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blender/extern/recastnavigation/Recast/Include/Recast.h
Benoit Bolsee e6a9b68c79 Recast: upgrade library. 
- Upgrade Recast library to latest portable version
- Implement recast_qsort based on FreeBSD qsort.c to have 
  portable thread safe quick sort for use in conversion routine.
- Better default value for the Build Navigation Mesh operator
2011-09-29 21:38:57 +00:00

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//
// 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.
//
#ifndef RECAST_H
#define RECAST_H
/// The value of PI used by Recast.
static const float RC_PI = 3.14159265f;
/// Recast log categories.
/// @see rcContext
enum rcLogCategory
{
RC_LOG_PROGRESS = 1, ///< A progress log entry.
RC_LOG_WARNING, ///< A warning log entry.
RC_LOG_ERROR, ///< An error log entry.
};
/// Recast performance timer categories.
/// @see rcContext
enum rcTimerLabel
{
/// The user defined total time of the build.
RC_TIMER_TOTAL,
/// A user defined build time.
RC_TIMER_TEMP,
/// The time to rasterize the triangles. (See: #rcRasterizeTriangle)
RC_TIMER_RASTERIZE_TRIANGLES,
/// The time to build the compact heightfield. (See: #rcBuildCompactHeightfield)
RC_TIMER_BUILD_COMPACTHEIGHTFIELD,
/// The total time to build the contours. (See: #rcBuildContours)
RC_TIMER_BUILD_CONTOURS,
/// The time to trace the boundaries of the contours. (See: #rcBuildContours)
RC_TIMER_BUILD_CONTOURS_TRACE,
/// The time to simplify the contours. (See: #rcBuildContours)
RC_TIMER_BUILD_CONTOURS_SIMPLIFY,
/// The time to filter ledge spans. (See: #rcFilterLedgeSpans)
RC_TIMER_FILTER_BORDER,
/// The time to filter low height spans. (See: #rcFilterWalkableLowHeightSpans)
RC_TIMER_FILTER_WALKABLE,
/// The time to apply the median filter. (See: #rcMedianFilterWalkableArea)
RC_TIMER_MEDIAN_AREA,
/// The time to filter low obstacles. (See: #rcFilterLowHangingWalkableObstacles)
RC_TIMER_FILTER_LOW_OBSTACLES,
/// The time to build the polygon mesh. (See: #rcBuildPolyMesh)
RC_TIMER_BUILD_POLYMESH,
/// The time to merge polygon meshes. (See: #rcMergePolyMeshes)
RC_TIMER_MERGE_POLYMESH,
/// The time to erode the walkable area. (See: #rcErodeWalkableArea)
RC_TIMER_ERODE_AREA,
/// The time to mark a box area. (See: #rcMarkBoxArea)
RC_TIMER_MARK_BOX_AREA,
/// The time to mark a cylinder area. (See: #rcMarkCylinderArea)
RC_TIMER_MARK_CYLINDER_AREA,
/// The time to mark a convex polygon area. (See: #rcMarkConvexPolyArea)
RC_TIMER_MARK_CONVEXPOLY_AREA,
/// The total time to build the distance field. (See: #rcBuildDistanceField)
RC_TIMER_BUILD_DISTANCEFIELD,
/// The time to build the distances of the distance field. (See: #rcBuildDistanceField)
RC_TIMER_BUILD_DISTANCEFIELD_DIST,
/// The time to blur the distance field. (See: #rcBuildDistanceField)
RC_TIMER_BUILD_DISTANCEFIELD_BLUR,
/// The total time to build the regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone)
RC_TIMER_BUILD_REGIONS,
/// The total time to apply the watershed algorithm. (See: #rcBuildRegions)
RC_TIMER_BUILD_REGIONS_WATERSHED,
/// The time to expand regions while applying the watershed algorithm. (See: #rcBuildRegions)
RC_TIMER_BUILD_REGIONS_EXPAND,
/// The time to flood regions while applying the watershed algorithm. (See: #rcBuildRegions)
RC_TIMER_BUILD_REGIONS_FLOOD,
/// The time to filter out small regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone)
RC_TIMER_BUILD_REGIONS_FILTER,
/// The time to build heightfield layers. (See: #rcBuildHeightfieldLayers)
RC_TIMER_BUILD_LAYERS,
/// The time to build the polygon mesh detail. (See: #rcBuildPolyMeshDetail)
RC_TIMER_BUILD_POLYMESHDETAIL,
/// The time to merge polygon mesh details. (See: #rcMergePolyMeshDetails)
RC_TIMER_MERGE_POLYMESHDETAIL,
/// The maximum number of timers. (Used for iterating timers.)
RC_MAX_TIMERS
};
/// Provides an interface for optional logging and performance tracking of the Recast
/// build process.
/// @ingroup recast
class rcContext
{
public:
/// Contructor.
/// @param[in] state TRUE if the logging and performance timers should be enabled. [Default: true]
inline rcContext(bool state = true) : m_logEnabled(state), m_timerEnabled(state) {}
virtual ~rcContext() {}
/// Enables or disables logging.
/// @param[in] state TRUE if logging should be enabled.
inline void enableLog(bool state) { m_logEnabled = state; }
/// Clears all log entries.
inline void resetLog() { if (m_logEnabled) doResetLog(); }
/// Logs a message.
