recastnavigation_v1.6.0/RecastDemo/Source/Sample_TileMesh.cpp

//
// Copyright (c) 2009 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty.  In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
//    claim that you wrote the original software. If you use this software
//    in a product, an acknowledgment in the product documentation would be
//    appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
//    misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//

#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#include <string.h>
#include "SDL.h"
#include "SDL_opengl.h"
#include "imgui.h"
#include "InputGeom.h"
#include "Sample.h"
#include "Sample_TileMesh.h"
#include "Recast.h"
#include "RecastTimer.h"
#include "RecastDebugDraw.h"
#include "DetourNavMesh.h"
#include "DetourNavMeshBuilder.h"
#include "DetourDebugDraw.h"
#include "NavMeshTesterTool.h"
#include "OffMeshConnectionTool.h"
#include "BoxVolumeTool.h"

#ifdef WIN32
#	define snprintf _snprintf
#endif


inline unsigned int nextPow2(unsigned int v)
{
	v--;
	v |= v >> 1;
	v |= v >> 2;
	v |= v >> 4;
	v |= v >> 8;
	v |= v >> 16;
	v++;
	return v;
}

inline unsigned int ilog2(unsigned int v)
{
	unsigned int r;
	unsigned int shift;
	r = (v > 0xffff) << 4; v >>= r;
	shift = (v > 0xff) << 3; v >>= shift; r |= shift;
	shift = (v > 0xf) << 2; v >>= shift; r |= shift;
	shift = (v > 0x3) << 1; v >>= shift; r |= shift;
	r |= (v >> 1);
	return r;
}

class NavMeshTileTool : public SampleTool
{
	Sample_TileMesh* m_sample;
	float m_hitPos[3];
	bool m_hitPosSet;
	float m_agentRadius;
	
public:

	NavMeshTileTool() :
		m_sample(0),
		m_hitPosSet(false),
		m_agentRadius(0)
	{
	}

	virtual ~NavMeshTileTool()
	{
	}

	virtual int type() { return TOOL_TILE_EDIT; }

	virtual void init(Sample* sample)
	{
		m_sample = (Sample_TileMesh*)sample; 
	}
	
	virtual void reset() {}

	virtual void handleMenu()
	{
		imguiLabel("Create Tiles");
		if (imguiButton("Create All"))
		{
			if (m_sample)
				m_sample->buildAllTiles();
		}
		if (imguiButton("Remove All"))
		{
			if (m_sample)
				m_sample->removeAllTiles();
		}
		imguiValue("Click LMB to create a tile.");
		imguiValue("Shift+LMB to remove a tile.");
	}

	virtual void handleClick(const float* p, bool shift)
	{
		m_hitPosSet = true;
		vcopy(m_hitPos,p);
		if (m_sample)
		{
			if (shift)
				m_sample->removeTile(m_hitPos);
			else
				m_sample->buildTile(m_hitPos);
		}
	}
	
	virtual void handleRender()
	{
		if (m_hitPosSet)
		{
			const float s = m_sample->getAgentRadius();
			glColor4ub(0,0,0,128);
			glLineWidth(2.0f);
			glBegin(GL_LINES);
			glVertex3f(m_hitPos[0]-s,m_hitPos[1]+0.1f,m_hitPos[2]);
			glVertex3f(m_hitPos[0]+s,m_hitPos[1]+0.1f,m_hitPos[2]);
			glVertex3f(m_hitPos[0],m_hitPos[1]-s+0.1f,m_hitPos[2]);
			glVertex3f(m_hitPos[0],m_hitPos[1]+s+0.1f,m_hitPos[2]);
			glVertex3f(m_hitPos[0],m_hitPos[1]+0.1f,m_hitPos[2]-s);
			glVertex3f(m_hitPos[0],m_hitPos[1]+0.1f,m_hitPos[2]+s);
			glEnd();
			glLineWidth(1.0f);
		}
	}
	
	virtual void handleRenderOverlay(double* proj, double* model, int* view)
	{
	}
};




