blender/extern/recastnavigation/recast-capi.cpp

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/*
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2011 Blender Foundation.
* All rights reserved.
*
* Contributor(s): Sergey Sharybin
*
* ***** END GPL LICENSE BLOCK *****
*/
#include "recast-capi.h"
#include <math.h>
#include "Recast.h"
static rcContext *sctx;
#define INIT_SCTX() \
if (sctx == NULL) sctx = new rcContext(false)
int recast_buildMeshAdjacency(unsigned short* polys, const int npolys,
const int nverts, const int vertsPerPoly)
{
return (int) buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly);
}
void recast_calcBounds(const float *verts, int nv, float *bmin, float *bmax)
{
rcCalcBounds(verts, nv, bmin, bmax);
}
void recast_calcGridSize(const float *bmin, const float *bmax, float cs, int *w, int *h)
{
rcCalcGridSize(bmin, bmax, cs, w, h);
}
struct recast_heightfield *recast_newHeightfield(void)
{
return (struct recast_heightfield *) rcAllocHeightfield();
}
void recast_destroyHeightfield(struct recast_heightfield *heightfield)
{
rcFreeHeightField((rcHeightfield *) heightfield);
}
int recast_createHeightfield(struct recast_heightfield *hf, int width, int height,
const float *bmin, const float* bmax, float cs, float ch)
{
INIT_SCTX();
return rcCreateHeightfield(sctx, *(rcHeightfield *)hf, width, height, bmin, bmax, cs, ch);
}
void recast_markWalkableTriangles(const float walkableSlopeAngle,const float *verts, int nv,
const int *tris, int nt, unsigned char *flags)
{
INIT_SCTX();
rcMarkWalkableTriangles(sctx, walkableSlopeAngle, verts, nv, tris, nt, flags);
}
void recast_rasterizeTriangles(const float *verts, int nv, const int *tris,
const unsigned char *flags, int nt, struct recast_heightfield *solid)
{
INIT_SCTX();
rcRasterizeTriangles(sctx, verts, nv, tris, flags, nt, *(rcHeightfield *) solid);
}
void recast_filterLedgeSpans(const int walkableHeight, const int walkableClimb,
struct recast_heightfield *solid)
{
INIT_SCTX();
rcFilterLedgeSpans(sctx, walkableHeight, walkableClimb, *(rcHeightfield *) solid);
}
void recast_filterWalkableLowHeightSpans(int walkableHeight, struct recast_heightfield *solid)
{
INIT_SCTX();
rcFilterWalkableLowHeightSpans(sctx, walkableHeight, *(rcHeightfield *) solid);
}
void recast_filterLowHangingWalkableObstacles(const int walkableClimb, struct recast_heightfield *solid)
{
INIT_SCTX();
rcFilterLowHangingWalkableObstacles(sctx, walkableClimb, *(rcHeightfield *) solid);
}
struct recast_compactHeightfield *recast_newCompactHeightfield(void)
{
return (struct recast_compactHeightfield *) rcAllocCompactHeightfield();
}
void recast_destroyCompactHeightfield(struct recast_compactHeightfield *compactHeightfield)
{
rcFreeCompactHeightfield( (rcCompactHeightfield *) compactHeightfield);
}
int recast_buildCompactHeightfield(const int walkableHeight, const int walkableClimb,
struct recast_heightfield *hf, struct recast_compactHeightfield *chf)
{
INIT_SCTX();
return rcBuildCompactHeightfield(sctx, walkableHeight, walkableClimb,
*(rcHeightfield *) hf, *(rcCompactHeightfield *) chf);
}
int recast_erodeWalkableArea(int radius, struct recast_compactHeightfield *chf)
{
INIT_SCTX();
