forked from bartvdbraak/blender
176538f613
The version of Recast that Blender ships with is from 2009. This patch updates the Recast version to the latest version, 1.5.0. The Detour version remains untouched. Reviewers: campbellbarton, moguri Reviewed By: moguri Projects: #bf_blender Differential Revision: https://developer.blender.org/D1747
614 lines
16 KiB
C++
614 lines
16 KiB
C++
//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#include <float.h>
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#define _USE_MATH_DEFINES
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#include <math.h>
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#include <string.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include "Recast.h"
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#include "RecastAlloc.h"
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#include "RecastAssert.h"
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static const int RC_MAX_LAYERS = RC_NOT_CONNECTED;
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static const int RC_MAX_NEIS = 16;
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struct rcLayerRegion
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{
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unsigned char layers[RC_MAX_LAYERS];
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unsigned char neis[RC_MAX_NEIS];
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unsigned short ymin, ymax;
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unsigned char layerId; // Layer ID
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unsigned char nlayers; // Layer count
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unsigned char nneis; // Neighbour count
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unsigned char base; // Flag indicating if the region is the base of merged regions.
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};
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static void addUnique(unsigned char* a, unsigned char& an, unsigned char v)
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{
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const int n = (int)an;
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for (int i = 0; i < n; ++i)
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if (a[i] == v)
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return;
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a[an] = v;
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an++;
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}
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static bool contains(const unsigned char* a, const unsigned char an, const unsigned char v)
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{
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const int n = (int)an;
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for (int i = 0; i < n; ++i)
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if (a[i] == v)
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return true;
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return false;
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}
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inline bool overlapRange(const unsigned short amin, const unsigned short amax,
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const unsigned short bmin, const unsigned short bmax)
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{
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return (amin > bmax || amax < bmin) ? false : true;
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}
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struct rcLayerSweepSpan
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{
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unsigned short ns; // number samples
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unsigned char id; // region id
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unsigned char nei; // neighbour id
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};
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/// @par
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///
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/// See the #rcConfig documentation for more information on the configuration parameters.
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///
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/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
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bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
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const int borderSize, const int walkableHeight,
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rcHeightfieldLayerSet& lset)
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{
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rcAssert(ctx);
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rcScopedTimer timer(ctx, RC_TIMER_BUILD_LAYERS);
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const int w = chf.width;
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const int h = chf.height;
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rcScopedDelete<unsigned char> srcReg((unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP));
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if (!srcReg)
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{
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ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' (%d).", chf.spanCount);
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return false;
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}
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memset(srcReg,0xff,sizeof(unsigned char)*chf.spanCount);
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const int nsweeps = chf.width;
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rcScopedDelete<rcLayerSweepSpan> sweeps((rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP));
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if (!sweeps)
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{
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ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' (%d).", nsweeps);
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return false;
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}
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// Partition walkable area into monotone regions.
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int prevCount[256];
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unsigned char regId = 0;
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for (int y = borderSize; y < h-borderSize; ++y)
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{
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memset(prevCount,0,sizeof(int)*regId);
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unsigned char sweepId = 0;
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for (int x = borderSize; x < w-borderSize; ++x)
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{
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const rcCompactCell& c = chf.cells[x+y*w];
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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 (chf.areas[i] == RC_NULL_AREA) continue;
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unsigned char sid = 0xff;
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// -x
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if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
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{
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const int ax = x + rcGetDirOffsetX(0);
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const int ay = y + rcGetDirOffsetY(0);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
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if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff)
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sid = srcReg[ai];
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}
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if (sid == 0xff)
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{
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sid = sweepId++;
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sweeps[sid].nei = 0xff;
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sweeps[sid].ns = 0;
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}
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// -y
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if (rcGetCon(s,3) != RC_NOT_CONNECTED)
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{
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const int ax = x + rcGetDirOffsetX(3);
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const int ay = y + rcGetDirOffsetY(3);
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const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
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const unsigned char nr = srcReg[ai];
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if (nr != 0xff)
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{
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// Set neighbour when first valid neighbour is encoutered.
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if (sweeps[sid].ns == 0)
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sweeps[sid].nei = nr;
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if (sweeps[sid].nei == nr)
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{
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// Update existing neighbour
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sweeps[sid].ns++;
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prevCount[nr]++;
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}
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else
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{
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// This is hit if there is nore than one neighbour.
