbour;
newNode.cost = parent->cost;
// Calculate cost.
float p0[3], p1[3];
if (!parent->pidx)
newNode.cost += getFirstCost(startPos,parent->id,newNode.id);
vcopy(p0, startPos);
else
newNode.cost += getCost(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, newNode.id);
getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0);
getEdgeMidPoint(parent->id, newNode.id, p1);
newNode.cost = parent->cost + vdist(p0,p1);
// Special case for last node.
if (newNode.id == endRef)
newNode.cost += getLastCost(parent->id,newNode.id,endPos);
float ec[3];
if (!getEdgeMidPoint(parent->id,newNode.id,ec))
continue;
const float h = getHeuristic(ec, endPos);
newNode.cost += vdist(p1, endPos);
// Heuristic
const float h = vdist(p1,endPos)*H_SCALE;
newNode.total = newNode.cost + h;
dtNode* actualNode = m_nodePool->getNode(newNode.id);
if (!actualNode)
continue;
@ -568,11 +540,14 @@ float dtStatNavMesh::findDistanceToWall(dtStatPolyRef centerRef, const float* ce
newNode.pidx = m_nodePool->getNodeIdx(parent);
newNode.id = neighbour;
newNode.cost = parent->total;
// Cost
float p0[3], p1[3];
if (!parent->pidx)
newNode.cost += getFirstCost(centerPos,parent->id,newNode.id);
vcopy(p0, centerPos);
else
newNode.cost += getCost(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, newNode.id);
getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0);
getEdgeMidPoint(parent->id, newNode.id, p1);
newNode.total = parent->total + vdist(p0,p1);
dtNode* actualNode = m_nodePool->getNode(newNode.id);
if (!actualNode)
@ -667,11 +642,14 @@ int dtStatNavMesh::findPolysAround(dtStatPolyRef centerRef, const float* centerP
newNode.pidx = m_nodePool->getNodeIdx(parent);
newNode.id = neighbour;
newNode.cost = parent->total;
// Cost
float p0[3], p1[3];
if (!parent->pidx)
newNode.cost += getFirstCost(centerPos,parent->id,newNode.id);
vcopy(p0, centerPos);
else
newNode.cost += getCost(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, newNode.id);
getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0);
getEdgeMidPoint(parent->id, newNode.id, p1);
newNode.total = parent->total + vdist(p0,p1);
dtNode* actualNode = m_nodePool->getNode(newNode.id);
if (!actualNode)
@ -817,7 +795,6 @@ bool dtStatNavMesh::getPortalPoints(dtStatPolyRef from, dtStatPolyRef to, float*
return false;
}
// Returns edge mid point between two polygons.
bool dtStatNavMesh::getEdgeMidPoint(dtStatPolyRef from, dtStatPolyRef to, float* mid) const
{
float left[3], right[3];
@ -828,10 +805,11 @@ bool dtStatNavMesh::getEdgeMidPoint(dtStatPolyRef from, dtStatPolyRef to, float*
return true;
}
bool dtStatNavMesh::isInOpenList(dtStatPolyRef ref) const
bool dtStatNavMesh::isInClosedList(dtStatPolyRef ref) const
{
if (!m_nodePool) return false;
return m_nodePool->findNode(ref) != 0;
const dtNode* node = m_nodePool->findNode(ref);
return node && node->flags & DT_NODE_CLOSED;
}
int dtStatNavMesh::getMemUsed() const

2
Detour/Source/DetourStatNavMeshBuilder.cpp
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@ -211,7 +211,7 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
const float* bmin, const float* bmax, float cs, float ch,
unsigned char** outData, int* outDataSize)
{
if (nvp != DT_STAT_VERTS_PER_POLYGON)
if (nvp > DT_STAT_VERTS_PER_POLYGON)
return false;
if (nverts >= 0xffff)
return false;

