server_common/recastnavigation_v1.6.0
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Fixed mem leaks with layers. Added layer region generation test.

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This commit is contained in:
Mikko Mononen 2011-02-27 20:39:17 +00:00
parent f140c3962d
commit ce6f2a52fc
7 changed files with 397 additions and 44 deletions
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1
DebugUtils/Include/RecastDebugDraw.h
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@ -32,6 +32,7 @@ void duDebugDrawCompactHeightfieldDistance(struct duDebugDraw* dd, const struct
void duDebugDrawLeanHeightfieldSolid(duDebugDraw* dd, const struct rcLeanHeightfield& lhf);
void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset);
void duDebugDrawHeightfieldLayersRegions(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset);
void duDebugDrawRegionConnections(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
void duDebugDrawRawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);

94
DebugUtils/Source/RecastDebugDraw.cpp
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@ -329,13 +329,14 @@ void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLay
const float cs = lset.cs;
const float ch = lset.ch;
const int w = lset.width;
const int h = lset.height;
for (int i = 0; i < lset.nlayers; ++i)
{
const rcHeightfieldLayer* layer = &lset.layers[i];
const int w = layer->width;
const int h = layer->height;
unsigned int color = duIntToCol(i+1, 255);
// Layer bounds
@ -415,6 +416,93 @@ void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLay
}
void duDebugDrawHeightfieldLayersRegions(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset)
{
if (!dd) return;
const float cs = lset.cs;
const float ch = lset.ch;
for (int i = 0; i < lset.nlayers; ++i)
{
const rcHeightfieldLayer* layer = &lset.layers[i];
const int w = layer->width;
const int h = layer->height;
unsigned int color = duIntToCol(i+1, 255);
// Layer bounds
float bmin[3], bmax[3];
rcVcopy(bmin, lset.bmin);
rcVcopy(bmax, lset.bmax);
bmin[1] = lset.bmin[1] + (layer->ymin-1)*ch;
bmax[1] = lset.bmin[1] + (layer->ymax+1)*ch;
duDebugDrawBoxWire(dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duTransCol(color,128), 2.0f);
// Layer height
dd->begin(DU_DRAW_QUADS);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const int idx = x+y*w;
const int h = (int)layer->heights[idx];
if (h == 0xffff) continue;
const unsigned char area = layer->regs ? layer->regs[idx]+1 : 1;
unsigned int col = duLerpCol(color, duIntToCol(area, 255), 128);
const float fx = lset.bmin[0] + x*cs;
const float fy = lset.bmin[1] + (h+1)*ch;
const float fz = lset.bmin[2] + y*cs;
dd->vertex(fx, fy, fz, col);
dd->vertex(fx, fy, fz+cs, col);
dd->vertex(fx+cs, fy, fz+cs, col);
dd->vertex(fx+cs, fy, fz, col);
}
}
dd->end();
/* // Portals
unsigned int pcol = duLerpCol(color,duRGBA(255,255,255,255),128);
dd->begin(DU_DRAW_LINES, 2.0f);
for (int j = 0; j < layer->nportals; ++j)
{
const rcHeightfieldLayerPortal* portal = &layer->portals[j];
if (portal->dir == 0 || portal->dir == 2)
{
const int ha = (int)layer->heights[portal->pos + portal->smin*w];
const int hb = (int)layer->heights[portal->pos + (portal->smax-1)*w];
const int xx = (portal->dir == 0) ? portal->pos : portal->pos+1;
const float fx = lset.bmin[0] + xx*cs;
const float fya = lset.bmin[1] + (ha+4)*ch;
const float fyb = lset.bmin[1] + (hb+4)*ch;
const float fza = lset.bmin[2] + portal->smin*cs;
const float fzb = lset.bmin[2] + portal->smax*cs;
dd->vertex(fx, fya, fza, pcol);
dd->vertex(fx, fyb, fzb, pcol);
}
else if (portal->dir == 3 || portal->dir == 1)
{
const int ha = (int)layer->heights[portal->smin + portal->pos*w];
const int hb = (int)layer->heights[(portal->smax-1) + portal->pos*w];
const int yy = (portal->dir == 3) ? portal->pos : portal->pos+1;
const float fxa = lset.bmin[0] + portal->smin*cs;
const float fxb = lset.bmin[0] + portal->smax*cs;
const float fya = lset.bmin[1] + (ha+3)*ch;
const float fyb = lset.bmin[1] + (hb+3)*ch;
const float fz = lset.bmin[2] + yy*cs;
dd->vertex(fxa, fya, fz, pcol);
dd->vertex(fxb, fyb, fz, pcol);
}
}
dd->end();*/
}
}
static void getContourCenter(const rcContour* cont, const float* orig, float cs, float ch, float* center)
{
center[0] = 0;

