diff --git a/Recast/Include/Recast.h b/Recast/Include/Recast.h index d92d659..feb1015 100644 --- a/Recast/Include/Recast.h +++ b/Recast/Include/Recast.h @@ -513,6 +513,14 @@ void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh); /// @see rcCompactSpan::reg static const unsigned short RC_BORDER_REG = 0x8000; +/// Polygon touches multiple regions. +/// If a polygon has this region ID it was merged with or created +/// from polygons of different regions during the polymesh +/// build step that removes redundant border vertices. +/// (Used during the polymesh and detail polymesh build processes) +/// @see rcPolyMesh::regs +static const unsigned short RC_MULTIPLE_REGS = 0; + /// Border vertex flag. /// If a region ID has this bit set, then the associated element lies on /// a tile border. If a contour vertex's region ID has this bit set, the @@ -1059,7 +1067,7 @@ inline int rcGetCon(const rcCompactSpan& s, int dir) /// in the direction. inline int rcGetDirOffsetX(int dir) { - const int offset[4] = { -1, 0, 1, 0, }; + static const int offset[4] = { -1, 0, 1, 0, }; return offset[dir&0x03]; } @@ -1069,10 +1077,20 @@ inline int rcGetDirOffsetX(int dir) /// in the direction. inline int rcGetDirOffsetY(int dir) { - const int offset[4] = { 0, 1, 0, -1 }; + static const int offset[4] = { 0, 1, 0, -1 }; return offset[dir&0x03]; } +/// Gets the direction for the specified offset. One of x and y should be 0. +/// @param[in] x The x offset. [Limits: -1 <= value <= 1] +/// @param[in] y The y offset. [Limits: -1 <= value <= 1] +/// @return The direction that represents the offset. +inline int rcGetDirForOffset(int x, int y) +{ + static const int dirs[5] = { 3, 0, -1, 2, 1 }; + return dirs[((y+1)<<1)+x]; +} + /// @} /// @name Layer, Contour, Polymesh, and Detail Mesh Functions /// @see rcHeightfieldLayer, rcContourSet, rcPolyMesh, rcPolyMeshDetail diff --git a/Recast/Include/RecastAlloc.h b/Recast/Include/RecastAlloc.h index 438be9e..500dea2 100644 --- a/Recast/Include/RecastAlloc.h +++ b/Recast/Include/RecastAlloc.h @@ -64,40 +64,54 @@ class rcIntArray int m_size, m_cap; inline rcIntArray(const rcIntArray&); inline rcIntArray& operator=(const rcIntArray&); + + void doResize(int n); public: /// Constructs an instance with an initial array size of zero. - inline rcIntArray() : m_data(0), m_size(0), m_cap(0) {} + rcIntArray() : m_data(0), m_size(0), m_cap(0) {} /// Constructs an instance initialized to the specified size. /// @param[in] n The initial size of the integer array. - inline rcIntArray(int n) : m_data(0), m_size(0), m_cap(0) { resize(n); } - inline ~rcIntArray() { rcFree(m_data); } + rcIntArray(int n) : m_data(0), m_size(0), m_cap(0) { resize(n); } + ~rcIntArray() { rcFree(m_data); } /// Specifies the new size of the integer array. /// @param[in] n The new size of the integer array. - void resize(int n); + void resize(int n) + { + if (n > m_cap) + doResize(n); + + m_size = n; + } /// Push the specified integer onto the end of the array and increases the size by one. /// @param[in] item The new value. - inline void push(int item) { resize(m_size+1); m_data[m_size-1] = item; } + void push(int item) { resize(m_size+1); m_data[m_size-1] = item; } /// Returns the value at the end of the array and reduces the size by one. /// @return The value at the end of the array. - inline int pop() { if (m_size > 0) m_size--; return m_data[m_size]; } + int pop() + { + if (m_size > 0) + m_size--; + + return m_data[m_size]; + } /// The value at the specified array index. /// @warning Does not provide overflow protection. /// @param[in] i The index of the value. - inline const int& operator[](int i) const { return m_data[i]; } + const