navmesh: code clean-up, should be no functional changes.

1 files changed, 211 insertions, 288 deletions

diff --git a/source/blender/editors/mesh/mesh_navmesh.c b/source/blender/editors/mesh/mesh_navmesh.c
index 2b64fb24e78..b0d15a0dc68 100644
--- a/source/blender/editors/mesh/mesh_navmesh.c
+++ b/source/blender/editors/mesh/mesh_navmesh.c
@@ -17,12 +17,13 @@
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
-* The Original Code is Copyright (C) 2004 by Blender Foundation
+* The Original Code is Copyright (C) 2011 by Blender Foundation
 * All rights reserved.
 *
 * The Original Code is: all of this file.
 *
-* Contributor(s): none yet.
+* Contributor(s): Benoit Bolsee,
+*                 Nick Samarin
 *
 * ***** END GPL LICENSE BLOCK *****
 */
@@ -67,89 +68,95 @@
 static void createVertsTrisData(bContext *C, LinkNode* obs, int *nverts_r, float **verts_r, int *ntris_r, int **tris_r)
 {
 	MVert *mvert;
-	int nfaces = 0, *tri, i, curnverts, basenverts, curnfaces;
+	int nfaces= 0, *tri, i, curnverts, basenverts, curnfaces;
 	MFace *mface;
 	float co[3], wco[3];
 	Object *ob;
 	LinkNode *oblink, *dmlink;
 	DerivedMesh *dm;
-	Scene* scene = CTX_data_scene(C);
-	LinkNode* dms = NULL;
+	Scene* scene= CTX_data_scene(C);
+	LinkNode* dms= NULL;
 
 	int nverts, ntris, *tris;
 	float *verts;
 
-	nverts = 0;
-	ntris = 0;
-	//calculate number of verts and tris
-	for (oblink = obs; oblink; oblink = oblink->next) 
-	{
-		ob = (Object*) oblink->link;	
-		dm = mesh_create_derived_no_virtual(scene, ob, NULL, CD_MASK_MESH);
+	nverts= 0;
+	ntris= 0;
+
+	/* calculate number of verts and tris */
+	for(oblink= obs; oblink; oblink= oblink->next) {
+		ob= (Object*) oblink->link;
+		dm= mesh_create_derived_no_virtual(scene, ob, NULL, CD_MASK_MESH);
 		BLI_linklist_append(&dms, (void*)dm);
 
-		nverts += dm->getNumVerts(dm);
-		nfaces = dm->getNumFaces(dm);
-		ntris += nfaces;
+		nverts+= dm->getNumVerts(dm);
+		nfaces= dm->getNumFaces(dm);
+		ntris+= nfaces;
 
-		//resolve quad faces
-		mface = dm->getFaceArray(dm);
-		for (i=0; i<nfaces; i++)
-		{
-			MFace* mf = &mface[i];
-			if (mf->v4)
+		/* resolve quad faces */
+		mface= dm->getFaceArray(dm);
+		for(i= 0; i<nfaces; i++) {
+			MFace* mf= &mface[i];
+			if(mf->v4)
 				ntris+=1;
 		}
 	}
 