/// @param[in] category The category of the message.
/// @param[in] format The message.
void log(const rcLogCategory category, const char* format, ...);
/// Enables or disables the performance timers.
/// @param[in] state TRUE if timers should be enabled.
inline void enableTimer(bool state) { m_timerEnabled = state; }
/// Clears all peformance timers. (Resets all to unused.)
inline void resetTimers() { if (m_timerEnabled) doResetTimers(); }
/// Starts the specified performance timer.
/// @param label The category of timer.
inline void startTimer(const rcTimerLabel label) { if (m_timerEnabled) doStartTimer(label); }
/// Stops the specified performance timer.
/// @param label The category of the timer.
inline void stopTimer(const rcTimerLabel label) { if (m_timerEnabled) doStopTimer(label); }
/// Returns the total accumulated time of the specified performance timer.
/// @param label The category of the timer.
/// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started.
inline int getAccumulatedTime(const rcTimerLabel label) const { return m_timerEnabled ? doGetAccumulatedTime(label) : -1; }
protected:
/// Clears all log entries.
virtual void doResetLog() {}
/// Logs a message.
/// @param[in] category The category of the message.
/// @param[in] msg The formatted message.
/// @param[in] len The length of the formatted message.
virtual void doLog(const rcLogCategory /*category*/, const char* /*msg*/, const int /*len*/) {}
/// Clears all timers. (Resets all to unused.)
virtual void doResetTimers() {}
/// Starts the specified performance timer.
/// @param[in] label The category of timer.
virtual void doStartTimer(const rcTimerLabel /*label*/) {}
/// Stops the specified performance timer.
/// @param[in] label The category of the timer.
virtual void doStopTimer(const rcTimerLabel /*label*/) {}
/// Returns the total accumulated time of the specified performance timer.
/// @param[in] label The category of the timer.
/// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started.
virtual int doGetAccumulatedTime(const rcTimerLabel /*label*/) const { return -1; }
/// True if logging is enabled.
bool m_logEnabled;
/// True if the performance timers are enabled.
bool m_timerEnabled;
};
/// Specifies a configuration to use when performing Recast builds.
/// @ingroup recast
struct rcConfig
{
/// The width of the field along the x-axis. [Limit: >= 0] [Units: vx]
int width;
/// The height of the field along the z-axis. [Limit: >= 0] [Units: vx]
int height;
/// The width/height size of tile's on the xz-plane. [Limit: >= 0] [Units: vx]
int tileSize;
/// The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx]
int borderSize;
/// The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu]
float cs;
/// The y-axis cell size to use for fields. [Limit: > 0] [Units: wu]
float ch;
/// The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu]
float bmin[3];
/// The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu]
float bmax[3];
/// The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees]
float walkableSlopeAngle;
/// Minimum floor to 'ceiling' height that will still allow the floor area to
/// be considered walkable. [Limit: >= 3] [Units: vx]
int walkableHeight;
/// Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx]
int walkableClimb;
/// The distance to erode/shrink the walkable area of the heightfield away from
/// obstructions. [Limit: >=0] [Units: vx]
int walkableRadius;
/// The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx]
int maxEdgeLen;
/// The maximum distance a simplfied contour's border edges should deviate
/// the original raw contour. [Limit: >=0] [Units: wu]
float maxSimplificationError;
/// The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx]
int minRegionArea;
/// Any regions with a span count smaller than this value will, if possible,
/// be merged with larger regions. [Limit: >=0] [Units: vx]
int mergeRegionArea;
/// The maximum number of vertices allowed for polygons generated during the
/// contour to polygon conversion process. [Limit: >= 3]
int maxVertsPerPoly;
/// Sets the sampling distance to use when generating the detail mesh.
/// (For height detail only.) [Limits: 0 or >= 0.9] [Units: wu]
float detailSampleDist;
/// The maximum distance the detail mesh surface should deviate from heightfield
/// data. (For height detail only.) [Limit: >=0] [Units: wu]
float detailSampleMaxError;
};
/// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax.
static const int RC_SPAN_HEIGHT_BITS = 13;
/// Defines the maximum value for rcSpan::smin and rcSpan::smax.
static const int RC_SPAN_MAX_HEIGHT = (1<<RC_SPAN_HEIGHT_BITS)-1;
/// The number of spans allocated per span spool.
/// @see rcSpanPool
static const int RC_SPANS_PER_POOL = 2048;
/// Represents a span in a heightfield.
/// @see rcHeightfield
struct rcSpan
{
unsigned int smin : 13; ///< The lower limit of the span. [Limit: < #smax]
unsigned int smax : 13; ///< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT]
unsigned int area : 6; ///< The area id assigned to the span.
rcSpan* next; ///< The next span higher up in column.
};
/// A memory pool used for quick allocation of spans within a heightfield.
/// @see rcHeightfield
struct rcSpanPool
{
rcSpanPool* next; ///< The next span pool.
rcSpan items[RC_SPANS_PER_POOL]; ///< Array of spans in the pool.
};
/// A dynamic heightfield representing obstructed space.
