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This commit is contained in:
hondacrx
2017-12-13 14:35:01 -05:00
parent 4b2675944b
commit bc7dee3c8d
14 changed files with 73 additions and 8930 deletions
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Source/Framework/RecastDetour/Recast/Recast.cs
-1692
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Source/Framework/RecastDetour/Recast/RecastArea.cs
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using System;
using System.Diagnostics;
public static partial class Recast {
/// @par
///
/// Basically, any spans that are closer to a boundary or obstruction than the specified radius
/// are marked as unwalkable.
///
/// This method is usually called immediately after the heightfield has been built.
///
/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
public static bool rcErodeWalkableArea(rcContext ctx, int radius, rcCompactHeightfield chf) {
Debug.Assert(ctx != null, "rcContext is null");
int w = chf.width;
int h = chf.height;
ctx.startTimer(rcTimerLabel.RC_TIMER_ERODE_AREA);
byte[] dist = new byte[chf.spanCount];//(byte*)rcAlloc(sizeof(byte)*chf.spanCount, RC_ALLOC_TEMP);
if (dist == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "erodeWalkableArea: Out of memory 'dist' " + chf.spanCount);
return false;
}
// Init distance.
for (int i=0; i < chf.spanCount; ++i) {
dist[i] = 0xff;
}
// memset(dist, 0xff, sizeof(byte)*chf.spanCount);
// Mark boundary cells.
for (int y = 0; y < h; ++y) {
for (int x = 0; x < w; ++x) {
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
if (chf.areas[i] == RC_NULL_AREA) {
dist[i] = 0;
} else {
rcCompactSpan s = chf.spans[i];
int nc = 0;
for (int dir = 0; dir < 4; ++dir) {
if (rcGetCon(s, dir) != RC_NOT_CONNECTED) {
int nx = x + rcGetDirOffsetX(dir);
int ny = y + rcGetDirOffsetY(dir);
int nidx = (int)chf.cells[nx + ny * w].index + rcGetCon(s, dir);
if (chf.areas[nidx] != RC_NULL_AREA) {
nc++;
}
}
}
// At least one missing neighbour.
if (nc != 4)
dist[i] = 0;
}
}
}
}
byte nd = 0;
// Pass 1
for (int y = 0; y < h; ++y) {
for (int x = 0; x < w; ++x) {
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if (rcGetCon(s, 0) != RC_NOT_CONNECTED) {
// (-1,0)
int ax = x + rcGetDirOffsetX(0);
int ay = y + rcGetDirOffsetY(0);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 0);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
dist[i] = nd;
// (-1,-1)
if (rcGetCon(aSpan, 3) != RC_NOT_CONNECTED) {
int aax = ax + rcGetDirOffsetX(3);
int aay = ay + rcGetDirOffsetY(3);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 3);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
if (rcGetCon(s, 3) != RC_NOT_CONNECTED) {
// (0,-1)
int ax = x + rcGetDirOffsetX(3);
int ay = y + rcGetDirOffsetY(3);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 3);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
dist[i] = nd;
// (1,-1)
if (rcGetCon(aSpan, 2) != RC_NOT_CONNECTED) {
int aax = ax + rcGetDirOffsetX(2);
int aay = ay + rcGetDirOffsetY(2);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 2);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
}
}
}
// Pass 2
for (int y = h - 1; y >= 0; --y) {
for (int x = w - 1; x >= 0; --x) {
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if (rcGetCon(s, 2) != RC_NOT_CONNECTED) {
// (1,0)
int ax = x + rcGetDirOffsetX(2);
int ay = y + rcGetDirOffsetY(2);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 2);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
dist[i] = nd;
// (1,1)
if (rcGetCon(aSpan, 1) != RC_NOT_CONNECTED) {
int aax = ax + rcGetDirOffsetX(1);
int aay = ay + rcGetDirOffsetY(1);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 1);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
if (rcGetCon(s, 1) != RC_NOT_CONNECTED) {
// (0,1)
int ax = x + rcGetDirOffsetX(1);
int ay = y + rcGetDirOffsetY(1);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 1);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
dist[i] = nd;
// (-1,1)
if (rcGetCon(aSpan, 0) != RC_NOT_CONNECTED) {
int aax = ax + rcGetDirOffsetX(0);
int aay = ay + rcGetDirOffsetY(0);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 0);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
}
}
}
byte thr = (byte)(radius * 2);
for (int i = 0; i < chf.spanCount; ++i)
if (dist[i] < thr)
chf.areas[i] = RC_NULL_AREA;
ctx.stopTimer(rcTimerLabel.RC_TIMER_ERODE_AREA);
return true;
}
static void insertSort(byte[] a, int n) {
int i, j;
for (i = 1; i < n; i++) {
byte value = a[i];
for (j = i - 1; j >= 0 && a[j] > value; j--)
a[j + 1] = a[j];
a[j + 1] = value;
}
}
/// @par
///
/// This filter is usually applied after applying area id's using functions
/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
///
/// @see rcCompactHeightfield
public static bool rcMedianFilterWalkableArea(rcContext ctx, rcCompactHeightfield chf) {
Debug.Assert(ctx != null, "rcContext is null");
int w = chf.width;
int h = chf.height;
ctx.startTimer(rcTimerLabel.RC_TIMER_MEDIAN_AREA);
byte[] areas = new byte[chf.spanCount];//(byte*)rcAlloc(sizeof(byte)*chf.spanCount, RC_ALLOC_TEMP);
if (areas == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "medianFilterWalkableArea: Out of memory 'areas' " + chf.spanCount);
return false;
}
// Init distance.
for (int i = 0; i < chf.spanCount; ++i) {
areas[i] = 0xff;
}
//memset(areas, 0xff, sizeof(byte)*chf.spanCount);
for (int y = 0; y < h; ++y) {
for (int x = 0; x < w; ++x) {
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA) {
areas[i] = chf.areas[i];
continue;
}
byte[] nei = new byte[9];
for (int j = 0; j < 9; ++j)
nei[j] = chf.areas[i];
for (int dir = 0; dir < 4; ++dir) {
if (rcGetCon(s, dir) != RC_NOT_CONNECTED) {
int ax = x + rcGetDirOffsetX(dir);
int ay = y + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, dir);
if (chf.areas[ai] != RC_NULL_AREA)
nei[dir * 2 + 0] = chf.areas[ai];
rcCompactSpan aSpan = chf.spans[ai];
int dir2 = (dir + 1) & 0x3;
if (rcGetCon(aSpan, dir2) != RC_NOT_CONNECTED) {
int ax2 = ax + rcGetDirOffsetX(dir2);
int ay2 = ay + rcGetDirOffsetY(dir2);
int ai2 = (int)chf.cells[ax2 + ay2 * w].index + rcGetCon(aSpan, dir2);
if (chf.areas[ai2] != RC_NULL_AREA)
nei[dir * 2 + 1] = chf.areas[ai2];
}
}
}
insertSort(nei, 9);
areas[i] = nei[4];
}
}
}
chf.areas = areas;
//memcpy(chf.areas, areas, sizeof(byte)*chf.spanCount);
//rcFree(areas);
ctx.stopTimer(rcTimerLabel.RC_TIMER_MEDIAN_AREA);
return true;
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
public static void rcMarkBoxArea(rcContext ctx, float[] bmin, float[] bmax, byte areaId,
rcCompactHeightfield chf) {
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_MARK_BOX_AREA);
int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs);
int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch);
int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs);
int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs);
int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch);
int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs);
if (maxx < 0) return;
if (minx >= chf.width) return;
if (maxz < 0) return;
if (minz >= chf.height) return;
if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width - 1;
if (minz < 0) minz = 0;
if (maxz >= chf.height) maxz = chf.height - 1;
for (int z = minz; z <= maxz; ++z) {
for (int x = minx; x <= maxx; ++x) {
rcCompactCell c = chf.cells[x + z * chf.width];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if ((int)s.y >= miny && (int)s.y <= maxy) {
if (chf.areas[i] != RC_NULL_AREA)
chf.areas[i] = areaId;
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_MARK_BOX_AREA);
}
public static bool pointInPoly(int nvert, float[] verts, float[] p) {
bool c = false;
int i = 0;
int j = 0;
for (i = 0, j = nvert - 1; i < nvert; j = i++) {
int viStart = i * 3;
int vjStart = j * 3;
if (((verts[viStart + 2] > p[2]) != (verts[vjStart + 2] > p[2])) &&
(p[0] < (verts[vjStart + 0] - verts[viStart + 0]) * (p[2] - verts[viStart + 2]) / (verts[vjStart + 2] - verts[viStart + 2]) + verts[viStart + 0])) {
c = !c;
}
}
return c;
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// The y-values of the polygon vertices are ignored. So the polygon is effectively
/// projected onto the xz-plane at @p hmin, then extruded to @p hmax.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
public static void rcMarkConvexPolyArea(rcContext ctx, float[] verts, int nverts,
float hmin, float hmax, byte areaId,
rcCompactHeightfield chf) {
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_MARK_CONVEXPOLY_AREA);
float[] bmin = new float[3];
float[] bmax = new float[3];
rcVcopy(bmin, verts);
rcVcopy(bmax, verts);
for (int i = 1; i < nverts; ++i) {
int vStart = i * 3;
rcVmin(bmin, 0, verts, vStart);
rcVmax(bmax, 0, verts, vStart);
}
bmin[1] = hmin;
bmax[1] = hmax;
int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs);
int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch);
int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs);
int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs);
int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch);
int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs);
if (maxx < 0) return;
if (minx >= chf.width) return;
if (maxz < 0) return;
if (minz >= chf.height) return;
if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width - 1;
if (minz < 0) minz = 0;
if (maxz >= chf.height) maxz = chf.height - 1;
// TODO: Optimize.
