From 1c9245bd58a07f6e3709b4136c934f441c1272f7 Mon Sep 17 00:00:00 2001 From: Gleb Mazovetskiy Date: Sun, 24 Jan 2021 01:43:43 +0000 Subject: [PATCH] Move recastnavigation to FetchContent --- CMakeLists.txt | 10 +- extern/CMakeLists.txt | 21 + extern/recastnavigation/.editorconfig | 12 - extern/recastnavigation/.gitignore | 49 - extern/recastnavigation/.id | 1 - extern/recastnavigation/.url | 1 - extern/recastnavigation/CMakeLists.txt | 26 - .../DebugUtils/CMakeLists.txt | 36 - .../DebugUtils/Include/DebugDraw.h | 223 - .../DebugUtils/Include/DetourDebugDraw.h | 48 - .../DebugUtils/Include/RecastDebugDraw.h | 42 - .../DebugUtils/Include/RecastDump.h | 43 - .../DebugUtils/Source/DebugDraw.cpp | 612 --- .../DebugUtils/Source/DetourDebugDraw.cpp | 864 ---- .../DebugUtils/Source/RecastDebugDraw.cpp | 1064 ----- .../DebugUtils/Source/RecastDump.cpp | 451 -- extern/recastnavigation/Detour/CMakeLists.txt | 30 - .../Detour/Include/DetourAlloc.h | 61 - .../Detour/Include/DetourAssert.h | 56 - .../Detour/Include/DetourCommon.h | 572 --- .../Detour/Include/DetourMath.h | 24 - .../Detour/Include/DetourNavMesh.h | 785 ---- .../Detour/Include/DetourNavMeshBuilder.h | 149 - .../Detour/Include/DetourNavMeshQuery.h | 573 --- .../Detour/Include/DetourNode.h | 168 - .../Detour/Include/DetourStatus.h | 65 - .../Detour/Source/DetourAlloc.cpp | 50 - .../Detour/Source/DetourAssert.cpp | 35 - .../Detour/Source/DetourCommon.cpp | 387 -- .../Detour/Source/DetourNavMesh.cpp | 1584 ------- .../Detour/Source/DetourNavMeshBuilder.cpp | 802 ---- .../Detour/Source/DetourNavMeshQuery.cpp | 3663 ----------------- .../Detour/Source/DetourNode.cpp | 200 - .../DetourCrowd/CMakeLists.txt | 34 - .../DetourCrowd/Include/DetourCrowd.h | 460 --- .../DetourCrowd/Include/DetourLocalBoundary.h | 66 - .../Include/DetourObstacleAvoidance.h | 159 - .../DetourCrowd/Include/DetourPathCorridor.h | 151 - .../DetourCrowd/Include/DetourPathQueue.h | 79 - .../DetourCrowd/Include/DetourProximityGrid.h | 74 - .../DetourCrowd/Source/DetourCrowd.cpp | 1450 ------- .../Source/DetourLocalBoundary.cpp | 137 - .../Source/DetourObstacleAvoidance.cpp | 619 --- .../DetourCrowd/Source/DetourPathCorridor.cpp | 597 --- .../DetourCrowd/Source/DetourPathQueue.cpp | 200 - .../Source/DetourProximityGrid.cpp | 194 - .../DetourTileCache/CMakeLists.txt | 35 - .../DetourTileCache/Include/DetourTileCache.h | 262 -- .../Include/DetourTileCacheBuilder.h | 156 - .../Source/DetourTileCache.cpp | 820 ---- .../Source/DetourTileCacheBuilder.cpp | 2250 ---------- extern/recastnavigation/License.txt | 18 - extern/recastnavigation/Recast/CMakeLists.txt | 30 - .../recastnavigation/Recast/Include/Recast.h | 1208 ------ .../Recast/Include/RecastAlloc.h | 342 -- .../Recast/Include/RecastAssert.h | 56 - .../recastnavigation/Recast/Source/Recast.cpp | 575 --- .../Recast/Source/RecastAlloc.cpp | 60 - .../Recast/Source/RecastArea.cpp | 591 --- .../Recast/Source/RecastAssert.cpp | 35 - .../Recast/Source/RecastContour.cpp | 1105 ----- .../Recast/Source/RecastFilter.cpp | 202 - .../Recast/Source/RecastLayers.cpp | 644 --- .../Recast/Source/RecastMesh.cpp | 1552 ------- .../Recast/Source/RecastMeshDetail.cpp | 1464 ------- .../Recast/Source/RecastRasterization.cpp | 454 -- .../Recast/Source/RecastRegion.cpp | 1812 -------- 67 files changed, 29 insertions(+), 30569 deletions(-) delete mode 100644 extern/recastnavigation/.editorconfig delete mode 100644 extern/recastnavigation/.gitignore delete mode 100644 extern/recastnavigation/.id delete mode 100644 extern/recastnavigation/.url delete mode 100644 extern/recastnavigation/CMakeLists.txt delete mode 100644 extern/recastnavigation/DebugUtils/CMakeLists.txt delete mode 100644 extern/recastnavigation/DebugUtils/Include/DebugDraw.h delete mode 100755 extern/recastnavigation/DebugUtils/Include/DetourDebugDraw.h delete mode 100644 extern/recastnavigation/DebugUtils/Include/RecastDebugDraw.h delete mode 100644 extern/recastnavigation/DebugUtils/Include/RecastDump.h delete mode 100644 extern/recastnavigation/DebugUtils/Source/DebugDraw.cpp delete mode 100644 extern/recastnavigation/DebugUtils/Source/DetourDebugDraw.cpp delete mode 100644 extern/recastnavigation/DebugUtils/Source/RecastDebugDraw.cpp delete mode 100644 extern/recastnavigation/DebugUtils/Source/RecastDump.cpp delete mode 100644 extern/recastnavigation/Detour/CMakeLists.txt delete mode 100644 extern/recastnavigation/Detour/Include/DetourAlloc.h delete mode 100644 extern/recastnavigation/Detour/Include/DetourAssert.h delete mode 100644 extern/recastnavigation/Detour/Include/DetourCommon.h delete mode 100644 extern/recastnavigation/Detour/Include/DetourMath.h delete mode 100644 extern/recastnavigation/Detour/Include/DetourNavMesh.h delete mode 100644 extern/recastnavigation/Detour/Include/DetourNavMeshBuilder.h delete mode 100644 extern/recastnavigation/Detour/Include/DetourNavMeshQuery.h delete mode 100644 extern/recastnavigation/Detour/Include/DetourNode.h delete mode 100644 extern/recastnavigation/Detour/Include/DetourStatus.h delete mode 100644 extern/recastnavigation/Detour/Source/DetourAlloc.cpp delete mode 100644 extern/recastnavigation/Detour/Source/DetourAssert.cpp delete mode 100644 extern/recastnavigation/Detour/Source/DetourCommon.cpp delete mode 100644 extern/recastnavigation/Detour/Source/DetourNavMesh.cpp delete mode 100644 extern/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp delete mode 100644 extern/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp delete mode 100644 extern/recastnavigation/Detour/Source/DetourNode.cpp delete mode 100644 extern/recastnavigation/DetourCrowd/CMakeLists.txt delete mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourCrowd.h delete mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourLocalBoundary.h delete mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourObstacleAvoidance.h delete mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourPathCorridor.h delete mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourPathQueue.h delete mode 100644 extern/recastnavigation/DetourCrowd/Include/DetourProximityGrid.h delete mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourCrowd.cpp delete mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourLocalBoundary.cpp delete mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourObstacleAvoidance.cpp delete mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourPathCorridor.cpp delete mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourPathQueue.cpp delete mode 100644 extern/recastnavigation/DetourCrowd/Source/DetourProximityGrid.cpp delete mode 100644 extern/recastnavigation/DetourTileCache/CMakeLists.txt delete mode 100644 extern/recastnavigation/DetourTileCache/Include/DetourTileCache.h delete mode 100644 extern/recastnavigation/DetourTileCache/Include/DetourTileCacheBuilder.h delete mode 100644 extern/recastnavigation/DetourTileCache/Source/DetourTileCache.cpp delete mode 100644 extern/recastnavigation/DetourTileCache/Source/DetourTileCacheBuilder.cpp delete mode 100644 extern/recastnavigation/License.txt delete mode 100644 extern/recastnavigation/Recast/CMakeLists.txt delete mode 100644 extern/recastnavigation/Recast/Include/Recast.h delete mode 100644 extern/recastnavigation/Recast/Include/RecastAlloc.h delete mode 100644 extern/recastnavigation/Recast/Include/RecastAssert.h delete mode 100644 extern/recastnavigation/Recast/Source/Recast.cpp delete mode 100644 extern/recastnavigation/Recast/Source/RecastAlloc.cpp delete mode 100644 extern/recastnavigation/Recast/Source/RecastArea.cpp delete mode 100644 extern/recastnavigation/Recast/Source/RecastAssert.cpp delete mode 100644 extern/recastnavigation/Recast/Source/RecastContour.cpp delete mode 100644 extern/recastnavigation/Recast/Source/RecastFilter.cpp delete mode 100644 extern/recastnavigation/Recast/Source/RecastLayers.cpp delete mode 100644 extern/recastnavigation/Recast/Source/RecastMesh.cpp delete mode 100644 extern/recastnavigation/Recast/Source/RecastMeshDetail.cpp delete mode 100644 extern/recastnavigation/Recast/Source/RecastRasterization.cpp delete mode 100644 extern/recastnavigation/Recast/Source/RecastRegion.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index b02ec055d..1a7412253 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -127,6 +127,14 @@ else() endif() option(MYGUI_STATIC "Link static build of Mygui into the binaries" ${_mygui_static_default}) +option(OPENMW_USE_SYSTEM_RECASTNAVIGATION "Use system provided recastnavigation library" OFF) +if(OPENMW_USE_SYSTEM_RECASTNAVIGATION) + set(_recastnavigation_static_default OFF) +else() + set(_recastnavigation_static_default ON) +endif() +option(RECASTNAVIGATION_STATIC "Build recastnavigation static libraries" ${_recastnavigation_static_default}) + option(OPENMW_UNITY_BUILD "Use fewer compilation units to speed up compile time" FALSE) option(OPENMW_LTO_BUILD "Build OpenMW with Link-Time Optimization (Needs ~2GB of RAM)" OFF) @@ -482,9 +490,7 @@ if (CMAKE_CXX_COMPILER_ID STREQUAL GNU OR CMAKE_CXX_COMPILER_ID STREQUAL Clang) endif (CMAKE_CXX_COMPILER_ID STREQUAL GNU OR CMAKE_CXX_COMPILER_ID STREQUAL Clang) # Extern -set(RECASTNAVIGATION_STATIC ON CACHE BOOL "Build recastnavigation static libraries") -add_subdirectory (extern/recastnavigation EXCLUDE_FROM_ALL) add_subdirectory (extern/osg-ffmpeg-videoplayer) add_subdirectory (extern/oics) if (BUILD_OPENCS) diff --git a/extern/CMakeLists.txt b/extern/CMakeLists.txt index fd21b7072..b4182a105 100644 --- a/extern/CMakeLists.txt +++ b/extern/CMakeLists.txt @@ -129,3 +129,24 @@ if(NOT OPENMW_USE_SYSTEM_OSG) set(${_name_uc}_LIBRARY ${_name} PARENT_SCOPE) endforeach() endif() + +if(NOT OPENMW_USE_SYSTEM_RECASTNAVIGATION) + if(RECASTNAVIGATION_STATIC) + set(BUILD_SHARED_LIBS OFF) + else() + set(BUILD_SHARED_LIBS ON) + endif() + + set(RECASTNAVIGATION_DEMO OFF CACHE BOOL "") + set(RECASTNAVIGATION_TESTS OFF CACHE BOOL "") + set(RECASTNAVIGATION_EXAMPLES OFF CACHE BOOL "") + + # master on 15 Feb 2021 + include(FetchContent) + FetchContent_Declare(recastnavigation + URL https://github.com/recastnavigation/recastnavigation/archive/e75adf86f91eb3082220085e42dda62679f9a3ea.zip + URL_HASH MD5=af905d121ef9d1cdfa979b0495cba059 + SOURCE_DIR fetched/recastnavigation + ) + FetchContent_MakeAvailableExcludeFromAll(recastnavigation) +endif() diff --git a/extern/recastnavigation/.editorconfig b/extern/recastnavigation/.editorconfig deleted file mode 100644 index 08f28f441..000000000 --- a/extern/recastnavigation/.editorconfig +++ /dev/null @@ -1,12 +0,0 @@ -# editorconfig.org - -# top-most EditorConfig file -root = true - -[*] -indent_size = 4 -indent_style = tab - -[*.yml] -indent_size = 2 -indent_style = space diff --git a/extern/recastnavigation/.gitignore b/extern/recastnavigation/.gitignore deleted file mode 100644 index 98f17e4b7..000000000 --- a/extern/recastnavigation/.gitignore +++ /dev/null @@ -1,49 +0,0 @@ -## Compiled source # -*.com -*.class -*.dll -*.exe -*.ilk -*.o -*.pdb -*.so -*.idb - -## Linux exes have no extension -RecastDemo/Bin/RecastDemo -RecastDemo/Bin/Tests - -# Build directory -RecastDemo/Build - -# Ignore meshes -RecastDemo/Bin/Meshes/* - -## Logs and databases # -*.log -*.sql -*.sqlite - -## OS generated files # -.DS_Store -.DS_Store? -._* -.Spotlight-V100 -.Trashes -ehthumbs.db -Thumbs.db -*.swp -*.swo - -## xcode specific -*xcuserdata* - -## SDL contrib -RecastDemo/Contrib/SDL/* - -## Generated doc files -Docs/html - -## IDE files -.idea/ -cmake-build-*/ diff --git a/extern/recastnavigation/.id b/extern/recastnavigation/.id deleted file mode 100644 index b53727263..000000000 --- a/extern/recastnavigation/.id +++ /dev/null @@ -1 +0,0 @@ -6624e7aef5e15df11cb2f5673574df8e4c96af6a diff --git a/extern/recastnavigation/.url b/extern/recastnavigation/.url deleted file mode 100644 index b38b1645f..000000000 --- a/extern/recastnavigation/.url +++ /dev/null @@ -1 +0,0 @@ -https://github.com/recastnavigation/recastnavigation.git diff --git a/extern/recastnavigation/CMakeLists.txt b/extern/recastnavigation/CMakeLists.txt deleted file mode 100644 index cf35af1e8..000000000 --- a/extern/recastnavigation/CMakeLists.txt +++ /dev/null @@ -1,26 +0,0 @@ -cmake_minimum_required(VERSION 3.0) - -# for link time optimization, remove if cmake version is >= 3.9 -if(POLICY CMP0069) - cmake_policy(SET CMP0069 NEW) -endif() - -project(RecastNavigation) - -# lib versions -SET(SOVERSION 1) -SET(VERSION 1.0.0) - -option(RECASTNAVIGATION_STATIC "Build static libraries" ON) - -if(MSVC AND BUILD_SHARED_LIBS) - set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) -endif() - -include(GNUInstallDirs) - -add_subdirectory(DebugUtils) -add_subdirectory(Detour) -add_subdirectory(DetourCrowd) -add_subdirectory(DetourTileCache) -add_subdirectory(Recast) diff --git a/extern/recastnavigation/DebugUtils/CMakeLists.txt b/extern/recastnavigation/DebugUtils/CMakeLists.txt deleted file mode 100644 index 21d8f8f9d..000000000 --- a/extern/recastnavigation/DebugUtils/CMakeLists.txt +++ /dev/null @@ -1,36 +0,0 @@ -file(GLOB SOURCES Source/*.cpp) -add_library(DebugUtils ${SOURCES}) - -add_library(RecastNavigation::DebugUtils ALIAS DebugUtils) -set_target_properties(DebugUtils PROPERTIES DEBUG_POSTFIX -d) - -set(DebugUtils_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Include") - -target_include_directories(DebugUtils PUBLIC - "$" -) - -target_link_libraries(DebugUtils - Recast - Detour - DetourTileCache -) - -set_target_properties(DebugUtils PROPERTIES - SOVERSION ${SOVERSION} - VERSION ${VERSION} - COMPILE_PDB_OUTPUT_DIRECTORY . - COMPILE_PDB_NAME "DebugUtils-d" - ) - -install(TARGETS DebugUtils - RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} - ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} - LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} - COMPONENT library - ) - -file(GLOB INCLUDES Include/*.h) -install(FILES ${INCLUDES} DESTINATION - ${CMAKE_INSTALL_INCLUDEDIR}/recastnavigation) -install(FILES "$/DebugUtils-d.pdb" CONFIGURATIONS "Debug" DESTINATION "lib") diff --git a/extern/recastnavigation/DebugUtils/Include/DebugDraw.h b/extern/recastnavigation/DebugUtils/Include/DebugDraw.h deleted file mode 100644 index f47df0b7b..000000000 --- a/extern/recastnavigation/DebugUtils/Include/DebugDraw.h +++ /dev/null @@ -1,223 +0,0 @@ -// -// 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 DEBUGDRAW_H -#define DEBUGDRAW_H - -// Some math headers don't have PI defined. -static const float DU_PI = 3.14159265f; - -enum duDebugDrawPrimitives -{ - DU_DRAW_POINTS, - DU_DRAW_LINES, - DU_DRAW_TRIS, - DU_DRAW_QUADS, -}; - -/// Abstract debug draw interface. -struct duDebugDraw -{ - virtual ~duDebugDraw() = 0; - - virtual void depthMask(bool state) = 0; - - virtual void texture(bool state) = 0; - - /// Begin drawing primitives. - /// @param prim [in] primitive type to draw, one of rcDebugDrawPrimitives. - /// @param size [in] size of a primitive, applies to point size and line width only. - virtual void begin(duDebugDrawPrimitives prim, float size = 1.0f) = 0; - - /// Submit a vertex - /// @param pos [in] position of the verts. - /// @param color [in] color of the verts. - virtual void vertex(const float* pos, unsigned int color) = 0; - - /// Submit a vertex - /// @param x,y,z [in] position of the verts. - /// @param color [in] color of the verts. - virtual void vertex(const float x, const float y, const float z, unsigned int color) = 0; - - /// Submit a vertex - /// @param pos [in] position of the verts. - /// @param color [in] color of the verts. - virtual void vertex(const float* pos, unsigned int color, const float* uv) = 0; - - /// Submit a vertex - /// @param x,y,z [in] position of the verts. - /// @param color [in] color of the verts. - virtual void vertex(const float x, const float y, const float z, unsigned int color, const float u, const float v) = 0; - - /// End drawing primitives. - virtual void end() = 0; - - /// Compute a color for given area. - virtual unsigned int areaToCol(unsigned int area); -}; - -inline unsigned int duRGBA(int r, int g, int b, int a) -{ - return ((unsigned int)r) | ((unsigned int)g << 8) | ((unsigned int)b << 16) | ((unsigned int)a << 24); -} - -inline unsigned int duRGBAf(float fr, float fg, float fb, float fa) -{ - unsigned char r = (unsigned char)(fr*255.0f); - unsigned char g = (unsigned char)(fg*255.0f); - unsigned char b = (unsigned char)(fb*255.0f); - unsigned char a = (unsigned char)(fa*255.0f); - return duRGBA(r,g,b,a); -} - -unsigned int duIntToCol(int i, int a); -void duIntToCol(int i, float* col); - -inline unsigned int duMultCol(const unsigned int col, const unsigned int d) -{ - const unsigned int r = col & 0xff; - const unsigned int g = (col >> 8) & 0xff; - const unsigned int b = (col >> 16) & 0xff; - const unsigned int a = (col >> 24) & 0xff; - return duRGBA((r*d) >> 8, (g*d) >> 8, (b*d) >> 8, a); -} - -inline unsigned int duDarkenCol(unsigned int col) -{ - return ((col >> 1) & 0x007f7f7f) | (col & 0xff000000); -} - -inline unsigned int duLerpCol(unsigned int ca, unsigned int cb, unsigned int u) -{ - const unsigned int ra = ca & 0xff; - const unsigned int ga = (ca >> 8) & 0xff; - const unsigned int ba = (ca >> 16) & 0xff; - const unsigned int aa = (ca >> 24) & 0xff; - const unsigned int rb = cb & 0xff; - const unsigned int gb = (cb >> 8) & 0xff; - const unsigned int bb = (cb >> 16) & 0xff; - const unsigned int ab = (cb >> 24) & 0xff; - - unsigned int r = (ra*(255-u) + rb*u)/255; - unsigned int g = (ga*(255-u) + gb*u)/255; - unsigned int b = (ba*(255-u) + bb*u)/255; - unsigned int a = (aa*(255-u) + ab*u)/255; - return duRGBA(r,g,b,a); -} - -inline unsigned int duTransCol(unsigned int c, unsigned int a) -{ - return (a<<24) | (c & 0x00ffffff); -} - - -void duCalcBoxColors(unsigned int* colors, unsigned int colTop, unsigned int colSide); - -void duDebugDrawCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col, const float lineWidth); - -void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col, const float lineWidth); - -void duDebugDrawArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, const float h, - const float as0, const float as1, unsigned int col, const float lineWidth); - -void duDebugDrawArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, - const float as0, const float as1, unsigned int col, const float lineWidth); - -void duDebugDrawCircle(struct duDebugDraw* dd, const float x, const float y, const float z, - const float r, unsigned int col, const float lineWidth); - -void duDebugDrawCross(struct duDebugDraw* dd, const float x, const float y, const float z, - const float size, unsigned int col, const float lineWidth); - -void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, const unsigned int* fcol); - -void duDebugDrawCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col); - -void duDebugDrawGridXZ(struct duDebugDraw* dd, const float ox, const float oy, const float oz, - const int w, const int h, const float size, - const unsigned int col, const float lineWidth); - - -// Versions without begin/end, can be used to draw multiple primitives. -void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col); - -void duAppendBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col); - -void duAppendBoxPoints(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col); - -void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, const float h, - const float as0, const float as1, unsigned int col); - -void duAppendArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, - const float as0, const float as1, unsigned int col); - -void duAppendCircle(struct duDebugDraw* dd, const float x, const float y, const float z, - const float r, unsigned int col); - -void duAppendCross(struct duDebugDraw* dd, const float x, const float y, const float z, - const float size, unsigned int col); - -void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, const unsigned int* fcol); - -void duAppendCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col); - - -class duDisplayList : public duDebugDraw -{ - float* m_pos; - unsigned int* m_color; - int m_size; - int m_cap; - - bool m_depthMask; - duDebugDrawPrimitives m_prim; - float m_primSize; - - void resize(int cap); - -public: - duDisplayList(int cap = 512); - ~duDisplayList(); - void depthMask(bool state) override; - void begin(duDebugDrawPrimitives prim, float size = 1.0f) override; - void vertex(const float x, const float y, const float z, unsigned int color) override; - void vertex(const float* pos, unsigned int color) override; - void end() override; - void clear(); - void draw(struct duDebugDraw* dd); -private: - // Explicitly disabled copy constructor and copy assignment operator. - duDisplayList(const duDisplayList&); - duDisplayList& operator=(const duDisplayList&); -}; - - -#endif // DEBUGDRAW_H diff --git a/extern/recastnavigation/DebugUtils/Include/DetourDebugDraw.h b/extern/recastnavigation/DebugUtils/Include/DetourDebugDraw.h deleted file mode 100755 index ff2ca2f9d..000000000 --- a/extern/recastnavigation/DebugUtils/Include/DetourDebugDraw.h +++ /dev/null @@ -1,48 +0,0 @@ -// -// 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 DETOURDEBUGDRAW_H -#define DETOURDEBUGDRAW_H - -#include "DetourNavMesh.h" -#include "DetourNavMeshQuery.h" -#include "DetourTileCacheBuilder.h" - -enum DrawNavMeshFlags -{ - DU_DRAWNAVMESH_OFFMESHCONS = 0x01, - DU_DRAWNAVMESH_CLOSEDLIST = 0x02, - DU_DRAWNAVMESH_COLOR_TILES = 0x04, -}; - -void duDebugDrawNavMesh(struct duDebugDraw* dd, const dtNavMesh& mesh, unsigned char flags); -void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery& query, unsigned char flags); -void duDebugDrawNavMeshNodes(struct duDebugDraw* dd, const dtNavMeshQuery& query); -void duDebugDrawNavMeshBVTree(struct duDebugDraw* dd, const dtNavMesh& mesh); -void duDebugDrawNavMeshPortals(struct duDebugDraw* dd, const dtNavMesh& mesh); -void duDebugDrawNavMeshPolysWithFlags(struct duDebugDraw* dd, const dtNavMesh& mesh, const unsigned short polyFlags, const unsigned int col); -void duDebugDrawNavMeshPoly(struct duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef ref, const unsigned int col); - -void duDebugDrawTileCacheLayerAreas(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch); -void duDebugDrawTileCacheLayerRegions(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch); -void duDebugDrawTileCacheContours(duDebugDraw* dd, const struct dtTileCacheContourSet& lcset, - const float* orig, const float cs, const float ch); -void duDebugDrawTileCachePolyMesh(duDebugDraw* dd, const struct dtTileCachePolyMesh& lmesh, - const float* orig, const float cs, const float ch); - -#endif // DETOURDEBUGDRAW_H diff --git a/extern/recastnavigation/DebugUtils/Include/RecastDebugDraw.h b/extern/recastnavigation/DebugUtils/Include/RecastDebugDraw.h deleted file mode 100644 index 6a55fa647..000000000 --- a/extern/recastnavigation/DebugUtils/Include/RecastDebugDraw.h +++ /dev/null @@ -1,42 +0,0 @@ -// -// 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_DEBUGDRAW_H -#define RECAST_DEBUGDRAW_H - -void duDebugDrawTriMesh(struct duDebugDraw* dd, const float* verts, int nverts, const int* tris, const float* normals, int ntris, const unsigned char* flags, const float texScale); -void duDebugDrawTriMeshSlope(struct duDebugDraw* dd, const float* verts, int nverts, const int* tris, const float* normals, int ntris, const float walkableSlopeAngle, const float texScale); - -void duDebugDrawHeightfieldSolid(struct duDebugDraw* dd, const struct rcHeightfield& hf); -void duDebugDrawHeightfieldWalkable(struct duDebugDraw* dd, const struct rcHeightfield& hf); - -void duDebugDrawCompactHeightfieldSolid(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf); -void duDebugDrawCompactHeightfieldRegions(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf); -void duDebugDrawCompactHeightfieldDistance(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf); - -void duDebugDrawHeightfieldLayer(duDebugDraw* dd, const struct rcHeightfieldLayer& layer, const int idx); -void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset); -void duDebugDrawHeightfieldLayersRegions(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset); - -void duDebugDrawRegionConnections(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f); -void duDebugDrawRawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f); -void duDebugDrawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f); -void duDebugDrawPolyMesh(struct duDebugDraw* dd, const struct rcPolyMesh& mesh); -void duDebugDrawPolyMeshDetail(struct duDebugDraw* dd, const struct rcPolyMeshDetail& dmesh); - -#endif // RECAST_DEBUGDRAW_H diff --git a/extern/recastnavigation/DebugUtils/Include/RecastDump.h b/extern/recastnavigation/DebugUtils/Include/RecastDump.h deleted file mode 100644 index 6a722fdae..000000000 --- a/extern/recastnavigation/DebugUtils/Include/RecastDump.h +++ /dev/null @@ -1,43 +0,0 @@ -// -// 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_DUMP_H -#define RECAST_DUMP_H - -struct duFileIO -{ - virtual ~duFileIO() = 0; - virtual bool isWriting() const = 0; - virtual bool isReading() const = 0; - virtual bool write(const void* ptr, const size_t size) = 0; - virtual bool read(void* ptr, const size_t size) = 0; -}; - -bool duDumpPolyMeshToObj(struct rcPolyMesh& pmesh, duFileIO* io); -bool duDumpPolyMeshDetailToObj(struct rcPolyMeshDetail& dmesh, duFileIO* io); - -bool duDumpContourSet(struct rcContourSet& cset, duFileIO* io); -bool duReadContourSet(struct rcContourSet& cset, duFileIO* io); - -bool duDumpCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io); -bool duReadCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io); - -void duLogBuildTimes(rcContext& ctx, const int totalTileUsec); - - -#endif // RECAST_DUMP_H diff --git a/extern/recastnavigation/DebugUtils/Source/DebugDraw.cpp b/extern/recastnavigation/DebugUtils/Source/DebugDraw.cpp deleted file mode 100644 index d0179bca2..000000000 --- a/extern/recastnavigation/DebugUtils/Source/DebugDraw.cpp +++ /dev/null @@ -1,612 +0,0 @@ -// -// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org -// -// This software is provided 'as-is', without any express or implied -// warranty. In no event will the authors be held liable for any damages -// arising from the use of this software. -// Permission is granted to anyone to use this software for any purpose, -// including commercial applications, and to alter it and redistribute it -// freely, subject to the following restrictions: -// 1. The origin of this software must not be misrepresented; you must not -// claim that you wrote the original software. If you use this software -// in a product, an acknowledgment in the product documentation would be -// appreciated but is not required. -// 2. Altered source versions must be plainly marked as such, and must not be -// misrepresented as being the original software. -// 3. This notice may not be removed or altered from any source distribution. -// - -#define _USE_MATH_DEFINES -#include -#include "DebugDraw.h" -#include "DetourMath.h" -#include "DetourNavMesh.h" - - -duDebugDraw::~duDebugDraw() -{ - // Empty -} - -unsigned int duDebugDraw::areaToCol(unsigned int area) -{ - if (area == 0) - { - // Treat zero area type as default. - return duRGBA(0, 192, 255, 255); - } - else - { - return duIntToCol(area, 255); - } -} - -inline int bit(int a, int b) -{ - return (a & (1 << b)) >> b; -} - -unsigned int duIntToCol(int i, int a) -{ - int r = bit(i, 1) + bit(i, 3) * 2 + 1; - int g = bit(i, 2) + bit(i, 4) * 2 + 1; - int b = bit(i, 0) + bit(i, 5) * 2 + 1; - return duRGBA(r*63,g*63,b*63,a); -} - -void duIntToCol(int i, float* col) -{ - int r = bit(i, 0) + bit(i, 3) * 2 + 1; - int g = bit(i, 1) + bit(i, 4) * 2 + 1; - int b = bit(i, 2) + bit(i, 5) * 2 + 1; - col[0] = 1 - r*63.0f/255.0f; - col[1] = 1 - g*63.0f/255.0f; - col[2] = 1 - b*63.0f/255.0f; -} - -void duCalcBoxColors(unsigned int* colors, unsigned int colTop, unsigned int colSide) -{ - if (!colors) return; - - colors[0] = duMultCol(colTop, 250); - colors[1] = duMultCol(colSide, 140); - colors[2] = duMultCol(colSide, 165); - colors[3] = duMultCol(colSide, 217); - colors[4] = duMultCol(colSide, 165); - colors[5] = duMultCol(colSide, 217); -} - -void duDebugDrawCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendCylinderWire(dd, minx,miny,minz, maxx,maxy,maxz, col); - dd->end(); -} - -void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendBoxWire(dd, minx,miny,minz, maxx,maxy,maxz, col); - dd->end(); -} - -void duDebugDrawArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, const float h, - const float as0, const float as1, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendArc(dd, x0,y0,z0, x1,y1,z1, h, as0, as1, col); - dd->end(); -} - -void duDebugDrawArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, - const float as0, const float as1, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendArrow(dd, x0,y0,z0, x1,y1,z1, as0, as1, col); - dd->end(); -} - -void duDebugDrawCircle(struct duDebugDraw* dd, const float x, const float y, const float z, - const float r, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendCircle(dd, x,y,z, r, col); - dd->end(); -} - -void duDebugDrawCross(struct duDebugDraw* dd, const float x, const float y, const float z, - const float size, unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - duAppendCross(dd, x,y,z, size, col); - dd->end(); -} - -void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, const unsigned int* fcol) -{ - if (!dd) return; - - dd->begin(DU_DRAW_QUADS); - duAppendBox(dd, minx,miny,minz, maxx,maxy,maxz, fcol); - dd->end(); -} - -void duDebugDrawCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col) -{ - if (!dd) return; - - dd->begin(DU_DRAW_TRIS); - duAppendCylinder(dd, minx,miny,minz, maxx,maxy,maxz, col); - dd->end(); -} - -void duDebugDrawGridXZ(struct duDebugDraw* dd, const float ox, const float oy, const float oz, - const int w, const int h, const float size, - const unsigned int col, const float lineWidth) -{ - if (!dd) return; - - dd->begin(DU_DRAW_LINES, lineWidth); - for (int i = 0; i <= h; ++i) - { - dd->vertex(ox,oy,oz+i*size, col); - dd->vertex(ox+w*size,oy,oz+i*size, col); - } - for (int i = 0; i <= w; ++i) - { - dd->vertex(ox+i*size,oy,oz, col); - dd->vertex(ox+i*size,oy,oz+h*size, col); - } - dd->end(); -} - - -void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col) -{ - if (!dd) return; - - static const int NUM_SEG = 16; - static float dir[NUM_SEG*2]; - static bool init = false; - if (!init) - { - init = true; - for (int i = 0; i < NUM_SEG; ++i) - { - const float a = (float)i/(float)NUM_SEG*DU_PI*2; - dir[i*2] = dtMathCosf(a); - dir[i*2+1] = dtMathSinf(a); - } - } - - const float cx = (maxx + minx)/2; - const float cz = (maxz + minz)/2; - const float rx = (maxx - minx)/2; - const float rz = (maxz - minz)/2; - - for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++) - { - dd->vertex(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz, col); - dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col); - dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col); - dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col); - } - for (int i = 0; i < NUM_SEG; i += NUM_SEG/4) - { - dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col); - dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col); - } -} - -void duAppendBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col) -{ - if (!dd) return; - // Top - dd->vertex(minx, miny, minz, col); - dd->vertex(maxx, miny, minz, col); - dd->vertex(maxx, miny, minz, col); - dd->vertex(maxx, miny, maxz, col); - dd->vertex(maxx, miny, maxz, col); - dd->vertex(minx, miny, maxz, col); - dd->vertex(minx, miny, maxz, col); - dd->vertex(minx, miny, minz, col); - - // bottom - dd->vertex(minx, maxy, minz, col); - dd->vertex(maxx, maxy, minz, col); - dd->vertex(maxx, maxy, minz, col); - dd->vertex(maxx, maxy, maxz, col); - dd->vertex(maxx, maxy, maxz, col); - dd->vertex(minx, maxy, maxz, col); - dd->vertex(minx, maxy, maxz, col); - dd->vertex(minx, maxy, minz, col); - - // Sides - dd->vertex(minx, miny, minz, col); - dd->vertex(minx, maxy, minz, col); - dd->vertex(maxx, miny, minz, col); - dd->vertex(maxx, maxy, minz, col); - dd->vertex(maxx, miny, maxz, col); - dd->vertex(maxx, maxy, maxz, col); - dd->vertex(minx, miny, maxz, col); - dd->vertex(minx, maxy, maxz, col); -} - -void duAppendBoxPoints(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col) -{ - if (!dd) return; - // Top - dd->vertex(minx, miny, minz, col); - dd->vertex(maxx, miny, minz, col); - dd->vertex(maxx, miny, minz, col); - dd->vertex(maxx, miny, maxz, col); - dd->vertex(maxx, miny, maxz, col); - dd->vertex(minx, miny, maxz, col); - dd->vertex(minx, miny, maxz, col); - dd->vertex(minx, miny, minz, col); - - // bottom - dd->vertex(minx, maxy, minz, col); - dd->vertex(maxx, maxy, minz, col); - dd->vertex(maxx, maxy, minz, col); - dd->vertex(maxx, maxy, maxz, col); - dd->vertex(maxx, maxy, maxz, col); - dd->vertex(minx, maxy, maxz, col); - dd->vertex(minx, maxy, maxz, col); - dd->vertex(minx, maxy, minz, col); -} - -void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, const unsigned int* fcol) -{ - if (!dd) return; - const float verts[8*3] = - { - minx, miny, minz, - maxx, miny, minz, - maxx, miny, maxz, - minx, miny, maxz, - minx, maxy, minz, - maxx, maxy, minz, - maxx, maxy, maxz, - minx, maxy, maxz, - }; - static const unsigned char inds[6*4] = - { - 7, 6, 5, 4, - 0, 1, 2, 3, - 1, 5, 6, 2, - 3, 7, 4, 0, - 2, 6, 7, 3, - 0, 4, 5, 1, - }; - - const unsigned char* in = inds; - for (int i = 0; i < 6; ++i) - { - dd->vertex(&verts[*in*3], fcol[i]); in++; - dd->vertex(&verts[*in*3], fcol[i]); in++; - dd->vertex(&verts[*in*3], fcol[i]); in++; - dd->vertex(&verts[*in*3], fcol[i]); in++; - } -} - -void duAppendCylinder(struct duDebugDraw* dd, float minx, float miny, float minz, - float maxx, float maxy, float maxz, unsigned int col) -{ - if (!dd) return; - - static const int NUM_SEG = 16; - static float dir[NUM_SEG*2]; - static bool init = false; - if (!init) - { - init = true; - for (int i = 0; i < NUM_SEG; ++i) - { - const float a = (float)i/(float)NUM_SEG*DU_PI*2; - dir[i*2] = cosf(a); - dir[i*2+1] = sinf(a); - } - } - - unsigned int col2 = duMultCol(col, 160); - - const float cx = (maxx + minx)/2; - const float cz = (maxz + minz)/2; - const float rx = (maxx - minx)/2; - const float rz = (maxz - minz)/2; - - for (int i = 2; i < NUM_SEG; ++i) - { - const int a = 0, b = i-1, c = i; - dd->vertex(cx+dir[a*2+0]*rx, miny, cz+dir[a*2+1]*rz, col2); - dd->vertex(cx+dir[b*2+0]*rx, miny, cz+dir[b*2+1]*rz, col2); - dd->vertex(cx+dir[c*2+0]*rx, miny, cz+dir[c*2+1]*rz, col2); - } - for (int i = 2; i < NUM_SEG; ++i) - { - const int a = 0, b = i, c = i-1; - dd->vertex(cx+dir[a*2+0]*rx, maxy, cz+dir[a*2+1]*rz, col); - dd->vertex(cx+dir[b*2+0]*rx, maxy, cz+dir[b*2+1]*rz, col); - dd->vertex(cx+dir[c*2+0]*rx, maxy, cz+dir[c*2+1]*rz, col); - } - for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++) - { - dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col2); - dd->vertex(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz, col2); - dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col); - - dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col2); - dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col); - dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col); - } -} - - -inline void evalArc(const float x0, const float y0, const float z0, - const float dx, const float dy, const float dz, - const float h, const float u, float* res) -{ - res[0] = x0 + dx * u; - res[1] = y0 + dy * u + h * (1-(u*2-1)*(u*2-1)); - res[2] = z0 + dz * u; -} - - -inline void vcross(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]; -} - -inline void vnormalize(float* v) -{ - float d = 1.0f / sqrtf(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]); - v[0] *= d; - v[1] *= d; - v[2] *= d; -} - -inline void vsub(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]; -} - -inline float vdistSqr(const float* v1, const float* v2) -{ - const float x = v1[0]-v2[0]; - const float y = v1[1]-v2[1]; - const float z = v1[2]-v2[2]; - return x*x + y*y + z*z; -} - - -void appendArrowHead(struct duDebugDraw* dd, const float* p, const float* q, - const float s, unsigned int col) -{ - const float eps = 0.001f; - if (!dd) return; - if (vdistSqr(p,q) < eps*eps) return; - float ax[3], ay[3] = {0,1,0}, az[3]; - vsub(az, q, p); - vnormalize(az); - vcross(ax, ay, az); - vcross(ay, az, ax); - vnormalize(ay); - - dd->vertex(p, col); -// dd->vertex(p[0]+az[0]*s+ay[0]*s/2, p[1]+az[1]*s+ay[1]*s/2, p[2]+az[2]*s+ay[2]*s/2, col); - dd->vertex(p[0]+az[0]*s+ax[0]*s/3, p[1]+az[1]*s+ax[1]*s/3, p[2]+az[2]*s+ax[2]*s/3, col); - - dd->vertex(p, col); -// dd->vertex(p[0]+az[0]*s-ay[0]*s/2, p[1]+az[1]*s-ay[1]*s/2, p[2]+az[2]*s-ay[2]*s/2, col); - dd->vertex(p[0]+az[0]*s-ax[0]*s/3, p[1]+az[1]*s-ax[1]*s/3, p[2]+az[2]*s-ax[2]*s/3, col); - -} - -void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, const float h, - const float as0, const float as1, unsigned int col) -{ - if (!dd) return; - static const int NUM_ARC_PTS = 8; - static const float PAD = 0.05f; - static const float ARC_PTS_SCALE = (1.0f-PAD*2) / (float)NUM_ARC_PTS; - const float dx = x1 - x0; - const float dy = y1 - y0; - const float dz = z1 - z0; - const float len = sqrtf(dx*dx + dy*dy + dz*dz); - float prev[3]; - evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD, prev); - for (int i = 1; i <= NUM_ARC_PTS; ++i) - { - const float u = PAD + i * ARC_PTS_SCALE; - float pt[3]; - evalArc(x0,y0,z0, dx,dy,dz, len*h, u, pt); - dd->vertex(prev[0],prev[1],prev[2], col); - dd->vertex(pt[0],pt[1],pt[2], col); - prev[0] = pt[0]; prev[1] = pt[1]; prev[2] = pt[2]; - } - - // End arrows - if (as0 > 0.001f) - { - float p[3], q[3]; - evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD, p); - evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD+0.05f, q); - appendArrowHead(dd, p, q, as0, col); - } - - if (as1 > 0.001f) - { - float p[3], q[3]; - evalArc(x0,y0,z0, dx,dy,dz, len*h, 1-PAD, p); - evalArc(x0,y0,z0, dx,dy,dz, len*h, 1-(PAD+0.05f), q); - appendArrowHead(dd, p, q, as1, col); - } -} - -void duAppendArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0, - const float x1, const float y1, const float z1, - const float as0, const float as1, unsigned int col) -{ - if (!dd) return; - - dd->vertex(x0,y0,z0, col); - dd->vertex(x1,y1,z1, col); - - // End arrows - const float p[3] = {x0,y0,z0}, q[3] = {x1,y1,z1}; - if (as0 > 0.001f) - appendArrowHead(dd, p, q, as0, col); - if (as1 > 0.001f) - appendArrowHead(dd, q, p, as1, col); -} - -void duAppendCircle(struct duDebugDraw* dd, const float x, const float y, const float z, - const float r, unsigned int col) -{ - if (!dd) return; - static const int NUM_SEG = 40; - static float dir[40*2]; - static bool init = false; - if (!init) - { - init = true; - for (int i = 0; i < NUM_SEG; ++i) - { - const float a = (float)i/(float)NUM_SEG*DU_PI*2; - dir[i*2] = cosf(a); - dir[i*2+1] = sinf(a); - } - } - - for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++) - { - dd->vertex(x+dir[j*2+0]*r, y, z+dir[j*2+1]*r, col); - dd->vertex(x+dir[i*2+0]*r, y, z+dir[i*2+1]*r, col); - } -} - -void duAppendCross(struct duDebugDraw* dd, const float x, const float y, const float z, - const float s, unsigned int col) -{ - if (!dd) return; - dd->vertex(x-s,y,z, col); - dd->vertex(x+s,y,z, col); - dd->vertex(x,y-s,z, col); - dd->vertex(x,y+s,z, col); - dd->vertex(x,y,z-s, col); - dd->vertex(x,y,z+s, col); -} - -duDisplayList::duDisplayList(int cap) : - m_pos(0), - m_color(0), - m_size(0), - m_cap(0), - m_depthMask(true), - m_prim(DU_DRAW_LINES), - m_primSize(1.0f) -{ - if (cap < 8) - cap = 8; - resize(cap); -} - -duDisplayList::~duDisplayList() -{ - delete [] m_pos; - delete [] m_color; -} - -void duDisplayList::resize(int cap) -{ - float* newPos = new float[cap*3]; - if (m_size) - memcpy(newPos, m_pos, sizeof(float)*3*m_size); - delete [] m_pos; - m_pos = newPos; - - unsigned int* newColor = new unsigned int[cap]; - if (m_size) - memcpy(newColor, m_color, sizeof(unsigned int)*m_size); - delete [] m_color; - m_color = newColor; - - m_cap = cap; -} - -void duDisplayList::clear() -{ - m_size = 0; -} - -void duDisplayList::depthMask(bool state) -{ - m_depthMask = state; -} - -void duDisplayList::begin(duDebugDrawPrimitives prim, float size) -{ - clear(); - m_prim = prim; - m_primSize = size; -} - -void duDisplayList::vertex(const float x, const float y, const float z, unsigned int color) -{ - if (m_size+1 >= m_cap) - resize(m_cap*2); - float* p = &m_pos[m_size*3]; - p[0] = x; - p[1] = y; - p[2] = z; - m_color[m_size] = color; - m_size++; -} - -void duDisplayList::vertex(const float* pos, unsigned int color) -{ - vertex(pos[0],pos[1],pos[2],color); -} - -void duDisplayList::end() -{ -} - -void duDisplayList::draw(struct duDebugDraw* dd) -{ - if (!dd) return; - if (!m_size) return; - dd->depthMask(m_depthMask); - dd->begin(m_prim, m_primSize); - for (int i = 0; i < m_size; ++i) - dd->vertex(&m_pos[i*3], m_color[i]); - dd->end(); -} diff --git a/extern/recastnavigation/DebugUtils/Source/DetourDebugDraw.cpp b/extern/recastnavigation/DebugUtils/Source/DetourDebugDraw.cpp deleted file mode 100644 index 4ca0581c7..000000000 --- a/extern/recastnavigation/DebugUtils/Source/DetourDebugDraw.cpp +++ /dev/null @@ -1,864 +0,0 @@ -// -// 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. -// - -#include "DebugDraw.h" -#include "DetourDebugDraw.h" -#include "DetourNavMesh.h" -#include "DetourCommon.h" -#include "DetourNode.h" - - -static float distancePtLine2d(const float* pt, const float* p, const float* q) -{ - float pqx = q[0] - p[0]; - float pqz = q[2] - p[2]; - float dx = pt[0] - p[0]; - float dz = pt[2] - p[2]; - float d = pqx*pqx + pqz*pqz; - float t = pqx*dx + pqz*dz; - if (d != 0) t /= d; - dx = p[0] + t*pqx - pt[0]; - dz = p[2] + t*pqz - pt[2]; - return dx*dx + dz*dz; -} - -static void drawPolyBoundaries(duDebugDraw* dd, const dtMeshTile* tile, - const unsigned int col, const float linew, - bool inner) -{ - static const float thr = 0.01f*0.01f; - - dd->begin(DU_DRAW_LINES, linew); - - for (int i = 0; i < tile->header->polyCount; ++i) - { - const dtPoly* p = &tile->polys[i]; - - if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) continue; - - const dtPolyDetail* pd = &tile->detailMeshes[i]; - - for (int j = 0, nj = (int)p->vertCount; j < nj; ++j) - { - unsigned int c = col; - if (inner) - { - if (p->neis[j] == 0) continue; - if (p->neis[j] & DT_EXT_LINK) - { - bool con = false; - for (unsigned int k = p->firstLink; k != DT_NULL_LINK; k = tile->links[k].next) - { - if (tile->links[k].edge == j) - { - con = true; - break; - } - } - if (con) - c = duRGBA(255,255,255,48); - else - c = duRGBA(0,0,0,48); - } - else - c = duRGBA(0,48,64,32); - } - else - { - if (p->neis[j] != 0) continue; - } - - const float* v0 = &tile->verts[p->verts[j]*3]; - const float* v1 = &tile->verts[p->verts[(j+1) % nj]*3]; - - // Draw detail mesh edges which align with the actual poly edge. - // This is really slow. - for (int k = 0; k < pd->triCount; ++k) - { - const unsigned char* t = &tile->detailTris[(pd->triBase+k)*4]; - const float* tv[3]; - for (int m = 0; m < 3; ++m) - { - if (t[m] < p->vertCount) - tv[m] = &tile->verts[p->verts[t[m]]*3]; - else - tv[m] = &tile->detailVerts[(pd->vertBase+(t[m]-p->vertCount))*3]; - } - for (int m = 0, n = 2; m < 3; n=m++) - { - if ((dtGetDetailTriEdgeFlags(t[3], n) & DT_DETAIL_EDGE_BOUNDARY) == 0) - continue; - - if (distancePtLine2d(tv[n],v0,v1) < thr && - distancePtLine2d(tv[m],v0,v1) < thr) - { - dd->vertex(tv[n], c); - dd->vertex(tv[m], c); - } - } - } - } - } - dd->end(); -} - -static void drawMeshTile(duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery* query, - const dtMeshTile* tile, unsigned char flags) -{ - dtPolyRef base = mesh.getPolyRefBase(tile); - - int tileNum = mesh.decodePolyIdTile(base); - const unsigned int tileColor = duIntToCol(tileNum, 128); - - dd->depthMask(false); - - dd->begin(DU_DRAW_TRIS); - for (int i = 0; i < tile->header->polyCount; ++i) - { - const dtPoly* p = &tile->polys[i]; - if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) // Skip off-mesh links. - continue; - - const dtPolyDetail* pd = &tile->detailMeshes[i]; - - unsigned int col; - if (query && query->isInClosedList(base | (dtPolyRef)i)) - col = duRGBA(255,196,0,64); - else - { - if (flags & DU_DRAWNAVMESH_COLOR_TILES) - col = tileColor; - else - col = duTransCol(dd->areaToCol(p->getArea()), 64); - } - - for (int j = 0; j < pd->triCount; ++j) - { - const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; - for (int k = 0; k < 3; ++k) - { - if (t[k] < p->vertCount) - dd->vertex(&tile->verts[p->verts[t[k]]*3], col); - else - dd->vertex(&tile->detailVerts[(pd->vertBase+t[k]-p->vertCount)*3], col); - } - } - } - dd->end(); - - // Draw inter poly boundaries - drawPolyBoundaries(dd, tile, duRGBA(0,48,64,32), 1.5f, true); - - // Draw outer poly boundaries - drawPolyBoundaries(dd, tile, duRGBA(0,48,64,220), 2.5f, false); - - if (flags & DU_DRAWNAVMESH_OFFMESHCONS) - { - dd->begin(DU_DRAW_LINES, 2.0f); - for (int i = 0; i < tile->header->polyCount; ++i) - { - const dtPoly* p = &tile->polys[i]; - if (p->getType() != DT_POLYTYPE_OFFMESH_CONNECTION) // Skip regular polys. - continue; - - unsigned int col, col2; - if (query && query->isInClosedList(base | (dtPolyRef)i)) - col = duRGBA(255,196,0,220); - else - col = duDarkenCol(duTransCol(dd->areaToCol(p->getArea()), 220)); - - const dtOffMeshConnection* con = &tile->offMeshCons[i - tile->header->offMeshBase]; - const float* va = &tile->verts[p->verts[0]*3]; - const float* vb = &tile->verts[p->verts[1]*3]; - - // Check to see if start and end end-points have links. - bool startSet = false; - bool endSet = false; - for (unsigned int k = p->firstLink; k != DT_NULL_LINK; k = tile->links[k].next) - { - if (tile->links[k].edge == 0) - startSet = true; - if (tile->links[k].edge == 1) - endSet = true; - } - - // End points and their on-mesh locations. - dd->vertex(va[0],va[1],va[2], col); - dd->vertex(con->pos[0],con->pos[1],con->pos[2], col); - col2 = startSet ? col : duRGBA(220,32,16,196); - duAppendCircle(dd, con->pos[0],con->pos[1]+0.1f,con->pos[2], con->rad, col2); - - dd->vertex(vb[0],vb[1],vb[2], col); - dd->vertex(con->pos[3],con->pos[4],con->pos[5], col); - col2 = endSet ? col : duRGBA(220,32,16,196); - duAppendCircle(dd, con->pos[3],con->pos[4]+0.1f,con->pos[5], con->rad, col2); - - // End point vertices. - dd->vertex(con->pos[0],con->pos[1],con->pos[2], duRGBA(0,48,64,196)); - dd->vertex(con->pos[0],con->pos[1]+0.2f,con->pos[2], duRGBA(0,48,64,196)); - - dd->vertex(con->pos[3],con->pos[4],con->pos[5], duRGBA(0,48,64,196)); - dd->vertex(con->pos[3],con->pos[4]+0.2f,con->pos[5], duRGBA(0,48,64,196)); - - // Connection arc. - duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f, - (con->flags & 1) ? 0.6f : 0, 0.6f, col); - } - dd->end(); - } - - const unsigned int vcol = duRGBA(0,0,0,196); - dd->begin(DU_DRAW_POINTS, 3.0f); - for (int i = 0; i < tile->header->vertCount; ++i) - { - const float* v = &tile->verts[i*3]; - dd->vertex(v[0], v[1], v[2], vcol); - } - dd->end(); - - dd->depthMask(true); -} - -void duDebugDrawNavMesh(duDebugDraw* dd, const dtNavMesh& mesh, unsigned char flags) -{ - if (!dd) return; - - for (int i = 0; i < mesh.getMaxTiles(); ++i) - { - const dtMeshTile* tile = mesh.getTile(i); - if (!tile->header) continue; - drawMeshTile(dd, mesh, 0, tile, flags); - } -} - -void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery& query, unsigned char flags) -{ - if (!dd) return; - - const dtNavMeshQuery* q = (flags & DU_DRAWNAVMESH_CLOSEDLIST) ? &query : 0; - - for (int i = 0; i < mesh.getMaxTiles(); ++i) - { - const dtMeshTile* tile = mesh.getTile(i); - if (!tile->header) continue; - drawMeshTile(dd, mesh, q, tile, flags); - } -} - -void duDebugDrawNavMeshNodes(struct duDebugDraw* dd, const dtNavMeshQuery& query) -{ - if (!dd) return; - - const dtNodePool* pool = query.getNodePool(); - if (pool) - { - const float off = 0.5f; - dd->begin(DU_DRAW_POINTS, 4.0f); - for (int i = 0; i < pool->getHashSize(); ++i) - { - for (dtNodeIndex j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j)) - { - const dtNode* node = pool->getNodeAtIdx(j+1); - if (!node) continue; - dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,255)); - } - } - dd->end(); - - dd->begin(DU_DRAW_LINES, 2.0f); - for (int i = 0; i < pool->getHashSize(); ++i) - { - for (dtNodeIndex j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j)) - { - const dtNode* node = pool->getNodeAtIdx(j+1); - if (!node) continue; - if (!node->pidx) continue; - const dtNode* parent = pool->getNodeAtIdx(node->pidx); - if (!parent) continue; - dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,128)); - dd->vertex(parent->pos[0],parent->pos[1]+off,parent->pos[2], duRGBA(255,192,0,128)); - } - } - dd->end(); - } -} - - -static void drawMeshTileBVTree(duDebugDraw* dd, const dtMeshTile* tile) -{ - // Draw BV nodes. - const float cs = 1.0f / tile->header->bvQuantFactor; - dd->begin(DU_DRAW_LINES, 1.0f); - for (int i = 0; i < tile->header->bvNodeCount; ++i) - { - const dtBVNode* n = &tile->bvTree[i]; - if (n->i < 0) // Leaf indices are positive. - continue; - duAppendBoxWire(dd, tile->header->bmin[0] + n->bmin[0]*cs, - tile->header->bmin[1] + n->bmin[1]*cs, - tile->header->bmin[2] + n->bmin[2]*cs, - tile->header->bmin[0] + n->bmax[0]*cs, - tile->header->bmin[1] + n->bmax[1]*cs, - tile->header->bmin[2] + n->bmax[2]*cs, - duRGBA(255,255,255,128)); - } - dd->end(); -} - -void duDebugDrawNavMeshBVTree(duDebugDraw* dd, const dtNavMesh& mesh) -{ - if (!dd) return; - - for (int i = 0; i < mesh.getMaxTiles(); ++i) - { - const dtMeshTile* tile = mesh.getTile(i); - if (!tile->header) continue; - drawMeshTileBVTree(dd, tile); - } -} - -static void drawMeshTilePortal(duDebugDraw* dd, const dtMeshTile* tile) -{ - // Draw portals - const float padx = 0.04f; - const float pady = tile->header->walkableClimb; - - dd->begin(DU_DRAW_LINES, 2.0f); - - for (int side = 0; side < 8; ++side) - { - unsigned short m = DT_EXT_LINK | (unsigned short)side; - - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* poly = &tile->polys[i]; - - // Create new links. - const int nv = poly->vertCount; - for (int j = 0; j < nv; ++j) - { - // Skip edges which do not point to the right side. - if (poly->neis[j] != m) - continue; - - // Create new links - const float* va = &tile->verts[poly->verts[j]*3]; - const float* vb = &tile->verts[poly->verts[(j+1) % nv]*3]; - - if (side == 0 || side == 4) - { - unsigned int col = side == 0 ? duRGBA(128,0,0,128) : duRGBA(128,0,128,128); - - const float x = va[0] + ((side == 0) ? -padx : padx); - - dd->vertex(x,va[1]-pady,va[2], col); - dd->vertex(x,va[1]+pady,va[2], col); - - dd->vertex(x,va[1]+pady,va[2], col); - dd->vertex(x,vb[1]+pady,vb[2], col); - - dd->vertex(x,vb[1]+pady,vb[2], col); - dd->vertex(x,vb[1]-pady,vb[2], col); - - dd->vertex(x,vb[1]-pady,vb[2], col); - dd->vertex(x,va[1]-pady,va[2], col); - } - else if (side == 2 || side == 6) - { - unsigned int col = side == 2 ? duRGBA(0,128,0,128) : duRGBA(0,128,128,128); - - const float z = va[2] + ((side == 2) ? -padx : padx); - - dd->vertex(va[0],va[1]-pady,z, col); - dd->vertex(va[0],va[1]+pady,z, col); - - dd->vertex(va[0],va[1]+pady,z, col); - dd->vertex(vb[0],vb[1]+pady,z, col); - - dd->vertex(vb[0],vb[1]+pady,z, col); - dd->vertex(vb[0],vb[1]-pady,z, col); - - dd->vertex(vb[0],vb[1]-pady,z, col); - dd->vertex(va[0],va[1]-pady,z, col); - } - - } - } - } - - dd->end(); -} - -void duDebugDrawNavMeshPortals(duDebugDraw* dd, const dtNavMesh& mesh) -{ - if (!dd) return; - - for (int i = 0; i < mesh.getMaxTiles(); ++i) - { - const dtMeshTile* tile = mesh.getTile(i); - if (!tile->header) continue; - drawMeshTilePortal(dd, tile); - } -} - -void duDebugDrawNavMeshPolysWithFlags(struct duDebugDraw* dd, const dtNavMesh& mesh, - const unsigned short polyFlags, const unsigned int col) -{ - if (!dd) return; - - for (int i = 0; i < mesh.getMaxTiles(); ++i) - { - const dtMeshTile* tile = mesh.getTile(i); - if (!tile->header) continue; - dtPolyRef base = mesh.getPolyRefBase(tile); - - for (int j = 0; j < tile->header->polyCount; ++j) - { - const dtPoly* p = &tile->polys[j]; - if ((p->flags & polyFlags) == 0) continue; - duDebugDrawNavMeshPoly(dd, mesh, base|(dtPolyRef)j, col); - } - } -} - -void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef ref, const unsigned int col) -{ - if (!dd) return; - - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - if (dtStatusFailed(mesh.getTileAndPolyByRef(ref, &tile, &poly))) - return; - - dd->depthMask(false); - - const unsigned int c = duTransCol(col, 64); - const unsigned int ip = (unsigned int)(poly - tile->polys); - - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - dtOffMeshConnection* con = &tile->offMeshCons[ip - tile->header->offMeshBase]; - - dd->begin(DU_DRAW_LINES, 2.0f); - - // Connection arc. - duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f, - (con->flags & 1) ? 0.6f : 0.0f, 0.6f, c); - - dd->end(); - } - else - { - const dtPolyDetail* pd = &tile->detailMeshes[ip]; - - dd->begin(DU_DRAW_TRIS); - for (int i = 0; i < pd->triCount; ++i) - { - const unsigned char* t = &tile->detailTris[(pd->triBase+i)*4]; - for (int j = 0; j < 3; ++j) - { - if (t[j] < poly->vertCount) - dd->vertex(&tile->verts[poly->verts[t[j]]*3], c); - else - dd->vertex(&tile->detailVerts[(pd->vertBase+t[j]-poly->vertCount)*3], c); - } - } - dd->end(); - } - - dd->depthMask(true); - -} - -static void debugDrawTileCachePortals(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch) -{ - const int w = (int)layer.header->width; - const int h = (int)layer.header->height; - const float* bmin = layer.header->bmin; - - // Portals - unsigned int pcol = duRGBA(255,255,255,255); - - const int segs[4*4] = {0,0,0,1, 0,1,1,1, 1,1,1,0, 1,0,0,0}; - - // Layer portals - dd->begin(DU_DRAW_LINES, 2.0f); - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int idx = x+y*w; - const int lh = (int)layer.heights[idx]; - if (lh == 0xff) continue; - - for (int dir = 0; dir < 4; ++dir) - { - if (layer.cons[idx] & (1<<(dir+4))) - { - const int* seg = &segs[dir*4]; - const float ax = bmin[0] + (x+seg[0])*cs; - const float ay = bmin[1] + (lh+2)*ch; - const float az = bmin[2] + (y+seg[1])*cs; - const float bx = bmin[0] + (x+seg[2])*cs; - const float by = bmin[1] + (lh+2)*ch; - const float bz = bmin[2] + (y+seg[3])*cs; - dd->vertex(ax, ay, az, pcol); - dd->vertex(bx, by, bz, pcol); - } - } - } - } - dd->end(); -} - -void duDebugDrawTileCacheLayerAreas(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch) -{ - const int w = (int)layer.header->width; - const int h = (int)layer.header->height; - const float* bmin = layer.header->bmin; - const float* bmax = layer.header->bmax; - const int idx = layer.header->tlayer; - - unsigned int color = duIntToCol(idx+1, 255); - - // Layer bounds - float lbmin[3], lbmax[3]; - lbmin[0] = bmin[0] + layer.header->minx*cs; - lbmin[1] = bmin[1]; - lbmin[2] = bmin[2] + layer.header->miny*cs; - lbmax[0] = bmin[0] + (layer.header->maxx+1)*cs; - lbmax[1] = bmax[1]; - lbmax[2] = bmin[2] + (layer.header->maxy+1)*cs; - duDebugDrawBoxWire(dd, lbmin[0],lbmin[1],lbmin[2], lbmax[0],lbmax[1],lbmax[2], duTransCol(color,128), 2.0f); - - // Layer height - dd->begin(DU_DRAW_QUADS); - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int lidx = x+y*w; - const int lh = (int)layer.heights[lidx]; - if (lh == 0xff) continue; - - const unsigned char area = layer.areas[lidx]; - unsigned int col; - if (area == 63) - col = duLerpCol(color, duRGBA(0,192,255,64), 32); - else if (area == 0) - col = duLerpCol(color, duRGBA(0,0,0,64), 32); - else - col = duLerpCol(color, dd->areaToCol(area), 32); - - const float fx = bmin[0] + x*cs; - const float fy = bmin[1] + (lh+1)*ch; - const float fz = bmin[2] + y*cs; - - dd->vertex(fx, fy, fz, col); - dd->vertex(fx, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz, col); - } - } - dd->end(); - - debugDrawTileCachePortals(dd, layer, cs, ch); -} - -void duDebugDrawTileCacheLayerRegions(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch) -{ - const int w = (int)layer.header->width; - const int h = (int)layer.header->height; - const float* bmin = layer.header->bmin; - const float* bmax = layer.header->bmax; - const int idx = layer.header->tlayer; - - unsigned int color = duIntToCol(idx+1, 255); - - // Layer bounds - float lbmin[3], lbmax[3]; - lbmin[0] = bmin[0] + layer.header->minx*cs; - lbmin[1] = bmin[1]; - lbmin[2] = bmin[2] + layer.header->miny*cs; - lbmax[0] = bmin[0] + (layer.header->maxx+1)*cs; - lbmax[1] = bmax[1]; - lbmax[2] = bmin[2] + (layer.header->maxy+1)*cs; - duDebugDrawBoxWire(dd, lbmin[0],lbmin[1],lbmin[2], lbmax[0],lbmax[1],lbmax[2], duTransCol(color,128), 2.0f); - - // Layer height - dd->begin(DU_DRAW_QUADS); - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int lidx = x+y*w; - const int lh = (int)layer.heights[lidx]; - if (lh == 0xff) continue; - const unsigned char reg = layer.regs[lidx]; - - unsigned int col = duLerpCol(color, duIntToCol(reg, 255), 192); - - const float fx = bmin[0] + x*cs; - const float fy = bmin[1] + (lh+1)*ch; - const float fz = bmin[2] + y*cs; - - dd->vertex(fx, fy, fz, col); - dd->vertex(fx, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz, col); - } - } - dd->end(); - - debugDrawTileCachePortals(dd, layer, cs, ch); -} - - - - -/*struct dtTileCacheContour -{ - int nverts; - unsigned char* verts; - unsigned char reg; - unsigned char area; -}; - -struct dtTileCacheContourSet -{ - int nconts; - dtTileCacheContour* conts; -};*/ - -void duDebugDrawTileCacheContours(duDebugDraw* dd, const struct dtTileCacheContourSet& lcset, - const float* orig, const float cs, const float ch) -{ - if (!dd) return; - - const unsigned char a = 255;// (unsigned char)(alpha*255.0f); - - const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; - - dd->begin(DU_DRAW_LINES, 2.0f); - - for (int i = 0; i < lcset.nconts; ++i) - { - const dtTileCacheContour& c = lcset.conts[i]; - unsigned int color = 0; - - color = duIntToCol(i, a); - - for (int j = 0; j < c.nverts; ++j) - { - const int k = (j+1) % c.nverts; - const unsigned char* va = &c.verts[j*4]; - const unsigned char* vb = &c.verts[k*4]; - const float ax = orig[0] + va[0]*cs; - const float ay = orig[1] + (va[1]+1+(i&1))*ch; - const float az = orig[2] + va[2]*cs; - const float bx = orig[0] + vb[0]*cs; - const float by = orig[1] + (vb[1]+1+(i&1))*ch; - const float bz = orig[2] + vb[2]*cs; - unsigned int col = color; - if ((va[3] & 0xf) != 0xf) - { - // Portal segment - col = duRGBA(255,255,255,128); - int d = va[3] & 0xf; - - const float cx = (ax+bx)*0.5f; - const float cy = (ay+by)*0.5f; - const float cz = (az+bz)*0.5f; - - const float dx = cx + offs[d*2+0]*2*cs; - const float dy = cy; - const float dz = cz + offs[d*2+1]*2*cs; - - dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); - dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); - } - - duAppendArrow(dd, ax,ay,az, bx,by,bz, 0.0f, cs*0.5f, col); - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 4.0f); - - for (int i = 0; i < lcset.nconts; ++i) - { - const dtTileCacheContour& c = lcset.conts[i]; - unsigned int color = 0; - - for (int j = 0; j < c.nverts; ++j) - { - const unsigned char* va = &c.verts[j*4]; - - color = duDarkenCol(duIntToCol(i, a)); - if (va[3] & 0x80) - { - // Border vertex - color = duRGBA(255,0,0,255); - } - - float fx = orig[0] + va[0]*cs; - float fy = orig[1] + (va[1]+1+(i&1))*ch; - float fz = orig[2] + va[2]*cs; - dd->vertex(fx,fy,fz, color); - } - } - dd->end(); -} - -void duDebugDrawTileCachePolyMesh(duDebugDraw* dd, const struct dtTileCachePolyMesh& lmesh, - const float* orig, const float cs, const float ch) -{ - if (!dd) return; - - const int nvp = lmesh.nvp; - - const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; - - dd->begin(DU_DRAW_TRIS); - - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - const unsigned char area = lmesh.areas[i]; - - unsigned int color; - if (area == DT_TILECACHE_WALKABLE_AREA) - color = duRGBA(0,192,255,64); - else if (area == DT_TILECACHE_NULL_AREA) - color = duRGBA(0,0,0,64); - else - color = dd->areaToCol(area); - - unsigned short vi[3]; - for (int j = 2; j < nvp; ++j) - { - if (p[j] == DT_TILECACHE_NULL_IDX) break; - vi[0] = p[0]; - vi[1] = p[j-1]; - vi[2] = p[j]; - for (int k = 0; k < 3; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, color); - } - } - } - dd->end(); - - // Draw neighbours edges - const unsigned int coln = duRGBA(0,48,64,32); - dd->begin(DU_DRAW_LINES, 1.5f); - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == DT_TILECACHE_NULL_IDX) break; - if (p[nvp+j] & 0x8000) continue; - const int nj = (j+1 >= nvp || p[j+1] == DT_TILECACHE_NULL_IDX) ? 0 : j+1; - int vi[2] = {p[j], p[nj]}; - - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, coln); - } - } - } - dd->end(); - - // Draw boundary edges - const unsigned int colb = duRGBA(0,48,64,220); - dd->begin(DU_DRAW_LINES, 2.5f); - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == DT_TILECACHE_NULL_IDX) break; - if ((p[nvp+j] & 0x8000) == 0) continue; - const int nj = (j+1 >= nvp || p[j+1] == DT_TILECACHE_NULL_IDX) ? 0 : j+1; - int vi[2] = {p[j], p[nj]}; - - unsigned int col = colb; - if ((p[nvp+j] & 0xf) != 0xf) - { - const unsigned short* va = &lmesh.verts[vi[0]*3]; - const unsigned short* vb = &lmesh.verts[vi[1]*3]; - - const float ax = orig[0] + va[0]*cs; - const float ay = orig[1] + (va[1]+1+(i&1))*ch; - const float az = orig[2] + va[2]*cs; - const float bx = orig[0] + vb[0]*cs; - const float by = orig[1] + (vb[1]+1+(i&1))*ch; - const float bz = orig[2] + vb[2]*cs; - - const float cx = (ax+bx)*0.5f; - const float cy = (ay+by)*0.5f; - const float cz = (az+bz)*0.5f; - - int d = p[nvp+j] & 0xf; - - const float dx = cx + offs[d*2+0]*2*cs; - const float dy = cy; - const float dz = cz + offs[d*2+1]*2*cs; - - dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); - dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); - - col = duRGBA(255,255,255,128); - } - - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, col); - } - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 3.0f); - const unsigned int colv = duRGBA(0,0,0,220); - for (int i = 0; i < lmesh.nverts; ++i) - { - const unsigned short* v = &lmesh.verts[i*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, colv); - } - dd->end(); -} - - - diff --git a/extern/recastnavigation/DebugUtils/Source/RecastDebugDraw.cpp b/extern/recastnavigation/DebugUtils/Source/RecastDebugDraw.cpp deleted file mode 100644 index c1a73a168..000000000 --- a/extern/recastnavigation/DebugUtils/Source/RecastDebugDraw.cpp +++ /dev/null @@ -1,1064 +0,0 @@ -// -// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org -// -// This software is provided 'as-is', without any express or implied -// warranty. In no event will the authors be held liable for any damages -// arising from the use of this software. -// Permission is granted to anyone to use this software for any purpose, -// including commercial applications, and to alter it and redistribute it -// freely, subject to the following restrictions: -// 1. The origin of this software must not be misrepresented; you must not -// claim that you wrote the original software. If you use this software -// in a product, an acknowledgment in the product documentation would be -// appreciated but is not required. -// 2. Altered source versions must be plainly marked as such, and must not be -// misrepresented as being the original software. -// 3. This notice may not be removed or altered from any source distribution. -// - -#define _USE_MATH_DEFINES -#include -#include "DebugDraw.h" -#include "RecastDebugDraw.h" -#include "Recast.h" - -void duDebugDrawTriMesh(duDebugDraw* dd, const float* verts, int /*nverts*/, - const int* tris, const float* normals, int ntris, - const unsigned char* flags, const float texScale) -{ - if (!dd) return; - if (!verts) return; - if (!tris) return; - if (!normals) return; - - float uva[2]; - float uvb[2]; - float uvc[2]; - - const unsigned int unwalkable = duRGBA(192,128,0,255); - - dd->texture(true); - - dd->begin(DU_DRAW_TRIS); - for (int i = 0; i < ntris*3; i += 3) - { - const float* norm = &normals[i]; - unsigned int color; - unsigned char a = (unsigned char)(220*(2+norm[0]+norm[1])/4); - if (flags && !flags[i/3]) - color = duLerpCol(duRGBA(a,a,a,255), unwalkable, 64); - else - color = duRGBA(a,a,a,255); - - const float* va = &verts[tris[i+0]*3]; - const float* vb = &verts[tris[i+1]*3]; - const float* vc = &verts[tris[i+2]*3]; - - int ax = 0, ay = 0; - if (rcAbs(norm[1]) > rcAbs(norm[ax])) - ax = 1; - if (rcAbs(norm[2]) > rcAbs(norm[ax])) - ax = 2; - ax = (1<vertex(va, color, uva); - dd->vertex(vb, color, uvb); - dd->vertex(vc, color, uvc); - } - dd->end(); - dd->texture(false); -} - -void duDebugDrawTriMeshSlope(duDebugDraw* dd, const float* verts, int /*nverts*/, - const int* tris, const float* normals, int ntris, - const float walkableSlopeAngle, const float texScale) -{ - if (!dd) return; - if (!verts) return; - if (!tris) return; - if (!normals) return; - - const float walkableThr = cosf(walkableSlopeAngle/180.0f*DU_PI); - - float uva[2]; - float uvb[2]; - float uvc[2]; - - dd->texture(true); - - const unsigned int unwalkable = duRGBA(192,128,0,255); - - dd->begin(DU_DRAW_TRIS); - for (int i = 0; i < ntris*3; i += 3) - { - const float* norm = &normals[i]; - unsigned int color; - unsigned char a = (unsigned char)(220*(2+norm[0]+norm[1])/4); - if (norm[1] < walkableThr) - color = duLerpCol(duRGBA(a,a,a,255), unwalkable, 64); - else - color = duRGBA(a,a,a,255); - - const float* va = &verts[tris[i+0]*3]; - const float* vb = &verts[tris[i+1]*3]; - const float* vc = &verts[tris[i+2]*3]; - - int ax = 0, ay = 0; - if (rcAbs(norm[1]) > rcAbs(norm[ax])) - ax = 1; - if (rcAbs(norm[2]) > rcAbs(norm[ax])) - ax = 2; - ax = (1<vertex(va, color, uva); - dd->vertex(vb, color, uvb); - dd->vertex(vc, color, uvc); - } - dd->end(); - - dd->texture(false); -} - -void duDebugDrawHeightfieldSolid(duDebugDraw* dd, const rcHeightfield& hf) -{ - if (!dd) return; - - const float* orig = hf.bmin; - const float cs = hf.cs; - const float ch = hf.ch; - - const int w = hf.width; - const int h = hf.height; - - unsigned int fcol[6]; - duCalcBoxColors(fcol, duRGBA(255,255,255,255), duRGBA(255,255,255,255)); - - dd->begin(DU_DRAW_QUADS); - - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - float fx = orig[0] + x*cs; - float fz = orig[2] + y*cs; - const rcSpan* s = hf.spans[x + y*w]; - while (s) - { - duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, fcol); - s = s->next; - } - } - } - dd->end(); -} - -void duDebugDrawHeightfieldWalkable(duDebugDraw* dd, const rcHeightfield& hf) -{ - if (!dd) return; - - const float* orig = hf.bmin; - const float cs = hf.cs; - const float ch = hf.ch; - - const int w = hf.width; - const int h = hf.height; - - unsigned int fcol[6]; - duCalcBoxColors(fcol, duRGBA(255,255,255,255), duRGBA(217,217,217,255)); - - dd->begin(DU_DRAW_QUADS); - - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - float fx = orig[0] + x*cs; - float fz = orig[2] + y*cs; - const rcSpan* s = hf.spans[x + y*w]; - while (s) - { - if (s->area == RC_WALKABLE_AREA) - fcol[0] = duRGBA(64,128,160,255); - else if (s->area == RC_NULL_AREA) - fcol[0] = duRGBA(64,64,64,255); - else - fcol[0] = duMultCol(dd->areaToCol(s->area), 200); - - duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, fcol); - s = s->next; - } - } - } - - dd->end(); -} - -void duDebugDrawCompactHeightfieldSolid(duDebugDraw* dd, const rcCompactHeightfield& chf) -{ - if (!dd) return; - - const float cs = chf.cs; - const float ch = chf.ch; - - dd->begin(DU_DRAW_QUADS); - - for (int y = 0; y < chf.height; ++y) - { - for (int x = 0; x < chf.width; ++x) - { - const float fx = chf.bmin[0] + x*cs; - const float fz = chf.bmin[2] + y*cs; - const rcCompactCell& c = chf.cells[x+y*chf.width]; - - for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) - { - const rcCompactSpan& s = chf.spans[i]; - - const unsigned char area = chf.areas[i]; - unsigned int color; - if (area == RC_WALKABLE_AREA) - color = duRGBA(0,192,255,64); - else if (area == RC_NULL_AREA) - color = duRGBA(0,0,0,64); - else - color = dd->areaToCol(area); - - const float fy = chf.bmin[1] + (s.y+1)*ch; - dd->vertex(fx, fy, fz, color); - dd->vertex(fx, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz, color); - } - } - } - dd->end(); -} - -void duDebugDrawCompactHeightfieldRegions(duDebugDraw* dd, const rcCompactHeightfield& chf) -{ - if (!dd) return; - - const float cs = chf.cs; - const float ch = chf.ch; - - dd->begin(DU_DRAW_QUADS); - - for (int y = 0; y < chf.height; ++y) - { - for (int x = 0; x < chf.width; ++x) - { - const float fx = chf.bmin[0] + x*cs; - const float fz = chf.bmin[2] + y*cs; - const rcCompactCell& c = chf.cells[x+y*chf.width]; - - for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) - { - const rcCompactSpan& s = chf.spans[i]; - const float fy = chf.bmin[1] + (s.y)*ch; - unsigned int color; - if (s.reg) - color = duIntToCol(s.reg, 192); - else - color = duRGBA(0,0,0,64); - - dd->vertex(fx, fy, fz, color); - dd->vertex(fx, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz, color); - } - } - } - - dd->end(); -} - - -void duDebugDrawCompactHeightfieldDistance(duDebugDraw* dd, const rcCompactHeightfield& chf) -{ - if (!dd) return; - if (!chf.dist) return; - - const float cs = chf.cs; - const float ch = chf.ch; - - float maxd = chf.maxDistance; - if (maxd < 1.0f) maxd = 1; - const float dscale = 255.0f / maxd; - - dd->begin(DU_DRAW_QUADS); - - for (int y = 0; y < chf.height; ++y) - { - for (int x = 0; x < chf.width; ++x) - { - const float fx = chf.bmin[0] + x*cs; - const float fz = chf.bmin[2] + y*cs; - const rcCompactCell& c = chf.cells[x+y*chf.width]; - - for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i) - { - const rcCompactSpan& s = chf.spans[i]; - const float fy = chf.bmin[1] + (s.y+1)*ch; - const unsigned char cd = (unsigned char)(chf.dist[i] * dscale); - const unsigned int color = duRGBA(cd,cd,cd,255); - dd->vertex(fx, fy, fz, color); - dd->vertex(fx, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz+cs, color); - dd->vertex(fx+cs, fy, fz, color); - } - } - } - dd->end(); -} - -static void drawLayerPortals(duDebugDraw* dd, const rcHeightfieldLayer* layer) -{ - const float cs = layer->cs; - const float ch = layer->ch; - const int w = layer->width; - const int h = layer->height; - - unsigned int pcol = duRGBA(255,255,255,255); - - const int segs[4*4] = {0,0,0,1, 0,1,1,1, 1,1,1,0, 1,0,0,0}; - - // Layer portals - dd->begin(DU_DRAW_LINES, 2.0f); - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int idx = x+y*w; - const int lh = (int)layer->heights[idx]; - if (lh == 255) continue; - - for (int dir = 0; dir < 4; ++dir) - { - if (layer->cons[idx] & (1<<(dir+4))) - { - const int* seg = &segs[dir*4]; - const float ax = layer->bmin[0] + (x+seg[0])*cs; - const float ay = layer->bmin[1] + (lh+2)*ch; - const float az = layer->bmin[2] + (y+seg[1])*cs; - const float bx = layer->bmin[0] + (x+seg[2])*cs; - const float by = layer->bmin[1] + (lh+2)*ch; - const float bz = layer->bmin[2] + (y+seg[3])*cs; - dd->vertex(ax, ay, az, pcol); - dd->vertex(bx, by, bz, pcol); - } - } - } - } - dd->end(); -} - -void duDebugDrawHeightfieldLayer(duDebugDraw* dd, const struct rcHeightfieldLayer& layer, const int idx) -{ - const float cs = layer.cs; - const float ch = layer.ch; - const int w = layer.width; - const int h = layer.height; - - unsigned int color = duIntToCol(idx+1, 255); - - // Layer bounds - float bmin[3], bmax[3]; - bmin[0] = layer.bmin[0] + layer.minx*cs; - bmin[1] = layer.bmin[1]; - bmin[2] = layer.bmin[2] + layer.miny*cs; - bmax[0] = layer.bmin[0] + (layer.maxx+1)*cs; - bmax[1] = layer.bmax[1]; - bmax[2] = layer.bmin[2] + (layer.maxy+1)*cs; - duDebugDrawBoxWire(dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duTransCol(color,128), 2.0f); - - // Layer height - dd->begin(DU_DRAW_QUADS); - for (int y = 0; y < h; ++y) - { - for (int x = 0; x < w; ++x) - { - const int lidx = x+y*w; - const int lh = (int)layer.heights[lidx]; - if (h == 0xff) continue; - const unsigned char area = layer.areas[lidx]; - - unsigned int col; - if (area == RC_WALKABLE_AREA) - col = duLerpCol(color, duRGBA(0,192,255,64), 32); - else if (area == RC_NULL_AREA) - col = duLerpCol(color, duRGBA(0,0,0,64), 32); - else - col = duLerpCol(color, dd->areaToCol(area), 32); - - const float fx = layer.bmin[0] + x*cs; - const float fy = layer.bmin[1] + (lh+1)*ch; - const float fz = layer.bmin[2] + y*cs; - - dd->vertex(fx, fy, fz, col); - dd->vertex(fx, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz+cs, col); - dd->vertex(fx+cs, fy, fz, col); - } - } - dd->end(); - - // Portals - drawLayerPortals(dd, &layer); -} - -void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset) -{ - if (!dd) return; - for (int i = 0; i < lset.nlayers; ++i) - duDebugDrawHeightfieldLayer(dd, lset.layers[i], i); -} - -/* -void duDebugDrawLayerContours(duDebugDraw* dd, const struct rcLayerContourSet& lcset) -{ - if (!dd) return; - - const float* orig = lcset.bmin; - const float cs = lcset.cs; - const float ch = lcset.ch; - - const unsigned char a = 255;// (unsigned char)(alpha*255.0f); - - const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; - - dd->begin(DU_DRAW_LINES, 2.0f); - - for (int i = 0; i < lcset.nconts; ++i) - { - const rcLayerContour& c = lcset.conts[i]; - unsigned int color = 0; - - color = duIntToCol(i, a); - - for (int j = 0; j < c.nverts; ++j) - { - const int k = (j+1) % c.nverts; - const unsigned char* va = &c.verts[j*4]; - const unsigned char* vb = &c.verts[k*4]; - const float ax = orig[0] + va[0]*cs; - const float ay = orig[1] + (va[1]+1+(i&1))*ch; - const float az = orig[2] + va[2]*cs; - const float bx = orig[0] + vb[0]*cs; - const float by = orig[1] + (vb[1]+1+(i&1))*ch; - const float bz = orig[2] + vb[2]*cs; - unsigned int col = color; - if ((va[3] & 0xf) != 0xf) - { - col = duRGBA(255,255,255,128); - int d = va[3] & 0xf; - - const float cx = (ax+bx)*0.5f; - const float cy = (ay+by)*0.5f; - const float cz = (az+bz)*0.5f; - - const float dx = cx + offs[d*2+0]*2*cs; - const float dy = cy; - const float dz = cz + offs[d*2+1]*2*cs; - - dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); - dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); - } - - duAppendArrow(dd, ax,ay,az, bx,by,bz, 0.0f, cs*0.5f, col); - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 4.0f); - - for (int i = 0; i < lcset.nconts; ++i) - { - const rcLayerContour& c = lcset.conts[i]; - unsigned int color = 0; - - for (int j = 0; j < c.nverts; ++j) - { - const unsigned char* va = &c.verts[j*4]; - - color = duDarkenCol(duIntToCol(i, a)); - if (va[3] & 0x80) - color = duRGBA(255,0,0,255); - - float fx = orig[0] + va[0]*cs; - float fy = orig[1] + (va[1]+1+(i&1))*ch; - float fz = orig[2] + va[2]*cs; - dd->vertex(fx,fy,fz, color); - } - } - dd->end(); -} - -void duDebugDrawLayerPolyMesh(duDebugDraw* dd, const struct rcLayerPolyMesh& lmesh) -{ - if (!dd) return; - - const int nvp = lmesh.nvp; - const float cs = lmesh.cs; - const float ch = lmesh.ch; - const float* orig = lmesh.bmin; - - const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1}; - - dd->begin(DU_DRAW_TRIS); - - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - - unsigned int color; - if (lmesh.areas[i] == RC_WALKABLE_AREA) - color = duRGBA(0,192,255,64); - else if (lmesh.areas[i] == RC_NULL_AREA) - color = duRGBA(0,0,0,64); - else - color = duIntToCol(lmesh.areas[i], 255); - - unsigned short vi[3]; - for (int j = 2; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - vi[0] = p[0]; - vi[1] = p[j-1]; - vi[2] = p[j]; - for (int k = 0; k < 3; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, color); - } - } - } - dd->end(); - - // Draw neighbours edges - const unsigned int coln = duRGBA(0,48,64,32); - dd->begin(DU_DRAW_LINES, 1.5f); - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - if (p[nvp+j] & 0x8000) continue; - const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; - int vi[2] = {p[j], p[nj]}; - - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, coln); - } - } - } - dd->end(); - - // Draw boundary edges - const unsigned int colb = duRGBA(0,48,64,220); - dd->begin(DU_DRAW_LINES, 2.5f); - for (int i = 0; i < lmesh.npolys; ++i) - { - const unsigned short* p = &lmesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - if ((p[nvp+j] & 0x8000) == 0) continue; - const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; - int vi[2] = {p[j], p[nj]}; - - unsigned int col = colb; - if ((p[nvp+j] & 0xf) != 0xf) - { - const unsigned short* va = &lmesh.verts[vi[0]*3]; - const unsigned short* vb = &lmesh.verts[vi[1]*3]; - - const float ax = orig[0] + va[0]*cs; - const float ay = orig[1] + (va[1]+1+(i&1))*ch; - const float az = orig[2] + va[2]*cs; - const float bx = orig[0] + vb[0]*cs; - const float by = orig[1] + (vb[1]+1+(i&1))*ch; - const float bz = orig[2] + vb[2]*cs; - - const float cx = (ax+bx)*0.5f; - const float cy = (ay+by)*0.5f; - const float cz = (az+bz)*0.5f; - - int d = p[nvp+j] & 0xf; - - const float dx = cx + offs[d*2+0]*2*cs; - const float dy = cy; - const float dz = cz + offs[d*2+1]*2*cs; - - dd->vertex(cx,cy,cz,duRGBA(255,0,0,255)); - dd->vertex(dx,dy,dz,duRGBA(255,0,0,255)); - - col = duRGBA(255,255,255,128); - } - - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &lmesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, col); - } - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 3.0f); - const unsigned int colv = duRGBA(0,0,0,220); - for (int i = 0; i < lmesh.nverts; ++i) - { - const unsigned short* v = &lmesh.verts[i*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, colv); - } - dd->end(); -} -*/ - -static void getContourCenter(const rcContour* cont, const float* orig, float cs, float ch, float* center) -{ - center[0] = 0; - center[1] = 0; - center[2] = 0; - if (!cont->nverts) - return; - for (int i = 0; i < cont->nverts; ++i) - { - const int* v = &cont->verts[i*4]; - center[0] += (float)v[0]; - center[1] += (float)v[1]; - center[2] += (float)v[2]; - } - const float s = 1.0f / cont->nverts; - center[0] *= s * cs; - center[1] *= s * ch; - center[2] *= s * cs; - center[0] += orig[0]; - center[1] += orig[1] + 4*ch; - center[2] += orig[2]; -} - -static const rcContour* findContourFromSet(const rcContourSet& cset, unsigned short reg) -{ - for (int i = 0; i < cset.nconts; ++i) - { - if (cset.conts[i].reg == reg) - return &cset.conts[i]; - } - return 0; -} - -void duDebugDrawRegionConnections(duDebugDraw* dd, const rcContourSet& cset, const float alpha) -{ - if (!dd) return; - - const float* orig = cset.bmin; - const float cs = cset.cs; - const float ch = cset.ch; - - // Draw centers - float pos[3], pos2[3]; - - unsigned int color = duRGBA(0,0,0,196); - - dd->begin(DU_DRAW_LINES, 2.0f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour* cont = &cset.conts[i]; - getContourCenter(cont, orig, cs, ch, pos); - for (int j = 0; j < cont->nverts; ++j) - { - const int* v = &cont->verts[j*4]; - if (v[3] == 0 || (unsigned short)v[3] < cont->reg) continue; - const rcContour* cont2 = findContourFromSet(cset, (unsigned short)v[3]); - if (cont2) - { - getContourCenter(cont2, orig, cs, ch, pos2); - duAppendArc(dd, pos[0],pos[1],pos[2], pos2[0],pos2[1],pos2[2], 0.25f, 0.6f, 0.6f, color); - } - } - } - - dd->end(); - - unsigned char a = (unsigned char)(alpha * 255.0f); - - dd->begin(DU_DRAW_POINTS, 7.0f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour* cont = &cset.conts[i]; - unsigned int col = duDarkenCol(duIntToCol(cont->reg,a)); - getContourCenter(cont, orig, cs, ch, pos); - dd->vertex(pos, col); - } - dd->end(); -} - -void duDebugDrawRawContours(duDebugDraw* dd, const rcContourSet& cset, const float alpha) -{ - if (!dd) return; - - const float* orig = cset.bmin; - const float cs = cset.cs; - const float ch = cset.ch; - - const unsigned char a = (unsigned char)(alpha*255.0f); - - dd->begin(DU_DRAW_LINES, 2.0f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour& c = cset.conts[i]; - unsigned int color = duIntToCol(c.reg, a); - - for (int j = 0; j < c.nrverts; ++j) - { - const int* v = &c.rverts[j*4]; - float fx = orig[0] + v[0]*cs; - float fy = orig[1] + (v[1]+1+(i&1))*ch; - float fz = orig[2] + v[2]*cs; - dd->vertex(fx,fy,fz,color); - if (j > 0) - dd->vertex(fx,fy,fz,color); - } - // Loop last segment. - const int* v = &c.rverts[0]; - float fx = orig[0] + v[0]*cs; - float fy = orig[1] + (v[1]+1+(i&1))*ch; - float fz = orig[2] + v[2]*cs; - dd->vertex(fx,fy,fz,color); - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 2.0f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour& c = cset.conts[i]; - unsigned int color = duDarkenCol(duIntToCol(c.reg, a)); - - for (int j = 0; j < c.nrverts; ++j) - { - const int* v = &c.rverts[j*4]; - float off = 0; - unsigned int colv = color; - if (v[3] & RC_BORDER_VERTEX) - { - colv = duRGBA(255,255,255,a); - off = ch*2; - } - - float fx = orig[0] + v[0]*cs; - float fy = orig[1] + (v[1]+1+(i&1))*ch + off; - float fz = orig[2] + v[2]*cs; - dd->vertex(fx,fy,fz, colv); - } - } - dd->end(); -} - -void duDebugDrawContours(duDebugDraw* dd, const rcContourSet& cset, const float alpha) -{ - if (!dd) return; - - const float* orig = cset.bmin; - const float cs = cset.cs; - const float ch = cset.ch; - - const unsigned char a = (unsigned char)(alpha*255.0f); - - dd->begin(DU_DRAW_LINES, 2.5f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour& c = cset.conts[i]; - if (!c.nverts) - continue; - const unsigned int color = duIntToCol(c.reg, a); - const unsigned int bcolor = duLerpCol(color,duRGBA(255,255,255,a),128); - for (int j = 0, k = c.nverts-1; j < c.nverts; k=j++) - { - const int* va = &c.verts[k*4]; - const int* vb = &c.verts[j*4]; - unsigned int col = (va[3] & RC_AREA_BORDER) ? bcolor : color; - float fx,fy,fz; - fx = orig[0] + va[0]*cs; - fy = orig[1] + (va[1]+1+(i&1))*ch; - fz = orig[2] + va[2]*cs; - dd->vertex(fx,fy,fz, col); - fx = orig[0] + vb[0]*cs; - fy = orig[1] + (vb[1]+1+(i&1))*ch; - fz = orig[2] + vb[2]*cs; - dd->vertex(fx,fy,fz, col); - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 3.0f); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour& c = cset.conts[i]; - unsigned int color = duDarkenCol(duIntToCol(c.reg, a)); - for (int j = 0; j < c.nverts; ++j) - { - const int* v = &c.verts[j*4]; - float off = 0; - unsigned int colv = color; - if (v[3] & RC_BORDER_VERTEX) - { - colv = duRGBA(255,255,255,a); - off = ch*2; - } - - float fx = orig[0] + v[0]*cs; - float fy = orig[1] + (v[1]+1+(i&1))*ch + off; - float fz = orig[2] + v[2]*cs; - dd->vertex(fx,fy,fz, colv); - } - } - dd->end(); -} - -void duDebugDrawPolyMesh(duDebugDraw* dd, const struct rcPolyMesh& mesh) -{ - if (!dd) return; - - const int nvp = mesh.nvp; - const float cs = mesh.cs; - const float ch = mesh.ch; - const float* orig = mesh.bmin; - - dd->begin(DU_DRAW_TRIS); - - for (int i = 0; i < mesh.npolys; ++i) - { - const unsigned short* p = &mesh.polys[i*nvp*2]; - const unsigned char area = mesh.areas[i]; - - unsigned int color; - if (area == RC_WALKABLE_AREA) - color = duRGBA(0,192,255,64); - else if (area == RC_NULL_AREA) - color = duRGBA(0,0,0,64); - else - color = dd->areaToCol(area); - - unsigned short vi[3]; - for (int j = 2; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - vi[0] = p[0]; - vi[1] = p[j-1]; - vi[2] = p[j]; - for (int k = 0; k < 3; ++k) - { - const unsigned short* v = &mesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, color); - } - } - } - dd->end(); - - // Draw neighbours edges - const unsigned int coln = duRGBA(0,48,64,32); - dd->begin(DU_DRAW_LINES, 1.5f); - for (int i = 0; i < mesh.npolys; ++i) - { - const unsigned short* p = &mesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - if (p[nvp+j] & 0x8000) continue; - const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; - const int vi[2] = {p[j], p[nj]}; - - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &mesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, coln); - } - } - } - dd->end(); - - // Draw boundary edges - const unsigned int colb = duRGBA(0,48,64,220); - dd->begin(DU_DRAW_LINES, 2.5f); - for (int i = 0; i < mesh.npolys; ++i) - { - const unsigned short* p = &mesh.polys[i*nvp*2]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - if ((p[nvp+j] & 0x8000) == 0) continue; - const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1; - const int vi[2] = {p[j], p[nj]}; - - unsigned int col = colb; - if ((p[nvp+j] & 0xf) != 0xf) - col = duRGBA(255,255,255,128); - for (int k = 0; k < 2; ++k) - { - const unsigned short* v = &mesh.verts[vi[k]*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x, y, z, col); - } - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 3.0f); - const unsigned int colv = duRGBA(0,0,0,220); - for (int i = 0; i < mesh.nverts; ++i) - { - const unsigned short* v = &mesh.verts[i*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - dd->vertex(x,y,z, colv); - } - dd->end(); -} - -void duDebugDrawPolyMeshDetail(duDebugDraw* dd, const struct rcPolyMeshDetail& dmesh) -{ - if (!dd) return; - - dd->begin(DU_DRAW_TRIS); - - for (int i = 0; i < dmesh.nmeshes; ++i) - { - const unsigned int* m = &dmesh.meshes[i*4]; - const unsigned int bverts = m[0]; - const unsigned int btris = m[2]; - const int ntris = (int)m[3]; - const float* verts = &dmesh.verts[bverts*3]; - const unsigned char* tris = &dmesh.tris[btris*4]; - - unsigned int color = duIntToCol(i, 192); - - for (int j = 0; j < ntris; ++j) - { - dd->vertex(&verts[tris[j*4+0]*3], color); - dd->vertex(&verts[tris[j*4+1]*3], color); - dd->vertex(&verts[tris[j*4+2]*3], color); - } - } - dd->end(); - - // Internal edges. - dd->begin(DU_DRAW_LINES, 1.0f); - const unsigned int coli = duRGBA(0,0,0,64); - for (int i = 0; i < dmesh.nmeshes; ++i) - { - const unsigned int* m = &dmesh.meshes[i*4]; - const unsigned int bverts = m[0]; - const unsigned int btris = m[2]; - const int ntris = (int)m[3]; - const float* verts = &dmesh.verts[bverts*3]; - const unsigned char* tris = &dmesh.tris[btris*4]; - - for (int j = 0; j < ntris; ++j) - { - const unsigned char* t = &tris[j*4]; - for (int k = 0, kp = 2; k < 3; kp=k++) - { - unsigned char ef = (t[3] >> (kp*2)) & 0x3; - if (ef == 0) - { - // Internal edge - if (t[kp] < t[k]) - { - dd->vertex(&verts[t[kp]*3], coli); - dd->vertex(&verts[t[k]*3], coli); - } - } - } - } - } - dd->end(); - - // External edges. - dd->begin(DU_DRAW_LINES, 2.0f); - const unsigned int cole = duRGBA(0,0,0,64); - for (int i = 0; i < dmesh.nmeshes; ++i) - { - const unsigned int* m = &dmesh.meshes[i*4]; - const unsigned int bverts = m[0]; - const unsigned int btris = m[2]; - const int ntris = (int)m[3]; - const float* verts = &dmesh.verts[bverts*3]; - const unsigned char* tris = &dmesh.tris[btris*4]; - - for (int j = 0; j < ntris; ++j) - { - const unsigned char* t = &tris[j*4]; - for (int k = 0, kp = 2; k < 3; kp=k++) - { - unsigned char ef = (t[3] >> (kp*2)) & 0x3; - if (ef != 0) - { - // Ext edge - dd->vertex(&verts[t[kp]*3], cole); - dd->vertex(&verts[t[k]*3], cole); - } - } - } - } - dd->end(); - - dd->begin(DU_DRAW_POINTS, 3.0f); - const unsigned int colv = duRGBA(0,0,0,64); - for (int i = 0; i < dmesh.nmeshes; ++i) - { - const unsigned int* m = &dmesh.meshes[i*4]; - const unsigned int bverts = m[0]; - const int nverts = (int)m[1]; - const float* verts = &dmesh.verts[bverts*3]; - for (int j = 0; j < nverts; ++j) - dd->vertex(&verts[j*3], colv); - } - dd->end(); -} diff --git a/extern/recastnavigation/DebugUtils/Source/RecastDump.cpp b/extern/recastnavigation/DebugUtils/Source/RecastDump.cpp deleted file mode 100644 index 209382515..000000000 --- a/extern/recastnavigation/DebugUtils/Source/RecastDump.cpp +++ /dev/null @@ -1,451 +0,0 @@ -// -// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org -// -// This software is provided 'as-is', without any express or implied -// warranty. In no event will the authors be held liable for any damages -// arising from the use of this software. -// Permission is granted to anyone to use this software for any purpose, -// including commercial applications, and to alter it and redistribute it -// freely, subject to the following restrictions: -// 1. The origin of this software must not be misrepresented; you must not -// claim that you wrote the original software. If you use this software -// in a product, an acknowledgment in the product documentation would be -// appreciated but is not required. -// 2. Altered source versions must be plainly marked as such, and must not be -// misrepresented as being the original software. -// 3. This notice may not be removed or altered from any source distribution. -// - -#define _USE_MATH_DEFINES -#include -#include -#include -#include -#include "Recast.h" -#include "RecastAlloc.h" -#include "RecastDump.h" - - -duFileIO::~duFileIO() -{ - // Empty -} - -static void ioprintf(duFileIO* io, const char* format, ...) -{ - char line[256]; - va_list ap; - va_start(ap, format); - const int n = vsnprintf(line, sizeof(line), format, ap); - va_end(ap); - if (n > 0) - io->write(line, sizeof(char)*n); -} - -bool duDumpPolyMeshToObj(rcPolyMesh& pmesh, duFileIO* io) -{ - if (!io) - { - printf("duDumpPolyMeshToObj: input IO is null.\n"); - return false; - } - if (!io->isWriting()) - { - printf("duDumpPolyMeshToObj: input IO not writing.\n"); - return false; - } - - const int nvp = pmesh.nvp; - const float cs = pmesh.cs; - const float ch = pmesh.ch; - const float* orig = pmesh.bmin; - - ioprintf(io, "# Recast Navmesh\n"); - ioprintf(io, "o NavMesh\n"); - - ioprintf(io, "\n"); - - for (int i = 0; i < pmesh.nverts; ++i) - { - const unsigned short* v = &pmesh.verts[i*3]; - const float x = orig[0] + v[0]*cs; - const float y = orig[1] + (v[1]+1)*ch + 0.1f; - const float z = orig[2] + v[2]*cs; - ioprintf(io, "v %f %f %f\n", x,y,z); - } - - ioprintf(io, "\n"); - - for (int i = 0; i < pmesh.npolys; ++i) - { - const unsigned short* p = &pmesh.polys[i*nvp*2]; - for (int j = 2; j < nvp; ++j) - { - if (p[j] == RC_MESH_NULL_IDX) break; - ioprintf(io, "f %d %d %d\n", p[0]+1, p[j-1]+1, p[j]+1); - } - } - - return true; -} - -bool duDumpPolyMeshDetailToObj(rcPolyMeshDetail& dmesh, duFileIO* io) -{ - if (!io) - { - printf("duDumpPolyMeshDetailToObj: input IO is null.\n"); - return false; - } - if (!io->isWriting()) - { - printf("duDumpPolyMeshDetailToObj: input IO not writing.\n"); - return false; - } - - ioprintf(io, "# Recast Navmesh\n"); - ioprintf(io, "o NavMesh\n"); - - ioprintf(io, "\n"); - - for (int i = 0; i < dmesh.nverts; ++i) - { - const float* v = &dmesh.verts[i*3]; - ioprintf(io, "v %f %f %f\n", v[0],v[1],v[2]); - } - - ioprintf(io, "\n"); - - for (int i = 0; i < dmesh.nmeshes; ++i) - { - const unsigned int* m = &dmesh.meshes[i*4]; - const unsigned int bverts = m[0]; - const unsigned int btris = m[2]; - const unsigned int ntris = m[3]; - const unsigned char* tris = &dmesh.tris[btris*4]; - for (unsigned int j = 0; j < ntris; ++j) - { - ioprintf(io, "f %d %d %d\n", - (int)(bverts+tris[j*4+0])+1, - (int)(bverts+tris[j*4+1])+1, - (int)(bverts+tris[j*4+2])+1); - } - } - - return true; -} - -static const int CSET_MAGIC = ('c' << 24) | ('s' << 16) | ('e' << 8) | 't'; -static const int CSET_VERSION = 2; - -bool duDumpContourSet(struct rcContourSet& cset, duFileIO* io) -{ - if (!io) - { - printf("duDumpContourSet: input IO is null.\n"); - return false; - } - if (!io->isWriting()) - { - printf("duDumpContourSet: input IO not writing.\n"); - return false; - } - - io->write(&CSET_MAGIC, sizeof(CSET_MAGIC)); - io->write(&CSET_VERSION, sizeof(CSET_VERSION)); - - io->write(&cset.nconts, sizeof(cset.nconts)); - - io->write(cset.bmin, sizeof(cset.bmin)); - io->write(cset.bmax, sizeof(cset.bmax)); - - io->write(&cset.cs, sizeof(cset.cs)); - io->write(&cset.ch, sizeof(cset.ch)); - - io->write(&cset.width, sizeof(cset.width)); - io->write(&cset.height, sizeof(cset.height)); - io->write(&cset.borderSize, sizeof(cset.borderSize)); - - for (int i = 0; i < cset.nconts; ++i) - { - const rcContour& cont = cset.conts[i]; - io->write(&cont.nverts, sizeof(cont.nverts)); - io->write(&cont.nrverts, sizeof(cont.nrverts)); - io->write(&cont.reg, sizeof(cont.reg)); - io->write(&cont.area, sizeof(cont.area)); - io->write(cont.verts, sizeof(int)*4*cont.nverts); - io->write(cont.rverts, sizeof(int)*4*cont.nrverts); - } - - return true; -} - -bool duReadContourSet(struct rcContourSet& cset, duFileIO* io) -{ - if (!io) - { - printf("duReadContourSet: input IO is null.\n"); - return false; - } - if (!io->isReading()) - { - printf("duReadContourSet: input IO not reading.\n"); - return false; - } - - int magic = 0; - int version = 0; - - io->read(&magic, sizeof(magic)); - io->read(&version, sizeof(version)); - - if (magic != CSET_MAGIC) - { - printf("duReadContourSet: Bad voodoo.\n"); - return false; - } - if (version != CSET_VERSION) - { - printf("duReadContourSet: Bad version.\n"); - return false; - } - - io->read(&cset.nconts, sizeof(cset.nconts)); - - cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*cset.nconts, RC_ALLOC_PERM); - if (!cset.conts) - { - printf("duReadContourSet: Could not alloc contours (%d)\n", cset.nconts); - return false; - } - memset(cset.conts, 0, sizeof(rcContour)*cset.nconts); - - io->read(cset.bmin, sizeof(cset.bmin)); - io->read(cset.bmax, sizeof(cset.bmax)); - - io->read(&cset.cs, sizeof(cset.cs)); - io->read(&cset.ch, sizeof(cset.ch)); - - io->read(&cset.width, sizeof(cset.width)); - io->read(&cset.height, sizeof(cset.height)); - io->read(&cset.borderSize, sizeof(cset.borderSize)); - - for (int i = 0; i < cset.nconts; ++i) - { - rcContour& cont = cset.conts[i]; - io->read(&cont.nverts, sizeof(cont.nverts)); - io->read(&cont.nrverts, sizeof(cont.nrverts)); - io->read(&cont.reg, sizeof(cont.reg)); - io->read(&cont.area, sizeof(cont.area)); - - cont.verts = (int*)rcAlloc(sizeof(int)*4*cont.nverts, RC_ALLOC_PERM); - if (!cont.verts) - { - printf("duReadContourSet: Could not alloc contour verts (%d)\n", cont.nverts); - return false; - } - cont.rverts = (int*)rcAlloc(sizeof(int)*4*cont.nrverts, RC_ALLOC_PERM); - if (!cont.rverts) - { - printf("duReadContourSet: Could not alloc contour rverts (%d)\n", cont.nrverts); - return false; - } - - io->read(cont.verts, sizeof(int)*4*cont.nverts); - io->read(cont.rverts, sizeof(int)*4*cont.nrverts); - } - - return true; -} - - -static const int CHF_MAGIC = ('r' << 24) | ('c' << 16) | ('h' << 8) | 'f'; -static const int CHF_VERSION = 3; - -bool duDumpCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io) -{ - if (!io) - { - printf("duDumpCompactHeightfield: input IO is null.\n"); - return false; - } - if (!io->isWriting()) - { - printf("duDumpCompactHeightfield: input IO not writing.\n"); - return false; - } - - io->write(&CHF_MAGIC, sizeof(CHF_MAGIC)); - io->write(&CHF_VERSION, sizeof(CHF_VERSION)); - - io->write(&chf.width, sizeof(chf.width)); - io->write(&chf.height, sizeof(chf.height)); - io->write(&chf.spanCount, sizeof(chf.spanCount)); - - io->write(&chf.walkableHeight, sizeof(chf.walkableHeight)); - io->write(&chf.walkableClimb, sizeof(chf.walkableClimb)); - io->write(&chf.borderSize, sizeof(chf.borderSize)); - - io->write(&chf.maxDistance, sizeof(chf.maxDistance)); - io->write(&chf.maxRegions, sizeof(chf.maxRegions)); - - io->write(chf.bmin, sizeof(chf.bmin)); - io->write(chf.bmax, sizeof(chf.bmax)); - - io->write(&chf.cs, sizeof(chf.cs)); - io->write(&chf.ch, sizeof(chf.ch)); - - int tmp = 0; - if (chf.cells) tmp |= 1; - if (chf.spans) tmp |= 2; - if (chf.dist) tmp |= 4; - if (chf.areas) tmp |= 8; - - io->write(&tmp, sizeof(tmp)); - - if (chf.cells) - io->write(chf.cells, sizeof(rcCompactCell)*chf.width*chf.height); - if (chf.spans) - io->write(chf.spans, sizeof(rcCompactSpan)*chf.spanCount); - if (chf.dist) - io->write(chf.dist, sizeof(unsigned short)*chf.spanCount); - if (chf.areas) - io->write(chf.areas, sizeof(unsigned char)*chf.spanCount); - - return true; -} - -bool duReadCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io) -{ - if (!io) - { - printf("duReadCompactHeightfield: input IO is null.\n"); - return false; - } - if (!io->isReading()) - { - printf("duReadCompactHeightfield: input IO not reading.\n"); - return false; - } - - int magic = 0; - int version = 0; - - io->read(&magic, sizeof(magic)); - io->read(&version, sizeof(version)); - - if (magic != CHF_MAGIC) - { - printf("duReadCompactHeightfield: Bad voodoo.\n"); - return false; - } - if (version != CHF_VERSION) - { - printf("duReadCompactHeightfield: Bad version.\n"); - return false; - } - - io->read(&chf.width, sizeof(chf.width)); - io->read(&chf.height, sizeof(chf.height)); - io->read(&chf.spanCount, sizeof(chf.spanCount)); - - io->read(&chf.walkableHeight, sizeof(chf.walkableHeight)); - io->read(&chf.walkableClimb, sizeof(chf.walkableClimb)); - io->read(&chf.borderSize, sizeof(chf.borderSize)); - - io->read(&chf.maxDistance, sizeof(chf.maxDistance)); - io->read(&chf.maxRegions, sizeof(chf.maxRegions)); - - io->read(chf.bmin, sizeof(chf.bmin)); - io->read(chf.bmax, sizeof(chf.bmax)); - - io->read(&chf.cs, sizeof(chf.cs)); - io->read(&chf.ch, sizeof(chf.ch)); - - int tmp = 0; - io->read(&tmp, sizeof(tmp)); - - if (tmp & 1) - { - chf.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell)*chf.width*chf.height, RC_ALLOC_PERM); - if (!chf.cells) - { - printf("duReadCompactHeightfield: Could not alloc cells (%d)\n", chf.width*chf.height); - return false; - } - io->read(chf.cells, sizeof(rcCompactCell)*chf.width*chf.height); - } - if (tmp & 2) - { - chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*chf.spanCount, RC_ALLOC_PERM); - if (!chf.spans) - { - printf("duReadCompactHeightfield: Could not alloc spans (%d)\n", chf.spanCount); - return false; - } - io->read(chf.spans, sizeof(rcCompactSpan)*chf.spanCount); - } - if (tmp & 4) - { - chf.dist = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_PERM); - if (!chf.dist) - { - printf("duReadCompactHeightfield: Could not alloc dist (%d)\n", chf.spanCount); - return false; - } - io->read(chf.dist, sizeof(unsigned short)*chf.spanCount); - } - if (tmp & 8) - { - chf.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_PERM); - if (!chf.areas) - { - printf("duReadCompactHeightfield: Could not alloc areas (%d)\n", chf.spanCount); - return false; - } - io->read(chf.areas, sizeof(unsigned char)*chf.spanCount); - } - - return true; -} - - -static void logLine(rcContext& ctx, rcTimerLabel label, const char* name, const float pc) -{ - const int t = ctx.getAccumulatedTime(label); - if (t < 0) return; - ctx.log(RC_LOG_PROGRESS, "%s:\t%.2fms\t(%.1f%%)", name, t/1000.0f, t*pc); -} - -void duLogBuildTimes(rcContext& ctx, const int totalTimeUsec) -{ - const float pc = 100.0f / totalTimeUsec; - - ctx.log(RC_LOG_PROGRESS, "Build Times"); - logLine(ctx, RC_TIMER_RASTERIZE_TRIANGLES, "- Rasterize", pc); - logLine(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD, "- Build Compact", pc); - logLine(ctx, RC_TIMER_FILTER_BORDER, "- Filter Border", pc); - logLine(ctx, RC_TIMER_FILTER_WALKABLE, "- Filter Walkable", pc); - logLine(ctx, RC_TIMER_ERODE_AREA, "- Erode Area", pc); - logLine(ctx, RC_TIMER_MEDIAN_AREA, "- Median Area", pc); - logLine(ctx, RC_TIMER_MARK_BOX_AREA, "- Mark Box Area", pc); - logLine(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA, "- Mark Convex Area", pc); - logLine(ctx, RC_TIMER_MARK_CYLINDER_AREA, "- Mark Cylinder Area", pc); - logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD, "- Build Distance Field", pc); - logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD_DIST, " - Distance", pc); - logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD_BLUR, " - Blur", pc); - logLine(ctx, RC_TIMER_BUILD_REGIONS, "- Build Regions", pc); - logLine(ctx, RC_TIMER_BUILD_REGIONS_WATERSHED, " - Watershed", pc); - logLine(ctx, RC_TIMER_BUILD_REGIONS_EXPAND, " - Expand", pc); - logLine(ctx, RC_TIMER_BUILD_REGIONS_FLOOD, " - Find Basins", pc); - logLine(ctx, RC_TIMER_BUILD_REGIONS_FILTER, " - Filter", pc); - logLine(ctx, RC_TIMER_BUILD_LAYERS, "- Build Layers", pc); - logLine(ctx, RC_TIMER_BUILD_CONTOURS, "- Build Contours", pc); - logLine(ctx, RC_TIMER_BUILD_CONTOURS_TRACE, " - Trace", pc); - logLine(ctx, RC_TIMER_BUILD_CONTOURS_SIMPLIFY, " - Simplify", pc); - logLine(ctx, RC_TIMER_BUILD_POLYMESH, "- Build Polymesh", pc); - logLine(ctx, RC_TIMER_BUILD_POLYMESHDETAIL, "- Build Polymesh Detail", pc); - logLine(ctx, RC_TIMER_MERGE_POLYMESH, "- Merge Polymeshes", pc); - logLine(ctx, RC_TIMER_MERGE_POLYMESHDETAIL, "- Merge Polymesh Details", pc); - ctx.log(RC_LOG_PROGRESS, "=== TOTAL:\t%.2fms", totalTimeUsec/1000.0f); -} - diff --git a/extern/recastnavigation/Detour/CMakeLists.txt b/extern/recastnavigation/Detour/CMakeLists.txt deleted file mode 100644 index 5cb47ec0e..000000000 --- a/extern/recastnavigation/Detour/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -file(GLOB SOURCES Source/*.cpp) -add_library(Detour ${SOURCES}) - -add_library(RecastNavigation::Detour ALIAS Detour) -set_target_properties(Detour PROPERTIES DEBUG_POSTFIX -d) - -set(Detour_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Include") - -target_include_directories(Detour PUBLIC - "$" -) - -set_target_properties(Detour PROPERTIES - SOVERSION ${SOVERSION} - VERSION ${VERSION} - COMPILE_PDB_OUTPUT_DIRECTORY . - COMPILE_PDB_NAME "Detour-d" - ) - -install(TARGETS Detour - RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} - ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} - LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} - COMPONENT library - ) - -file(GLOB INCLUDES Include/*.h) -install(FILES ${INCLUDES} DESTINATION - ${CMAKE_INSTALL_INCLUDEDIR}/recastnavigation) -install(FILES "$/Detour-d.pdb" CONFIGURATIONS "Debug" DESTINATION "lib") diff --git a/extern/recastnavigation/Detour/Include/DetourAlloc.h b/extern/recastnavigation/Detour/Include/DetourAlloc.h deleted file mode 100644 index f87b454ac..000000000 --- a/extern/recastnavigation/Detour/Include/DetourAlloc.h +++ /dev/null @@ -1,61 +0,0 @@ -// -// 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 DETOURALLOCATOR_H -#define DETOURALLOCATOR_H - -#include - -/// Provides hint values to the memory allocator on how long the -/// memory is expected to be used. -enum dtAllocHint -{ - DT_ALLOC_PERM, ///< Memory persist after a function call. - DT_ALLOC_TEMP ///< Memory used temporarily within a function. -}; - -/// A memory allocation function. -// @param[in] size The size, in bytes of memory, to allocate. -// @param[in] rcAllocHint A hint to the allocator on how long the memory is expected to be in use. -// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed. -/// @see dtAllocSetCustom -typedef void* (dtAllocFunc)(size_t size, dtAllocHint hint); - -/// A memory deallocation function. -/// @param[in] ptr A pointer to a memory block previously allocated using #dtAllocFunc. -/// @see dtAllocSetCustom -typedef void (dtFreeFunc)(void* ptr); - -/// Sets the base custom allocation functions to be used by Detour. -/// @param[in] allocFunc The memory allocation function to be used by #dtAlloc -/// @param[in] freeFunc The memory de-allocation function to be used by #dtFree -void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc); - -/// Allocates a memory block. -/// @param[in] size The size, in bytes of memory, to allocate. -/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use. -/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed. -/// @see dtFree -void* dtAlloc(size_t size, dtAllocHint hint); - -/// Deallocates a memory block. -/// @param[in] ptr A pointer to a memory block previously allocated using #dtAlloc. -/// @see dtAlloc -void dtFree(void* ptr); - -#endif diff --git a/extern/recastnavigation/Detour/Include/DetourAssert.h b/extern/recastnavigation/Detour/Include/DetourAssert.h deleted file mode 100644 index e05fd66fa..000000000 --- a/extern/recastnavigation/Detour/Include/DetourAssert.h +++ /dev/null @@ -1,56 +0,0 @@ -// -// 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 DETOURASSERT_H -#define DETOURASSERT_H - -// Note: This header file's only purpose is to include define assert. -// Feel free to change the file and include your own implementation instead. - -#ifdef NDEBUG - -// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/ -# define dtAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false) - -#else - -/// An assertion failure function. -// @param[in] expression asserted expression. -// @param[in] file Filename of the failed assertion. -// @param[in] line Line number of the failed assertion. -/// @see dtAssertFailSetCustom -typedef void (dtAssertFailFunc)(const char* expression, const char* file, int line); - -/// Sets the base custom assertion failure function to be used by Detour. -/// @param[in] assertFailFunc The function to be invoked in case of failure of #dtAssert -void dtAssertFailSetCustom(dtAssertFailFunc *assertFailFunc); - -/// Gets the base custom assertion failure function to be used by Detour. -dtAssertFailFunc* dtAssertFailGetCustom(); - -# include -# define dtAssert(expression) \ - { \ - dtAssertFailFunc* failFunc = dtAssertFailGetCustom(); \ - if(failFunc == NULL) { assert(expression); } \ - else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \ - } - -#endif - -#endif // DETOURASSERT_H diff --git a/extern/recastnavigation/Detour/Include/DetourCommon.h b/extern/recastnavigation/Detour/Include/DetourCommon.h deleted file mode 100644 index 113e8c336..000000000 --- a/extern/recastnavigation/Detour/Include/DetourCommon.h +++ /dev/null @@ -1,572 +0,0 @@ -// -// 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 DETOURCOMMON_H -#define DETOURCOMMON_H - -#include "DetourMath.h" -#include - -/** -@defgroup detour Detour - -Members in this module are used to create, manipulate, and query navigation -meshes. - -@note This is a summary list of members. Use the index or search -feature to find minor members. -*/ - -/// @name General helper functions -/// @{ - -/// Used to ignore a function parameter. VS complains about unused parameters -/// and this silences the warning. -/// @param [in] _ Unused parameter -template void dtIgnoreUnused(const T&) { } - -/// Swaps the values of the two parameters. -/// @param[in,out] a Value A -/// @param[in,out] b Value B -template inline void dtSwap(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 inline T dtMin(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 inline T dtMax(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 inline T dtAbs(T a) { return a < 0 ? -a : a; } - -/// Returns the square of the value. -/// @param[in] a The value. -/// @return The square of the value. -template inline T dtSqr(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 inline T dtClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } - -/// @} -/// @name Vector helper functions. -/// @{ - -/// Derives the cross product of two vectors. (@p v1 x @p 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 dtVcross(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. (@p v1 . @p v2) -/// @param[in] v1 A Vector [(x, y, z)] -/// @param[in] v2 A vector [(x, y, z)] -/// @return The dot product. -inline float dtVdot(const float* v1, const float* v2) -{ - return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; -} - -/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p 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 dtVmad(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 linear interpolation between two vectors. (@p v1 toward @p v2) -/// @param[out] dest The result vector. [(x, y, x)] -/// @param[in] v1 The starting vector. -/// @param[in] v2 The destination vector. -/// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0] -inline void dtVlerp(float* dest, const float* v1, const float* v2, const float t) -{ - dest[0] = v1[0]+(v2[0]-v1[0])*t; - dest[1] = v1[1]+(v2[1]-v1[1])*t; - dest[2] = v1[2]+(v2[2]-v1[2])*t; -} - -/// 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 dtVadd(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 dtVsub(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]; -} - -/// Scales the vector by the specified value. (@p v * @p t) -/// @param[out] dest The result vector. [(x, y, z)] -/// @param[in] v The vector to scale. [(x, y, z)] -/// @param[in] t The scaling factor. -inline void dtVscale(float* dest, const float* v, const float t) -{ - dest[0] = v[0]*t; - dest[1] = v[1]*t; - dest[2] = v[2]*t; -} - -/// 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 dtVmin(float* mn, const float* v) -{ - mn[0] = dtMin(mn[0], v[0]); - mn[1] = dtMin(mn[1], v[1]); - mn[2] = dtMin(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 dtVmax(float* mx, const float* v) -{ - mx[0] = dtMax(mx[0], v[0]); - mx[1] = dtMax(mx[1], v[1]); - mx[2] = dtMax(mx[2], v[2]); -} - -/// Sets the vector elements to the specified values. -/// @param[out] dest The result vector. [(x, y, z)] -/// @param[in] x The x-value of the vector. -/// @param[in] y The y-value of the vector. -/// @param[in] z The z-value of the vector. -inline void dtVset(float* dest, const float x, const float y, const float z) -{ - dest[0] = x; dest[1] = y; dest[2] = z; -} - -/// Performs a vector copy. -/// @param[out] dest The result. [(x, y, z)] -/// @param[in] a The vector to copy. [(x, y, z)] -inline void dtVcopy(float* dest, const float* a) -{ - dest[0] = a[0]; - dest[1] = a[1]; - dest[2] = a[2]; -} - -/// Derives the scalar length of the vector. -/// @param[in] v The vector. [(x, y, z)] -/// @return The scalar length of the vector. -inline float dtVlen(const float* v) -{ - return dtMathSqrtf(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]); -} - -/// Derives the square of the scalar length of the vector. (len * len) -/// @param[in] v The vector. [(x, y, z)] -/// @return The square of the scalar length of the vector. -inline float dtVlenSqr(const float* v) -{ - return v[0]*v[0] + v[1]*v[1] + v[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 dtVdist(const float* v1, const float* v2) -{ - const float dx = v2[0] - v1[0]; - const float dy = v2[1] - v1[1]; - const float dz = v2[2] - v1[2]; - return dtMathSqrtf(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 dtVdistSqr(const float* v1, const float* v2) -{ - const float dx = v2[0] - v1[0]; - const float dy = v2[1] - v1[1]; - const float dz = v2[2] - v1[2]; - return dx*dx + dy*dy + dz*dz; -} - -/// Derives the distance between the specified points on the xz-plane. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] -/// @return The distance between the point on the xz-plane. -/// -/// The vectors are projected onto the xz-plane, so the y-values are ignored. -inline float dtVdist2D(const float* v1, const float* v2) -{ - const float dx = v2[0] - v1[0]; - const float dz = v2[2] - v1[2]; - return dtMathSqrtf(dx*dx + dz*dz); -} - -/// Derives the square of the distance between the specified points on the xz-plane. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] -/// @return The square of the distance between the point on the xz-plane. -inline float dtVdist2DSqr(const float* v1, const float* v2) -{ - const float dx = v2[0] - v1[0]; - const float dz = v2[2] - v1[2]; - return dx*dx + dz*dz; -} - -/// Normalizes the vector. -/// @param[in,out] v The vector to normalize. [(x, y, z)] -inline void dtVnormalize(float* v) -{ - float d = 1.0f / dtMathSqrtf(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2])); - v[0] *= d; - v[1] *= d; - v[2] *= d; -} - -/// Performs a 'sloppy' colocation check of the specified points. -/// @param[in] p0 A point. [(x, y, z)] -/// @param[in] p1 A point. [(x, y, z)] -/// @return True if the points are considered to be at the same location. -/// -/// Basically, this function will return true if the specified points are -/// close enough to eachother to be considered colocated. -inline bool dtVequal(const float* p0, const float* p1) -{ - static const float thr = dtSqr(1.0f/16384.0f); - const float d = dtVdistSqr(p0, p1); - return d < thr; -} - -/// Checks that the specified vector's components are all finite. -/// @param[in] v A point. [(x, y, z)] -/// @return True if all of the point's components are finite, i.e. not NaN -/// or any of the infinities. -inline bool dtVisfinite(const float* v) -{ - bool result = - dtMathIsfinite(v[0]) && - dtMathIsfinite(v[1]) && - dtMathIsfinite(v[2]); - - return result; -} - -/// Checks that the specified vector's 2D components are finite. -/// @param[in] v A point. [(x, y, z)] -inline bool dtVisfinite2D(const float* v) -{ - bool result = dtMathIsfinite(v[0]) && dtMathIsfinite(v[2]); - return result; -} - -/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v) -/// @param[in] u A vector [(x, y, z)] -/// @param[in] v A vector [(x, y, z)] -/// @return The dot product on the xz-plane. -/// -/// The vectors are projected onto the xz-plane, so the y-values are ignored. -inline float dtVdot2D(const float* u, const float* v) -{ - return u[0]*v[0] + u[2]*v[2]; -} - -/// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz) -/// @param[in] u The LHV vector [(x, y, z)] -/// @param[in] v The RHV vector [(x, y, z)] -/// @return The dot product on the xz-plane. -/// -/// The vectors are projected onto the xz-plane, so the y-values are ignored. -inline float dtVperp2D(const float* u, const float* v) -{ - return u[2]*v[0] - u[0]*v[2]; -} - -/// @} -/// @name Computational geometry helper functions. -/// @{ - -/// Derives the signed xz-plane area of the triangle ABC, or the relationship of line AB to point C. -/// @param[in] a Vertex A. [(x, y, z)] -/// @param[in] b Vertex B. [(x, y, z)] -/// @param[in] c Vertex C. [(x, y, z)] -/// @return The signed xz-plane area of the triangle. -inline float dtTriArea2D(const float* a, const float* b, const float* c) -{ - const float abx = b[0] - a[0]; - const float abz = b[2] - a[2]; - const float acx = c[0] - a[0]; - const float acz = c[2] - a[2]; - return acx*abz - abx*acz; -} - -/// Determines if two axis-aligned bounding boxes overlap. -/// @param[in] amin Minimum bounds of box A. [(x, y, z)] -/// @param[in] amax Maximum bounds of box A. [(x, y, z)] -/// @param[in] bmin Minimum bounds of box B. [(x, y, z)] -/// @param[in] bmax Maximum bounds of box B. [(x, y, z)] -/// @return True if the two AABB's overlap. -/// @see dtOverlapBounds -inline bool dtOverlapQuantBounds(const unsigned short amin[3], const unsigned short amax[3], - const unsigned short bmin[3], const unsigned short bmax[3]) -{ - 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; -} - -/// Determines if two axis-aligned bounding boxes overlap. -/// @param[in] amin Minimum bounds of box A. [(x, y, z)] -/// @param[in] amax Maximum bounds of box A. [(x, y, z)] -/// @param[in] bmin Minimum bounds of box B. [(x, y, z)] -/// @param[in] bmax Maximum bounds of box B. [(x, y, z)] -/// @return True if the two AABB's overlap. -/// @see dtOverlapQuantBounds -inline bool dtOverlapBounds(const float* amin, const float* amax, - const float* bmin, const 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; -} - -/// Derives the closest point on a triangle from the specified reference point. -/// @param[out] closest The closest point on the triangle. -/// @param[in] p The reference point from which to test. [(x, y, z)] -/// @param[in] a Vertex A of triangle ABC. [(x, y, z)] -/// @param[in] b Vertex B of triangle ABC. [(x, y, z)] -/// @param[in] c Vertex C of triangle ABC. [(x, y, z)] -void dtClosestPtPointTriangle(float* closest, const float* p, - const float* a, const float* b, const float* c); - -/// Derives the y-axis height of the closest point on the triangle from the specified reference point. -/// @param[in] p The reference point from which to test. [(x, y, z)] -/// @param[in] a Vertex A of triangle ABC. [(x, y, z)] -/// @param[in] b Vertex B of triangle ABC. [(x, y, z)] -/// @param[in] c Vertex C of triangle ABC. [(x, y, z)] -/// @param[out] h The resulting height. -bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h); - -bool dtIntersectSegmentPoly2D(const float* p0, const float* p1, - const float* verts, int nverts, - float& tmin, float& tmax, - int& segMin, int& segMax); - -bool dtIntersectSegSeg2D(const float* ap, const float* aq, - const float* bp, const float* bq, - float& s, float& t); - -/// Determines if the specified point is inside the convex polygon on the xz-plane. -/// @param[in] pt The point to check. [(x, y, z)] -/// @param[in] verts The polygon vertices. [(x, y, z) * @p nverts] -/// @param[in] nverts The number of vertices. [Limit: >= 3] -/// @return True if the point is inside the polygon. -bool dtPointInPolygon(const float* pt, const float* verts, const int nverts); - -bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts, - float* ed, float* et); - -float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t); - -/// Derives the centroid of a convex polygon. -/// @param[out] tc The centroid of the polgyon. [(x, y, z)] -/// @param[in] idx The polygon indices. [(vertIndex) * @p nidx] -/// @param[in] nidx The number of indices in the polygon. [Limit: >= 3] -/// @param[in] verts The polygon vertices. [(x, y, z) * vertCount] -void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts); - -/// Determines if the two convex polygons overlap on the xz-plane. -/// @param[in] polya Polygon A vertices. [(x, y, z) * @p npolya] -/// @param[in] npolya The number of vertices in polygon A. -/// @param[in] polyb Polygon B vertices. [(x, y, z) * @p npolyb] -/// @param[in] npolyb The number of vertices in polygon B. -/// @return True if the two polygons overlap. -bool dtOverlapPolyPoly2D(const float* polya, const int npolya, - const float* polyb, const int npolyb); - -/// @} -/// @name Miscellanious functions. -/// @{ - -inline unsigned int dtNextPow2(unsigned int v) -{ - v--; - v |= v >> 1; - v |= v >> 2; - v |= v >> 4; - v |= v >> 8; - v |= v >> 16; - v++; - return v; -} - -inline unsigned int dtIlog2(unsigned int v) -{ - unsigned int r; - unsigned int shift; - r = (v > 0xffff) << 4; v >>= r; - shift = (v > 0xff) << 3; v >>= shift; r |= shift; - shift = (v > 0xf) << 2; v >>= shift; r |= shift; - shift = (v > 0x3) << 1; v >>= shift; r |= shift; - r |= (v >> 1); - return r; -} - -inline int dtAlign4(int x) { return (x+3) & ~3; } - -inline int dtOppositeTile(int side) { return (side+4) & 0x7; } - -inline void dtSwapByte(unsigned char* a, unsigned char* b) -{ - unsigned char tmp = *a; - *a = *b; - *b = tmp; -} - -inline void dtSwapEndian(unsigned short* v) -{ - unsigned char* x = (unsigned char*)v; - dtSwapByte(x+0, x+1); -} - -inline void dtSwapEndian(short* v) -{ - unsigned char* x = (unsigned char*)v; - dtSwapByte(x+0, x+1); -} - -inline void dtSwapEndian(unsigned int* v) -{ - unsigned char* x = (unsigned char*)v; - dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); -} - -inline void dtSwapEndian(int* v) -{ - unsigned char* x = (unsigned char*)v; - dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); -} - -inline void dtSwapEndian(float* v) -{ - unsigned char* x = (unsigned char*)v; - dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2); -} - -void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas, - const float s, const float t, float* out); - -template -TypeToRetrieveAs* dtGetThenAdvanceBufferPointer(const unsigned char*& buffer, const size_t distanceToAdvance) -{ - TypeToRetrieveAs* returnPointer = reinterpret_cast(buffer); - buffer += distanceToAdvance; - return returnPointer; -} - -template -TypeToRetrieveAs* dtGetThenAdvanceBufferPointer(unsigned char*& buffer, const size_t distanceToAdvance) -{ - TypeToRetrieveAs* returnPointer = reinterpret_cast(buffer); - buffer += distanceToAdvance; - return returnPointer; -} - - -/// @} - -#endif // DETOURCOMMON_H - -/////////////////////////////////////////////////////////////////////////// - -// This section contains detailed documentation for members that don't have -// a source file. It reduces clutter in the main section of the header. - -/** - -@fn float dtTriArea2D(const float* a, const float* b, const float* c) -@par - -The vertices are projected onto the xz-plane, so the y-values are ignored. - -This is a low cost function than can be used for various purposes. Its main purpose -is for point/line relationship testing. - -In all cases: A value of zero indicates that all vertices are collinear or represent the same point. -(On the xz-plane.) - -When used for point/line relationship tests, AB usually represents a line against which -the C point is to be tested. In this case: - -A positive value indicates that point C is to the left of line AB, looking from A toward B.
-A negative value indicates that point C is to the right of lineAB, looking from A toward B. - -When used for evaluating a triangle: - -The absolute value of the return value is two times the area of the triangle when it is -projected onto the xz-plane. - -A positive return value indicates: - -
    -
  • The vertices are wrapped in the normal Detour wrap direction.
    • -
  • The triangle's 3D face normal is in the general up direction.
    • -
- -A negative return value indicates: - -
    -
  • The vertices are reverse wrapped. (Wrapped opposite the normal Detour wrap direction.)
    • -
  • The triangle's 3D face normal is in the general down direction.