105
Detour/Source/DetourTileNavMesh.cpp
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@ -372,7 +372,8 @@ bool dtTiledNavMesh::addTileAt(int x, int y, unsigned char* data, int dataSize,
tile->x = x;
tile->y = y;
tile->data = data;
tile->dataSize = ownsData ? -dataSize : dataSize;
tile->dataSize = dataSize;
tile->ownsData = ownsData;
buildIntLinks(tile);
@ -458,7 +459,7 @@ bool dtTiledNavMesh::removeTileAt(int x, int y, unsigned char** data, int* dataS
// Reset tile.
if (tile->dataSize < 0)
if (tile->ownsData)
{
// Owns data
delete [] tile->data;
@ -614,35 +615,6 @@ int dtTiledNavMesh::queryPolygons(const float* center, const float* extents,
return n;
}
float dtTiledNavMesh::getCost(dtTilePolyRef prev, dtTilePolyRef from, dtTilePolyRef to) const
{
float midFrom[3], midTo[3];
if (!getEdgeMidPoint(prev,from,midFrom) || !getEdgeMidPoint(from,to,midTo))
return FLT_MAX;
return sqrtf(vdistSqr(midFrom,midTo));
}
float dtTiledNavMesh::getFirstCost(const float* pos, dtTilePolyRef from, dtTilePolyRef to) const
{
float mid[3];
if (!getEdgeMidPoint(from,to,mid))
return FLT_MAX;
return sqrtf(vdistSqr(pos,mid));
}
float dtTiledNavMesh::getLastCost(dtTilePolyRef from, dtTilePolyRef to, const float* pos) const
{
float mid[3];
if (!getEdgeMidPoint(from,to,mid))
return FLT_MAX;
return sqrtf(vdistSqr(mid,pos));
}
float dtTiledNavMesh::getHeuristic(const float* from, const float* to) const
{
return sqrtf(vdistSqr(from,to)) * 1.1f;
}
int dtTiledNavMesh::findPath(dtTilePolyRef startRef, dtTilePolyRef endRef,
const float* startPos, const float* endPos,
dtTilePolyRef* path, const int maxPathSize)
@ -668,10 +640,12 @@ int dtTiledNavMesh::findPath(dtTilePolyRef startRef, dtTilePolyRef endRef,
m_nodePool->clear();
m_openList->clear();
static const float H_SCALE = 1.1f; // Heuristic scale.
dtNode* startNode = m_nodePool->getNode(startRef);
startNode->pidx = 0;
startNode->cost = 0;
startNode->total = getHeuristic(startPos, endPos);
startNode->total = vdist(startPos, endPos) * H_SCALE;
startNode->id = startRef;
startNode->flags = DT_NODE_OPEN;
m_openList->push(startNode);
@ -708,21 +682,21 @@ int dtTiledNavMesh::findPath(dtTilePolyRef startRef, dtTilePolyRef endRef,
dtNode newNode;
newNode.pidx = m_nodePool->getNodeIdx(parent);
newNode.id = neighbour;
newNode.cost = parent->cost;
// Calculate cost.
float p0[3], p1[3];
if (!parent->pidx)
newNode.cost += getFirstCost(startPos,parent->id,newNode.id);
vcopy(p0, startPos);
else
newNode.cost += getCost(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, newNode.id);
getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0);
getEdgeMidPoint(parent->id, newNode.id, p1);
newNode.cost = parent->cost + vdist(p0,p1);
// Special case for last node.
if (newNode.id == endRef)
newNode.cost += getLastCost(parent->id,newNode.id,endPos);
float ec[3];
if (!getEdgeMidPoint(parent->id,newNode.id,ec))
continue;
const float h = getHeuristic(ec, endPos);
newNode.cost += vdist(p1, endPos);
