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547 lines
21 KiB
C++
547 lines
21 KiB
C++
#include "makenavmesh.hpp"
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#include "debug.hpp"
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#include "exceptions.hpp"
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#include "recastmesh.hpp"
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#include "settings.hpp"
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#include "settingsutils.hpp"
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#include "sharednavmesh.hpp"
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#include "flags.hpp"
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#include "navmeshtilescache.hpp"
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#include "preparednavmeshdata.hpp"
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#include "navmeshdata.hpp"
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#include "recastmeshbuilder.hpp"
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#include "navmeshdb.hpp"
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#include "recastparams.hpp"
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#include "offmeshconnection.hpp"
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#include <components/misc/convert.hpp>
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#include <components/bullethelpers/processtrianglecallback.hpp>
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#include <components/misc/convert.hpp>
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#include <components/misc/guarded.hpp>
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#include <DetourNavMesh.h>
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#include <DetourNavMeshBuilder.h>
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#include <Recast.h>
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#include <RecastAlloc.h>
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#include <components/debug/debuglog.hpp>
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#include <algorithm>
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#include <iomanip>
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#include <limits>
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#include <array>
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namespace DetourNavigator
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{
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namespace
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{
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struct Rectangle
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{
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TileBounds mBounds;
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float mHeight;
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};
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std::vector<float> getOffMeshVerts(const std::vector<OffMeshConnection>& connections)
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{
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std::vector<float> result;
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result.reserve(connections.size() * 6);
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const auto add = [&] (const osg::Vec3f& v)
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{
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result.push_back(v.x());
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result.push_back(v.y());
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result.push_back(v.z());
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};
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for (const auto& v : connections)
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{
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add(v.mStart);
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add(v.mEnd);
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}
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return result;
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}
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Flag getFlag(AreaType areaType)
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{
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switch (areaType)
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{
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case AreaType_null:
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return Flag_none;
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case AreaType_ground:
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return Flag_walk;
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case AreaType_water:
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return Flag_swim;
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case AreaType_door:
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return Flag_openDoor;
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case AreaType_pathgrid:
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return Flag_usePathgrid;
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}
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return Flag_none;
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}
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std::vector<unsigned char> getOffMeshConAreas(const std::vector<OffMeshConnection>& connections)
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{
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std::vector<unsigned char> result;
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result.reserve(connections.size());
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std::transform(connections.begin(), connections.end(), std::back_inserter(result),
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[] (const OffMeshConnection& v) { return v.mAreaType; });
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return result;
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}
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std::vector<unsigned short> getOffMeshFlags(const std::vector<OffMeshConnection>& connections)
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{
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std::vector<unsigned short> result;
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result.reserve(connections.size());
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std::transform(connections.begin(), connections.end(), std::back_inserter(result),
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[] (const OffMeshConnection& v) { return getFlag(v.mAreaType); });
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return result;
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}
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float getHeight(const RecastSettings& settings,const AgentBounds& agentBounds)
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{
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return getAgentHeight(agentBounds) * settings.mRecastScaleFactor;
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}
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float getMaxClimb(const RecastSettings& settings)
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{
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return settings.mMaxClimb * settings.mRecastScaleFactor;
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}
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float getRadius(const RecastSettings& settings, const AgentBounds& agentBounds)
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{
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return getAgentRadius(agentBounds) * settings.mRecastScaleFactor;
