blender/extern/recastnavigation/Recast/Source/RecastContour.cpp

854 lines
23 KiB
C++
Raw Normal View History

//
// Copyright (c) 2009-2010 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 <string.h>
#include <stdio.h>
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
static int getCornerHeight(int x, int y, int i, int dir,
const rcCompactHeightfield& chf,
bool& isBorderVertex)
{
const rcCompactSpan& s = chf.spans[i];
int ch = (int)s.y;
int dirp = (dir+1) & 0x3;
unsigned int regs[4] = {0,0,0,0};
// Combine region and area codes in order to prevent
// border vertices which are in between two areas to be removed.
regs[0] = chf.spans[i].reg | (chf.areas[i] << 16);
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
const rcCompactSpan& as = chf.spans[ai];
ch = rcMax(ch, (int)as.y);
regs[1] = chf.spans[ai].reg | (chf.areas[ai] << 16);
if (rcGetCon(as, dirp) != RC_NOT_CONNECTED)
{
const int ax2 = ax + rcGetDirOffsetX(dirp);
const int ay2 = ay + rcGetDirOffsetY(dirp);
const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dirp);
const rcCompactSpan& as2 = chf.spans[ai2];
ch = rcMax(ch, (int)as2.y);
regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
}
}
if (rcGetCon(s, dirp) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dirp);
const int ay = y + rcGetDirOffsetY(dirp);
const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dirp);
const rcCompactSpan& as = chf.spans[ai];
ch = rcMax(ch, (int)as.y);
regs[3] = chf.spans[ai].reg | (chf.areas[ai] << 16);
if (rcGetCon(as, dir) != RC_NOT_CONNECTED)
{
const int ax2 = ax + rcGetDirOffsetX(dir);
const int ay2 = ay + rcGetDirOffsetY(dir);
const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dir);
const rcCompactSpan& as2 = chf.spans[ai2];
ch = rcMax(ch, (int)as2.y);
regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
}
}
// Check if the vertex is special edge vertex, these vertices will be removed later.
for (int j = 0; j < 4; ++j)
{
const int a = j;
const int b = (j+1) & 0x3;
const int c = (j+2) & 0x3;
const int d = (j+3) & 0x3;
// The vertex is a border vertex there are two same exterior cells in a row,
// followed by two interior cells and none of the regions are out of bounds.
const bool twoSameExts = (regs[a] & regs[b] & RC_BORDER_REG) != 0 && regs[a] == regs[b];
const bool twoInts = ((regs[c] | regs[d]) & RC_BORDER_REG) == 0;
const bool intsSameArea = (regs[c]>>16) == (regs[d]>>16);
const bool noZeros = regs[a] != 0 && regs[b] != 0 && regs[c] != 0 && regs[d] != 0;
if (twoSameExts && twoInts && intsSameArea && noZeros)
{
isBorderVertex = true;
break;
}
}
return ch;
}
static void walkContour(int x, int y, int i,
rcCompactHeightfield& chf,
unsigned char* flags, rcIntArray& points)
{
// Choose the first non-connected edge
unsigned char dir = 0;
while ((flags[i] & (1 << dir)) == 0)
dir++;
unsigned char startDir = dir;
int starti = i;
const unsigned char area = chf.areas[i];
int iter = 0;
while (++iter < 40000)
{
if (flags[i] & (1 << dir))
{
// Choose the edge corner
bool isBorderVertex = false;
bool isAreaBorder = false;
int px = x;
int py = getCornerHeight(x, y, i, dir, chf, isBorderVertex);
int pz = y;
switch(dir)
{
case 0: pz++; break;
case 1: px++; pz++; break;
case 2: px++; break;
}
int r = 0;
const rcCompactSpan& s = chf.spans[i];
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
r = (int)chf.spans[ai].reg;
if (area != chf.areas[ai])
isAreaBorder = true;
}
if (isBorderVertex)
r |= RC_BORDER_VERTEX;
if (isAreaBorder)
r |= RC_AREA_BORDER;
points.push(px);
points.push(py);
points.push(pz);
points.push(r);
flags[i] &= ~(1 << dir); // Remove visited edges
dir = (dir+1) & 0x3; // Rotate CW
}
else
{
int ni = -1;
const int nx = x + rcGetDirOffsetX(dir);
const int ny = y + rcGetDirOffsetY(dir);
const rcCompactSpan& s = chf.spans[i];
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const rcCompactCell& nc = chf.cells[nx+ny*chf.width];
ni = (int)nc.index + rcGetCon(s, dir);
}
if (ni == -1)
{
// Should not happen.