// Heuristic
const float h = vdist(p1,endPos)*H_SCALE;
newNode.total = newNode.cost + h;
dtNode* actualNode = m_nodePool->getNode(newNode.id);
@ -1061,13 +1035,25 @@ int dtTiledNavMesh::raycast(dtTilePolyRef centerRef, const float* startPos, cons
nextRef = link->ref;
break;
}
// If the link is at tile boundary,
// Check that the intersection lies inside the portal.
const int v0 = poly->v[link->e];
const int v1 = poly->v[(link->e+1) % poly->nv];
const float* left = &h->verts[v0*3];
const float* right = &h->verts[v1*3];
// Check that the intersection lies inside the link portal.
if (link->side == 0 || link->side == 2)
{
// Calculate link size.
const float smin = min(left[2],right[2]);
const float smax = max(left[2],right[2]);
const float s = (smax-smin) / 255.0f;
const float lmin = smin + link->bmin*s;
const float lmax = smin + link->bmax*s;
// Find Z intersection.
float z = startPos[2] + (endPos[2]-startPos[2])*tmax;
if (z >= link->bmin && z <= link->bmax)
if (z >= lmin && z <= lmax)
{
nextRef = link->ref;
break;
@ -1075,9 +1061,15 @@ int dtTiledNavMesh::raycast(dtTilePolyRef centerRef, const float* startPos, cons
}
else if (link->side == 1 || link->side == 3)
{
// Calculate link size.
const float smin = min(left[0],right[0]);
const float smax = max(left[0],right[0]);
const float s = (smax-smin) / 255.0f;
const float lmin = smin + link->bmin*s;
const float lmax = smin + link->bmax*s;
// Find X intersection.
float x = startPos[0] + (endPos[0]-startPos[0])*tmax;
if (x >= link->bmin && x <= link->bmax)
if (x >= lmin && x <= lmax)
{
nextRef = link->ref;
break;
@ -1167,12 +1159,15 @@ int dtTiledNavMesh::findPolysAround(dtTilePolyRef centerRef, const float* center
dtNode newNode;
newNode.pidx = m_nodePool->getNodeIdx(parent);
newNode.id = neighbour;
newNode.cost = parent->total;
// Cost
float p0[3], p1[3];
if (!parent->pidx)
newNode.cost += getFirstCost(centerPos,parent->id,newNode.id);
vcopy(p0, centerPos);
else
newNode.cost += getCost(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, newNode.id);
getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0);
getEdgeMidPoint(parent->id, newNode.id, p1);
newNode.total = parent->total + vdist(p0,p1);
dtNode* actualNode = m_nodePool->getNode(newNode.id);
if (!actualNode)
@ -1310,12 +1305,14 @@ float dtTiledNavMesh::findDistanceToWall(dtTilePolyRef centerRef, const float* c
dtNode newNode;
newNode.pidx = m_nodePool->getNodeIdx(parent);
newNode.id = neighbour;
newNode.cost = parent->total;
float p0[3], p1[3];
if (!parent->pidx)
newNode.cost += getFirstCost(centerPos,parent->id,newNode.id);
vcopy(p0, centerPos);
else
newNode.cost += getCost(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, newNode.id);
getEdgeMidPoint(m_nodePool->getNodeAtIdx(parent->pidx)->id, parent->id, p0);
getEdgeMidPoint(parent->id, newNode.id, p1);
newNode.total = parent->total + vdist(p0,p1);
dtNode* actualNode = m_nodePool->getNode(newNode.id);
if (!actualNode)