Sample_TileMesh::Sample_TileMesh() :
	m_keepInterResults(false),
	m_buildAll(true),
	m_triflags(0),
	m_solid(0),
	m_chf(0),
	m_cset(0),
	m_pmesh(0),
	m_dmesh(0),
	m_maxTiles(0),
	m_maxPolysPerTile(0),
	m_tileSize(32),
	m_tileBuildTime(0),
	m_tileMemUsage(0),
	m_tileTriCount(0)
{
	resetCommonSettings();
	memset(m_tileBmin, 0, sizeof(m_tileBmin));
	memset(m_tileBmax, 0, sizeof(m_tileBmax));
	
	setTool(new NavMeshTileTool);
}

Sample_TileMesh::~Sample_TileMesh()
{
	cleanup();
	delete m_navMesh;
	m_navMesh = 0;
}

void Sample_TileMesh::cleanup()
{
	delete [] m_triflags;
	m_triflags = 0;
	delete m_solid;
	m_solid = 0;
	delete m_chf;
	m_chf = 0;
	delete m_cset;
	m_cset = 0;
	delete m_pmesh;
	m_pmesh = 0;
	delete m_dmesh;
	m_dmesh = 0;
}

void Sample_TileMesh::handleSettings()
{
	Sample::handleCommonSettings();

	if (imguiCheck("Keep Itermediate Results", m_keepInterResults))
		m_keepInterResults = !m_keepInterResults;

	if (imguiCheck("Build All Tiles", m_buildAll))
		m_buildAll = !m_buildAll;
	
	imguiLabel("Tiling");
	imguiSlider("TileSize", &m_tileSize, 16.0f, 1024.0f, 16.0f);
	
	if (m_geom)
	{
		const float* bmin = m_geom->getMeshBoundsMin();
		const float* bmax = m_geom->getMeshBoundsMax();
		char text[64];
		int gw = 0, gh = 0;
		rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
		const int ts = (int)m_tileSize;
		const int tw = (gw + ts-1) / ts;
		const int th = (gh + ts-1) / ts;
		snprintf(text, 64, "Tiles  %d x %d", tw, th);
		imguiValue(text);

		// Max tiles and max polys affect how the tile IDs are caculated.
		// There are 22 bits available for identifying a tile and a polygon.
		int tileBits = rcMin((int)ilog2(nextPow2(tw*th)), 14);
		if (tileBits > 14) tileBits = 14;
		int polyBits = 22 - tileBits;
		m_maxTiles = 1 << tileBits;
		m_maxPolysPerTile = 1 << polyBits;
		snprintf(text, 64, "Max Tiles  %d", m_maxTiles);
		imguiValue(text);
		snprintf(text, 64, "Max Polys  %d", m_maxPolysPerTile);
		imguiValue(text);
	}
	else
	{
		m_maxTiles = 0;
		m_maxPolysPerTile = 0;
	}
}

void Sample_TileMesh::handleTools()
{
	int type = !m_tool ? TOOL_NONE : m_tool->type();

	if (imguiCheck("Test Navmesh", type == TOOL_NAVMESH_TESTER))
	{
		setTool(new NavMeshTesterTool);
	}
	if (imguiCheck("Create Tiles", type == TOOL_TILE_EDIT))
	{
		setTool(new NavMeshTileTool);
	}
	if (imguiCheck("Create Off-Mesh Links", type == TOOL_OFFMESH_CONNECTION))
	{
		setTool(new OffMeshConnectionTool);
	}
	if (imguiCheck("Create Box Volumes", type == TOOL_BOX_VOLUME))
	{
		setTool(new BoxVolumeTool);
	}
	
	imguiSeparator();
	
	if (m_tool)
		m_tool->handleMenu();
}

void Sample_TileMesh::handleDebugMode()
{
	if (m_navMesh)
	{
		imguiValue("Navmesh ready.");
		imguiValue("Use 'Create Tiles' tool to experiment.");
		imguiValue("LMB: (Re)Create tiles.");
		imguiValue("LMB+SHIFT: Remove tiles.");
	}
	else
	{
		imguiValue("Press [Build] to create tile mesh");
		imguiValue("with specified parameters.");
	}
}