for (int z = minz; z <= maxz; ++z) {
for (int x = minx; x <= maxx; ++x) {
rcCompactCell c = chf.cells[x + z * chf.width];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA)
continue;
if ((int)s.y >= miny && (int)s.y <= maxy) {
float[] p = new float[3];
p[0] = chf.bmin[0] + (x + 0.5f) * chf.cs;
p[1] = 0;
p[2] = chf.bmin[2] + (z + 0.5f) * chf.cs;
if (pointInPoly(nverts, verts, p)) {
chf.areas[i] = areaId;
}
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_MARK_CONVEXPOLY_AREA);
}
static int rcOffsetPoly(float[] verts, int nverts, float offset,
float[] outVerts, int maxOutVerts) {
const float MITER_LIMIT = 1.20f;
int n = 0;
for (int i = 0; i < nverts; i++) {
int a = (i + nverts - 1) % nverts;
int b = i;
int c = (i + 1) % nverts;
int vaStart = a * 3;
int vbStart = b * 3;
int vcStart = c * 3;
float dx0 = verts[vbStart + 0] - verts[vaStart + 0];
float dy0 = verts[vbStart + 2] - verts[vaStart + 2];
float d0 = dx0 * dx0 + dy0 * dy0;
if (d0 > 1e-6f) {
d0 = 1.0f / (float)Math.Sqrt(d0);
dx0 *= d0;
dy0 *= d0;
}
float dx1 = verts[vcStart + 0] - verts[vbStart + 0];
float dy1 = verts[vcStart + 2] - verts[vbStart + 2];
float d1 = dx1 * dx1 + dy1 * dy1;
if (d1 > 1e-6f) {
d1 = 1.0f / (float)Math.Sqrt(d1);
dx1 *= d1;
dy1 *= d1;
}
float dlx0 = -dy0;
float dly0 = dx0;
float dlx1 = -dy1;
float dly1 = dx1;
float cross = dx1 * dy0 - dx0 * dy1;
float dmx = (dlx0 + dlx1) * 0.5f;
float dmy = (dly0 + dly1) * 0.5f;
float dmr2 = dmx * dmx + dmy * dmy;
bool bevel = dmr2 * MITER_LIMIT * MITER_LIMIT < 1.0f;
if (dmr2 > 1e-6f) {
float scale = 1.0f / dmr2;
dmx *= scale;
dmy *= scale;
}
if (bevel && cross < 0.0f) {
if (n + 2 >= maxOutVerts)
return 0;
float d = (1.0f - (dx0 * dx1 + dy0 * dy1)) * 0.5f;
outVerts[n * 3 + 0] = verts[vbStart + 0] + (-dlx0 + dx0 * d) * offset;
outVerts[n * 3 + 1] = verts[vbStart + 1];
outVerts[n * 3 + 2] = verts[vbStart + 2] + (-dly0 + dy0 * d) * offset;
n++;
outVerts[n * 3 + 0] = verts[vbStart + 0] + (-dlx1 - dx1 * d) * offset;
outVerts[n * 3 + 1] = verts[vbStart + 1];
outVerts[n * 3 + 2] = verts[vbStart + 2] + (-dly1 - dy1 * d) * offset;
n++;
} else {
if (n + 1 >= maxOutVerts)
return 0;
outVerts[n * 3 + 0] = verts[vbStart + 0] - dmx * offset;
outVerts[n * 3 + 1] = verts[vbStart + 1];
outVerts[n * 3 + 2] = verts[vbStart + 2] - dmy * offset;
n++;
}
}
return n;
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
static public void rcMarkCylinderArea(rcContext ctx, float[] pos,
float r, float h, byte areaId,
rcCompactHeightfield chf) {
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_MARK_CYLINDER_AREA);
float[] bmin = new float[3];
float[] bmax = new float[3];
bmin[0] = pos[0] - r;
bmin[1] = pos[1];
bmin[2] = pos[2] - r;
bmax[0] = pos[0] + r;
bmax[1] = pos[1] + h;
bmax[2] = pos[2] + r;
float r2 = r * r;
int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs);
int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch);
int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs);
int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs);
int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch);
int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs);
if (maxx < 0) return;
if (minx >= chf.width) return;
if (maxz < 0) return;
if (minz >= chf.height) return;
if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width - 1;
if (minz < 0) minz = 0;
if (maxz >= chf.height) maxz = chf.height - 1;
for (int z = minz; z <= maxz; ++z) {
for (int x = minx; x <= maxx; ++x) {
rcCompactCell c = chf.cells[x + z * chf.width];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA)
continue;
if ((int)s.y >= miny && (int)s.y <= maxy) {
float sx = chf.bmin[0] + (x + 0.5f) * chf.cs;
float sz = chf.bmin[2] + (z + 0.5f) * chf.cs;
float dx = sx - pos[0];
float dz = sz - pos[2];
if (dx * dx + dz * dz < r2) {
chf.areas[i] = areaId;
}
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_MARK_CYLINDER_AREA);
}
}
Source/Framework/RecastDetour/Recast/RecastContour.cs
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@@ -1,860 +0,0 @@
using System;
using System.Collections.Generic;
using System.Diagnostics;
public static partial class Recast{
static int getCornerHeight(int x, int y, int i, int dir,
rcCompactHeightfield chf,
ref bool isBorderVertex)
{
rcCompactSpan s = chf.spans[i];
int ch = (int)s.y;
int dirp = (dir+1) & 0x3;
uint[] regs = new uint[] {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] = (uint)( chf.spans[i].reg | (chf.areas[i] << 16) );
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(dir);
int ay = y + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
rcCompactSpan aSpan = chf.spans[ai];
ch = Math.Max(ch, (int)aSpan.y);
regs[1] = (uint)( chf.spans[ai].reg | (chf.areas[ai] << 16) );
if (rcGetCon(aSpan, dirp) != RC_NOT_CONNECTED)
{
int ax2 = ax + rcGetDirOffsetX(dirp);
int ay2 = ay + rcGetDirOffsetY(dirp);
int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(aSpan, dirp);
rcCompactSpan as2 = chf.spans[ai2];
ch = Math.Max(ch, (int)as2.y);
regs[2] = (uint)(chf.spans[ai2].reg | (chf.areas[ai2] << 16));
}
}
if (rcGetCon(s, dirp) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(dirp);
int ay = y + rcGetDirOffsetY(dirp);
int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dirp);
rcCompactSpan aSpan = chf.spans[ai];
ch = Math.Max(ch, (int)aSpan.y);
regs[3] = (uint)(chf.spans[ai].reg | (chf.areas[ai] << 16));
if (rcGetCon(aSpan, dir) != RC_NOT_CONNECTED)
{
int ax2 = ax + rcGetDirOffsetX(dir);
int ay2 = ay + rcGetDirOffsetY(dir);
int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(aSpan, dir);
rcCompactSpan as2 = chf.spans[ai2];
ch = Math.Max(ch, (int)as2.y);
regs[2] = (uint)(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)
{
int a = j;
int b = (j+1) & 0x3;
int c = (j+2) & 0x3;
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.