1
Detour/Source/DetourTileNavMeshBuilder.cpp
View File

@ -86,7 +86,6 @@ bool dtCreateNavMeshTileData(const unsigned short* verts, const int nverts,
header->npolys = npolys;
header->nverts = nverts;
header->maxlinks = nedges + nportals*2;
header->cs = cs;
header->bmin[0] = bmin[0];
header->bmin[1] = bmin[1];
header->bmin[2] = bmin[2];

122
Recast/Include/Recast.h
View File

@ -37,28 +37,33 @@ struct rcConfig
int maxVertsPerPoly; // Max number of vertices per polygon.
};
// Heightfield span.
struct rcSpan
{
unsigned int smin : 15; // Span min height.
unsigned int smax : 15; // Span max height.
unsigned int flags : 2; // Span flags.
rcSpan* next;
rcSpan* next; // Next span in column.
};
static const int RC_SPANS_PER_POOL = 2048;
// Memory pool used for quick span allocation.
struct rcSpanPool
{
rcSpanPool* next;
rcSpan items[1];
rcSpanPool* next; // Pointer to next pool.
rcSpan items[1]; // Array of spans (size RC_SPANS_PER_POOL).
};
// Dynamic span-heightfield.
struct rcHeightfield
{
inline rcHeightfield() : width(0), height(0), spans(0), pools(0), freelist(0) {}
inline ~rcHeightfield()
{
// Delete span array.
delete [] spans;
// Delete span pools.
while (pools)
{
rcSpanPool* next = pools->next;
@ -66,77 +71,90 @@ struct rcHeightfield
pools = next;
}
}
int width, height;
float bmin[3], bmax[3];
float cs, ch;
rcSpan** spans;
rcSpanPool* pools;
rcSpan* freelist;
int width, height; // Dimension of the heightfield.
float bmin[3], bmax[3]; // Bounding box of the heightfield
float cs, ch; // Cell size and height.
rcSpan** spans; // Heightfield of spans (width*height).
rcSpanPool* pools; // Linked list of span pools.
rcSpan* freelist; // Pointer to next free span.
};
struct rcCompactCell
{
unsigned int index : 24;
unsigned int count : 8;
unsigned int index : 24; // Index to first span in column.
unsigned int count : 8; // Number of spans in this column.
};
struct rcCompactSpan
{
unsigned short y;
unsigned short reg;
unsigned short dist;
unsigned short con;
unsigned char h;
unsigned char flags;
unsigned short y; // Bottom coordinate of the span.
unsigned short reg; // Region ID
unsigned short dist; // Distance to border
unsigned short con; // Connections to neighbour cells.
unsigned char h; // Height of the span.
unsigned char flags; // Flags.
};
// Compact static heightfield.
struct rcCompactHeightfield
{
inline rcCompactHeightfield() : maxDistance(0), maxRegions(0), cells(0), spans(0) {}
inline ~rcCompactHeightfield() { delete [] cells; delete [] spans; }
int width, height;
int spanCount;
int walkableHeight, walkableClimb;
unsigned short maxDistance;
unsigned short maxRegions;
float bmin[3], bmax[3];
float cs, ch;
rcCompactCell* cells;
rcCompactSpan* spans;
int width, height; // Width and height of the heighfield.
int spanCount; // Number of spans in the heightfield.
int walkableHeight, walkableClimb; // Agent properties.
unsigned short maxDistance; // Maximum distance value stored in heightfield.
unsigned short maxRegions; // Maximum Region Id stored in heightfield.
float bmin[3], bmax[3]; // Bounding box of the heightfield.
float cs, ch; // Cell size and height.