static void getPolyCenter(dtNavMesh* navMesh, dtPolyRef ref, float* center)
{
	const dtPoly* p = navMesh->getPolyByRef(ref);
	if (!p) return;
	const float* verts = navMesh->getPolyVertsByRef(ref);
	center[0] = 0;
	center[1] = 0;
	center[2] = 0;
	for (int i = 0; i < (int)p->vertCount; ++i)
	{
		const float* v = &verts[p->verts[i]*3];
		center[0] += v[0];
		center[1] += v[1];
		center[2] += v[2];
	}
	const float s = 1.0f / p->vertCount;
	center[0] *= s;
	center[1] *= s;
	center[2] *= s;
}

void Sample_TileMesh::handleRender()
{
	if (!m_geom || !m_geom->getMesh())
		return;
	
	DebugDrawGL dd;
	
	// Draw mesh
	duDebugDrawTriMesh(&dd, m_geom->getMesh()->getVerts(), m_geom->getMesh()->getVertCount(),
					   m_geom->getMesh()->getTris(), m_geom->getMesh()->getNormals(), m_geom->getMesh()->getTriCount(), 0);
	m_geom->drawOffMeshConnections(&dd);
	
	glDepthMask(GL_FALSE);
	
	// Draw bounds
	const float* bmin = m_geom->getMeshBoundsMin();
	const float* bmax = m_geom->getMeshBoundsMax();
	duDebugDrawBoxWire(&dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duRGBA(255,255,255,128), 1.0f);
	
	// Tiling grid.
	int gw = 0, gh = 0;
	rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
	const int tw = (gw + (int)m_tileSize-1) / (int)m_tileSize;
	const int th = (gh + (int)m_tileSize-1) / (int)m_tileSize;
	const float s = m_tileSize*m_cellSize;
	duDebugDrawGridXZ(&dd, bmin[0],bmin[1],bmin[2], tw,th, s, duRGBA(0,0,0,64), 1.0f);
	
	// Draw active tile
	duDebugDrawBoxWire(&dd, m_tileBmin[0],m_tileBmin[1],m_tileBmin[2], m_tileBmax[0],m_tileBmax[1],m_tileBmax[2], m_tileCol, 2.0f);
	
	if (m_navMesh)
		duDebugDrawNavMesh(&dd, m_navMesh, m_navMeshDrawFlags);
	
	if (m_tool)
		m_tool->handleRender();
	
	m_geom->drawBoxVolumes(&dd);

	glDepthMask(GL_TRUE);	
}

void Sample_TileMesh::handleRenderOverlay(double* proj, double* model, int* view)
{
	GLdouble x, y, z;
	
	// Draw start and end point labels
	if (m_tileBuildTime > 0.0f && gluProject((GLdouble)(m_tileBmin[0]+m_tileBmax[0])/2, (GLdouble)(m_tileBmin[1]+m_tileBmax[1])/2, (GLdouble)(m_tileBmin[2]+m_tileBmax[2])/2,
											 model, proj, view, &x, &y, &z))
	{
		char text[32];
		snprintf(text,32,"%.3fms / %dTris / %.1fkB", m_tileBuildTime, m_tileTriCount, m_tileMemUsage);
		imguiDrawText((int)x, (int)y-25, IMGUI_ALIGN_CENTER, text, imguiRGBA(0,0,0,220));
	}
	
	if (m_tool)
		m_tool->handleRenderOverlay(proj, model, view);
}

void Sample_TileMesh::handleMeshChanged(class InputGeom* geom)
{
	Sample::handleMeshChanged(geom);

	cleanup();

	delete m_navMesh;
	m_navMesh = 0;

	if (m_tool)
	{
		m_tool->reset();
		m_tool->init(this);
	}
}

bool Sample_TileMesh::handleBuild()
{
	if (!m_geom || !m_geom->getMesh())
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: No vertices and triangles.");
		return false;
	}
	
