Merge branch 'master' of https://github.com/memononen/recastnavigation
thrown away the fix I made to Recast/Source/RecastMeshDetail.cpp in favor of the upstream code.
This commit is contained in:
axelrodR
commit
f60468abcb
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vendored
3
.gitignore
vendored
@ -14,6 +14,9 @@ RecastDemo/Bin/RecastDemo
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# Build directory
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RecastDemo/Build
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# Ignore some meshes based on name
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RecastDemo/Bin/Meshes/_*
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## Logs and databases #
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*.log
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*.sql
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@ -751,158 +751,55 @@ static void getHeightData(const rcCompactHeightfield& chf,
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// since border size offset is already removed from the polymesh vertices.
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stack.resize(0);
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static const int offset[9*2] =
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{
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0,0, -1,0, 0,1, 1,0, 0,-1, -1,-1, -1,1, 1,1, 1,-1
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};
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// find the center of the polygon
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int pcx = 0, pcz = 0;
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for (int j = 0; j < npoly; ++j)
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{
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pcx += (int)verts[poly[j]*3+0];
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pcz += (int)verts[poly[j]*3+2];
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}
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pcx /= npoly;
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pcz /= npoly;
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// find a span with the right region around this point
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// No need to check for connectivity because the region ensures it
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for (int dir = 0; dir < 9; ++dir)
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{
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int ax = pcx + offset[dir*2+0];
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int az = pcz + offset[dir*2+1];
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if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
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az < hp.ymin || az >= hp.ymin+hp.height)
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continue;
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const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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if (s.reg == region)
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{
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stack.push(ax);
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stack.push(az);
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stack.push(i);
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break;
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}
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}
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if (stack.size() > 0)
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break;
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}
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// in some rare dense cases the polygon simplification moves the polygon to a point where the center
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// is very far from the region. So we search the span in flood-fill fashion from the vertices
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if (stack.size() == 0)
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{
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memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
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// Use poly vertices as seed points for the flood fill.
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for (int j = 0; j < npoly; ++j)
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{
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int cx = 0, cz = 0, ci =-1;
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int dmin = RC_UNSET_HEIGHT;
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for (int k = 0; k < 9; ++k)
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{
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const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
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const int ay = (int)verts[poly[j]*3+1];
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const int az = (int)verts[poly[j]*3+2] + offset[k*2+1];
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if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
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az < hp.ymin || az >= hp.ymin+hp.height)
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continue;
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const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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int d = rcAbs(ay - (int)s.y);
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if (d < dmin)
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{
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cx = ax;
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cz = az;
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ci = i;
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dmin = d;
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}
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}
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}
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if (ci != -1)
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{
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stack.push(cx);
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stack.push(cz);
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stack.push(ci);
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}
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}
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for (int i = 0; i < stack.size(); i += 3)
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{
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int cx = stack[i+0];
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int cy = stack[i+1];
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int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
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hp.data[idx] = 1;
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}
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while (stack.size() > 0)
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{
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int ci = stack.pop();
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int cy = stack.pop();
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int cx = stack.pop();
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// Check if close to center of the polygon.
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if (rcAbs(cx-pcx) <= 1 && rcAbs(cy-pcz) <= 1)
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{
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stack.resize(0);
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stack.push(cx);
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stack.push(cy);
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stack.push(ci);
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break;
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}
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const rcCompactSpan& cs = chf.spans[ci];
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for (int dir = 0; dir < 4; ++dir)
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{
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if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
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const int ax = cx + rcGetDirOffsetX(dir);
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const int ay = cy + rcGetDirOffsetY(dir);
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if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
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ay < hp.ymin || ay >= (hp.ymin+hp.height))
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continue;
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if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != 0)
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continue;
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const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir);
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int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
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hp.data[idx] = 1;
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stack.push(ax);
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stack.push(ay);
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stack.push(ai);
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}
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}
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}
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// Floodfill the heightfield to get 2D height data,
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// starting at center location found above as seed.