int& operator[](int i) const { return m_data[i]; } /// The value at the specified array index. /// @warning Does not provide overflow protection. /// @param[in] i The index of the value. - inline int& operator[](int i) { return m_data[i]; } + int& operator[](int i) { return m_data[i]; } /// The current size of the integer array. - inline int size() const { return m_size; } + int size() const { return m_size; } }; /// A simple helper class used to delete an array when it goes out of scope. diff --git a/Recast/Source/RecastAlloc.cpp b/Recast/Source/RecastAlloc.cpp index b5ec151..af843f7 100644 --- a/Recast/Source/RecastAlloc.cpp +++ b/Recast/Source/RecastAlloc.cpp @@ -72,17 +72,13 @@ void rcFree(void* ptr) /// Using this method ensures the array is at least large enough to hold /// the specified number of elements. This can improve performance by /// avoiding auto-resizing during use. -void rcIntArray::resize(int n) +void rcIntArray::doResize(int n) { - if (n > m_cap) - { - if (!m_cap) m_cap = n; - while (m_cap < n) m_cap *= 2; - int* newData = (int*)rcAlloc(m_cap*sizeof(int), RC_ALLOC_TEMP); - if (m_size && newData) memcpy(newData, m_data, m_size*sizeof(int)); - rcFree(m_data); - m_data = newData; - } - m_size = n; + if (!m_cap) m_cap = n; + while (m_cap < n) m_cap *= 2; + int* newData = (int*)rcAlloc(m_cap*sizeof(int), RC_ALLOC_TEMP); + if (m_size && newData) memcpy(newData, m_data, m_size*sizeof(int)); + rcFree(m_data); + m_data = newData; } diff --git a/Recast/Source/RecastMesh.cpp b/Recast/Source/RecastMesh.cpp index f806c3e..7f7d342 100644 --- a/Recast/Source/RecastMesh.cpp +++ b/Recast/Source/RecastMesh.cpp @@ -528,8 +528,8 @@ static int getPolyMergeValue(unsigned short* pa, unsigned short* pb, return dx*dx + dy*dy; } -static void mergePolys(unsigned short* pa, unsigned short* pb, int ea, int eb, - unsigned short* tmp, const int nvp) +static void mergePolyVerts(unsigned short* pa, unsigned short* pb, int ea, int eb, + unsigned short* tmp, const int nvp) { const int na = countPolyVerts(pa, nvp); const int nb = countPolyVerts(pb, nvp); @@ -695,7 +695,7 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hole' (%d).", numRemovedVerts*nvp); return false; } - + int nhreg = 0; rcScopedDelete hreg = (int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP); if (!hreg) @@ -895,7 +895,14 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short polys[npolys*nvp+0] = (unsigned short)hole[t[0]]; polys[npolys*nvp+1] = (unsigned short)hole[t[1]]; polys[npolys*nvp+2] = (unsigned short)hole[t[2]]; - pregs[npolys] = (unsigned short)hreg[t[0]]; + + // If this polygon covers multiple region types then + // mark it as such + if (hreg[t[0]] != hreg[t[1]] || hreg[t[1]] != hreg[t[2]]) + pregs[npolys] = RC_MULTIPLE_REGS; + else + pregs[npolys] = (unsigned short)hreg[t[0]]; + pareas[npolys] = (unsigned char)harea[t[0]]; npolys++; } @@ -936,7 +943,10 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short // Found best, merge. unsigned short* pa = &polys[bestPa*nvp]; unsigned short* pb = &polys[bestPb*nvp]; - mergePolys(pa, pb, bestEa, bestEb, tmpPoly, nvp); + mergePolyVerts(pa, pb, bestEa, bestEb, tmpPoly, nvp); + if (pregs[bestPa] != pregs[bestPb]) + pregs[bestPa] = RC_MULTIPLE_REGS; + unsigned short* last = &polys[(npolys-1)*nvp]; if (pb != last) memcpy(pb, last, sizeof(unsigned short)*nvp); @@ -1182,7 +1192,7 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe // Found best, merge. unsigned short* pa = &polys[bestPa*nvp]; unsigned short* pb = &polys[bestPb*nvp]; - mergePolys(pa, pb, bestEa, bestEb, tmpPoly, nvp); + mergePolyVerts(pa, pb, bestEa, bestEb, tmpPoly, nvp); unsigned short* lastPoly = &polys[(npolys-1)*nvp]; if (pb != lastPoly) memcpy(pb, lastPoly, sizeof(unsigned short)*nvp); diff --git a/Recast/Source/RecastMeshDetail.cpp b/Recast/Source/RecastMeshDetail.cpp index 3c6c45d..43a19a0 100644 --- a/Recast/Source/RecastMeshDetail.cpp +++ b/Recast/Source/RecastMeshDetail.cpp @@ -834,33 +834,25 @@ static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin, return true; } - -static void getHeightDataSeedsFromVertices(const rcCompactHeightfield& chf, - const unsigned short* poly, const int npoly, - const unsigned short* verts, const int bs, - rcHeightPatch& hp, rcIntArray& stack) +static void seedArrayWithPolyCenter(rcContext* ctx, const rcCompactHeightfield& chf, + const unsigned short* poly, const int npoly, + const unsigned short* verts, const int bs, + rcHeightPatch& hp, rcIntArray& array) { - // Floodfill the heightfield to get 2D height data, - // starting at vertex locations as seeds. - // Note: Reads to the compact heightfield are offset by border size (bs) // since border size offset is already removed from the polymesh vertices. - 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) + // Find cell closest to a poly vertex + int startCellX = 0, startCellY = 0, startSpanIndex = -1; + int dmin = RC_UNSET_HEIGHT; + for (int j = 0; j < npoly && dmin > 0; ++j) { - int cx = 0, cz = 0, ci =-1; - int dmin = RC_UNSET_HEIGHT; - for (int k = 0; k < 9; ++k) + for (int k = 0; k < 9 && dmin > 0; ++k) { const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0]; const int ay = (int)verts[poly[j]*3+1]; @@ -870,191 +862,208 @@ static void getHeightDataSeedsFromVertices(const rcCompactHeightfield& chf, continue; const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width]; - for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni && dmin > 0; ++i) { const rcCompactSpan& s = chf.spans[i]; int d = rcAbs(ay - (int)s.y); if (d < dmin) { - cx = ax; - cz = az; - ci = i; + startCellX = ax; + startCellY = az; + startSpanIndex = i; dmin = d; } } } - if (ci != -1) - { - stack.push(cx); - stack.push(cz); - stack.push(ci); - } } - // Find center of the polygon using flood fill. - int pcx = 0, pcz = 0; + rcAssert(startSpanIndex != -1); + // Find center of the polygon + int pcx = 0, pcy = 0; for (int j = 0; j < npoly; ++j) { pcx += (int)verts[poly[j]*3+0]; - pcz += (int)verts[poly[j]*3+2]; + pcy += (int)verts[poly[j]*3+2]; } pcx /= npoly; - pcz /= npoly; + pcy /= npoly; - for (int i = 0; i < stack.size(); i += 3) + // Use seeds array as a stack for DFS + array.resize(0); + array.push(startCellX); + array.push(startCellY); + array.push(startSpanIndex); + + int dirs[] = { 0, 1, 2, 3 }; + memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height); + // DFS to move to the center. Note that we need a DFS here and can not just move + // directly towards the center without recording intermediate nodes, even though the polygons + // are convex. In very rare we can get stuck due to contour simplification if we do not + // record nodes. + int cx = -1, cy = -1, ci = -1; + while (true) { - 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) - { - int ci = stack.pop(); - int cy = stack.pop(); - int cx = stack.pop(); - - // Check if close to center of the polygon. - if (rcAbs(cx-pcx) <= 1 && rcAbs(cy-pcz) <= 1) + if (array.size() < 3) { - stack.resize(0); - stack.push(cx); - stack.push(cy); - stack.push(ci); + ctx->log(RC_LOG_WARNING, "Walk towards polygon center failed to reach center"); break; } - + + ci = array.pop(); + cy = array.pop(); + cx = array.pop(); + + if (cx == pcx && cy == pcy) + break; + + // If we are already at the correct X-position, prefer direction + // directly towards the center in the Y-axis; otherwise prefer + // direction in the X-axis + int directDir; + if (cx == pcx) + directDir = rcGetDirForOffset(0, pcy > cy ? 