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}
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float getSwimLevel(const RecastSettings& settings, const float waterLevel, const float agentHalfExtentsZ)
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{
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return waterLevel - settings.mSwimHeightScale * agentHalfExtentsZ - agentHalfExtentsZ;
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}
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struct RecastParams
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{
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float mSampleDist = 0;
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float mSampleMaxError = 0;
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int mMaxEdgeLen = 0;
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int mWalkableClimb = 0;
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int mWalkableHeight = 0;
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int mWalkableRadius = 0;
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};
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RecastParams makeRecastParams(const RecastSettings& settings, const AgentBounds& agentBounds)
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{
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RecastParams result;
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result.mWalkableHeight = static_cast<int>(std::ceil(getHeight(settings, agentBounds) / settings.mCellHeight));
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result.mWalkableClimb = static_cast<int>(std::floor(getMaxClimb(settings) / settings.mCellHeight));
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result.mWalkableRadius = static_cast<int>(std::ceil(getRadius(settings, agentBounds) / settings.mCellSize));
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result.mMaxEdgeLen = static_cast<int>(std::round(static_cast<float>(settings.mMaxEdgeLen) / settings.mCellSize));
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result.mSampleDist = settings.mDetailSampleDist < 0.9f ? 0 : settings.mCellSize * settings.mDetailSampleDist;
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result.mSampleMaxError = settings.mCellHeight * settings.mDetailSampleMaxError;
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return result;
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}
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void initHeightfield(rcContext& context, const TilePosition& tilePosition, float minZ, float maxZ,
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const RecastSettings& settings, rcHeightfield& solid)
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{
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const int size = settings.mTileSize + settings.mBorderSize * 2;
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const int width = size;
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const int height = size;
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const float halfBoundsSize = size * settings.mCellSize * 0.5f;
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const osg::Vec2f shift = osg::Vec2f(tilePosition.x() + 0.5f, tilePosition.y() + 0.5f) * getTileSize(settings);
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const osg::Vec3f bmin(shift.x() - halfBoundsSize, minZ, shift.y() - halfBoundsSize);
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const osg::Vec3f bmax(shift.x() + halfBoundsSize, maxZ, shift.y() + halfBoundsSize);
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const auto result = rcCreateHeightfield(&context, solid, width, height, bmin.ptr(), bmax.ptr(),
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settings.mCellSize, settings.mCellHeight);
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if (!result)
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throw NavigatorException("Failed to create heightfield for navmesh");
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}
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bool rasterizeTriangles(rcContext& context, const Mesh& mesh, const RecastSettings& settings,
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const RecastParams& params, rcHeightfield& solid)
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{
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std::vector<unsigned char> areas(mesh.getAreaTypes().begin(), mesh.getAreaTypes().end());
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std::vector<float> vertices = mesh.getVertices();
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for (std::size_t i = 0; i < vertices.size(); i += 3)
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{
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for (std::size_t j = 0; j < 3; ++j)
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vertices[i + j] = toNavMeshCoordinates(settings, vertices[i + j]);
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std::swap(vertices[i + 1], vertices[i + 2]);
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}
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rcClearUnwalkableTriangles(
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&context,
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settings.mMaxSlope,
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vertices.data(),
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static_cast<int>(mesh.getVerticesCount()),
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mesh.getIndices().data(),
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static_cast<int>(areas.size()),
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areas.data()
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);
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return rcRasterizeTriangles(
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&context,
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vertices.data(),
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static_cast<int>(mesh.getVerticesCount()),
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mesh.getIndices().data(),
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areas.data(),
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static_cast<int>(areas.size()),
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solid,
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params.mWalkableClimb
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);
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}
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bool rasterizeTriangles(rcContext& context, const Rectangle& rectangle, AreaType areaType,
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const RecastParams& params, rcHeightfield& solid)
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{
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const std::array vertices {
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rectangle.mBounds.mMin.x(), rectangle.mHeight, rectangle.mBounds.mMin.y(),
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rectangle.mBounds.mMin.x(), rectangle.mHeight, rectangle.mBounds.mMax.y(),
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rectangle.mBounds.mMax.x(), rectangle.mHeight, rectangle.mBounds.mMax.y(),
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rectangle.mBounds.mMax.x(), rectangle.mHeight, rectangle.mBounds.mMin.y(),
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};
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const std::array indices {
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0, 1, 2,
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0, 2, 3,
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};
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const std::array<unsigned char, 2> areas {areaType, areaType};