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memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
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// Mark start locations.
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for (int i = 0; i < stack.size(); i += 3)
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// Copy the height from the same region, and mark region borders
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// as seed points to fill the rest.
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for (int hy = 0; hy < hp.height; hy++)
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{
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int cx = stack[i+0];
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int cy = stack[i+1];
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int ci = stack[i+2];
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int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
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const rcCompactSpan& cs = chf.spans[ci];
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hp.data[idx] = cs.y;
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}
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int y = hp.ymin + hy + bs;
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for (int hx = 0; hx < hp.width; hx++)
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{
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int x = hp.xmin + hx + bs;
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const rcCompactCell& c = chf.cells[x+y*chf.width];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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if (s.reg == region)
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{
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// Store height
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hp.data[hx + hy*hp.width] = s.y;
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// If any of the neighbours is not in same region,
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// add the current location as flood fill start
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bool border = false;
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for (int dir = 0; dir < 4; ++dir)
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{
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if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
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{
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const int ax = x + rcGetDirOffsetX(dir);
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const int ay = y + rcGetDirOffsetY(dir);
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const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
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const rcCompactSpan& as = chf.spans[ai];
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if (as.reg != region)
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{
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border = true;
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break;
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}
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}
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}
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if (border)
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{
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stack.push(x);
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stack.push(y);
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stack.push(i);
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}
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break;
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}
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}
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}
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}
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static const int RETRACT_SIZE = 256;
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int head = 0;
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@ -928,19 +825,19 @@ static void getHeightData(const rcCompactHeightfield& chf,
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const int ax = cx + rcGetDirOffsetX(dir);
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const int ay = cy + rcGetDirOffsetY(dir);
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const int hx = ax - hp.xmin - bs;
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const int hy = ay - hp.ymin - bs;
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if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
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ay < hp.ymin || ay >= (hp.ymin+hp.height))
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if (hx < 0 || hx >= hp.width || hy < 0 || hy >= hp.height)
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continue;
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if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != RC_UNSET_HEIGHT)
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if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT)
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continue;
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const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir);
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const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(cs, dir);
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const rcCompactSpan& as = chf.spans[ai];
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int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
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hp.data[idx] = as.y;
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hp.data[hx + hy*hp.width] = as.y;
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stack.push(ax);
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stack.push(ay);
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@ -170,17 +170,17 @@ void rcAddSpan(rcContext* /*ctx*/, rcHeightfield& hf, const int x, const int y,
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}
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// divides a convex polygons into two convex polygons on both sides of a line
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static void dividePoly(const float* in, int nbIn,
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float* out1, int* nb1,
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float* out2, int* nb2,
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static void dividePoly(const float* in, int nin,
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float* out1, int* nout1,
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float* out2, int* nout2,
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float x, int axis)
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{
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float d[12];
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for (int i = 0; i < nbIn; ++i)
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for (int i = 0; i < nin; ++i)
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d[i] = x - in[i*3+axis];
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int m = 0, n = 0;
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for (int i = 0, j = nbIn-1; i < nbIn; j=i, ++i)
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for (int i = 0, j = nin-1; i < nin; j=i, ++i)
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{
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bool ina = d[j] >= 0;
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bool inb = d[i] >= 0;
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@ -211,8 +211,8 @@ static void dividePoly(const float* in, int nbIn,
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n++;
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}
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*nb1 = m;
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*nb2 = n;
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*nout1 = m;
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*nout2 = n;
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}
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@ -63,7 +63,7 @@ public:
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}
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m_size = n;
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}
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inline void push(int item) { resize(m_size+1); m_data[m_size-1] = item; }
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inline void push(dtPolyRef item) { resize(m_size+1); m_data[m_size-1] = item; }
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inline dtPolyRef pop() { if (m_size > 0) m_size--; return m_data[m_size]; }
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inline const dtPolyRef& operator[](int i) const { return m_data[i]; }
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inline dtPolyRef& operator[](int i) { return m_data[i]; }
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