85
Recast/Include/Recast.h
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@ -221,6 +221,38 @@ struct rcLeanHeightfield
};
struct rcHeightfieldLayerPortal
{
unsigned short pos; // Position of the portal.
unsigned short smin, smax; // Span min/max of the portal.
unsigned char dir; // Direction of the portal (same as used by rcGetCon()).
};
struct rcHeightfieldLayer
{
int width, height; // Width and height of the layer.
int nportals; // Number of portals.
unsigned short ymin, ymax; // Height min/max range.
unsigned short* heights; // Heighfield.
unsigned char* areas; // Area types.
unsigned char* regs; // Regions.
rcHeightfieldLayerPortal* portals; // Portals.
};
struct rcHeightfieldLayerSet
{
rcHeightfieldLayer* layers; // Pointer to layers.
int nlayers; // Number of layers.
float bmin[3], bmax[3]; // Bounding box of the heightfield.
float cs, ch; // Cell size and height.
};
rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet();
void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset);
struct rcContour
{
int* verts; // Vertex coordinates, each vertex contains 4 components.
@ -680,6 +712,7 @@ bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf);
// Here area means the count of spans in an area.
// Params:
// chf - (in/out) compact heightfield representing the open space.
// borderSize - (in) Non-navigable Border around the heightfield.
// minRegionArea - (in) the smallest allowed region area.
// maxMergeRegionArea - (in) the largest allowed region area which can be merged.
// Returns false if operation ran out of memory.
@ -696,12 +729,28 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
// Here area means the count of spans in an area.
// Params:
// chf - (in/out) compact heightfield representing the open space.
// borderSize - (in) Non-navigable Border around the heightfield.
// minRegionArea - (in) the smallest allowed regions size.
// maxMergeRegionArea - (in) the largest allowed regions size which can be merged.
// Returns false if operation ran out of memory.
bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea);
// Builds 2D layer representation of a heighfield.
// Params:
// chf - (in) compact heightfield representing the open space.
// borderSize - (in) Non-navigable Border around the heightfield.
// walkableHeight - (in) minimum height where the agent can still walk.
// lset - (out) set of 2D heighfield layers.
// Returns false if operation ran out of memory.
bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int walkableHeight,
rcHeightfieldLayerSet& lset);
// TODO: move this somewhere else, once the layer meshing is done.
bool rcBuildLayerRegions(rcContext* ctx, rcHeightfieldLayer& layer, const int walkableClimb);
// Builds simplified contours from the regions outlines.
// Params:
// chf - (in) compact heightfield which has regions set.
@ -740,40 +789,4 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
// TODO: Put in right place!
struct rcHeightfieldLayerPortal
{
unsigned short pos, smin, smax;
unsigned char dir;
};
struct rcHeightfieldLayer
{
unsigned short ymin, ymax;
unsigned short* heights;
unsigned char* areas;
rcHeightfieldLayerPortal* portals;
int nportals;
};
struct rcHeightfieldLayerSet
{
rcHeightfieldLayer* layers;
int nlayers;
int width, height;
int borderSize;
float bmin[3], bmax[3]; // Bounding box of the heightfield.
float cs, ch; // Cell size and height.
};
rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet();
void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset);
bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int walkableHeight,
rcHeightfieldLayerSet& lset);
#endif // RECAST_H

2
Recast/Source/Recast.cpp
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@ -105,6 +105,8 @@ void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset)
{
rcFree(lset->layers[i].heights);
rcFree(lset->layers[i].areas);
rcFree(lset->layers[i].regs);
rcFree(lset->layers[i].portals);
}
rcFree(lset->layers);
rcFree(lset);