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return rcRasterizeTriangles(
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&context,
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vertices.data(),
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static_cast<int>(vertices.size() / 3),
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indices.data(),
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areas.data(),
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static_cast<int>(areas.size()),
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solid,
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params.mWalkableClimb
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);
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}
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bool rasterizeTriangles(rcContext& context, float agentHalfExtentsZ, const std::vector<CellWater>& water,
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const RecastSettings& settings, const RecastParams& params, const TileBounds& realTileBounds, rcHeightfield& solid)
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{
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for (const CellWater& cellWater : water)
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{
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const TileBounds cellTileBounds = maxCellTileBounds(cellWater.mCellPosition, cellWater.mWater.mCellSize);
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if (auto intersection = getIntersection(realTileBounds, cellTileBounds))
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{
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const Rectangle rectangle {
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toNavMeshCoordinates(settings, *intersection),
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toNavMeshCoordinates(settings, getSwimLevel(settings, cellWater.mWater.mLevel, agentHalfExtentsZ))
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};
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if (!rasterizeTriangles(context, rectangle, AreaType_water, params, solid))
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return false;
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}
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}
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return true;
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}
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bool rasterizeTriangles(rcContext& context, const TileBounds& realTileBounds, const std::vector<FlatHeightfield>& heightfields,
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const RecastSettings& settings, const RecastParams& params, rcHeightfield& solid)
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{
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for (const FlatHeightfield& heightfield : heightfields)
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{
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const TileBounds cellTileBounds = maxCellTileBounds(heightfield.mCellPosition, heightfield.mCellSize);
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if (auto intersection = getIntersection(realTileBounds, cellTileBounds))
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{
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const Rectangle rectangle {
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toNavMeshCoordinates(settings, *intersection),
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toNavMeshCoordinates(settings, heightfield.mHeight)
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};
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if (!rasterizeTriangles(context, rectangle, AreaType_ground, params, solid))
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return false;
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}
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}
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return true;
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}
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bool rasterizeTriangles(rcContext& context, const std::vector<Heightfield>& heightfields,
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const RecastSettings& settings, const RecastParams& params, rcHeightfield& solid)
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{
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for (const Heightfield& heightfield : heightfields)
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{
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const Mesh mesh = makeMesh(heightfield);
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if (!rasterizeTriangles(context, mesh, settings, params, solid))
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return false;
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}
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return true;
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}
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bool rasterizeTriangles(rcContext& context, const TilePosition& tilePosition, float agentHalfExtentsZ,
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const RecastMesh& recastMesh, const RecastSettings& settings, const RecastParams& params, rcHeightfield& solid)
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{
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const TileBounds realTileBounds = makeRealTileBoundsWithBorder(settings, tilePosition);
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return rasterizeTriangles(context, recastMesh.getMesh(), settings, params, solid)
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&& rasterizeTriangles(context, agentHalfExtentsZ, recastMesh.getWater(), settings, params, realTileBounds, solid)
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&& rasterizeTriangles(context, recastMesh.getHeightfields(), settings, params, solid)
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&& rasterizeTriangles(context, realTileBounds, recastMesh.getFlatHeightfields(), settings, params, solid);
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}
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void buildCompactHeightfield(rcContext& context, const int walkableHeight, const int walkableClimb,
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rcHeightfield& solid, rcCompactHeightfield& compact)
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{
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const auto result = rcBuildCompactHeightfield(&context, walkableHeight,
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walkableClimb, solid, compact);
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if (!result)
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throw NavigatorException("Failed to build compact heightfield for navmesh");
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}
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void erodeWalkableArea(rcContext& context, int walkableRadius, rcCompactHeightfield& compact)
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{
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const auto result = rcErodeWalkableArea(&context, walkableRadius, compact);
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if (!result)
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throw NavigatorException("Failed to erode walkable area for navmesh");
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}
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void buildDistanceField(rcContext& context, rcCompactHeightfield& compact)
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{
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const auto result = rcBuildDistanceField(&context, compact);