	delete m_navMesh;
	m_navMesh = new dtNavMesh;
	if (!m_navMesh)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate navmesh.");
		return false;
	}
	const float* bmin = m_geom->getMeshBoundsMin();
	const float tileWorldWidth = m_tileSize*m_cellSize;
	const float tileWorldHeight = m_tileSize*m_cellSize;
	
	if (!m_navMesh->init(bmin, tileWorldWidth, tileWorldHeight, m_maxTiles, m_maxPolysPerTile, 2048))
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
		return false;
	}
	
	if (m_buildAll)
		buildAllTiles();
	
	if (m_tool)
		m_tool->init(this);

	return true;
}

void Sample_TileMesh::buildTile(const float* pos)
{
	if (!m_navMesh)
		return;
	
	const float* bmin = m_geom->getMeshBoundsMin();
	const float* bmax = m_geom->getMeshBoundsMax();
	
	const float ts = m_tileSize*m_cellSize;
	const int tx = (int)((pos[0] - bmin[0]) / ts);
	const int ty = (int)((pos[2] - bmin[2]) / ts);
	
	m_tileBmin[0] = bmin[0] + tx*ts;
	m_tileBmin[1] = bmin[1];
	m_tileBmin[2] = bmin[2] + ty*ts;
	
	m_tileBmax[0] = bmin[0] + (tx+1)*ts;
	m_tileBmax[1] = bmax[1];
	m_tileBmax[2] = bmin[2] + (ty+1)*ts;
	
	m_tileCol = duRGBA(77,204,0,255);
	
	int dataSize = 0;
	unsigned char* data = buildTileMesh(m_tileBmin, m_tileBmax, dataSize);
	
	if (data)
	{
		// Remove any previous data (navmesh owns and deletes the data).
		m_navMesh->removeTileAt(tx,ty,0,0);
		
		// Let the navmesh own the data.
		if (!m_navMesh->addTileAt(tx,ty,data,dataSize,true))
			delete [] data;
	}
}

void Sample_TileMesh::removeTile(const float* pos)
{
	if (!m_navMesh)
		return;
	
	const float* bmin = m_geom->getMeshBoundsMin();
	const float* bmax = m_geom->getMeshBoundsMax();

	const float ts = m_tileSize*m_cellSize;
	const int tx = (int)((pos[0] - bmin[0]) / ts);
	const int ty = (int)((pos[2] - bmin[2]) / ts);
	
	m_tileBmin[0] = bmin[0] + tx*ts;
	m_tileBmin[1] = bmin[1];
	m_tileBmin[2] = bmin[2] + ty*ts;
	
	m_tileBmax[0] = bmin[0] + (tx+1)*ts;
	m_tileBmax[1] = bmax[1];
	m_tileBmax[2] = bmin[2] + (ty+1)*ts;
	
	m_tileCol = duRGBA(204,25,0,255);
	
	unsigned char* rdata = 0;
	int rdataSize = 0;
	if (m_navMesh->removeTileAt(tx,ty,&rdata,&rdataSize))
		delete [] rdata;
}

void Sample_TileMesh::buildAllTiles()
{
	const float* bmin = m_geom->getMeshBoundsMin();
	const float* bmax = m_geom->getMeshBoundsMax();
	int gw = 0, gh = 0;
	rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
	const int ts = (int)m_tileSize;
	const int tw = (gw + ts-1) / ts;
	const int th = (gh + ts-1) / ts;
	const float tcs = m_tileSize*m_cellSize;

	for (int y = 0; y < th; ++y)
	{
		for (int x = 0; x < tw; ++x)
		{
			m_tileBmin[0] = bmin[0] + x*tcs;
			m_tileBmin[1] = bmin[1];
			m_tileBmin[2] = bmin[2] + y*tcs;
			
			m_tileBmax[0] = bmin[0] + (x+1)*tcs;
			m_tileBmax[1] = bmax[1];
			m_tileBmax[2] = bmin[2] + (y+1)*tcs;
			