bool twoSameExts = (regs[a] & regs[b] & RC_BORDER_REG) != 0 && regs[a] == regs[b];
bool twoInts = ((regs[c] | regs[d]) & RC_BORDER_REG) == 0;
bool intsSameArea = (regs[c]>>16) == (regs[d]>>16);
bool noZeros = regs[a] != 0 && regs[b] != 0 && regs[c] != 0 && regs[d] != 0;
if (twoSameExts && twoInts && intsSameArea && noZeros)
{
isBorderVertex = true;
break;
}
}
return ch;
}
public static void walkContour(int x, int y, int i,
rcCompactHeightfield chf,
byte[] flags, List<int> points)
{
// Choose the first non-connected edge
byte dir = 0;
while ((flags[i] & (1 << dir)) == 0)
dir++;
byte startDir = dir;
int starti = i;
byte area = chf.areas[i];
int iter = 0;
while (++iter < 40000)
{
if ((flags[i] & (1 << dir)) != 0)
{
// Choose the edge corner
bool isBorderVertex = false;
bool isAreaBorder = false;
int px = x;
int py = getCornerHeight(x, y, i, dir, chf,ref isBorderVertex);
int pz = y;
switch(dir)
{
case 0: pz++; break;
case 1: px++; pz++; break;
case 2: px++; break;
}
int r = 0;
rcCompactSpan s = chf.spans[i];
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(dir);
int ay = y + rcGetDirOffsetY(dir);
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.Add(px);
points.Add(py);
points.Add(pz);
points.Add(r);
flags[i] &= (byte)( ~(1 << dir) ); // Remove visited edges
dir = (byte)( (dir+1) & 0x3); // Rotate CW
}
else
{
int ni = -1;
int nx = x + rcGetDirOffsetX(dir);
int ny = y + rcGetDirOffsetY(dir);
rcCompactSpan s = chf.spans[i];
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
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 = (byte)((dir+3) & 0x3); // Rotate CCW
}
if (starti == i && startDir == dir)
{
break;
}
}
}
public static float distancePtSeg(int x, int z,
int px, int pz,
int qx, 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;
}
public static void simplifyContour(List<int> points, List<int> simplified,
float maxError, int maxEdgeLen, int buildFlags)
{
// Add initial points.
bool hasConnections = false;
for (int i = 0; i < points.Count; 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.Count /4; i < ni; ++i)
{
int ii = (i+1) % ni;
bool differentRegs = (points[i*4+3] & RC_CONTOUR_REG_MASK) != (points[ii*4+3] & RC_CONTOUR_REG_MASK);
bool areaBorders = (points[i*4+3] & RC_AREA_BORDER) != (points[ii*4+3] & RC_AREA_BORDER);
if (differentRegs || areaBorders)
{
simplified.Add(points[i*4+0]);
simplified.Add(points[i*4+1]);
simplified.Add(points[i*4+2]);
simplified.Add(i);
}
}
}
if (simplified.Count == 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.Count; 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.Add(llx);
simplified.Add(lly);
simplified.Add(llz);
simplified.Add(lli);
simplified.Add(urx);
simplified.Add(ury);
simplified.Add(urz);
simplified.Add(uri);
}
// Add points until all raw points are within
// error tolerance to the simplified shape.
int pn = points.Count/4;
for (int i = 0; i < simplified.Count/4; )
{
int ii = (i+1) % (simplified.Count/4);
int ax = simplified[i*4+0];
int az = simplified[i*4+2];
int ai = simplified[i*4+3];
int bx = simplified[ii*4+0];
int bz = simplified[ii*4+2];
int bi = simplified[ii*4+3];
// Find maximum deviation from the segment.
float maxd = 0;
int maxi = -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) != 0)
{
while (ci != endi)
{
float d = distancePtSeg(points[ci*4+0], points[ci*4+2], ax, az, bx, bz);
if (d > maxd)
{
maxd = d;
maxi = ci;
}
ci = (ci+cinc) % pn;
}
}
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (maxi != -1 && maxd > (maxError*maxError))
{
// Add space for the new point.
//simplified.resize(simplified.Count+4);
rccsResizeList(simplified, simplified.Count + 4);
int n = simplified.Count/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[maxi*4+0];
simplified[(i+1)*4+1] = points[maxi*4+1];
simplified[(i+1)*4+2] = points[maxi*4+2];
simplified[(i+1)*4+3] = maxi;
}
else
{
++i;
}
}
// Split too long edges.
if (maxEdgeLen > 0 && (buildFlags & (int)(rcBuildContoursFlags.RC_CONTOUR_TESS_WALL_EDGES|rcBuildContoursFlags.RC_CONTOUR_TESS_AREA_EDGES)) != 0)
{
for (int i = 0; i < simplified.Count/4; )
{
int ii = (i+1) % (simplified.Count/4);
int ax = simplified[i*4+0];
int az = simplified[i*4+2];
int ai = simplified[i*4+3];
int bx = simplified[ii*4+0];
int bz = simplified[ii*4+2];
int bi = simplified[ii*4+3];
// Find maximum deviation from the segment.
int maxi = -1;
int ci = (ai+1) % pn;
// Tessellate only outer edges or edges between areas.
bool tess = false;
// Wall edges.
if ((buildFlags & (int)rcBuildContoursFlags.RC_CONTOUR_TESS_WALL_EDGES) != 0 && (points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0)
tess = true;
// Edges between areas.
if ((buildFlags & (int)rcBuildContoursFlags.RC_CONTOUR_TESS_AREA_EDGES) != 0 && (points[ci*4+3] & RC_AREA_BORDER) != 0)
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.
int n = bi < ai ? (bi+pn - ai) : (bi - ai);
if (n > 1)
{
if (bx > ax || (bx == ax && bz > az))
maxi = (ai + n/2) % pn;
else
maxi = (ai + (n+1)/2) % pn;
}
}
}
// If the max deviation is larger than accepted error,
// add new point, else continue to next segment.
if (maxi != -1)
{
// Add space for the new point.
rccsResizeList(simplified, simplified.Count + 4);
int n = simplified.Count/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[maxi*4+0];
simplified[(i+1)*4+1] = points[maxi*4+1];
simplified[(i+1)*4+2] = points[maxi*4+2];
simplified[(i+1)*4+3] = maxi;
}
else
{
++i;
}
}
}
for (int i = 0; i < simplified.Count/4; ++i)
{
// The edge vertex flag is take from the current raw point,
// and the neighbour region is take from the next raw point.
int ai = (simplified[i*4+3]+1) % pn;
int bi = simplified[i*4+3];
simplified[i*4+3] = (points[ai*4+3] & (RC_CONTOUR_REG_MASK|RC_AREA_BORDER)) | (points[bi*4+3] & RC_BORDER_VERTEX);
}
}
public static void removeDegenerateSegments(List<int> simplified)
{
// Remove adjacent vertices which are equal on xz-plane,
// or else the triangulator will get confused.