252
Recast/Source/RecastLayers.cpp
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@ -57,6 +57,14 @@ static void addUnique(unsigned char* a, unsigned char& an, unsigned char v)
an++;
}
static void addUniqueLast(unsigned char* a, unsigned char& an, unsigned char v)
{
const int n = (int)an;
if (n > 0 && a[n-1] == v) return;
a[an] = v;
an++;
}
static bool contains(const unsigned char* a, const unsigned char an, const unsigned char v)
{
const int n = (int)an;
@ -469,9 +477,6 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
const int lh = h - borderSize*2;
lset.nlayers = (int)layerId;
lset.width = lw;
lset.height = lh;
lset.borderSize = borderSize;
rcVcopy(lset.bmin, chf.bmin);
rcVcopy(lset.bmax, chf.bmax);
lset.bmin[0] += borderSize*chf.cs;
@ -504,6 +509,10 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
// Allocate memory for the current layer.
rcHeightfieldLayer* layer = &lset.layers[i];
layer->width = lw;
layer->height = lh;
layer->heights = (unsigned short*)rcAlloc(sizeof(unsigned short)*lw*lh, RC_ALLOC_PERM);
if (!layer->heights)
{
@ -543,13 +552,18 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
if (srcReg[i] == 0xff) continue;
// Skip unassigned regions.
if (srcReg[i] == 0xff)
continue;
// Skip of does nto belong to current layer.
unsigned char lid = regs[srcReg[i]].layerId;
if (lid != curId)
continue;
// Store height and area type.
const int idx = x+y*lw;
layer->heights[idx] = s.y;
layer->areas[idx] = chf.areas[i];
// Check connection.
unsigned char con = 0;
for (int dir = 0; dir < 4; ++dir)
@ -673,3 +687,233 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
return true;
}
inline bool isConnected(rcHeightfieldLayer& layer, const int ia, const int ib, const int walkableClimb)
{
if (layer.areas[ib] == RC_NULL_AREA) return false;
if (rcAbs((int)layer.heights[ia] - (int)layer.heights[ib]) > walkableClimb) return false;
return true;
}
struct rcMonotoneRegion
{
unsigned char neis[RC_MAX_NEIS];
unsigned char nneis;
unsigned char regId;
};
static bool canMerge(rcMonotoneRegion* reg, unsigned char newRegId, const rcMonotoneRegion* regs, const int nregs)
{
int count = 0;
const int nnei = (int)reg->nneis;
for (int i = 0; i < nnei; ++i)
{
if (regs[reg->neis[i]].regId == newRegId)
count++;
}
return count == 1;
}
// TODO: move this somewhere else, once the layer meshing is done.
bool rcBuildLayerRegions(rcContext* ctx, rcHeightfieldLayer& layer, const int walkableClimb)
{
rcAssert(ctx);
// ctx->startTimer(RC_TIMER_BUILD_LAYERS);
const int w = layer.width;
const int h = layer.height;
rcAssert(layer.regs == 0);
layer.regs = (unsigned char*)rcAlloc(sizeof(unsigned char)*w*h, RC_ALLOC_TEMP);
if (!layer.regs)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", w*h);
return false;
}
memset(layer.regs,0xff,sizeof(unsigned char)*w*h);
const int nsweeps = w;
rcScopedDelete<rcLayerSweepSpan> sweeps = (rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP);
if (!sweeps)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps);
return false;
}
// Partition walkable area into monotone regions.
int prevCount[256];
unsigned char regId = 0;
for (int y = 0; y < h; ++y)
{
memset(prevCount,0,sizeof(int)*regId);
unsigned char sweepId = 0;
for (int x = 0; x < w; ++x)
{
const int idx = x + y*w;
if (layer.areas[idx] == RC_NULL_AREA) continue;
unsigned char sid = 0xff;
// -x
const int xidx = (x-1)+y*w;
if (x > 0 && isConnected(layer, idx, xidx, walkableClimb))
{
if (layer.regs[xidx] != 0xff)
sid = layer.regs[xidx];