/// @ingroup recast
struct rcHeightfield
{
int width; ///< The width of the heightfield. (Along the x-axis in cell units.)
int height; ///< The height of the heightfield. (Along the z-axis in cell units.)
float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)]
float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)]
float cs; ///< The size of each cell. (On the xz-plane.)
float ch; ///< The height of each cell. (The minimum increment along the y-axis.)
rcSpan** spans; ///< Heightfield of spans (width*height).
rcSpanPool* pools; ///< Linked list of span pools.
rcSpan* freelist; ///< The next free span.
};
/// Provides information on the content of a cell column in a compact heightfield.
struct rcCompactCell
{
unsigned int index : 24; ///< Index to the first span in the column.
unsigned int count : 8; ///< Number of spans in the column.
};
/// Represents a span of unobstructed space within a compact heightfield.
struct rcCompactSpan
{
unsigned short y; ///< The lower extent of the span. (Measured from the heightfield's base.)
unsigned short reg; ///< The id of the region the span belongs to. (Or zero if not in a region.)
unsigned int con : 24; ///< Packed neighbor connection data.
unsigned int h : 8; ///< The height of the span. (Measured from #y.)
};
/// A compact, static heightfield representing unobstructed space.
/// @ingroup recast
struct rcCompactHeightfield
{
int width; ///< The width of the heightfield. (Along the x-axis in cell units.)
int height; ///< The height of the heightfield. (Along the z-axis in cell units.)
int spanCount; ///< The number of spans in the heightfield.
int walkableHeight; ///< The walkable height used during the build of the field. (See: rcConfig::walkableHeight)
int walkableClimb; ///< The walkable climb used during the build of the field. (See: rcConfig::walkableClimb)
int borderSize; ///< The AABB border size used during the build of the field. (See: rcConfig::borderSize)
unsigned short maxDistance; ///< The maximum distance value of any span within the field.
unsigned short maxRegions; ///< The maximum region id of any span within the field.
float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)]
float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)]
float cs; ///< The size of each cell. (On the xz-plane.)
float ch; ///< The height of each cell. (The minimum increment along the y-axis.)
rcCompactCell* cells; ///< Array of cells. [Size: #width*#height]
rcCompactSpan* spans; ///< Array of spans. [Size: #spanCount]
unsigned short* dist; ///< Array containing border distance data. [Size: #spanCount]
unsigned char* areas; ///< Array containing area id data. [Size: #spanCount]
};
/// Represents a heightfield layer within a layer set.
/// @see rcHeightfieldLayerSet
struct rcHeightfieldLayer
{
float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)]
float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)]
float cs; ///< The size of each cell. (On the xz-plane.)
float ch; ///< The height of each cell. (The minimum increment along the y-axis.)
int width; ///< The width of the heightfield. (Along the x-axis in cell units.)
int height; ///< The height of the heightfield. (Along the z-axis in cell units.)
int minx; ///< The minimum x-bounds of usable data.
int maxx; ///< The maximum x-bounds of usable data.
int miny; ///< The minimum y-bounds of usable data. (Along the z-axis.)
int maxy; ///< The maximum y-bounds of usable data. (Along the z-axis.)
int hmin; ///< The minimum height bounds of usable data. (Along the y-axis.)
int hmax; ///< The maximum height bounds of usable data. (Along the y-axis.)
unsigned char* heights; ///< The heightfield. [Size: (width - borderSize*2) * (h - borderSize*2)]
unsigned char* areas; ///< Area ids. [Size: Same as #heights]
unsigned char* cons; ///< Packed neighbor connection information. [Size: Same as #heights]
};
/// Represents a set of heightfield layers.
/// @ingroup recast
/// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet
struct rcHeightfieldLayerSet
{
rcHeightfieldLayer* layers; ///< The layers in the set. [Size: #nlayers]
int nlayers; ///< The number of layers in the set.
};
/// Represents a simple, non-overlapping contour in field space.
struct rcContour
{
int* verts; ///< Simplified contour vertex and connection data. [Size: 4 * #nverts]
int nverts; ///< The number of vertices in the simplified contour.
int* rverts; ///< Raw contour vertex and connection data. [Size: 4 * #nrverts]
int nrverts; ///< The number of vertices in the raw contour.
unsigned short reg; ///< The region id of the contour.
unsigned char area; ///< The area id of the contour.
};
/// Represents a group of related contours.
/// @ingroup recast
struct rcContourSet
{
rcContour* conts; ///< An array of the contours in the set. [Size: #nconts]
int nconts; ///< The number of contours in the set.
float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)]
float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)]
float cs; ///< The size of each cell. (On the xz-plane.)
float ch; ///< The height of each cell. (The minimum increment along the y-axis.)
int width; ///< The width of the set. (Along the x-axis in cell units.)
int height; ///< The height of the set. (Along the z-axis in cell units.)
int borderSize; ///< The AABB border size used to generate the source data from which the contours were derived.
};
/// Represents a polygon mesh suitable for use in building a navigation mesh.