rcCompactCell* cells; // Pointer to width*height cells.
rcCompactSpan* spans; // Pointer to spans.
};
struct rcContour
{
inline rcContour() : verts(0), nverts(0), rverts(0), nrverts(0) { }
inline ~rcContour() { delete [] verts; delete [] rverts; }
int* verts;
int nverts;
int* rverts;
int nrverts;
unsigned short reg;
int* verts; // Vertex coordinates, each vertex contains 4 components.
int nverts; // Number of vertices.
int* rverts; // Raw vertex coordinates, each vertex contains 4 components.
int nrverts; // Number of raw vertices.
unsigned short reg; // Region ID of the contour.
};
struct rcContourSet
{
inline rcContourSet() : conts(0), nconts(0) {}
inline ~rcContourSet() { delete [] conts; }
rcContour* conts;
int nconts;
rcContour* conts; // Pointer to all contours.
int nconts; // Number of contours.
};
// Polymesh store a connected mesh of polygons.
// The polygons are store in an array where each polygons takes
// 'nvp*2' elements. The first 'nvp' elements are indices to vertices
// and the second 'nvp' elements are indices to neighbour polygons.
// If a polygona has less than 'bvp' vertices, the remaining indices
// are set os 0xffff. If an polygon edge does not have a neighbour
// the neighbour index is set to 0xffff.
// Vertices can be transformed into world space as follows:
// x = bmin[0] + verts[i*3+0]*cs;
// y = bmin[1] + verts[i*3+1]*ch;
// z = bmin[2] + verts[i*3+2]*cs;
struct rcPolyMesh
{
inline rcPolyMesh() : verts(0), polys(0), nverts(0), npolys(0), nvp(3) {}
inline ~rcPolyMesh() { delete [] verts; delete [] polys; }
unsigned short* verts;
unsigned short* polys;
int nverts;
int npolys;
int nvp;
float bmin[3], bmax[3];
float cs, ch;
unsigned short* verts; // Vertices of the mesh, 3 elements per vertex.
unsigned short* polys; // Polygons of the mesh, nvp*2 elements per polygon.
int nverts; // Number of vertices.
int npolys; // Number of polygons.
int nvp; // Max number of vertices per polygon.
float bmin[3], bmax[3]; // Bounding box of the mesh.
float cs, ch; // Cell size and height.
};
// Simple dynamic array ints.
class rcIntArray
{
int* m_data;
@ -159,7 +177,7 @@ enum rcSpanFlags
RC_REACHABLE = 0x02,
};
// Comppact span neighbour helpers.
// Compact span neighbour helpers.
inline int rcGetCon(const rcCompactSpan& s, int dir)
{
return (s.con >> (dir*4)) & 0xf;
@ -198,6 +216,20 @@ inline float vdot(const float* v1, const float* v2)
return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
}
inline void vmad(float* dest, const float* v1, const float* v2, const float s)
{
dest[0] = v1[0]+v2[0]*s;
dest[1] = v1[1]+v2[1]*s;
dest[2] = v1[2]+v2[2]*s;
}
inline void vadd(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]+v2[0];
dest[1] = v1[1]+v2[1];
dest[2] = v1[2]+v2[2];
}
inline void vsub(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]-v2[0];
@ -226,6 +258,14 @@ inline void vcopy(float* dest, const float* v)
dest[2] = v[2];
}
inline float vdist(const float* v1, const float* v2)
{
float dx = v2[0] - v1[0];
float dy = v2[1] - v1[1];
float dz = v2[2] - v1[2];
return sqrtf(dx*dx + dy*dy + dz*dz);
}
inline float vdistSqr(const float* v1, const float* v2)
{
float dx = v2[0] - v1[0];