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if (!result)
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throw NavigatorException("Failed to build distance field for navmesh");
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}
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void buildRegions(rcContext& context, rcCompactHeightfield& compact, const int borderSize,
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const int minRegionArea, const int mergeRegionArea)
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{
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const auto result = rcBuildRegions(&context, compact, borderSize, minRegionArea, mergeRegionArea);
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if (!result)
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throw NavigatorException("Failed to build distance field for navmesh");
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}
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void buildContours(rcContext& context, rcCompactHeightfield& compact, const float maxError, const int maxEdgeLen,
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rcContourSet& contourSet, const int buildFlags = RC_CONTOUR_TESS_WALL_EDGES)
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{
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const auto result = rcBuildContours(&context, compact, maxError, maxEdgeLen, contourSet, buildFlags);
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if (!result)
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throw NavigatorException("Failed to build contours for navmesh");
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}
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void buildPolyMesh(rcContext& context, rcContourSet& contourSet, const int maxVertsPerPoly, rcPolyMesh& polyMesh)
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{
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const auto result = rcBuildPolyMesh(&context, contourSet, maxVertsPerPoly, polyMesh);
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if (!result)
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throw NavigatorException("Failed to build poly mesh for navmesh");
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}
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void buildPolyMeshDetail(rcContext& context, const rcPolyMesh& polyMesh, const rcCompactHeightfield& compact,
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const float sampleDist, const float sampleMaxError, rcPolyMeshDetail& polyMeshDetail)
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{
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const auto result = rcBuildPolyMeshDetail(&context, polyMesh, compact, sampleDist, sampleMaxError,
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polyMeshDetail);
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if (!result)
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throw NavigatorException("Failed to build detail poly mesh for navmesh");
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}
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void setPolyMeshFlags(rcPolyMesh& polyMesh)
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{
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for (int i = 0; i < polyMesh.npolys; ++i)
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polyMesh.flags[i] = getFlag(static_cast<AreaType>(polyMesh.areas[i]));
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}
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bool fillPolyMesh(rcContext& context, const RecastSettings& settings, const RecastParams& params,
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rcHeightfield& solid, rcPolyMesh& polyMesh, rcPolyMeshDetail& polyMeshDetail)
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{
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rcCompactHeightfield compact;
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buildCompactHeightfield(context, params.mWalkableHeight, params.mWalkableClimb, solid, compact);
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erodeWalkableArea(context, params.mWalkableRadius, compact);
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buildDistanceField(context, compact);
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buildRegions(context, compact, settings.mBorderSize, settings.mRegionMinArea, settings.mRegionMergeArea);
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rcContourSet contourSet;
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buildContours(context, compact, settings.mMaxSimplificationError, params.mMaxEdgeLen, contourSet);
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if (contourSet.nconts == 0)
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return false;
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buildPolyMesh(context, contourSet, settings.mMaxVertsPerPoly, polyMesh);
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buildPolyMeshDetail(context, polyMesh, compact, params.mSampleDist, params.mSampleMaxError, polyMeshDetail);
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setPolyMeshFlags(polyMesh);
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return true;
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}
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template <class T>
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unsigned long getMinValuableBitsNumber(const T value)
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{
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unsigned long power = 0;
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while (power < sizeof(T) * 8 && (static_cast<T>(1) << power) < value)
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++power;
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return power;
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}
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std::pair<float, float> getBoundsByZ(const RecastMesh& recastMesh, float agentHalfExtentsZ, const RecastSettings& settings)
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{
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float minZ = 0;
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float maxZ = 0;
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const std::vector<float>& vertices = recastMesh.getMesh().getVertices();
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for (std::size_t i = 0, n = vertices.size(); i < n; i += 3)
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{
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minZ = std::min(minZ, vertices[i + 2]);
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maxZ = std::max(maxZ, vertices[i + 2]);
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}
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for (const CellWater& water : recastMesh.getWater())
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{
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const float swimLevel = getSwimLevel(settings, water.mWater.mLevel, agentHalfExtentsZ);
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minZ = std::min(minZ, swimLevel);
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maxZ = std::max(maxZ, swimLevel);
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}
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for (const Heightfield& heightfield : recastMesh.getHeightfields())
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{
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if (heightfield.mHeights.empty())
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continue;
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const auto [minHeight, maxHeight] = std::minmax_element(heightfield.mHeights.begin(), heightfield.mHeights.end());