-	//create data
-	verts = MEM_mallocN(sizeof(float)*3*nverts, "createVertsTrisData verts");
-	tris = MEM_mallocN(sizeof(int)*3*ntris, "createVertsTrisData faces");
-
-	basenverts = 0;
-	tri = tris;
-	for (oblink = obs, dmlink = dms; oblink && dmlink; 
-			oblink = oblink->next, dmlink = dmlink->next)
-	{
-		ob = (Object*) oblink->link;
-		dm = (DerivedMesh*) dmlink->link;
-
-		curnverts = dm->getNumVerts(dm);
-		mvert = dm->getVertArray(dm);
-		//copy verts	
-		for (i=0; i<curnverts; i++)
-		{
-			MVert *v = &mvert[i];
+	/* create data */
+	verts= MEM_mallocN(sizeof(float)*3*nverts, "createVertsTrisData verts");
+	tris= MEM_mallocN(sizeof(int)*3*ntris, "createVertsTrisData faces");
+
+	basenverts= 0;
+	tri= tris;
+	for(oblink= obs, dmlink= dms; oblink && dmlink;
+			oblink= oblink->next, dmlink= dmlink->next) {
+		ob= (Object*) oblink->link;
+		dm= (DerivedMesh*) dmlink->link;
+
+		curnverts= dm->getNumVerts(dm);
+		mvert= dm->getVertArray(dm);
+
+		/* copy verts */
+		for(i= 0; i<curnverts; i++) {
+			MVert *v= &mvert[i];
+
 			copy_v3_v3(co, v->co);
 			mul_v3_m4v3(wco, ob->obmat, co);
-			verts[3*(basenverts+i)+0] = wco[0];
-			verts[3*(basenverts+i)+1] = wco[2];
-			verts[3*(basenverts+i)+2] = wco[1];
+
+			verts[3*(basenverts+i)+0]= wco[0];
+			verts[3*(basenverts+i)+1]= wco[2];
+			verts[3*(basenverts+i)+2]= wco[1];
 		}
 
-		//create tris
-		curnfaces = dm->getNumFaces(dm);
-		mface = dm->getFaceArray(dm);
-		for (i=0; i<curnfaces; i++)
-		{
-			MFace* mf = &mface[i]; 
-			tri[0]= basenverts + mf->v1; tri[1]= basenverts + mf->v3;	tri[2]= basenverts + mf->v2; 
+		/* create tris */
+		curnfaces= dm->getNumFaces(dm);
+		mface= dm->getFaceArray(dm);
+
+		for(i= 0; i<curnfaces; i++) {
+			MFace* mf= &mface[i];
+
+			tri[0]= basenverts + mf->v1;
+			tri[1]= basenverts + mf->v3;
+			tri[2]= basenverts + mf->v2;
 			tri += 3;
-			if (mf->v4)
-			{
-				tri[0]= basenverts + mf->v1; tri[1]= basenverts + mf->v4; tri[2]= basenverts + mf->v3; 
+
+			if(mf->v4) {
+				tri[0]= basenverts + mf->v1;
+				tri[1]= basenverts + mf->v4;
+				tri[2]= basenverts + mf->v3;
 				tri += 3;
 			}
 		}
-		basenverts += curnverts;
+
+		basenverts+= curnverts;
 	}
 
-	//release derived mesh
-	for (dmlink = dms; dmlink; dmlink = dmlink->next)
-	{
-		dm = (DerivedMesh*) dmlink->link;
+	/* release derived mesh */
+	for(dmlink= dms; dmlink; dmlink= dmlink->next) {
+		dm= (DerivedMesh*) dmlink->link;
 		dm->release(dm);
 	}
+
 	BLI_linklist_free(dms, NULL);
 
 	*nverts_r= nverts;
@@ -172,101 +179,46 @@ static int buildNavMesh(const RecastData *recastParams, int nverts, float *verts
 
 	recast_calcBounds(verts, nverts, bmin, bmax);
 