for (int i = 0; i < simplified.Count/4; ++i)
{
int ni = i+1;
if (ni >= (simplified.Count/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.Count/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.Capacity = (simplified.Count-4);
rccsResizeList(simplified, simplified.Count - 4);
}
}
}
public static int calcAreaOfPolygon2D(int[] verts, int nverts)
{
int area = 0;
for (int i = 0, j = nverts-1; i < nverts; j=i++)
{
int viStart = i * 4;
int vjStart = j * 4;
area += verts[viStart + 0] * verts[vjStart + 2] - verts[vjStart + 0] * verts[viStart + 2];
}
return (area+1) / 2;
}
public static bool ileft(int[] a, int[] b, int[] c)
{
return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]) <= 0;
}
public static bool ileft(int[] a,int aStart, int[] b, int bStart, int[] c, int cStart) {
return (b[bStart + 0] - a[aStart + 0]) * (c[cStart + 2] - a[aStart + 2]) - (c[cStart + 0] - a[aStart + 0]) * (b[bStart + 2] - a[aStart + 2]) <= 0;
}
public static void getClosestIndices(int[] vertsa, int nvertsa,
int[] vertsb, int nvertsb,
ref int ia, ref int ib)
{
int closestDist = 0xfffffff;
ia = -1;
ib = -1;
for (int i = 0; i < nvertsa; ++i)
{
int i_n = (i+1) % nvertsa;
int ip = (i+nvertsa-1) % nvertsa;
int vaStart = i * 4;
int vanStart = i_n * 4;
int vapStart = ip * 4;
for (int j = 0; j < nvertsb; ++j)
{
int vbStart = j * 4;
// vb must be "infront" of va.
if (ileft(vertsa,vapStart,vertsa,vaStart,vertsb,vbStart) && ileft(vertsa,vaStart,vertsa,vanStart,vertsb,vbStart))
{
int dx = vertsb[vbStart+0] - vertsa[vaStart + 0];
int dz = vertsb[vbStart+2] - vertsa[vaStart+2];
int d = dx*dx + dz*dz;
if (d < closestDist)
{
ia = i;
ib = j;
closestDist = d;
}
}
}
}
}
public static bool mergeContours(ref rcContour ca, ref rcContour cb, int ia, int ib)
{
int maxVerts = ca.nverts + cb.nverts + 2;
int[] verts = new int[maxVerts * 4];//(int*)rcAlloc(sizeof(int)*maxVerts*4, RC_ALLOC_PERM);
if (verts == null)
return false;
int nv = 0;
// Copy contour A.
for (int i = 0; i <= ca.nverts; ++i)
{
//int* dst = &verts[nv*4];
int dstIndex = nv*4;
int srcIndex = ((ia+i)%ca.nverts)*4;
for (int j=0;i<4;++i){
verts[dstIndex + j] = ca.verts[srcIndex + j];
}
nv++;
}
// Copy contour B
for (int i = 0; i <= cb.nverts; ++i)
{
int dstIndex = nv*4;
int srcIndex = ((ib+i)%cb.nverts)*4;
//int* dst = &verts[nv*4];
//const int* src = &cb.verts[((ib+i)%cb.nverts)*4];
for (int j=0;j<4;++j){
verts[dstIndex + j] = cb.verts[srcIndex + j];
}
nv++;
}
ca.verts = verts;
ca.nverts = nv;
cb.verts = null;
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
public static bool rcBuildContours(rcContext ctx, rcCompactHeightfield chf,
float maxError, int maxEdgeLen,
rcContourSet cset, int buildFlags)
{
Debug.Assert(ctx != null, "rcContext is null");
int w = chf.width;
int h = chf.height;
int borderSize = chf.borderSize;
ctx.startTimer(rcTimerLabel.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.
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 = Math.Max((int)chf.maxRegions, 8);
//cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
cset.conts = new rcContour[maxContours];
//if (cset.conts == null)
// return false;
cset.nconts = 0;
//rcScopedDelete<byte> flags = (byte*)rcAlloc(sizeof(byte)*chf.spanCount, RC_ALLOC_TEMP);
byte[] flags = new byte[chf.spanCount];
if (flags == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags' " + chf.spanCount);
return false;
}
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
// Mark boundaries.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
byte res = 0;
rcCompactSpan s = chf.spans[i];
if (chf.spans[i].reg == 0 || (chf.spans[i].reg & RC_BORDER_REG) != 0)
{
flags[i] = 0;
continue;
}
for (int dir = 0; dir < 4; ++dir)
{
ushort r = 0;
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(dir);
int ay = y + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
r = chf.spans[ai].reg;
}
if (r == chf.spans[i].reg)
res |= (byte)(1 << dir);
}
flags[i] = (byte)(res ^ 0xf); // Inverse, mark non connected edges.
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
//List<int> verts(256);
List<int> verts = new List<int>();
verts.Capacity = 256;
//List<int> simplified(64);
List<int> simplified = new List<int>();
simplified.Capacity = 64;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
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;
}
ushort reg = chf.spans[i].reg;
if (reg == 0 || (reg & RC_BORDER_REG) != 0) {
continue;
}
byte area = chf.areas[i];
//verts.resize(0);
//simplified.resize(0);
verts.Clear();
simplified.Clear();
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
walkContour(x, y, i, chf, flags, verts);
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags);
removeDegenerateSegments(simplified);
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
// Store region.contour remap info.
// Create contour.
if (simplified.Count/4 >= 3)
{
if (cset.nconts >= maxContours)
{
// Allocate more contours.
// This can happen when there are tiny holes in the heightfield.
int oldMax = maxContours;
maxContours *= 2;
rcContour[] newConts = new rcContour[maxContours];// (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 = null;
cset.conts[j].rverts = null;
}
//rcFree(cset.conts);
cset.conts = newConts;
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Expanding max contours from " + oldMax + " to "+ maxContours);
}
int contId = cset.nconts;
cset.nconts++;
rcContour cont = cset.conts[contId];
cont.nverts = simplified.Count/4;
cont.verts = new int[cont.nverts * 4]; //(int*)rcAlloc(sizeof(int)*cont.nverts*4, RC_ALLOC_PERM);
if (cont.verts == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'verts' " + cont.nverts);
return false;
}
//memcpy(cont.verts, &simplified[0], sizeof(int)*cont.nverts*4);
for (int j = 0; j < cont.nverts * 4; ++j) {
cont.verts[j] = simplified[j];
}
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int j = 0; j < cont.nverts; ++j)
{
//int* v = &cont.verts[j*4];
cont.verts[j * 4] -= borderSize;
cont.verts[j*4 + 2] -= borderSize;
//v[0] -= borderSize;
//v[2] -= borderSize;
}
}
cont.nrverts = verts.Count/4;
cont.rverts = new int[cont.nrverts * 4];//(int*)rcAlloc(sizeof(int)*cont.nrverts*4, RC_ALLOC_PERM);
if (cont.rverts == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'rverts' " + cont.nrverts);
return false;
}
//memcpy(cont.rverts, &verts[0], sizeof(int)*cont.nrverts*4);
for (int j = 0; j < cont.nrverts * 4; ++j) {
cont.rverts[j] = verts[j];
}
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int j = 0; j < cont.nrverts; ++j)
{
//int* v = &cont.rverts[j*4];
cont.rverts[j * 4] -= borderSize;
cont.rverts[j * 4 + 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;
cset.conts[contId] = cont;
}
}
}
}
// 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 != 0 && cset.conts[j].reg == cont.reg)
{
// Make sure the polygon is correctly oriented.
if (calcAreaOfPolygon2D(cset.conts[j].verts, cset.conts[j].nverts) != 0)
{
mergeIdx = j;
break;
}
}
}
if (mergeIdx == -1)
{
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Could not find merge target for bad contour " + 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, ref ia, ref ib);
if (ia == -1 || ib == -1)
{
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Failed to find merge points for " + i + " and " + mergeIdx);
continue;
}
if (!mergeContours(ref mcont,ref cont, ia, ib))
{
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Failed to merge contours " + i + " and " + mergeIdx);
continue;
}
cset.conts[mergeIdx] = mcont;
cset.conts[i] = cont;
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS);
return true;
}
}
Source/Framework/RecastDetour/Recast/RecastFilter.cs
-192
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@@ -1,192 +0,0 @@
using System;
using System.Diagnostics;
public static partial class Recast{
/// @par
///
/// Allows the formation of walkable regions that will flow over low lying
/// objects such as curbs, and up structures such as stairways.
