More robust handling of detail mesh height values.

Recast/Source/RecastMeshDetail.cpp

@@ -194,7 +194,7 @@ static float distToPoly(int nvert, const float* verts, const float* p)
 }
 
 
-static unsigned short getHeight(const float fx, const float fz, const float cs, const float ics, const rcHeightPatch& hp)
+static unsigned short getHeight(const float fx, const float fy, const float fz, const float cs, const float ics, const float ch, const rcHeightPatch& hp)
 {
 	int ix = (int)floorf(fx*ics + 0.01f);
 	int iz = (int)floorf(fz*ics + 0.01f);
@@ -214,14 +214,22 @@ static unsigned short getHeight(const float fx, const float fz, const float cs,
 			if (nx < 0 || nz < 0 || nx >= hp.width || nz >= hp.height) continue;
 			const unsigned short nh = hp.data[nx+nz*hp.width];
 			if (nh == RC_UNSET_HEIGHT) continue;
-			const float dx = (nx+0.5f)*cs - fx; 
+
+			const float d = fabsf(nh*ch - fy);
+			if (d < dmin)
+			{
+				h = nh;
+				dmin = d;
+			}
+			
+/*			const float dx = (nx+0.5f)*cs - fx; 
 			const float dz = (nz+0.5f)*cs - fz;
 			const float d = dx*dx+dz*dz;
 			if (d < dmin)
 			{
 				h = nh;
 				dmin = d;
-			} 
+			} */
 		}
 	}
 	return h;
@@ -534,6 +542,7 @@ static bool buildPolyDetail(const float* in, const int nin,
 			}
 			// Create samples along the edge.
 			float dx = vi[0] - vj[0];
+			float dy = vi[1] - vj[1];
 			float dz = vi[2] - vj[2];
 			float d = sqrtf(dx*dx + dz*dz);
 			int nn = 1 + (int)floorf(d/sampleDist);
@@ -545,8 +554,9 @@ static bool buildPolyDetail(const float* in, const int nin,
 				float u = (float)k/(float)nn;
 				float* pos = &edge[k*3];
 				pos[0] = vj[0] + dx*u;
+				pos[1] = vj[1] + dy*u;
 				pos[2] = vj[2] + dz*u;
-				pos[1] = getHeight(pos[0], pos[2], cs, ics, hp)*chf.ch;
+				pos[1] = getHeight(pos[0],pos[1],pos[2], cs, ics, chf.ch, hp)*chf.ch;
 			}
 			// Simplify samples.
 			int idx[MAX_EDGE] = {0,nn};
@@ -651,11 +661,12 @@ static bool buildPolyDetail(const float* in, const int nin,
 			{
 				float pt[3];
 				pt[0] = x*sampleDist;
+				pt[1] = (bmax[1]+bmin[1])*0.5f;
 				pt[2] = z*sampleDist;
 				// Make sure the samples are not too close to the edges.
 				if (distToPoly(nin,in,pt) > -sampleDist/2) continue;
 				samples.push(x);
-				samples.push(getHeight(pt[0], pt[2], cs, ics, hp));
+				samples.push(getHeight(pt[0], pt[1], pt[2], cs, ics, chf.ch, hp));
 				samples.push(z);
 			}
 		}
@@ -713,78 +724,69 @@ static void getHeightData(const rcCompactHeightfield& chf,
 	// Floodfill the heightfield to get 2D height data,
 	// starting at vertex locations as seeds.
 	
-	memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
+	memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
 	
 	stack.resize(0);
 	