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// Invalidate the neighbour.
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sweeps[sid].nei = 0xff;
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}
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}
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}
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srcReg[i] = sid;
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}
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}
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// Create unique ID.
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for (int i = 0; i < sweepId; ++i)
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{
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// If the neighbour is set and there is only one continuous connection to it,
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// the sweep will be merged with the previous one, else new region is created.
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if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns)
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{
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sweeps[i].id = sweeps[i].nei;
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}
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else
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{
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if (regId == 255)
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{
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ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow.");
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return false;
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}
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sweeps[i].id = regId++;
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}
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}
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// Remap local sweep ids to region ids.
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for (int x = borderSize; x < w-borderSize; ++x)
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{
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const rcCompactCell& c = chf.cells[x+y*w];
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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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if (srcReg[i] != 0xff)
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srcReg[i] = sweeps[srcReg[i]].id;
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}
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}
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}
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// Allocate and init layer regions.
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const int nregs = (int)regId;
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rcScopedDelete<rcLayerRegion> regs((rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP));
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if (!regs)
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{
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ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' (%d).", nregs);
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return false;
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}
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memset(regs, 0, sizeof(rcLayerRegion)*nregs);
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for (int i = 0; i < nregs; ++i)
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{
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regs[i].layerId = 0xff;
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regs[i].ymin = 0xffff;
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regs[i].ymax = 0;
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}
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// Find region neighbours and overlapping regions.
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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const rcCompactCell& c = chf.cells[x+y*w];
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unsigned char lregs[RC_MAX_LAYERS];
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int nlregs = 0;
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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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const unsigned char ri = srcReg[i];
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if (ri == 0xff) continue;
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regs[ri].ymin = rcMin(regs[ri].ymin, s.y);
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regs[ri].ymax = rcMax(regs[ri].ymax, s.y);
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// Collect all region layers.
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if (nlregs < RC_MAX_LAYERS)
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lregs[nlregs++] = ri;
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// Update neighbours
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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*w].index + rcGetCon(s, dir);
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const unsigned char rai = srcReg[ai];
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if (rai != 0xff && rai != ri && regs[ri].nneis < RC_MAX_NEIS)
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addUnique(regs[ri].neis, regs[ri].nneis, rai);
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}
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}
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}
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// Update overlapping regions.
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for (int i = 0; i < nlregs-1; ++i)
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{
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for (int j = i+1; j < nlregs; ++j)
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{
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if (lregs[i] != lregs[j])
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{
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rcLayerRegion& ri = regs[lregs[i]];
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rcLayerRegion& rj = regs[lregs[j]];
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addUnique(ri.layers, ri.nlayers, lregs[j]);
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addUnique(rj.layers, rj.nlayers, lregs[i]);
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}
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}
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}
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}
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}
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// Create 2D layers from regions.
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unsigned char layerId = 0;
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static const int MAX_STACK = 64;
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unsigned char stack[MAX_STACK];
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int nstack = 0;
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for (int i = 0; i < nregs; ++i)
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{
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rcLayerRegion& root = regs[i];
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// Skip already visited.
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if (root.layerId != 0xff)
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continue;
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// Start search.
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root.layerId = layerId;
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root.base = 1;
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nstack = 0;
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stack[nstack++] = (unsigned char)i;
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while (nstack)
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{
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// Pop front
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rcLayerRegion& reg = regs[stack[0]];
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nstack--;
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for (int j = 0; j < nstack; ++j)
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stack[j] = stack[j+1];
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const int nneis = (int)reg.nneis;
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for (int j = 0; j < nneis; ++j)
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{
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const unsigned char nei = reg.neis[j];
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rcLayerRegion& regn = regs[nei];
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// Skip already visited.
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if (regn.layerId != 0xff)
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continue;
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// Skip if the neighbour is overlapping root region.
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if (contains(root.layers, root.nlayers, nei))
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continue;
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// Skip if the height range would become too large.
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const int ymin = rcMin(root.ymin, regn.ymin);
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const int ymax = rcMax(root.ymax, regn.ymax);
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if ((ymax - ymin) >= 255)
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continue;
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if (nstack < MAX_STACK)
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{
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// Deepen
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stack[nstack++] = (unsigned char)nei;
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// Mark layer id
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regn.layerId = layerId;
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// Merge current layers to root.