///
/// Two neighboring spans are walkable if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb</tt>
///
/// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call
/// #rcFilterLedgeSpans after calling this filter.
///
/// @see rcHeightfield, rcConfig
public static void rcFilterLowHangingWalkableObstacles(rcContext ctx, int walkableClimb, rcHeightfield solid)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_FILTER_LOW_OBSTACLES);
int w = solid.width;
int h = solid.height;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcSpan ps = null;
bool previousWalkable = false;
byte previousArea = RC_NULL_AREA;
for (rcSpan s = solid.spans[x + y*w]; s != null; ps = s, s = s.next)
{
bool walkable = s.area != RC_NULL_AREA;
// If current span is not walkable, but there is walkable
// span just below it, mark the span above it walkable too.
if (!walkable && previousWalkable)
{
if (Math.Abs((int)s.smax - (int)ps.smax) <= walkableClimb){
s.area = previousArea;
}
}
// Copy walkable flag so that it cannot propagate
// past multiple non-walkable objects.
previousWalkable = walkable;
previousArea = s.area;
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_FILTER_LOW_OBSTACLES);
}
/// @par
///
/// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb
/// from the current span's maximum.
/// This method removes the impact of the overestimation of conservative voxelization
/// so the resulting mesh will not have regions hanging in the air over ledges.
///
/// A span is a ledge if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
///
/// @see rcHeightfield, rcConfig
public static void rcFilterLedgeSpans(rcContext ctx, int walkableHeight, int walkableClimb,
rcHeightfield solid)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_FILTER_BORDER);
int w = solid.width;
int h = solid.height;
int MAX_HEIGHT = 0xffff;
// Mark border spans.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
for (rcSpan s = solid.spans[x + y*w]; s != null; s = s.next)
{
// Skip non walkable spans.
if (s.area == RC_NULL_AREA){
continue;
}
int bot = (int)(s.smax);
int top = s.next != null ? (int)(s.next.smin) : MAX_HEIGHT;
// Find neighbours minimum height.
int minh = MAX_HEIGHT;
// Min and max height of accessible neighbours.
int asmin = s.smax;
int asmax = s.smax;
for (int dir = 0; dir < 4; ++dir)
{
int dx = x + rcGetDirOffsetX(dir);
int dy = y + rcGetDirOffsetY(dir);
// Skip neighbours which are out of bounds.
if (dx < 0 || dy < 0 || dx >= w || dy >= h)
{
minh = Math.Min(minh, -walkableClimb - bot);
continue;
}
// From minus infinity to the first span.
rcSpan ns = solid.spans[dx + dy*w];
int nbot = -walkableClimb;
int ntop = ns != null ? (int)ns.smin : MAX_HEIGHT;
// Skip neightbour if the gap between the spans is too small.
if (Math.Min(top,ntop) - Math.Max(bot,nbot) > walkableHeight)
minh = Math.Min(minh, nbot - bot);
// Rest of the spans.
for (ns = solid.spans[dx + dy*w]; ns != null; ns = ns.next)
{
nbot = (int)ns.smax;
ntop = ns.next != null ? (int)ns.next.smin : MAX_HEIGHT;
// Skip neightbour if the gap between the spans is too small.
if (Math.Min(top,ntop) - Math.Max(bot,nbot) > walkableHeight)
{
minh = Math.Min(minh, nbot - bot);
// Find min/max accessible neighbour height.
if (Math.Abs(nbot - bot) <= walkableClimb)
{
if (nbot < asmin) asmin = nbot;
if (nbot > asmax) asmax = nbot;
}
}
}
}
// The current span is close to a ledge if the drop to any
// neighbour span is less than the walkableClimb.
if (minh < -walkableClimb){
s.area = RC_NULL_AREA;
}
// If the difference between all neighbours is too large,
// we are at steep slope, mark the span as ledge.
if ((asmax - asmin) > walkableClimb)
{
s.area = RC_NULL_AREA;
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_FILTER_BORDER);
}
/// @par
///
/// For this filter, the clearance above the span is the distance from the span's
/// maximum to the next higher span's minimum. (Same grid column.)
///
/// @see rcHeightfield, rcConfig
public static void rcFilterWalkableLowHeightSpans(rcContext ctx, int walkableHeight, rcHeightfield solid)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_FILTER_WALKABLE);
int w = solid.width;
int h = solid.height;
int MAX_HEIGHT = 0xffff;
// Remove walkable flag from spans which do not have enough
// space above them for the agent to stand there.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
for (rcSpan s = solid.spans[x + y*w]; s != null; s = s.next)
{
int bot = (int)(s.smax);
int top = s.next != null ? (int)(s.next.smin) : MAX_HEIGHT;
if ((top - bot) <= walkableHeight) {
s.area = RC_NULL_AREA;
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_FILTER_WALKABLE);
}
}
Source/Framework/RecastDetour/Recast/RecastLayers.cs
-641
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@@ -1,641 +0,0 @@
using System;
using System.Diagnostics;
public static partial class Recast{
const int RC_MAX_LAYERS = RC_NOT_CONNECTED;
const int RC_MAX_NEIS = 16;
public class rcLayerRegion
{
public byte[] layers = new byte[RC_MAX_LAYERS];
public byte[] neis = new byte[RC_MAX_NEIS];
public ushort ymin;
public ushort ymax;
public byte layerId; // Layer ID
public byte nlayers; // Layer count
public byte nneis; // Neighbour count
public byte baseFlag; // Flag indicating if the region is hte base of merged regions.
};
public static void addUnique(byte[] a,ref byte an, byte v)
{
int n = (int)an;
for (int i = 0; i < n; ++i){
if (a[i] == v){
return;
}
}
a[an] = v;
an++;
}
public static bool contains(byte[] a, byte an, byte v)
{
int n = (int)an;
for (int i = 0; i < n; ++i){
if (a[i] == v){
return true;
}
}
return false;
}
public static bool overlapRange( ushort amin, ushort amax,
ushort bmin, ushort bmax)
{
return (amin > bmax || amax < bmin) ? false : true;
}
public class rcLayerSweepSpan
{
public ushort ns; // number samples
public byte id; // region id
public byte nei; // neighbour id
};
/// @par
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
public static bool rcBuildHeightfieldLayers(rcContext ctx, rcCompactHeightfield chf,
int borderSize, int walkableHeight,
rcHeightfieldLayerSet lset)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_LAYERS);
int w = chf.width;
int h = chf.height;
//rcScopedDelete<byte> srcReg = (byte*)rcAlloc(sizeof(byte)*chf.spanCount, RC_ALLOC_TEMP);
byte[] srcReg = new byte[chf.spanCount];
if (srcReg == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' " + chf.spanCount);
return false;
}
//memset(srcReg,0xff,sizeof(byte)*chf.spanCount);
for (int i=0;i<chf.spanCount;++i){
srcReg[i] = 0xff;
}
int nsweeps = chf.width;
//rcScopedDelete<rcLayerSweepSpan> sweeps = (rcLayerSweepSpan*)rcAlloc(sizeof(rcLayerSweepSpan)*nsweeps, RC_ALLOC_TEMP);
rcLayerSweepSpan[] sweeps = new rcLayerSweepSpan[nsweeps];
if (sweeps == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' " + nsweeps);
return false;
}
// Partition walkable area into monotone regions.
int[] prevCount = new int[256];
byte regId = 0;
for (int y = borderSize; y < h-borderSize; ++y)
{
//memset to 0 is done by C# alloc
//memset(prevCount,0,sizeof(int)*regId);
byte sweepId = 0;
for (int x = borderSize; x < w-borderSize; ++x)
{
rcCompactCell c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA) continue;
byte sid = 0xff;
// -x
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(0);
int ay = y + rcGetDirOffsetY(0);
int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff)
sid = srcReg[ai];
}
if (sid == 0xff)
{
sid = sweepId++;
sweeps[sid].nei = (byte)0xff;
sweeps[sid].ns = 0;
}
// -y
if (rcGetCon(s,3) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(3);
int ay = y + rcGetDirOffsetY(3);
int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
byte nr = srcReg[ai];
if (nr != 0xff)
{
// Set neighbour when first valid neighbour is encoutered.
if (sweeps[sid].ns == 0)
sweeps[sid].nei = nr;
if (sweeps[sid].nei == nr)
{
// Update existing neighbour
sweeps[sid].ns++;
prevCount[nr]++;
}
else
{
// This is hit if there is nore than one neighbour.