    • -
- -*/ diff --git a/extern/recastnavigation/Detour/Include/DetourMath.h b/extern/recastnavigation/Detour/Include/DetourMath.h deleted file mode 100644 index 54af8af09..000000000 --- a/extern/recastnavigation/Detour/Include/DetourMath.h +++ /dev/null @@ -1,24 +0,0 @@ -/** -@defgroup detour Detour - -Members in this module are wrappers around the standard math library -*/ - -#ifndef DETOURMATH_H -#define DETOURMATH_H - -#include -// This include is required because libstdc++ has problems with isfinite -// if cmath is included before math.h. -#include - -inline float dtMathFabsf(float x) { return fabsf(x); } -inline float dtMathSqrtf(float x) { return sqrtf(x); } -inline float dtMathFloorf(float x) { return floorf(x); } -inline float dtMathCeilf(float x) { return ceilf(x); } -inline float dtMathCosf(float x) { return cosf(x); } -inline float dtMathSinf(float x) { return sinf(x); } -inline float dtMathAtan2f(float y, float x) { return atan2f(y, x); } -inline bool dtMathIsfinite(float x) { return std::isfinite(x); } - -#endif diff --git a/extern/recastnavigation/Detour/Include/DetourNavMesh.h b/extern/recastnavigation/Detour/Include/DetourNavMesh.h deleted file mode 100644 index caf77eb1b..000000000 --- a/extern/recastnavigation/Detour/Include/DetourNavMesh.h +++ /dev/null @@ -1,785 +0,0 @@ -// -// 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 DETOURNAVMESH_H -#define DETOURNAVMESH_H - -#include "DetourAlloc.h" -#include "DetourStatus.h" - -// Undefine (or define in a build cofnig) the following line to use 64bit polyref. -// Generally not needed, useful for very large worlds. -// Note: tiles build using 32bit refs are not compatible with 64bit refs! -//#define DT_POLYREF64 1 - -#ifdef DT_POLYREF64 -// TODO: figure out a multiplatform version of uint64_t -// - maybe: https://code.google.com/p/msinttypes/ -// - or: http://www.azillionmonkeys.com/qed/pstdint.h -#include -#endif - -// Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef. -// It is also recommended that you change dtHashRef() to a proper 64-bit hash. - -/// A handle to a polygon within a navigation mesh tile. -/// @ingroup detour -#ifdef DT_POLYREF64 -static const unsigned int DT_SALT_BITS = 16; -static const unsigned int DT_TILE_BITS = 28; -static const unsigned int DT_POLY_BITS = 20; -typedef uint64_t dtPolyRef; -#else -typedef unsigned int dtPolyRef; -#endif - -/// A handle to a tile within a navigation mesh. -/// @ingroup detour -#ifdef DT_POLYREF64 -typedef uint64_t dtTileRef; -#else -typedef unsigned int dtTileRef; -#endif - -/// The maximum number of vertices per navigation polygon. -/// @ingroup detour -static const int DT_VERTS_PER_POLYGON = 6; - -/// @{ -/// @name Tile Serialization Constants -/// These constants are used to detect whether a navigation tile's data -/// and state format is compatible with the current build. -/// - -/// A magic number used to detect compatibility of navigation tile data. -static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V'; - -/// A version number used to detect compatibility of navigation tile data. -static const int DT_NAVMESH_VERSION = 7; - -/// A magic number used to detect the compatibility of navigation tile states. -static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S'; - -/// A version number used to detect compatibility of navigation tile states. -static const int DT_NAVMESH_STATE_VERSION = 1; - -/// @} - -/// A flag that indicates that an entity links to an external entity. -/// (E.g. A polygon edge is a portal that links to another polygon.) -static const unsigned short DT_EXT_LINK = 0x8000; - -/// A value that indicates the entity does not link to anything. -static const unsigned int DT_NULL_LINK = 0xffffffff; - -/// A flag that indicates that an off-mesh connection can be traversed in both directions. (Is bidirectional.) -static const unsigned int DT_OFFMESH_CON_BIDIR = 1; - -/// The maximum number of user defined area ids. -/// @ingroup detour -static const int DT_MAX_AREAS = 64; - -/// Tile flags used for various functions and fields. -/// For an example, see dtNavMesh::addTile(). -enum dtTileFlags -{ - /// The navigation mesh owns the tile memory and is responsible for freeing it. - DT_TILE_FREE_DATA = 0x01, -}; - -/// Vertex flags returned by dtNavMeshQuery::findStraightPath. -enum dtStraightPathFlags -{ - DT_STRAIGHTPATH_START = 0x01, ///< The vertex is the start position in the path. - DT_STRAIGHTPATH_END = 0x02, ///< The vertex is the end position in the path. - DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04, ///< The vertex is the start of an off-mesh connection. -}; - -/// Options for dtNavMeshQuery::findStraightPath. -enum dtStraightPathOptions -{ - DT_STRAIGHTPATH_AREA_CROSSINGS = 0x01, ///< Add a vertex at every polygon edge crossing where area changes. - DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02, ///< Add a vertex at every polygon edge crossing. -}; - - -/// Options for dtNavMeshQuery::initSlicedFindPath and updateSlicedFindPath -enum dtFindPathOptions -{ - DT_FINDPATH_ANY_ANGLE = 0x02, ///< use raycasts during pathfind to "shortcut" (raycast still consider costs) -}; - -/// Options for dtNavMeshQuery::raycast -enum dtRaycastOptions -{ - DT_RAYCAST_USE_COSTS = 0x01, ///< Raycast should calculate movement cost along the ray and fill RaycastHit::cost -}; - -enum dtDetailTriEdgeFlags -{ - DT_DETAIL_EDGE_BOUNDARY = 0x01, ///< Detail triangle edge is part of the poly boundary -}; - - -/// Limit raycasting during any angle pahfinding -/// The limit is given as a multiple of the character radius -static const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f; - -/// Flags representing the type of a navigation mesh polygon. -enum dtPolyTypes -{ - /// The polygon is a standard convex polygon that is part of the surface of the mesh. - DT_POLYTYPE_GROUND = 0, - /// The polygon is an off-mesh connection consisting of two vertices. - DT_POLYTYPE_OFFMESH_CONNECTION = 1, -}; - - -/// Defines a polygon within a dtMeshTile object. -/// @ingroup detour -struct dtPoly -{ - /// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.) - unsigned int firstLink; - - /// The indices of the polygon's vertices. - /// The actual vertices are located in dtMeshTile::verts. - unsigned short verts[DT_VERTS_PER_POLYGON]; - - /// Packed data representing neighbor polygons references and flags for each edge. - unsigned short neis[DT_VERTS_PER_POLYGON]; - - /// The user defined polygon flags. - unsigned short flags; - - /// The number of vertices in the polygon. - unsigned char vertCount; - - /// The bit packed area id and polygon type. - /// @note Use the structure's set and get methods to acess this value. - unsigned char areaAndtype; - - /// Sets the user defined area id. [Limit: < #DT_MAX_AREAS] - inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); } - - /// Sets the polygon type. (See: #dtPolyTypes.) - inline void setType(unsigned char t) { areaAndtype = (areaAndtype & 0x3f) | (t << 6); } - - /// Gets the user defined area id. - inline unsigned char getArea() const { return areaAndtype & 0x3f; } - - /// Gets the polygon type. (See: #dtPolyTypes) - inline unsigned char getType() const { return areaAndtype >> 6; } -}; - -/// Defines the location of detail sub-mesh data within a dtMeshTile. -struct dtPolyDetail -{ - unsigned int vertBase; ///< The offset of the vertices in the dtMeshTile::detailVerts array. - unsigned int triBase; ///< The offset of the triangles in the dtMeshTile::detailTris array. - unsigned char vertCount; ///< The number of vertices in the sub-mesh. - unsigned char triCount; ///< The number of triangles in the sub-mesh. -}; - -/// Defines a link between polygons. -/// @note This structure is rarely if ever used by the end user. -/// @see dtMeshTile -struct dtLink -{ - dtPolyRef ref; ///< Neighbour reference. (The neighbor that is linked to.) - unsigned int next; ///< Index of the next link. - unsigned char edge; ///< Index of the polygon edge that owns this link. - unsigned char side; ///< If a boundary link, defines on which side the link is. - unsigned char bmin; ///< If a boundary link, defines the minimum sub-edge area. - unsigned char bmax; ///< If a boundary link, defines the maximum sub-edge area. -}; - -/// Bounding volume node. -/// @note This structure is rarely if ever used by the end user. -/// @see dtMeshTile -struct dtBVNode -{ - unsigned short bmin[3]; ///< Minimum bounds of the node's AABB. [(x, y, z)] - unsigned short bmax[3]; ///< Maximum bounds of the node's AABB. [(x, y, z)] - int i; ///< The node's index. (Negative for escape sequence.) -}; - -/// Defines an navigation mesh off-mesh connection within a dtMeshTile object. -/// An off-mesh connection is a user defined traversable connection made up to two vertices. -struct dtOffMeshConnection -{ - /// The endpoints of the connection. [(ax, ay, az, bx, by, bz)] - float pos[6]; - - /// The radius of the endpoints. [Limit: >= 0] - float rad; - - /// The polygon reference of the connection within the tile. - unsigned short poly; - - /// Link flags. - /// @note These are not the connection's user defined flags. Those are assigned via the - /// connection's dtPoly definition. These are link flags used for internal purposes. - unsigned char flags; - - /// End point side. - unsigned char side; - - /// The id of the offmesh connection. (User assigned when the navigation mesh is built.) - unsigned int userId; -}; - -/// Provides high level information related to a dtMeshTile object. -/// @ingroup detour -struct dtMeshHeader -{ - int magic; ///< Tile magic number. (Used to identify the data format.) - int version; ///< Tile data format version number. - int x; ///< The x-position of the tile within the dtNavMesh tile grid. (x, y, layer) - int y; ///< The y-position of the tile within the dtNavMesh tile grid. (x, y, layer) - int layer; ///< The layer of the tile within the dtNavMesh tile grid. (x, y, layer) - unsigned int userId; ///< The user defined id of the tile. - int polyCount; ///< The number of polygons in the tile. - int vertCount; ///< The number of vertices in the tile. - int maxLinkCount; ///< The number of allocated links. - int detailMeshCount; ///< The number of sub-meshes in the detail mesh. - - /// The number of unique vertices in the detail mesh. (In addition to the polygon vertices.) - int detailVertCount; - - int detailTriCount; ///< The number of triangles in the detail mesh. - int bvNodeCount; ///< The number of bounding volume nodes. (Zero if bounding volumes are disabled.) - int offMeshConCount; ///< The number of off-mesh connections. - int offMeshBase; ///< The index of the first polygon which is an off-mesh connection. - float walkableHeight; ///< The height of the agents using the tile. - float walkableRadius; ///< The radius of the agents using the tile. - float walkableClimb; ///< The maximum climb height of the agents using the tile. - float bmin[3]; ///< The minimum bounds of the tile's AABB. [(x, y, z)] - float bmax[3]; ///< The maximum bounds of the tile's AABB. [(x, y, z)] - - /// The bounding volume quantization factor. - float bvQuantFactor; -}; - -/// Defines a navigation mesh tile. -/// @ingroup detour -struct dtMeshTile -{ - unsigned int salt; ///< Counter describing modifications to the tile. - - unsigned int linksFreeList; ///< Index to the next free link. - dtMeshHeader* header; ///< The tile header. - dtPoly* polys; ///< The tile polygons. [Size: dtMeshHeader::polyCount] - float* verts; ///< The tile vertices. [Size: dtMeshHeader::vertCount] - dtLink* links; ///< The tile links. [Size: dtMeshHeader::maxLinkCount] - dtPolyDetail* detailMeshes; ///< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount] - - /// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount] - float* detailVerts; - - /// The detail mesh's triangles. [(vertA, vertB, vertC, triFlags) * dtMeshHeader::detailTriCount]. - /// See dtDetailTriEdgeFlags and dtGetDetailTriEdgeFlags. - unsigned char* detailTris; - - /// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount] - /// (Will be null if bounding volumes are disabled.) - dtBVNode* bvTree; - - dtOffMeshConnection* offMeshCons; ///< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount] - - unsigned char* data; ///< The tile data. (Not directly accessed under normal situations.) - int dataSize; ///< Size of the tile data. - int flags; ///< Tile flags. (See: #dtTileFlags) - dtMeshTile* next; ///< The next free tile, or the next tile in the spatial grid. -// OpenMW code - make dtMeshTile POD since R&D init it by memset -//private: -// dtMeshTile(const dtMeshTile&); -// dtMeshTile& operator=(const dtMeshTile&); -}; - -/// Get flags for edge in detail triangle. -/// @param triFlags[in] The flags for the triangle (last component of detail vertices above). -/// @param edgeIndex[in] The index of the first vertex of the edge. For instance, if 0, -/// returns flags for edge AB. -inline int dtGetDetailTriEdgeFlags(unsigned char triFlags, int edgeIndex) -{ - return (triFlags >> (edgeIndex * 2)) & 0x3; -} - -/// Configuration parameters used to define multi-tile navigation meshes. -/// The values are used to allocate space during the initialization of a navigation mesh. -/// @see dtNavMesh::init() -/// @ingroup detour -struct dtNavMeshParams -{ - float orig[3]; ///< The world space origin of the navigation mesh's tile space. [(x, y, z)] - float tileWidth; ///< The width of each tile. (Along the x-axis.) - float tileHeight; ///< The height of each tile. (Along the z-axis.) - int maxTiles; ///< The maximum number of tiles the navigation mesh can contain. - int maxPolys; ///< The maximum number of polygons each tile can contain. -}; - -/// A navigation mesh based on tiles of convex polygons. -/// @ingroup detour -class dtNavMesh -{ -public: - dtNavMesh(); - ~dtNavMesh(); - - /// @{ - /// @name Initialization and Tile Management - - /// Initializes the navigation mesh for tiled use. - /// @param[in] params Initialization parameters. - /// @return The status flags for the operation. - dtStatus init(const dtNavMeshParams* params); - - /// Initializes the navigation mesh for single tile use. - /// @param[in] data Data of the new tile. (See: #dtCreateNavMeshData) - /// @param[in] dataSize The data size of the new tile. - /// @param[in] flags The tile flags. (See: #dtTileFlags) - /// @return The status flags for the operation. - /// @see dtCreateNavMeshData - dtStatus init(unsigned char* data, const int dataSize, const int flags); - - /// The navigation mesh initialization params. - const dtNavMeshParams* getParams() const; - - /// Adds a tile to the navigation mesh. - /// @param[in] data Data for the new tile mesh. (See: #dtCreateNavMeshData) - /// @param[in] dataSize Data size of the new tile mesh. - /// @param[in] flags Tile flags. (See: #dtTileFlags) - /// @param[in] lastRef The desired reference for the tile. (When reloading a tile.) [opt] [Default: 0] - /// @param[out] result The tile reference. (If the tile was succesfully added.) [opt] - /// @return The status flags for the operation. - dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result); - - /// Removes the specified tile from the navigation mesh. - /// @param[in] ref The reference of the tile to remove. - /// @param[out] data Data associated with deleted tile. - /// @param[out] dataSize Size of the data associated with deleted tile. - /// @return The status flags for the operation. - dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize); - - /// @} - - /// @{ - /// @name Query Functions - - /// Calculates the tile grid location for the specified world position. - /// @param[in] pos The world position for the query. [(x, y, z)] - /// @param[out] tx The tile's x-location. (x, y) - /// @param[out] ty The tile's y-location. (x, y) - void calcTileLoc(const float* pos, int* tx, int* ty) const; - - /// Gets the tile at the specified grid location. - /// @param[in] x The tile's x-location. (x, y, layer) - /// @param[in] y The tile's y-location. (x, y, layer) - /// @param[in] layer The tile's layer. (x, y, layer) - /// @return The tile, or null if the tile does not exist. - const dtMeshTile* getTileAt(const int x, const int y, const int layer) const; - - /// Gets all tiles at the specified grid location. (All layers.) - /// @param[in] x The tile's x-location. (x, y) - /// @param[in] y The tile's y-location. (x, y) - /// @param[out] tiles A pointer to an array of tiles that will hold the result. - /// @param[in] maxTiles The maximum tiles the tiles parameter can hold. - /// @return The number of tiles returned in the tiles array. - int getTilesAt(const int x, const int y, - dtMeshTile const** tiles, const int maxTiles) const; - - /// Gets the tile reference for the tile at specified grid location. - /// @param[in] x The tile's x-location. (x, y, layer) - /// @param[in] y The tile's y-location. (x, y, layer) - /// @param[in] layer The tile's layer. (x, y, layer) - /// @return The tile reference of the tile, or 0 if there is none. - dtTileRef getTileRefAt(int x, int y, int layer) const; - - /// Gets the tile reference for the specified tile. - /// @param[in] tile The tile. - /// @return The tile reference of the tile. - dtTileRef getTileRef(const dtMeshTile* tile) const; - - /// Gets the tile for the specified tile reference. - /// @param[in] ref The tile reference of the tile to retrieve. - /// @return The tile for the specified reference, or null if the - /// reference is invalid. - const dtMeshTile* getTileByRef(dtTileRef ref) const; - - /// The maximum number of tiles supported by the navigation mesh. - /// @return The maximum number of tiles supported by the navigation mesh. - int getMaxTiles() const; - - /// Gets the tile at the specified index. - /// @param[in] i The tile index. [Limit: 0 >= index < #getMaxTiles()] - /// @return The tile at the specified index. - const dtMeshTile* getTile(int i) const; - - /// Gets the tile and polygon for the specified polygon reference. - /// @param[in] ref The reference for the a polygon. - /// @param[out] tile The tile containing the polygon. - /// @param[out] poly The polygon. - /// @return The status flags for the operation. - dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const; - - /// Returns the tile and polygon for the specified polygon reference. - /// @param[in] ref A known valid reference for a polygon. - /// @param[out] tile The tile containing the polygon. - /// @param[out] poly The polygon. - void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const; - - /// Checks the validity of a polygon reference. - /// @param[in] ref The polygon reference to check. - /// @return True if polygon reference is valid for the navigation mesh. - bool isValidPolyRef(dtPolyRef ref) const; - - /// Gets the polygon reference for the tile's base polygon. - /// @param[in] tile The tile. - /// @return The polygon reference for the base polygon in the specified tile. - dtPolyRef getPolyRefBase(const dtMeshTile* tile) const; - - /// Gets the endpoints for an off-mesh connection, ordered by "direction of travel". - /// @param[in] prevRef The reference of the polygon before the connection. - /// @param[in] polyRef The reference of the off-mesh connection polygon. - /// @param[out] startPos The start position of the off-mesh connection. [(x, y, z)] - /// @param[out] endPos The end position of the off-mesh connection. [(x, y, z)] - /// @return The status flags for the operation. - dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const; - - /// Gets the specified off-mesh connection. - /// @param[in] ref The polygon reference of the off-mesh connection. - /// @return The specified off-mesh connection, or null if the polygon reference is not valid. - const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const; - - /// @} - - /// @{ - /// @name State Management - /// These functions do not effect #dtTileRef or #dtPolyRef's. - - /// Sets the user defined flags for the specified polygon. - /// @param[in] ref The polygon reference. - /// @param[in] flags The new flags for the polygon. - /// @return The status flags for the operation. - dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags); - - /// Gets the user defined flags for the specified polygon. - /// @param[in] ref The polygon reference. - /// @param[out] resultFlags The polygon flags. - /// @return The status flags for the operation. - dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const; - - /// Sets the user defined area for the specified polygon. - /// @param[in] ref The polygon reference. - /// @param[in] area The new area id for the polygon. [Limit: < #DT_MAX_AREAS] - /// @return The status flags for the operation. - dtStatus setPolyArea(dtPolyRef ref, unsigned char area); - - /// Gets the user defined area for the specified polygon. - /// @param[in] ref The polygon reference. - /// @param[out] resultArea The area id for the polygon. - /// @return The status flags for the operation. - dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const; - - /// Gets the size of the buffer required by #storeTileState to store the specified tile's state. - /// @param[in] tile The tile. - /// @return The size of the buffer required to store the state. - int getTileStateSize(const dtMeshTile* tile) const; - - /// Stores the non-structural state of the tile in the specified buffer. (Flags, area ids, etc.) - /// @param[in] tile The tile. - /// @param[out] data The buffer to store the tile's state in. - /// @param[in] maxDataSize The size of the data buffer. [Limit: >= #getTileStateSize] - /// @return The status flags for the operation. - dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const; - - /// Restores the state of the tile. - /// @param[in] tile The tile. - /// @param[in] data The new state. (Obtained from #storeTileState.) - /// @param[in] maxDataSize The size of the state within the data buffer. - /// @return The status flags for the operation. - dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize); - - /// @} - - /// @{ - /// @name Encoding and Decoding - /// These functions are generally meant for internal use only. - - /// Derives a standard polygon reference. - /// @note This function is generally meant for internal use only. - /// @param[in] salt The tile's salt value. - /// @param[in] it The index of the tile. - /// @param[in] ip The index of the polygon within the tile. - inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const - { -#ifdef DT_POLYREF64 - return ((dtPolyRef)salt << (DT_POLY_BITS+DT_TILE_BITS)) | ((dtPolyRef)it << DT_POLY_BITS) | (dtPolyRef)ip; -#else - return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip; -#endif - } - - /// Decodes a standard polygon reference. - /// @note This function is generally meant for internal use only. - /// @param[in] ref The polygon reference to decode. - /// @param[out] salt The tile's salt value. - /// @param[out] it The index of the tile. - /// @param[out] ip The index of the polygon within the tile. - /// @see #encodePolyId - inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const - { -#ifdef DT_POLYREF64 - const dtPolyRef saltMask = ((dtPolyRef)1<> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask); - it = (unsigned int)((ref >> DT_POLY_BITS) & tileMask); - ip = (unsigned int)(ref & polyMask); -#else - const dtPolyRef saltMask = ((dtPolyRef)1<> (m_polyBits+m_tileBits)) & saltMask); - it = (unsigned int)((ref >> m_polyBits) & tileMask); - ip = (unsigned int)(ref & polyMask); -#endif - } - - /// Extracts a tile's salt value from the specified polygon reference. - /// @note This function is generally meant for internal use only. - /// @param[in] ref The polygon reference. - /// @see #encodePolyId - inline unsigned int decodePolyIdSalt(dtPolyRef ref) const - { -#ifdef DT_POLYREF64 - const dtPolyRef saltMask = ((dtPolyRef)1<> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask); -#else - const dtPolyRef saltMask = ((dtPolyRef)1<> (m_polyBits+m_tileBits)) & saltMask); -#endif - } - - /// Extracts the tile's index from the specified polygon reference. - /// @note This function is generally meant for internal use only. - /// @param[in] ref The polygon reference. - /// @see #encodePolyId - inline unsigned int decodePolyIdTile(dtPolyRef ref) const - { -#ifdef DT_POLYREF64 - const dtPolyRef tileMask = ((dtPolyRef)1<> DT_POLY_BITS) & tileMask); -#else - const dtPolyRef tileMask = ((dtPolyRef)1<> m_polyBits) & tileMask); -#endif - } - - /// Extracts the polygon's index (within its tile) from the specified polygon reference. - /// @note This function is generally meant for internal use only. - /// @param[in] ref The polygon reference. - /// @see #encodePolyId - inline unsigned int decodePolyIdPoly(dtPolyRef ref) const - { -#ifdef DT_POLYREF64 - const dtPolyRef polyMask = ((dtPolyRef)1<header->bvQuantFactor; -const dtBVNode* n = &tile->bvTree[i]; -if (n->i >= 0) -{ - // This is a leaf node. - float worldMinX = tile->header->bmin[0] + n->bmin[0]*cs; - float worldMinY = tile->header->bmin[0] + n->bmin[1]*cs; - // Etc... -} -@endcode - -@struct dtMeshTile -@par - -Tiles generally only exist within the context of a dtNavMesh object. - -Some tile content is optional. For example, a tile may not contain any -off-mesh connections. In this case the associated pointer will be null. - -If a detail mesh exists it will share vertices with the base polygon mesh. -Only the vertices unique to the detail mesh will be stored in #detailVerts. - -@warning Tiles returned by a dtNavMesh object are not guarenteed to be populated. -For example: The tile at a location might not have been loaded yet, or may have been removed. -In this case, pointers will be null. So if in doubt, check the polygon count in the -tile's header to determine if a tile has polygons defined. - -@var float dtOffMeshConnection::pos[6] -@par - -For a properly built navigation mesh, vertex A will always be within the bounds of the mesh. -Vertex B is not required to be within the bounds of the mesh. - -*/ diff --git a/extern/recastnavigation/Detour/Include/DetourNavMeshBuilder.h b/extern/recastnavigation/Detour/Include/DetourNavMeshBuilder.h deleted file mode 100644 index 9425a7a78..000000000 --- a/extern/recastnavigation/Detour/Include/DetourNavMeshBuilder.h +++ /dev/null @@ -1,149 +0,0 @@ -// -// 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 DETOURNAVMESHBUILDER_H -#define DETOURNAVMESHBUILDER_H - -#include "DetourAlloc.h" - -/// Represents the source data used to build an navigation mesh tile. -/// @ingroup detour -struct dtNavMeshCreateParams -{ - - /// @name Polygon Mesh Attributes - /// Used to create the base navigation graph. - /// See #rcPolyMesh for details related to these attributes. - /// @{ - - const unsigned short* verts; ///< The polygon mesh vertices. [(x, y, z) * #vertCount] [Unit: vx] - int vertCount; ///< The number vertices in the polygon mesh. [Limit: >= 3] - const unsigned short* polys; ///< The polygon data. [Size: #polyCount * 2 * #nvp] - const unsigned short* polyFlags; ///< The user defined flags assigned to each polygon. [Size: #polyCount] - const unsigned char* polyAreas; ///< The user defined area ids assigned to each polygon. [Size: #polyCount] - int polyCount; ///< Number of polygons in the mesh. [Limit: >= 1] - int nvp; ///< Number maximum number of vertices per polygon. [Limit: >= 3] - - /// @} - /// @name Height Detail Attributes (Optional) - /// See #rcPolyMeshDetail for details related to these attributes. - /// @{ - - const unsigned int* detailMeshes; ///< The height detail sub-mesh data. [Size: 4 * #polyCount] - const float* detailVerts; ///< The detail mesh vertices. [Size: 3 * #detailVertsCount] [Unit: wu] - int detailVertsCount; ///< The number of vertices in the detail mesh. - const unsigned char* detailTris; ///< The detail mesh triangles. [Size: 4 * #detailTriCount] - int detailTriCount; ///< The number of triangles in the detail mesh. - - /// @} - /// @name Off-Mesh Connections Attributes (Optional) - /// Used to define a custom point-to-point edge within the navigation graph, an - /// off-mesh connection is a user defined traversable connection made up to two vertices, - /// at least one of which resides within a navigation mesh polygon. - /// @{ - - /// Off-mesh connection vertices. [(ax, ay, az, bx, by, bz) * #offMeshConCount] [Unit: wu] - const float* offMeshConVerts; - /// Off-mesh connection radii. [Size: #offMeshConCount] [Unit: wu] - const float* offMeshConRad; - /// User defined flags assigned to the off-mesh connections. [Size: #offMeshConCount] - const unsigned short* offMeshConFlags; - /// User defined area ids assigned to the off-mesh connections. [Size: #offMeshConCount] - const unsigned char* offMeshConAreas; - /// The permitted travel direction of the off-mesh connections. [Size: #offMeshConCount] - /// - /// 0 = Travel only from endpoint A to endpoint B.
- /// #DT_OFFMESH_CON_BIDIR = Bidirectional travel. - const unsigned char* offMeshConDir; - /// The user defined ids of the off-mesh connection. [Size: #offMeshConCount] - const unsigned int* offMeshConUserID; - /// The number of off-mesh connections. [Limit: >= 0] - int offMeshConCount; - - /// @} - /// @name Tile Attributes - /// @note The tile grid/layer data can be left at zero if the destination is a single tile mesh. - /// @{ - - unsigned int userId; ///< The user defined id of the tile. - int tileX; ///< The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.) - int tileY; ///< The tile's y-grid location within the multi-tile desitation mesh. (Along the z-axis.) - int tileLayer; ///< The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.) - float bmin[3]; ///< The minimum bounds of the tile. [(x, y, z)] [Unit: wu] - float bmax[3]; ///< The maximum bounds of the tile. [(x, y, z)] [Unit: wu] - - /// @} - /// @name General Configuration Attributes - /// @{ - - float walkableHeight; ///< The agent height. [Unit: wu] - float walkableRadius; ///< The agent radius. [Unit: wu] - float walkableClimb; ///< The agent maximum traversable ledge. (Up/Down) [Unit: wu] - float cs; ///< The xz-plane cell size of the polygon mesh. [Limit: > 0] [Unit: wu] - float ch; ///< The y-axis cell height of the polygon mesh. [Limit: > 0] [Unit: wu] - - /// True if a bounding volume tree should be built for the tile. - /// @note The BVTree is not normally needed for layered navigation meshes. - bool buildBvTree; - - /// @} -}; - -/// Builds navigation mesh tile data from the provided tile creation data. -/// @ingroup detour -/// @param[in] params Tile creation data. -/// @param[out] outData The resulting tile data. -/// @param[out] outDataSize The size of the tile data array. -/// @return True if the tile data was successfully created. -bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize); - -/// Swaps the endianess of the tile data's header (#dtMeshHeader). -/// @param[in,out] data The tile data array. -/// @param[in] dataSize The size of the data array. -bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int dataSize); - -/// Swaps endianess of the tile data. -/// @param[in,out] data The tile data array. -/// @param[in] dataSize The size of the data array. -bool dtNavMeshDataSwapEndian(unsigned char* data, const int dataSize); - -#endif // DETOURNAVMESHBUILDER_H - -// This section contains detailed documentation for members that don't have -// a source file. It reduces clutter in the main section of the header. - -/** - -@struct dtNavMeshCreateParams -@par - -This structure is used to marshal data between the Recast mesh generation pipeline and Detour navigation components. - -See the rcPolyMesh and rcPolyMeshDetail documentation for detailed information related to mesh structure. - -Units are usually in voxels (vx) or world units (wu). The units for voxels, grid size, and cell size -are all based on the values of #cs and #ch. - -The standard navigation mesh build process is to create tile data using dtCreateNavMeshData, then add the tile -to a navigation mesh using either the dtNavMesh single tile init() function or the dtNavMesh::addTile() -function. - -@see dtCreateNavMeshData - -*/ - diff --git a/extern/recastnavigation/Detour/Include/DetourNavMeshQuery.h b/extern/recastnavigation/Detour/Include/DetourNavMeshQuery.h deleted file mode 100644 index 0b40371be..000000000 --- a/extern/recastnavigation/Detour/Include/DetourNavMeshQuery.h +++ /dev/null @@ -1,573 +0,0 @@ -// -// 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 DETOURNAVMESHQUERY_H -#define DETOURNAVMESHQUERY_H - -#include "DetourNavMesh.h" -#include "DetourStatus.h" - - -// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter. -// On certain platforms indirect or virtual function call is expensive. The default -// setting is to use non-virtual functions, the actual implementations of the functions -// are declared as inline for maximum speed. - -//#define DT_VIRTUAL_QUERYFILTER 1 - -/// Defines polygon filtering and traversal costs for navigation mesh query operations. -/// @ingroup detour -class dtQueryFilter -{ - float m_areaCost[DT_MAX_AREAS]; ///< Cost per area type. (Used by default implementation.) - unsigned short m_includeFlags; ///< Flags for polygons that can be visited. (Used by default implementation.) - unsigned short m_excludeFlags; ///< Flags for polygons that should not be visted. (Used by default implementation.) - -public: - dtQueryFilter(); - -#ifdef DT_VIRTUAL_QUERYFILTER - virtual ~dtQueryFilter() { } -#endif - - /// Returns true if the polygon can be visited. (I.e. Is traversable.) - /// @param[in] ref The reference id of the polygon test. - /// @param[in] tile The tile containing the polygon. - /// @param[in] poly The polygon to test. -#ifdef DT_VIRTUAL_QUERYFILTER - virtual bool passFilter(const dtPolyRef ref, - const dtMeshTile* tile, - const dtPoly* poly) const; -#else - bool passFilter(const dtPolyRef ref, - const dtMeshTile* tile, - const dtPoly* poly) const; -#endif - - /// Returns cost to move from the beginning to the end of a line segment - /// that is fully contained within a polygon. - /// @param[in] pa The start position on the edge of the previous and current polygon. [(x, y, z)] - /// @param[in] pb The end position on the edge of the current and next polygon. [(x, y, z)] - /// @param[in] prevRef The reference id of the previous polygon. [opt] - /// @param[in] prevTile The tile containing the previous polygon. [opt] - /// @param[in] prevPoly The previous polygon. [opt] - /// @param[in] curRef The reference id of the current polygon. - /// @param[in] curTile The tile containing the current polygon. - /// @param[in] curPoly The current polygon. - /// @param[in] nextRef The refernece id of the next polygon. [opt] - /// @param[in] nextTile The tile containing the next polygon. [opt] - /// @param[in] nextPoly The next polygon. [opt] -#ifdef DT_VIRTUAL_QUERYFILTER - virtual float getCost(const float* pa, const float* pb, - const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly, - const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly, - const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const; -#else - float getCost(const float* pa, const float* pb, - const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly, - const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly, - const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const; -#endif - - /// @name Getters and setters for the default implementation data. - ///@{ - - /// Returns the traversal cost of the area. - /// @param[in] i The id of the area. - /// @returns The traversal cost of the area. - inline float getAreaCost(const int i) const { return m_areaCost[i]; } - - /// Sets the traversal cost of the area. - /// @param[in] i The id of the area. - /// @param[in] cost The new cost of traversing the area. - inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; } - - /// Returns the include flags for the filter. - /// Any polygons that include one or more of these flags will be - /// included in the operation. - inline unsigned short getIncludeFlags() const { return m_includeFlags; } - - /// Sets the include flags for the filter. - /// @param[in] flags The new flags. - inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; } - - /// Returns the exclude flags for the filter. - /// Any polygons that include one ore more of these flags will be - /// excluded from the operation. - inline unsigned short getExcludeFlags() const { return m_excludeFlags; } - - /// Sets the exclude flags for the filter. - /// @param[in] flags The new flags. - inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; } - - ///@} - -}; - -/// Provides information about raycast hit -/// filled by dtNavMeshQuery::raycast -/// @ingroup detour -struct dtRaycastHit -{ - /// The hit parameter. (FLT_MAX if no wall hit.) - float t; - - /// hitNormal The normal of the nearest wall hit. [(x, y, z)] - float hitNormal[3]; - - /// The index of the edge on the final polygon where the wall was hit. - int hitEdgeIndex; - - /// Pointer to an array of reference ids of the visited polygons. [opt] - dtPolyRef* path; - - /// The number of visited polygons. [opt] - int pathCount; - - /// The maximum number of polygons the @p path array can hold. - int maxPath; - - /// The cost of the path until hit. - float pathCost; -}; - -/// Provides custom polygon query behavior. -/// Used by dtNavMeshQuery::queryPolygons. -/// @ingroup detour -class dtPolyQuery -{ -public: - virtual ~dtPolyQuery() { } - - /// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons. - /// This can be called multiple times for a single query. - virtual void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) = 0; -}; - -/// Provides the ability to perform pathfinding related queries against -/// a navigation mesh. -/// @ingroup detour -class dtNavMeshQuery -{ -public: - dtNavMeshQuery(); - ~dtNavMeshQuery(); - - /// Initializes the query object. - /// @param[in] nav Pointer to the dtNavMesh object to use for all queries. - /// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65535] - /// @returns The status flags for the query. - dtStatus init(const dtNavMesh* nav, const int maxNodes); - - /// @name Standard Pathfinding Functions - // /@{ - - /// Finds a path from the start polygon to the end polygon. - /// @param[in] startRef The refrence id of the start polygon. - /// @param[in] endRef The reference id of the end polygon. - /// @param[in] startPos A position within the start polygon. [(x, y, z)] - /// @param[in] endPos A position within the end polygon. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) - /// [(polyRef) * @p pathCount] - /// @param[out] pathCount The number of polygons returned in the @p path array. - /// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 1] - dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef, - const float* startPos, const float* endPos, - const dtQueryFilter* filter, - dtPolyRef* path, int* pathCount, const int maxPath) const; - - /// Finds the straight path from the start to the end position within the polygon corridor. - /// @param[in] startPos Path start position. [(x, y, z)] - /// @param[in] endPos Path end position. [(x, y, z)] - /// @param[in] path An array of polygon references that represent the path corridor. - /// @param[in] pathSize The number of polygons in the @p path array. - /// @param[out] straightPath Points describing the straight path. [(x, y, z) * @p straightPathCount]. - /// @param[out] straightPathFlags Flags describing each point. (See: #dtStraightPathFlags) [opt] - /// @param[out] straightPathRefs The reference id of the polygon that is being entered at each point. [opt] - /// @param[out] straightPathCount The number of points in the straight path. - /// @param[in] maxStraightPath The maximum number of points the straight path arrays can hold. [Limit: > 0] - /// @param[in] options Query options. (see: #dtStraightPathOptions) - /// @returns The status flags for the query. - dtStatus findStraightPath(const float* startPos, const float* endPos, - const dtPolyRef* path, const int pathSize, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath, const int options = 0) const; - - ///@} - /// @name Sliced Pathfinding Functions - /// Common use case: - /// -# Call initSlicedFindPath() to initialize the sliced path query. - /// -# Call updateSlicedFindPath() until it returns complete. - /// -# Call finalizeSlicedFindPath() to get the path. - ///@{ - - /// Intializes a sliced path query. - /// @param[in] startRef The refrence id of the start polygon. - /// @param[in] endRef The reference id of the end polygon. - /// @param[in] startPos A position within the start polygon. [(x, y, z)] - /// @param[in] endPos A position within the end polygon. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[in] options query options (see: #dtFindPathOptions) - /// @returns The status flags for the query. - dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef, - const float* startPos, const float* endPos, - const dtQueryFilter* filter, const unsigned int options = 0); - - /// Updates an in-progress sliced path query. - /// @param[in] maxIter The maximum number of iterations to perform. - /// @param[out] doneIters The actual number of iterations completed. [opt] - /// @returns The status flags for the query. - dtStatus updateSlicedFindPath(const int maxIter, int* doneIters); - - /// Finalizes and returns the results of a sliced path query. - /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) - /// [(polyRef) * @p pathCount] - /// @param[out] pathCount The number of polygons returned in the @p path array. - /// @param[in] maxPath The max number of polygons the path array can hold. [Limit: >= 1] - /// @returns The status flags for the query. - dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath); - - /// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest - /// polygon on the existing path that was visited during the search. - /// @param[in] existing An array of polygon references for the existing path. - /// @param[in] existingSize The number of polygon in the @p existing array. - /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) - /// [(polyRef) * @p pathCount] - /// @param[out] pathCount The number of polygons returned in the @p path array. - /// @param[in] maxPath The max number of polygons the @p path array can hold. [Limit: >= 1] - /// @returns The status flags for the query. - dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize, - dtPolyRef* path, int* pathCount, const int maxPath); - - ///@} - /// @name Dijkstra Search Functions - /// @{ - - /// Finds the polygons along the navigation graph that touch the specified circle. - /// @param[in] startRef The reference id of the polygon where the search starts. - /// @param[in] centerPos The center of the search circle. [(x, y, z)] - /// @param[in] radius The radius of the search circle. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt] - /// @param[out] resultParent The reference ids of the parent polygons for each result. - /// Zero if a result polygon has no parent. [opt] - /// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt] - /// @param[out] resultCount The number of polygons found. [opt] - /// @param[in] maxResult The maximum number of polygons the result arrays can hold. - /// @returns The status flags for the query. - dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, - int* resultCount, const int maxResult) const; - - /// Finds the polygons along the naviation graph that touch the specified convex polygon. - /// @param[in] startRef The reference id of the polygon where the search starts. - /// @param[in] verts The vertices describing the convex polygon. (CCW) - /// [(x, y, z) * @p nverts] - /// @param[in] nverts The number of vertices in the polygon. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt] - /// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a - /// result polygon has no parent. [opt] - /// @param[out] resultCost The search cost from the centroid point to the polygon. [opt] - /// @param[out] resultCount The number of polygons found. - /// @param[in] maxResult The maximum number of polygons the result arrays can hold. - /// @returns The status flags for the query. - dtStatus findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, - int* resultCount, const int maxResult) const; - - /// Gets a path from the explored nodes in the previous search. - /// @param[in] endRef The reference id of the end polygon. - /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) - /// [(polyRef) * @p pathCount] - /// @param[out] pathCount The number of polygons returned in the @p path array. - /// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 0] - /// @returns The status flags. Returns DT_FAILURE | DT_INVALID_PARAM if any parameter is wrong, or if - /// @p endRef was not explored in the previous search. Returns DT_SUCCESS | DT_BUFFER_TOO_SMALL - /// if @p path cannot contain the entire path. In this case it is filled to capacity with a partial path. - /// Otherwise returns DT_SUCCESS. - /// @remarks The result of this function depends on the state of the query object. For that reason it should only - /// be used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape. - dtStatus getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef* path, int* pathCount, int maxPath) const; - - /// @} - /// @name Local Query Functions - ///@{ - - /// Finds the polygon nearest to the specified center point. - /// @param[in] center The center of the search box. [(x, y, z)] - /// @param[in] halfExtents The search distance along each axis. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] nearestRef The reference id of the nearest polygon. - /// @param[out] nearestPt The nearest point on the polygon. [opt] [(x, y, z)] - /// @returns The status flags for the query. - dtStatus findNearestPoly(const float* center, const float* halfExtents, - const dtQueryFilter* filter, - dtPolyRef* nearestRef, float* nearestPt) const; - - /// Finds polygons that overlap the search box. - /// @param[in] center The center of the search box. [(x, y, z)] - /// @param[in] halfExtents The search distance along each axis. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] polys The reference ids of the polygons that overlap the query box. - /// @param[out] polyCount The number of polygons in the search result. - /// @param[in] maxPolys The maximum number of polygons the search result can hold. - /// @returns The status flags for the query. - dtStatus queryPolygons(const float* center, const float* halfExtents, - const dtQueryFilter* filter, - dtPolyRef* polys, int* polyCount, const int maxPolys) const; - - /// Finds polygons that overlap the search box. - /// @param[in] center The center of the search box. [(x, y, z)] - /// @param[in] halfExtents The search distance along each axis. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[in] query The query. Polygons found will be batched together and passed to this query. - dtStatus queryPolygons(const float* center, const float* halfExtents, - const dtQueryFilter* filter, dtPolyQuery* query) const; - - /// Finds the non-overlapping navigation polygons in the local neighbourhood around the center position. - /// @param[in] startRef The reference id of the polygon where the search starts. - /// @param[in] centerPos The center of the query circle. [(x, y, z)] - /// @param[in] radius The radius of the query circle. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] resultRef The reference ids of the polygons touched by the circle. - /// @param[out] resultParent The reference ids of the parent polygons for each result. - /// Zero if a result polygon has no parent. [opt] - /// @param[out] resultCount The number of polygons found. - /// @param[in] maxResult The maximum number of polygons the result arrays can hold. - /// @returns The status flags for the query. - dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, - int* resultCount, const int maxResult) const; - - /// Moves from the start to the end position constrained to the navigation mesh. - /// @param[in] startRef The reference id of the start polygon. - /// @param[in] startPos A position of the mover within the start polygon. [(x, y, x)] - /// @param[in] endPos The desired end position of the mover. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] resultPos The result position of the mover. [(x, y, z)] - /// @param[out] visited The reference ids of the polygons visited during the move. - /// @param[out] visitedCount The number of polygons visited during the move. - /// @param[in] maxVisitedSize The maximum number of polygons the @p visited array can hold. - /// @returns The status flags for the query. - dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, - float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const; - - /// Casts a 'walkability' ray along the surface of the navigation mesh from - /// the start position toward the end position. - /// @note A wrapper around raycast(..., RaycastHit*). Retained for backward compatibility. - /// @param[in] startRef The reference id of the start polygon. - /// @param[in] startPos A position within the start polygon representing - /// the start of the ray. [(x, y, z)] - /// @param[in] endPos The position to cast the ray toward. [(x, y, z)] - /// @param[out] t The hit parameter. (FLT_MAX if no wall hit.) - /// @param[out] hitNormal The normal of the nearest wall hit. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] path The reference ids of the visited polygons. [opt] - /// @param[out] pathCount The number of visited polygons. [opt] - /// @param[in] maxPath The maximum number of polygons the @p path array can hold. - /// @returns The status flags for the query. - dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, - float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const; - - /// Casts a 'walkability' ray along the surface of the navigation mesh from - /// the start position toward the end position. - /// @param[in] startRef The reference id of the start polygon. - /// @param[in] startPos A position within the start polygon representing - /// the start of the ray. [(x, y, z)] - /// @param[in] endPos The position to cast the ray toward. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[in] flags govern how the raycast behaves. See dtRaycastOptions - /// @param[out] hit Pointer to a raycast hit structure which will be filled by the results. - /// @param[in] prevRef parent of start ref. Used during for cost calculation [opt] - /// @returns The status flags for the query. - dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, const unsigned int options, - dtRaycastHit* hit, dtPolyRef prevRef = 0) const; - - - /// Finds the distance from the specified position to the nearest polygon wall. - /// @param[in] startRef The reference id of the polygon containing @p centerPos. - /// @param[in] centerPos The center of the search circle. [(x, y, z)] - /// @param[in] maxRadius The radius of the search circle. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] hitDist The distance to the nearest wall from @p centerPos. - /// @param[out] hitPos The nearest position on the wall that was hit. [(x, y, z)] - /// @param[out] hitNormal The normalized ray formed from the wall point to the - /// source point. [(x, y, z)] - /// @returns The status flags for the query. - dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius, - const dtQueryFilter* filter, - float* hitDist, float* hitPos, float* hitNormal) const; - - /// Returns the segments for the specified polygon, optionally including portals. - /// @param[in] ref The reference id of the polygon. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[out] segmentVerts The segments. [(ax, ay, az, bx, by, bz) * segmentCount] - /// @param[out] segmentRefs The reference ids of each segment's neighbor polygon. - /// Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount] - /// @param[out] segmentCount The number of segments returned. - /// @param[in] maxSegments The maximum number of segments the result arrays can hold. - /// @returns The status flags for the query. - dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter, - float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount, - const int maxSegments) const; - - /// Returns random location on navmesh. - /// Polygons are chosen weighted by area. The search runs in linear related to number of polygon. - /// @param[in] filter The polygon filter to apply to the query. - /// @param[in] frand Function returning a random number [0..1). - /// @param[out] randomRef The reference id of the random location. - /// @param[out] randomPt The random location. - /// @returns The status flags for the query. - dtStatus findRandomPoint(const dtQueryFilter* filter, float (*frand)(), - dtPolyRef* randomRef, float* randomPt) const; - - /// Returns random location on navmesh within the reach of specified location. - /// Polygons are chosen weighted by area. The search runs in linear related to number of polygon. - /// The location is not exactly constrained by the circle, but it limits the visited polygons. - /// @param[in] startRef The reference id of the polygon where the search starts. - /// @param[in] centerPos The center of the search circle. [(x, y, z)] - /// @param[in] filter The polygon filter to apply to the query. - /// @param[in] frand Function returning a random number [0..1). - /// @param[out] randomRef The reference id of the random location. - /// @param[out] randomPt The random location. [(x, y, z)] - /// @returns The status flags for the query. - dtStatus findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius, - const dtQueryFilter* filter, float (*frand)(), - dtPolyRef* randomRef, float* randomPt) const; - - /// Finds the closest point on the specified polygon. - /// @param[in] ref The reference id of the polygon. - /// @param[in] pos The position to check. [(x, y, z)] - /// @param[out] closest The closest point on the polygon. [(x, y, z)] - /// @param[out] posOverPoly True of the position is over the polygon. - /// @returns The status flags for the query. - dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const; - - /// Returns a point on the boundary closest to the source point if the source point is outside the - /// polygon's xz-bounds. - /// @param[in] ref The reference id to the polygon. - /// @param[in] pos The position to check. [(x, y, z)] - /// @param[out] closest The closest point. [(x, y, z)] - /// @returns The status flags for the query. - dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const; - - /// Gets the height of the polygon at the provided position using the height detail. (Most accurate.) - /// @param[in] ref The reference id of the polygon. - /// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)] - /// @param[out] height The height at the surface of the polygon. - /// @returns The status flags for the query. - dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const; - - /// @} - /// @name Miscellaneous Functions - /// @{ - - /// Returns true if the polygon reference is valid and passes the filter restrictions. - /// @param[in] ref The polygon reference to check. - /// @param[in] filter The filter to apply. - bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const; - - /// Returns true if the polygon reference is in the closed list. - /// @param[in] ref The reference id of the polygon to check. - /// @returns True if the polygon is in closed list. - bool isInClosedList(dtPolyRef ref) const; - - /// Gets the node pool. - /// @returns The node pool. - class dtNodePool* getNodePool() const { return m_nodePool; } - - /// Gets the navigation mesh the query object is using. - /// @return The navigation mesh the query object is using. - const dtNavMesh* getAttachedNavMesh() const { return m_nav; } - - /// @} - -private: - // Explicitly disabled copy constructor and copy assignment operator - dtNavMeshQuery(const dtNavMeshQuery&); - dtNavMeshQuery& operator=(const dtNavMeshQuery&); - - /// Queries polygons within a tile. - void queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, - const dtQueryFilter* filter, dtPolyQuery* query) const; - - /// Returns portal points between two polygons. - dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right, - unsigned char& fromType, unsigned char& toType) const; - dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, - dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, - float* left, float* right) const; - - /// Returns edge mid point between two polygons. - dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const; - dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, - dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, - float* mid) const; - - // Appends vertex to a straight path - dtStatus appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath) const; - - // Appends intermediate portal points to a straight path. - dtStatus appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath, const int options) const; - - // Gets the path leading to the specified end node. - dtStatus getPathToNode(struct dtNode* endNode, dtPolyRef* path, int* pathCount, int maxPath) const; - - const dtNavMesh* m_nav; ///< Pointer to navmesh data. - - struct dtQueryData - { - dtStatus status; - struct dtNode* lastBestNode; - float lastBestNodeCost; - dtPolyRef startRef, endRef; - float startPos[3], endPos[3]; - const dtQueryFilter* filter; - unsigned int options; - float raycastLimitSqr; - }; - dtQueryData m_query; ///< Sliced query state. - - class dtNodePool* m_tinyNodePool; ///< Pointer to small node pool. - class dtNodePool* m_nodePool; ///< Pointer to node pool. - class dtNodeQueue* m_openList; ///< Pointer to open list queue. -}; - -/// Allocates a query object using the Detour allocator. -/// @return An allocated query object, or null on failure. -/// @ingroup detour -dtNavMeshQuery* dtAllocNavMeshQuery(); - -/// Frees the specified query object using the Detour allocator. -/// @param[in] query A query object allocated using #dtAllocNavMeshQuery -/// @ingroup detour -void dtFreeNavMeshQuery(dtNavMeshQuery* query); - -#endif // DETOURNAVMESHQUERY_H diff --git a/extern/recastnavigation/Detour/Include/DetourNode.h b/extern/recastnavigation/Detour/Include/DetourNode.h deleted file mode 100644 index db0974708..000000000 --- a/extern/recastnavigation/Detour/Include/DetourNode.h +++ /dev/null @@ -1,168 +0,0 @@ -// -// 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 DETOURNODE_H -#define DETOURNODE_H - -#include "DetourNavMesh.h" - -enum dtNodeFlags -{ - DT_NODE_OPEN = 0x01, - DT_NODE_CLOSED = 0x02, - DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not adjacent. Found using raycast. -}; - -typedef unsigned short dtNodeIndex; -static const dtNodeIndex DT_NULL_IDX = (dtNodeIndex)~0; - -static const int DT_NODE_PARENT_BITS = 24; -static const int DT_NODE_STATE_BITS = 2; -struct dtNode -{ - float pos[3]; ///< Position of the node. - float cost; ///< Cost from previous node to current node. - float total; ///< Cost up to the node. - unsigned int pidx : DT_NODE_PARENT_BITS; ///< Index to parent node. - unsigned int state : DT_NODE_STATE_BITS; ///< extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE - unsigned int flags : 3; ///< Node flags. A combination of dtNodeFlags. - dtPolyRef id; ///< Polygon ref the node corresponds to. -}; - -static const int DT_MAX_STATES_PER_NODE = 1 << DT_NODE_STATE_BITS; // number of extra states per node. See dtNode::state - -class dtNodePool -{ -public: - dtNodePool(int maxNodes, int hashSize); - ~dtNodePool(); - void clear(); - - // Get a dtNode by ref and extra state information. If there is none then - allocate - // There can be more than one node for the same polyRef but with different extra state information - dtNode* getNode(dtPolyRef id, unsigned char state=0); - dtNode* findNode(dtPolyRef id, unsigned char state); - unsigned int findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes); - - inline unsigned int getNodeIdx(const dtNode* node) const - { - if (!node) return 0; - return (unsigned int)(node - m_nodes) + 1; - } - - inline dtNode* getNodeAtIdx(unsigned int idx) - { - if (!idx) return 0; - return &m_nodes[idx - 1]; - } - - inline const dtNode* getNodeAtIdx(unsigned int idx) const - { - if (!idx) return 0; - return &m_nodes[idx - 1]; - } - - inline int getMemUsed() const - { - return sizeof(*this) + - sizeof(dtNode)*m_maxNodes + - sizeof(dtNodeIndex)*m_maxNodes + - sizeof(dtNodeIndex)*m_hashSize; - } - - inline int getMaxNodes() const { return m_maxNodes; } - - inline int getHashSize() const { return m_hashSize; } - inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; } - inline dtNodeIndex getNext(int i) const { return m_next[i]; } - inline int getNodeCount() const { return m_nodeCount; } - -private: - // Explicitly disabled copy constructor and copy assignment operator. - dtNodePool(const dtNodePool&); - dtNodePool& operator=(const dtNodePool&); - - dtNode* m_nodes; - dtNodeIndex* m_first; - dtNodeIndex* m_next; - const int m_maxNodes; - const int m_hashSize; - int m_nodeCount; -}; - -class dtNodeQueue -{ -public: - dtNodeQueue(int n); - ~dtNodeQueue(); - - inline void clear() { m_size = 0; } - - inline dtNode* top() { return m_heap[0]; } - - inline dtNode* pop() - { - dtNode* result = m_heap[0]; - m_size--; - trickleDown(0, m_heap[m_size]); - return result; - } - - inline void push(dtNode* node) - { - m_size++; - bubbleUp(m_size-1, node); - } - - inline void modify(dtNode* node) - { - for (int i = 0; i < m_size; ++i) - { - if (m_heap[i] == node) - { - bubbleUp(i, node); - return; - } - } - } - - inline bool empty() const { return m_size == 0; } - - inline int getMemUsed() const - { - return sizeof(*this) + - sizeof(dtNode*) * (m_capacity + 1); - } - - inline int getCapacity() const { return m_capacity; } - -private: - // Explicitly disabled copy constructor and copy assignment operator. - dtNodeQueue(const dtNodeQueue&); - dtNodeQueue& operator=(const dtNodeQueue&); - - void bubbleUp(int i, dtNode* node); - void trickleDown(int i, dtNode* node); - - dtNode** m_heap; - const int m_capacity; - int m_size; -}; - - -#endif // DETOURNODE_H diff --git a/extern/recastnavigation/Detour/Include/DetourStatus.h b/extern/recastnavigation/Detour/Include/DetourStatus.h deleted file mode 100644 index 8e1bb44b9..000000000 --- a/extern/recastnavigation/Detour/Include/DetourStatus.h +++ /dev/null @@ -1,65 +0,0 @@ -// -// 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 DETOURSTATUS_H -#define DETOURSTATUS_H - -typedef unsigned int dtStatus; - -// High level status. -static const unsigned int DT_FAILURE = 1u << 31; // Operation failed. -static const unsigned int DT_SUCCESS = 1u << 30; // Operation succeed. -static const unsigned int DT_IN_PROGRESS = 1u << 29; // Operation still in progress. - -// Detail information for status. -static const unsigned int DT_STATUS_DETAIL_MASK = 0x0ffffff; -static const unsigned int DT_WRONG_MAGIC = 1 << 0; // Input data is not recognized. -static const unsigned int DT_WRONG_VERSION = 1 << 1; // Input data is in wrong version. -static const unsigned int DT_OUT_OF_MEMORY = 1 << 2; // Operation ran out of memory. -static const unsigned int DT_INVALID_PARAM = 1 << 3; // An input parameter was invalid. -static const unsigned int DT_BUFFER_TOO_SMALL = 1 << 4; // Result buffer for the query was too small to store all results. -static const unsigned int DT_OUT_OF_NODES = 1 << 5; // Query ran out of nodes during search. -static const unsigned int DT_PARTIAL_RESULT = 1 << 6; // Query did not reach the end location, returning best guess. -static const unsigned int DT_ALREADY_OCCUPIED = 1 << 7; // A tile has already been assigned to the given x,y coordinate - - -// Returns true of status is success. -inline bool dtStatusSucceed(dtStatus status) -{ - return (status & DT_SUCCESS) != 0; -} - -// Returns true of status is failure. -inline bool dtStatusFailed(dtStatus status) -{ - return (status & DT_FAILURE) != 0; -} - -// Returns true of status is in progress. -inline bool dtStatusInProgress(dtStatus status) -{ - return (status & DT_IN_PROGRESS) != 0; -} - -// Returns true if specific detail is set. -inline bool dtStatusDetail(dtStatus status, unsigned int detail) -{ - return (status & detail) != 0; -} - -#endif // DETOURSTATUS_H diff --git a/extern/recastnavigation/Detour/Source/DetourAlloc.cpp b/extern/recastnavigation/Detour/Source/DetourAlloc.cpp deleted file mode 100644 index d9ad1fc01..000000000 --- a/extern/recastnavigation/Detour/Source/DetourAlloc.cpp +++ /dev/null @@ -1,50 +0,0 @@ -// -// 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. -// - -#include -#include "DetourAlloc.h" - -static void *dtAllocDefault(size_t size, dtAllocHint) -{ - return malloc(size); -} - -static void dtFreeDefault(void *ptr) -{ - free(ptr); -} - -static dtAllocFunc* sAllocFunc = dtAllocDefault; -static dtFreeFunc* sFreeFunc = dtFreeDefault; - -void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc) -{ - sAllocFunc = allocFunc ? allocFunc : dtAllocDefault; - sFreeFunc = freeFunc ? freeFunc : dtFreeDefault; -} - -void* dtAlloc(size_t size, dtAllocHint hint) -{ - return sAllocFunc(size, hint); -} - -void dtFree(void* ptr) -{ - if (ptr) - sFreeFunc(ptr); -} diff --git a/extern/recastnavigation/Detour/Source/DetourAssert.cpp b/extern/recastnavigation/Detour/Source/DetourAssert.cpp deleted file mode 100644 index 5e019e0cf..000000000 --- a/extern/recastnavigation/Detour/Source/DetourAssert.cpp +++ /dev/null @@ -1,35 +0,0 @@ -// -// 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. -// - -#include "DetourAssert.h" - -#ifndef NDEBUG - -static dtAssertFailFunc* sAssertFailFunc = 0; - -void dtAssertFailSetCustom(dtAssertFailFunc *assertFailFunc) -{ - sAssertFailFunc = assertFailFunc; -} - -dtAssertFailFunc* dtAssertFailGetCustom() -{ - return sAssertFailFunc; -} - -#endif diff --git a/extern/recastnavigation/Detour/Source/DetourCommon.cpp b/extern/recastnavigation/Detour/Source/DetourCommon.cpp deleted file mode 100644 index b89d7512c..000000000 --- a/extern/recastnavigation/Detour/Source/DetourCommon.cpp +++ /dev/null @@ -1,387 +0,0 @@ -// -// 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. -// - -#include "DetourCommon.h" -#include "DetourMath.h" - -////////////////////////////////////////////////////////////////////////////////////////// - -void dtClosestPtPointTriangle(float* closest, const float* p, - const float* a, const float* b, const float* c) -{ - // Check if P in vertex region outside A - float ab[3], ac[3], ap[3]; - dtVsub(ab, b, a); - dtVsub(ac, c, a); - dtVsub(ap, p, a); - float d1 = dtVdot(ab, ap); - float d2 = dtVdot(ac, ap); - if (d1 <= 0.0f && d2 <= 0.0f) - { - // barycentric coordinates (1,0,0) - dtVcopy(closest, a); - return; - } - - // Check if P in vertex region outside B - float bp[3]; - dtVsub(bp, p, b); - float d3 = dtVdot(ab, bp); - float d4 = dtVdot(ac, bp); - if (d3 >= 0.0f && d4 <= d3) - { - // barycentric coordinates (0,1,0) - dtVcopy(closest, b); - return; - } - - // Check if P in edge region of AB, if so return projection of P onto AB - float vc = d1*d4 - d3*d2; - if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f) - { - // barycentric coordinates (1-v,v,0) - float v = d1 / (d1 - d3); - closest[0] = a[0] + v * ab[0]; - closest[1] = a[1] + v * ab[1]; - closest[2] = a[2] + v * ab[2]; - return; - } - - // Check if P in vertex region outside C - float cp[3]; - dtVsub(cp, p, c); - float d5 = dtVdot(ab, cp); - float d6 = dtVdot(ac, cp); - if (d6 >= 0.0f && d5 <= d6) - { - // barycentric coordinates (0,0,1) - dtVcopy(closest, c); - return; - } - - // Check if P in edge region of AC, if so return projection of P onto AC - float vb = d5*d2 - d1*d6; - if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f) - { - // barycentric coordinates (1-w,0,w) - float w = d2 / (d2 - d6); - closest[0] = a[0] + w * ac[0]; - closest[1] = a[1] + w * ac[1]; - closest[2] = a[2] + w * ac[2]; - return; - } - - // Check if P in edge region of BC, if so return projection of P onto BC - float va = d3*d6 - d5*d4; - if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f) - { - // barycentric coordinates (0,1-w,w) - float w = (d4 - d3) / ((d4 - d3) + (d5 - d6)); - closest[0] = b[0] + w * (c[0] - b[0]); - closest[1] = b[1] + w * (c[1] - b[1]); - closest[2] = b[2] + w * (c[2] - b[2]); - return; - } - - // P inside face region. Compute Q through its barycentric coordinates (u,v,w) - float denom = 1.0f / (va + vb + vc); - float v = vb * denom; - float w = vc * denom; - closest[0] = a[0] + ab[0] * v + ac[0] * w; - closest[1] = a[1] + ab[1] * v + ac[1] * w; - closest[2] = a[2] + ab[2] * v + ac[2] * w; -} - -bool dtIntersectSegmentPoly2D(const float* p0, const float* p1, - const float* verts, int nverts, - float& tmin, float& tmax, - int& segMin, int& segMax) -{ - static const float EPS = 0.00000001f; - - tmin = 0; - tmax = 1; - segMin = -1; - segMax = -1; - - float dir[3]; - dtVsub(dir, p1, p0); - - for (int i = 0, j = nverts-1; i < nverts; j=i++) - { - float edge[3], diff[3]; - dtVsub(edge, &verts[i*3], &verts[j*3]); - dtVsub(diff, p0, &verts[j*3]); - const float n = dtVperp2D(edge, diff); - const float d = dtVperp2D(dir, edge); - if (fabsf(d) < EPS) - { - // S is nearly parallel to this edge - if (n < 0) - return false; - else - continue; - } - const float t = n / d; - if (d < 0) - { - // segment S is entering across this edge - if (t > tmin) - { - tmin = t; - segMin = j; - // S enters after leaving polygon - if (tmin > tmax) - return false; - } - } - else - { - // segment S is leaving across this edge - if (t < tmax) - { - tmax = t; - segMax = j; - // S leaves before entering polygon - if (tmax < tmin) - return false; - } - } - } - - return true; -} - -float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t) -{ - float pqx = q[0] - p[0]; - float pqz = q[2] - p[2]; - float dx = pt[0] - p[0]; - float dz = pt[2] - p[2]; - float d = pqx*pqx + pqz*pqz; - t = pqx*dx + pqz*dz; - if (d > 0) t /= d; - if (t < 0) t = 0; - else if (t > 1) t = 1; - dx = p[0] + t*pqx - pt[0]; - dz = p[2] + t*pqz - pt[2]; - return dx*dx + dz*dz; -} - -void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts) -{ - tc[0] = 0.0f; - tc[1] = 0.0f; - tc[2] = 0.0f; - for (int j = 0; j < nidx; ++j) - { - const float* v = &verts[idx[j]*3]; - tc[0] += v[0]; - tc[1] += v[1]; - tc[2] += v[2]; - } - const float s = 1.0f / nidx; - tc[0] *= s; - tc[1] *= s; - tc[2] *= s; -} - -bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h) -{ - const float EPS = 1e-6f; - float v0[3], v1[3], v2[3]; - - dtVsub(v0, c, a); - dtVsub(v1, b, a); - dtVsub(v2, p, a); - - // Compute scaled barycentric coordinates - float denom = v0[0] * v1[2] - v0[2] * v1[0]; - if (fabsf(denom) < EPS) - return false; - - float u = v1[2] * v2[0] - v1[0] * v2[2]; - float v = v0[0] * v2[2] - v0[2] * v2[0]; - - if (denom < 0) { - denom = -denom; - u = -u; - v = -v; - } - - // If point lies inside the triangle, return interpolated ycoord. - if (u >= 0.0f && v >= 0.0f && (u + v) <= denom) { - h = a[1] + (v0[1] * u + v1[1] * v) / denom; - return true; - } - return false; -} - -/// @par -/// -/// All points are projected onto the xz-plane, so the y-values are ignored. -bool dtPointInPolygon(const float* pt, const float* verts, const int nverts) -{ - // TODO: Replace pnpoly with triArea2D tests? - int i, j; - bool c = false; - for (i = 0, j = nverts-1; i < nverts; j = i++) - { - const float* vi = &verts[i*3]; - const float* vj = &verts[j*3]; - if (((vi[2] > pt[2]) != (vj[2] > pt[2])) && - (pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) ) - c = !c; - } - return c; -} - -bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts, - float* ed, float* et) -{ - // TODO: Replace pnpoly with triArea2D tests? - int i, j; - bool c = false; - for (i = 0, j = nverts-1; i < nverts; j = i++) - { - const float* vi = &verts[i*3]; - const float* vj = &verts[j*3]; - if (((vi[2] > pt[2]) != (vj[2] > pt[2])) && - (pt[0] < (vj[0]-vi[0]) * (pt[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) ) - c = !c; - ed[j] = dtDistancePtSegSqr2D(pt, vj, vi, et[j]); - } - return c; -} - -static void projectPoly(const float* axis, const float* poly, const int npoly, - float& rmin, float& rmax) -{ - rmin = rmax = dtVdot2D(axis, &poly[0]); - for (int i = 1; i < npoly; ++i) - { - const float d = dtVdot2D(axis, &poly[i*3]); - rmin = dtMin(rmin, d); - rmax = dtMax(rmax, d); - } -} - -inline bool overlapRange(const float amin, const float amax, - const float bmin, const float bmax, - const float eps) -{ - return ((amin+eps) > bmax || (amax-eps) < bmin) ? false : true; -} - -/// @par -/// -/// All vertices are projected onto the xz-plane, so the y-values are ignored. -bool dtOverlapPolyPoly2D(const float* polya, const int npolya, - const float* polyb, const int npolyb) -{ - const float eps = 1e-4f; - - for (int i = 0, j = npolya-1; i < npolya; j=i++) - { - const float* va = &polya[j*3]; - const float* vb = &polya[i*3]; - const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) }; - float amin,amax,bmin,bmax; - projectPoly(n, polya, npolya, amin,amax); - projectPoly(n, polyb, npolyb, bmin,bmax); - if (!overlapRange(amin,amax, bmin,bmax, eps)) - { - // Found separating axis - return false; - } - } - for (int i = 0, j = npolyb-1; i < npolyb; j=i++) - { - const float* va = &polyb[j*3]; - const float* vb = &polyb[i*3]; - const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) }; - float amin,amax,bmin,bmax; - projectPoly(n, polya, npolya, amin,amax); - projectPoly(n, polyb, npolyb, bmin,bmax); - if (!overlapRange(amin,amax, bmin,bmax, eps)) - { - // Found separating axis - return false; - } - } - return true; -} - -// Returns a random point in a convex polygon. -// Adapted from Graphics Gems article. -void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas, - const float s, const float t, float* out) -{ - // Calc triangle araes - float areasum = 0.0f; - for (int i = 2; i < npts; i++) { - areas[i] = dtTriArea2D(&pts[0], &pts[(i-1)*3], &pts[i*3]); - areasum += dtMax(0.001f, areas[i]); - } - // Find sub triangle weighted by area. - const float thr = s*areasum; - float acc = 0.0f; - float u = 1.0f; - int tri = npts - 1; - for (int i = 2; i < npts; i++) { - const float dacc = areas[i]; - if (thr >= acc && thr < (acc+dacc)) - { - u = (thr - acc) / dacc; - tri = i; - break; - } - acc += dacc; - } - - float v = dtMathSqrtf(t); - - const float a = 1 - v; - const float b = (1 - u) * v; - const float c = u * v; - const float* pa = &pts[0]; - const float* pb = &pts[(tri-1)*3]; - const float* pc = &pts[tri*3]; - - out[0] = a*pa[0] + b*pb[0] + c*pc[0]; - out[1] = a*pa[1] + b*pb[1] + c*pc[1]; - out[2] = a*pa[2] + b*pb[2] + c*pc[2]; -} - -inline float vperpXZ(const float* a, const float* b) { return a[0]*b[2] - a[2]*b[0]; } - -bool dtIntersectSegSeg2D(const float* ap, const float* aq, - const float* bp, const float* bq, - float& s, float& t) -{ - float u[3], v[3], w[3]; - dtVsub(u,aq,ap); - dtVsub(v,bq,bp); - dtVsub(w,ap,bp); - float d = vperpXZ(u,v); - if (fabsf(d) < 1e-6f) return false; - s = vperpXZ(v,w) / d; - t = vperpXZ(u,w) / d; - return true; -} - diff --git a/extern/recastnavigation/Detour/Source/DetourNavMesh.cpp b/extern/recastnavigation/Detour/Source/DetourNavMesh.cpp deleted file mode 100644 index a655d1d89..000000000 --- a/extern/recastnavigation/Detour/Source/DetourNavMesh.cpp +++ /dev/null @@ -1,1584 +0,0 @@ -// -// 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. -// - -#include -#include -#include -#include "DetourNavMesh.h" -#include "DetourNode.h" -#include "DetourCommon.h" -#include "DetourMath.h" -#include "DetourAlloc.h" -#include "DetourAssert.h" -#include - - -inline bool overlapSlabs(const float* amin, const float* amax, - const float* bmin, const float* bmax, - const float px, const float py) -{ - // Check for horizontal overlap. - // The segment is shrunken a little so that slabs which touch - // at end points are not connected. - const float minx = dtMax(amin[0]+px,bmin[0]+px); - const float maxx = dtMin(amax[0]-px,bmax[0]-px); - if (minx > maxx) - return false; - - // Check vertical overlap. - const float ad = (amax[1]-amin[1]) / (amax[0]-amin[0]); - const float ak = amin[1] - ad*amin[0]; - const float bd = (bmax[1]-bmin[1]) / (bmax[0]-bmin[0]); - const float bk = bmin[1] - bd*bmin[0]; - const float aminy = ad*minx + ak; - const float amaxy = ad*maxx + ak; - const float bminy = bd*minx + bk; - const float bmaxy = bd*maxx + bk; - const float dmin = bminy - aminy; - const float dmax = bmaxy - amaxy; - - // Crossing segments always overlap. - if (dmin*dmax < 0) - return true; - - // Check for overlap at endpoints. - const float thr = dtSqr(py*2); - if (dmin*dmin <= thr || dmax*dmax <= thr) - return true; - - return false; -} - -static float getSlabCoord(const float* va, const int side) -{ - if (side == 0 || side == 4) - return va[0]; - else if (side == 2 || side == 6) - return va[2]; - return 0; -} - -static void calcSlabEndPoints(const float* va, const float* vb, float* bmin, float* bmax, const int side) -{ - if (side == 0 || side == 4) - { - if (va[2] < vb[2]) - { - bmin[0] = va[2]; - bmin[1] = va[1]; - bmax[0] = vb[2]; - bmax[1] = vb[1]; - } - else - { - bmin[0] = vb[2]; - bmin[1] = vb[1]; - bmax[0] = va[2]; - bmax[1] = va[1]; - } - } - else if (side == 2 || side == 6) - { - if (va[0] < vb[0]) - { - bmin[0] = va[0]; - bmin[1] = va[1]; - bmax[0] = vb[0]; - bmax[1] = vb[1]; - } - else - { - bmin[0] = vb[0]; - bmin[1] = vb[1]; - bmax[0] = va[0]; - bmax[1] = va[1]; - } - } -} - -inline int computeTileHash(int x, int y, const int mask) -{ - const unsigned int h1 = 0x8da6b343; // Large multiplicative constants; - const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes - unsigned int n = h1 * x + h2 * y; - return (int)(n & mask); -} - -inline unsigned int allocLink(dtMeshTile* tile) -{ - if (tile->linksFreeList == DT_NULL_LINK) - return DT_NULL_LINK; - unsigned int link = tile->linksFreeList; - tile->linksFreeList = tile->links[link].next; - return link; -} - -inline void freeLink(dtMeshTile* tile, unsigned int link) -{ - tile->links[link].next = tile->linksFreeList; - tile->linksFreeList = link; -} - - -dtNavMesh* dtAllocNavMesh() -{ - void* mem = dtAlloc(sizeof(dtNavMesh), DT_ALLOC_PERM); - if (!mem) return 0; - return new(mem) dtNavMesh; -} - -/// @par -/// -/// This function will only free the memory for tiles with the #DT_TILE_FREE_DATA -/// flag set. -void dtFreeNavMesh(dtNavMesh* navmesh) -{ - if (!navmesh) return; - navmesh->~dtNavMesh(); - dtFree(navmesh); -} - -////////////////////////////////////////////////////////////////////////////////////////// - -/** -@class dtNavMesh - -The navigation mesh consists of one or more tiles defining three primary types of structural data: - -A polygon mesh which defines most of the navigation graph. (See rcPolyMesh for its structure.) -A detail mesh used for determining surface height on the polygon mesh. (See rcPolyMeshDetail for its structure.) -Off-mesh connections, which define custom point-to-point edges within the navigation graph. - -The general build process is as follows: - --# Create rcPolyMesh and rcPolyMeshDetail data using the Recast build pipeline. --# Optionally, create off-mesh connection data. --# Combine the source data into a dtNavMeshCreateParams structure. --# Create a tile data array using dtCreateNavMeshData(). --# Allocate at dtNavMesh object and initialize it. (For single tile navigation meshes, - the tile data is loaded during this step.) --# For multi-tile navigation meshes, load the tile data using dtNavMesh::addTile(). - -Notes: - -- This class is usually used in conjunction with the dtNavMeshQuery class for pathfinding. -- Technically, all navigation meshes are tiled. A 'solo' mesh is simply a navigation mesh initialized - to have only a single tile. -- This class does not implement any asynchronous methods. So the ::dtStatus result of all methods will - always contain either a success or failure flag. - -@see dtNavMeshQuery, dtCreateNavMeshData, dtNavMeshCreateParams, #dtAllocNavMesh, #dtFreeNavMesh -*/ - -dtNavMesh::dtNavMesh() : - m_tileWidth(0), - m_tileHeight(0), - m_maxTiles(0), - m_tileLutSize(0), - m_tileLutMask(0), - m_posLookup(0), - m_nextFree(0), - m_tiles(0) -{ -#ifndef DT_POLYREF64 - m_saltBits = 0; - m_tileBits = 0; - m_polyBits = 0; -#endif - memset(&m_params, 0, sizeof(dtNavMeshParams)); - m_orig[0] = 0; - m_orig[1] = 0; - m_orig[2] = 0; -} - -dtNavMesh::~dtNavMesh() -{ - for (int i = 0; i < m_maxTiles; ++i) - { - if (m_tiles[i].flags & DT_TILE_FREE_DATA) - { - dtFree(m_tiles[i].data); - m_tiles[i].data = 0; - m_tiles[i].dataSize = 0; - } - } - dtFree(m_posLookup); - dtFree(m_tiles); -} - -dtStatus dtNavMesh::init(const dtNavMeshParams* params) -{ - memcpy(&m_params, params, sizeof(dtNavMeshParams)); - dtVcopy(m_orig, params->orig); - m_tileWidth = params->tileWidth; - m_tileHeight = params->tileHeight; - - // Init tiles - m_maxTiles = params->maxTiles; - m_tileLutSize = dtNextPow2(params->maxTiles/4); - if (!m_tileLutSize) m_tileLutSize = 1; - m_tileLutMask = m_tileLutSize-1; - - m_tiles = (dtMeshTile*)dtAlloc(sizeof(dtMeshTile)*m_maxTiles, DT_ALLOC_PERM); - if (!m_tiles) - return DT_FAILURE | DT_OUT_OF_MEMORY; - m_posLookup = (dtMeshTile**)dtAlloc(sizeof(dtMeshTile*)*m_tileLutSize, DT_ALLOC_PERM); - if (!m_posLookup) - return DT_FAILURE | DT_OUT_OF_MEMORY; - memset(m_tiles, 0, sizeof(dtMeshTile)*m_maxTiles); - memset(m_posLookup, 0, sizeof(dtMeshTile*)*m_tileLutSize); - m_nextFree = 0; - for (int i = m_maxTiles-1; i >= 0; --i) - { - m_tiles[i].salt = 1; - m_tiles[i].next = m_nextFree; - m_nextFree = &m_tiles[i]; - } - - // Init ID generator values. -#ifndef DT_POLYREF64 - m_tileBits = dtIlog2(dtNextPow2((unsigned int)params->maxTiles)); - m_polyBits = dtIlog2(dtNextPow2((unsigned int)params->maxPolys)); - // Only allow 31 salt bits, since the salt mask is calculated using 32bit uint and it will overflow. - m_saltBits = dtMin((unsigned int)31, 32 - m_tileBits - m_polyBits); - - if (m_saltBits < 10) - return DT_FAILURE | DT_INVALID_PARAM; -#endif - - return DT_SUCCESS; -} - -dtStatus dtNavMesh::init(unsigned char* data, const int dataSize, const int flags) -{ - // Make sure the data is in right format. - dtMeshHeader* header = (dtMeshHeader*)data; - if (header->magic != DT_NAVMESH_MAGIC) - return DT_FAILURE | DT_WRONG_MAGIC; - if (header->version != DT_NAVMESH_VERSION) - return DT_FAILURE | DT_WRONG_VERSION; - - dtNavMeshParams params; - dtVcopy(params.orig, header->bmin); - params.tileWidth = header->bmax[0] - header->bmin[0]; - params.tileHeight = header->bmax[2] - header->bmin[2]; - params.maxTiles = 1; - params.maxPolys = header->polyCount; - - dtStatus status = init(¶ms); - if (dtStatusFailed(status)) - return status; - - return addTile(data, dataSize, flags, 0, 0); -} - -/// @par -/// -/// @note The parameters are created automatically when the single tile -/// initialization is performed. -const dtNavMeshParams* dtNavMesh::getParams() const -{ - return &m_params; -} - -////////////////////////////////////////////////////////////////////////////////////////// -int dtNavMesh::findConnectingPolys(const float* va, const float* vb, - const dtMeshTile* tile, int side, - dtPolyRef* con, float* conarea, int maxcon) const -{ - if (!tile) return 0; - - float amin[2], amax[2]; - calcSlabEndPoints(va, vb, amin, amax, side); - const float apos = getSlabCoord(va, side); - - // Remove links pointing to 'side' and compact the links array. - float bmin[2], bmax[2]; - unsigned short m = DT_EXT_LINK | (unsigned short)side; - int n = 0; - - dtPolyRef base = getPolyRefBase(tile); - - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* poly = &tile->polys[i]; - const int nv = poly->vertCount; - for (int j = 0; j < nv; ++j) - { - // Skip edges which do not point to the right side. - if (poly->neis[j] != m) continue; - - const float* vc = &tile->verts[poly->verts[j]*3]; - const float* vd = &tile->verts[poly->verts[(j+1) % nv]*3]; - const float bpos = getSlabCoord(vc, side); - - // Segments are not close enough. - if (dtAbs(apos-bpos) > 0.01f) - continue; - - // Check if the segments touch. - calcSlabEndPoints(vc,vd, bmin,bmax, side); - - if (!overlapSlabs(amin,amax, bmin,bmax, 0.01f, tile->header->walkableClimb)) continue; - - // Add return value. - if (n < maxcon) - { - conarea[n*2+0] = dtMax(amin[0], bmin[0]); - conarea[n*2+1] = dtMin(amax[0], bmax[0]); - con[n] = base | (dtPolyRef)i; - n++; - } - break; - } - } - return n; -} - -void dtNavMesh::unconnectLinks(dtMeshTile* tile, dtMeshTile* target) -{ - if (!tile || !target) return; - - const unsigned int targetNum = decodePolyIdTile(getTileRef(target)); - - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* poly = &tile->polys[i]; - unsigned int j = poly->firstLink; - unsigned int pj = DT_NULL_LINK; - while (j != DT_NULL_LINK) - { - if (decodePolyIdTile(tile->links[j].ref) == targetNum) - { - // Remove link. - unsigned int nj = tile->links[j].next; - if (pj == DT_NULL_LINK) - poly->firstLink = nj; - else - tile->links[pj].next = nj; - freeLink(tile, j); - j = nj; - } - else - { - // Advance - pj = j; - j = tile->links[j].next; - } - } - } -} - -void dtNavMesh::connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side) -{ - if (!tile) return; - - // Connect border links. - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* poly = &tile->polys[i]; - - // Create new links. -// unsigned short m = DT_EXT_LINK | (unsigned short)side; - - const int nv = poly->vertCount; - for (int j = 0; j < nv; ++j) - { - // Skip non-portal edges. - if ((poly->neis[j] & DT_EXT_LINK) == 0) - continue; - - const int dir = (int)(poly->neis[j] & 0xff); - if (side != -1 && dir != side) - continue; - - // Create new links - const float* va = &tile->verts[poly->verts[j]*3]; - const float* vb = &tile->verts[poly->verts[(j+1) % nv]*3]; - dtPolyRef nei[4]; - float neia[4*2]; - int nnei = findConnectingPolys(va,vb, target, dtOppositeTile(dir), nei,neia,4); - for (int k = 0; k < nnei; ++k) - { - unsigned int idx = allocLink(tile); - if (idx != DT_NULL_LINK) - { - dtLink* link = &tile->links[idx]; - link->ref = nei[k]; - link->edge = (unsigned char)j; - link->side = (unsigned char)dir; - - link->next = poly->firstLink; - poly->firstLink = idx; - - // Compress portal limits to a byte value. - if (dir == 0 || dir == 4) - { - float tmin = (neia[k*2+0]-va[2]) / (vb[2]-va[2]); - float tmax = (neia[k*2+1]-va[2]) / (vb[2]-va[2]); - if (tmin > tmax) - dtSwap(tmin,tmax); - link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f); - link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f); - } - else if (dir == 2 || dir == 6) - { - float tmin = (neia[k*2+0]-va[0]) / (vb[0]-va[0]); - float tmax = (neia[k*2+1]-va[0]) / (vb[0]-va[0]); - if (tmin > tmax) - dtSwap(tmin,tmax); - link->bmin = (unsigned char)(dtClamp(tmin, 0.0f, 1.0f)*255.0f); - link->bmax = (unsigned char)(dtClamp(tmax, 0.0f, 1.0f)*255.0f); - } - } - } - } - } -} - -void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side) -{ - if (!tile) return; - - // Connect off-mesh links. - // We are interested on links which land from target tile to this tile. - const unsigned char oppositeSide = (side == -1) ? 0xff : (unsigned char)dtOppositeTile(side); - - for (int i = 0; i < target->header->offMeshConCount; ++i) - { - dtOffMeshConnection* targetCon = &target->offMeshCons[i]; - if (targetCon->side != oppositeSide) - continue; - - dtPoly* targetPoly = &target->polys[targetCon->poly]; - // Skip off-mesh connections which start location could not be connected at all. - if (targetPoly->firstLink == DT_NULL_LINK) - continue; - - const float halfExtents[3] = { targetCon->rad, target->header->walkableClimb, targetCon->rad }; - - // Find polygon to connect to. - const float* p = &targetCon->pos[3]; - float nearestPt[3]; - dtPolyRef ref = findNearestPolyInTile(tile, p, halfExtents, nearestPt); - if (!ref) - continue; - // findNearestPoly may return too optimistic results, further check to make sure. - if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(targetCon->rad)) - continue; - // Make sure the location is on current mesh. - float* v = &target->verts[targetPoly->verts[1]*3]; - dtVcopy(v, nearestPt); - - // Link off-mesh connection to target poly. - unsigned int idx = allocLink(target); - if (idx != DT_NULL_LINK) - { - dtLink* link = &target->links[idx]; - link->ref = ref; - link->edge = (unsigned char)1; - link->side = oppositeSide; - link->bmin = link->bmax = 0; - // Add to linked list. - link->next = targetPoly->firstLink; - targetPoly->firstLink = idx; - } - - // Link target poly to off-mesh connection. - if (targetCon->flags & DT_OFFMESH_CON_BIDIR) - { - unsigned int tidx = allocLink(tile); - if (tidx != DT_NULL_LINK) - { - const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref); - dtPoly* landPoly = &tile->polys[landPolyIdx]; - dtLink* link = &tile->links[tidx]; - link->ref = getPolyRefBase(target) | (dtPolyRef)(targetCon->poly); - link->edge = 0xff; - link->side = (unsigned char)(side == -1 ? 0xff : side); - link->bmin = link->bmax = 0; - // Add to linked list. - link->next = landPoly->firstLink; - landPoly->firstLink = tidx; - } - } - } - -} - -void dtNavMesh::connectIntLinks(dtMeshTile* tile) -{ - if (!tile) return; - - dtPolyRef base = getPolyRefBase(tile); - - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* poly = &tile->polys[i]; - poly->firstLink = DT_NULL_LINK; - - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - - // Build edge links backwards so that the links will be - // in the linked list from lowest index to highest. - for (int j = poly->vertCount-1; j >= 0; --j) - { - // Skip hard and non-internal edges. - if (poly->neis[j] == 0 || (poly->neis[j] & DT_EXT_LINK)) continue; - - unsigned int idx = allocLink(tile); - if (idx != DT_NULL_LINK) - { - dtLink* link = &tile->links[idx]; - link->ref = base | (dtPolyRef)(poly->neis[j]-1); - link->edge = (unsigned char)j; - link->side = 0xff; - link->bmin = link->bmax = 0; - // Add to linked list. - link->next = poly->firstLink; - poly->firstLink = idx; - } - } - } -} - -void dtNavMesh::baseOffMeshLinks(dtMeshTile* tile) -{ - if (!tile) return; - - dtPolyRef base = getPolyRefBase(tile); - - // Base off-mesh connection start points. - for (int i = 0; i < tile->header->offMeshConCount; ++i) - { - dtOffMeshConnection* con = &tile->offMeshCons[i]; - dtPoly* poly = &tile->polys[con->poly]; - - const float halfExtents[3] = { con->rad, tile->header->walkableClimb, con->rad }; - - // Find polygon to connect to. - const float* p = &con->pos[0]; // First vertex - float nearestPt[3]; - dtPolyRef ref = findNearestPolyInTile(tile, p, halfExtents, nearestPt); - if (!ref) continue; - // findNearestPoly may return too optimistic results, further check to make sure. - if (dtSqr(nearestPt[0]-p[0])+dtSqr(nearestPt[2]-p[2]) > dtSqr(con->rad)) - continue; - // Make sure the location is on current mesh. - float* v = &tile->verts[poly->verts[0]*3]; - dtVcopy(v, nearestPt); - - // Link off-mesh connection to target poly. - unsigned int idx = allocLink(tile); - if (idx != DT_NULL_LINK) - { - dtLink* link = &tile->links[idx]; - link->ref = ref; - link->edge = (unsigned char)0; - link->side = 0xff; - link->bmin = link->bmax = 0; - // Add to linked list. - link->next = poly->firstLink; - poly->firstLink = idx; - } - - // Start end-point is always connect back to off-mesh connection. - unsigned int tidx = allocLink(tile); - if (tidx != DT_NULL_LINK) - { - const unsigned short landPolyIdx = (unsigned short)decodePolyIdPoly(ref); - dtPoly* landPoly = &tile->polys[landPolyIdx]; - dtLink* link = &tile->links[tidx]; - link->ref = base | (dtPolyRef)(con->poly); - link->edge = 0xff; - link->side = 0xff; - link->bmin = link->bmax = 0; - // Add to linked list. - link->next = landPoly->firstLink; - landPoly->firstLink = tidx; - } - } -} - -namespace -{ - template - void closestPointOnDetailEdges(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* closest) - { - const unsigned int ip = (unsigned int)(poly - tile->polys); - const dtPolyDetail* pd = &tile->detailMeshes[ip]; - - float dmin = FLT_MAX; - float tmin = 0; - const float* pmin = 0; - const float* pmax = 0; - - for (int i = 0; i < pd->triCount; i++) - { - const unsigned char* tris = &tile->detailTris[(pd->triBase + i) * 4]; - const int ANY_BOUNDARY_EDGE = - (DT_DETAIL_EDGE_BOUNDARY << 0) | - (DT_DETAIL_EDGE_BOUNDARY << 2) | - (DT_DETAIL_EDGE_BOUNDARY << 4); - if (onlyBoundary && (tris[3] & ANY_BOUNDARY_EDGE) == 0) - continue; - - const float* v[3]; - for (int j = 0; j < 3; ++j) - { - if (tris[j] < poly->vertCount) - v[j] = &tile->verts[poly->verts[tris[j]] * 3]; - else - v[j] = &tile->detailVerts[(pd->vertBase + (tris[j] - poly->vertCount)) * 3]; - } - - for (int k = 0, j = 2; k < 3; j = k++) - { - if ((dtGetDetailTriEdgeFlags(tris[3], j) & DT_DETAIL_EDGE_BOUNDARY) == 0 && - (onlyBoundary || tris[j] < tris[k])) - { - // Only looking at boundary edges and this is internal, or - // this is an inner edge that we will see again or have already seen. - continue; - } - - float t; - float d = dtDistancePtSegSqr2D(pos, v[j], v[k], t); - if (d < dmin) - { - dmin = d; - tmin = t; - pmin = v[j]; - pmax = v[k]; - } - } - } - - dtVlerp(closest, pmin, pmax, tmin); - } -} - -bool dtNavMesh::getPolyHeight(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* height) const -{ - // Off-mesh connections do not have detail polys and getting height - // over them does not make sense. - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - return false; - - const unsigned int ip = (unsigned int)(poly - tile->polys); - const dtPolyDetail* pd = &tile->detailMeshes[ip]; - - float verts[DT_VERTS_PER_POLYGON*3]; - const int nv = poly->vertCount; - for (int i = 0; i < nv; ++i) - dtVcopy(&verts[i*3], &tile->verts[poly->verts[i]*3]); - - if (!dtPointInPolygon(pos, verts, nv)) - return false; - - if (!height) - return true; - - // Find height at the location. - for (int j = 0; j < pd->triCount; ++j) - { - const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4]; - const float* v[3]; - for (int k = 0; k < 3; ++k) - { - if (t[k] < poly->vertCount) - v[k] = &tile->verts[poly->verts[t[k]]*3]; - else - v[k] = &tile->detailVerts[(pd->vertBase+(t[k]-poly->vertCount))*3]; - } - float h; - if (dtClosestHeightPointTriangle(pos, v[0], v[1], v[2], h)) - { - *height = h; - return true; - } - } - - // If all triangle checks failed above (can happen with degenerate triangles - // or larger floating point values) the point is on an edge, so just select - // closest. This should almost never happen so the extra iteration here is - // ok. - float closest[3]; - closestPointOnDetailEdges(tile, poly, pos, closest); - *height = closest[1]; - return true; -} - -void dtNavMesh::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const -{ - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - getTileAndPolyByRefUnsafe(ref, &tile, &poly); - - dtVcopy(closest, pos); - if (getPolyHeight(tile, poly, pos, &closest[1])) - { - if (posOverPoly) - *posOverPoly = true; - return; - } - - if (posOverPoly) - *posOverPoly = false; - - // Off-mesh connections don't have detail polygons. - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - const float* v0 = &tile->verts[poly->verts[0]*3]; - const float* v1 = &tile->verts[poly->verts[1]*3]; - float t; - dtDistancePtSegSqr2D(pos, v0, v1, t); - dtVlerp(closest, v0, v1, t); - return; - } - - // Outside poly that is not an offmesh connection. - closestPointOnDetailEdges(tile, poly, pos, closest); -} - -dtPolyRef dtNavMesh::findNearestPolyInTile(const dtMeshTile* tile, - const float* center, const float* halfExtents, - float* nearestPt) const -{ - float bmin[3], bmax[3]; - dtVsub(bmin, center, halfExtents); - dtVadd(bmax, center, halfExtents); - - // Get nearby polygons from proximity grid. - dtPolyRef polys[128]; - int polyCount = queryPolygonsInTile(tile, bmin, bmax, polys, 128); - - // Find nearest polygon amongst the nearby polygons. - dtPolyRef nearest = 0; - float nearestDistanceSqr = FLT_MAX; - for (int i = 0; i < polyCount; ++i) - { - dtPolyRef ref = polys[i]; - float closestPtPoly[3]; - float diff[3]; - bool posOverPoly = false; - float d; - closestPointOnPoly(ref, center, closestPtPoly, &posOverPoly); - - // If a point is directly over a polygon and closer than - // climb height, favor that instead of straight line nearest point. - dtVsub(diff, center, closestPtPoly); - if (posOverPoly) - { - d = dtAbs(diff[1]) - tile->header->walkableClimb; - d = d > 0 ? d*d : 0; - } - else - { - d = dtVlenSqr(diff); - } - - if (d < nearestDistanceSqr) - { - dtVcopy(nearestPt, closestPtPoly); - nearestDistanceSqr = d; - nearest = ref; - } - } - - return nearest; -} - -int dtNavMesh::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, - dtPolyRef* polys, const int maxPolys) const -{ - if (tile->bvTree) - { - const dtBVNode* node = &tile->bvTree[0]; - const dtBVNode* end = &tile->bvTree[tile->header->bvNodeCount]; - const float* tbmin = tile->header->bmin; - const float* tbmax = tile->header->bmax; - const float qfac = tile->header->bvQuantFactor; - - // Calculate quantized box - unsigned short bmin[3], bmax[3]; - // dtClamp query box to world box. - float minx = dtClamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0]; - float miny = dtClamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1]; - float minz = dtClamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2]; - float maxx = dtClamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0]; - float maxy = dtClamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1]; - float maxz = dtClamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2]; - // Quantize - bmin[0] = (unsigned short)(qfac * minx) & 0xfffe; - bmin[1] = (unsigned short)(qfac * miny) & 0xfffe; - bmin[2] = (unsigned short)(qfac * minz) & 0xfffe; - bmax[0] = (unsigned short)(qfac * maxx + 1) | 1; - bmax[1] = (unsigned short)(qfac * maxy + 1) | 1; - bmax[2] = (unsigned short)(qfac * maxz + 1) | 1; - - // Traverse tree - dtPolyRef base = getPolyRefBase(tile); - int n = 0; - while (node < end) - { - const bool overlap = dtOverlapQuantBounds(bmin, bmax, node->bmin, node->bmax); - const bool isLeafNode = node->i >= 0; - - if (isLeafNode && overlap) - { - if (n < maxPolys) - polys[n++] = base | (dtPolyRef)node->i; - } - - if (overlap || isLeafNode) - node++; - else - { - const int escapeIndex = -node->i; - node += escapeIndex; - } - } - - return n; - } - else - { - float bmin[3], bmax[3]; - int n = 0; - dtPolyRef base = getPolyRefBase(tile); - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* p = &tile->polys[i]; - // Do not return off-mesh connection polygons. - if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - // Calc polygon bounds. - const float* v = &tile->verts[p->verts[0]*3]; - dtVcopy(bmin, v); - dtVcopy(bmax, v); - for (int j = 1; j < p->vertCount; ++j) - { - v = &tile->verts[p->verts[j]*3]; - dtVmin(bmin, v); - dtVmax(bmax, v); - } - if (dtOverlapBounds(qmin,qmax, bmin,bmax)) - { - if (n < maxPolys) - polys[n++] = base | (dtPolyRef)i; - } - } - return n; - } -} - -/// @par -/// -/// The add operation will fail if the data is in the wrong format, the allocated tile -/// space is full, or there is a tile already at the specified reference. -/// -/// The lastRef parameter is used to restore a tile with the same tile -/// reference it had previously used. In this case the #dtPolyRef's for the -/// tile will be restored to the same values they were before the tile was -/// removed. -/// -/// The nav mesh assumes exclusive access to the data passed and will make -/// changes to the dynamic portion of the data. For that reason the data -/// should not be reused in other nav meshes until the tile has been successfully -/// removed from this nav mesh. -/// -/// @see dtCreateNavMeshData, #removeTile -dtStatus dtNavMesh::addTile(unsigned char* data, int dataSize, int flags, - dtTileRef lastRef, dtTileRef* result) -{ - // Make sure the data is in right format. - dtMeshHeader* header = (dtMeshHeader*)data; - if (header->magic != DT_NAVMESH_MAGIC) - return DT_FAILURE | DT_WRONG_MAGIC; - if (header->version != DT_NAVMESH_VERSION) - return DT_FAILURE | DT_WRONG_VERSION; - - // Make sure the location is free. - if (getTileAt(header->x, header->y, header->layer)) - return DT_FAILURE | DT_ALREADY_OCCUPIED; - - // Allocate a tile. - dtMeshTile* tile = 0; - if (!lastRef) - { - if (m_nextFree) - { - tile = m_nextFree; - m_nextFree = tile->next; - tile->next = 0; - } - } - else - { - // Try to relocate the tile to specific index with same salt. - int tileIndex = (int)decodePolyIdTile((dtPolyRef)lastRef); - if (tileIndex >= m_maxTiles) - return DT_FAILURE | DT_OUT_OF_MEMORY; - // Try to find the specific tile id from the free list. - dtMeshTile* target = &m_tiles[tileIndex]; - dtMeshTile* prev = 0; - tile = m_nextFree; - while (tile && tile != target) - { - prev = tile; - tile = tile->next; - } - // Could not find the correct location. - if (tile != target) - return DT_FAILURE | DT_OUT_OF_MEMORY; - // Remove from freelist - if (!prev) - m_nextFree = tile->next; - else - prev->next = tile->next; - - // Restore salt. - tile->salt = decodePolyIdSalt((dtPolyRef)lastRef); - } - - // Make sure we could allocate a tile. - if (!tile) - return DT_FAILURE | DT_OUT_OF_MEMORY; - - // Insert tile into the position lut. - int h = computeTileHash(header->x, header->y, m_tileLutMask); - tile->next = m_posLookup[h]; - m_posLookup[h] = tile; - - // Patch header pointers. - const int headerSize = dtAlign4(sizeof(dtMeshHeader)); - const int vertsSize = dtAlign4(sizeof(float)*3*header->vertCount); - const int polysSize = dtAlign4(sizeof(dtPoly)*header->polyCount); - const int linksSize = dtAlign4(sizeof(dtLink)*(header->maxLinkCount)); - const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*header->detailMeshCount); - const int detailVertsSize = dtAlign4(sizeof(float)*3*header->detailVertCount); - const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*header->detailTriCount); - const int bvtreeSize = dtAlign4(sizeof(dtBVNode)*header->bvNodeCount); - const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount); - - unsigned char* d = data + headerSize; - tile->verts = dtGetThenAdvanceBufferPointer(d, vertsSize); - tile->polys = dtGetThenAdvanceBufferPointer(d, polysSize); - tile->links = dtGetThenAdvanceBufferPointer(d, linksSize); - tile->detailMeshes = dtGetThenAdvanceBufferPointer(d, detailMeshesSize); - tile->detailVerts = dtGetThenAdvanceBufferPointer(d, detailVertsSize); - tile->detailTris = dtGetThenAdvanceBufferPointer(d, detailTrisSize); - tile->bvTree = dtGetThenAdvanceBufferPointer(d, bvtreeSize); - tile->offMeshCons = dtGetThenAdvanceBufferPointer(d, offMeshLinksSize); - - // If there are no items in the bvtree, reset the tree pointer. - if (!bvtreeSize) - tile->bvTree = 0; - - // Build links freelist - tile->linksFreeList = 0; - tile->links[header->maxLinkCount-1].next = DT_NULL_LINK; - for (int i = 0; i < header->maxLinkCount-1; ++i) - tile->links[i].next = i+1; - - // Init tile. - tile->header = header; - tile->data = data; - tile->dataSize = dataSize; - tile->flags = flags; - - connectIntLinks(tile); - - // Base off-mesh connections to their starting polygons and connect connections inside the tile. - baseOffMeshLinks(tile); - connectExtOffMeshLinks(tile, tile, -1); - - // Create connections with neighbour tiles. - static const int MAX_NEIS = 32; - dtMeshTile* neis[MAX_NEIS]; - int nneis; - - // Connect with layers in current tile. - nneis = getTilesAt(header->x, header->y, neis, MAX_NEIS); - for (int j = 0; j < nneis; ++j) - { - if (neis[j] == tile) - continue; - - connectExtLinks(tile, neis[j], -1); - connectExtLinks(neis[j], tile, -1); - connectExtOffMeshLinks(tile, neis[j], -1); - connectExtOffMeshLinks(neis[j], tile, -1); - } - - // Connect with neighbour tiles. - for (int i = 0; i < 8; ++i) - { - nneis = getNeighbourTilesAt(header->x, header->y, i, neis, MAX_NEIS); - for (int j = 0; j < nneis; ++j) - { - connectExtLinks(tile, neis[j], i); - connectExtLinks(neis[j], tile, dtOppositeTile(i)); - connectExtOffMeshLinks(tile, neis[j], i); - connectExtOffMeshLinks(neis[j], tile, dtOppositeTile(i)); - } - } - - if (result) - *result = getTileRef(tile); - - return DT_SUCCESS; -} - -const dtMeshTile* dtNavMesh::getTileAt(const int x, const int y, const int layer) const -{ - // Find tile based on hash. - int h = computeTileHash(x,y,m_tileLutMask); - dtMeshTile* tile = m_posLookup[h]; - while (tile) - { - if (tile->header && - tile->header->x == x && - tile->header->y == y && - tile->header->layer == layer) - { - return tile; - } - tile = tile->next; - } - return 0; -} - -int dtNavMesh::getNeighbourTilesAt(const int x, const int y, const int side, dtMeshTile** tiles, const int maxTiles) const -{ - int nx = x, ny = y; - switch (side) - { - case 0: nx++; break; - case 1: nx++; ny++; break; - case 2: ny++; break; - case 3: nx--; ny++; break; - case 4: nx--; break; - case 5: nx--; ny--; break; - case 6: ny--; break; - case 7: nx++; ny--; break; - }; - - return getTilesAt(nx, ny, tiles, maxTiles); -} - -int dtNavMesh::getTilesAt(const int x, const int y, dtMeshTile** tiles, const int maxTiles) const -{ - int n = 0; - - // Find tile based on hash. - int h = computeTileHash(x,y,m_tileLutMask); - dtMeshTile* tile = m_posLookup[h]; - while (tile) - { - if (tile->header && - tile->header->x == x && - tile->header->y == y) - { - if (n < maxTiles) - tiles[n++] = tile; - } - tile = tile->next; - } - - return n; -} - -/// @par -/// -/// This function will not fail if the tiles array is too small to hold the -/// entire result set. It will simply fill the array to capacity. -int dtNavMesh::getTilesAt(const int x, const int y, dtMeshTile const** tiles, const int maxTiles) const -{ - int n = 0; - - // Find tile based on hash. - int h = computeTileHash(x,y,m_tileLutMask); - dtMeshTile* tile = m_posLookup[h]; - while (tile) - { - if (tile->header && - tile->header->x == x && - tile->header->y == y) - { - if (n < maxTiles) - tiles[n++] = tile; - } - tile = tile->next; - } - - return n; -} - - -dtTileRef dtNavMesh::getTileRefAt(const int x, const int y, const int layer) const -{ - // Find tile based on hash. - int h = computeTileHash(x,y,m_tileLutMask); - dtMeshTile* tile = m_posLookup[h]; - while (tile) - { - if (tile->header && - tile->header->x == x && - tile->header->y == y && - tile->header->layer == layer) - { - return getTileRef(tile); - } - tile = tile->next; - } - return 0; -} - -const dtMeshTile* dtNavMesh::getTileByRef(dtTileRef ref) const -{ - if (!ref) - return 0; - unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref); - unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref); - if ((int)tileIndex >= m_maxTiles) - return 0; - const dtMeshTile* tile = &m_tiles[tileIndex]; - if (tile->salt != tileSalt) - return 0; - return tile; -} - -int dtNavMesh::getMaxTiles() const -{ - return m_maxTiles; -} - -dtMeshTile* dtNavMesh::getTile(int i) -{ - return &m_tiles[i]; -} - -const dtMeshTile* dtNavMesh::getTile(int i) const -{ - return &m_tiles[i]; -} - -void dtNavMesh::calcTileLoc(const float* pos, int* tx, int* ty) const -{ - *tx = (int)floorf((pos[0]-m_orig[0]) / m_tileWidth); - *ty = (int)floorf((pos[2]-m_orig[2]) / m_tileHeight); -} - -dtStatus dtNavMesh::getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const -{ - if (!ref) return DT_FAILURE; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - if (ip >= (unsigned int)m_tiles[it].header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - *tile = &m_tiles[it]; - *poly = &m_tiles[it].polys[ip]; - return DT_SUCCESS; -} - -/// @par -/// -/// @warning Only use this function if it is known that the provided polygon -/// reference is valid. This function is faster than #getTileAndPolyByRef, but -/// it does not validate the reference. -void dtNavMesh::getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const -{ - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - *tile = &m_tiles[it]; - *poly = &m_tiles[it].polys[ip]; -} - -bool dtNavMesh::isValidPolyRef(dtPolyRef ref) const -{ - if (!ref) return false; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return false; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return false; - if (ip >= (unsigned int)m_tiles[it].header->polyCount) return false; - return true; -} - -/// @par -/// -/// This function returns the data for the tile so that, if desired, -/// it can be added back to the navigation mesh at a later point. -/// -/// @see #addTile -dtStatus dtNavMesh::removeTile(dtTileRef ref, unsigned char** data, int* dataSize) -{ - if (!ref) - return DT_FAILURE | DT_INVALID_PARAM; - unsigned int tileIndex = decodePolyIdTile((dtPolyRef)ref); - unsigned int tileSalt = decodePolyIdSalt((dtPolyRef)ref); - if ((int)tileIndex >= m_maxTiles) - return DT_FAILURE | DT_INVALID_PARAM; - dtMeshTile* tile = &m_tiles[tileIndex]; - if (tile->salt != tileSalt) - return DT_FAILURE | DT_INVALID_PARAM; - - // Remove tile from hash lookup. - int h = computeTileHash(tile->header->x,tile->header->y,m_tileLutMask); - dtMeshTile* prev = 0; - dtMeshTile* cur = m_posLookup[h]; - while (cur) - { - if (cur == tile) - { - if (prev) - prev->next = cur->next; - else - m_posLookup[h] = cur->next; - break; - } - prev = cur; - cur = cur->next; - } - - // Remove connections to neighbour tiles. - static const int MAX_NEIS = 32; - dtMeshTile* neis[MAX_NEIS]; - int nneis; - - // Disconnect from other layers in current tile. - nneis = getTilesAt(tile->header->x, tile->header->y, neis, MAX_NEIS); - for (int j = 0; j < nneis; ++j) - { - if (neis[j] == tile) continue; - unconnectLinks(neis[j], tile); - } - - // Disconnect from neighbour tiles. - for (int i = 0; i < 8; ++i) - { - nneis = getNeighbourTilesAt(tile->header->x, tile->header->y, i, neis, MAX_NEIS); - for (int j = 0; j < nneis; ++j) - unconnectLinks(neis[j], tile); - } - - // Reset tile. - if (tile->flags & DT_TILE_FREE_DATA) - { - // Owns data - dtFree(tile->data); - tile->data = 0; - tile->dataSize = 0; - if (data) *data = 0; - if (dataSize) *dataSize = 0; - } - else - { - if (data) *data = tile->data; - if (dataSize) *dataSize = tile->dataSize; - } - - tile->header = 0; - tile->flags = 0; - tile->linksFreeList = 0; - tile->polys = 0; - tile->verts = 0; - tile->links = 0; - tile->detailMeshes = 0; - tile->detailVerts = 0; - tile->detailTris = 0; - tile->bvTree = 0; - tile->offMeshCons = 0; - - // Update salt, salt should never be zero. -#ifdef DT_POLYREF64 - tile->salt = (tile->salt+1) & ((1<salt = (tile->salt+1) & ((1<salt == 0) - tile->salt++; - - // Add to free list. - tile->next = m_nextFree; - m_nextFree = tile; - - return DT_SUCCESS; -} - -dtTileRef dtNavMesh::getTileRef(const dtMeshTile* tile) const -{ - if (!tile) return 0; - const unsigned int it = (unsigned int)(tile - m_tiles); - return (dtTileRef)encodePolyId(tile->salt, it, 0); -} - -/// @par -/// -/// Example use case: -/// @code -/// -/// const dtPolyRef base = navmesh->getPolyRefBase(tile); -/// for (int i = 0; i < tile->header->polyCount; ++i) -/// { -/// const dtPoly* p = &tile->polys[i]; -/// const dtPolyRef ref = base | (dtPolyRef)i; -/// -/// // Use the reference to access the polygon data. -/// } -/// @endcode -dtPolyRef dtNavMesh::getPolyRefBase(const dtMeshTile* tile) const -{ - if (!tile) return 0; - const unsigned int it = (unsigned int)(tile - m_tiles); - return encodePolyId(tile->salt, it, 0); -} - -struct dtTileState -{ - int magic; // Magic number, used to identify the data. - int version; // Data version number. - dtTileRef ref; // Tile ref at the time of storing the data. -}; - -struct dtPolyState -{ - unsigned short flags; // Flags (see dtPolyFlags). - unsigned char area; // Area ID of the polygon. -}; - -/// @see #storeTileState -int dtNavMesh::getTileStateSize(const dtMeshTile* tile) const -{ - if (!tile) return 0; - const int headerSize = dtAlign4(sizeof(dtTileState)); - const int polyStateSize = dtAlign4(sizeof(dtPolyState) * tile->header->polyCount); - return headerSize + polyStateSize; -} - -/// @par -/// -/// Tile state includes non-structural data such as polygon flags, area ids, etc. -/// @note The state data is only valid until the tile reference changes. -/// @see #getTileStateSize, #restoreTileState -dtStatus dtNavMesh::storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const -{ - // Make sure there is enough space to store the state. - const int sizeReq = getTileStateSize(tile); - if (maxDataSize < sizeReq) - return DT_FAILURE | DT_BUFFER_TOO_SMALL; - - dtTileState* tileState = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtTileState))); - dtPolyState* polyStates = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtPolyState) * tile->header->polyCount)); - - // Store tile state. - tileState->magic = DT_NAVMESH_STATE_MAGIC; - tileState->version = DT_NAVMESH_STATE_VERSION; - tileState->ref = getTileRef(tile); - - // Store per poly state. - for (int i = 0; i < tile->header->polyCount; ++i) - { - const dtPoly* p = &tile->polys[i]; - dtPolyState* s = &polyStates[i]; - s->flags = p->flags; - s->area = p->getArea(); - } - - return DT_SUCCESS; -} - -/// @par -/// -/// Tile state includes non-structural data such as polygon flags, area ids, etc. -/// @note This function does not impact the tile's #dtTileRef and #dtPolyRef's. -/// @see #storeTileState -dtStatus dtNavMesh::restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize) -{ - // Make sure there is enough space to store the state. - const int sizeReq = getTileStateSize(tile); - if (maxDataSize < sizeReq) - return DT_FAILURE | DT_INVALID_PARAM; - - const dtTileState* tileState = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtTileState))); - const dtPolyState* polyStates = dtGetThenAdvanceBufferPointer(data, dtAlign4(sizeof(dtPolyState) * tile->header->polyCount)); - - // Check that the restore is possible. - if (tileState->magic != DT_NAVMESH_STATE_MAGIC) - return DT_FAILURE | DT_WRONG_MAGIC; - if (tileState->version != DT_NAVMESH_STATE_VERSION) - return DT_FAILURE | DT_WRONG_VERSION; - if (tileState->ref != getTileRef(tile)) - return DT_FAILURE | DT_INVALID_PARAM; - - // Restore per poly state. - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* p = &tile->polys[i]; - const dtPolyState* s = &polyStates[i]; - p->flags = s->flags; - p->setArea(s->area); - } - - return DT_SUCCESS; -} - -/// @par -/// -/// Off-mesh connections are stored in the navigation mesh as special 2-vertex -/// polygons with a single edge. At least one of the vertices is expected to be -/// inside a normal polygon. So an off-mesh connection is "entered" from a -/// normal polygon at one of its endpoints. This is the polygon identified by -/// the prevRef parameter. -dtStatus dtNavMesh::getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const -{ - unsigned int salt, it, ip; - - if (!polyRef) - return DT_FAILURE; - - // Get current polygon - decodePolyId(polyRef, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - const dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - const dtPoly* poly = &tile->polys[ip]; - - // Make sure that the current poly is indeed off-mesh link. - if (poly->getType() != DT_POLYTYPE_OFFMESH_CONNECTION) - return DT_FAILURE; - - // Figure out which way to hand out the vertices. - int idx0 = 0, idx1 = 1; - - // Find link that points to first vertex. - for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next) - { - if (tile->links[i].edge == 0) - { - if (tile->links[i].ref != prevRef) - { - idx0 = 1; - idx1 = 0; - } - break; - } - } - - dtVcopy(startPos, &tile->verts[poly->verts[idx0]*3]); - dtVcopy(endPos, &tile->verts[poly->verts[idx1]*3]); - - return DT_SUCCESS; -} - - -const dtOffMeshConnection* dtNavMesh::getOffMeshConnectionByRef(dtPolyRef ref) const -{ - unsigned int salt, it, ip; - - if (!ref) - return 0; - - // Get current polygon - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return 0; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0; - const dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return 0; - const dtPoly* poly = &tile->polys[ip]; - - // Make sure that the current poly is indeed off-mesh link. - if (poly->getType() != DT_POLYTYPE_OFFMESH_CONNECTION) - return 0; - - const unsigned int idx = ip - tile->header->offMeshBase; - dtAssert(idx < (unsigned int)tile->header->offMeshConCount); - return &tile->offMeshCons[idx]; -} - - -dtStatus dtNavMesh::setPolyFlags(dtPolyRef ref, unsigned short flags) -{ - if (!ref) return DT_FAILURE; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - dtPoly* poly = &tile->polys[ip]; - - // Change flags. - poly->flags = flags; - - return DT_SUCCESS; -} - -dtStatus dtNavMesh::getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const -{ - if (!ref) return DT_FAILURE; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - const dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - const dtPoly* poly = &tile->polys[ip]; - - *resultFlags = poly->flags; - - return DT_SUCCESS; -} - -dtStatus dtNavMesh::setPolyArea(dtPolyRef ref, unsigned char area) -{ - if (!ref) return DT_FAILURE; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - dtPoly* poly = &tile->polys[ip]; - - poly->setArea(area); - - return DT_SUCCESS; -} - -dtStatus dtNavMesh::getPolyArea(dtPolyRef ref, unsigned char* resultArea) const -{ - if (!ref) return DT_FAILURE; - unsigned int salt, it, ip; - decodePolyId(ref, salt, it, ip); - if (it >= (unsigned int)m_maxTiles) return DT_FAILURE | DT_INVALID_PARAM; - if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return DT_FAILURE | DT_INVALID_PARAM; - const dtMeshTile* tile = &m_tiles[it]; - if (ip >= (unsigned int)tile->header->polyCount) return DT_FAILURE | DT_INVALID_PARAM; - const dtPoly* poly = &tile->polys[ip]; - - *resultArea = poly->getArea(); - - return DT_SUCCESS; -} - diff --git a/extern/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp b/extern/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp deleted file mode 100644 index e93a97629..000000000 --- a/extern/recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp +++ /dev/null @@ -1,802 +0,0 @@ -// -// 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. -// - -#include -#include -#include -#include -#include "DetourNavMesh.h" -#include "DetourCommon.h" -#include "DetourMath.h" -#include "DetourNavMeshBuilder.h" -#include "DetourAlloc.h" -#include "DetourAssert.h" - -static unsigned short MESH_NULL_IDX = 0xffff; - - -struct BVItem -{ - unsigned short bmin[3]; - unsigned short bmax[3]; - int i; -}; - -static int compareItemX(const void* va, const void* vb) -{ - const BVItem* a = (const BVItem*)va; - const BVItem* b = (const BVItem*)vb; - if (a->bmin[0] < b->bmin[0]) - return -1; - if (a->bmin[0] > b->bmin[0]) - return 1; - return 0; -} - -static int compareItemY(const void* va, const void* vb) -{ - const BVItem* a = (const BVItem*)va; - const BVItem* b = (const BVItem*)vb; - if (a->bmin[1] < b->bmin[1]) - return -1; - if (a->bmin[1] > b->bmin[1]) - return 1; - return 0; -} - -static int compareItemZ(const void* va, const void* vb) -{ - const BVItem* a = (const BVItem*)va; - const BVItem* b = (const BVItem*)vb; - if (a->bmin[2] < b->bmin[2]) - return -1; - if (a->bmin[2] > b->bmin[2]) - return 1; - return 0; -} - -static void calcExtends(BVItem* items, const int /*nitems*/, const int imin, const int imax, - unsigned short* bmin, unsigned short* bmax) -{ - bmin[0] = items[imin].bmin[0]; - bmin[1] = items[imin].bmin[1]; - bmin[2] = items[imin].bmin[2]; - - bmax[0] = items[imin].bmax[0]; - bmax[1] = items[imin].bmax[1]; - bmax[2] = items[imin].bmax[2]; - - for (int i = imin+1; i < imax; ++i) - { - const BVItem& it = items[i]; - if (it.bmin[0] < bmin[0]) bmin[0] = it.bmin[0]; - if (it.bmin[1] < bmin[1]) bmin[1] = it.bmin[1]; - if (it.bmin[2] < bmin[2]) bmin[2] = it.bmin[2]; - - if (it.bmax[0] > bmax[0]) bmax[0] = it.bmax[0]; - if (it.bmax[1] > bmax[1]) bmax[1] = it.bmax[1]; - if (it.bmax[2] > bmax[2]) bmax[2] = it.bmax[2]; - } -} - -inline int longestAxis(unsigned short x, unsigned short y, unsigned short z) -{ - int axis = 0; - unsigned short maxVal = x; - if (y > maxVal) - { - axis = 1; - maxVal = y; - } - if (z > maxVal) - { - axis = 2; - } - return axis; -} - -static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNode, dtBVNode* nodes) -{ - int inum = imax - imin; - int icur = curNode; - - dtBVNode& node = nodes[curNode++]; - - if (inum == 1) - { - // Leaf - node.bmin[0] = items[imin].bmin[0]; - node.bmin[1] = items[imin].bmin[1]; - node.bmin[2] = items[imin].bmin[2]; - - node.bmax[0] = items[imin].bmax[0]; - node.bmax[1] = items[imin].bmax[1]; - node.bmax[2] = items[imin].bmax[2]; - - node.i = items[imin].i; - } - else - { - // Split - calcExtends(items, nitems, imin, imax, node.bmin, node.bmax); - - int axis = longestAxis(node.bmax[0] - node.bmin[0], - node.bmax[1] - node.bmin[1], - node.bmax[2] - node.bmin[2]); - - if (axis == 0) - { - // Sort along x-axis - qsort(items+imin, inum, sizeof(BVItem), compareItemX); - } - else if (axis == 1) - { - // Sort along y-axis - qsort(items+imin, inum, sizeof(BVItem), compareItemY); - } - else - { - // Sort along z-axis - qsort(items+imin, inum, sizeof(BVItem), compareItemZ); - } - - int isplit = imin+inum/2; - - // Left - subdivide(items, nitems, imin, isplit, curNode, nodes); - // Right - subdivide(items, nitems, isplit, imax, curNode, nodes); - - int iescape = curNode - icur; - // Negative index means escape. - node.i = -iescape; - } -} - -static int createBVTree(dtNavMeshCreateParams* params, dtBVNode* nodes, int /*nnodes*/) -{ - // Build tree - float quantFactor = 1 / params->cs; - BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*params->polyCount, DT_ALLOC_TEMP); - for (int i = 0; i < params->polyCount; i++) - { - BVItem& it = items[i]; - it.i = i; - // Calc polygon bounds. Use detail meshes if available. - if (params->detailMeshes) - { - int vb = (int)params->detailMeshes[i*4+0]; - int ndv = (int)params->detailMeshes[i*4+1]; - float bmin[3]; - float bmax[3]; - - const float* dv = ¶ms->detailVerts[vb*3]; - dtVcopy(bmin, dv); - dtVcopy(bmax, dv); - - for (int j = 1; j < ndv; j++) - { - dtVmin(bmin, &dv[j * 3]); - dtVmax(bmax, &dv[j * 3]); - } - - // BV-tree uses cs for all dimensions - it.bmin[0] = (unsigned short)dtClamp((int)((bmin[0] - params->bmin[0])*quantFactor), 0, 0xffff); - it.bmin[1] = (unsigned short)dtClamp((int)((bmin[1] - params->bmin[1])*quantFactor), 0, 0xffff); - it.bmin[2] = (unsigned short)dtClamp((int)((bmin[2] - params->bmin[2])*quantFactor), 0, 0xffff); - - it.bmax[0] = (unsigned short)dtClamp((int)((bmax[0] - params->bmin[0])*quantFactor), 0, 0xffff); - it.bmax[1] = (unsigned short)dtClamp((int)((bmax[1] - params->bmin[1])*quantFactor), 0, 0xffff); - it.bmax[2] = (unsigned short)dtClamp((int)((bmax[2] - params->bmin[2])*quantFactor), 0, 0xffff); - } - else - { - const unsigned short* p = ¶ms->polys[i*params->nvp * 2]; - it.bmin[0] = it.bmax[0] = params->verts[p[0] * 3 + 0]; - it.bmin[1] = it.bmax[1] = params->verts[p[0] * 3 + 1]; - it.bmin[2] = it.bmax[2] = params->verts[p[0] * 3 + 2]; - - for (int j = 1; j < params->nvp; ++j) - { - if (p[j] == MESH_NULL_IDX) break; - unsigned short x = params->verts[p[j] * 3 + 0]; - unsigned short y = params->verts[p[j] * 3 + 1]; - unsigned short z = params->verts[p[j] * 3 + 2]; - - if (x < it.bmin[0]) it.bmin[0] = x; - if (y < it.bmin[1]) it.bmin[1] = y; - if (z < it.bmin[2]) it.bmin[2] = z; - - if (x > it.bmax[0]) it.bmax[0] = x; - if (y > it.bmax[1]) it.bmax[1] = y; - if (z > it.bmax[2]) it.bmax[2] = z; - } - // Remap y - it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1] * params->ch / params->cs); - it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1] * params->ch / params->cs); - } - } - - int curNode = 0; - subdivide(items, params->polyCount, 0, params->polyCount, curNode, nodes); - - dtFree(items); - - return curNode; -} - -static unsigned char classifyOffMeshPoint(const float* pt, const float* bmin, const float* bmax) -{ - static const unsigned char XP = 1<<0; - static const unsigned char ZP = 1<<1; - static const unsigned char XM = 1<<2; - static const unsigned char ZM = 1<<3; - - unsigned char outcode = 0; - outcode |= (pt[0] >= bmax[0]) ? XP : 0; - outcode |= (pt[2] >= bmax[2]) ? ZP : 0; - outcode |= (pt[0] < bmin[0]) ? XM : 0; - outcode |= (pt[2] < bmin[2]) ? ZM : 0; - - switch (outcode) - { - case XP: return 0; - case XP|ZP: return 1; - case ZP: return 2; - case XM|ZP: return 3; - case XM: return 4; - case XM|ZM: return 5; - case ZM: return 6; - case XP|ZM: return 7; - }; - - return 0xff; -} - -// TODO: Better error handling. - -/// @par -/// -/// The output data array is allocated using the detour allocator (dtAlloc()). The method -/// used to free the memory will be determined by how the tile is added to the navigation -/// mesh. -/// -/// @see dtNavMesh, dtNavMesh::addTile() -bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize) -{ - if (params->nvp > DT_VERTS_PER_POLYGON) - return false; - if (params->vertCount >= 0xffff) - return false; - if (!params->vertCount || !params->verts) - return false; - if (!params->polyCount || !params->polys) - return false; - - const int nvp = params->nvp; - - // Classify off-mesh connection points. We store only the connections - // whose start point is inside the tile. - unsigned char* offMeshConClass = 0; - int storedOffMeshConCount = 0; - int offMeshConLinkCount = 0; - - if (params->offMeshConCount > 0) - { - offMeshConClass = (unsigned char*)dtAlloc(sizeof(unsigned char)*params->offMeshConCount*2, DT_ALLOC_TEMP); - if (!offMeshConClass) - return false; - - // Find tight heigh bounds, used for culling out off-mesh start locations. - float hmin = FLT_MAX; - float hmax = -FLT_MAX; - - if (params->detailVerts && params->detailVertsCount) - { - for (int i = 0; i < params->detailVertsCount; ++i) - { - const float h = params->detailVerts[i*3+1]; - hmin = dtMin(hmin,h); - hmax = dtMax(hmax,h); - } - } - else - { - for (int i = 0; i < params->vertCount; ++i) - { - const unsigned short* iv = ¶ms->verts[i*3]; - const float h = params->bmin[1] + iv[1] * params->ch; - hmin = dtMin(hmin,h); - hmax = dtMax(hmax,h); - } - } - hmin -= params->walkableClimb; - hmax += params->walkableClimb; - float bmin[3], bmax[3]; - dtVcopy(bmin, params->bmin); - dtVcopy(bmax, params->bmax); - bmin[1] = hmin; - bmax[1] = hmax; - - for (int i = 0; i < params->offMeshConCount; ++i) - { - const float* p0 = ¶ms->offMeshConVerts[(i*2+0)*3]; - const float* p1 = ¶ms->offMeshConVerts[(i*2+1)*3]; - offMeshConClass[i*2+0] = classifyOffMeshPoint(p0, bmin, bmax); - offMeshConClass[i*2+1] = classifyOffMeshPoint(p1, bmin, bmax); - - // Zero out off-mesh start positions which are not even potentially touching the mesh. - if (offMeshConClass[i*2+0] == 0xff) - { - if (p0[1] < bmin[1] || p0[1] > bmax[1]) - offMeshConClass[i*2+0] = 0; - } - - // Cound how many links should be allocated for off-mesh connections. - if (offMeshConClass[i*2+0] == 0xff) - offMeshConLinkCount++; - if (offMeshConClass[i*2+1] == 0xff) - offMeshConLinkCount++; - - if (offMeshConClass[i*2+0] == 0xff) - storedOffMeshConCount++; - } - } - - // Off-mesh connectionss are stored as polygons, adjust values. - const int totPolyCount = params->polyCount + storedOffMeshConCount; - const int totVertCount = params->vertCount + storedOffMeshConCount*2; - - // Find portal edges which are at tile borders. - int edgeCount = 0; - int portalCount = 0; - for (int i = 0; i < params->polyCount; ++i) - { - const unsigned short* p = ¶ms->polys[i*2*nvp]; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == MESH_NULL_IDX) break; - edgeCount++; - - if (p[nvp+j] & 0x8000) - { - unsigned short dir = p[nvp+j] & 0xf; - if (dir != 0xf) - portalCount++; - } - } - } - - const int maxLinkCount = edgeCount + portalCount*2 + offMeshConLinkCount*2; - - // Find unique detail vertices. - int uniqueDetailVertCount = 0; - int detailTriCount = 0; - if (params->detailMeshes) - { - // Has detail mesh, count unique detail vertex count and use input detail tri count. - detailTriCount = params->detailTriCount; - for (int i = 0; i < params->polyCount; ++i) - { - const unsigned short* p = ¶ms->polys[i*nvp*2]; - int ndv = params->detailMeshes[i*4+1]; - int nv = 0; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == MESH_NULL_IDX) break; - nv++; - } - ndv -= nv; - uniqueDetailVertCount += ndv; - } - } - else - { - // No input detail mesh, build detail mesh from nav polys. - uniqueDetailVertCount = 0; // No extra detail verts. - detailTriCount = 0; - for (int i = 0; i < params->polyCount; ++i) - { - const unsigned short* p = ¶ms->polys[i*nvp*2]; - int nv = 0; - for (int j = 0; j < nvp; ++j) - { - if (p[j] == MESH_NULL_IDX) break; - nv++; - } - detailTriCount += nv-2; - } - } - - // Calculate data size - const int headerSize = dtAlign4(sizeof(dtMeshHeader)); - const int vertsSize = dtAlign4(sizeof(float)*3*totVertCount); - const int polysSize = dtAlign4(sizeof(dtPoly)*totPolyCount); - const int linksSize = dtAlign4(sizeof(dtLink)*maxLinkCount); - const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*params->polyCount); - const int detailVertsSize = dtAlign4(sizeof(float)*3*uniqueDetailVertCount); - const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*detailTriCount); - const int bvTreeSize = params->buildBvTree ? dtAlign4(sizeof(dtBVNode)*params->polyCount*2) : 0; - const int offMeshConsSize = dtAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount); - - const int dataSize = headerSize + vertsSize + polysSize + linksSize + - detailMeshesSize + detailVertsSize + detailTrisSize + - bvTreeSize + offMeshConsSize; - - unsigned char* data = (unsigned char*)dtAlloc(sizeof(unsigned char)*dataSize, DT_ALLOC_PERM); - if (!data) - { - dtFree(offMeshConClass); - return false; - } - memset(data, 0, dataSize); - - unsigned char* d = data; - - dtMeshHeader* header = dtGetThenAdvanceBufferPointer(d, headerSize); - float* navVerts = dtGetThenAdvanceBufferPointer(d, vertsSize); - dtPoly* navPolys = dtGetThenAdvanceBufferPointer(d, polysSize); - d += linksSize; // Ignore links; just leave enough space for them. They'll be created on load. - dtPolyDetail* navDMeshes = dtGetThenAdvanceBufferPointer(d, detailMeshesSize); - float* navDVerts = dtGetThenAdvanceBufferPointer(d, detailVertsSize); - unsigned char* navDTris = dtGetThenAdvanceBufferPointer(d, detailTrisSize); - dtBVNode* navBvtree = dtGetThenAdvanceBufferPointer(d, bvTreeSize); - dtOffMeshConnection* offMeshCons = dtGetThenAdvanceBufferPointer(d, offMeshConsSize); - - - // Store header - header->magic = DT_NAVMESH_MAGIC; - header->version = DT_NAVMESH_VERSION; - header->x = params->tileX; - header->y = params->tileY; - header->layer = params->tileLayer; - header->userId = params->userId; - header->polyCount = totPolyCount; - header->vertCount = totVertCount; - header->maxLinkCount = maxLinkCount; - dtVcopy(header->bmin, params->bmin); - dtVcopy(header->bmax, params->bmax); - header->detailMeshCount = params->polyCount; - header->detailVertCount = uniqueDetailVertCount; - header->detailTriCount = detailTriCount; - header->bvQuantFactor = 1.0f / params->cs; - header->offMeshBase = params->polyCount; - header->walkableHeight = params->walkableHeight; - header->walkableRadius = params->walkableRadius; - header->walkableClimb = params->walkableClimb; - header->offMeshConCount = storedOffMeshConCount; - header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0; - - const int offMeshVertsBase = params->vertCount; - const int offMeshPolyBase = params->polyCount; - - // Store vertices - // Mesh vertices - for (int i = 0; i < params->vertCount; ++i) - { - const unsigned short* iv = ¶ms->verts[i*3]; - float* v = &navVerts[i*3]; - v[0] = params->bmin[0] + iv[0] * params->cs; - v[1] = params->bmin[1] + iv[1] * params->ch; - v[2] = params->bmin[2] + iv[2] * params->cs; - } - // Off-mesh link vertices. - int n = 0; - for (int i = 0; i < params->offMeshConCount; ++i) - { - // Only store connections which start from this tile. - if (offMeshConClass[i*2+0] == 0xff) - { - const float* linkv = ¶ms->offMeshConVerts[i*2*3]; - float* v = &navVerts[(offMeshVertsBase + n*2)*3]; - dtVcopy(&v[0], &linkv[0]); - dtVcopy(&v[3], &linkv[3]); - n++; - } - } - - // Store polygons - // Mesh polys - const unsigned short* src = params->polys; - for (int i = 0; i < params->polyCount; ++i) - { - dtPoly* p = &navPolys[i]; - p->vertCount = 0; - p->flags = params->polyFlags[i]; - p->setArea(params->polyAreas[i]); - p->setType(DT_POLYTYPE_GROUND); - for (int j = 0; j < nvp; ++j) - { - if (src[j] == MESH_NULL_IDX) break; - p->verts[j] = src[j]; - if (src[nvp+j] & 0x8000) - { - // Border or portal edge. - unsigned short dir = src[nvp+j] & 0xf; - if (dir == 0xf) // Border - p->neis[j] = 0; - else if (dir == 0) // Portal x- - p->neis[j] = DT_EXT_LINK | 4; - else if (dir == 1) // Portal z+ - p->neis[j] = DT_EXT_LINK | 2; - else if (dir == 2) // Portal x+ - p->neis[j] = DT_EXT_LINK | 0; - else if (dir == 3) // Portal z- - p->neis[j] = DT_EXT_LINK | 6; - } - else - { - // Normal connection - p->neis[j] = src[nvp+j]+1; - } - - p->vertCount++; - } - src += nvp*2; - } - // Off-mesh connection vertices. - n = 0; - for (int i = 0; i < params->offMeshConCount; ++i) - { - // Only store connections which start from this tile. - if (offMeshConClass[i*2+0] == 0xff) - { - dtPoly* p = &navPolys[offMeshPolyBase+n]; - p->vertCount = 2; - p->verts[0] = (unsigned short)(offMeshVertsBase + n*2+0); - p->verts[1] = (unsigned short)(offMeshVertsBase + n*2+1); - p->flags = params->offMeshConFlags[i]; - p->setArea(params->offMeshConAreas[i]); - p->setType(DT_POLYTYPE_OFFMESH_CONNECTION); - n++; - } - } - - // Store detail meshes and vertices. - // The nav polygon vertices are stored as the first vertices on each mesh. - // We compress the mesh data by skipping them and using the navmesh coordinates. - if (params->detailMeshes) - { - unsigned short vbase = 0; - for (int i = 0; i < params->polyCount; ++i) - { - dtPolyDetail& dtl = navDMeshes[i]; - const int vb = (int)params->detailMeshes[i*4+0]; - const int ndv = (int)params->detailMeshes[i*4+1]; - const int nv = navPolys[i].vertCount; - dtl.vertBase = (unsigned int)vbase; - dtl.vertCount = (unsigned char)(ndv-nv); - dtl.triBase = (unsigned int)params->detailMeshes[i*4+2]; - dtl.triCount = (unsigned char)params->detailMeshes[i*4+3]; - // Copy vertices except the first 'nv' verts which are equal to nav poly verts. - if (ndv-nv) - { - memcpy(&navDVerts[vbase*3], ¶ms->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv)); - vbase += (unsigned short)(ndv-nv); - } - } - // Store triangles. - memcpy(navDTris, params->detailTris, sizeof(unsigned char)*4*params->detailTriCount); - } - else - { - // Create dummy detail mesh by triangulating polys. - int tbase = 0; - for (int i = 0; i < params->polyCount; ++i) - { - dtPolyDetail& dtl = navDMeshes[i]; - const int nv = navPolys[i].vertCount; - dtl.vertBase = 0; - dtl.vertCount = 0; - dtl.triBase = (unsigned int)tbase; - dtl.triCount = (unsigned char)(nv-2); - // Triangulate polygon (local indices). - for (int j = 2; j < nv; ++j) - { - unsigned char* t = &navDTris[tbase*4]; - t[0] = 0; - t[1] = (unsigned char)(j-1); - t[2] = (unsigned char)j; - // Bit for each edge that belongs to poly boundary. - t[3] = (1<<2); - if (j == 2) t[3] |= (1<<0); - if (j == nv-1) t[3] |= (1<<4); - tbase++; - } - } - } - - // Store and create BVtree. - if (params->buildBvTree) - { - createBVTree(params, navBvtree, 2*params->polyCount); - } - - // Store Off-Mesh connections. - n = 0; - for (int i = 0; i < params->offMeshConCount; ++i) - { - // Only store connections which start from this tile. - if (offMeshConClass[i*2+0] == 0xff) - { - dtOffMeshConnection* con = &offMeshCons[n]; - con->poly = (unsigned short)(offMeshPolyBase + n); - // Copy connection end-points. - const float* endPts = ¶ms->offMeshConVerts[i*2*3]; - dtVcopy(&con->pos[0], &endPts[0]); - dtVcopy(&con->pos[3], &endPts[3]); - con->rad = params->offMeshConRad[i]; - con->flags = params->offMeshConDir[i] ? DT_OFFMESH_CON_BIDIR : 0; - con->side = offMeshConClass[i*2+1]; - if (params->offMeshConUserID) - con->userId = params->offMeshConUserID[i]; - n++; - } - } - - dtFree(offMeshConClass); - - *outData = data; - *outDataSize = dataSize; - - return true; -} - -bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int /*dataSize*/) -{ - dtMeshHeader* header = (dtMeshHeader*)data; - - int swappedMagic = DT_NAVMESH_MAGIC; - int swappedVersion = DT_NAVMESH_VERSION; - dtSwapEndian(&swappedMagic); - dtSwapEndian(&swappedVersion); - - if ((header->magic != DT_NAVMESH_MAGIC || header->version != DT_NAVMESH_VERSION) && - (header->magic != swappedMagic || header->version != swappedVersion)) - { - return false; - } - - dtSwapEndian(&header->magic); - dtSwapEndian(&header->version); - dtSwapEndian(&header->x); - dtSwapEndian(&header->y); - dtSwapEndian(&header->layer); - dtSwapEndian(&header->userId); - dtSwapEndian(&header->polyCount); - dtSwapEndian(&header->vertCount); - dtSwapEndian(&header->maxLinkCount); - dtSwapEndian(&header->detailMeshCount); - dtSwapEndian(&header->detailVertCount); - dtSwapEndian(&header->detailTriCount); - dtSwapEndian(&header->bvNodeCount); - dtSwapEndian(&header->offMeshConCount); - dtSwapEndian(&header->offMeshBase); - dtSwapEndian(&header->walkableHeight); - dtSwapEndian(&header->walkableRadius); - dtSwapEndian(&header->walkableClimb); - dtSwapEndian(&header->bmin[0]); - dtSwapEndian(&header->bmin[1]); - dtSwapEndian(&header->bmin[2]); - dtSwapEndian(&header->bmax[0]); - dtSwapEndian(&header->bmax[1]); - dtSwapEndian(&header->bmax[2]); - dtSwapEndian(&header->bvQuantFactor); - - // Freelist index and pointers are updated when tile is added, no need to swap. - - return true; -} - -/// @par -/// -/// @warning This function assumes that the header is in the correct endianess already. -/// Call #dtNavMeshHeaderSwapEndian() first on the data if the data is expected to be in wrong endianess -/// to start with. Call #dtNavMeshHeaderSwapEndian() after the data has been swapped if converting from -/// native to foreign endianess. -bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/) -{ - // Make sure the data is in right format. - dtMeshHeader* header = (dtMeshHeader*)data; - if (header->magic != DT_NAVMESH_MAGIC) - return false; - if (header->version != DT_NAVMESH_VERSION) - return false; - - // Patch header pointers. - const int headerSize = dtAlign4(sizeof(dtMeshHeader)); - const int vertsSize = dtAlign4(sizeof(float)*3*header->vertCount); - const int polysSize = dtAlign4(sizeof(dtPoly)*header->polyCount); - const int linksSize = dtAlign4(sizeof(dtLink)*(header->maxLinkCount)); - const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*header->detailMeshCount); - const int detailVertsSize = dtAlign4(sizeof(float)*3*header->detailVertCount); - const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*header->detailTriCount); - const int bvtreeSize = dtAlign4(sizeof(dtBVNode)*header->bvNodeCount); - const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount); - - unsigned char* d = data + headerSize; - float* verts = dtGetThenAdvanceBufferPointer(d, vertsSize); - dtPoly* polys = dtGetThenAdvanceBufferPointer(d, polysSize); - d += linksSize; // Ignore links; they technically should be endian-swapped but all their data is overwritten on load anyway. - //dtLink* links = dtGetThenAdvanceBufferPointer(d, linksSize); - dtPolyDetail* detailMeshes = dtGetThenAdvanceBufferPointer(d, detailMeshesSize); - float* detailVerts = dtGetThenAdvanceBufferPointer(d, detailVertsSize); - d += detailTrisSize; // Ignore detail tris; single bytes can't be endian-swapped. - //unsigned char* detailTris = dtGetThenAdvanceBufferPointer(d, detailTrisSize); - dtBVNode* bvTree = dtGetThenAdvanceBufferPointer(d, bvtreeSize); - dtOffMeshConnection* offMeshCons = dtGetThenAdvanceBufferPointer(d, offMeshLinksSize); - - // Vertices - for (int i = 0; i < header->vertCount*3; ++i) - { - dtSwapEndian(&verts[i]); - } - - // Polys - for (int i = 0; i < header->polyCount; ++i) - { - dtPoly* p = &polys[i]; - // poly->firstLink is update when tile is added, no need to swap. - for (int j = 0; j < DT_VERTS_PER_POLYGON; ++j) - { - dtSwapEndian(&p->verts[j]); - dtSwapEndian(&p->neis[j]); - } - dtSwapEndian(&p->flags); - } - - // Links are rebuild when tile is added, no need to swap. - - // Detail meshes - for (int i = 0; i < header->detailMeshCount; ++i) - { - dtPolyDetail* pd = &detailMeshes[i]; - dtSwapEndian(&pd->vertBase); - dtSwapEndian(&pd->triBase); - } - - // Detail verts - for (int i = 0; i < header->detailVertCount*3; ++i) - { - dtSwapEndian(&detailVerts[i]); - } - - // BV-tree - for (int i = 0; i < header->bvNodeCount; ++i) - { - dtBVNode* node = &bvTree[i]; - for (int j = 0; j < 3; ++j) - { - dtSwapEndian(&node->bmin[j]); - dtSwapEndian(&node->bmax[j]); - } - dtSwapEndian(&node->i); - } - - // Off-mesh Connections. - for (int i = 0; i < header->offMeshConCount; ++i) - { - dtOffMeshConnection* con = &offMeshCons[i]; - for (int j = 0; j < 6; ++j) - dtSwapEndian(&con->pos[j]); - dtSwapEndian(&con->rad); - dtSwapEndian(&con->poly); - } - - return true; -} diff --git a/extern/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp b/extern/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp deleted file mode 100644 index 265b10b34..000000000 --- a/extern/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp +++ /dev/null @@ -1,3663 +0,0 @@ -// -// 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. -// - -#include -#include -#include "DetourNavMeshQuery.h" -#include "DetourNavMesh.h" -#include "DetourNode.h" -#include "DetourCommon.h" -#include "DetourMath.h" -#include "DetourAlloc.h" -#include "DetourAssert.h" -#include - -/// @class dtQueryFilter -/// -/// The Default Implementation -/// -/// At construction: All area costs default to 1.0. All flags are included -/// and none are excluded. -/// -/// If a polygon has both an include and an exclude flag, it will be excluded. -/// -/// The way filtering works, a navigation mesh polygon must have at least one flag -/// set to ever be considered by a query. So a polygon with no flags will never -/// be considered. -/// -/// Setting the include flags to 0 will result in all polygons being excluded. -/// -/// Custom Implementations -/// -/// DT_VIRTUAL_QUERYFILTER must be defined in order to extend this class. -/// -/// Implement a custom query filter by overriding the virtual passFilter() -/// and getCost() functions. If this is done, both functions should be as -/// fast as possible. Use cached local copies of data rather than accessing -/// your own objects where possible. -/// -/// Custom implementations do not need to adhere to the flags or cost logic -/// used by the default implementation. -/// -/// In order for A* searches to work properly, the cost should be proportional to -/// the travel distance. Implementing a cost modifier less than 1.0 is likely -/// to lead to problems during pathfinding. -/// -/// @see dtNavMeshQuery - -dtQueryFilter::dtQueryFilter() : - m_includeFlags(0xffff), - m_excludeFlags(0) -{ - for (int i = 0; i < DT_MAX_AREAS; ++i) - m_areaCost[i] = 1.0f; -} - -#ifdef DT_VIRTUAL_QUERYFILTER -bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/, - const dtMeshTile* /*tile*/, - const dtPoly* poly) const -{ - return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0; -} - -float dtQueryFilter::getCost(const float* pa, const float* pb, - const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/, - const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly, - const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const -{ - return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()]; -} -#else -inline bool dtQueryFilter::passFilter(const dtPolyRef /*ref*/, - const dtMeshTile* /*tile*/, - const dtPoly* poly) const -{ - return (poly->flags & m_includeFlags) != 0 && (poly->flags & m_excludeFlags) == 0; -} - -inline float dtQueryFilter::getCost(const float* pa, const float* pb, - const dtPolyRef /*prevRef*/, const dtMeshTile* /*prevTile*/, const dtPoly* /*prevPoly*/, - const dtPolyRef /*curRef*/, const dtMeshTile* /*curTile*/, const dtPoly* curPoly, - const dtPolyRef /*nextRef*/, const dtMeshTile* /*nextTile*/, const dtPoly* /*nextPoly*/) const -{ - return dtVdist(pa, pb) * m_areaCost[curPoly->getArea()]; -} -#endif - -static const float H_SCALE = 0.999f; // Search heuristic scale. - - -dtNavMeshQuery* dtAllocNavMeshQuery() -{ - void* mem = dtAlloc(sizeof(dtNavMeshQuery), DT_ALLOC_PERM); - if (!mem) return 0; - return new(mem) dtNavMeshQuery; -} - -void dtFreeNavMeshQuery(dtNavMeshQuery* navmesh) -{ - if (!navmesh) return; - navmesh->~dtNavMeshQuery(); - dtFree(navmesh); -} - -////////////////////////////////////////////////////////////////////////////////////////// - -/// @class dtNavMeshQuery -/// -/// For methods that support undersized buffers, if the buffer is too small -/// to hold the entire result set the return status of the method will include -/// the #DT_BUFFER_TOO_SMALL flag. -/// -/// Constant member functions can be used by multiple clients without side -/// effects. (E.g. No change to the closed list. No impact on an in-progress -/// sliced path query. Etc.) -/// -/// Walls and portals: A @e wall is a polygon segment that is -/// considered impassable. A @e portal is a passable segment between polygons. -/// A portal may be treated as a wall based on the dtQueryFilter used for a query. -/// -/// @see dtNavMesh, dtQueryFilter, #dtAllocNavMeshQuery(), #dtAllocNavMeshQuery() - -dtNavMeshQuery::dtNavMeshQuery() : - m_nav(0), - m_tinyNodePool(0), - m_nodePool(0), - m_openList(0) -{ - memset(&m_query, 0, sizeof(dtQueryData)); -} - -dtNavMeshQuery::~dtNavMeshQuery() -{ - if (m_tinyNodePool) - m_tinyNodePool->~dtNodePool(); - if (m_nodePool) - m_nodePool->~dtNodePool(); - if (m_openList) - m_openList->~dtNodeQueue(); - dtFree(m_tinyNodePool); - dtFree(m_nodePool); - dtFree(m_openList); -} - -/// @par -/// -/// Must be the first function called after construction, before other -/// functions are used. -/// -/// This function can be used multiple times. -dtStatus dtNavMeshQuery::init(const dtNavMesh* nav, const int maxNodes) -{ - if (maxNodes > DT_NULL_IDX || maxNodes > (1 << DT_NODE_PARENT_BITS) - 1) - return DT_FAILURE | DT_INVALID_PARAM; - - m_nav = nav; - - if (!m_nodePool || m_nodePool->getMaxNodes() < maxNodes) - { - if (m_nodePool) - { - m_nodePool->~dtNodePool(); - dtFree(m_nodePool); - m_nodePool = 0; - } - m_nodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(maxNodes, dtNextPow2(maxNodes/4)); - if (!m_nodePool) - return DT_FAILURE | DT_OUT_OF_MEMORY; - } - else - { - m_nodePool->clear(); - } - - if (!m_tinyNodePool) - { - m_tinyNodePool = new (dtAlloc(sizeof(dtNodePool), DT_ALLOC_PERM)) dtNodePool(64, 32); - if (!m_tinyNodePool) - return DT_FAILURE | DT_OUT_OF_MEMORY; - } - else - { - m_tinyNodePool->clear(); - } - - if (!m_openList || m_openList->getCapacity() < maxNodes) - { - if (m_openList) - { - m_openList->~dtNodeQueue(); - dtFree(m_openList); - m_openList = 0; - } - m_openList = new (dtAlloc(sizeof(dtNodeQueue), DT_ALLOC_PERM)) dtNodeQueue(maxNodes); - if (!m_openList) - return DT_FAILURE | DT_OUT_OF_MEMORY; - } - else - { - m_openList->clear(); - } - - return DT_SUCCESS; -} - -dtStatus dtNavMeshQuery::findRandomPoint(const dtQueryFilter* filter, float (*frand)(), - dtPolyRef* randomRef, float* randomPt) const -{ - dtAssert(m_nav); - - if (!filter || !frand || !randomRef || !randomPt) - return DT_FAILURE | DT_INVALID_PARAM; - - // Randomly pick one tile. Assume that all tiles cover roughly the same area. - const dtMeshTile* tile = 0; - float tsum = 0.0f; - for (int i = 0; i < m_nav->getMaxTiles(); i++) - { - const dtMeshTile* t = m_nav->getTile(i); - if (!t || !t->header) continue; - - // Choose random tile using reservoi sampling. - const float area = 1.0f; // Could be tile area too. - tsum += area; - const float u = frand(); - if (u*tsum <= area) - tile = t; - } - if (!tile) - return DT_FAILURE; - - // Randomly pick one polygon weighted by polygon area. - const dtPoly* poly = 0; - dtPolyRef polyRef = 0; - const dtPolyRef base = m_nav->getPolyRefBase(tile); - - float areaSum = 0.0f; - for (int i = 0; i < tile->header->polyCount; ++i) - { - const dtPoly* p = &tile->polys[i]; - // Do not return off-mesh connection polygons. - if (p->getType() != DT_POLYTYPE_GROUND) - continue; - // Must pass filter - const dtPolyRef ref = base | (dtPolyRef)i; - if (!filter->passFilter(ref, tile, p)) - continue; - - // Calc area of the polygon. - float polyArea = 0.0f; - for (int j = 2; j < p->vertCount; ++j) - { - const float* va = &tile->verts[p->verts[0]*3]; - const float* vb = &tile->verts[p->verts[j-1]*3]; - const float* vc = &tile->verts[p->verts[j]*3]; - polyArea += dtTriArea2D(va,vb,vc); - } - - // Choose random polygon weighted by area, using reservoi sampling. - areaSum += polyArea; - const float u = frand(); - if (u*areaSum <= polyArea) - { - poly = p; - polyRef = ref; - } - } - - if (!poly) - return DT_FAILURE; - - // Randomly pick point on polygon. - const float* v = &tile->verts[poly->verts[0]*3]; - float verts[3*DT_VERTS_PER_POLYGON]; - float areas[DT_VERTS_PER_POLYGON]; - dtVcopy(&verts[0*3],v); - for (int j = 1; j < poly->vertCount; ++j) - { - v = &tile->verts[poly->verts[j]*3]; - dtVcopy(&verts[j*3],v); - } - - const float s = frand(); - const float t = frand(); - - float pt[3]; - dtRandomPointInConvexPoly(verts, poly->vertCount, areas, s, t, pt); - - float h = 0.0f; - dtStatus status = getPolyHeight(polyRef, pt, &h); - if (dtStatusFailed(status)) - return status; - pt[1] = h; - - dtVcopy(randomPt, pt); - *randomRef = polyRef; - - return DT_SUCCESS; -} - -dtStatus dtNavMeshQuery::findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius, - const dtQueryFilter* filter, float (*frand)(), - dtPolyRef* randomRef, float* randomPt) const -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - // Validate input - if (!m_nav->isValidPolyRef(startRef) || - !centerPos || !dtVisfinite(centerPos) || - maxRadius < 0 || !dtMathIsfinite(maxRadius) || - !filter || !frand || !randomRef || !randomPt) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - const dtMeshTile* startTile = 0; - const dtPoly* startPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(startRef, &startTile, &startPoly); - if (!filter->passFilter(startRef, startTile, startPoly)) - return DT_FAILURE | DT_INVALID_PARAM; - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, centerPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - dtStatus status = DT_SUCCESS; - - const float radiusSqr = dtSqr(maxRadius); - float areaSum = 0.0f; - - const dtMeshTile* randomTile = 0; - const dtPoly* randomPoly = 0; - dtPolyRef randomPolyRef = 0; - - while (!m_openList->empty()) - { - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); - - // Place random locations on on ground. - if (bestPoly->getType() == DT_POLYTYPE_GROUND) - { - // Calc area of the polygon. - float polyArea = 0.0f; - for (int j = 2; j < bestPoly->vertCount; ++j) - { - const float* va = &bestTile->verts[bestPoly->verts[0]*3]; - const float* vb = &bestTile->verts[bestPoly->verts[j-1]*3]; - const float* vc = &bestTile->verts[bestPoly->verts[j]*3]; - polyArea += dtTriArea2D(va,vb,vc); - } - // Choose random polygon weighted by area, using reservoi sampling. - areaSum += polyArea; - const float u = frand(); - if (u*areaSum <= polyArea) - { - randomTile = bestTile; - randomPoly = bestPoly; - randomPolyRef = bestRef; - } - } - - - // Get parent poly and tile. - dtPolyRef parentRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - if (bestNode->pidx) - parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; - if (parentRef) - m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - const dtLink* link = &bestTile->links[i]; - dtPolyRef neighbourRef = link->ref; - // Skip invalid neighbours and do not follow back to parent. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Expand to neighbour - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - // Do not advance if the polygon is excluded by the filter. - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // Find edge and calc distance to the edge. - float va[3], vb[3]; - if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) - continue; - - // If the circle is not touching the next polygon, skip it. - float tseg; - float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); - if (distSqr > radiusSqr) - continue; - - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); - if (!neighbourNode) - { - status |= DT_OUT_OF_NODES; - continue; - } - - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Cost - if (neighbourNode->flags == 0) - dtVlerp(neighbourNode->pos, va, vb, 0.5f); - - const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos); - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - - neighbourNode->id = neighbourRef; - neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); - neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); - neighbourNode->total = total; - - if (neighbourNode->flags & DT_NODE_OPEN) - { - m_openList->modify(neighbourNode); - } - else - { - neighbourNode->flags = DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - } - } - - if (!randomPoly) - return DT_FAILURE; - - // Randomly pick point on polygon. - const float* v = &randomTile->verts[randomPoly->verts[0]*3]; - float verts[3*DT_VERTS_PER_POLYGON]; - float areas[DT_VERTS_PER_POLYGON]; - dtVcopy(&verts[0*3],v); - for (int j = 1; j < randomPoly->vertCount; ++j) - { - v = &randomTile->verts[randomPoly->verts[j]*3]; - dtVcopy(&verts[j*3],v); - } - - const float s = frand(); - const float t = frand(); - - float pt[3]; - dtRandomPointInConvexPoly(verts, randomPoly->vertCount, areas, s, t, pt); - - float h = 0.0f; - dtStatus stat = getPolyHeight(randomPolyRef, pt, &h); - if (dtStatusFailed(status)) - return stat; - pt[1] = h; - - dtVcopy(randomPt, pt); - *randomRef = randomPolyRef; - - return DT_SUCCESS; -} - - -////////////////////////////////////////////////////////////////////////////////////////// - -/// @par -/// -/// Uses the detail polygons to find the surface height. (Most accurate.) -/// -/// @p pos does not have to be within the bounds of the polygon or navigation mesh. -/// -/// See closestPointOnPolyBoundary() for a limited but faster option. -/// -dtStatus dtNavMeshQuery::closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const -{ - dtAssert(m_nav); - if (!m_nav->isValidPolyRef(ref) || - !pos || !dtVisfinite(pos) || - !closest) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - m_nav->closestPointOnPoly(ref, pos, closest, posOverPoly); - return DT_SUCCESS; -} - -/// @par -/// -/// Much faster than closestPointOnPoly(). -/// -/// If the provided position lies within the polygon's xz-bounds (above or below), -/// then @p pos and @p closest will be equal. -/// -/// The height of @p closest will be the polygon boundary. The height detail is not used. -/// -/// @p pos does not have to be within the bounds of the polybon or the navigation mesh. -/// -dtStatus dtNavMeshQuery::closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const -{ - dtAssert(m_nav); - - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) - return DT_FAILURE | DT_INVALID_PARAM; - - if (!pos || !dtVisfinite(pos) || !closest) - return DT_FAILURE | DT_INVALID_PARAM; - - // Collect vertices. - float verts[DT_VERTS_PER_POLYGON*3]; - float edged[DT_VERTS_PER_POLYGON]; - float edget[DT_VERTS_PER_POLYGON]; - int nv = 0; - for (int i = 0; i < (int)poly->vertCount; ++i) - { - dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]); - nv++; - } - - bool inside = dtDistancePtPolyEdgesSqr(pos, verts, nv, edged, edget); - if (inside) - { - // Point is inside the polygon, return the point. - dtVcopy(closest, pos); - } - else - { - // Point is outside the polygon, dtClamp to nearest edge. - float dmin = edged[0]; - int imin = 0; - for (int i = 1; i < nv; ++i) - { - if (edged[i] < dmin) - { - dmin = edged[i]; - imin = i; - } - } - const float* va = &verts[imin*3]; - const float* vb = &verts[((imin+1)%nv)*3]; - dtVlerp(closest, va, vb, edget[imin]); - } - - return DT_SUCCESS; -} - -/// @par -/// -/// Will return #DT_FAILURE | DT_INVALID_PARAM if the provided position is outside the xz-bounds -/// of the polygon. -/// -dtStatus dtNavMeshQuery::getPolyHeight(dtPolyRef ref, const float* pos, float* height) const -{ - dtAssert(m_nav); - - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) - return DT_FAILURE | DT_INVALID_PARAM; - - if (!pos || !dtVisfinite2D(pos)) - return DT_FAILURE | DT_INVALID_PARAM; - - // We used to return success for offmesh connections, but the - // getPolyHeight in DetourNavMesh does not do this, so special - // case it here. - if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - const float* v0 = &tile->verts[poly->verts[0]*3]; - const float* v1 = &tile->verts[poly->verts[1]*3]; - float t; - dtDistancePtSegSqr2D(pos, v0, v1, t); - if (height) - *height = v0[1] + (v1[1] - v0[1])*t; - - return DT_SUCCESS; - } - - return m_nav->getPolyHeight(tile, poly, pos, height) - ? DT_SUCCESS - : DT_FAILURE | DT_INVALID_PARAM; -} - -class dtFindNearestPolyQuery : public dtPolyQuery -{ - const dtNavMeshQuery* m_query; - const float* m_center; - float m_nearestDistanceSqr; - dtPolyRef m_nearestRef; - float m_nearestPoint[3]; - -public: - dtFindNearestPolyQuery(const dtNavMeshQuery* query, const float* center) - : m_query(query), m_center(center), m_nearestDistanceSqr(FLT_MAX), m_nearestRef(0), m_nearestPoint() - { - } - - dtPolyRef nearestRef() const { return m_nearestRef; } - const float* nearestPoint() const { return m_nearestPoint; } - - void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) override - { - dtIgnoreUnused(polys); - - for (int i = 0; i < count; ++i) - { - dtPolyRef ref = refs[i]; - float closestPtPoly[3]; - float diff[3]; - bool posOverPoly = false; - float d; - m_query->closestPointOnPoly(ref, m_center, closestPtPoly, &posOverPoly); - - // If a point is directly over a polygon and closer than - // climb height, favor that instead of straight line nearest point. - dtVsub(diff, m_center, closestPtPoly); - if (posOverPoly) - { - d = dtAbs(diff[1]) - tile->header->walkableClimb; - d = d > 0 ? d*d : 0; - } - else - { - d = dtVlenSqr(diff); - } - - if (d < m_nearestDistanceSqr) - { - dtVcopy(m_nearestPoint, closestPtPoly); - - m_nearestDistanceSqr = d; - m_nearestRef = ref; - } - } - } -}; - -/// @par -/// -/// @note If the search box does not intersect any polygons the search will -/// return #DT_SUCCESS, but @p nearestRef will be zero. So if in doubt, check -/// @p nearestRef before using @p nearestPt. -/// -dtStatus dtNavMeshQuery::findNearestPoly(const float* center, const float* halfExtents, - const dtQueryFilter* filter, - dtPolyRef* nearestRef, float* nearestPt) const -{ - dtAssert(m_nav); - - if (!nearestRef) - return DT_FAILURE | DT_INVALID_PARAM; - - // queryPolygons below will check rest of params - - dtFindNearestPolyQuery query(this, center); - - dtStatus status = queryPolygons(center, halfExtents, filter, &query); - if (dtStatusFailed(status)) - return status; - - *nearestRef = query.nearestRef(); - // Only override nearestPt if we actually found a poly so the nearest point - // is valid. - if (nearestPt && *nearestRef) - dtVcopy(nearestPt, query.nearestPoint()); - - return DT_SUCCESS; -} - -void dtNavMeshQuery::queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, - const dtQueryFilter* filter, dtPolyQuery* query) const -{ - dtAssert(m_nav); - static const int batchSize = 32; - dtPolyRef polyRefs[batchSize]; - dtPoly* polys[batchSize]; - int n = 0; - - if (tile->bvTree) - { - const dtBVNode* node = &tile->bvTree[0]; - const dtBVNode* end = &tile->bvTree[tile->header->bvNodeCount]; - const float* tbmin = tile->header->bmin; - const float* tbmax = tile->header->bmax; - const float qfac = tile->header->bvQuantFactor; - - // Calculate quantized box - unsigned short bmin[3], bmax[3]; - // dtClamp query box to world box. - float minx = dtClamp(qmin[0], tbmin[0], tbmax[0]) - tbmin[0]; - float miny = dtClamp(qmin[1], tbmin[1], tbmax[1]) - tbmin[1]; - float minz = dtClamp(qmin[2], tbmin[2], tbmax[2]) - tbmin[2]; - float maxx = dtClamp(qmax[0], tbmin[0], tbmax[0]) - tbmin[0]; - float maxy = dtClamp(qmax[1], tbmin[1], tbmax[1]) - tbmin[1]; - float maxz = dtClamp(qmax[2], tbmin[2], tbmax[2]) - tbmin[2]; - // Quantize - bmin[0] = (unsigned short)(qfac * minx) & 0xfffe; - bmin[1] = (unsigned short)(qfac * miny) & 0xfffe; - bmin[2] = (unsigned short)(qfac * minz) & 0xfffe; - bmax[0] = (unsigned short)(qfac * maxx + 1) | 1; - bmax[1] = (unsigned short)(qfac * maxy + 1) | 1; - bmax[2] = (unsigned short)(qfac * maxz + 1) | 1; - - // Traverse tree - const dtPolyRef base = m_nav->getPolyRefBase(tile); - while (node < end) - { - const bool overlap = dtOverlapQuantBounds(bmin, bmax, node->bmin, node->bmax); - const bool isLeafNode = node->i >= 0; - - if (isLeafNode && overlap) - { - dtPolyRef ref = base | (dtPolyRef)node->i; - if (filter->passFilter(ref, tile, &tile->polys[node->i])) - { - polyRefs[n] = ref; - polys[n] = &tile->polys[node->i]; - - if (n == batchSize - 1) - { - query->process(tile, polys, polyRefs, batchSize); - n = 0; - } - else - { - n++; - } - } - } - - if (overlap || isLeafNode) - node++; - else - { - const int escapeIndex = -node->i; - node += escapeIndex; - } - } - } - else - { - float bmin[3], bmax[3]; - const dtPolyRef base = m_nav->getPolyRefBase(tile); - for (int i = 0; i < tile->header->polyCount; ++i) - { - dtPoly* p = &tile->polys[i]; - // Do not return off-mesh connection polygons. - if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - // Must pass filter - const dtPolyRef ref = base | (dtPolyRef)i; - if (!filter->passFilter(ref, tile, p)) - continue; - // Calc polygon bounds. - const float* v = &tile->verts[p->verts[0]*3]; - dtVcopy(bmin, v); - dtVcopy(bmax, v); - for (int j = 1; j < p->vertCount; ++j) - { - v = &tile->verts[p->verts[j]*3]; - dtVmin(bmin, v); - dtVmax(bmax, v); - } - if (dtOverlapBounds(qmin, qmax, bmin, bmax)) - { - polyRefs[n] = ref; - polys[n] = p; - - if (n == batchSize - 1) - { - query->process(tile, polys, polyRefs, batchSize); - n = 0; - } - else - { - n++; - } - } - } - } - - // Process the last polygons that didn't make a full batch. - if (n > 0) - query->process(tile, polys, polyRefs, n); -} - -class dtCollectPolysQuery : public dtPolyQuery -{ - dtPolyRef* m_polys; - const int m_maxPolys; - int m_numCollected; - bool m_overflow; - -public: - dtCollectPolysQuery(dtPolyRef* polys, const int maxPolys) - : m_polys(polys), m_maxPolys(maxPolys), m_numCollected(0), m_overflow(false) - { - } - - int numCollected() const { return m_numCollected; } - bool overflowed() const { return m_overflow; } - - void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) override - { - dtIgnoreUnused(tile); - dtIgnoreUnused(polys); - - int numLeft = m_maxPolys - m_numCollected; - int toCopy = count; - if (toCopy > numLeft) - { - m_overflow = true; - toCopy = numLeft; - } - - memcpy(m_polys + m_numCollected, refs, (size_t)toCopy * sizeof(dtPolyRef)); - m_numCollected += toCopy; - } -}; - -/// @par -/// -/// If no polygons are found, the function will return #DT_SUCCESS with a -/// @p polyCount of zero. -/// -/// If @p polys is too small to hold the entire result set, then the array will -/// be filled to capacity. The method of choosing which polygons from the -/// full set are included in the partial result set is undefined. -/// -dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* halfExtents, - const dtQueryFilter* filter, - dtPolyRef* polys, int* polyCount, const int maxPolys) const -{ - if (!polys || !polyCount || maxPolys < 0) - return DT_FAILURE | DT_INVALID_PARAM; - - dtCollectPolysQuery collector(polys, maxPolys); - - dtStatus status = queryPolygons(center, halfExtents, filter, &collector); - if (dtStatusFailed(status)) - return status; - - *polyCount = collector.numCollected(); - return collector.overflowed() ? DT_SUCCESS | DT_BUFFER_TOO_SMALL : DT_SUCCESS; -} - -/// @par -/// -/// The query will be invoked with batches of polygons. Polygons passed -/// to the query have bounding boxes that overlap with the center and halfExtents -/// passed to this function. The dtPolyQuery::process function is invoked multiple -/// times until all overlapping polygons have been processed. -/// -dtStatus dtNavMeshQuery::queryPolygons(const float* center, const float* halfExtents, - const dtQueryFilter* filter, dtPolyQuery* query) const -{ - dtAssert(m_nav); - - if (!center || !dtVisfinite(center) || - !halfExtents || !dtVisfinite(halfExtents) || - !filter || !query) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - float bmin[3], bmax[3]; - dtVsub(bmin, center, halfExtents); - dtVadd(bmax, center, halfExtents); - - // Find tiles the query touches. - int minx, miny, maxx, maxy; - m_nav->calcTileLoc(bmin, &minx, &miny); - m_nav->calcTileLoc(bmax, &maxx, &maxy); - - static const int MAX_NEIS = 32; - const dtMeshTile* neis[MAX_NEIS]; - - for (int y = miny; y <= maxy; ++y) - { - for (int x = minx; x <= maxx; ++x) - { - const int nneis = m_nav->getTilesAt(x,y,neis,MAX_NEIS); - for (int j = 0; j < nneis; ++j) - { - queryPolygonsInTile(neis[j], bmin, bmax, filter, query); - } - } - } - - return DT_SUCCESS; -} - -/// @par -/// -/// If the end polygon cannot be reached through the navigation graph, -/// the last polygon in the path will be the nearest the end polygon. -/// -/// If the path array is to small to hold the full result, it will be filled as -/// far as possible from the start polygon toward the end polygon. -/// -/// The start and end positions are used to calculate traversal costs. -/// (The y-values impact the result.) -/// -dtStatus dtNavMeshQuery::findPath(dtPolyRef startRef, dtPolyRef endRef, - const float* startPos, const float* endPos, - const dtQueryFilter* filter, - dtPolyRef* path, int* pathCount, const int maxPath) const -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - if (!pathCount) - return DT_FAILURE | DT_INVALID_PARAM; - - *pathCount = 0; - - // Validate input - if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) || - !startPos || !dtVisfinite(startPos) || - !endPos || !dtVisfinite(endPos) || - !filter || !path || maxPath <= 0) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - if (startRef == endRef) - { - path[0] = startRef; - *pathCount = 1; - return DT_SUCCESS; - } - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, startPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = dtVdist(startPos, endPos) * H_SCALE; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - dtNode* lastBestNode = startNode; - float lastBestNodeCost = startNode->total; - - bool outOfNodes = false; - - while (!m_openList->empty()) - { - // Remove node from open list and put it in closed list. - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Reached the goal, stop searching. - if (bestNode->id == endRef) - { - lastBestNode = bestNode; - break; - } - - // Get current poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); - - // Get parent poly and tile. - dtPolyRef parentRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - if (bestNode->pidx) - parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; - if (parentRef) - m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - dtPolyRef neighbourRef = bestTile->links[i].ref; - - // Skip invalid ids and do not expand back to where we came from. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Get neighbour poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // deal explicitly with crossing tile boundaries - unsigned char crossSide = 0; - if (bestTile->links[i].side != 0xff) - crossSide = bestTile->links[i].side >> 1; - - // get the node - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, crossSide); - if (!neighbourNode) - { - outOfNodes = true; - continue; - } - - // If the node is visited the first time, calculate node position. - if (neighbourNode->flags == 0) - { - getEdgeMidPoint(bestRef, bestPoly, bestTile, - neighbourRef, neighbourPoly, neighbourTile, - neighbourNode->pos); - } - - // Calculate cost and heuristic. - float cost = 0; - float heuristic = 0; - - // Special case for last node. - if (neighbourRef == endRef) - { - // Cost - const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos, - parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly); - const float endCost = filter->getCost(neighbourNode->pos, endPos, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly, - 0, 0, 0); - - cost = bestNode->cost + curCost + endCost; - heuristic = 0; - } - else - { - // Cost - const float curCost = filter->getCost(bestNode->pos, neighbourNode->pos, - parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly); - cost = bestNode->cost + curCost; - heuristic = dtVdist(neighbourNode->pos, endPos)*H_SCALE; - } - - const float total = cost + heuristic; - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - // The node is already visited and process, and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_CLOSED) && total >= neighbourNode->total) - continue; - - // Add or update the node. - neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); - neighbourNode->id = neighbourRef; - neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); - neighbourNode->cost = cost; - neighbourNode->total = total; - - if (neighbourNode->flags & DT_NODE_OPEN) - { - // Already in open, update node location. - m_openList->modify(neighbourNode); - } - else - { - // Put the node in open list. - neighbourNode->flags |= DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - - // Update nearest node to target so far. - if (heuristic < lastBestNodeCost) - { - lastBestNodeCost = heuristic; - lastBestNode = neighbourNode; - } - } - } - - dtStatus status = getPathToNode(lastBestNode, path, pathCount, maxPath); - - if (lastBestNode->id != endRef) - status |= DT_PARTIAL_RESULT; - - if (outOfNodes) - status |= DT_OUT_OF_NODES; - - return status; -} - -dtStatus dtNavMeshQuery::getPathToNode(dtNode* endNode, dtPolyRef* path, int* pathCount, int maxPath) const -{ - // Find the length of the entire path. - dtNode* curNode = endNode; - int length = 0; - do - { - length++; - curNode = m_nodePool->getNodeAtIdx(curNode->pidx); - } while (curNode); - - // If the path cannot be fully stored then advance to the last node we will be able to store. - curNode = endNode; - int writeCount; - for (writeCount = length; writeCount > maxPath; writeCount--) - { - dtAssert(curNode); - - curNode = m_nodePool->getNodeAtIdx(curNode->pidx); - } - - // Write path - for (int i = writeCount - 1; i >= 0; i--) - { - dtAssert(curNode); - - path[i] = curNode->id; - curNode = m_nodePool->getNodeAtIdx(curNode->pidx); - } - - dtAssert(!curNode); - - *pathCount = dtMin(length, maxPath); - - if (length > maxPath) - return DT_SUCCESS | DT_BUFFER_TOO_SMALL; - - return DT_SUCCESS; -} - - -/// @par -/// -/// @warning Calling any non-slice methods before calling finalizeSlicedFindPath() -/// or finalizeSlicedFindPathPartial() may result in corrupted data! -/// -/// The @p filter pointer is stored and used for the duration of the sliced -/// path query. -/// -dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef, - const float* startPos, const float* endPos, - const dtQueryFilter* filter, const unsigned int options) -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - // Init path state. - memset(&m_query, 0, sizeof(dtQueryData)); - m_query.status = DT_FAILURE; - m_query.startRef = startRef; - m_query.endRef = endRef; - if (startPos) - dtVcopy(m_query.startPos, startPos); - if (endPos) - dtVcopy(m_query.endPos, endPos); - m_query.filter = filter; - m_query.options = options; - m_query.raycastLimitSqr = FLT_MAX; - - // Validate input - if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) || - !startPos || !dtVisfinite(startPos) || - !endPos || !dtVisfinite(endPos) || !filter) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - // trade quality with performance? - if (options & DT_FINDPATH_ANY_ANGLE) - { - // limiting to several times the character radius yields nice results. It is not sensitive - // so it is enough to compute it from the first tile. - const dtMeshTile* tile = m_nav->getTileByRef(startRef); - float agentRadius = tile->header->walkableRadius; - m_query.raycastLimitSqr = dtSqr(agentRadius * DT_RAY_CAST_LIMIT_PROPORTIONS); - } - - if (startRef == endRef) - { - m_query.status = DT_SUCCESS; - return DT_SUCCESS; - } - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, startPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = dtVdist(startPos, endPos) * H_SCALE; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - m_query.status = DT_IN_PROGRESS; - m_query.lastBestNode = startNode; - m_query.lastBestNodeCost = startNode->total; - - return m_query.status; -} - -dtStatus dtNavMeshQuery::updateSlicedFindPath(const int maxIter, int* doneIters) -{ - if (!dtStatusInProgress(m_query.status)) - return m_query.status; - - // Make sure the request is still valid. - if (!m_nav->isValidPolyRef(m_query.startRef) || !m_nav->isValidPolyRef(m_query.endRef)) - { - m_query.status = DT_FAILURE; - return DT_FAILURE; - } - - dtRaycastHit rayHit; - rayHit.maxPath = 0; - - int iter = 0; - while (iter < maxIter && !m_openList->empty()) - { - iter++; - - // Remove node from open list and put it in closed list. - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Reached the goal, stop searching. - if (bestNode->id == m_query.endRef) - { - m_query.lastBestNode = bestNode; - const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; - m_query.status = DT_SUCCESS | details; - if (doneIters) - *doneIters = iter; - return m_query.status; - } - - // Get current poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(bestRef, &bestTile, &bestPoly))) - { - // The polygon has disappeared during the sliced query, fail. - m_query.status = DT_FAILURE; - if (doneIters) - *doneIters = iter; - return m_query.status; - } - - // Get parent and grand parent poly and tile. - dtPolyRef parentRef = 0, grandpaRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - dtNode* parentNode = 0; - if (bestNode->pidx) - { - parentNode = m_nodePool->getNodeAtIdx(bestNode->pidx); - parentRef = parentNode->id; - if (parentNode->pidx) - grandpaRef = m_nodePool->getNodeAtIdx(parentNode->pidx)->id; - } - if (parentRef) - { - bool invalidParent = dtStatusFailed(m_nav->getTileAndPolyByRef(parentRef, &parentTile, &parentPoly)); - if (invalidParent || (grandpaRef && !m_nav->isValidPolyRef(grandpaRef)) ) - { - // The polygon has disappeared during the sliced query, fail. - m_query.status = DT_FAILURE; - if (doneIters) - *doneIters = iter; - return m_query.status; - } - } - - // decide whether to test raycast to previous nodes - bool tryLOS = false; - if (m_query.options & DT_FINDPATH_ANY_ANGLE) - { - if ((parentRef != 0) && (dtVdistSqr(parentNode->pos, bestNode->pos) < m_query.raycastLimitSqr)) - tryLOS = true; - } - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - dtPolyRef neighbourRef = bestTile->links[i].ref; - - // Skip invalid ids and do not expand back to where we came from. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Get neighbour poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - if (!m_query.filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // get the neighbor node - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef, 0); - if (!neighbourNode) - { - m_query.status |= DT_OUT_OF_NODES; - continue; - } - - // do not expand to nodes that were already visited from the same parent - if (neighbourNode->pidx != 0 && neighbourNode->pidx == bestNode->pidx) - continue; - - // If the node is visited the first time, calculate node position. - if (neighbourNode->flags == 0) - { - getEdgeMidPoint(bestRef, bestPoly, bestTile, - neighbourRef, neighbourPoly, neighbourTile, - neighbourNode->pos); - } - - // Calculate cost and heuristic. - float cost = 0; - float heuristic = 0; - - // raycast parent - bool foundShortCut = false; - rayHit.pathCost = rayHit.t = 0; - if (tryLOS) - { - raycast(parentRef, parentNode->pos, neighbourNode->pos, m_query.filter, DT_RAYCAST_USE_COSTS, &rayHit, grandpaRef); - foundShortCut = rayHit.t >= 1.0f; - } - - // update move cost - if (foundShortCut) - { - // shortcut found using raycast. Using shorter cost instead - cost = parentNode->cost + rayHit.pathCost; - } - else - { - // No shortcut found. - const float curCost = m_query.filter->getCost(bestNode->pos, neighbourNode->pos, - parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly); - cost = bestNode->cost + curCost; - } - - // Special case for last node. - if (neighbourRef == m_query.endRef) - { - const float endCost = m_query.filter->getCost(neighbourNode->pos, m_query.endPos, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly, - 0, 0, 0); - - cost = cost + endCost; - heuristic = 0; - } - else - { - heuristic = dtVdist(neighbourNode->pos, m_query.endPos)*H_SCALE; - } - - const float total = cost + heuristic; - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - // The node is already visited and process, and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_CLOSED) && total >= neighbourNode->total) - continue; - - // Add or update the node. - neighbourNode->pidx = foundShortCut ? bestNode->pidx : m_nodePool->getNodeIdx(bestNode); - neighbourNode->id = neighbourRef; - neighbourNode->flags = (neighbourNode->flags & ~(DT_NODE_CLOSED | DT_NODE_PARENT_DETACHED)); - neighbourNode->cost = cost; - neighbourNode->total = total; - if (foundShortCut) - neighbourNode->flags = (neighbourNode->flags | DT_NODE_PARENT_DETACHED); - - if (neighbourNode->flags & DT_NODE_OPEN) - { - // Already in open, update node location. - m_openList->modify(neighbourNode); - } - else - { - // Put the node in open list. - neighbourNode->flags |= DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - - // Update nearest node to target so far. - if (heuristic < m_query.lastBestNodeCost) - { - m_query.lastBestNodeCost = heuristic; - m_query.lastBestNode = neighbourNode; - } - } - } - - // Exhausted all nodes, but could not find path. - if (m_openList->empty()) - { - const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; - m_query.status = DT_SUCCESS | details; - } - - if (doneIters) - *doneIters = iter; - - return m_query.status; -} - -dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath) -{ - if (!pathCount) - return DT_FAILURE | DT_INVALID_PARAM; - - *pathCount = 0; - - if (!path || maxPath <= 0) - return DT_FAILURE | DT_INVALID_PARAM; - - if (dtStatusFailed(m_query.status)) - { - // Reset query. - memset(&m_query, 0, sizeof(dtQueryData)); - return DT_FAILURE; - } - - int n = 0; - - if (m_query.startRef == m_query.endRef) - { - // Special case: the search starts and ends at same poly. - path[n++] = m_query.startRef; - } - else - { - // Reverse the path. - dtAssert(m_query.lastBestNode); - - if (m_query.lastBestNode->id != m_query.endRef) - m_query.status |= DT_PARTIAL_RESULT; - - dtNode* prev = 0; - dtNode* node = m_query.lastBestNode; - int prevRay = 0; - do - { - dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); - node->pidx = m_nodePool->getNodeIdx(prev); - prev = node; - int nextRay = node->flags & DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent (i.e. due to raycast shortcut) - node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed path's node - prevRay = nextRay; - node = next; - } - while (node); - - // Store path - node = prev; - do - { - dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); - dtStatus status = 0; - if (node->flags & DT_NODE_PARENT_DETACHED) - { - float t, normal[3]; - int m; - status = raycast(node->id, node->pos, next->pos, m_query.filter, &t, normal, path+n, &m, maxPath-n); - n += m; - // raycast ends on poly boundary and the path might include the next poly boundary. - if (path[n-1] == next->id) - n--; // remove to avoid duplicates - } - else - { - path[n++] = node->id; - if (n >= maxPath) - status = DT_BUFFER_TOO_SMALL; - } - - if (status & DT_STATUS_DETAIL_MASK) - { - m_query.status |= status & DT_STATUS_DETAIL_MASK; - break; - } - node = next; - } - while (node); - } - - const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; - - // Reset query. - memset(&m_query, 0, sizeof(dtQueryData)); - - *pathCount = n; - - return DT_SUCCESS | details; -} - -dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize, - dtPolyRef* path, int* pathCount, const int maxPath) -{ - if (!pathCount) - return DT_FAILURE | DT_INVALID_PARAM; - - *pathCount = 0; - - if (!existing || existingSize <= 0 || !path || !pathCount || maxPath <= 0) - return DT_FAILURE | DT_INVALID_PARAM; - - if (dtStatusFailed(m_query.status)) - { - // Reset query. - memset(&m_query, 0, sizeof(dtQueryData)); - return DT_FAILURE; - } - - int n = 0; - - if (m_query.startRef == m_query.endRef) - { - // Special case: the search starts and ends at same poly. - path[n++] = m_query.startRef; - } - else - { - // Find furthest existing node that was visited. - dtNode* prev = 0; - dtNode* node = 0; - for (int i = existingSize-1; i >= 0; --i) - { - m_nodePool->findNodes(existing[i], &node, 1); - if (node) - break; - } - - if (!node) - { - m_query.status |= DT_PARTIAL_RESULT; - dtAssert(m_query.lastBestNode); - node = m_query.lastBestNode; - } - - // Reverse the path. - int prevRay = 0; - do - { - dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); - node->pidx = m_nodePool->getNodeIdx(prev); - prev = node; - int nextRay = node->flags & DT_NODE_PARENT_DETACHED; // keep track of whether parent is not adjacent (i.e. due to raycast shortcut) - node->flags = (node->flags & ~DT_NODE_PARENT_DETACHED) | prevRay; // and store it in the reversed path's node - prevRay = nextRay; - node = next; - } - while (node); - - // Store path - node = prev; - do - { - dtNode* next = m_nodePool->getNodeAtIdx(node->pidx); - dtStatus status = 0; - if (node->flags & DT_NODE_PARENT_DETACHED) - { - float t, normal[3]; - int m; - status = raycast(node->id, node->pos, next->pos, m_query.filter, &t, normal, path+n, &m, maxPath-n); - n += m; - // raycast ends on poly boundary and the path might include the next poly boundary. - if (path[n-1] == next->id) - n--; // remove to avoid duplicates - } - else - { - path[n++] = node->id; - if (n >= maxPath) - status = DT_BUFFER_TOO_SMALL; - } - - if (status & DT_STATUS_DETAIL_MASK) - { - m_query.status |= status & DT_STATUS_DETAIL_MASK; - break; - } - node = next; - } - while (node); - } - - const dtStatus details = m_query.status & DT_STATUS_DETAIL_MASK; - - // Reset query. - memset(&m_query, 0, sizeof(dtQueryData)); - - *pathCount = n; - - return DT_SUCCESS | details; -} - - -dtStatus dtNavMeshQuery::appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath) const -{ - if ((*straightPathCount) > 0 && dtVequal(&straightPath[((*straightPathCount)-1)*3], pos)) - { - // The vertices are equal, update flags and poly. - if (straightPathFlags) - straightPathFlags[(*straightPathCount)-1] = flags; - if (straightPathRefs) - straightPathRefs[(*straightPathCount)-1] = ref; - } - else - { - // Append new vertex. - dtVcopy(&straightPath[(*straightPathCount)*3], pos); - if (straightPathFlags) - straightPathFlags[(*straightPathCount)] = flags; - if (straightPathRefs) - straightPathRefs[(*straightPathCount)] = ref; - (*straightPathCount)++; - - // If there is no space to append more vertices, return. - if ((*straightPathCount) >= maxStraightPath) - { - return DT_SUCCESS | DT_BUFFER_TOO_SMALL; - } - - // If reached end of path, return. - if (flags == DT_STRAIGHTPATH_END) - { - return DT_SUCCESS; - } - } - return DT_IN_PROGRESS; -} - -dtStatus dtNavMeshQuery::appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath, const int options) const -{ - const float* startPos = &straightPath[(*straightPathCount-1)*3]; - // Append or update last vertex - dtStatus stat = 0; - for (int i = startIdx; i < endIdx; i++) - { - // Calculate portal - const dtPolyRef from = path[i]; - const dtMeshTile* fromTile = 0; - const dtPoly* fromPoly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly))) - return DT_FAILURE | DT_INVALID_PARAM; - - const dtPolyRef to = path[i+1]; - const dtMeshTile* toTile = 0; - const dtPoly* toPoly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(to, &toTile, &toPoly))) - return DT_FAILURE | DT_INVALID_PARAM; - - float left[3], right[3]; - if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right))) - break; - - if (options & DT_STRAIGHTPATH_AREA_CROSSINGS) - { - // Skip intersection if only area crossings are requested. - if (fromPoly->getArea() == toPoly->getArea()) - continue; - } - - // Append intersection - float s,t; - if (dtIntersectSegSeg2D(startPos, endPos, left, right, s, t)) - { - float pt[3]; - dtVlerp(pt, left,right, t); - - stat = appendVertex(pt, 0, path[i+1], - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - if (stat != DT_IN_PROGRESS) - return stat; - } - } - return DT_IN_PROGRESS; -} - -/// @par -/// -/// This method peforms what is often called 'string pulling'. -/// -/// The start position is clamped to the first polygon in the path, and the -/// end position is clamped to the last. So the start and end positions should -/// normally be within or very near the first and last polygons respectively. -/// -/// The returned polygon references represent the reference id of the polygon -/// that is entered at the associated path position. The reference id associated -/// with the end point will always be zero. This allows, for example, matching -/// off-mesh link points to their representative polygons. -/// -/// If the provided result buffers are too small for the entire result set, -/// they will be filled as far as possible from the start toward the end -/// position. -/// -dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* endPos, - const dtPolyRef* path, const int pathSize, - float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs, - int* straightPathCount, const int maxStraightPath, const int options) const -{ - dtAssert(m_nav); - - if (!straightPathCount) - return DT_FAILURE | DT_INVALID_PARAM; - - *straightPathCount = 0; - - if (!startPos || !dtVisfinite(startPos) || - !endPos || !dtVisfinite(endPos) || - !path || pathSize <= 0 || !path[0] || - maxStraightPath <= 0) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - dtStatus stat = 0; - - // TODO: Should this be callers responsibility? - float closestStartPos[3]; - if (dtStatusFailed(closestPointOnPolyBoundary(path[0], startPos, closestStartPos))) - return DT_FAILURE | DT_INVALID_PARAM; - - float closestEndPos[3]; - if (dtStatusFailed(closestPointOnPolyBoundary(path[pathSize-1], endPos, closestEndPos))) - return DT_FAILURE | DT_INVALID_PARAM; - - // Add start point. - stat = appendVertex(closestStartPos, DT_STRAIGHTPATH_START, path[0], - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - if (stat != DT_IN_PROGRESS) - return stat; - - if (pathSize > 1) - { - float portalApex[3], portalLeft[3], portalRight[3]; - dtVcopy(portalApex, closestStartPos); - dtVcopy(portalLeft, portalApex); - dtVcopy(portalRight, portalApex); - int apexIndex = 0; - int leftIndex = 0; - int rightIndex = 0; - - unsigned char leftPolyType = 0; - unsigned char rightPolyType = 0; - - dtPolyRef leftPolyRef = path[0]; - dtPolyRef rightPolyRef = path[0]; - - for (int i = 0; i < pathSize; ++i) - { - float left[3], right[3]; - unsigned char toType; - - if (i+1 < pathSize) - { - unsigned char fromType; // fromType is ignored. - - // Next portal. - if (dtStatusFailed(getPortalPoints(path[i], path[i+1], left, right, fromType, toType))) - { - // Failed to get portal points, in practice this means that path[i+1] is invalid polygon. - // Clamp the end point to path[i], and return the path so far. - - if (dtStatusFailed(closestPointOnPolyBoundary(path[i], endPos, closestEndPos))) - { - // This should only happen when the first polygon is invalid. - return DT_FAILURE | DT_INVALID_PARAM; - } - - // Apeend portals along the current straight path segment. - if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) - { - // Ignore status return value as we're just about to return anyway. - appendPortals(apexIndex, i, closestEndPos, path, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath, options); - } - - // Ignore status return value as we're just about to return anyway. - appendVertex(closestEndPos, 0, path[i], - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - - return DT_SUCCESS | DT_PARTIAL_RESULT | ((*straightPathCount >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0); - } - - // If starting really close the portal, advance. - if (i == 0) - { - float t; - if (dtDistancePtSegSqr2D(portalApex, left, right, t) < dtSqr(0.001f)) - continue; - } - } - else - { - // End of the path. - dtVcopy(left, closestEndPos); - dtVcopy(right, closestEndPos); - - toType = DT_POLYTYPE_GROUND; - } - - // Right vertex. - if (dtTriArea2D(portalApex, portalRight, right) <= 0.0f) - { - if (dtVequal(portalApex, portalRight) || dtTriArea2D(portalApex, portalLeft, right) > 0.0f) - { - dtVcopy(portalRight, right); - rightPolyRef = (i+1 < pathSize) ? path[i+1] : 0; - rightPolyType = toType; - rightIndex = i; - } - else - { - // Append portals along the current straight path segment. - if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) - { - stat = appendPortals(apexIndex, leftIndex, portalLeft, path, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath, options); - if (stat != DT_IN_PROGRESS) - return stat; - } - - dtVcopy(portalApex, portalLeft); - apexIndex = leftIndex; - - unsigned char flags = 0; - if (!leftPolyRef) - flags = DT_STRAIGHTPATH_END; - else if (leftPolyType == DT_POLYTYPE_OFFMESH_CONNECTION) - flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION; - dtPolyRef ref = leftPolyRef; - - // Append or update vertex - stat = appendVertex(portalApex, flags, ref, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - if (stat != DT_IN_PROGRESS) - return stat; - - dtVcopy(portalLeft, portalApex); - dtVcopy(portalRight, portalApex); - leftIndex = apexIndex; - rightIndex = apexIndex; - - // Restart - i = apexIndex; - - continue; - } - } - - // Left vertex. - if (dtTriArea2D(portalApex, portalLeft, left) >= 0.0f) - { - if (dtVequal(portalApex, portalLeft) || dtTriArea2D(portalApex, portalRight, left) < 0.0f) - { - dtVcopy(portalLeft, left); - leftPolyRef = (i+1 < pathSize) ? path[i+1] : 0; - leftPolyType = toType; - leftIndex = i; - } - else - { - // Append portals along the current straight path segment. - if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) - { - stat = appendPortals(apexIndex, rightIndex, portalRight, path, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath, options); - if (stat != DT_IN_PROGRESS) - return stat; - } - - dtVcopy(portalApex, portalRight); - apexIndex = rightIndex; - - unsigned char flags = 0; - if (!rightPolyRef) - flags = DT_STRAIGHTPATH_END; - else if (rightPolyType == DT_POLYTYPE_OFFMESH_CONNECTION) - flags = DT_STRAIGHTPATH_OFFMESH_CONNECTION; - dtPolyRef ref = rightPolyRef; - - // Append or update vertex - stat = appendVertex(portalApex, flags, ref, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - if (stat != DT_IN_PROGRESS) - return stat; - - dtVcopy(portalLeft, portalApex); - dtVcopy(portalRight, portalApex); - leftIndex = apexIndex; - rightIndex = apexIndex; - - // Restart - i = apexIndex; - - continue; - } - } - } - - // Append portals along the current straight path segment. - if (options & (DT_STRAIGHTPATH_AREA_CROSSINGS | DT_STRAIGHTPATH_ALL_CROSSINGS)) - { - stat = appendPortals(apexIndex, pathSize-1, closestEndPos, path, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath, options); - if (stat != DT_IN_PROGRESS) - return stat; - } - } - - // Ignore status return value as we're just about to return anyway. - appendVertex(closestEndPos, DT_STRAIGHTPATH_END, 0, - straightPath, straightPathFlags, straightPathRefs, - straightPathCount, maxStraightPath); - - return DT_SUCCESS | ((*straightPathCount >= maxStraightPath) ? DT_BUFFER_TOO_SMALL : 0); -} - -/// @par -/// -/// This method is optimized for small delta movement and a small number of -/// polygons. If used for too great a distance, the result set will form an -/// incomplete path. -/// -/// @p resultPos will equal the @p endPos if the end is reached. -/// Otherwise the closest reachable position will be returned. -/// -/// @p resultPos is not projected onto the surface of the navigation -/// mesh. Use #getPolyHeight if this is needed. -/// -/// This method treats the end position in the same manner as -/// the #raycast method. (As a 2D point.) See that method's documentation -/// for details. -/// -/// If the @p visited array is too small to hold the entire result set, it will -/// be filled as far as possible from the start position toward the end -/// position. -/// -dtStatus dtNavMeshQuery::moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, - float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const -{ - dtAssert(m_nav); - dtAssert(m_tinyNodePool); - - if (!visitedCount) - return DT_FAILURE | DT_INVALID_PARAM; - - *visitedCount = 0; - - if (!m_nav->isValidPolyRef(startRef) || - !startPos || !dtVisfinite(startPos) || - !endPos || !dtVisfinite(endPos) || - !filter || !resultPos || !visited || - maxVisitedSize <= 0) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - dtStatus status = DT_SUCCESS; - - static const int MAX_STACK = 48; - dtNode* stack[MAX_STACK]; - int nstack = 0; - - m_tinyNodePool->clear(); - - dtNode* startNode = m_tinyNodePool->getNode(startRef); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_CLOSED; - stack[nstack++] = startNode; - - float bestPos[3]; - float bestDist = FLT_MAX; - dtNode* bestNode = 0; - dtVcopy(bestPos, startPos); - - // Search constraints - float searchPos[3], searchRadSqr; - dtVlerp(searchPos, startPos, endPos, 0.5f); - searchRadSqr = dtSqr(dtVdist(startPos, endPos)/2.0f + 0.001f); - - float verts[DT_VERTS_PER_POLYGON*3]; - - while (nstack) - { - // Pop front. - dtNode* curNode = stack[0]; - for (int i = 0; i < nstack-1; ++i) - stack[i] = stack[i+1]; - nstack--; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef curRef = curNode->id; - const dtMeshTile* curTile = 0; - const dtPoly* curPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(curRef, &curTile, &curPoly); - - // Collect vertices. - const int nverts = curPoly->vertCount; - for (int i = 0; i < nverts; ++i) - dtVcopy(&verts[i*3], &curTile->verts[curPoly->verts[i]*3]); - - // If target is inside the poly, stop search. - if (dtPointInPolygon(endPos, verts, nverts)) - { - bestNode = curNode; - dtVcopy(bestPos, endPos); - break; - } - - // Find wall edges and find nearest point inside the walls. - for (int i = 0, j = (int)curPoly->vertCount-1; i < (int)curPoly->vertCount; j = i++) - { - // Find links to neighbours. - static const int MAX_NEIS = 8; - int nneis = 0; - dtPolyRef neis[MAX_NEIS]; - - if (curPoly->neis[j] & DT_EXT_LINK) - { - // Tile border. - for (unsigned int k = curPoly->firstLink; k != DT_NULL_LINK; k = curTile->links[k].next) - { - const dtLink* link = &curTile->links[k]; - if (link->edge == j) - { - if (link->ref != 0) - { - const dtMeshTile* neiTile = 0; - const dtPoly* neiPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly); - if (filter->passFilter(link->ref, neiTile, neiPoly)) - { - if (nneis < MAX_NEIS) - neis[nneis++] = link->ref; - } - } - } - } - } - else if (curPoly->neis[j]) - { - const unsigned int idx = (unsigned int)(curPoly->neis[j]-1); - const dtPolyRef ref = m_nav->getPolyRefBase(curTile) | idx; - if (filter->passFilter(ref, curTile, &curTile->polys[idx])) - { - // Internal edge, encode id. - neis[nneis++] = ref; - } - } - - if (!nneis) - { - // Wall edge, calc distance. - const float* vj = &verts[j*3]; - const float* vi = &verts[i*3]; - float tseg; - const float distSqr = dtDistancePtSegSqr2D(endPos, vj, vi, tseg); - if (distSqr < bestDist) - { - // Update nearest distance. - dtVlerp(bestPos, vj,vi, tseg); - bestDist = distSqr; - bestNode = curNode; - } - } - else - { - for (int k = 0; k < nneis; ++k) - { - // Skip if no node can be allocated. - dtNode* neighbourNode = m_tinyNodePool->getNode(neis[k]); - if (!neighbourNode) - continue; - // Skip if already visited. - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Skip the link if it is too far from search constraint. - // TODO: Maybe should use getPortalPoints(), but this one is way faster. - const float* vj = &verts[j*3]; - const float* vi = &verts[i*3]; - float tseg; - float distSqr = dtDistancePtSegSqr2D(searchPos, vj, vi, tseg); - if (distSqr > searchRadSqr) - continue; - - // Mark as the node as visited and push to queue. - if (nstack < MAX_STACK) - { - neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode); - neighbourNode->flags |= DT_NODE_CLOSED; - stack[nstack++] = neighbourNode; - } - } - } - } - } - - int n = 0; - if (bestNode) - { - // Reverse the path. - dtNode* prev = 0; - dtNode* node = bestNode; - do - { - dtNode* next = m_tinyNodePool->getNodeAtIdx(node->pidx); - node->pidx = m_tinyNodePool->getNodeIdx(prev); - prev = node; - node = next; - } - while (node); - - // Store result - node = prev; - do - { - visited[n++] = node->id; - if (n >= maxVisitedSize) - { - status |= DT_BUFFER_TOO_SMALL; - break; - } - node = m_tinyNodePool->getNodeAtIdx(node->pidx); - } - while (node); - } - - dtVcopy(resultPos, bestPos); - - *visitedCount = n; - - return status; -} - - -dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right, - unsigned