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for (int k = 0; k < regn.nlayers; ++k)
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addUnique(root.layers, root.nlayers, regn.layers[k]);
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root.ymin = rcMin(root.ymin, regn.ymin);
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root.ymax = rcMax(root.ymax, regn.ymax);
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}
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}
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}
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layerId++;
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}
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// Merge non-overlapping regions that are close in height.
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const unsigned short mergeHeight = (unsigned short)walkableHeight * 4;
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for (int i = 0; i < nregs; ++i)
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{
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rcLayerRegion& ri = regs[i];
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if (!ri.base) continue;
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unsigned char newId = ri.layerId;
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for (;;)
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{
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unsigned char oldId = 0xff;
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for (int j = 0; j < nregs; ++j)
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{
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if (i == j) continue;
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rcLayerRegion& rj = regs[j];
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if (!rj.base) continue;
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// Skip if the regions are not close to each other.
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if (!overlapRange(ri.ymin,ri.ymax+mergeHeight, rj.ymin,rj.ymax+mergeHeight))
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continue;
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// Skip if the height range would become too large.
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const int ymin = rcMin(ri.ymin, rj.ymin);
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const int ymax = rcMax(ri.ymax, rj.ymax);
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if ((ymax - ymin) >= 255)
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continue;
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// Make sure that there is no overlap when merging 'ri' and 'rj'.
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bool overlap = false;
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// Iterate over all regions which have the same layerId as 'rj'
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for (int k = 0; k < nregs; ++k)
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{
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if (regs[k].layerId != rj.layerId)
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continue;
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// Check if region 'k' is overlapping region 'ri'
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// Index to 'regs' is the same as region id.
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if (contains(ri.layers,ri.nlayers, (unsigned char)k))
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{
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overlap = true;
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break;
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}
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}
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// Cannot merge of regions overlap.
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if (overlap)
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continue;
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// Can merge i and j.
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oldId = rj.layerId;
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break;
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}
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// Could not find anything to merge with, stop.
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if (oldId == 0xff)
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break;
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// Merge
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for (int j = 0; j < nregs; ++j)
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{
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rcLayerRegion& rj = regs[j];
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if (rj.layerId == oldId)
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{
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rj.base = 0;
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// Remap layerIds.
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rj.layerId = newId;
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// Add overlaid layers from 'rj' to 'ri'.
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for (int k = 0; k < rj.nlayers; ++k)
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addUnique(ri.layers, ri.nlayers, rj.layers[k]);
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// Update height bounds.
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ri.ymin = rcMin(ri.ymin, rj.ymin);
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ri.ymax = rcMax(ri.ymax, rj.ymax);
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}
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}
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}
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}
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// Compact layerIds
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unsigned char remap[256];
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memset(remap, 0, 256);
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// Find number of unique layers.
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layerId = 0;
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for (int i = 0; i < nregs; ++i)
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remap[regs[i].layerId] = 1;
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for (int i = 0; i < 256; ++i)
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{
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if (remap[i])
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remap[i] = layerId++;
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else
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remap[i] = 0xff;
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}
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// Remap ids.
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for (int i = 0; i < nregs; ++i)
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regs[i].layerId = remap[regs[i].layerId];
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// No layers, return empty.
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if (layerId == 0)
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return true;
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// Create layers.
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rcAssert(lset.layers == 0);
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const int lw = w - borderSize*2;
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const int lh = h - borderSize*2;
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// Build contracted bbox for layers.
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float bmin[3], bmax[3];
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rcVcopy(bmin, chf.bmin);
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rcVcopy(bmax, chf.bmax);
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bmin[0] += borderSize*chf.cs;
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bmin[2] += borderSize*chf.cs;
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bmax[0] -= borderSize*chf.cs;
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bmax[2] -= borderSize*chf.cs;
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lset.nlayers = (int)layerId;
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lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
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if (!lset.layers)
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{
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ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' (%d).", lset.nlayers);
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return false;
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}
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memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
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// Store layers.