// Invalidate the neighbour.
sweeps[sid].nei = 0xff;
}
}
}
srcReg[i] = sid;
}
}
// Create unique ID.
for (int i = 0; i < sweepId; ++i)
{
// If the neighbour is set and there is only one continuous connection to it,
// the sweep will be merged with the previous one, else new region is created.
if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
if (regId == 255)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow.");
return false;
}
sweeps[i].id = regId++;
}
}
// Remap local sweep ids to region ids.
for (int x = borderSize; x < w-borderSize; ++x)
{
rcCompactCell c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (srcReg[i] != 0xff)
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
// Allocate and init layer regions.
int nregs = (int)regId;
//rcScopedDelete<rcLayerRegion> regs = (rcLayerRegion*)rcAlloc(sizeof(rcLayerRegion)*nregs, RC_ALLOC_TEMP);
rcLayerRegion[] regs = new rcLayerRegion[nregs];
if (regs == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' " + nregs);
return false;
}
//memset(regs, 0, sizeof(rcLayerRegion)*nregs);
for (int i = 0; i < nregs; ++i)
{
regs[i].layerId = 0xff;
regs[i].ymin = 0xffff;
regs[i].ymax = 0;
}
// Find region neighbours and overlapping regions.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x+y*w];
byte[] lregs = new byte[RC_MAX_LAYERS];
int nlregs = 0;
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
rcCompactSpan s = chf.spans[i];
byte ri = srcReg[i];
if (ri == 0xff){
continue;
}
regs[ri].ymin = Math.Min(regs[ri].ymin, s.y);
regs[ri].ymax = Math.Max(regs[ri].ymax, s.y);
// Collect all region layers.
if (nlregs < RC_MAX_LAYERS)
lregs[nlregs++] = ri;
// Update neighbours
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(dir);
int ay = y + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
byte rai = srcReg[ai];
if (rai != 0xff && rai != ri){
addUnique(regs[ri].neis,ref regs[ri].nneis, rai);
}
}
}
}
// Update overlapping regions.
for (int i = 0; i < nlregs-1; ++i)
{
for (int j = i+1; j < nlregs; ++j)
{
if (lregs[i] != lregs[j])
{
rcLayerRegion ri = regs[lregs[i]];
rcLayerRegion rj = regs[lregs[j]];
addUnique(ri.layers,ref ri.nlayers, lregs[j]);
addUnique(rj.layers,ref rj.nlayers, lregs[i]);
}
}
}
}
}
// Create 2D layers from regions.
byte layerId = 0;
const int MAX_STACK = 64;
byte[] stack = new byte[MAX_STACK];
int nstack = 0;
for (int i = 0; i < nregs; ++i)
{
rcLayerRegion root = regs[i];
// Skip alreadu visited.
if (root.layerId != 0xff){
continue;
}
// Start search.
root.layerId = layerId;
root.baseFlag = 1;
nstack = 0;
stack[nstack++] = (byte)i;
while (nstack != 0)
{
// Pop front
rcLayerRegion reg = regs[stack[0]];
nstack--;
for (int j = 0; j < nstack; ++j){
stack[j] = stack[j+1];
}
int nneis = (int)reg.nneis;
for (int j = 0; j < nneis; ++j)
{
byte nei = reg.neis[j];
rcLayerRegion regn = regs[nei];
// Skip already visited.
if (regn.layerId != 0xff){
continue;
}
// Skip if the neighbour is overlapping root region.
if (contains(root.layers, root.nlayers, nei)){
continue;
}
// Skip if the height range would become too large.
int ymin = Math.Min(root.ymin, regn.ymin);
int ymax = Math.Max(root.ymax, regn.ymax);
if ((ymax - ymin) >= 255){
continue;
}
if (nstack < MAX_STACK)
{
// Deepen
stack[nstack++] = (byte)nei;
// Mark layer id
regn.layerId = layerId;
// Merge current layers to root.
for (int k = 0; k < regn.nlayers; ++k){
addUnique(root.layers,ref root.nlayers, regn.layers[k]);
}
root.ymin = Math.Min(root.ymin, regn.ymin);
root.ymax = Math.Max(root.ymax, regn.ymax);
}
}
}
layerId++;
}
// Merge non-overlapping regions that are close in height.
ushort mergeHeight = (ushort)(walkableHeight * 4);
for (int i = 0; i < nregs; ++i)
{
rcLayerRegion ri = regs[i];
if (ri.baseFlag == 0){
continue;
}
byte newId = ri.layerId;
for (;;)
{
byte oldId = 0xff;
for (int j = 0; j < nregs; ++j)
{
if (i == j){
continue;
}
rcLayerRegion rj = regs[j];
if (rj.baseFlag == 0){
continue;
}
// Skip if teh regions are not close to each other.
if (!overlapRange(ri.ymin,
(ushort)(ri.ymax + mergeHeight),
rj.ymin,
(ushort)(rj.ymax + mergeHeight))){
continue;
}
// Skip if the height range would become too large.
int ymin = Math.Min(ri.ymin, rj.ymin);
int ymax = Math.Max(ri.ymax, rj.ymax);
if ((ymax - ymin) >= 255){
continue;
}
// Make sure that there is no overlap when mergin 'ri' and 'rj'.
bool overlap = false;
// Iterate over all regions which have the same layerId as 'rj'
for (int k = 0; k < nregs; ++k)
{
if (regs[k].layerId != rj.layerId)
continue;
// Check if region 'k' is overlapping region 'ri'
// Index to 'regs' is the same as region id.
if (contains(ri.layers,ri.nlayers, (byte)k))
{
overlap = true;
break;
}
}
// Cannot merge of regions overlap.
if (overlap)
continue;
// Can merge i and j.
oldId = rj.layerId;
break;
}
// Could not find anything to merge with, stop.
if (oldId == 0xff)
break;
// Merge
for (int j = 0; j < nregs; ++j)
{
rcLayerRegion rj = regs[j];
if (rj.layerId == oldId)
{
rj.baseFlag = 0;
// Remap layerIds.
rj.layerId = newId;
// Add overlaid layers from 'rj' to 'ri'.
for (int k = 0; k < rj.nlayers; ++k){
addUnique(ri.layers,ref ri.nlayers, rj.layers[k]);
}
// Update heigh bounds.
ri.ymin = Math.Min(ri.ymin, rj.ymin);
ri.ymax = Math.Max(ri.ymax, rj.ymax);
}
}
}
}
// Compact layerIds
byte[] remap = new byte[256];
//memset(remap, 0, 256);
// Find number of unique layers.
layerId = 0;
for (int i = 0; i < nregs; ++i){
remap[regs[i].layerId] = 1;
}
for (int i = 0; i < 256; ++i)
{
if (remap[i] != 0){
remap[i] = layerId++;
}
else{
remap[i] = 0xff;
}
}
// Remap ids.
for (int i = 0; i < nregs; ++i){
regs[i].layerId = remap[regs[i].layerId];
}
// No layers, return empty.
if (layerId == 0)
{
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_LAYERS);
return true;
}
// Create layers.