return;
}
x = nx;
y = ny;
i = ni;
dir = (dir+3) & 0x3; // Rotate CCW
}
if (starti == i && startDir == dir)
{
break;
}
}
}
static float distancePtSeg(const int x, const int z,
const int px, const int pz,
const int qx, const int qz)
{
/* float pqx = (float)(qx - px);
float pqy = (float)(qy - py);
float pqz = (float)(qz - pz);
float dx = (float)(x - px);
float dy = (float)(y - py);
float dz = (float)(z - pz);
float d = pqx*pqx + pqy*pqy + pqz*pqz;
float t = pqx*dx + pqy*dy + pqz*dz;
if (d > 0)
t /= d;
if (t < 0)
t = 0;
else if (t > 1)
t = 1;
dx = px + t*pqx - x;
dy = py + t*pqy - y;
dz = pz + t*pqz - z;
return dx*dx + dy*dy + dz*dz;*/
float pqx = (float)(qx - px);
float pqz = (float)(qz - pz);
float dx = (float)(x - px);
float dz = (float)(z - pz);
float d = pqx*pqx + pqz*pqz;
float t = pqx*dx + pqz*dz;
if (d > 0)
t /= d;
if (t < 0)
t = 0;
else if (t > 1)
t = 1;
dx = px + t*pqx - x;
dz = pz + t*pqz - z;
return dx*dx + dz*dz;
}
static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
const float maxError, const int maxEdgeLen, const int buildFlags)
{
// Add initial points.
bool hasConnections = false;
for (int i = 0; i < points.size(); i += 4)
{
if ((points[i+3] & RC_CONTOUR_REG_MASK) != 0)
{
hasConnections = true;
break;
}
}
if (hasConnections)
{
// The contour has some portals to other regions.
// Add a new point to every location where the region changes.
for (int i = 0, ni = points.size()/4; i < ni; ++i)
{
int ii = (i+1) % ni;
const bool differentRegs = (points[i*4+3] & RC_CONTOUR_REG_MASK) != (points[ii*4+3] & RC_CONTOUR_REG_MASK);
const bool areaBorders = (points[i*4+3] & RC_AREA_BORDER) != (points[ii*4+3] & RC_AREA_BORDER);
if (differentRegs || areaBorders)
{
simplified.push(points[i*4+0]);
simplified.push(points[i*4+1]);
simplified.push(points[i*4+2]);
simplified.push(i);
}
}
}
if (simplified.size() == 0)
{
// If there is no connections at all,
// create some initial points for the simplification process.
// Find lower-left and upper-right vertices of the contour.
int llx = points[0];
int lly = points[1];
int llz = points[2];
int lli = 0;
int urx = points[0];
int ury = points[1];
int urz = points[2];
int uri = 0;
for (int i = 0; i < points.size(); i += 4)
{
int x = points[i+0];
int y = points[i+1];
int z = points[i+2];
if (x < llx || (x == llx && z < llz))
{
llx = x;
lly = y;
llz = z;
lli = i/4;
}
if (x > urx || (x == urx && z > urz))
{
urx = x;
ury = y;
urz = z;
uri = i/4;
}
}
simplified.push(llx);
simplified.push(lly);
simplified.push(llz);
simplified.push(lli);
simplified.push(urx);
simplified.push(ury);
simplified.push(urz);
simplified.push(uri);
}
// Add points until all raw points are within
// error tolerance to the simplified shape.
const int pn = points.size()/4;
for (int i = 0; i < simplified.size()/4; )
{
int ii = (i+1) % (simplified.size()/4);
const int ax = simplified[i*4+0];
const int az = simplified[i*4+2];
const int ai = simplified[i*4+3];
const int bx = simplified[ii*4+0];
const int bz = simplified[ii*4+2];
const int bi = simplified[ii*4+3];
// Find maximum deviation from the segment.
float maxd = 0;
int i_max = -1;
int ci, cinc, endi;
// Traverse the segment in lexilogical order so that the
// max deviation is calculated similarly when traversing
// opposite segments.
if (bx > ax || (bx == ax && bz > az))
{
cinc = 1;
ci = (ai+cinc) % pn;
endi = bi;
}
else
{
cinc = pn-1;
ci = (bi+cinc) % pn;
endi = ai;
}
// Tessellate only outer edges or edges between areas.