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for (int i = 0; i < lset.nlayers; ++i)
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{
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unsigned char curId = (unsigned char)i;
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rcHeightfieldLayer* layer = &lset.layers[i];
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const int gridSize = sizeof(unsigned char)*lw*lh;
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layer->heights = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
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if (!layer->heights)
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{
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ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' (%d).", gridSize);
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return false;
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}
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memset(layer->heights, 0xff, gridSize);
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layer->areas = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
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if (!layer->areas)
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{
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ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' (%d).", gridSize);
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return false;
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}
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memset(layer->areas, 0, gridSize);
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layer->cons = (unsigned char*)rcAlloc(gridSize, RC_ALLOC_PERM);
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if (!layer->cons)
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{
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ctx->log(RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' (%d).", gridSize);
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return false;
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}
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memset(layer->cons, 0, gridSize);
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// Find layer height bounds.
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int hmin = 0, hmax = 0;
|
|
for (int j = 0; j < nregs; ++j)
|
|
{
|
|
if (regs[j].base && regs[j].layerId == curId)
|
|
{
|
|
hmin = (int)regs[j].ymin;
|
|
hmax = (int)regs[j].ymax;
|
|
}
|
|
}
|
|
|
|
layer->width = lw;
|
|
layer->height = lh;
|
|
layer->cs = chf.cs;
|
|
layer->ch = chf.ch;
|
|
|
|
// Adjust the bbox to fit the heightfield.
|
|
rcVcopy(layer->bmin, bmin);
|
|
rcVcopy(layer->bmax, bmax);
|
|
layer->bmin[1] = bmin[1] + hmin*chf.ch;
|
|
layer->bmax[1] = bmin[1] + hmax*chf.ch;
|
|
layer->hmin = hmin;
|
|
layer->hmax = hmax;
|
|
|
|
// Update usable data region.
|
|
layer->minx = layer->width;
|
|
layer->maxx = 0;
|
|
layer->miny = layer->height;
|
|
layer->maxy = 0;
|
|
|
|
// Copy height and area from compact heightfield.
|
|
for (int y = 0; y < lh; ++y)
|
|
{
|
|
for (int x = 0; x < lw; ++x)
|
|
{
|
|
const int cx = borderSize+x;
|
|
const int cy = borderSize+y;
|
|
const rcCompactCell& c = chf.cells[cx+cy*w];
|
|
for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
|
|
{
|
|
const rcCompactSpan& s = chf.spans[j];
|
|
// Skip unassigned regions.
|
|
if (srcReg[j] == 0xff)
|
|
continue;
|
|
// Skip of does nto belong to current layer.
|
|
unsigned char lid = regs[srcReg[j]].layerId;
|
|
if (lid != curId)
|
|
continue;
|
|
|
|
// Update data bounds.
|
|
layer->minx = rcMin(layer->minx, x);
|
|
layer->maxx = rcMax(layer->maxx, x);
|
|
layer->miny = rcMin(layer->miny, y);
|
|
layer->maxy = rcMax(layer->maxy, y);
|
|
|
|
// Store height and area type.
|
|
const int idx = x+y*lw;
|
|
layer->heights[idx] = (unsigned char)(s.y - hmin);
|
|
layer->areas[idx] = chf.areas[j];
|
|
|
|
// Check connection.
|
|
unsigned char portal = 0;
|
|
unsigned char con = 0;
|
|
for (int dir = 0; dir < 4; ++dir)
|
|
{
|
|
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
|
|
{
|
|
const int ax = cx + rcGetDirOffsetX(dir);
|
|
const int ay = cy + rcGetDirOffsetY(dir);
|
|
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
|
|
unsigned char alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff;
|
|
// Portal mask
|
|
if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
|
|
{
|
|
portal |= (unsigned char)(1<<dir);
|
|
// Update height so that it matches on both sides of the portal.
|
|
const rcCompactSpan& as = chf.spans[ai];
|
|
if (as.y > hmin)
|
|
layer->heights[idx] = rcMax(layer->heights[idx], (unsigned char)(as.y - hmin));
|
|
}
|
|
// Valid connection mask
|
|
if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
|
|
{
|
|
const int nx = ax - borderSize;
|
|
const int ny = ay - borderSize;
|
|
if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
|
|
con |= (unsigned char)(1<<dir);
|
|
}
|
|
}
|
|
}
|
|
|
|
layer->cons[idx] = (portal << 4) | con;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (layer->minx > layer->maxx)
|
|
layer->minx = layer->maxx = 0;
|
|
if (layer->miny > layer->maxy)
|
|
layer->miny = layer->maxy = 0;
|
|
}
|
|
|
|
return true;
|
|
}
|