Debug.Assert(lset.layers == null,"Assert lset.layers == 0");
int lw = w - borderSize*2;
int lh = h - borderSize*2;
// Build contracted bbox for layers.
float[] bmin = new float[3];
float[] bmax = new float[3];
rcVcopy(bmin, chf.bmin);
rcVcopy(bmax, chf.bmax);
bmin[0] += borderSize*chf.cs;
bmin[2] += borderSize*chf.cs;
bmax[0] -= borderSize*chf.cs;
bmax[2] -= borderSize*chf.cs;
lset.nlayers = (int)layerId;
//lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
lset.layers = new rcHeightfieldLayer[lset.nlayers];
if (lset.layers == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' " + lset.nlayers);
return false;
}
//memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
// Store layers.
for (int i = 0; i < lset.nlayers; ++i)
{
byte curId = (byte)i;
// Allocate memory for the current layer.
rcHeightfieldLayer layer = lset.layers[i];
//memset(layer, 0, sizeof(rcHeightfieldLayer));
int gridSize = sizeof(byte)*lw*lh;
layer.heights = new byte[gridSize];//(byte*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (layer.heights == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' " + gridSize);
return false;
}
//memset(layer.heights, 0xff, gridSize);
for (int j=0;j<gridSize;++j){
layer.heights[j] = 0xFF;
}
layer.areas = new byte[gridSize];// (byte*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (layer.areas == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' " + gridSize);
return false;
}
//memset(layer.areas, 0, gridSize);
layer.cons =new byte[gridSize];// (byte*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (layer.cons == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' " + gridSize);
return false;
}
//memset(layer.cons, 0, gridSize);
// Find layer height bounds.
int hmin = 0, hmax = 0;
for (int j = 0; j < nregs; ++j)
{
if (regs[j].baseFlag != 0 && 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 heighfield.
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 heighfield.
for (int y = 0; y < lh; ++y)
{
for (int x = 0; x < lw; ++x)
{
int cx = borderSize+x;
int cy = borderSize+y;
rcCompactCell c = chf.cells[cx+cy*w];
for (int j = (int)c.index, nj = (int)(c.index+c.count); j < nj; ++j)
{
rcCompactSpan s = chf.spans[j];
// Skip unassigned regions.
if (srcReg[j] == 0xff){
continue;
}
// Skip of does nto belong to current layer.
byte lid = regs[srcReg[j]].layerId;
if (lid != curId)
continue;
// Update data bounds.
layer.minx = Math.Min(layer.minx, x);
layer.maxx = Math.Max(layer.maxx, x);
layer.miny = Math.Min(layer.miny, y);
layer.maxy = Math.Max(layer.maxy, y);
// Store height and area type.
int idx = x+y*lw;
layer.heights[idx] = (byte)(s.y - hmin);
layer.areas[idx] = chf.areas[j];
// Check connection.
byte portal = 0;
byte con = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int ax = cx + rcGetDirOffsetX(dir);
int ay = cy + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
byte alid = srcReg[ai] != (byte)0xff ? regs[srcReg[ai]].layerId : (byte)0xff;
// Portal mask
if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
{
portal |= (byte)(1<<dir);
// Update height so that it matches on both sides of the portal.
rcCompactSpan aSpan = chf.spans[ai];
if (aSpan.y > hmin)
layer.heights[idx] = Math.Max(layer.heights[idx], (byte)(aSpan.y - hmin));
}
// Valid connection mask
if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
{
int nx = ax - borderSize;
int ny = ay - borderSize;
if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
con |= (byte)(1<<dir);
}
}
}
layer.cons[idx] = (byte)( (portal << 4) | con );
}
}
}
if (layer.minx > layer.maxx)
layer.minx = layer.maxx = 0;
if (layer.miny > layer.maxy)
layer.miny = layer.maxy = 0;
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_LAYERS);
return true;
}
}
Source/Framework/RecastDetour/Recast/RecastMesh.cs
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Source/Framework/RecastDetour/Recast/RecastMeshDetail.cs
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Source/Framework/RecastDetour/Recast/RecastRasterization.cs
-430
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@@ -1,430 +0,0 @@
using System;
using System.Diagnostics;
public static partial class Recast{
static bool overlapBounds(float[] amin, float[] amax, float[] bmin, float[] bmax)
{
bool overlap = true;
overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
return overlap;
}
static bool overlapInterval(ushort amin, ushort amax,
ushort bmin, ushort bmax)
{
if (amax < bmin) return false;
if (amin > bmax) return false;
return true;
}
static rcSpan allocSpan(rcHeightfield hf)
{
// If running out of memory, allocate new page and update the freelist.
if (hf.freelist == null || hf.freelist.next == null)
{
// Create new page.
// Allocate memory for the new pool.
//rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
rcSpanPool pool = new rcSpanPool();
if (pool == null)
return null;
pool.next = null;
// Add the pool into the list of pools.
pool.next = hf.pools;
hf.pools = pool;
// Add new items to the free list.
rcSpan freelist = hf.freelist;
//rcSpan head = pool.items[0];
//rcSpan it = pool.items[RC_SPANS_PER_POOL];
int itIndex = RC_SPANS_PER_POOL;
do
{
--itIndex;
pool.items[itIndex].next = freelist;
freelist = pool.items[itIndex];
}
while (itIndex != 0);
hf.freelist = pool.items[itIndex];
}
// Pop item from in front of the free list.
rcSpan it = hf.freelist;
hf.freelist = hf.freelist.next;
return it;
}
static void freeSpan(rcHeightfield hf, rcSpan ptr)
{
if (ptr == null) {
return;
}
// Add the node in front of the free list.
ptr.next = hf.freelist;
hf.freelist = ptr;
}
static void addSpan(rcHeightfield hf, int x, int y,
ushort smin, ushort smax,
byte area, int flagMergeThr)
{
int idx = x + y*hf.width;
rcSpan s = allocSpan(hf);
s.smin = smin;
s.smax = smax;
s.area = area;
s.next = null;
// Empty cell, add the first span.
if (hf.spans[idx] == null)
{
hf.spans[idx] = s;
return;
}
rcSpan prev = null;
rcSpan cur = hf.spans[idx];
// Insert and merge spans.
while (cur != null)
{
if (cur.smin > s.smax)
{
// Current span is further than the new span, break.
break;
}
else if (cur.smax < s.smin)
{
// Current span is before the new span advance.
prev = cur;
cur = cur.next;
}
else
{
// Merge spans.
if (cur.smin < s.smin)
s.smin = cur.smin;
if (cur.smax > s.smax)
s.smax = cur.smax;
// Merge flags.
if (Math.Abs((int)s.smax - (int)cur.smax) <= flagMergeThr){
s.area = Math.Max(s.area, cur.area);
}
// Remove current span.
rcSpan next = cur.next;
freeSpan(hf, cur);
if (prev != null)
prev.next = next;
else
hf.spans[idx] = next;
cur = next;
}
}
// Insert new span.
if (prev != null)
{
s.next = prev.next;
prev.next = s;
}
else
{
s.next = hf.spans[idx];
hf.spans[idx] = s;
}
}
/// @par
///
/// The span addition can be set to favor flags. If the span is merged to
/// another span and the new @p smax is within @p flagMergeThr units
/// from the existing span, the span flags are merged.