/// @ingroup recast
struct rcPolyMesh
{
unsigned short* verts; ///< The mesh vertices. [Form: (x, y, z) * #nverts]
unsigned short* polys; ///< Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp]
unsigned short* regs; ///< The region id assigned to each polygon. [Length: #maxpolys]
unsigned short* flags; ///< The user defined flags for each polygon. [Length: #maxpolys]
unsigned char* areas; ///< The area id assigned to each polygon. [Length: #maxpolys]
int nverts; ///< The number of vertices.
int npolys; ///< The number of polygons.
int maxpolys; ///< The number of allocated polygons.
int nvp; ///< The maximum number of vertices per polygon.
float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)]
float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)]
float cs; ///< The size of each cell. (On the xz-plane.)
float ch; ///< The height of each cell. (The minimum increment along the y-axis.)
int borderSize; ///< The AABB border size used to generate the source data from which the mesh was derived.
};
/// Contains triangle meshes that represent detailed height data associated
/// with the polygons in its associated polygon mesh object.
/// @ingroup recast
struct rcPolyMeshDetail
{
unsigned int* meshes; ///< The sub-mesh data. [Size: 4*#nmeshes]
float* verts; ///< The mesh vertices. [Size: 3*#nverts]
unsigned char* tris; ///< The mesh triangles. [Size: 4*#ntris]
int nmeshes; ///< The number of sub-meshes defined by #meshes.
int nverts; ///< The number of vertices in #verts.
int ntris; ///< The number of triangles in #tris.
};
/// @name Allocation Functions
/// Functions used to allocate and de-allocate Recast objects.
/// @see rcAllocSetCustom
/// @{
/// Allocates a heightfield object using the Recast allocator.
/// @return A heightfield that is ready for initialization, or null on failure.
/// @ingroup recast
/// @see rcCreateHeightfield, rcFreeHeightField
rcHeightfield* rcAllocHeightfield();
/// Frees the specified heightfield object using the Recast allocator.
/// @param[in] hf A heightfield allocated using #rcAllocHeightfield
/// @ingroup recast
/// @see rcAllocHeightfield
void rcFreeHeightField(rcHeightfield* hf);
/// Allocates a compact heightfield object using the Recast allocator.
/// @return A compact heightfield that is ready for initialization, or null on failure.
/// @ingroup recast
/// @see rcBuildCompactHeightfield, rcFreeCompactHeightfield
rcCompactHeightfield* rcAllocCompactHeightfield();
/// Frees the specified compact heightfield object using the Recast allocator.
/// @param[in] chf A compact heightfield allocated using #rcAllocCompactHeightfield
/// @ingroup recast
/// @see rcAllocCompactHeightfield
void rcFreeCompactHeightfield(rcCompactHeightfield* chf);
/// Allocates a heightfield layer set using the Recast allocator.
/// @return A heightfield layer set that is ready for initialization, or null on failure.
/// @ingroup recast
/// @see rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet
rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet();
/// Frees the specified heightfield layer set using the Recast allocator.
/// @param[in] lset A heightfield layer set allocated using #rcAllocHeightfieldLayerSet
/// @ingroup recast
/// @see rcAllocHeightfieldLayerSet
void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset);
/// Allocates a contour set object using the Recast allocator.
/// @return A contour set that is ready for initialization, or null on failure.
/// @ingroup recast
/// @see rcBuildContours, rcFreeContourSet
rcContourSet* rcAllocContourSet();
/// Frees the specified contour set using the Recast allocator.
/// @param[in] cset A contour set allocated using #rcAllocContourSet
/// @ingroup recast
/// @see rcAllocContourSet
void rcFreeContourSet(rcContourSet* cset);
/// Allocates a polygon mesh object using the Recast allocator.
/// @return A polygon mesh that is ready for initialization, or null on failure.
/// @ingroup recast
/// @see rcBuildPolyMesh, rcFreePolyMesh
rcPolyMesh* rcAllocPolyMesh();
/// Frees the specified polygon mesh using the Recast allocator.
/// @param[in] pmesh A polygon mesh allocated using #rcAllocPolyMesh
/// @ingroup recast
/// @see rcAllocPolyMesh
void rcFreePolyMesh(rcPolyMesh* pmesh);
/// Allocates a detail mesh object using the Recast allocator.
/// @return A detail mesh that is ready for initialization, or null on failure.
/// @ingroup recast
/// @see rcBuildPolyMeshDetail, rcFreePolyMeshDetail
rcPolyMeshDetail* rcAllocPolyMeshDetail();
/// Frees the specified detail mesh using the Recast allocator.
/// @param[in] dmesh A detail mesh allocated using #rcAllocPolyMeshDetail
/// @ingroup recast
/// @see rcAllocPolyMeshDetail
void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh);
/// @}
/// Heighfield border flag.
/// If a heightfield region ID has this bit set, then the region is a border
/// region and its spans are considered unwalkable.
/// (Used during the region and contour build process.)
/// @see rcCompactSpan::reg
static const unsigned short RC_BORDER_REG = 0x8000;
/// Border vertex flag.
/// If a region ID has this bit set, then the associated element lies on
/// a tile border. If a contour vertex's region ID has this bit set, the
/// vertex will later be removed in order to match the segments and vertices
/// at tile boundaries.
/// (Used during the build process.)
/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
static const int RC_BORDER_VERTEX = 0x10000;
/// Area border flag.
/// If a region ID has this bit set, then the associated element lies on
/// the border of an area.
/// (Used during the region and contour build process.)
/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts
static const int RC_AREA_BORDER = 0x20000;
/// Contour build flags.
