server_common/recastnavigation_v1.6.0
5
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'master' of https://github.com/memononen/recastnavigation

Browse Source 
thrown away the fix I made to Recast/Source/RecastMeshDetail.cpp in favor of the upstream code.
This commit is contained in:
axelrodR 2014-01-20 01:28:33 +02:00
commit f60468abcb
4 changed files with 64 additions and 164 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
.gitignore vendored
View File

@ -14,6 +14,9 @@ RecastDemo/Bin/RecastDemo
# Build directory # Build directory
RecastDemo/Build RecastDemo/Build
# Ignore some meshes based on name
RecastDemo/Bin/Meshes/_*
## Logs and databases # ## Logs and databases #
*.log *.log
*.sql *.sql

189
Recast/Source/RecastMeshDetail.cpp
View File

@ -751,158 +751,55 @@ static void getHeightData(const rcCompactHeightfield& chf,
// since border size offset is already removed from the polymesh vertices. // since border size offset is already removed from the polymesh vertices.
stack.resize(0); stack.resize(0);
memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
static const int offset[9*2] = // 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++)
{ {
0,0, -1,0, 0,1, 1,0, 0,-1, -1,-1, -1,1, 1,1, 1,-1 int y = hp.ymin + hy + bs;
}; for (int hx = 0; hx < hp.width; hx++)
// find the center of the polygon
int pcx = 0, pcz = 0;
for (int j = 0; j < npoly; ++j)
{ {
pcx += (int)verts[poly[j]*3+0]; int x = hp.xmin + hx + bs;
pcz += (int)verts[poly[j]*3+2]; const rcCompactCell& c = chf.cells[x+y*chf.width];
}
pcx /= npoly;
pcz /= npoly;
// find a span with the right region around this point
// No need to check for connectivity because the region ensures it
for (int dir = 0; dir < 9; ++dir)
{
int ax = pcx + offset[dir*2+0];
int az = pcz + offset[dir*2+1];
if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
az < hp.ymin || az >= hp.ymin+hp.height)
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; ++i)
{ {
const rcCompactSpan& s = chf.spans[i]; const rcCompactSpan& s = chf.spans[i];
if (s.reg == region) if (s.reg == region)
{ {
stack.push(ax); // Store height
stack.push(az); hp.data[hx + hy*hp.width] = s.y;
stack.push(i);
break;
}
}
if (stack.size() > 0)
break;
}
// in some rare dense cases the polygon simplification moves the polygon to a point where the center
// is very far from the region. So we search the span in flood-fill fashion from the vertices
if (stack.size() == 0)
{
memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
// Use poly vertices as seed points for the flood fill.
for (int j = 0; j < npoly; ++j)
{
int cx = 0, cz = 0, ci =-1;
int dmin = RC_UNSET_HEIGHT;
for (int k = 0; k < 9; ++k)
{
const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
const int ay = (int)verts[poly[j]*3+1];
const int az = (int)verts[poly[j]*3+2] + offset[k*2+1];
if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
az < hp.ymin || az >= hp.ymin+hp.height)
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)
{
const rcCompactSpan& s = chf.spans[i];
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);
}
}
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)
{
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)
{
stack.resize(0);
stack.push(cx);
stack.push(cy);
stack.push(ci);
break;
}
const rcCompactSpan& cs = chf.spans[ci];
// 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) for (int dir = 0; dir < 4; ++dir)
{ {
if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue; if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
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+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);
}
}
}
// Floodfill the heightfield to get 2D height data,
// starting at center location found above as seed.
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]; const int ax = x + rcGetDirOffsetX(dir);
int cy = stack[i+1]; const int ay = y + rcGetDirOffsetY(dir);
int ci = stack[i+2]; const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width; const rcCompactSpan& as = chf.spans[ai];
const rcCompactSpan& cs = chf.spans[ci]; if (as.reg != region)
hp.data[idx] = cs.y; {
border = true;
break;
} }
}
}
if (border)
{
stack.push(x);
stack.push(y);
stack.push(i);
}
break;
}
}
}
}
static const int RETRACT_SIZE = 256; static const int RETRACT_SIZE = 256;
int head = 0; int head = 0;
@ -928,19 +825,19 @@ static void getHeightData(const rcCompactHeightfield& chf,
const int ax = cx + rcGetDirOffsetX(dir); const int ax = cx + rcGetDirOffsetX(dir);
const int ay = cy + rcGetDirOffsetY(dir); const int ay = cy + rcGetDirOffsetY(dir);
const int hx = ax - hp.xmin - bs;
const int hy = ay - hp.ymin - bs;
if (ax < hp.xmin || ax >= (hp.xmin+hp.width) || if (hx < 0 || hx >= hp.width || hy < 0 || hy >= hp.height)
ay < hp.ymin || ay >= (hp.ymin+hp.height))
continue; continue;
if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != RC_UNSET_HEIGHT) if (hp.data[hx + hy*hp.width] != RC_UNSET_HEIGHT)
continue; continue;
const int ai = (int)chf.cells[(ax+bs)+(ay+bs)*chf.width].index + rcGetCon(cs, dir); const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(cs, dir);
const rcCompactSpan& as = chf.spans[ai]; const rcCompactSpan& as = chf.spans[ai];
int idx = ax-hp.xmin+(ay-hp.ymin)*hp.width;
hp.data[idx] = as.y; hp.data[hx + hy*hp.width] = as.y;
stack.push(ax); stack.push(ax);
stack.push(ay); stack.push(ay);

14
Recast/Source/RecastRasterization.cpp
View File

@ -170,17 +170,17 @@ void rcAddSpan(rcContext* /*ctx*/, rcHeightfield& hf, const int x, const int y,
} }
// divides a convex polygons into two convex polygons on both sides of a line // divides a convex polygons into two convex polygons on both sides of a line
static void dividePoly(const float* in, int nbIn, static void dividePoly(const float* in, int nin,
float* out1, int* nb1, float* out1, int* nout1,
float* out2, int* nb2, float* out2, int* nout2,
float x, int axis) float x, int axis)
{ {
float d[12]; float d[12];
for (int i = 0; i < nbIn; ++i) for (int i = 0; i < nin; ++i)
d[i] = x - in[i*3+axis]; d[i] = x - in[i*3+axis];
int m = 0, n = 0; int m = 0, n = 0;
for (int i = 0, j = nbIn-1; i < nbIn; j=i, ++i) for (int i = 0, j = nin-1; i < nin; j=i, ++i)
{ {
bool ina = d[j] >= 0; bool ina = d[j] >= 0;
bool inb = d[i] >= 0; bool inb = d[i] >= 0;
@ -211,8 +211,8 @@ static void dividePoly(const float* in, int nbIn,
n++; n++;
} }
*nb1 = m; *nout1 = m;
*nb2 = n; *nout2 = n;
} }

2
RecastDemo/Source/NavMeshPruneTool.cpp
View File

@ -63,7 +63,7 @@ public:
} }
m_size = n; m_size = n;
} }
inline void push(int item) { resize(m_size+1); m_data[m_size-1] = item; } inline void push(dtPolyRef item) { resize(m_size+1); m_data[m_size-1] = item; }
inline dtPolyRef pop() { if (m_size > 0) m_size--; return m_data[m_size]; } inline dtPolyRef pop() { if (m_size > 0) m_size--; return m_data[m_size]; }
inline const dtPolyRef& operator[](int i) const { return m_data[i]; } inline const dtPolyRef& operator[](int i) const { return m_data[i]; }
inline dtPolyRef& operator[](int i) { return m_data[i]; } inline dtPolyRef& operator[](int i) { return m_data[i]; }