if ((points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0 ||
(points[ci*4+3] & RC_AREA_BORDER))
{
while (ci != endi)
{
float d = distancePtSeg(points[ci*4+0], points[ci*4+2], ax, az, bx, bz);
if (d > maxd)
{
maxd = d;
i_max = ci;
}
ci = (ci+cinc) % pn;
}
}
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (i_max != -1 && maxd > (maxError*maxError))
{
// Add space for the new point.
simplified.resize(simplified.size()+4);
const int n = simplified.size()/4;
for (int j = n-1; j > i; --j)
{
simplified[j*4+0] = simplified[(j-1)*4+0];
simplified[j*4+1] = simplified[(j-1)*4+1];
simplified[j*4+2] = simplified[(j-1)*4+2];
simplified[j*4+3] = simplified[(j-1)*4+3];
}
// Add the point.
simplified[(i+1)*4+0] = points[i_max*4+0];
simplified[(i+1)*4+1] = points[i_max*4+1];
simplified[(i+1)*4+2] = points[i_max*4+2];
simplified[(i+1)*4+3] = i_max;
}
else
{
++i;
}
}
// Split too long edges.
if (maxEdgeLen > 0 && (buildFlags & (RC_CONTOUR_TESS_WALL_EDGES|RC_CONTOUR_TESS_AREA_EDGES)) != 0)
{
for (int i = 0; i < simplified.size()/4; )
{
const int ii = (i+1) % (simplified.size()/4);
const int ax = simplified[i*4+0];
const int az = simplified[i*4+2];
const int ai = simplified[i*4+3];
const int bx = simplified[ii*4+0];
const int bz = simplified[ii*4+2];
const int bi = simplified[ii*4+3];
// Find maximum deviation from the segment.
int i_max = -1;
int ci = (ai+1) % pn;
// Tessellate only outer edges or edges between areas.
bool tess = false;
// Wall edges.
if ((buildFlags & RC_CONTOUR_TESS_WALL_EDGES) && (points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0)
tess = true;
// Edges between areas.
if ((buildFlags & RC_CONTOUR_TESS_AREA_EDGES) && (points[ci*4+3] & RC_AREA_BORDER))
tess = true;
if (tess)
{
int dx = bx - ax;
int dz = bz - az;
if (dx*dx + dz*dz > maxEdgeLen*maxEdgeLen)
{
// Round based on the segments in lexilogical order so that the
// max tesselation is consistent regardles in which direction
// segments are traversed.
if (bx > ax || (bx == ax && bz > az))
{
const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
i_max = (ai + n/2) % pn;
}
else
{
const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
i_max = (ai + (n+1)/2) % pn;
}
}
}
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (i_max != -1)
{
// Add space for the new point.
simplified.resize(simplified.size()+4);
const int n = simplified.size()/4;
for (int j = n-1; j > i; --j)
{
simplified[j*4+0] = simplified[(j-1)*4+0];
simplified[j*4+1] = simplified[(j-1)*4+1];
simplified[j*4+2] = simplified[(j-1)*4+2];
simplified[j*4+3] = simplified[(j-1)*4+3];
}
// Add the point.
simplified[(i+1)*4+0] = points[i_max*4+0];
simplified[(i+1)*4+1] = points[i_max*4+1];
simplified[(i+1)*4+2] = points[i_max*4+2];
simplified[(i+1)*4+3] = i_max;
}
else
{
++i;
}
}
}
for (int i = 0; i < simplified.size()/4; ++i)
{
// The edge vertex flag is take from the current raw point,
// and the neighbour region is take from the next raw point.
const int ai = (simplified[i*4+3]+1) % pn;
const int bi = simplified[i*4+3];
simplified[i*4+3] = (points[ai*4+3] & RC_CONTOUR_REG_MASK) | (points[bi*4+3] & RC_BORDER_VERTEX);
}
}
static void removeDegenerateSegments(rcIntArray& simplified)
{
// Remove adjacent vertices which are equal on xz-plane,
// or else the triangulator will get confused.
for (int i = 0; i < simplified.size()/4; ++i)
{
int ni = i+1;
if (ni >= (simplified.size()/4))
ni = 0;
if (simplified[i*4+0] == simplified[ni*4+0] &&
simplified[i*4+2] == simplified[ni*4+2])
{
// Degenerate segment, remove.