/// @see rcBuildContours
enum rcBuildContoursFlags
{
RC_CONTOUR_TESS_WALL_EDGES = 0x01, ///< Tessellate solid (impassable) edges during contour simplification.
RC_CONTOUR_TESS_AREA_EDGES = 0x02, ///< Tessellate edges between areas during contour simplification.
};
/// Applied to the region id field of contour vertices in order to extract the region id.
/// The region id field of a vertex may have several flags applied to it. So the
/// fields value can't be used directly.
/// @see rcContour::verts, rcContour::rverts
static const int RC_CONTOUR_REG_MASK = 0xffff;
/// An value which indicates an invalid index within a mesh.
/// @note This does not necessarily indicate an error.
/// @see rcPolyMesh::polys
static const unsigned short RC_MESH_NULL_IDX = 0xffff;
/// Represents the null area.
/// When a data element is given this value it is considered to no longer be
/// assigned to a usable area. (E.g. It is unwalkable.)
static const unsigned char RC_NULL_AREA = 0;
/// The default area id used to indicate a walkable polygon.
/// This is also the maximum allowed area id, and the only non-null area id
/// recognized by some steps in the build process.
static const unsigned char RC_WALKABLE_AREA = 63;
/// The value returned by #rcGetCon if the specified direction is not connected
/// to another span. (Has no neighbor.)
static const int RC_NOT_CONNECTED = 0x3f;
/// @name General helper functions
/// @{
/// Swaps the values of the two parameters.
/// @param[in,out] a Value A
/// @param[in,out] b Value B
template<class T> inline void rcSwap(T& a, T& b) { T t = a; a = b; b = t; }
/// Returns the minimum of two values.
/// @param[in] a Value A
/// @param[in] b Value B
/// @return The minimum of the two values.
template<class T> inline T rcMin(T a, T b) { return a < b ? a : b; }
/// Returns the maximum of two values.
/// @param[in] a Value A
/// @param[in] b Value B
/// @return The maximum of the two values.
template<class T> inline T rcMax(T a, T b) { return a > b ? a : b; }
/// Returns the absolute value.
/// @param[in] a The value.
/// @return The absolute value of the specified value.
template<class T> inline T rcAbs(T a) { return a < 0 ? -a : a; }
/// Return the square of a value.
/// @param[in] a The value.
/// @return The square of the value.
template<class T> inline T rcSqr(T a) { return a*a; }
/// Clamps the value to the specified range.
/// @param[in] v The value to clamp.
/// @param[in] mn The minimum permitted return value.
/// @param[in] mx The maximum permitted return value.
/// @return The value, clamped to the specified range.
template<class T> inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
/// Returns the square root of the value.
/// @param[in] x The value.
/// @return The square root of the vlaue.
float rcSqrt(float x);
/// Not documented. Internal use only.
/// @param[in] x Not documented.
/// @return Not documented.
inline int rcAlign4(int x) { return (x+3) & ~3; }
/// @}
/// @name Vector helper functions.
/// @{
/// Derives the cross product of two vectors. (v1 x v2)
/// @param[out] dest The cross product. [(x, y, z)]
/// @param[in] v1 A Vector [(x, y, z)]
/// @param[in] v2 A vector [(x, y, z)]
inline void rcVcross(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
dest[1] = v1[2]*v2[0] - v1[0]*v2[2];
dest[2] = v1[0]*v2[1] - v1[1]*v2[0];
}
/// Derives the dot product of two vectors. (v1 . v2)
/// @param[in] v1 A Vector [(x, y, z)]
/// @param[in] v2 A vector [(x, y, z)]
/// @return The dot product.
inline float rcVdot(const float* v1, const float* v2)
{
return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
}
/// Performs a scaled vector addition. (v1 + (v2 * s))
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] v1 The base vector [(x, y, z)]
/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)]
/// @param[in] s The amount to scale @p v2 by before adding to @p v1.
inline void rcVmad(float* dest, const float* v1, const float* v2, const float s)
{
dest[0] = v1[0]+v2[0]*s;
dest[1] = v1[1]+v2[1]*s;
dest[2] = v1[2]+v2[2]*s;
}
/// Performs a vector addition. (@p v1 + @p v2)
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] v1 The base vector [(x, y, z)]
/// @param[in] v2 The vector to add to @p v1. [(x, y, z)]
inline void rcVadd(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]+v2[0];
dest[1] = v1[1]+v2[1];
dest[2] = v1[2]+v2[2];
}
/// Performs a vector subtraction. (@p v1 - @p v2)
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] v1 The base vector [(x, y, z)]
/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)]
inline void rcVsub(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]-v2[0];
dest[1] = v1[1]-v2[1];
dest[2] = v1[2]-v2[2];
}
/// Selects the minimum value of each element from the specified vectors.
/// @param[in, out] mn A vector. (Will be updated with the result.) [(x, y, z)]
/// @param[in] v A vector. [(x, y, z)]
inline void rcVmin(float* mn, const float* v)
{
mn[0] = rcMin(mn[0], v[0]);
mn[1] = rcMin(mn[1], v[1]);
mn[2] = rcMin(mn[2], v[2]);
}
/// Selects the maximum value of each element from the specified vectors.