char& fromType, unsigned char& toType) const -{ - dtAssert(m_nav); - - const dtMeshTile* fromTile = 0; - const dtPoly* fromPoly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(from, &fromTile, &fromPoly))) - return DT_FAILURE | DT_INVALID_PARAM; - fromType = fromPoly->getType(); - - const dtMeshTile* toTile = 0; - const dtPoly* toPoly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(to, &toTile, &toPoly))) - return DT_FAILURE | DT_INVALID_PARAM; - toType = toPoly->getType(); - - return getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right); -} - -// Returns portal points between two polygons. -dtStatus dtNavMeshQuery::getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, - dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, - float* left, float* right) const -{ - // Find the link that points to the 'to' polygon. - const dtLink* link = 0; - for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next) - { - if (fromTile->links[i].ref == to) - { - link = &fromTile->links[i]; - break; - } - } - if (!link) - return DT_FAILURE | DT_INVALID_PARAM; - - // Handle off-mesh connections. - if (fromPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - // Find link that points to first vertex. - for (unsigned int i = fromPoly->firstLink; i != DT_NULL_LINK; i = fromTile->links[i].next) - { - if (fromTile->links[i].ref == to) - { - const int v = fromTile->links[i].edge; - dtVcopy(left, &fromTile->verts[fromPoly->verts[v]*3]); - dtVcopy(right, &fromTile->verts[fromPoly->verts[v]*3]); - return DT_SUCCESS; - } - } - return DT_FAILURE | DT_INVALID_PARAM; - } - - if (toPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - { - for (unsigned int i = toPoly->firstLink; i != DT_NULL_LINK; i = toTile->links[i].next) - { - if (toTile->links[i].ref == from) - { - const int v = toTile->links[i].edge; - dtVcopy(left, &toTile->verts[toPoly->verts[v]*3]); - dtVcopy(right, &toTile->verts[toPoly->verts[v]*3]); - return DT_SUCCESS; - } - } - return DT_FAILURE | DT_INVALID_PARAM; - } - - // Find portal vertices. - const int v0 = fromPoly->verts[link->edge]; - const int v1 = fromPoly->verts[(link->edge+1) % (int)fromPoly->vertCount]; - dtVcopy(left, &fromTile->verts[v0*3]); - dtVcopy(right, &fromTile->verts[v1*3]); - - // If the link is at tile boundary, dtClamp the vertices to - // the link width. - if (link->side != 0xff) - { - // Unpack portal limits. - if (link->bmin != 0 || link->bmax != 255) - { - const float s = 1.0f/255.0f; - const float tmin = link->bmin*s; - const float tmax = link->bmax*s; - dtVlerp(left, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmin); - dtVlerp(right, &fromTile->verts[v0*3], &fromTile->verts[v1*3], tmax); - } - } - - return DT_SUCCESS; -} - -// Returns edge mid point between two polygons. -dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const -{ - float left[3], right[3]; - unsigned char fromType, toType; - if (dtStatusFailed(getPortalPoints(from, to, left,right, fromType, toType))) - return DT_FAILURE | DT_INVALID_PARAM; - mid[0] = (left[0]+right[0])*0.5f; - mid[1] = (left[1]+right[1])*0.5f; - mid[2] = (left[2]+right[2])*0.5f; - return DT_SUCCESS; -} - -dtStatus dtNavMeshQuery::getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile, - dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile, - float* mid) const -{ - float left[3], right[3]; - if (dtStatusFailed(getPortalPoints(from, fromPoly, fromTile, to, toPoly, toTile, left, right))) - return DT_FAILURE | DT_INVALID_PARAM; - mid[0] = (left[0]+right[0])*0.5f; - mid[1] = (left[1]+right[1])*0.5f; - mid[2] = (left[2]+right[2])*0.5f; - return DT_SUCCESS; -} - - - -/// @par -/// -/// This method is meant to be used for quick, short distance checks. -/// -/// If the path array is too small to hold the result, it will be filled as -/// far as possible from the start postion toward the end position. -/// -/// Using the Hit Parameter (t) -/// -/// If the hit parameter is a very high value (FLT_MAX), then the ray has hit -/// the end position. In this case the path represents a valid corridor to the -/// end position and the value of @p hitNormal is undefined. -/// -/// If the hit parameter is zero, then the start position is on the wall that -/// was hit and the value of @p hitNormal is undefined. -/// -/// If 0 < t < 1.0 then the following applies: -/// -/// @code -/// distanceToHitBorder = distanceToEndPosition * t -/// hitPoint = startPos + (endPos - startPos) * t -/// @endcode -/// -/// Use Case Restriction -/// -/// The raycast ignores the y-value of the end position. (2D check.) This -/// places significant limits on how it can be used. For example: -/// -/// Consider a scene where there is a main floor with a second floor balcony -/// that hangs over the main floor. So the first floor mesh extends below the -/// balcony mesh. The start position is somewhere on the first floor. The end -/// position is on the balcony. -/// -/// The raycast will search toward the end position along the first floor mesh. -/// If it reaches the end position's xz-coordinates it will indicate FLT_MAX -/// (no wall hit), meaning it reached the end position. This is one example of why -/// this method is meant for short distance checks. -/// -dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, - float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const -{ - dtRaycastHit hit; - hit.path = path; - hit.maxPath = maxPath; - - dtStatus status = raycast(startRef, startPos, endPos, filter, 0, &hit); - - *t = hit.t; - if (hitNormal) - dtVcopy(hitNormal, hit.hitNormal); - if (pathCount) - *pathCount = hit.pathCount; - - return status; -} - - -/// @par -/// -/// This method is meant to be used for quick, short distance checks. -/// -/// If the path array is too small to hold the result, it will be filled as -/// far as possible from the start postion toward the end position. -/// -/// Using the Hit Parameter t of RaycastHit -/// -/// If the hit parameter is a very high value (FLT_MAX), then the ray has hit -/// the end position. In this case the path represents a valid corridor to the -/// end position and the value of @p hitNormal is undefined. -/// -/// If the hit parameter is zero, then the start position is on the wall that -/// was hit and the value of @p hitNormal is undefined. -/// -/// If 0 < t < 1.0 then the following applies: -/// -/// @code -/// distanceToHitBorder = distanceToEndPosition * t -/// hitPoint = startPos + (endPos - startPos) * t -/// @endcode -/// -/// Use Case Restriction -/// -/// The raycast ignores the y-value of the end position. (2D check.) This -/// places significant limits on how it can be used. For example: -/// -/// Consider a scene where there is a main floor with a second floor balcony -/// that hangs over the main floor. So the first floor mesh extends below the -/// balcony mesh. The start position is somewhere on the first floor. The end -/// position is on the balcony. -/// -/// The raycast will search toward the end position along the first floor mesh. -/// If it reaches the end position's xz-coordinates it will indicate FLT_MAX -/// (no wall hit), meaning it reached the end position. This is one example of why -/// this method is meant for short distance checks. -/// -dtStatus dtNavMeshQuery::raycast(dtPolyRef startRef, const float* startPos, const float* endPos, - const dtQueryFilter* filter, const unsigned int options, - dtRaycastHit* hit, dtPolyRef prevRef) const -{ - dtAssert(m_nav); - - if (!hit) - return DT_FAILURE | DT_INVALID_PARAM; - - hit->t = 0; - hit->pathCount = 0; - hit->pathCost = 0; - - // Validate input - if (!m_nav->isValidPolyRef(startRef) || - !startPos || !dtVisfinite(startPos) || - !endPos || !dtVisfinite(endPos) || - !filter || - (prevRef && !m_nav->isValidPolyRef(prevRef))) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - float dir[3], curPos[3], lastPos[3]; - float verts[DT_VERTS_PER_POLYGON*3+3]; - int n = 0; - - dtVcopy(curPos, startPos); - dtVsub(dir, endPos, startPos); - dtVset(hit->hitNormal, 0, 0, 0); - - dtStatus status = DT_SUCCESS; - - const dtMeshTile* prevTile, *tile, *nextTile; - const dtPoly* prevPoly, *poly, *nextPoly; - dtPolyRef curRef; - - // The API input has been checked already, skip checking internal data. - curRef = startRef; - tile = 0; - poly = 0; - m_nav->getTileAndPolyByRefUnsafe(curRef, &tile, &poly); - nextTile = prevTile = tile; - nextPoly = prevPoly = poly; - if (prevRef) - m_nav->getTileAndPolyByRefUnsafe(prevRef, &prevTile, &prevPoly); - - while (curRef) - { - // Cast ray against current polygon. - - // Collect vertices. - int nv = 0; - for (int i = 0; i < (int)poly->vertCount; ++i) - { - dtVcopy(&verts[nv*3], &tile->verts[poly->verts[i]*3]); - nv++; - } - - float tmin, tmax; - int segMin, segMax; - if (!dtIntersectSegmentPoly2D(startPos, endPos, verts, nv, tmin, tmax, segMin, segMax)) - { - // Could not hit the polygon, keep the old t and report hit. - hit->pathCount = n; - return status; - } - - hit->hitEdgeIndex = segMax; - - // Keep track of furthest t so far. - if (tmax > hit->t) - hit->t = tmax; - - // Store visited polygons. - if (n < hit->maxPath) - hit->path[n++] = curRef; - else - status |= DT_BUFFER_TOO_SMALL; - - // Ray end is completely inside the polygon. - if (segMax == -1) - { - hit->t = FLT_MAX; - hit->pathCount = n; - - // add the cost - if (options & DT_RAYCAST_USE_COSTS) - hit->pathCost += filter->getCost(curPos, endPos, prevRef, prevTile, prevPoly, curRef, tile, poly, curRef, tile, poly); - return status; - } - - // Follow neighbours. - dtPolyRef nextRef = 0; - - for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next) - { - const dtLink* link = &tile->links[i]; - - // Find link which contains this edge. - if ((int)link->edge != segMax) - continue; - - // Get pointer to the next polygon. - nextTile = 0; - nextPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(link->ref, &nextTile, &nextPoly); - - // Skip off-mesh connections. - if (nextPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - - // Skip links based on filter. - if (!filter->passFilter(link->ref, nextTile, nextPoly)) - continue; - - // If the link is internal, just return the ref. - if (link->side == 0xff) - { - nextRef = link->ref; - break; - } - - // If the link is at tile boundary, - - // Check if the link spans the whole edge, and accept. - if (link->bmin == 0 && link->bmax == 255) - { - nextRef = link->ref; - break; - } - - // Check for partial edge links. - const int v0 = poly->verts[link->edge]; - const int v1 = poly->verts[(link->edge+1) % poly->vertCount]; - const float* left = &tile->verts[v0*3]; - const float* right = &tile->verts[v1*3]; - - // Check that the intersection lies inside the link portal. - if (link->side == 0 || link->side == 4) - { - // Calculate link size. - const float s = 1.0f/255.0f; - float lmin = left[2] + (right[2] - left[2])*(link->bmin*s); - float lmax = left[2] + (right[2] - left[2])*(link->bmax*s); - if (lmin > lmax) dtSwap(lmin, lmax); - - // Find Z intersection. - float z = startPos[2] + (endPos[2]-startPos[2])*tmax; - if (z >= lmin && z <= lmax) - { - nextRef = link->ref; - break; - } - } - else if (link->side == 2 || link->side == 6) - { - // Calculate link size. - const float s = 1.0f/255.0f; - float lmin = left[0] + (right[0] - left[0])*(link->bmin*s); - float lmax = left[0] + (right[0] - left[0])*(link->bmax*s); - if (lmin > lmax) dtSwap(lmin, lmax); - - // Find X intersection. - float x = startPos[0] + (endPos[0]-startPos[0])*tmax; - if (x >= lmin && x <= lmax) - { - nextRef = link->ref; - break; - } - } - } - - // add the cost - if (options & DT_RAYCAST_USE_COSTS) - { - // compute the intersection point at the furthest end of the polygon - // and correct the height (since the raycast moves in 2d) - dtVcopy(lastPos, curPos); - dtVmad(curPos, startPos, dir, hit->t); - float* e1 = &verts[segMax*3]; - float* e2 = &verts[((segMax+1)%nv)*3]; - float eDir[3], diff[3]; - dtVsub(eDir, e2, e1); - dtVsub(diff, curPos, e1); - float s = dtSqr(eDir[0]) > dtSqr(eDir[2]) ? diff[0] / eDir[0] : diff[2] / eDir[2]; - curPos[1] = e1[1] + eDir[1] * s; - - hit->pathCost += filter->getCost(lastPos, curPos, prevRef, prevTile, prevPoly, curRef, tile, poly, nextRef, nextTile, nextPoly); - } - - if (!nextRef) - { - // No neighbour, we hit a wall. - - // Calculate hit normal. - const int a = segMax; - const int b = segMax+1 < nv ? segMax+1 : 0; - const float* va = &verts[a*3]; - const float* vb = &verts[b*3]; - const float dx = vb[0] - va[0]; - const float dz = vb[2] - va[2]; - hit->hitNormal[0] = dz; - hit->hitNormal[1] = 0; - hit->hitNormal[2] = -dx; - dtVnormalize(hit->hitNormal); - - hit->pathCount = n; - return status; - } - - // No hit, advance to neighbour polygon. - prevRef = curRef; - curRef = nextRef; - prevTile = tile; - tile = nextTile; - prevPoly = poly; - poly = nextPoly; - } - - hit->pathCount = n; - - return status; -} - -/// @par -/// -/// At least one result array must be provided. -/// -/// The order of the result set is from least to highest cost to reach the polygon. -/// -/// A common use case for this method is to perform Dijkstra searches. -/// Candidate polygons are found by searching the graph beginning at the start polygon. -/// -/// If a polygon is not found via the graph search, even if it intersects the -/// search circle, it will not be included in the result set. For example: -/// -/// polyA is the start polygon. -/// polyB shares an edge with polyA. (Is adjacent.) -/// polyC shares an edge with polyB, but not with polyA -/// Even if the search circle overlaps polyC, it will not be included in the -/// result set unless polyB is also in the set. -/// -/// The value of the center point is used as the start position for cost -/// calculations. It is not projected onto the surface of the mesh, so its -/// y-value will effect the costs. -/// -/// Intersection tests occur in 2D. All polygons and the search circle are -/// projected onto the xz-plane. So the y-value of the center point does not -/// effect intersection tests. -/// -/// If the result arrays are to small to hold the entire result set, they will be -/// filled to capacity. -/// -dtStatus dtNavMeshQuery::findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, - int* resultCount, const int maxResult) const -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - if (!resultCount) - return DT_FAILURE | DT_INVALID_PARAM; - - *resultCount = 0; - - if (!m_nav->isValidPolyRef(startRef) || - !centerPos || !dtVisfinite(centerPos) || - radius < 0 || !dtMathIsfinite(radius) || - !filter || maxResult < 0) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, centerPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - dtStatus status = DT_SUCCESS; - - int n = 0; - - const float radiusSqr = dtSqr(radius); - - while (!m_openList->empty()) - { - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); - - // Get parent poly and tile. - dtPolyRef parentRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - if (bestNode->pidx) - parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; - if (parentRef) - m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); - - if (n < maxResult) - { - if (resultRef) - resultRef[n] = bestRef; - if (resultParent) - resultParent[n] = parentRef; - if (resultCost) - resultCost[n] = bestNode->total; - ++n; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - const dtLink* link = &bestTile->links[i]; - dtPolyRef neighbourRef = link->ref; - // Skip invalid neighbours and do not follow back to parent. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Expand to neighbour - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - // Do not advance if the polygon is excluded by the filter. - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // Find edge and calc distance to the edge. - float va[3], vb[3]; - if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) - continue; - - // If the circle is not touching the next polygon, skip it. - float tseg; - float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); - if (distSqr > radiusSqr) - continue; - - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); - if (!neighbourNode) - { - status |= DT_OUT_OF_NODES; - continue; - } - - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Cost - if (neighbourNode->flags == 0) - dtVlerp(neighbourNode->pos, va, vb, 0.5f); - - float cost = filter->getCost( - bestNode->pos, neighbourNode->pos, - parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly); - - const float total = bestNode->total + cost; - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - - neighbourNode->id = neighbourRef; - neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); - neighbourNode->total = total; - - if (neighbourNode->flags & DT_NODE_OPEN) - { - m_openList->modify(neighbourNode); - } - else - { - neighbourNode->flags = DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - } - } - - *resultCount = n; - - return status; -} - -/// @par -/// -/// The order of the result set is from least to highest cost. -/// -/// At least one result array must be provided. -/// -/// A common use case for this method is to perform Dijkstra searches. -/// Candidate polygons are found by searching the graph beginning at the start -/// polygon. -/// -/// The same intersection test restrictions that apply to findPolysAroundCircle() -/// method apply to this method. -/// -/// The 3D centroid of the search polygon is used as the start position for cost -/// calculations. -/// -/// Intersection tests occur in 2D. All polygons are projected onto the -/// xz-plane. So the y-values of the vertices do not effect intersection tests. -/// -/// If the result arrays are is too small to hold the entire result set, they will -/// be filled to capacity. -/// -dtStatus dtNavMeshQuery::findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost, - int* resultCount, const int maxResult) const -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - if (!resultCount) - return DT_FAILURE | DT_INVALID_PARAM; - - *resultCount = 0; - - if (!m_nav->isValidPolyRef(startRef) || - !verts || nverts < 3 || - !filter || maxResult < 0) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - // Validate input - if (!startRef || !m_nav->isValidPolyRef(startRef)) - return DT_FAILURE | DT_INVALID_PARAM; - - m_nodePool->clear(); - m_openList->clear(); - - float centerPos[3] = {0,0,0}; - for (int i = 0; i < nverts; ++i) - dtVadd(centerPos,centerPos,&verts[i*3]); - dtVscale(centerPos,centerPos,1.0f/nverts); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, centerPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - dtStatus status = DT_SUCCESS; - - int n = 0; - - while (!m_openList->empty()) - { - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); - - // Get parent poly and tile. - dtPolyRef parentRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - if (bestNode->pidx) - parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; - if (parentRef) - m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); - - if (n < maxResult) - { - if (resultRef) - resultRef[n] = bestRef; - if (resultParent) - resultParent[n] = parentRef; - if (resultCost) - resultCost[n] = bestNode->total; - - ++n; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - const dtLink* link = &bestTile->links[i]; - dtPolyRef neighbourRef = link->ref; - // Skip invalid neighbours and do not follow back to parent. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Expand to neighbour - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - // Do not advance if the polygon is excluded by the filter. - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // Find edge and calc distance to the edge. - float va[3], vb[3]; - if (!getPortalPoints(bestRef, bestPoly, bestTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) - continue; - - // If the poly is not touching the edge to the next polygon, skip the connection it. - float tmin, tmax; - int segMin, segMax; - if (!dtIntersectSegmentPoly2D(va, vb, verts, nverts, tmin, tmax, segMin, segMax)) - continue; - if (tmin > 1.0f || tmax < 0.0f) - continue; - - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); - if (!neighbourNode) - { - status |= DT_OUT_OF_NODES; - continue; - } - - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Cost - if (neighbourNode->flags == 0) - dtVlerp(neighbourNode->pos, va, vb, 0.5f); - - float cost = filter->getCost( - bestNode->pos, neighbourNode->pos, - parentRef, parentTile, parentPoly, - bestRef, bestTile, bestPoly, - neighbourRef, neighbourTile, neighbourPoly); - - const float total = bestNode->total + cost; - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - - neighbourNode->id = neighbourRef; - neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); - neighbourNode->total = total; - - if (neighbourNode->flags & DT_NODE_OPEN) - { - m_openList->modify(neighbourNode); - } - else - { - neighbourNode->flags = DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - } - } - - *resultCount = n; - - return status; -} - -dtStatus dtNavMeshQuery::getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef* path, int* pathCount, int maxPath) const -{ - if (!m_nav->isValidPolyRef(endRef) || !path || !pathCount || maxPath < 0) - return DT_FAILURE | DT_INVALID_PARAM; - - *pathCount = 0; - - dtNode* endNode; - if (m_nodePool->findNodes(endRef, &endNode, 1) != 1 || - (endNode->flags & DT_NODE_CLOSED) == 0) - return DT_FAILURE | DT_INVALID_PARAM; - - return getPathToNode(endNode, path, pathCount, maxPath); -} - -/// @par -/// -/// This method is optimized for a small search radius and small number of result -/// polygons. -/// -/// Candidate polygons are found by searching the navigation graph beginning at -/// the start polygon. -/// -/// The same intersection test restrictions that apply to the findPolysAroundCircle -/// mehtod applies to this method. -/// -/// The value of the center point is used as the start point for cost calculations. -/// It is not projected onto the surface of the mesh, so its y-value will effect -/// the costs. -/// -/// Intersection tests occur in 2D. All polygons and the search circle are -/// projected onto the xz-plane. So the y-value of the center point does not -/// effect intersection tests. -/// -/// If the result arrays are is too small to hold the entire result set, they will -/// be filled to capacity. -/// -dtStatus dtNavMeshQuery::findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius, - const dtQueryFilter* filter, - dtPolyRef* resultRef, dtPolyRef* resultParent, - int* resultCount, const int maxResult) const -{ - dtAssert(m_nav); - dtAssert(m_tinyNodePool); - - if (!resultCount) - return DT_FAILURE | DT_INVALID_PARAM; - - *resultCount = 0; - - if (!m_nav->isValidPolyRef(startRef) || - !centerPos || !dtVisfinite(centerPos) || - radius < 0 || !dtMathIsfinite(radius) || - !filter || maxResult < 0) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - static const int MAX_STACK = 48; - dtNode* stack[MAX_STACK]; - int nstack = 0; - - m_tinyNodePool->clear(); - - dtNode* startNode = m_tinyNodePool->getNode(startRef); - startNode->pidx = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_CLOSED; - stack[nstack++] = startNode; - - const float radiusSqr = dtSqr(radius); - - float pa[DT_VERTS_PER_POLYGON*3]; - float pb[DT_VERTS_PER_POLYGON*3]; - - dtStatus status = DT_SUCCESS; - - int n = 0; - if (n < maxResult) - { - resultRef[n] = startNode->id; - if (resultParent) - resultParent[n] = 0; - ++n; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - - while (nstack) - { - // Pop front. - dtNode* curNode = stack[0]; - for (int i = 0; i < nstack-1; ++i) - stack[i] = stack[i+1]; - nstack--; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef curRef = curNode->id; - const dtMeshTile* curTile = 0; - const dtPoly* curPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(curRef, &curTile, &curPoly); - - for (unsigned int i = curPoly->firstLink; i != DT_NULL_LINK; i = curTile->links[i].next) - { - const dtLink* link = &curTile->links[i]; - dtPolyRef neighbourRef = link->ref; - // Skip invalid neighbours. - if (!neighbourRef) - continue; - - // Skip if cannot alloca more nodes. - dtNode* neighbourNode = m_tinyNodePool->getNode(neighbourRef); - if (!neighbourNode) - continue; - // Skip visited. - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Expand to neighbour - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - // Skip off-mesh connections. - if (neighbourPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - - // Do not advance if the polygon is excluded by the filter. - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - // Find edge and calc distance to the edge. - float va[3], vb[3]; - if (!getPortalPoints(curRef, curPoly, curTile, neighbourRef, neighbourPoly, neighbourTile, va, vb)) - continue; - - // If the circle is not touching the next polygon, skip it. - float tseg; - float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); - if (distSqr > radiusSqr) - continue; - - // Mark node visited, this is done before the overlap test so that - // we will not visit the poly again if the test fails. - neighbourNode->flags |= DT_NODE_CLOSED; - neighbourNode->pidx = m_tinyNodePool->getNodeIdx(curNode); - - // Check that the polygon does not collide with existing polygons. - - // Collect vertices of the neighbour poly. - const int npa = neighbourPoly->vertCount; - for (int k = 0; k < npa; ++k) - dtVcopy(&pa[k*3], &neighbourTile->verts[neighbourPoly->verts[k]*3]); - - bool overlap = false; - for (int j = 0; j < n; ++j) - { - dtPolyRef pastRef = resultRef[j]; - - // Connected polys do not overlap. - bool connected = false; - for (unsigned int k = curPoly->firstLink; k != DT_NULL_LINK; k = curTile->links[k].next) - { - if (curTile->links[k].ref == pastRef) - { - connected = true; - break; - } - } - if (connected) - continue; - - // Potentially overlapping. - const dtMeshTile* pastTile = 0; - const dtPoly* pastPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(pastRef, &pastTile, &pastPoly); - - // Get vertices and test overlap - const int npb = pastPoly->vertCount; - for (int k = 0; k < npb; ++k) - dtVcopy(&pb[k*3], &pastTile->verts[pastPoly->verts[k]*3]); - - if (dtOverlapPolyPoly2D(pa,npa, pb,npb)) - { - overlap = true; - break; - } - } - if (overlap) - continue; - - // This poly is fine, store and advance to the poly. - if (n < maxResult) - { - resultRef[n] = neighbourRef; - if (resultParent) - resultParent[n] = curRef; - ++n; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - - if (nstack < MAX_STACK) - { - stack[nstack++] = neighbourNode; - } - } - } - - *resultCount = n; - - return status; -} - - -struct dtSegInterval -{ - dtPolyRef ref; - short tmin, tmax; -}; - -static void insertInterval(dtSegInterval* ints, int& nints, const int maxInts, - const short tmin, const short tmax, const dtPolyRef ref) -{ - if (nints+1 > maxInts) return; - // Find insertion point. - int idx = 0; - while (idx < nints) - { - if (tmax <= ints[idx].tmin) - break; - idx++; - } - // Move current results. - if (nints-idx) - memmove(ints+idx+1, ints+idx, sizeof(dtSegInterval)*(nints-idx)); - // Store - ints[idx].ref = ref; - ints[idx].tmin = tmin; - ints[idx].tmax = tmax; - nints++; -} - -/// @par -/// -/// If the @p segmentRefs parameter is provided, then all polygon segments will be returned. -/// Otherwise only the wall segments are returned. -/// -/// A segment that is normally a portal will be included in the result set as a -/// wall if the @p filter results in the neighbor polygon becoomming impassable. -/// -/// The @p segmentVerts and @p segmentRefs buffers should normally be sized for the -/// maximum segments per polygon of the source navigation mesh. -/// -dtStatus dtNavMeshQuery::getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter, - float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount, - const int maxSegments) const -{ - dtAssert(m_nav); - - if (!segmentCount) - return DT_FAILURE | DT_INVALID_PARAM; - - *segmentCount = 0; - - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - if (dtStatusFailed(m_nav->getTileAndPolyByRef(ref, &tile, &poly))) - return DT_FAILURE | DT_INVALID_PARAM; - - if (!filter || !segmentVerts || maxSegments < 0) - return DT_FAILURE | DT_INVALID_PARAM; - - int n = 0; - static const int MAX_INTERVAL = 16; - dtSegInterval ints[MAX_INTERVAL]; - int nints; - - const bool storePortals = segmentRefs != 0; - - dtStatus status = DT_SUCCESS; - - for (int i = 0, j = (int)poly->vertCount-1; i < (int)poly->vertCount; j = i++) - { - // Skip non-solid edges. - nints = 0; - if (poly->neis[j] & DT_EXT_LINK) - { - // Tile border. - for (unsigned int k = poly->firstLink; k != DT_NULL_LINK; k = tile->links[k].next) - { - const dtLink* link = &tile->links[k]; - if (link->edge == j) - { - if (link->ref != 0) - { - const dtMeshTile* neiTile = 0; - const dtPoly* neiPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly); - if (filter->passFilter(link->ref, neiTile, neiPoly)) - { - insertInterval(ints, nints, MAX_INTERVAL, link->bmin, link->bmax, link->ref); - } - } - } - } - } - else - { - // Internal edge - dtPolyRef neiRef = 0; - if (poly->neis[j]) - { - const unsigned int idx = (unsigned int)(poly->neis[j]-1); - neiRef = m_nav->getPolyRefBase(tile) | idx; - if (!filter->passFilter(neiRef, tile, &tile->polys[idx])) - neiRef = 0; - } - - // If the edge leads to another polygon and portals are not stored, skip. - if (neiRef != 0 && !storePortals) - continue; - - if (n < maxSegments) - { - const float* vj = &tile->verts[poly->verts[j]*3]; - const float* vi = &tile->verts[poly->verts[i]*3]; - float* seg = &segmentVerts[n*6]; - dtVcopy(seg+0, vj); - dtVcopy(seg+3, vi); - if (segmentRefs) - segmentRefs[n] = neiRef; - n++; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - - continue; - } - - // Add sentinels - insertInterval(ints, nints, MAX_INTERVAL, -1, 0, 0); - insertInterval(ints, nints, MAX_INTERVAL, 255, 256, 0); - - // Store segments. - const float* vj = &tile->verts[poly->verts[j]*3]; - const float* vi = &tile->verts[poly->verts[i]*3]; - for (int k = 1; k < nints; ++k) - { - // Portal segment. - if (storePortals && ints[k].ref) - { - const float tmin = ints[k].tmin/255.0f; - const float tmax = ints[k].tmax/255.0f; - if (n < maxSegments) - { - float* seg = &segmentVerts[n*6]; - dtVlerp(seg+0, vj,vi, tmin); - dtVlerp(seg+3, vj,vi, tmax); - if (segmentRefs) - segmentRefs[n] = ints[k].ref; - n++; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - } - - // Wall segment. - const int imin = ints[k-1].tmax; - const int imax = ints[k].tmin; - if (imin != imax) - { - const float tmin = imin/255.0f; - const float tmax = imax/255.0f; - if (n < maxSegments) - { - float* seg = &segmentVerts[n*6]; - dtVlerp(seg+0, vj,vi, tmin); - dtVlerp(seg+3, vj,vi, tmax); - if (segmentRefs) - segmentRefs[n] = 0; - n++; - } - else - { - status |= DT_BUFFER_TOO_SMALL; - } - } - } - } - - *segmentCount = n; - - return status; -} - -/// @par -/// -/// @p hitPos is not adjusted using the height detail data. -/// -/// @p hitDist will equal the search radius if there is no wall within the -/// radius. In this case the values of @p hitPos and @p hitNormal are -/// undefined. -/// -/// The normal will become unpredicable if @p hitDist is a very small number. -/// -dtStatus dtNavMeshQuery::findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius, - const dtQueryFilter* filter, - float* hitDist, float* hitPos, float* hitNormal) const -{ - dtAssert(m_nav); - dtAssert(m_nodePool); - dtAssert(m_openList); - - // Validate input - if (!m_nav->isValidPolyRef(startRef) || - !centerPos || !dtVisfinite(centerPos) || - maxRadius < 0 || !dtMathIsfinite(maxRadius) || - !filter || !hitDist || !hitPos || !hitNormal) - { - return DT_FAILURE | DT_INVALID_PARAM; - } - - m_nodePool->clear(); - m_openList->clear(); - - dtNode* startNode = m_nodePool->getNode(startRef); - dtVcopy(startNode->pos, centerPos); - startNode->pidx = 0; - startNode->cost = 0; - startNode->total = 0; - startNode->id = startRef; - startNode->flags = DT_NODE_OPEN; - m_openList->push(startNode); - - float radiusSqr = dtSqr(maxRadius); - - dtStatus status = DT_SUCCESS; - - while (!m_openList->empty()) - { - dtNode* bestNode = m_openList->pop(); - bestNode->flags &= ~DT_NODE_OPEN; - bestNode->flags |= DT_NODE_CLOSED; - - // Get poly and tile. - // The API input has been cheked already, skip checking internal data. - const dtPolyRef bestRef = bestNode->id; - const dtMeshTile* bestTile = 0; - const dtPoly* bestPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(bestRef, &bestTile, &bestPoly); - - // Get parent poly and tile. - dtPolyRef parentRef = 0; - const dtMeshTile* parentTile = 0; - const dtPoly* parentPoly = 0; - if (bestNode->pidx) - parentRef = m_nodePool->getNodeAtIdx(bestNode->pidx)->id; - if (parentRef) - m_nav->getTileAndPolyByRefUnsafe(parentRef, &parentTile, &parentPoly); - - // Hit test walls. - for (int i = 0, j = (int)bestPoly->vertCount-1; i < (int)bestPoly->vertCount; j = i++) - { - // Skip non-solid edges. - if (bestPoly->neis[j] & DT_EXT_LINK) - { - // Tile border. - bool solid = true; - for (unsigned int k = bestPoly->firstLink; k != DT_NULL_LINK; k = bestTile->links[k].next) - { - const dtLink* link = &bestTile->links[k]; - if (link->edge == j) - { - if (link->ref != 0) - { - const dtMeshTile* neiTile = 0; - const dtPoly* neiPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(link->ref, &neiTile, &neiPoly); - if (filter->passFilter(link->ref, neiTile, neiPoly)) - solid = false; - } - break; - } - } - if (!solid) continue; - } - else if (bestPoly->neis[j]) - { - // Internal edge - const unsigned int idx = (unsigned int)(bestPoly->neis[j]-1); - const dtPolyRef ref = m_nav->getPolyRefBase(bestTile) | idx; - if (filter->passFilter(ref, bestTile, &bestTile->polys[idx])) - continue; - } - - // Calc distance to the edge. - const float* vj = &bestTile->verts[bestPoly->verts[j]*3]; - const float* vi = &bestTile->verts[bestPoly->verts[i]*3]; - float tseg; - float distSqr = dtDistancePtSegSqr2D(centerPos, vj, vi, tseg); - - // Edge is too far, skip. - if (distSqr > radiusSqr) - continue; - - // Hit wall, update radius. - radiusSqr = distSqr; - // Calculate hit pos. - hitPos[0] = vj[0] + (vi[0] - vj[0])*tseg; - hitPos[1] = vj[1] + (vi[1] - vj[1])*tseg; - hitPos[2] = vj[2] + (vi[2] - vj[2])*tseg; - } - - for (unsigned int i = bestPoly->firstLink; i != DT_NULL_LINK; i = bestTile->links[i].next) - { - const dtLink* link = &bestTile->links[i]; - dtPolyRef neighbourRef = link->ref; - // Skip invalid neighbours and do not follow back to parent. - if (!neighbourRef || neighbourRef == parentRef) - continue; - - // Expand to neighbour. - const dtMeshTile* neighbourTile = 0; - const dtPoly* neighbourPoly = 0; - m_nav->getTileAndPolyByRefUnsafe(neighbourRef, &neighbourTile, &neighbourPoly); - - // Skip off-mesh connections. - if (neighbourPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) - continue; - - // Calc distance to the edge. - const float* va = &bestTile->verts[bestPoly->verts[link->edge]*3]; - const float* vb = &bestTile->verts[bestPoly->verts[(link->edge+1) % bestPoly->vertCount]*3]; - float tseg; - float distSqr = dtDistancePtSegSqr2D(centerPos, va, vb, tseg); - - // If the circle is not touching the next polygon, skip it. - if (distSqr > radiusSqr) - continue; - - if (!filter->passFilter(neighbourRef, neighbourTile, neighbourPoly)) - continue; - - dtNode* neighbourNode = m_nodePool->getNode(neighbourRef); - if (!neighbourNode) - { - status |= DT_OUT_OF_NODES; - continue; - } - - if (neighbourNode->flags & DT_NODE_CLOSED) - continue; - - // Cost - if (neighbourNode->flags == 0) - { - getEdgeMidPoint(bestRef, bestPoly, bestTile, - neighbourRef, neighbourPoly, neighbourTile, neighbourNode->pos); - } - - const float total = bestNode->total + dtVdist(bestNode->pos, neighbourNode->pos); - - // The node is already in open list and the new result is worse, skip. - if ((neighbourNode->flags & DT_NODE_OPEN) && total >= neighbourNode->total) - continue; - - neighbourNode->id = neighbourRef; - neighbourNode->flags = (neighbourNode->flags & ~DT_NODE_CLOSED); - neighbourNode->pidx = m_nodePool->getNodeIdx(bestNode); - neighbourNode->total = total; - - if (neighbourNode->flags & DT_NODE_OPEN) - { - m_openList->modify(neighbourNode); - } - else - { - neighbourNode->flags |= DT_NODE_OPEN; - m_openList->push(neighbourNode); - } - } - } - - // Calc hit normal. - dtVsub(hitNormal, centerPos, hitPos); - dtVnormalize(hitNormal); - - *hitDist = dtMathSqrtf(radiusSqr); - - return status; -} - -bool dtNavMeshQuery::isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const -{ - const dtMeshTile* tile = 0; - const dtPoly* poly = 0; - dtStatus status = m_nav->getTileAndPolyByRef(ref, &tile, &poly); - // If cannot get polygon, assume it does not exists and boundary is invalid. - if (dtStatusFailed(status)) - return false; - // If cannot pass filter, assume flags has changed and boundary is invalid. - if (!filter->passFilter(ref, tile, poly)) - return false; - return true; -} - -/// @par -/// -/// The closed list is the list of polygons that were fully evaluated during -/// the last navigation graph search. (A* or Dijkstra) -/// -bool dtNavMeshQuery::isInClosedList(dtPolyRef ref) const -{ - if (!m_nodePool) return false; - - dtNode* nodes[DT_MAX_STATES_PER_NODE]; - int n= m_nodePool->findNodes(ref, nodes, DT_MAX_STATES_PER_NODE); - - for (int i=0; iflags & DT_NODE_CLOSED) - return true; - } - - return false; -} diff --git a/extern/recastnavigation/Detour/Source/DetourNode.cpp b/extern/recastnavigation/Detour/Source/DetourNode.cpp deleted file mode 100644 index 48abbba6b..000000000 --- a/extern/recastnavigation/Detour/Source/DetourNode.cpp +++ /dev/null @@ -1,200 +0,0 @@ -// -// 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. -// - -#include "DetourNode.h" -#include "DetourAlloc.h" -#include "DetourAssert.h" -#include "DetourCommon.h" -#include - -#ifdef DT_POLYREF64 -// From Thomas Wang, https://gist.github.com/badboy/6267743 -inline unsigned int dtHashRef(dtPolyRef a) -{ - a = (~a) + (a << 18); // a = (a << 18) - a - 1; - a = a ^ (a >> 31); - a = a * 21; // a = (a + (a << 2)) + (a << 4); - a = a ^ (a >> 11); - a = a + (a << 6); - a = a ^ (a >> 22); - return (unsigned int)a; -} -#else -inline unsigned int dtHashRef(dtPolyRef a) -{ - a += ~(a<<15); - a ^= (a>>10); - a += (a<<3); - a ^= (a>>6); - a += ~(a<<11); - a ^= (a>>16); - return (unsigned int)a; -} -#endif - -////////////////////////////////////////////////////////////////////////////////////////// -dtNodePool::dtNodePool(int maxNodes, int hashSize) : - m_nodes(0), - m_first(0), - m_next(0), - m_maxNodes(maxNodes), - m_hashSize(hashSize), - m_nodeCount(0) -{ - dtAssert(dtNextPow2(m_hashSize) == (unsigned int)m_hashSize); - // pidx is special as 0 means "none" and 1 is the first node. For that reason - // we have 1 fewer nodes available than the number of values it can contain. - dtAssert(m_maxNodes > 0 && m_maxNodes <= DT_NULL_IDX && m_maxNodes <= (1 << DT_NODE_PARENT_BITS) - 1); - - m_nodes = (dtNode*)dtAlloc(sizeof(dtNode)*m_maxNodes, DT_ALLOC_PERM); - m_next = (dtNodeIndex*)dtAlloc(sizeof(dtNodeIndex)*m_maxNodes, DT_ALLOC_PERM); - m_first = (dtNodeIndex*)dtAlloc(sizeof(dtNodeIndex)*hashSize, DT_ALLOC_PERM); - - dtAssert(m_nodes); - dtAssert(m_next); - dtAssert(m_first); - - memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize); - memset(m_next, 0xff, sizeof(dtNodeIndex)*m_maxNodes); -} - -dtNodePool::~dtNodePool() -{ - dtFree(m_nodes); - dtFree(m_next); - dtFree(m_first); -} - -void dtNodePool::clear() -{ - memset(m_first, 0xff, sizeof(dtNodeIndex)*m_hashSize); - m_nodeCount = 0; -} - -unsigned int dtNodePool::findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes) -{ - int n = 0; - unsigned int bucket = dtHashRef(id) & (m_hashSize-1); - dtNodeIndex i = m_first[bucket]; - while (i != DT_NULL_IDX) - { - if (m_nodes[i].id == id) - { - if (n >= maxNodes) - return n; - nodes[n++] = &m_nodes[i]; - } - i = m_next[i]; - } - - return n; -} - -dtNode* dtNodePool::findNode(dtPolyRef id, unsigned char state) -{ - unsigned int bucket = dtHashRef(id) & (m_hashSize-1); - dtNodeIndex i = m_first[bucket]; - while (i != DT_NULL_IDX) - { - if (m_nodes[i].id == id && m_nodes[i].state == state) - return &m_nodes[i]; - i = m_next[i]; - } - return 0; -} - -dtNode* dtNodePool::getNode(dtPolyRef id, unsigned char state) -{ - unsigned int bucket = dtHashRef(id) & (m_hashSize-1); - dtNodeIndex i = m_first[bucket]; - dtNode* node = 0; - while (i != DT_NULL_IDX) - { - if (m_nodes[i].id == id && m_nodes[i].state == state) - return &m_nodes[i]; - i = m_next[i]; - } - - if (m_nodeCount >= m_maxNodes) - return 0; - - i = (dtNodeIndex)m_nodeCount; - m_nodeCount++; - - // Init node - node = &m_nodes[i]; - node->pidx = 0; - node->cost = 0; - node->total = 0; - node->id = id; - node->state = state; - node->flags = 0; - - m_next[i] = m_first[bucket]; - m_first[bucket] = i; - - return node; -} - - -////////////////////////////////////////////////////////////////////////////////////////// -dtNodeQueue::dtNodeQueue(int n) : - m_heap(0), - m_capacity(n), - m_size(0) -{ - dtAssert(m_capacity > 0); - - m_heap = (dtNode**)dtAlloc(sizeof(dtNode*)*(m_capacity+1), DT_ALLOC_PERM); - dtAssert(m_heap); -} - -dtNodeQueue::~dtNodeQueue() -{ - dtFree(m_heap); -} - -void dtNodeQueue::bubbleUp(int i, dtNode* node) -{ - int parent = (i-1)/2; - // note: (index > 0) means there is a parent - while ((i > 0) && (m_heap[parent]->total > node->total)) - { - m_heap[i] = m_heap[parent]; - i = parent; - parent = (i-1)/2; - } - m_heap[i] = node; -} - -void dtNodeQueue::trickleDown(int i, dtNode* node) -{ - int child = (i*2)+1; - while (child < m_size) - { - if (((child+1) < m_size) && - (m_heap[child]->total > m_heap[child+1]->total)) - { - child++; - } - m_heap[i] = m_heap[child]; - i = child; - child = (i*2)+1; - } - bubbleUp(i, node); -} diff --git a/extern/recastnavigation/DetourCrowd/CMakeLists.txt b/extern/recastnavigation/DetourCrowd/CMakeLists.txt deleted file mode 100644 index d0e186be0..000000000 --- a/extern/recastnavigation/DetourCrowd/CMakeLists.txt +++ /dev/null @@ -1,34 +0,0 @@ -file(GLOB SOURCES Source/*.cpp) -add_library(DetourCrowd ${SOURCES}) - -add_library(RecastNavigation::DetourCrowd ALIAS DetourCrowd) -set_target_properties(DetourCrowd PROPERTIES DEBUG_POSTFIX -d) - -set(DetourCrowd_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Include") - -target_include_directories(DetourCrowd PUBLIC - "$" -) - -target_link_libraries(DetourCrowd - Detour -) - -set_target_properties(DetourCrowd PROPERTIES - SOVERSION ${SOVERSION} - VERSION ${VERSION} - COMPILE_PDB_OUTPUT_DIRECTORY . - COMPILE_PDB_NAME "DetourCrowd-d" - ) - -install(TARGETS DetourCrowd - RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} - ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} - LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} - COMPONENT library - ) - -file(GLOB INCLUDES Include/*.h) -install(FILES ${INCLUDES} DESTINATION - ${CMAKE_INSTALL_INCLUDEDIR}/recastnavigation) -install(FILES "$/DetourCrowd-d.pdb" CONFIGURATIONS "Debug" DESTINATION "lib") diff --git a/extern/recastnavigation/DetourCrowd/Include/DetourCrowd.h b/extern/recastnavigation/DetourCrowd/Include/DetourCrowd.h deleted file mode 100644 index 952050878..000000000 --- a/extern/recastnavigation/DetourCrowd/Include/DetourCrowd.h +++ /dev/null @@ -1,460 +0,0 @@ -// -// 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 DETOURCROWD_H -#define DETOURCROWD_H - -#include "DetourNavMeshQuery.h" -#include "DetourObstacleAvoidance.h" -#include "DetourLocalBoundary.h" -#include "DetourPathCorridor.h" -#include "DetourProximityGrid.h" -#include "DetourPathQueue.h" - -/// The maximum number of neighbors that a crowd agent can take into account -/// for steering decisions. -/// @ingroup crowd -static const int DT_CROWDAGENT_MAX_NEIGHBOURS = 6; - -/// The maximum number of corners a crowd agent will look ahead in the path. -/// This value is used for sizing the crowd agent corner buffers. -/// Due to the behavior of the crowd manager, the actual number of useful -/// corners will be one less than this number. -/// @ingroup crowd -static const int DT_CROWDAGENT_MAX_CORNERS = 4; - -/// The maximum number of crowd avoidance configurations supported by the -/// crowd manager. -/// @ingroup crowd -/// @see dtObstacleAvoidanceParams, dtCrowd::setObstacleAvoidanceParams(), dtCrowd::getObstacleAvoidanceParams(), -/// dtCrowdAgentParams::obstacleAvoidanceType -static const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8; - -/// The maximum number of query filter types supported by the crowd manager. -/// @ingroup crowd -/// @see dtQueryFilter, dtCrowd::getFilter() dtCrowd::getEditableFilter(), -/// dtCrowdAgentParams::queryFilterType -static const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16; - -/// Provides neighbor data for agents managed by the crowd. -/// @ingroup crowd -/// @see dtCrowdAgent::neis, dtCrowd -struct dtCrowdNeighbour -{ - int idx; ///< The index of the neighbor in the crowd. - float dist; ///< The distance between the current agent and the neighbor. -}; - -/// The type of navigation mesh polygon the agent is currently traversing. -/// @ingroup crowd -enum CrowdAgentState -{ - DT_CROWDAGENT_STATE_INVALID, ///< The agent is not in a valid state. - DT_CROWDAGENT_STATE_WALKING, ///< The agent is traversing a normal navigation mesh polygon. - DT_CROWDAGENT_STATE_OFFMESH, ///< The agent is traversing an off-mesh connection. -}; - -/// Configuration parameters for a crowd agent. -/// @ingroup crowd -struct dtCrowdAgentParams -{ - float radius; ///< Agent radius. [Limit: >= 0] - float height; ///< Agent height. [Limit: > 0] - float maxAcceleration; ///< Maximum allowed acceleration. [Limit: >= 0] - float maxSpeed; ///< Maximum allowed speed. [Limit: >= 0] - - /// Defines how close a collision element must be before it is considered for steering behaviors. [Limits: > 0] - float collisionQueryRange; - - float pathOptimizationRange; ///< The path visibility optimization range. [Limit: > 0] - - /// How aggresive the agent manager should be at avoiding collisions with this agent. [Limit: >= 0] - float separationWeight; - - /// Flags that impact steering behavior. (See: #UpdateFlags) - unsigned char updateFlags; - - /// The index of the avoidance configuration to use for the agent. - /// [Limits: 0 <= value <= #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS] - unsigned char obstacleAvoidanceType; - - /// The index of the query filter used by this agent. - unsigned char queryFilterType; - - /// User defined data attached to the agent. - void* userData; -}; - -enum MoveRequestState -{ - DT_CROWDAGENT_TARGET_NONE = 0, - DT_CROWDAGENT_TARGET_FAILED, - DT_CROWDAGENT_TARGET_VALID, - DT_CROWDAGENT_TARGET_REQUESTING, - DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE, - DT_CROWDAGENT_TARGET_WAITING_FOR_PATH, - DT_CROWDAGENT_TARGET_VELOCITY, -}; - -/// Represents an agent managed by a #dtCrowd object. -/// @ingroup crowd -struct dtCrowdAgent -{ - /// True if the agent is active, false if the agent is in an unused slot in the agent pool. - bool active; - - /// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState) - unsigned char state; - - /// True if the agent has valid path (targetState == DT_CROWDAGENT_TARGET_VALID) and the path does not lead to the requested position, else false. - bool partial; - - /// The path corridor the agent is using. - dtPathCorridor corridor; - - /// The local boundary data for the agent. - dtLocalBoundary boundary; - - /// Time since the agent's path corridor was optimized. - float topologyOptTime; - - /// The known neighbors of the agent. - dtCrowdNeighbour neis[DT_CROWDAGENT_MAX_NEIGHBOURS]; - - /// The number of neighbors. - int nneis; - - /// The desired speed. - float desiredSpeed; - - float npos[3]; ///< The current agent position. [(x, y, z)] - float disp[3]; ///< A temporary value used to accumulate agent displacement during iterative collision resolution. [(x, y, z)] - float dvel[3]; ///< The desired velocity of the agent. Based on the current path, calculated from scratch each frame. [(x, y, z)] - float nvel[3]; ///< The desired velocity adjusted by obstacle avoidance, calculated from scratch each frame. [(x, y, z)] - float vel[3]; ///< The actual velocity of the agent. The change from nvel -> vel is constrained by max acceleration. [(x, y, z)] - - /// The agent's configuration parameters. - dtCrowdAgentParams params; - - /// The local path corridor corners for the agent. (Staight path.) [(x, y, z) * #ncorners] - float cornerVerts[DT_CROWDAGENT_MAX_CORNERS*3]; - - /// The local path corridor corner flags. (See: #dtStraightPathFlags) [(flags) * #ncorners] - unsigned char cornerFlags[DT_CROWDAGENT_MAX_CORNERS]; - - /// The reference id of the polygon being entered at the corner. [(polyRef) * #ncorners] - dtPolyRef cornerPolys[DT_CROWDAGENT_MAX_CORNERS]; - - /// The number of corners. - int ncorners; - - unsigned char targetState; ///< State of the movement request. - dtPolyRef targetRef; ///< Target polyref of the movement request. - float targetPos[3]; ///< Target position of the movement request (or velocity in case of DT_CROWDAGENT_TARGET_VELOCITY). - dtPathQueueRef targetPathqRef; ///< Path finder ref. - bool targetReplan; ///< Flag indicating that the current path is being replanned. - float targetReplanTime; ///