-	//
-	// Step 1. Initialize build config.
-	//
-	{
-/*
-		float cellsize = 0.3f;
-		float cellheight = 0.2f;
-		float agentmaxslope = M_PI/4;
-		float agentmaxclimb = 0.9f;
-		float agentheight = 2.0f;
-		float agentradius = 0.6f;
-		float edgemaxlen = 12.0f;
-		float edgemaxerror = 1.3f;
-		float regionminsize = 50.f;
-		float regionmergesize = 20.f;
-		int vertsperpoly = 6;
-		float detailsampledist = 6.0f;
-		float detailsamplemaxerror = 1.0f;
-		cfg.cs = cellsize;
-		cfg.ch = cellheight;
-		cfg.walkableSlopeAngle = agentmaxslope/M_PI*180.f;
-		cfg.walkableHeight = (int)ceilf(agentheight/ cfg.ch);
-		cfg.walkableClimb = (int)floorf(agentmaxclimb / cfg.ch);
-		cfg.walkableRadius = (int)ceilf(agentradius / cfg.cs);
-		cfg.maxEdgeLen = (int)(edgemaxlen/cellsize);
-		cfg.maxSimplificationError = edgemaxerror;
-		cfg.minRegionSize = (int)rcSqr(regionminsize);
-		cfg.mergeRegionSize = (int)rcSqr(regionmergesize);
-		cfg.maxVertsPerPoly = vertsperpoly;
-		cfg.detailSampleDist = detailsampledist< 0.9f ? 0 : cellsize * detailsampledist;
-		cfg.detailSampleMaxError = cellheight * detailsamplemaxerror;
-*/
-#if 0
-		cfg.cs = recastParams.cellsize;
-		cfg.ch = recastParams.cellheight;
-		cfg.walkableSlopeAngle = recastParams.agentmaxslope/((float)M_PI)*180.f;
-		cfg.walkableHeight = (int)ceilf(recastParams.agentheight/ cfg.ch);
-		cfg.walkableClimb = (int)floorf(recastParams.agentmaxclimb / cfg.ch);
-		cfg.walkableRadius = (int)ceilf(recastParams.agentradius / cfg.cs);
-		cfg.maxEdgeLen = (int)(recastParams.edgemaxlen/recastParams.cellsize);
-		cfg.maxSimplificationError = recastParams.edgemaxerror;
-		cfg.minRegionSize = (int)rcSqr(recastParams.regionminsize);
-		cfg.mergeRegionSize = (int)rcSqr(recastParams.regionmergesize);
-		cfg.maxVertsPerPoly = recastParams.vertsperpoly;
-		cfg.detailSampleDist = recastParams.detailsampledist< 0.9f ? 0 : 
-								recastParams.cellsize * recastParams.detailsampledist;
-		cfg.detailSampleMaxError = recastParams.cellheight * recastParams.detailsamplemaxerror;
-#endif
-	}
-
-	walkableHeight = (int)ceilf(recastParams->agentheight/ recastParams->cellheight);
-	walkableClimb = (int)floorf(recastParams->agentmaxclimb / recastParams->cellheight);
-	walkableRadius = (int)ceilf(recastParams->agentradius / recastParams->cellsize);
-	minRegionSize = (int)(recastParams->regionminsize * recastParams->regionminsize);
-	mergeRegionSize = (int)(recastParams->regionmergesize * recastParams->regionmergesize);
-	maxEdgeLen = (int)(recastParams->edgemaxlen/recastParams->cellsize);
-	detailSampleDist = recastParams->detailsampledist< 0.9f ? 0 : 
+	/* ** Step 1. Initialize build config ** */
+	walkableHeight= (int)ceilf(recastParams->agentheight/ recastParams->cellheight);
+	walkableClimb= (int)floorf(recastParams->agentmaxclimb / recastParams->cellheight);
+	walkableRadius= (int)ceilf(recastParams->agentradius / recastParams->cellsize);
+	minRegionSize= (int)(recastParams->regionminsize * recastParams->regionminsize);
+	mergeRegionSize= (int)(recastParams->regionmergesize * recastParams->regionmergesize);
+	maxEdgeLen= (int)(recastParams->edgemaxlen/recastParams->cellsize);
+	detailSampleDist= recastParams->detailsampledist< 0.9f ? 0 :
 			recastParams->cellsize * recastParams->detailsampledist;
-	detailSampleMaxError = recastParams->cellheight * recastParams->detailsamplemaxerror;
+	detailSampleMaxError= recastParams->cellheight * recastParams->detailsamplemaxerror;
 
-	// Set the area where the navigation will be build.
+	/* Set the area where the navigation will be build. */
 	recast_calcGridSize(bmin, bmax, recastParams->cellsize, &width, &height);
 