/// @param[in, out] mx A vector. (Will be updated with the result.) [(x, y, z)]
/// @param[in] v A vector. [(x, y, z)]
inline void rcVmax(float* mx, const float* v)
{
mx[0] = rcMax(mx[0], v[0]);
mx[1] = rcMax(mx[1], v[1]);
mx[2] = rcMax(mx[2], v[2]);
}
/// Performs a vector copy.
/// @param[out] dest The result. [(x, y, z)]
/// @param[in] v The vector to copy [(x, y, z)]
inline void rcVcopy(float* dest, const float* v)
{
dest[0] = v[0];
dest[1] = v[1];
dest[2] = v[2];
}
/// Returns the distance between two points.
/// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)]
/// @return The distance between the two points.
inline float rcVdist(const float* v1, const float* v2)
{
float dx = v2[0] - v1[0];
float dy = v2[1] - v1[1];
float dz = v2[2] - v1[2];
return rcSqrt(dx*dx + dy*dy + dz*dz);
}
/// Returns the square of the distance between two points.
/// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)]
/// @return The square of the distance between the two points.
inline float rcVdistSqr(const float* v1, const float* v2)
{
float dx = v2[0] - v1[0];
float dy = v2[1] - v1[1];
float dz = v2[2] - v1[2];
return dx*dx + dy*dy + dz*dz;
}
/// Normalizes the vector.
/// @param[in,out] v The vector to normalize. [(x, y, z)]
inline void rcVnormalize(float* v)
{
float d = 1.0f / rcSqrt(rcSqr(v[0]) + rcSqr(v[1]) + rcSqr(v[2]));
v[0] *= d;
v[1] *= d;
v[2] *= d;
}
/// Not documented. Internal use only.
/// @param[in] p0 Not documented.
/// @param[in] p1 Not documented.
/// @return Not documented.
inline bool rcVequal(const float* p0, const float* p1)
{
static const float thr = rcSqr(1.0f/16384.0f);
const float d = rcVdistSqr(p0, p1);
return d < thr;
}
/// @}
/// @name Heightfield Functions
/// @see rcHeightfield
/// @{
/// Calculates the bounding box of an array of vertices.
/// @ingroup recast
/// @param[in] verts An array of vertices. [(x, y, z) * @p nv]
/// @param[in] nv The number of vertices in the @p verts array.
/// @param[out] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
/// @param[out] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu]
void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax);
/// Calculates the grid size based on the bounding box and grid cell size.
/// @ingroup recast
/// @param[in] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
/// @param[in] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu]
/// @param[in] cs The xz-plane cell size. [Limit: > 0] [Units: wu]
/// @param[out] w The width along the x-axis. [Limit: >= 0] [Units: vx]
/// @param[out] h The height along the z-axis. [Limit: >= 0] [Units: vx]
void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h);
/// Initializes a new heightfield.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in,out] hf The allocated heightfield to initialize.
/// @param[in] width The width of the field along the x-axis. [Limit: >= 0] [Units: vx]
/// @param[in] height The height of the field along the z-axis. [Limit: >= 0] [Units: vx]
/// @param[in] bmin The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu]
/// @param[in] bmax The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu]
/// @param[in] cs The xz-plane cell size to use for the field. [Limit: > 0] [Units: wu]
/// @param[in] ch The y-axis cell size to use for field. [Limit: > 0] [Units: wu]
bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height,
const float* bmin, const float* bmax,
float cs, float ch);
/// Sets the area id of all triangles with a slope below the specified value
/// to #RC_WALKABLE_AREA.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. [Limits: 0 <= value < 90]
/// [Units: Degrees]
/// @param[in] verts The vertices. [(x, y, z) * @p nv]
/// @param[in] nv The number of vertices.
/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt]
/// @param[in] nt The number of triangles.
/// @param[out] areas The triangle area ids. [Length: >= @p nt]
void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv,
const int* tris, int nt, unsigned char* areas);
/// Sets the area id of all triangles with a slope greater than or equal to the specified value to #RC_NULL_AREA.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. [Limits: 0 <= value < 90]
/// [Units: Degrees]
/// @param[in] verts The vertices. [(x, y, z) * @p nv]
/// @param[in] nv The number of vertices.
/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt]
/// @param[in] nt The number of triangles.
/// @param[out] areas The triangle area ids. [Length: >= @p nt]
void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv,
const int* tris, int nt, unsigned char* areas);
/// Adds a span to the specified heightfield.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in,out] hf An initialized heightfield.
/// @param[in] x The width index where the span is to be added.
/// [Limits: 0 <= value < rcHeightfield::width]
/// @param[in] y The height index where the span is to be added.
/// [Limits: 0 <= value < rcHeightfield::height]
/// @param[in] smin The minimum height of the span. [Limit: < @p smax] [Units: vx]
/// @param[in] smax The maximum height of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] [Units: vx]
/// @param[in] area The area id of the span. [Limit: <= #RC_WALKABLE_AREA)
/// @param[in] flagMergeThr The merge theshold. [Limit: >= 0] [Units: vx]
void rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned char area, const int flagMergeThr);
/// Rasterizes a triangle into the specified heightfield.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] v0 Triangle vertex 0 [(x, y, z)]
/// @param[in] v1 Triangle vertex 1 [(x, y, z)]
/// @param[in] v2 Triangle vertex 2 [(x, y, z)]
/// @param[in] area The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA]
/// @param[in, out] solid An initialized heightfield.