			int dataSize = 0;
			unsigned char* data = buildTileMesh(m_tileBmin, m_tileBmax, dataSize);
			if (data)
			{
				// Remove any previous data (navmesh owns and deletes the data).
				m_navMesh->removeTileAt(x,y,0,0);
				// Let the navmesh own the data.
				if (!m_navMesh->addTileAt(x,y,data,dataSize,true))
					delete [] data;
			}
		}
	}
}

void Sample_TileMesh::removeAllTiles()
{
	const float* bmin = m_geom->getMeshBoundsMin();
	const float* bmax = m_geom->getMeshBoundsMax();
	int gw = 0, gh = 0;
	rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
	const int ts = (int)m_tileSize;
	const int tw = (gw + ts-1) / ts;
	const int th = (gh + ts-1) / ts;
	
	for (int y = 0; y < th; ++y)
		for (int x = 0; x < tw; ++x)
			m_navMesh->removeTileAt(x,y,0,0);
}

unsigned char* Sample_TileMesh::buildTileMesh(const float* bmin, const float* bmax, int& dataSize)
{
	if (!m_geom || !m_geom->getMesh() || !m_geom->getChunkyMesh())
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Input mesh is not specified.");
		return 0;
	}
	
	cleanup();
	
	const float* verts = m_geom->getMesh()->getVerts();
	const int nverts = m_geom->getMesh()->getVertCount();
	const int ntris = m_geom->getMesh()->getTriCount();
	const rcChunkyTriMesh* chunkyMesh = m_geom->getChunkyMesh();
		
	// Init build configuration from GUI
	memset(&m_cfg, 0, sizeof(m_cfg));
	m_cfg.cs = m_cellSize;
	m_cfg.ch = m_cellHeight;
	m_cfg.walkableSlopeAngle = m_agentMaxSlope;
	m_cfg.walkableHeight = (int)ceilf(m_agentHeight / m_cfg.ch);
	m_cfg.walkableClimb = (int)floorf(m_agentMaxClimb / m_cfg.ch);
	m_cfg.walkableRadius = (int)ceilf(m_agentRadius / m_cfg.cs);
	m_cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
	m_cfg.maxSimplificationError = m_edgeMaxError;
	m_cfg.minRegionSize = (int)rcSqr(m_regionMinSize);
	m_cfg.mergeRegionSize = (int)rcSqr(m_regionMergeSize);
	m_cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
	m_cfg.tileSize = (int)m_tileSize;
	m_cfg.borderSize = m_cfg.walkableRadius + 3; // Reserve enough padding.
	m_cfg.width = m_cfg.tileSize + m_cfg.borderSize*2;
	m_cfg.height = m_cfg.tileSize + m_cfg.borderSize*2;
	m_cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
	m_cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
	
	vcopy(m_cfg.bmin, bmin);
	vcopy(m_cfg.bmax, bmax);
	m_cfg.bmin[0] -= m_cfg.borderSize*m_cfg.cs;
	m_cfg.bmin[2] -= m_cfg.borderSize*m_cfg.cs;
	m_cfg.bmax[0] += m_cfg.borderSize*m_cfg.cs;
	m_cfg.bmax[2] += m_cfg.borderSize*m_cfg.cs;
	
	// Reset build times gathering.
	memset(&m_buildTimes, 0, sizeof(m_buildTimes));
	rcSetBuildTimes(&m_buildTimes);
	
	// Start the build process.	
	rcTimeVal totStartTime = rcGetPerformanceTimer();
	
	if (rcGetLog())
	{
		rcGetLog()->log(RC_LOG_PROGRESS, "Building navigation:");
		rcGetLog()->log(RC_LOG_PROGRESS, " - %d x %d cells", m_cfg.width, m_cfg.height);
		rcGetLog()->log(RC_LOG_PROGRESS, " - %.1fK verts, %.1fK tris", nverts/1000.0f, ntris/1000.0f);
	}
	
	// Allocate voxel heighfield where we rasterize our input data to.
	m_solid = new rcHeightfield;
	if (!m_solid)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
		return 0;
	}
	if (!rcCreateHeightfield(*m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch))
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");
		return 0;
	}
	