-	//
-	// Step 2. Rasterize input polygon soup.
-	//
-	// Allocate voxel heightfield where we rasterize our input data to.
-	solid = recast_newHeightfield();
+	/* ** Step 2: Rasterize input polygon soup ** */
+	/* Allocate voxel heightfield where we rasterize our input data to */
+	solid= recast_newHeightfield();
 
-	if (!recast_createHeightfield(solid, width, height, bmin, bmax, recastParams->cellsize, recastParams->cellheight)) {
+	if(!recast_createHeightfield(solid, width, height, bmin, bmax, recastParams->cellsize, recastParams->cellheight)) {
 		recast_destroyHeightfield(solid);
 
 		return 0;
 	}
 
-	// Allocate array that can hold triangle flags.
-	triflags = MEM_callocN(sizeof(unsigned char)*ntris, "buildNavMesh triflags");
+	/* Allocate array that can hold triangle flags */
+	triflags= MEM_callocN(sizeof(unsigned char)*ntris, "buildNavMesh triflags");
 
-	// Find triangles which are walkable based on their slope and rasterize them.
+	/* Find triangles which are walkable based on their slope and rasterize them */
 	recast_markWalkableTriangles(RAD2DEG(recastParams->agentmaxslope), verts, nverts, tris, ntris, triflags);
 	recast_rasterizeTriangles(verts, nverts, tris, triflags, ntris, solid);
 	MEM_freeN(triflags);
 
-	//
-	// Step 3. Filter walkables surfaces.
-	//
+	/* ** Step 3: Filter walkables surfaces ** */
 	recast_filterLedgeSpans(walkableHeight, walkableClimb, solid);
 	recast_filterWalkableLowHeightSpans(walkableHeight, solid);
 
-	//
-	// Step 4. Partition walkable surface to simple regions.
-	//
+	/* ** Step 4: Partition walkable surface to simple regions ** */
 
-	chf = recast_newCompactHeightfield();
-	if (!recast_buildCompactHeightfield(walkableHeight, walkableClimb, RECAST_WALKABLE, solid, chf)) {
+	chf= recast_newCompactHeightfield();
+	if(!recast_buildCompactHeightfield(walkableHeight, walkableClimb, RECAST_WALKABLE, solid, chf)) {
 		recast_destroyHeightfield(solid);
 		recast_destroyCompactHeightfield(chf);
 
@@ -275,38 +227,34 @@ static int buildNavMesh(const RecastData *recastParams, int nverts, float *verts
 
 	recast_destroyHeightfield(solid);
 
-	// Prepare for region partitioning, by calculating distance field along the walkable surface.
-	if (!recast_buildDistanceField(chf)) {
+	/* Prepare for region partitioning, by calculating distance field along the walkable surface */
+	if(!recast_buildDistanceField(chf)) {
 		recast_destroyCompactHeightfield(chf);
 
 		return 0;
 	}
 
-	// Partition the walkable surface into simple regions without holes.
-	if (!recast_buildRegions(chf, walkableRadius, 0, minRegionSize, mergeRegionSize)) {
+	/* Partition the walkable surface into simple regions without holes */
+	if(!recast_buildRegions(chf, walkableRadius, 0, minRegionSize, mergeRegionSize)) {
 		recast_destroyCompactHeightfield(chf);
 
 		return 0;
 	}
 
-	//
-	// Step 5. Trace and simplify region contours.
-	//
-	// Create contours.
-	cset = recast_newContourSet();
+	/* ** Step 5: Trace and simplify region contours ** */
+	/* Create contours */
+	cset= recast_newContourSet();
 