/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
/// [Limit: >= 0] [Units: vx]
void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
const unsigned char area, rcHeightfield& solid,
const int flagMergeThr = 1);
/// Rasterizes an indexed triangle mesh into the specified heightfield.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] verts The vertices. [(x, y, z) * @p nv]
/// @param[in] nv The number of vertices.
/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt]
/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
/// @param[in] nt The number of triangles.
/// @param[in, out] solid An initialized heightfield.
/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
/// [Limit: >= 0] [Units: vx]
void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
const int* tris, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr = 1);
/// Rasterizes an indexed triangle mesh into the specified heightfield.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] verts The vertices. [(x, y, z) * @p nv]
/// @param[in] nv The number of vertices.
/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt]
/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
/// @param[in] nt The number of triangles.
/// @param[in, out] solid An initialized heightfield.
/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
/// [Limit: >= 0] [Units: vx]
void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv,
const unsigned short* tris, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr = 1);
/// Rasterizes triangles into the specified heightfield.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] verts The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt]
/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt]
/// @param[in] nt The number of triangles.
/// @param[in, out] solid An initialized heightfield.
/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag.
/// [Limit: >= 0] [Units: vx]
void rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
rcHeightfield& solid, const int flagMergeThr = 1);
/// Marks non-walkable spans as walkable if their maximum is within @p walkableClimp of a walkable neihbor.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable.
/// [Limit: >=0] [Units: vx]
/// @param[in,out] solid A fully built heightfield. (All spans have been added.)
void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid);
/// Marks spans that are ledges as not-walkable.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to
/// be considered walkable. [Limit: >= 3] [Units: vx]
/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable.
/// [Limit: >=0] [Units: vx]
/// @param[in,out] solid A fully built heightfield. (All spans have been added.)
void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight,
const int walkableClimb, rcHeightfield& solid);
/// Marks walkable spans as not walkable if the clearence above the span is less than the specified height.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to
/// be considered walkable. [Limit: >= 3] [Units: vx]
/// @param[in,out] solid A fully built heightfield. (All spans have been added.)
void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid);
/// Returns the number of spans contained in the specified heightfield.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] hf An initialized heightfield.
/// @returns The number of spans in the heightfield.
int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf);
/// @}
/// @name Compact Heightfield Functions
/// @see rcCompactHeightfield
/// @{
/// Builds a compact heightfield representing open space, from a heightfield representing solid space.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area
/// to be considered walkable. [Limit: >= 3] [Units: vx]
/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable.
/// [Limit: >=0] [Units: vx]
/// @param[in] hf The heightfield to be compacted.
/// @param[out] chf The resulting compact heightfield. (Must be pre-allocated.)
/// @returns True if the operation completed successfully.
bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb,
rcHeightfield& hf, rcCompactHeightfield& chf);
/// Erodes the walkable area within the heightfield by the specified radius.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] radius The radius of erosion. [Limits: 0 < value < 255] [Units: vx]
/// @param[in,out] chf The populated compact heightfield to erode.
/// @returns True if the operation completed successfully.
bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf);
/// Applies a median filter to walkable area types (based on area id), removing noise.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in,out] chf A populated compact heightfield.
/// @returns True if the operation completed successfully.
bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf);
/// Applies an area id to all spans within the specified bounding box. (AABB)
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] bmin The minimum of the bounding box. [(x, y, z)]
/// @param[in] bmax The maximum of the bounding box. [(x, y, z)]
/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
/// @param[in,out] chf A populated compact heightfield.
void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
rcCompactHeightfield& chf);
/// Applies the area id to the all spans within the specified convex polygon.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] verts The vertices of the polygon [Fomr: (x, y, z) * @p nverts]
/// @param[in] nverts The number of vertices in the polygon.
/// @param[in] hmin The height of the base of the polygon.
/// @param[in] hmax The height of the top of the polygon.
/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
/// @param[in,out] chf A populated compact heightfield.
void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
const float hmin, const float hmax, unsigned char areaId,
rcCompactHeightfield& chf);
/// Applies the area id to all spans within the specified cylinder.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] pos The center of the base of the cylinder. [Form: (x, y, z)]
/// @param[in] r The radius of the cylinder.
/// @param[in] h The height of the cylinder.
/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA]
/// @param[in,out] chf A populated compact heightfield.
void rcMarkCylinderArea(rcContext* ctx, const float* pos,
const float r, const float h, unsigned char areaId,
rcCompactHeightfield& chf);
/// Builds the distance field for the specified compact heightfield.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in,out] chf A populated compact heightfield.
/// @returns True if the operation completed successfully.
bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf);
/// Builds region data for the heightfield using watershed partitioning.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in,out] chf A populated compact heightfield.
/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx]
/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. [Limit: >=0]
/// [Units: vx].
/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible,
/// be merged with larger regions. [Limit: >=0] [Units: vx]
/// @returns True if the operation completed successfully.
bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea);
/// Builds region data for the heightfield using simple monotone partitioning.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in,out] chf A populated compact heightfield.
/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx]
/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. [Limit: >=0]
/// [Units: vx].