+	static const int offset[9*2] =
+	{
+		0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0,
+	};
+	
 	// Use poly vertices as seed points for the flood fill.
 	for (int j = 0; j < npoly; ++j)
 	{
-		const int ax = (int)verts[poly[j]*3+0];
+		int cx = 0, cz = 0, ci =-1;
-		const int ay = (int)verts[poly[j]*3+1];
-		const int az = (int)verts[poly[j]*3+2];
-		if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
-			az < hp.ymin || az >= hp.ymin+hp.height)
-			continue;
-			
-		const rcCompactCell& c = chf.cells[ax+az*chf.width];
 		int dmin = RC_UNSET_HEIGHT;
-		int ai = -1;
+		for (int k = 0; k < 9; ++k)
-		for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
 		{
-			const rcCompactSpan& s = chf.spans[i];
+			const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
-			int d = rcAbs(ay - (int)s.y);
+			const int ay = (int)verts[poly[j]*3+1];
-			if (d < dmin)
+			const int az = (int)verts[poly[j]*3+2] + offset[k*2+1];
-			{
+			if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
-				ai = i;
+				az < hp.ymin || az >= hp.ymin+hp.height)
-				dmin = d;
+				continue;
-			}
-		}
-		if (ai != -1)
-		{
-			stack.push(ax);
-			stack.push(az);
-			stack.push(ai);
-		}
-	}
 			
-	// Not no match, try polygon center.
+			const rcCompactCell& c = chf.cells[ax+az*chf.width];
-	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 = RC_UNSET_HEIGHT;
-			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);
+				int d = rcAbs(ay - (int)s.y);
 				if (d < dmin)
 				{
+					cx = ax;
+					cz = az;
 					ci = i;
 					dmin = d;
 				}
 			}
-			if (ci != -1)
-			{
-				stack.push(cx);
-				stack.push(cz);
-				stack.push(ci);
-			}
 		}
+		if (ci != -1)
+		{
+			stack.push(cx);
+			stack.push(cz);
+			stack.push(ci);
+		}
+	}
+	
+	// Find center of the polygon using flood fill.
+	int pcx = 0, pcy = 0, pcz = 0;
+	for (int j = 0; j < npoly; ++j)
+	{
+		pcx += (int)verts[poly[j]*3+0];
+		pcy += (int)verts[poly[j]*3+1];
+		pcz += (int)verts[poly[j]*3+2];
+	}
+	pcx /= npoly;
+	pcy /= npoly;
+	pcz /= npoly;
+	
+	for (int i = 0; i < stack.size(); i += 3)
+	{
+		int cx = stack[i+0];
+		int cy = stack[i+1];
+		int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
+		hp.data[idx] = 1;
 	}
 	
 	while (stack.size() > 0)
@@ -793,14 +795,70 @@ static void getHeightData(const rcCompactHeightfield& chf,
 		int cy = stack.pop();
 		int cx = stack.pop();
 		
-		// Skip already visited locations.
+		// Check if close to center of the polygon.
-		int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
+		if (rcAbs(cx-pcx) <= 1 && rcAbs(cy-pcz) <= 1)
-		if (hp.data[idx] != RC_UNSET_HEIGHT)
+		{
-			continue;
+			stack.resize(0);
+			stack.push(cx);
+			stack.push(cy);
+			stack.push(ci);
+			break;
+		}
 		
 		const rcCompactSpan& cs = chf.spans[ci];
-		hp.data[idx] = cs.y;
 		
+		for (int dir = 0; dir < 4; ++dir)
+		{
+			if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
+			
+			const int ax = cx + rcGetDirOffsetX(dir);
+			const int ay = cy + rcGetDirOffsetY(dir);
+			
+			if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
+				ay < hp.ymin || ay >= (hp.ymin+hp.height))
+				continue;
+			
+			if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != 0)
+				continue;
+			
+			const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(cs, dir);
+
+			int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
+			hp.data[idx] = 1;
+			
+			stack.push(ax);
+			stack.push(ay);
+			stack.push(ai);
+		}
+	}
+
+	memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
+
+	// Mark start locations.
+	for (int i = 0; i < stack.size(); i += 3)
+	{
+		int cx = stack[i+0];
+		int cy = stack[i+1];
+		int ci = stack[i+2];
+		int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
+		const rcCompactSpan& cs = chf.spans[ci];
+		hp.data[idx] = cs.y;
+	}
+	
+	while (stack.size() > 0)
+	{
+/*		int cx = stack[0];
+		int cy = stack[1];
+		int ci = stack[2];
+		if (stack.size() >= 3)
+			memmove(&stack[0], &stack[3], sizeof(int)*(stack.size()-3));
+		stack.resize(stack.size()-3);*/
+
+		int ci = stack.pop();
+		int cy = stack.pop();
+		int cx = stack.pop();
+
+		const rcCompactSpan& cs = chf.spans[ci];
 		for (int dir = 0; dir < 4; ++dir)
 		{
 			if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
@@ -817,11 +875,16 @@ static void getHeightData(const rcCompactHeightfield& chf,
 			
 			const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(cs, dir);
 			