-	if (!recast_buildContours(chf, recastParams->edgemaxerror, maxEdgeLen, cset)) {
+	if(!recast_buildContours(chf, recastParams->edgemaxerror, maxEdgeLen, cset)) {
 		recast_destroyCompactHeightfield(chf);
 		recast_destroyContourSet(cset);
 
 		return 0;
 	}
 
-	//
-	// Step 6. Build polygons mesh from contours.
-	//
-	*pmesh = recast_newPolyMesh();
-	if (!recast_buildPolyMesh(cset, recastParams->vertsperpoly, *pmesh)) {
+	/* ** Step 6: Build polygons mesh from contours ** */
+	*pmesh= recast_newPolyMesh();
+	if(!recast_buildPolyMesh(cset, recastParams->vertsperpoly, *pmesh)) {
 		recast_destroyCompactHeightfield(chf);
 		recast_destroyContourSet(cset);
 		recast_destroyPolyMesh(*pmesh);
@@ -315,12 +263,10 @@ static int buildNavMesh(const RecastData *recastParams, int nverts, float *verts
 	}
 
 
-	//
-	// Step 7. Create detail mesh which allows to access approximate height on each polygon.
-	//
+	/* ** Step 7: Create detail mesh which allows to access approximate height on each polygon ** */
 
-	*dmesh = recast_newPolyMeshDetail();
-	if (!recast_buildPolyMeshDetail(*pmesh, chf, detailSampleDist, detailSampleMaxError, *dmesh)) {
+	*dmesh= recast_newPolyMeshDetail();
+	if(!recast_buildPolyMeshDetail(*pmesh, chf, detailSampleDist, detailSampleMaxError, *dmesh)) {
 		recast_destroyCompactHeightfield(chf);
 		recast_destroyContourSet(cset);
 		recast_destroyPolyMesh(*pmesh);
@@ -342,10 +288,10 @@ static Object* createRepresentation(bContext *C, struct recast_polyMesh *pmesh,
 	int i,j, k;
 	unsigned short* v;
 	int face[3];
-	Main *bmain = CTX_data_main(C);
+	Main *bmain= CTX_data_main(C);
 	Scene *scene= CTX_data_scene(C);
 	Object* obedit;
-	int createob = base==NULL;
+	int createob= base==NULL;
 	int nverts, nmeshes, nvp;
 	unsigned short *verts, *meshes, *polys;
 	float bmin[3], cs, ch, *dverts;
@@ -355,98 +301,92 @@ static Object* createRepresentation(bContext *C, struct recast_polyMesh *pmesh,
 	zero_v3(co);
 	zero_v3(rot);
 
-	if (createob)
-	{
-		//create new object
-		obedit = ED_object_add_type(C, OB_MESH, co, rot, FALSE, 1);
+	if(createob) {
+		/* create new object */
+		obedit= ED_object_add_type(C, OB_MESH, co, rot, FALSE, 1);
 	}
-	else
-	{
-		obedit = base->object;
+	else {
+		obedit= base->object;
 		scene_select_base(scene, base);
 		copy_v3_v3(obedit->loc, co);
 		copy_v3_v3(obedit->rot, rot);
 	}
 
 	ED_object_enter_editmode(C, EM_DO_UNDO|EM_IGNORE_LAYER);
-	em = BKE_mesh_get_editmesh(((Mesh *)obedit->data));
+	em= BKE_mesh_get_editmesh(((Mesh *)obedit->data));
 
-	if (!createob)
-	{
-		//clear
+	if(!createob) {
+		/* clear */
 		if(em->verts.first) free_vertlist(em, &em->verts);
 		if(em->edges.first) free_edgelist(em, &em->edges);
 		if(em->faces.first) free_facelist(em, &em->faces);
 		if(em->selected.first) BLI_freelistN(&(em->selected));
 	}
 
-	//create verts for polygon mesh
-	verts = recast_polyMeshGetVerts(pmesh, &nverts);
+	/* create verts for polygon mesh */
+	verts= recast_polyMeshGetVerts(pmesh, &nverts);
 	recast_polyMeshGetBoundbox(pmesh, bmin, NULL);
 	recast_polyMeshGetCell(pmesh, &cs, &ch);
 