	// Allocate array that can hold triangle flags.
	// If you have multiple meshes you need to process, allocate
	// and array which can hold the max number of triangles you need to process.
	m_triflags = new unsigned char[chunkyMesh->maxTrisPerChunk];
	if (!m_triflags)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'triangleFlags' (%d).", chunkyMesh->maxTrisPerChunk);
		return 0;
	}
	
	
	float tbmin[2], tbmax[2];
	tbmin[0] = m_cfg.bmin[0];
	tbmin[1] = m_cfg.bmin[2];
	tbmax[0] = m_cfg.bmax[0];
	tbmax[1] = m_cfg.bmax[2];
	int cid[512];// TODO: Make grow when returning too many items.
	const int ncid = rcGetChunksInRect(chunkyMesh, tbmin, tbmax, cid, 512);
	if (!ncid)
		return 0;
	
	m_tileTriCount = 0;
	
	for (int i = 0; i < ncid; ++i)
	{
		const rcChunkyTriMeshNode& node = chunkyMesh->nodes[cid[i]];
		const int* tris = &chunkyMesh->tris[node.i*3];
		const int ntris = node.n;
		
		m_tileTriCount += ntris;
		
		memset(m_triflags, 0, ntris*sizeof(unsigned char));
		rcMarkWalkableTriangles(m_cfg.walkableSlopeAngle,
								verts, nverts, tris, ntris, m_triflags);
		
		rcRasterizeTriangles(verts, nverts, tris, m_triflags, ntris, *m_solid, m_cfg.walkableClimb);
	}
	
	if (!m_keepInterResults)
	{
		delete [] m_triflags;
		m_triflags = 0;
	}
	
	// Once all geoemtry is rasterized, we do initial pass of filtering to
	// remove unwanted overhangs caused by the conservative rasterization
	// as well as filter spans where the character cannot possibly stand.
	rcFilterLowHangingWalkableObstacles(m_cfg.walkableClimb, *m_solid);
	rcFilterLedgeSpans(m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
	rcFilterWalkableLowHeightSpans(m_cfg.walkableHeight, *m_solid);
	
	// Compact the heightfield so that it is faster to handle from now on.
	// This will result more cache coherent data as well as the neighbours
	// between walkable cells will be calculated.
	m_chf = new rcCompactHeightfield;
	if (!m_chf)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
		return 0;
	}
	if (!rcBuildCompactHeightfield(m_cfg.walkableHeight, m_cfg.walkableClimb, RC_WALKABLE, *m_solid, *m_chf))
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
		return 0;
	}
	
	if (!m_keepInterResults)
	{
		delete m_solid;
		m_solid = 0;
	}

	// Erode the walkable area by agent radius.
	if (!rcErodeArea(RC_WALKABLE_AREA, m_cfg.walkableRadius, *m_chf))
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
		return false;
	}

	const float* boxVerts = m_geom->getBoxVolumeVerts();
	const unsigned char* boxTypes = m_geom->getBoxVolumeTypes();
	for (int i = 0; i < m_geom->getBoxVolumeCount(); ++i)
	{
		const float* v = &boxVerts[i*3*2];
		rcMarkBoxArea(&v[0], &v[3], boxTypes[i], *m_chf);
	}
	
	
	// Prepare for region partitioning, by calculating distance field along the walkable surface.
	if (!rcBuildDistanceField(*m_chf))
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not build distance field.");
		return 0;
	}
	
	// Partition the walkable surface into simple regions without holes.
	if (!rcBuildRegions(*m_chf, m_cfg.borderSize, m_cfg.minRegionSize, m_cfg.mergeRegionSize))
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
		return 0;
	}
	
	// Create contours.
	m_cset = new rcContourSet;
	if (!m_cset)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
		return 0;
	}
	if (!rcBuildContours(*m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, *m_cset))
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
		return 0;
	}
	
	if (m_cset->nconts == 0)
	{
		return 0;
	}
	
	// Build polygon navmesh from the contours.
	m_pmesh = new rcPolyMesh;
	if (!m_pmesh)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
		return 0;
	}
	if (!rcBuildPolyMesh(*m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
		return 0;
	}
	