BIN
RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
View File

Binary file not shown.

2958
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
View File

File diff suppressed because it is too large Load Diff

129
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
View File

@ -279,14 +279,14 @@
<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
<array>
<array>
<integer>7</integer>
<integer>10</integer>
<integer>3</integer>
<integer>1</integer>
<integer>0</integer>
</array>
</array>
<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
<string>{{0, 2}, {282, 628}}</string>
<string>{{0, 33}, {282, 628}}</string>
</dict>
<key>PBXTopSmartGroupGIDs</key>
<array/>
@ -321,7 +321,7 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A30F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>DetourTileNavMesh.cpp</string>
<string>DetourTileNavMesh.h</string>
<key>PBXSplitModuleInNavigatorKey</key>
<dict>
<key>Split0</key>
@ -329,11 +329,11 @@
<key>PBXProjectModuleGUID</key>
<string>6B8632A40F78115100E2684A</string>
<key>PBXProjectModuleLabel</key>
<string>DetourTileNavMesh.cpp</string>
<string>DetourTileNavMesh.h</string>
<key>_historyCapacity</key>
<integer>0</integer>
<key>bookmark</key>
<string>6B996062100F42AF00D7BF5A</string>
<string>6BD4DBDB10145C42003FF199</string>
<key>history</key>
<array>
<string>6B7707F00FBD90F100D21BAE</string>
@ -348,7 +348,6 @@
<string>6B2AECED0FFB8B41005BE9CC</string>
<string>6B092B4F0FFCA0A20088D3A5</string>
<string>6B092B500FFCA0A20088D3A5</string>
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<string>6B092CC10FFE40160088D3A5</string>
<string>6B0249BE1003793900CF7107</string>
<string>6B024BD31006059C00CF7107</string>
@ -356,9 +355,7 @@
<string>6B024C1110060C7600CF7107</string>
<string>6B1186211006945C0018F96F</string>
<string>6B1186D1100699A00018F96F</string>
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<string>6B555D30100B143200247EA3</string>
<string>6B555E01100B285300247EA3</string>
@ -369,35 +366,34 @@
<string>6B555F0D100B473F00247EA3</string>
<string>6B555F0E100B473F00247EA3</string>
<string>6B555F0F100B473F00247EA3</string>
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<string>6B92CE6B100E0577003DA304</string>
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<string>6B99605C100F42AF00D7BF5A</string>
<string>6B99605D100F42AF00D7BF5A</string>
</array>
<key>nextStack</key>
<array>
<string>6B996061100F42AF00D7BF5A</string>
<string>6B8AE8DA10121C6000FF1D07</string>
<string>6B8AE8FA10123B5700FF1D07</string>
<string>6B8AE8FB10123B5700FF1D07</string>
<string>6B8AE8FC10123B5700FF1D07</string>
<string>6B8AE8FE10123B5700FF1D07</string>
<string>6B8AE90010123B5700FF1D07</string>
<string>6B8AE90210123B5700FF1D07</string>
<string>6B8AE90310123B5700FF1D07</string>
<string>6B8AE90410123B5700FF1D07</string>
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<string>6B8AE90610123B5700FF1D07</string>
<string>6B8AE90710123B5700FF1D07</string>
<string>6BD4DBB910145A50003FF199</string>
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<string>6BD4DBC710145C42003FF199</string>
<string>6BD4DBC810145C42003FF199</string>
<string>6BD4DBC910145C42003FF199</string>
</array>
<key>prevStack</key>
<array>
@ -426,7 +422,6 @@
<string>6B25B6250FFA63C8004F1BC4</string>
<string>6B2AEC740FFB8AB0005BE9CC</string>
<string>6B2AEC750FFB8AB0005BE9CC</string>
<string>6B2AECB50FFB8AB0005BE9CC</string>
<string>6B2AED930FFBA45B005BE9CC</string>
<string>6B092B1A0FFC98FF0088D3A5</string>
<string>6B092B530FFCA0A20088D3A5</string>
@ -441,34 +436,40 @@
<string>6B11862D1006945C0018F96F</string>
<string>6B1186301006945C0018F96F</string>
<string>6B1186311006945C0018F96F</string>
<string>6B1186401006945C0018F96F</string>
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<string>6B555D26100B136A00247EA3</string>
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<string>6B555EE0100B39A600247EA3</string>
<string>6B555EF9100B42E600247EA3</string>
<string>6B555FB4100B595C00247EA3</string>
<string>6B995FA9100F336B00D7BF5A</string>
<string>6B995FB4100F336B00D7BF5A</string>