/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible,
/// be merged with larger regions. [Limit: >=0] [Units: vx]
/// @returns True if the operation completed successfully.
bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea);
/// Sets the neighbor connection data for the specified direction.
/// @param[in] s The span to update.
/// @param[in] dir The direction to set. [Limits: 0 <= value < 4]
/// @param[in] i The index of the neighbor span.
inline void rcSetCon(rcCompactSpan& s, int dir, int i)
{
const unsigned int shift = (unsigned int)dir*6;
unsigned int con = s.con;
s.con = (con & ~(0x3f << shift)) | (((unsigned int)i & 0x3f) << shift);
}
/// Gets neighbor connection data for the specified direction.
/// @param[in] s The span to check.
/// @param[in] dir The direction to check. [Limits: 0 <= value < 4]
/// @return The neighbor connection data for the specified direction,
/// or #RC_NOT_CONNECTED if there is no connection.
inline int rcGetCon(const rcCompactSpan& s, int dir)
{
const unsigned int shift = (unsigned int)dir*6;
return (s.con >> shift) & 0x3f;
}
/// Gets the standard width (x-axis) offset for the specified direction.
/// @param[in] dir The direction. [Limits: 0 <= value < 4]
/// @return The width offset to apply to the current cell position to move
/// in the direction.
inline int rcGetDirOffsetX(int dir)
{
const int offset[4] = { -1, 0, 1, 0, };
return offset[dir&0x03];
}
/// Gets the standard height (z-axis) offset for the specified direction.
/// @param[in] dir The direction. [Limits: 0 <= value < 4]
/// @return The height offset to apply to the current cell position to move
/// in the direction.
inline int rcGetDirOffsetY(int dir)
{
const int offset[4] = { 0, 1, 0, -1 };
return offset[dir&0x03];
}
/// @}
/// @name Layer, Contour, Polymesh, and Detail Mesh Functions
/// @see rcHeightfieldLayer, rcContourSet, rcPolyMesh, rcPolyMeshDetail
/// @{
/// Builds a layer set from the specified compact heightfield.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] chf A fully built compact heightfield.
/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0]
/// [Units: vx]
/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area
/// to be considered walkable. [Limit: >= 3] [Units: vx]
/// @param[out] lset The resulting layer set. (Must be pre-allocated.)
/// @returns True if the operation completed successfully.
bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
const int borderSize, const int walkableHeight,
rcHeightfieldLayerSet& lset);
/// Builds a contour set from the region outlines in the provided compact heightfield.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] chf A fully built compact heightfield.
/// @param[in] maxError The maximum distance a simplfied contour's border edges should deviate
/// the original raw contour. [Limit: >=0] [Units: wu]
/// @param[in] maxEdgeLen The maximum allowed length for contour edges along the border of the mesh.
/// [Limit: >=0] [Units: vx]
/// @param[out] cset The resulting contour set. (Must be pre-allocated.)
/// @param[in] buildFlags The build flags. (See: #rcBuildContoursFlags)
/// @returns True if the operation completed successfully.
bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
const float maxError, const int maxEdgeLen,
rcContourSet& cset, const int flags = RC_CONTOUR_TESS_WALL_EDGES);
/// Builds a polygon mesh from the provided contours.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] cset A fully built contour set.
/// @param[in] nvp The maximum number of vertices allowed for polygons generated during the
/// contour to polygon conversion process. [Limit: >= 3]
/// @param[out] mesh The resulting polygon mesh. (Must be re-allocated.)
/// @returns True if the operation completed successfully.
bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh);
/// Merges multiple polygon meshes into a single mesh.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] meshes An array of polygon meshes to merge. [Size: @p nmeshes]
/// @param[in] nmeshes The number of polygon meshes in the meshes array.
/// @param[in] mesh The resulting polygon mesh. (Must be pre-allocated.)
/// @returns True if the operation completed successfully.
bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh);
/// Builds a detail mesh from the provided polygon mesh.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] mesh A fully built polygon mesh.
/// @param[in] chf The compact heightfield used to build the polygon mesh.
/// @param[in] sampleDist Sets the distance to use when samping the heightfield. [Limit: >=0] [Units: wu]
/// @param[in] sampleMaxError The maximum distance the detail mesh surface should deviate from
/// heightfield data. [Limit: >=0] [Units: wu]
/// @param[out] dmesh The resulting detail mesh. (Must be pre-allocated.)
/// @returns True if the operation completed successfully.
bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf,
const float sampleDist, const float sampleMaxError,
rcPolyMeshDetail& dmesh);
/// Merges multiple detail meshes into a single detail mesh.
/// @ingroup recast
/// @param[in,out] ctx The build context to use during the operation.
/// @param[in] meshes An array of detail meshes to merge. [Size: @p nmeshes]
/// @param[in] nmeshes The number of detail meshes in the meshes array.
/// @param[out] mesh The resulting detail mesh. (Must be pre-allocated.)
/// @returns True if the operation completed successfully.
bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh);
bool buildMeshAdjacency(unsigned short* polys, const int npolys, const int nverts, const int vertsPerPoly);
/// @}
#endif // RECAST_H
///////////////////////////////////////////////////////////////////////////
// Due to the large amount of detail documentation for this file,
// the content normally located at the end of the header file has been separated
// out to a file in /Docs/Extern.
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