	// Build detail mesh.
	m_dmesh = new rcPolyMeshDetail;
	if (!m_dmesh)
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'dmesh'.");
		return 0;
	}
	
	if (!rcBuildPolyMeshDetail(*m_pmesh, *m_chf,
							   m_cfg.detailSampleDist, m_cfg.detailSampleMaxError,
							   *m_dmesh))
	{
		if (rcGetLog())
			rcGetLog()->log(RC_LOG_ERROR, "buildNavigation: Could build polymesh detail.");
		return 0;
	}
	
	if (!m_keepInterResults)
	{
		delete m_chf;
		m_chf = 0;
		delete m_cset;
		m_cset = 0;
	}
	
	unsigned char* navData = 0;
	int navDataSize = 0;
	if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
	{
		// Remove padding from the polymesh data. TODO: Remove this odditity.
		for (int i = 0; i < m_pmesh->nverts; ++i)
		{
			unsigned short* v = &m_pmesh->verts[i*3];
			v[0] -= (unsigned short)m_cfg.borderSize;
			v[2] -= (unsigned short)m_cfg.borderSize;
		}
		
		if (m_pmesh->nverts >= 0xffff)
		{
			// The vertex indices are ushorts, and cannot point to more than 0xffff vertices.
			if (rcGetLog())
				rcGetLog()->log(RC_LOG_ERROR, "Too many vertices per tile %d (max: %d).", m_pmesh->nverts, 0xffff);
			return false;
		}
		
		dtNavMeshCreateParams params;
		memset(&params, 0, sizeof(params));
		params.verts = m_pmesh->verts;
		params.vertCount = m_pmesh->nverts;
		params.polys = m_pmesh->polys;
		params.polyCount = m_pmesh->npolys;
		params.nvp = m_pmesh->nvp;
		params.detailMeshes = m_dmesh->meshes;
		params.detailVerts = m_dmesh->verts;
		params.detailVertsCount = m_dmesh->nverts;
		params.detailTris = m_dmesh->tris;
		params.detailTriCount = m_dmesh->ntris;
		params.offMeshConVerts = m_geom->getOffMeshConnectionVerts();
		params.offMeshConRad = m_geom->getOffMeshConnectionRads();
		params.offMeshConDir = m_geom->getOffMeshConnectionDirs();
		params.offMeshConCount = m_geom->getOffMeshConnectionCount();
		params.walkableHeight = m_agentHeight;
		params.walkableRadius = m_agentRadius;
		params.walkableClimb = m_agentMaxClimb;
		vcopy(params.bmin, bmin);
		vcopy(params.bmax, bmax);
		params.cs = m_cfg.cs;
		params.ch = m_cfg.ch;
		params.tileSize = m_cfg.tileSize;
		
		if (!dtCreateNavMeshData(&params, &navData, &navDataSize))
		{
			if (rcGetLog())
				rcGetLog()->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
			return 0;
		}
	}
	m_tileMemUsage = navDataSize/1024.0f;
	
	rcTimeVal totEndTime = rcGetPerformanceTimer();
	
	// Show performance stats.
	if (rcGetLog())
	{
		const float pc = 100.0f / rcGetDeltaTimeUsec(totStartTime, totEndTime);
		
		rcGetLog()->log(RC_LOG_PROGRESS, "Rasterize: %.1fms (%.1f%%)", m_buildTimes.rasterizeTriangles/1000.0f, m_buildTimes.rasterizeTriangles*pc);
		
		rcGetLog()->log(RC_LOG_PROGRESS, "Build Compact: %.1fms (%.1f%%)", m_buildTimes.buildCompact/1000.0f, m_buildTimes.buildCompact*pc);
		