<string>6B995FB5100F336B00D7BF5A</string>
<string>6B995FBE100F336B00D7BF5A</string>
<string>6B995FC1100F336B00D7BF5A</string>
<string>6B995FCF100F345100D7BF5A</string>
<string>6B995FE3100F387200D7BF5A</string>
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<string>6B996050100F41DB00D7BF5A</string>
<string>6B996051100F41DB00D7BF5A</string>
<string>6B996053100F41DB00D7BF5A</string>
<string>6B996055100F41DB00D7BF5A</string>
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<string>6B99605F100F42AF00D7BF5A</string>
<string>6B996060100F42AF00D7BF5A</string>
<string>6B8AE8DF10121C6000FF1D07</string>
<string>6B8AE90D10123B5700FF1D07</string>
<string>6B8AE90E10123B5700FF1D07</string>
<string>6B8AE90F10123B5700FF1D07</string>
<string>6B8AE91010123B5700FF1D07</string>
<string>6B8AE91810123B5700FF1D07</string>
<string>6B8AE91910123B5700FF1D07</string>
<string>6BD4DBBD10145A50003FF199</string>
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<string>6BD4DBCA10145C42003FF199</string>
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<string>6BD4DBCC10145C42003FF199</string>
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<string>6BD4DBCE10145C42003FF199</string>
<string>6BD4DBCF10145C42003FF199</string>
<string>6BD4DBD010145C42003FF199</string>
<string>6BD4DBD110145C42003FF199</string>
<string>6BD4DBD210145C42003FF199</string>
<string>6BD4DBD310145C42003FF199</string>
<string>6BD4DBD410145C42003FF199</string>
<string>6BD4DBD510145C42003FF199</string>
<string>6BD4DBD610145C42003FF199</string>
<string>6BD4DBD710145C42003FF199</string>
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<string>6BD4DBD910145C42003FF199</string>
<string>6BD4DBDA10145C42003FF199</string>
</array>
</dict>
<key>SplitCount</key>
@ -482,18 +483,18 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{0, 0}, {976, 548}}</string>
<string>{{0, 0}, {976, 449}}</string>
<key>RubberWindowFrame</key>
<string>0 91 1280 687 0 0 1280 778 </string>
</dict>
<key>Module</key>
<string>PBXNavigatorGroup</string>
<key>Proportion</key>
<string>548pt</string>
<string>449pt</string>
</dict>
<dict>
<key>Proportion</key>
<string>93pt</string>
<string>192pt</string>
<key>Tabs</key>
<array>
<dict>
@ -507,7 +508,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {976, 68}}</string>
<string>{{10, 27}, {976, -27}}</string>
</dict>
<key>Module</key>
<string>XCDetailModule</string>
@ -523,7 +524,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {976, 196}}</string>
<string>{{10, 27}, {976, -27}}</string>
</dict>
<key>Module</key>
<string>PBXProjectFindModule</string>
@ -561,7 +562,7 @@
<key>GeometryConfiguration</key>
<dict>
<key>Frame</key>
<string>{{10, 27}, {976, 66}}</string>
<string>{{10, 27}, {976, 165}}</string>
<key>RubberWindowFrame</key>
<string>0 91 1280 687 0 0 1280 778 </string>
</dict>
@ -591,11 +592,11 @@
</array>
<key>TableOfContents</key>
<array>
<string>6B995F7A100F14BB00D7BF5A</string>
<string>6BD4DBB6101456DE003FF199</string>
<string>1CA23ED40692098700951B8B</string>
<string>6B995F7B100F14BB00D7BF5A</string>
<string>6BD4DBB7101456DE003FF199</string>
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<string>1CA23EE10692099D00951B8B</string>
@ -742,14 +743,14 @@
</array>
<key>TableOfContents</key>
<array>
<string>6B995FC4100F336D00D7BF5A</string>
<string>6B8AE8E410121C6000FF1D07</string>
<string>1CCC7628064C1048000F2A68</string>
<string>1CCC7629064C1048000F2A68</string>
<string>6B995FC5100F336D00D7BF5A</string>
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<string>6B995FC7100F336D00D7BF5A</string>
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<string>6B8AE8E710121C6000FF1D07</string>
<string>6B8AE8E810121C6000FF1D07</string>
<string>6B8AE8E910121C6000FF1D07</string>
</array>
<key>ToolbarConfiguration</key>
<string>xcode.toolbar.config.debugV3</string>
@ -779,8 +780,6 @@
<integer>5</integer>
<key>WindowOrderList</key>
<array>
<string>6B996027100F3E4200D7BF5A</string>
<string>6B996028100F3E4200D7BF5A</string>
<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
</array>
<key>WindowString</key>