///
/// @see rcHeightfield, rcSpan.
static void rcAddSpan(rcContext ctx, rcHeightfield hf, int x, int y,
ushort smin, ushort smax,
byte area, int flagMergeThr)
{
// Debug.Assert(ctx != null, "rcContext is null");
addSpan(hf, x,y, smin, smax, area, flagMergeThr);
}
// divides a convex polygons into two convex polygons on both sides of a line
static void dividePoly(float[] _in, int nin,
float[] out1, ref int nout1,
float[] out2, ref int nout2,
float x, int axis)
{
float[] d = new float[12];
for (int i = 0; i < nin; ++i){
d[i] = x - _in[i*3+axis];
}
int m = 0, n = 0;
for (int i = 0, j = nin-1; i < nin; j=i, ++i)
{
bool ina = d[j] >= 0;
bool inb = d[i] >= 0;
if (ina != inb)
{
float s = d[j] / (d[j] - d[i]);
out1[m*3+0] = _in[j*3+0] + (_in[i*3+0] - _in[j*3+0])*s;
out1[m*3+1] = _in[j*3+1] + (_in[i*3+1] - _in[j*3+1])*s;
out1[m*3+2] = _in[j*3+2] + (_in[i*3+2] - _in[j*3+2])*s;
rcVcopy(out2, n*3, out1, m*3);
m++;
n++;
// add the i'th point to the right polygon. Do NOT add points that are on the dividing line
// since these were already added above
if (d[i] > 0)
{
rcVcopy(out1,m*3, _in, i*3);
m++;
}
else if (d[i] < 0)
{
rcVcopy(out2,n*3, _in, i*3);
n++;
}
}
else // same side
{
// add the i'th point to the right polygon. Addition is done even for points on the dividing line
if (d[i] >= 0)
{
rcVcopy(out1, m*3, _in, i*3);
m++;
if (d[i] != 0)
continue;
}
rcVcopy(out2, n*3, _in, i*3);
n++;
}
}
nout1 = m;
nout2 = n;
}
static void rasterizeTri(float[] v0, int v0Start, float[] v1, int v1Start, float[] v2, int v2Start,
byte area, rcHeightfield hf,
float[] bmin, float[] bmax,
float cs, float ics, float ich,
int flagMergeThr)
{
int w = hf.width;
int h = hf.height;
float[] tmin = new float[3];
float[] tmax = new float[3];
float by = bmax[1] - bmin[1];
// Calculate the bounding box of the triangle.
rcVcopy(tmin, 0, v0, v0Start);
rcVcopy(tmax, 0, v0, v0Start);
rcVmin(tmin, 0, v1, v1Start);
rcVmin(tmin, 0, v2, v2Start);
rcVmax(tmax, 0, v1, v1Start);
rcVmax(tmax, 0, v2, v2Start);
// If the triangle does not touch the bbox of the heightfield, skip the triagle.
if (!overlapBounds(bmin, bmax, tmin, tmax))
return;
// Calculate the footprint of the triangle on the grid's y-axis
int y0 = (int)((tmin[2] - bmin[2])*ics);
int y1 = (int)((tmax[2] - bmin[2])*ics);
y0 = rcClamp(y0, 0, h-1);
y1 = rcClamp(y1, 0, h-1);
// Clip the triangle into all grid cells it touches.
//float[] buf = new float[7*3*4];
float[] _in = new float[7*3];
float[] inrow = new float[7*3];
float[] p1 = new float[7*3];
float[] p2 = new float[7*3];
rcVcopy(_in,0 , v0, v0Start);
rcVcopy(_in,1*3, v1, v1Start);
rcVcopy(_in,2*3, v2, v2Start);
int nvrow = 0;
int nvIn = 3;
for (int y = y0; y <= y1; ++y)
{
// Clip polygon to row. Store the remaining polygon as well
float cz = bmin[2] + y*cs;
dividePoly(_in, nvIn, inrow, ref nvrow, p1, ref nvIn, cz+cs, 2);
//rcSwap(_in, p1);
float[] tmp = _in;
_in = p1;
p1 = tmp;
if (nvrow < 3)
continue;
// find the horizontal bounds in the row
float minX = inrow[0], maxX = inrow[0];
for (int i=1; i<nvrow; ++i)
{
if (minX > inrow[i*3]) minX = inrow[i*3];
if (maxX < inrow[i*3]) maxX = inrow[i*3];
}
int x0 = (int)((minX - bmin[0])*ics);
int x1 = (int)((maxX - bmin[0])*ics);
x0 = rcClamp(x0, 0, w-1);
x1 = rcClamp(x1, 0, w-1);
int nv = 0;
int nv2 = nvrow;
for (int x = x0; x <= x1; ++x)
{
// Clip polygon to column. store the remaining polygon as well
float cx = bmin[0] + x*cs;
dividePoly(inrow, nv2, p1, ref nv, p2, ref nv2, cx+cs, 0);
//rcSwap(inrow, p2);
tmp = inrow;
inrow = p2;
p2 = tmp;
if (nv < 3) {
continue;
}
// Calculate min and max of the span.
float smin = p1[1], smax = p1[1];
for (int i = 1; i < nv; ++i)
{
smin = Math.Min(smin, p1[i*3+1]);
smax = Math.Max(smax, p1[i*3+1]);
}
smin -= bmin[1];
smax -= bmin[1];
// Skip the span if it is outside the heightfield bbox
if (smax < 0.0f) continue;
if (smin > by) continue;
// Clamp the span to the heightfield bbox.
if (smin < 0.0f) smin = 0;
if (smax > by) smax = by;
// Snap the span to the heightfield height grid.
ushort ismin = (ushort)rcClamp((int)Math.Floor(smin * ich), 0, RC_SPAN_MAX_HEIGHT);
ushort ismax = (ushort)rcClamp((int)Math.Ceiling(smax * ich), (int)ismin+1, RC_SPAN_MAX_HEIGHT);
addSpan(hf, x, y, ismin, ismax, area, flagMergeThr);
}
}
}
/// @par
///
/// No spans will be added if the triangle does not overlap the heightfield grid.
///
/// @see rcHeightfield
public static void rcRasterizeTriangle(rcContext ctx, float[] v0, int v0Start, float[] v1, int v1Start, float[] v2, int v2Start,
byte area, rcHeightfield solid,
int flagMergeThr)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
float ics = 1.0f/solid.cs;
float ich = 1.0f/solid.ch;
rasterizeTri(v0, v0Start, v1, v1Start, v2, v2Start, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
ctx.stopTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
}
/// @par
///
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
public static void rcRasterizeTriangles(rcContext ctx, float[] verts, int nv,
int[] tris, byte[] areas, int nt,
rcHeightfield solid, int flagMergeThr)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
float ics = 1.0f/solid.cs;
float ich = 1.0f/solid.ch;
// Rasterize triangles.
for (int i = 0; i < nt; ++i)
{
int v0Start = tris[i*3+0]*3;
int v1Start = tris[i*3+1]*3;
int v2Start = tris[i*3+2]*3;
// Rasterize.
rasterizeTri(verts, v0Start, verts, v1Start, verts, v2Start, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
}
/// @par
///
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
public static void rcRasterizeTriangles(rcContext ctx, float[] verts, int nv,
ushort[] tris, byte[] areas, int nt,
rcHeightfield solid, int flagMergeThr)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
float ics = 1.0f/solid.cs;
float ich = 1.0f/solid.ch;
// Rasterize triangles.
for (int i = 0; i < nt; ++i)
{
int v0Start = tris[i*3+0]*3;
int v1Start = tris[i*3+1]*3;
int v2Start = tris[i*3+2]*3;
// Rasterize.
rasterizeTri(verts, v0Start, verts, v1Start, verts, v2Start, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
}
/// @par
///
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
public static void rcRasterizeTriangles(rcContext ctx, float[] verts, byte[] areas, int nt,
rcHeightfield solid, int flagMergeThr)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
float ics = 1.0f/solid.cs;
float ich = 1.0f/solid.ch;
// Rasterize triangles.
for (int i = 0; i < nt; ++i)
{
int v0Start = (i*3+0)*3;
int v1Start = (i*3+1)*3;
int v2Start = (i*3+2)*3;
// Rasterize.
rasterizeTri(verts, v0Start, verts, v1Start, verts, v2Start, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
}
}
Source/Framework/RecastDetour/Recast/RecastRegion.cs
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