for (int j = i; j < simplified.size()/4-1; ++j)
{
simplified[j*4+0] = simplified[(j+1)*4+0];
simplified[j*4+1] = simplified[(j+1)*4+1];
simplified[j*4+2] = simplified[(j+1)*4+2];
simplified[j*4+3] = simplified[(j+1)*4+3];
}
simplified.resize(simplified.size()-4);
}
}
}
static int calcAreaOfPolygon2D(const int* verts, const int nverts)
{
int area = 0;
for (int i = 0, j = nverts-1; i < nverts; j=i++)
{
const int* vi = &verts[i*4];
const int* vj = &verts[j*4];
area += vi[0] * vj[2] - vj[0] * vi[2];
}
return (area+1) / 2;
}
inline bool ileft(const int* a, const int* b, const int* c)
{
return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]) <= 0;
}
static void getClosestIndices(const int* vertsa, const int nvertsa,
const int* vertsb, const int nvertsb,
int& ia, int& ib)
{
int closestDist = 0xfffffff;
ia = -1, ib = -1;
for (int i = 0; i < nvertsa; ++i)
{
const int in = (i+1) % nvertsa;
const int ip = (i+nvertsa-1) % nvertsa;
const int* va = &vertsa[i*4];
const int* van = &vertsa[in*4];
const int* vap = &vertsa[ip*4];
for (int j = 0; j < nvertsb; ++j)
{
const int* vb = &vertsb[j*4];
// vb must be "infront" of va.
if (ileft(vap,va,vb) && ileft(va,van,vb))
{
const int dx = vb[0] - va[0];
const int dz = vb[2] - va[2];
const int d = dx*dx + dz*dz;
if (d < closestDist)
{
ia = i;
ib = j;
closestDist = d;
}
}
}
}
}
static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib)
{
const int maxVerts = ca.nverts + cb.nverts + 2;
int* verts = (int*)rcAlloc(sizeof(int)*maxVerts*4, RC_ALLOC_PERM);
if (!verts)
return false;
int nv = 0;
// Copy contour A.
for (int i = 0; i <= ca.nverts; ++i)
{
int* dst = &verts[nv*4];
const int* src = &ca.verts[((ia+i)%ca.nverts)*4];
dst[0] = src[0];
dst[1] = src[1];
dst[2] = src[2];
dst[3] = src[3];
nv++;
}
// Copy contour B
for (int i = 0; i <= cb.nverts; ++i)
{
int* dst = &verts[nv*4];
const int* src = &cb.verts[((ib+i)%cb.nverts)*4];
dst[0] = src[0];
dst[1] = src[1];
dst[2] = src[2];
dst[3] = src[3];
nv++;
}
rcFree(ca.verts);
ca.verts = verts;
ca.nverts = nv;
rcFree(cb.verts);
cb.verts = 0;
cb.nverts = 0;
return true;
}
/// @par
///
/// The raw contours will match the region outlines exactly. The @p maxError and @p maxEdgeLen
/// parameters control how closely the simplified contours will match the raw contours.
///
/// Simplified contours are generated such that the vertices for portals between areas match up.
/// (They are considered mandatory vertices.)
///
/// Setting @p maxEdgeLength to zero will disabled the edge length feature.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
const float maxError, const int maxEdgeLen,
rcContourSet& cset, const int buildFlags)
{
rcAssert(ctx);
const int w = chf.width;
const int h = chf.height;
const int borderSize = chf.borderSize;
ctx->startTimer(RC_TIMER_BUILD_CONTOURS);
rcVcopy(cset.bmin, chf.bmin);
rcVcopy(cset.bmax, chf.bmax);
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
const float pad = borderSize*chf.cs;
cset.bmin[0] += pad;
cset.bmin[2] += pad;
cset.bmax[0] -= pad;
cset.bmax[2] -= pad;
}
cset.cs = chf.cs;
cset.ch = chf.ch;
cset.width = chf.width - chf.borderSize*2;
cset.height = chf.height - chf.borderSize*2;
cset.borderSize = chf.borderSize;
int maxContours = rcMax((int)chf.maxRegions, 8);
cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
if (!cset.conts)
return false;
cset.nconts = 0;
rcScopedDelete<unsigned char> flags = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
if (!flags)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags' (%d).", chf.spanCount);
return false;
}
ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
// Mark boundaries.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
unsigned char res = 0;
const rcCompactSpan& s = chf.spans[i];
if (!chf.spans[i].reg || (chf.spans[i].reg & RC_BORDER_REG))
{
flags[i] = 0;
continue;
}
for (int dir = 0; dir < 4; ++dir)
{
unsigned short r = 0;
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
const int ax = x + rcGetDirOffsetX(dir);
const int ay = y + rcGetDirOffsetY(dir);
const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
r = chf.spans[ai].reg;
}
if (r == chf.spans[i].reg)
res |= (1 << dir);
}
flags[i] = res ^ 0xf; // Inverse, mark non connected edges.