2
RecastDemo/Source/Sample_StatMesh.cpp
View File

@ -200,7 +200,7 @@ void Sample_StatMesh::toolRender(int flags)
glDepthMask(GL_FALSE);
if (flags & NAVMESH_POLYS)
dtDebugDrawStatNavMesh(m_navMesh);
dtDebugDrawStatNavMesh(m_navMesh, m_toolMode == TOOLMODE_PATHFIND);
if (flags & NAVMESH_BVTREE)
dtDebugDrawStatNavMeshBVTree(m_navMesh);

37
RecastDemo/Source/Sample_StatMeshSimple.cpp
View File

@ -18,6 +18,7 @@
# define snprintf _snprintf
#endif
Sample_StatMeshSimple::Sample_StatMeshSimple() :
m_keepInterResults(false),
m_triflags(0),
@ -263,6 +264,10 @@ bool Sample_StatMeshSimple::handleBuild()
cleanup();
toolCleanup();
//
// Step 1. Initialize build config.
//
// Init build configuration from GUI
memset(&m_cfg, 0, sizeof(m_cfg));
m_cfg.cs = m_cellSize;
@ -298,6 +303,10 @@ bool Sample_StatMeshSimple::handleBuild()
rcGetLog()->log(RC_LOG_PROGRESS, " - %.1fK verts, %.1fK tris", m_nverts/1000.0f, m_ntris/1000.0f);
}
//
// Step 2. Rasterize input polygon soup.
//
// Allocate voxel heighfield where we rasterize our input data to.
m_solid = new rcHeightfield;
if (!m_solid)
@ -324,7 +333,6 @@ bool Sample_StatMeshSimple::handleBuild()
return false;
}
// Find triangles which are walkable based on their slope and rasterize them.
// If your input data is multiple meshes, you can transform them here, calculate
// the flags for each of the meshes and rasterize them.
@ -338,12 +346,20 @@ bool Sample_StatMeshSimple::handleBuild()
m_triflags = 0;
}
//
// Step 3. Filter walkables surfaces.
//
// 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.
rcFilterLedgeSpans(m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
rcFilterWalkableLowHeightSpans(m_cfg.walkableHeight, *m_solid);
//
// Step 4. Partition walkable surface to simple regions.
//
// Compact the heightfield so that it is faster to handle from now on.
// This will result more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
@ -382,6 +398,10 @@ bool Sample_StatMeshSimple::handleBuild()
rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
m_cset = new rcContourSet;
if (!m_cset)
@ -403,6 +423,10 @@ bool Sample_StatMeshSimple::handleBuild()
m_chf = 0;
}
//
// Step 6. Build polygons mesh from contours.
//
// Build polygon navmesh from the contours.
m_polyMesh = new rcPolyMesh;
if (!m_polyMesh)
@ -423,8 +447,17 @@ bool Sample_StatMeshSimple::handleBuild()
delete m_cset;
m_cset = 0;
}
// At this point the navigation mesh data is ready, you can access it from m_polyMesh.
// See rcDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.
if (m_cfg.maxVertsPerPoly == DT_STAT_VERTS_PER_POLYGON)
//
// (Optional) Step 7. Create Detour data from detour poly mesh.
//
// The GUI may allow more max points per polygon than Detour can handle.
// Only build the detour navmesh if we do not exceed the limit.
if (m_cfg.maxVertsPerPoly <= DT_STAT_VERTS_PER_POLYGON)
{
unsigned char* navData = 0;
int navDataSize = 0;

2
RecastDemo/Source/Sample_StatMeshTiled.cpp
View File

@ -898,7 +898,7 @@ bool Sample_StatMeshTiled::handleBuild()
}
}
if (m_cfg.maxVertsPerPoly == DT_STAT_VERTS_PER_POLYGON)
if (m_cfg.maxVertsPerPoly <= DT_STAT_VERTS_PER_POLYGON)
{
unsigned char* navData = 0;
int navDataSize = 0;