+			const rcCompactSpan& as = chf.spans[ai];
+			int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
+			hp.data[idx] = as.y;
+
 			stack.push(ax);
 			stack.push(ay);
 			stack.push(ai);
 		}
 	}
+	
 }
 
 static unsigned char getEdgeFlags(const float* va, const float* vb,

RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3

@@ -281,14 +281,14 @@
 							<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
 							<array>
 								<array>
-									<integer>30</integer>
+									<integer>11</integer>
-									<integer>21</integer>
+									<integer>3</integer>
 									<integer>1</integer>
 									<integer>0</integer>
 								</array>
 							</array>
 							<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
-							<string>{{0, 334}, {358, 643}}</string>
+							<string>{{0, 0}, {358, 643}}</string>
 						</dict>
 						<key>PBXTopSmartGroupGIDs</key>
 						<array/>
@@ -323,7 +323,7 @@
 								<key>PBXProjectModuleGUID</key>
 								<string>6B8632A30F78115100E2684A</string>
 								<key>PBXProjectModuleLabel</key>
-								<string>Recast.h</string>
+								<string>RecastMeshDetail.cpp</string>
 								<key>PBXSplitModuleInNavigatorKey</key>
 								<dict>
 									<key>Split0</key>
@@ -331,11 +331,11 @@
 										<key>PBXProjectModuleGUID</key>
 										<string>6B8632A40F78115100E2684A</string>
 										<key>PBXProjectModuleLabel</key>
-										<string>Recast.h</string>
+										<string>RecastMeshDetail.cpp</string>
 										<key>_historyCapacity</key>
 										<integer>0</integer>
 										<key>bookmark</key>
-										<string>6B324F4E11258C7000EBD2FD</string>
+										<string>6B324FCA11259FFA00EBD2FD</string>
 										<key>history</key>
 										<array>
 											<string>6B8DE70D10B01BBF00DF20FB</string>
@@ -348,7 +348,6 @@
 											<string>6BF7C2441111DAC1002B3F46</string>
 											<string>6BF7C2761112BE4F002B3F46</string>
 											<string>6BF7C2851112C348002B3F46</string>
-											<string>6BF7C36E1112EB25002B3F46</string>
 											<string>6BF7C394111316AD002B3F46</string>
 											<string>6BF7C395111316AD002B3F46</string>
 											<string>6BF7C4641115C514002B3F46</string>
@@ -365,11 +364,9 @@
 											<string>6B324B50111C1AC800EBD2FD</string>
 											<string>6B324B51111C1AC800EBD2FD</string>
 											<string>6B324B52111C1AC800EBD2FD</string>
-											<string>6B324B71111C1C4F00EBD2FD</string>
 											<string>6B324C45111C5C5A00EBD2FD</string>
 											<string>6B324C92111C604500EBD2FD</string>
 											<string>6B324CC3111C6F6300EBD2FD</string>
-											<string>6B324CFA111C7B0900EBD2FD</string>
 											<string>6B324D0F1121C78000EBD2FD</string>
 											<string>6B324D101121C78000EBD2FD</string>
 											<string>6B324D511121D61A00EBD2FD</string>
@@ -389,16 +386,23 @@
 											<string>6B324F1E1125818400EBD2FD</string>
 											<string>6B324F1F1125818400EBD2FD</string>
 											<string>6B324F201125818400EBD2FD</string>
-											<string>6B324F211125818400EBD2FD</string>
-											<string>6B324F221125818400EBD2FD</string>
 											<string>6B324F2E112584FB00EBD2FD</string>
 											<string>6B324F3A1125891F00EBD2FD</string>
 											<string>6B324F3B1125891F00EBD2FD</string>
 											<string>6B324F3C1125891F00EBD2FD</string>
 											<string>6B324F3D1125891F00EBD2FD</string>
-											<string>6B324F4911258C7000EBD2FD</string>
 											<string>6B324F4A11258C7000EBD2FD</string>
-											<string>6B324F4B11258C7000EBD2FD</string>
+											<string>6B324F5011258F7F00EBD2FD</string>
+											<string>6B324F541125904E00EBD2FD</string>
+											<string>6B324F551125904E00EBD2FD</string>
+											<string>6B324F9A11259A5800EBD2FD</string>
+											<string>6B324F9B11259A5800EBD2FD</string>
+											<string>6B324FC711259FFA00EBD2FD</string>
+											<string>6B324FC811259FFA00EBD2FD</string>
+										</array>
+										<key>nextStack</key>
+										<array>
+											<string>6B324FC911259FFA00EBD2FD</string>
 										</array>
 										<key>prevStack</key>
 										<array>
@@ -470,17 +474,13 @@
 											<string>6B324B57111C1AC800EBD2FD</string>
 											<string>6B324B5C111C1AC800EBD2FD</string>
 											<string>6B324B5E111C1AC800EBD2FD</string>
-											<string>6B324B5F111C1AC800EBD2FD</string>
 											<string>6B324B61111C1AC800EBD2FD</string>