}
if (sid == 0xff)
{
sid = sweepId++;
sweeps[sid].nei = 0xff;
sweeps[sid].ns = 0;
}
// -y
const int yidx = x+(y-1)*w;
if (y > 0 && isConnected(layer, idx, yidx, walkableClimb))
{
const unsigned char nr = layer.regs[yidx];
if (nr != 0xff)
{
// Set neighbour when first valid neighbour is encoutered.
if (sweeps[sid].ns == 0)
sweeps[sid].nei = nr;
if (sweeps[sid].nei == nr)
{
// Update existing neighbour
sweeps[sid].ns++;
prevCount[nr]++;
}
else
{
// This is hit if there is nore than one neighbour.
// Invalidate the neighbour.
sweeps[sid].nei = 0xff;
}
}
}
layer.regs[idx] = sid;
}
// Create unique ID.
for (int i = 0; i < sweepId; ++i)
{
// If the neighbour is set and there is only one continuous connection to it,
// the sweep will be merged with the previous one, else new region is created.
if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
if (regId == 255)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow.");
return false;
}
sweeps[i].id = regId++;
}
}
// Remap local sweep ids to region ids.
for (int x = 0; x < w; ++x)
{
const int idx = x+y*w;
layer.regs[idx] = sweeps[layer.regs[idx]].id;
}
}
// Allocate and init layer regions.
const int nregs = (int)regId;
rcScopedDelete<rcMonotoneRegion> regs = (rcMonotoneRegion*)rcAlloc(sizeof(rcMonotoneRegion)*nregs, RC_ALLOC_TEMP);
if (!regs)
{
ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs);
return false;
}
memset(regs, 0, sizeof(rcMonotoneRegion)*nregs);
for (int i = 0; i < nregs; ++i)
regs[i].regId = 0xff;
// Find region neighbours.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const int idx = x+y*w;
const unsigned char ri = layer.regs[idx];
if (ri == 0xff)
continue;
// Update neighbours
const int ymi = x+(y-1)*w;
if (y > 0 && isConnected(layer, idx, ymi, walkableClimb))
{
const unsigned char rai = layer.regs[ymi];
if (rai != 0xff && rai != ri)
{
addUniqueLast(regs[ri].neis, regs[ri].nneis, rai);
addUniqueLast(regs[rai].neis, regs[rai].nneis, ri);
}
}
}
}
// Merge regions.
static const int MAX_STACK = 32;
unsigned char stack[MAX_STACK];
int nstack = 0;
unsigned char newRegId = 0;
for (int i = 0; i < nregs; ++i)
{
if (regs[i].regId != 0xff)
continue;
nstack = 0;
stack[nstack++] = (unsigned char)i;
regs[i].regId = newRegId;
while (nstack)
{
rcMonotoneRegion& reg = regs[stack[0]];
nstack--;
for (int j = 0; j < nstack; ++j)
stack[j] = stack[j+1];
for (int j = 0; j < (int)reg.nneis; ++j)
{
const unsigned char nei = reg.neis[j];
rcMonotoneRegion& regn = regs[nei];
if (regn.regId != 0xff)
continue;
if (canMerge(&regn, newRegId, regs, nregs))
{
regn.regId = newRegId;
if (nstack < MAX_STACK)
stack[nstack++] = nei;
}
}
}
newRegId++;
}
for (int i = 0; i < w*h; ++i)
{
if (layer.regs[i] != 0xff)
layer.regs[i] = regs[layer.regs[i]].regId;
}
return true;
}

BIN
RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
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Binary file not shown.

7
RecastDemo/Source/Sample_TileMesh.cpp
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@ -665,7 +665,7 @@ void Sample_TileMesh::handleRender()
if (m_lset && m_drawMode == DRAWMODE_HEIGHFIELD_LAYERS)
{
glDepthMask(GL_FALSE);
duDebugDrawHeightfieldLayers(&dd, *m_lset);
duDebugDrawHeightfieldLayersRegions(&dd, *m_lset);
glDepthMask(GL_TRUE);
}
@ -1113,6 +1113,11 @@ unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build heighfield layers.");
return 0;
}
for (int i = 0; i < m_lset->nlayers; ++i)
{
rcBuildLayerRegions(m_ctx, m_lset->layers[i], m_cfg.walkableClimb);
}
}