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minZ = std::min(minZ, *minHeight);
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maxZ = std::max(maxZ, *maxHeight);
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}
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for (const FlatHeightfield& heightfield : recastMesh.getFlatHeightfields())
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{
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minZ = std::min(minZ, heightfield.mHeight);
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maxZ = std::max(maxZ, heightfield.mHeight);
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}
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return {minZ, maxZ};
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}
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}
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} // namespace DetourNavigator
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namespace DetourNavigator
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{
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std::unique_ptr<PreparedNavMeshData> prepareNavMeshTileData(const RecastMesh& recastMesh,
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const TilePosition& tilePosition, const AgentBounds& agentBounds, const RecastSettings& settings)
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{
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rcContext context;
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const auto [minZ, maxZ] = getBoundsByZ(recastMesh, agentBounds.mHalfExtents.z(), settings);
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rcHeightfield solid;
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initHeightfield(context, tilePosition, toNavMeshCoordinates(settings, minZ),
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toNavMeshCoordinates(settings, maxZ), settings, solid);
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const RecastParams params = makeRecastParams(settings, agentBounds);
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if (!rasterizeTriangles(context, tilePosition, agentBounds.mHalfExtents.z(), recastMesh, settings, params, solid))
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return nullptr;
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rcFilterLowHangingWalkableObstacles(&context, params.mWalkableClimb, solid);
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rcFilterLedgeSpans(&context, params.mWalkableHeight, params.mWalkableClimb, solid);
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rcFilterWalkableLowHeightSpans(&context, params.mWalkableHeight, solid);
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std::unique_ptr<PreparedNavMeshData> result = std::make_unique<PreparedNavMeshData>();
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if (!fillPolyMesh(context, settings, params, solid, result->mPolyMesh, result->mPolyMeshDetail))
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return nullptr;
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result->mCellSize = settings.mCellSize;
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result->mCellHeight = settings.mCellHeight;
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return result;
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}
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NavMeshData makeNavMeshTileData(const PreparedNavMeshData& data,
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const std::vector<OffMeshConnection>& offMeshConnections, const AgentBounds& agentBounds,
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const TilePosition& tile, const RecastSettings& settings)
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{
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const auto offMeshConVerts = getOffMeshVerts(offMeshConnections);
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const std::vector<float> offMeshConRad(offMeshConnections.size(), getRadius(settings, agentBounds));
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const std::vector<unsigned char> offMeshConDir(offMeshConnections.size(), 0);
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const std::vector<unsigned char> offMeshConAreas = getOffMeshConAreas(offMeshConnections);
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const std::vector<unsigned short> offMeshConFlags = getOffMeshFlags(offMeshConnections);
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dtNavMeshCreateParams params;
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params.verts = data.mPolyMesh.verts;
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params.vertCount = data.mPolyMesh.nverts;
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params.polys = data.mPolyMesh.polys;
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params.polyAreas = data.mPolyMesh.areas;
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params.polyFlags = data.mPolyMesh.flags;
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params.polyCount = data.mPolyMesh.npolys;
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params.nvp = data.mPolyMesh.nvp;
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params.detailMeshes = data.mPolyMeshDetail.meshes;
|
|
params.detailVerts = data.mPolyMeshDetail.verts;
|
|
params.detailVertsCount = data.mPolyMeshDetail.nverts;
|
|
params.detailTris = data.mPolyMeshDetail.tris;
|
|
params.detailTriCount = data.mPolyMeshDetail.ntris;
|
|
params.offMeshConVerts = offMeshConVerts.data();
|
|
params.offMeshConRad = offMeshConRad.data();
|
|
params.offMeshConDir = offMeshConDir.data();
|
|
params.offMeshConAreas = offMeshConAreas.data();
|
|
params.offMeshConFlags = offMeshConFlags.data();
|
|
params.offMeshConUserID = nullptr;
|
|
params.offMeshConCount = static_cast<int>(offMeshConnections.size());
|
|
params.walkableHeight = getHeight(settings, agentBounds);
|
|
params.walkableRadius = getRadius(settings, agentBounds);
|
|
params.walkableClimb = getMaxClimb(settings);
|
|
rcVcopy(params.bmin, data.mPolyMesh.bmin);
|
|
rcVcopy(params.bmax, data.mPolyMesh.bmax);
|
|
params.cs = data.mCellSize;
|
|
params.ch = data.mCellHeight;
|
|
params.buildBvTree = true;
|
|
params.userId = data.mUserId;
|
|
params.tileX = tile.x();
|
|
params.tileY = tile.y();
|
|
params.tileLayer = 0;
|
|
|
|
unsigned char* navMeshData;
|
|
int navMeshDataSize;
|
|
const auto navMeshDataCreated = dtCreateNavMeshData(¶ms, &navMeshData, &navMeshDataSize);
|
|
|
|
if (!navMeshDataCreated)
|
|
throw NavigatorException("Failed to create navmesh tile data");
|
|
|
|
return NavMeshData(navMeshData, navMeshDataSize);
|
|
}
|
|
|
|
NavMeshPtr makeEmptyNavMesh(const Settings& settings)
|
|
{
|
|
// Max tiles and max polys affect how the tile IDs are caculated.
|
|
// There are 22 bits available for identifying a tile and a polygon.
|
|
const int polysAndTilesBits = 22;
|
|
const auto polysBits = getMinValuableBitsNumber(settings.mDetour.mMaxPolys);
|
|
|
|
if (polysBits >= polysAndTilesBits)
|
|
throw InvalidArgument("Too many polygons per tile");
|
|
|
|
const auto tilesBits = polysAndTilesBits - polysBits;
|
|
|
|
dtNavMeshParams params;
|
|
std::fill_n(params.orig, 3, 0.0f);
|
|
params.tileWidth = settings.mRecast.mTileSize * settings.mRecast.mCellSize;
|
|
params.tileHeight = settings.mRecast.mTileSize * settings.mRecast.mCellSize;
|
|
params.maxTiles = 1 << tilesBits;
|
|
params.maxPolys = 1 << polysBits;
|
|
|
|
NavMeshPtr navMesh(dtAllocNavMesh(), &dtFreeNavMesh);
|
|
|
|
if (navMesh == nullptr)
|
|
throw NavigatorException("Failed to allocate navmesh");
|
|
|
|
const auto status = navMesh->init(¶ms);
|
|
|
|
if (!dtStatusSucceed(status))
|
|
throw NavigatorException("Failed to init navmesh");
|
|
|
|
return navMesh;
|
|
}
|
|
}
|