-											<string>6B324B62111C1AC800EBD2FD</string>
 											<string>6B324B63111C1AC800EBD2FD</string>
 											<string>6B324B64111C1AC800EBD2FD</string>
 											<string>6B324B65111C1AC800EBD2FD</string>
 											<string>6B324B66111C1AC800EBD2FD</string>
-											<string>6B324B67111C1AC800EBD2FD</string>
 											<string>6B324B6C111C1B7500EBD2FD</string>
 											<string>6B324B74111C1C4F00EBD2FD</string>
-											<string>6B324B75111C1C4F00EBD2FD</string>
 											<string>6B324B7D111C1C8200EBD2FD</string>
 											<string>6B324B82111C1CF000EBD2FD</string>
 											<string>6B324BBD111C4C2B00EBD2FD</string>
@@ -562,7 +562,6 @@
 											<string>6B324ED41125770F00EBD2FD</string>
 											<string>6B324EE91125799900EBD2FD</string>
 											<string>6B324EEA1125799900EBD2FD</string>
-											<string>6B324F1711257F9A00EBD2FD</string>
 											<string>6B324F251125818400EBD2FD</string>
 											<string>6B324F261125818400EBD2FD</string>
 											<string>6B324F271125818400EBD2FD</string>
@@ -573,10 +572,13 @@
 											<string>6B324F401125891F00EBD2FD</string>
 											<string>6B324F411125891F00EBD2FD</string>
 											<string>6B324F421125891F00EBD2FD</string>
-											<string>6B324F431125891F00EBD2FD</string>
 											<string>6B324F441125891F00EBD2FD</string>
-											<string>6B324F4C11258C7000EBD2FD</string>
 											<string>6B324F4D11258C7000EBD2FD</string>
+											<string>6B324F5211258F7F00EBD2FD</string>
+											<string>6B324F571125904E00EBD2FD</string>
+											<string>6B324F581125904E00EBD2FD</string>
+											<string>6BF7C4661115C514002B3F46</string>
+											<string>6B324B5F111C1AC800EBD2FD</string>
 										</array>
 									</dict>
 									<key>SplitCount</key>
@@ -590,18 +592,18 @@
 							<key>GeometryConfiguration</key>
 							<dict>
 								<key>Frame</key>
-								<string>{{0, 0}, {876, 514}}</string>
+								<string>{{0, 0}, {876, 561}}</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>514pt</string>
+							<string>561pt</string>
 						</dict>
 						<dict>
 							<key>Proportion</key>
-							<string>142pt</string>
+							<string>95pt</string>
 							<key>Tabs</key>
 							<array>
 								<dict>
@@ -669,7 +671,7 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {876, 115}}</string>
+										<string>{{10, 27}, {876, 68}}</string>
 										<key>RubberWindowFrame</key>
 										<string>11 76 1256 702 0 0 1280 778 </string>
 									</dict>
@@ -754,12 +756,12 @@
 					<key>GeometryConfiguration</key>
 					<dict>
 						<key>Frame</key>
-						<string>{{0, 0}, {1256, 132}}</string>
+						<string>{{0, 0}, {1256, 173}}</string>
 					</dict>
 					<key>Module</key>
 					<string>PBXDebugCLIModule</string>
 					<key>Proportion</key>
-					<string>132pt</string>
+					<string>173pt</string>
 				</dict>
 				<dict>
 					<key>ContentConfiguration</key>
@@ -778,8 +780,8 @@
 								<string>yes</string>
 								<key>sizes</key>
 								<array>
-									<string>{{0, 0}, {628, 82}}</string>
+									<string>{{0, 0}, {628, 115}}</string>
-									<string>{{628, 0}, {628, 82}}</string>
+									<string>{{628, 0}, {628, 115}}</string>
 								</array>
 							</dict>
 							<key>VerticalSplitView</key>
@@ -794,8 +796,8 @@
 								<string>yes</string>
 								<key>sizes</key>
 								<array>
-									<string>{{0, 0}, {1256, 82}}</string>
+									<string>{{0, 0}, {1256, 115}}</string>
-									<string>{{0, 82}, {1256, 442}}</string>
+									<string>{{0, 115}, {1256, 368}}</string>
 								</array>
 							</dict>
 						</dict>
@@ -815,7 +817,7 @@
 						<key>DebugSTDIOWindowFrame</key>
 						<string>{{200, 200}, {500, 300}}</string>
 						<key>Frame</key>
-						<string>{{0, 137}, {1256, 524}}</string>
+						<string>{{0, 178}, {1256, 483}}</string>
 						<key>PBXDebugSessionStackFrameViewKey</key>
 						<dict>
 							<key>DebugVariablesTableConfiguration</key>
@@ -828,13 +830,13 @@
 								<real>398</real>
 							</array>
 							<key>Frame</key>
-							<string>{{628, 0}, {628, 82}}</string>
+							<string>{{628, 0}, {628, 115}}</string>
 						</dict>
 					</dict>
 					<key>Module</key>
 					<string>PBXDebugSessionModule</string>
 					<key>Proportion</key>
-					<string>524pt</string>
+					<string>483pt</string>
 				</dict>
 			</array>
 			<key>Name</key>