return rcErodeWalkableArea(sctx, radius, *(rcCompactHeightfield *) chf);
}
int recast_buildDistanceField(struct recast_compactHeightfield *chf)
{
INIT_SCTX();
return rcBuildDistanceField(sctx, *(rcCompactHeightfield *) chf);
}
int recast_buildRegions(struct recast_compactHeightfield *chf, int borderSize,
int minRegionSize, int mergeRegionSize)
{
INIT_SCTX();
return rcBuildRegions(sctx, *(rcCompactHeightfield *) chf, borderSize,
minRegionSize, mergeRegionSize);
}
struct recast_contourSet *recast_newContourSet(void)
{
return (struct recast_contourSet *) rcAllocContourSet();
}
void recast_destroyContourSet(struct recast_contourSet *contourSet)
{
rcFreeContourSet((rcContourSet *) contourSet);
}
int recast_buildContours(struct recast_compactHeightfield *chf,
const float maxError, const int maxEdgeLen, struct recast_contourSet *cset)
{
INIT_SCTX();
return rcBuildContours(sctx, *(rcCompactHeightfield *) chf, maxError, maxEdgeLen, *(rcContourSet *) cset);
}
struct recast_polyMesh *recast_newPolyMesh(void)
{
return (recast_polyMesh *) rcAllocPolyMesh();
}
void recast_destroyPolyMesh(struct recast_polyMesh *polyMesh)
{
rcFreePolyMesh((rcPolyMesh *) polyMesh);
}
int recast_buildPolyMesh(struct recast_contourSet *cset, int nvp, struct recast_polyMesh *mesh)
{
INIT_SCTX();
return rcBuildPolyMesh(sctx, *(rcContourSet *) cset, nvp, * (rcPolyMesh *) mesh);
}
unsigned short *recast_polyMeshGetVerts(struct recast_polyMesh *mesh, int *nverts)
{
rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
if (nverts)
*nverts = pmesh->nverts;
return pmesh->verts;
}
void recast_polyMeshGetBoundbox(struct recast_polyMesh *mesh, float *bmin, float *bmax)
{
rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
if (bmin) {
bmin[0] = pmesh->bmin[0];
bmin[1] = pmesh->bmin[1];
bmin[2] = pmesh->bmin[2];
}
if (bmax) {
bmax[0] = pmesh->bmax[0];
bmax[1] = pmesh->bmax[1];
bmax[2] = pmesh->bmax[2];
}
}
void recast_polyMeshGetCell(struct recast_polyMesh *mesh, float *cs, float *ch)
{
rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
if (cs)
*cs = pmesh->cs;
if (ch)
*ch = pmesh->ch;
}
unsigned short *recast_polyMeshGetPolys(struct recast_polyMesh *mesh, int *npolys, int *nvp)
{
rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
if (npolys)
*npolys = pmesh->npolys;
if (nvp)
*nvp = pmesh->nvp;
return pmesh->polys;
}
struct recast_polyMeshDetail *recast_newPolyMeshDetail(void)
{
return (struct recast_polyMeshDetail *) rcAllocPolyMeshDetail();
}
void recast_destroyPolyMeshDetail(struct recast_polyMeshDetail *polyMeshDetail)
{
rcFreePolyMeshDetail((rcPolyMeshDetail *) polyMeshDetail);
}
int recast_buildPolyMeshDetail(const struct recast_polyMesh *mesh, const struct recast_compactHeightfield *chf,
const float sampleDist, const float sampleMaxError, struct recast_polyMeshDetail *dmesh)
{
INIT_SCTX();
return rcBuildPolyMeshDetail(sctx, *(rcPolyMesh *) mesh, *(rcCompactHeightfield *) chf,
sampleDist, sampleMaxError, *(rcPolyMeshDetail *) dmesh);
}
float *recast_polyMeshDetailGetVerts(struct recast_polyMeshDetail *mesh, int *nverts)
{
rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh;
if (nverts)
*nverts = dmesh->nverts;
return dmesh->verts;
}
unsigned char *recast_polyMeshDetailGetTris(struct recast_polyMeshDetail *mesh, int *ntris)