}
}
}
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
rcIntArray verts(256);
rcIntArray simplified(64);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const rcCompactCell& c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (flags[i] == 0 || flags[i] == 0xf)
{
flags[i] = 0;
continue;
}
const unsigned short reg = chf.spans[i].reg;
if (!reg || (reg & RC_BORDER_REG))
continue;
const unsigned char area = chf.areas[i];
verts.resize(0);
simplified.resize(0);
ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
walkContour(x, y, i, chf, flags, verts);
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
ctx->startTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags);
removeDegenerateSegments(simplified);
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
// Store region->contour remap info.
// Create contour.
if (simplified.size()/4 >= 3)
{
if (cset.nconts >= maxContours)
{
// Allocate more contours.
// This can happen when there are tiny holes in the heightfield.
const int oldMax = maxContours;
maxContours *= 2;
rcContour* newConts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
for (int j = 0; j < cset.nconts; ++j)
{
newConts[j] = cset.conts[j];
// Reset source pointers to prevent data deletion.
cset.conts[j].verts = 0;
cset.conts[j].rverts = 0;
}
rcFree(cset.conts);
cset.conts = newConts;
ctx->log(RC_LOG_WARNING, "rcBuildContours: Expanding max contours from %d to %d.", oldMax, maxContours);
}
rcContour* cont = &cset.conts[cset.nconts++];
cont->nverts = simplified.size()/4;
cont->verts = (int*)rcAlloc(sizeof(int)*cont->nverts*4, RC_ALLOC_PERM);
if (!cont->verts)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'verts' (%d).", cont->nverts);
return false;
}
memcpy(cont->verts, &simplified[0], sizeof(int)*cont->nverts*4);
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int i = 0; i < cont->nverts; ++i)
{
int* v = &cont->verts[i*4];
v[0] -= borderSize;
v[2] -= borderSize;
}
}
cont->nrverts = verts.size()/4;
cont->rverts = (int*)rcAlloc(sizeof(int)*cont->nrverts*4, RC_ALLOC_PERM);
if (!cont->rverts)
{
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'rverts' (%d).", cont->nrverts);
return false;
}
memcpy(cont->rverts, &verts[0], sizeof(int)*cont->nrverts*4);
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int i = 0; i < cont->nrverts; ++i)
{
int* v = &cont->rverts[i*4];
v[0] -= borderSize;
v[2] -= borderSize;
}
}
/* cont->cx = cont->cy = cont->cz = 0;
for (int i = 0; i < cont->nverts; ++i)
{
cont->cx += cont->verts[i*4+0];
cont->cy += cont->verts[i*4+1];
cont->cz += cont->verts[i*4+2];
}
cont->cx /= cont->nverts;
cont->cy /= cont->nverts;
cont->cz /= cont->nverts;*/
cont->reg = reg;
cont->area = area;
}
}
}
}
// Check and merge droppings.
// Sometimes the previous algorithms can fail and create several contours
// per area. This pass will try to merge the holes into the main region.
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
// Check if the contour is would backwards.
if (calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0)
{
// Find another contour which has the same region ID.
int mergeIdx = -1;
for (int j = 0; j < cset.nconts; ++j)
{
if (i == j) continue;
if (cset.conts[j].nverts && cset.conts[j].reg == cont.reg)
{
// Make sure the polygon is correctly oriented.
if (calcAreaOfPolygon2D(cset.conts[j].verts, cset.conts[j].nverts))
{
mergeIdx = j;
break;
}
}
}
if (mergeIdx == -1)
{
ctx->log(RC_LOG_WARNING, "rcBuildContours: Could not find merge target for bad contour %d.", i);
}
else
{
rcContour& mcont = cset.conts[mergeIdx];
// Merge by closest points.
int ia = 0, ib = 0;
getClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ia, ib);
if (ia == -1 || ib == -1)
{
ctx->log(RC_LOG_WARNING, "rcBuildContours: Failed to find merge points for %d and %d.", i, mergeIdx);
continue;
}
if (!mergeContours(mcont, cont, ia, ib))
{
ctx->log(RC_LOG_WARNING, "rcBuildContours: Failed to merge contours %d and %d.", i, mergeIdx);
continue;
}
}
}
}
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS);
return true;
}