RecastDemo/Build/Xcode/Recast.xcodeproj/project.pbxproj

@@ -235,19 +235,19 @@
 		6B137C7D0F7FCBE800459200 /* Recast */ = {
 			isa = PBXGroup;
 			children = (
-				6B137C820F7FCC1100459200 /* Recast.cpp */,
-				6B137C830F7FCC1100459200 /* RecastContour.cpp */,
-				6B137C850F7FCC1100459200 /* RecastFilter.cpp */,
-				6B137C860F7FCC1100459200 /* RecastLog.cpp */,
-				6B137C870F7FCC1100459200 /* RecastMesh.cpp */,
-				6B137C880F7FCC1100459200 /* RecastRasterization.cpp */,
-				6B137C890F7FCC1100459200 /* RecastRegion.cpp */,
-				6B137C8A0F7FCC1100459200 /* RecastTimer.cpp */,
 				6B137C7E0F7FCBFE00459200 /* Recast.h */,
 				6B137C800F7FCBFE00459200 /* RecastLog.h */,
 				6B137C810F7FCBFE00459200 /* RecastTimer.h */,
-				6B624169103434880002E346 /* RecastMeshDetail.cpp */,
+				6B137C820F7FCC1100459200 /* Recast.cpp */,
+				6B137C860F7FCC1100459200 /* RecastLog.cpp */,
+				6B137C8A0F7FCC1100459200 /* RecastTimer.cpp */,
+				6B137C880F7FCC1100459200 /* RecastRasterization.cpp */,
+				6B137C850F7FCC1100459200 /* RecastFilter.cpp */,
 				6BF7C4531115C277002B3F46 /* RecastArea.cpp */,
+				6B137C890F7FCC1100459200 /* RecastRegion.cpp */,
+				6B137C830F7FCC1100459200 /* RecastContour.cpp */,
+				6B137C870F7FCC1100459200 /* RecastMesh.cpp */,
+				6B624169103434880002E346 /* RecastMeshDetail.cpp */,
 			);
 			name = Recast;
 			sourceTree = "<group>";