		rcGetLog()->log(RC_LOG_PROGRESS, "Filter Border: %.1fms (%.1f%%)", m_buildTimes.filterBorder/1000.0f, m_buildTimes.filterBorder*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "Filter Walkable: %.1fms (%.1f%%)", m_buildTimes.filterWalkable/1000.0f, m_buildTimes.filterWalkable*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "Filter Reachable: %.1fms (%.1f%%)", m_buildTimes.filterMarkReachable/1000.0f, m_buildTimes.filterMarkReachable*pc);
		
		rcGetLog()->log(RC_LOG_PROGRESS, "Erode walkable area: %.1fms (%.1f%%)", m_buildTimes.erodeArea/1000.0f, m_buildTimes.erodeArea*pc);

		rcGetLog()->log(RC_LOG_PROGRESS, "Build Distancefield: %.1fms (%.1f%%)", m_buildTimes.buildDistanceField/1000.0f, m_buildTimes.buildDistanceField*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "  - distance: %.1fms (%.1f%%)", m_buildTimes.buildDistanceFieldDist/1000.0f, m_buildTimes.buildDistanceFieldDist*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "  - blur: %.1fms (%.1f%%)", m_buildTimes.buildDistanceFieldBlur/1000.0f, m_buildTimes.buildDistanceFieldBlur*pc);
		
		rcGetLog()->log(RC_LOG_PROGRESS, "Build Regions: %.1fms (%.1f%%)", m_buildTimes.buildRegions/1000.0f, m_buildTimes.buildRegions*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "  - watershed: %.1fms (%.1f%%)", m_buildTimes.buildRegionsReg/1000.0f, m_buildTimes.buildRegionsReg*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "    - expand: %.1fms (%.1f%%)", m_buildTimes.buildRegionsExp/1000.0f, m_buildTimes.buildRegionsExp*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "    - find catchment basins: %.1fms (%.1f%%)", m_buildTimes.buildRegionsFlood/1000.0f, m_buildTimes.buildRegionsFlood*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "  - filter: %.1fms (%.1f%%)", m_buildTimes.buildRegionsFilter/1000.0f, m_buildTimes.buildRegionsFilter*pc);
		
		rcGetLog()->log(RC_LOG_PROGRESS, "Build Contours: %.1fms (%.1f%%)", m_buildTimes.buildContours/1000.0f, m_buildTimes.buildContours*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "  - trace: %.1fms (%.1f%%)", m_buildTimes.buildContoursTrace/1000.0f, m_buildTimes.buildContoursTrace*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "  - simplify: %.1fms (%.1f%%)", m_buildTimes.buildContoursSimplify/1000.0f, m_buildTimes.buildContoursSimplify*pc);
		
		rcGetLog()->log(RC_LOG_PROGRESS, "Build Polymesh: %.1fms (%.1f%%)", m_buildTimes.buildPolymesh/1000.0f, m_buildTimes.buildPolymesh*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "Build Polymesh Detail: %.1fms (%.1f%%)", m_buildTimes.buildDetailMesh/1000.0f, m_buildTimes.buildDetailMesh*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "Merge Polymeshes: %.1fms (%.1f%%)", m_buildTimes.mergePolyMesh/1000.0f, m_buildTimes.mergePolyMesh*pc);
		rcGetLog()->log(RC_LOG_PROGRESS, "Merge Polymesh Details: %.1fms (%.1f%%)", m_buildTimes.mergePolyMeshDetail/1000.0f, m_buildTimes.mergePolyMeshDetail*pc);
		
		
		rcGetLog()->log(RC_LOG_PROGRESS, "Build Polymesh: %.1fms (%.1f%%)", m_buildTimes.buildPolymesh/1000.0f, m_buildTimes.buildPolymesh*pc);
		
		rcGetLog()->log(RC_LOG_PROGRESS, "Polymesh: Verts:%d  Polys:%d", m_pmesh->nverts, m_pmesh->npolys);
		
		rcGetLog()->log(RC_LOG_PROGRESS, "TOTAL: %.1fms", rcGetDeltaTimeUsec(totStartTime, totEndTime)/1000.0f);
	}
	
	m_tileBuildTime = rcGetDeltaTimeUsec(totStartTime, totEndTime)/1000.0f;
	
	dataSize = navDataSize;
	return navData;
}