1 : -1); + else + directDir = rcGetDirForOffset(pcx > cx ? 1 : -1, 0); + + // Push the direct dir last so we start with this on next iteration + rcSwap(dirs[directDir], dirs[3]); + const rcCompactSpan& cs = chf.spans[ci]; - - for (int dir = 0; dir < 4; ++dir) + for (int i = 0; i < 4; i++) { - 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)) + int dir = dirs[i]; + if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue; - - if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != 0) + + int newX = cx + rcGetDirOffsetX(dir); + int newY = cy + rcGetDirOffsetY(dir); + + int hpx = newX - hp.xmin; + int hpy = newY - hp.ymin; + if (hpx < 0 || hpx >= hp.width || hpy < 0 || hpy >= hp.height) continue; - - const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*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); + + if (hp.data[hpx+hpy*hp.width] != 0) + continue; + + hp.data[hpx+hpy*hp.width] = 1; + array.push(newX); + array.push(newY); + array.push((int)chf.cells[(newX+bs)+(newY+bs)*chf.width].index + rcGetCon(cs, dir)); } + + rcSwap(dirs[directDir], dirs[3]); } - + + array.resize(0); + // getHeightData seeds are given in coordinates with borders + array.push(cx+bs); + array.push(cy+bs); + array.push(ci); + 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; - - // getHeightData seeds are given in coordinates with borders - stack[i+0] += bs; - stack[i+1] += bs; - } - + const rcCompactSpan& cs = chf.spans[ci]; + hp.data[cx-hp.xmin+(cy-hp.ymin)*hp.width] = cs.y; } +static void push3(rcIntArray& queue, int v1, int v2, int v3) +{ + queue.resize(queue.size() + 3); + queue[queue.size() - 3] = v1; + queue[queue.size() - 2] = v2; + queue[queue.size() - 1] = v3; +} -static void getHeightData(const rcCompactHeightfield& chf, +static void getHeightData(rcContext* ctx, const rcCompactHeightfield& chf, const unsigned short* poly, const int npoly, const unsigned short* verts, const int bs, - rcHeightPatch& hp, rcIntArray& stack, + rcHeightPatch& hp, rcIntArray& queue, int region) { // Note: Reads to the compact heightfield are offset by border size (bs) // since border size offset is already removed from the polymesh vertices. - stack.resize(0); + queue.resize(0); + // Set all heights to RC_UNSET_HEIGHT. memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height); - + bool empty = true; - // Copy the height from the same region, and mark region borders - // as seed points to fill the rest. - for (int hy = 0; hy < hp.height; hy++) + // We cannot sample from this poly if it was created from polys + // of different regions. If it was then it could potentially be overlapping + // with polys of that region and the heights sampled here could be wrong. + if (region != RC_MULTIPLE_REGS) { - int y = hp.ymin + hy + bs; - for (int hx = 0; hx < hp.width; hx++) + // Copy the height from the same region, and mark region borders + // as seed points to fill the rest. + for (int hy = 0; hy < hp.height; hy++) { - int x = hp.xmin + hx + bs; - const rcCompactCell& c = chf.cells[x+y*chf.width]; - for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i) + int y = hp.ymin + hy + bs; + for (int hx = 0; hx < hp.width; hx++) { - const rcCompactSpan& s = chf.spans[i]; - if (s.reg == region) + int x = hp.xmin + hx + bs; + const rcCompactCell& c = chf.cells[x + y*chf.width]; + for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) { - // Store height - hp.data[hx + hy*hp.width] = s.y; - empty = false; - - // If any of the neighbours is not in same region, - // add the current location as flood fill start - bool border = false; - for (int dir = 0; dir < 4; ++dir) + const rcCompactSpan& s = chf.spans[i]; + if (s.reg == region) { - if (rcGetCon(s, dir) != RC_NOT_CONNECTED) + // Store height + hp.data[hx + hy*hp.width] = s.y; + empty = false; + + // If any of the neighbours is not in same region, + // add the current location as flood fill start + bool border = false; + for (int dir = 0; dir < 4; ++dir) { - const int ax = x + rcGetDirOffsetX(dir); - const int ay = y + rcGetDirOffsetY(dir); - const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir); - const rcCompactSpan& as = chf.spans[ai]; - if (as.reg != region) + if (rcGetCon(s, dir) != RC_NOT_CONNECTED) { - border = true; - break; + const int ax = x + rcGetDirOffsetX(dir); + const int ay = y + rcGetDirOffsetY(dir); + const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(s, dir); + const rcCompactSpan& as = chf.spans[ai]; + if (as.reg != region) + { + border = true; + break; + } } } + if (border) + push3(queue, x, y, i); + break; } - if (border) - { - stack.push(x); - stack.push(y); - stack.push(i); - } - break; } } } } - // if the polygon does not contian any points from the current region (rare, but happens) - // then use the cells closest to the polygon vertices as seeds to fill the height field + // if the polygon does not contain any points from the current region (rare, but happens) + // or if it could potentially be overlapping polygons of the same region, + // then use the center as the seed point. if (empty) - getHeightDataSeedsFromVertices(chf, poly, npoly, verts, bs, hp, stack); + seedArrayWithPolyCenter(ctx, chf, poly, npoly, verts, bs, hp, queue); static const int RETRACT_SIZE = 256; int head = 0; - while (head*3 < stack.size()) + // We assume the seed is centered in the polygon, so a BFS to collect + // height data will ensure we do not move onto overlapping polygons and + // sample wrong heights. + while (head*3 < queue.size()) { - int cx = stack[head*3+0]; - int cy = stack[head*3+1]; - int ci = stack[head*3+2]; + int cx = queue[head*3+0]; + int cy = queue[head*3+1]; + int ci = queue[head*3+2]; head++; if (head >= RETRACT_SIZE) { head = 0; - if (stack.size() > RETRACT_SIZE*3) - memmove(&stack[0], &stack[RETRACT_SIZE*3], sizeof(int)*(stack.size()-RETRACT_SIZE*3)); - stack.resize(stack.size()-RETRACT_SIZE*3); + if (queue.size() > RETRACT_SIZE*3) + memmove(&queue[0], &queue[RETRACT_SIZE*3], sizeof(int)*(queue.size()-RETRACT_SIZE*3)); + queue.resize(queue.size()-RETRACT_SIZE*3); } const rcCompactSpan& cs = chf.spans[ci]; @@ -1067,7 +1076,7 @@ static void getHeightData(const rcCompactHeightfield& chf, const int hx = ax - hp.xmin - bs; const int hy = ay - hp.ymin - bs; - if (hx < 0 || hx >= hp.width || hy < 0 || hy >= hp.height) + if ((unsigned int)hx >= (unsigned int)hp.width || (unsigned int)hy >= (unsigned int)hp.height) continue; if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT) @@ -1078,9 +1087,7 @@ static void getHeightData(const rcCompactHeightfield& chf, hp.data[hx + hy*hp.width] = as.y; - stack.push(ax); - stack.push(ay); - stack.push(ai); + push3(queue, ax, ay, ai); } } } @@ -1133,7 +1140,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa rcIntArray edges(64); rcIntArray tris(512); - rcIntArray stack(512); + rcIntArray arr(512); rcIntArray samples(512); float verts[256*3]; rcHeightPatch hp; @@ -1240,7 +1247,7 @@ bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompa hp.ymin = bounds[i*4+2]; hp.width = bounds[i*4+1]-bounds[i*4+0]; hp.height = bounds[i*4+3]-bounds[i*4+2]; - getHeightData(chf, p, npoly, mesh.verts, borderSize, hp, stack, mesh.regs[i]); + getHeightData(ctx, chf, p, npoly, mesh.verts, borderSize, hp, arr, mesh.regs[i]); // Build detail mesh. int nverts = 0;