{
rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh;
if (ntris)
*ntris = dmesh->ntris;
return dmesh->tris;
}
unsigned int *recast_polyMeshDetailGetMeshes(struct recast_polyMeshDetail *mesh, int *nmeshes)
{
rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh;
if (nmeshes)
*nmeshes = dmesh->nmeshes;
return dmesh->meshes;
}
// qsort based on FreeBSD source (libkern\qsort.c)
typedef int cmp_t(void *, const void *, const void *);
static inline char *med3(char *, char *, char *, cmp_t *, void *);
static inline void swapfunc(char *, char *, int, int);
#define min(a, b) (a) < (b) ? a : b
#define swapcode(TYPE, parmi, parmj, n) \
{ \
long i = (n) / sizeof (TYPE); \
TYPE *pi = (TYPE *) (parmi); \
TYPE *pj = (TYPE *) (parmj); \
do { \
TYPE t = *pi; \
*pi++ = *pj; \
*pj++ = t; \
} while (--i > 0); \
}
#define SWAPINIT(a, es) swaptype = ((char *)a - (char *)0) % sizeof(long) || \
es % sizeof(long) ? 2 : es == sizeof(long)? 0 : 1;
static inline void swapfunc(char* a, char* b, int n, int swaptype)
{
if(swaptype <= 1)
swapcode(long, a, b, n)
else
swapcode(char, a, b, n)
}
#define swap(a, b) \
if (swaptype == 0) { \
long t = *(long *)(a); \
*(long *)(a) = *(long *)(b);\
*(long *)(b) = t; \
} else \
swapfunc(a, b, es, swaptype)
#define vecswap(a, b, n) if ((n) > 0) swapfunc(a, b, n, swaptype)
#define CMP(t, x, y) (cmp((t), (x), (y)))
static inline char * med3(char *a, char *b, char *c, cmp_t *cmp, void *thunk)
{
return CMP(thunk, a, b) < 0 ?
(CMP(thunk, b, c) < 0 ? b : (CMP(thunk, a, c) < 0 ? c : a ))
:(CMP(thunk, b, c) > 0 ? b : (CMP(thunk, a, c) < 0 ? a : c ));
}
void recast_qsort(void *a, size_t n, size_t es, void *thunk, cmp_t *cmp)
{
char *pa, *pb, *pc, *pd, *pl, *pm, *pn;
int d, r, swaptype, swap_cnt;
loop:
SWAPINIT(a, es);
swap_cnt = 0;
if (n < 7) {
for (pm = (char *)a + es; pm < (char *)a + n * es; pm += es)
for (pl = pm;
pl > (char *)a && CMP(thunk, pl - es, pl) > 0;
pl -= es)
swap(pl, pl - es);
return;
}
pm = (char *)a + (n / 2) * es;
if (n > 7) {
pl = (char *)a;
pn = (char *)a + (n - 1) * es;
if (n > 40) {
d = (n / 8) * es;
pl = med3(pl, pl + d, pl + 2 * d, cmp, thunk);
pm = med3(pm - d, pm, pm + d, cmp, thunk);
pn = med3(pn - 2 * d, pn - d, pn, cmp, thunk);
}
pm = med3(pl, pm, pn, cmp, thunk);
}
swap((char *)a, pm);
pa = pb = (char *)a + es;
pc = pd = (char *)a + (n - 1) * es;
for (;;) {
while (pb <= pc && (r = CMP(thunk, pb, a)) <= 0) {
if (r == 0) {
swap_cnt = 1;
swap(pa, pb);
pa += es;
}
pb += es;
}
while (pb <= pc && (r = CMP(thunk, pc, a)) >= 0) {
if (r == 0) {
swap_cnt = 1;
swap(pc, pd);
pd -= es;
}
pc -= es;
}
if (pb > pc)
break;
swap(pb, pc);
swap_cnt = 1;
pb += es;
pc -= es;
}
if (swap_cnt == 0) { /* Switch to insertion sort */
for (pm = (char *)a + es; pm < (char *)a + n * es; pm += es)
for (pl = pm;
pl > (char *)a && CMP(thunk, pl - es, pl) > 0;
pl -= es)
swap(pl, pl - es);
return;
}
pn = (char *)a + n * es;
r = min(pa - (char *)a, pb - pa);
vecswap((char *)a, pb - r, r);
r = min(pd - pc, pn - pd - es);
vecswap(pb, pn - r, r);
if ((r = pb - pa) > es)
recast_qsort(a, r / es, es, thunk, cmp);
if ((r = pd - pc) > es) {
/* Iterate rather than recurse to save stack space */
a = pn - r;
n = r / es;
goto loop;
}
}