-	for(i = 0; i < nverts; i++) {
-		v = &verts[3*i];
-		co[0] = bmin[0] + v[0]*cs;
-		co[1] = bmin[1] + v[1]*ch;
-		co[2] = bmin[2] + v[2]*cs;
+	for(i= 0; i<nverts; i++) {
+		v= &verts[3*i];
+		co[0]= bmin[0] + v[0]*cs;
+		co[1]= bmin[1] + v[1]*ch;
+		co[2]= bmin[2] + v[2]*cs;
 		SWAP(float, co[1], co[2]);
 		addvertlist(em, co, NULL);
 	}
 
-	//create custom data layer to save polygon idx
-	CustomData_add_layer_named(&em->fdata, CD_RECAST, CD_CALLOC, NULL, 0, "recastData");
-
-	//create verts and faces for detailed mesh
-	meshes = recast_polyMeshDetailGetMeshes(dmesh, &nmeshes);
-	polys = recast_polyMeshGetPolys(pmesh, NULL, &nvp);
-	dverts = recast_polyMeshDetailGetVerts(dmesh, NULL);
-	tris = recast_polyMeshDetailGetTris(dmesh, NULL);
-
-	for (i=0; i<nmeshes; i++)
-	{
-		int uniquevbase = em->totvert;
-		unsigned short vbase = meshes[4*i+0];
-		unsigned short ndv = meshes[4*i+1];
-		unsigned short tribase = meshes[4*i+2];
-		unsigned short trinum = meshes[4*i+3];
-		const unsigned short* p = &polys[i*nvp*2];
-		int nv = 0;
-		for (j = 0; j < nvp; ++j)
-		{
-			if (p[j] == 0xffff) break;
+	/* create custom data layer to save polygon idx */
+	CustomData_add_layer_named(&em->fdata, CD_RECAST, CD_CALLOC, NULL, 0, "createRepresentation recastData");
+
+	/* create verts and faces for detailed mesh */
+	meshes= recast_polyMeshDetailGetMeshes(dmesh, &nmeshes);
+	polys= recast_polyMeshGetPolys(pmesh, NULL, &nvp);
+	dverts= recast_polyMeshDetailGetVerts(dmesh, NULL);
+	tris= recast_polyMeshDetailGetTris(dmesh, NULL);
+
+	for(i= 0; i<nmeshes; i++) {
+		int uniquevbase= em->totvert;
+		unsigned short vbase= meshes[4*i+0];
+		unsigned short ndv= meshes[4*i+1];
+		unsigned short tribase= meshes[4*i+2];
+		unsigned short trinum= meshes[4*i+3];
+		const unsigned short* p= &polys[i*nvp*2];
+		int nv= 0;
+
+		for(j= 0; j < nvp; ++j) {
+			if(p[j]==0xffff) break;
 			nv++;
 		}
-		//create unique verts 
-		for (j=nv; j<ndv; j++)
-		{
+
+		/* create unique verts  */
+		for(j= nv; j<ndv; j++) {
 			copy_v3_v3(co, &dverts[3*(vbase + j)]);
 			SWAP(float, co[1], co[2]);
 			addvertlist(em, co, NULL);
 		}
 
 		EM_init_index_arrays(em, 1, 0, 0);
-		
-		//create faces
-		for (j=0; j<trinum; j++)
-		{
-			unsigned char* tri = &tris[4*(tribase+j)];
+
+		/* create faces */
+		for(j= 0; j<trinum; j++) {
+			unsigned char* tri= &tris[4*(tribase+j)];
 			EditFace* newFace;
 			int* polygonIdx;
 
-			for (k=0; k<3; k++)
-			{
-				if (tri[k]<nv)
-					face[k] = p[tri[k]]; //shared vertex
+			for(k= 0; k<3; k++) {
+				if(tri[k]<nv)
+					face[k]= p[tri[k]]; /* shared vertex */
 				else
-					face[k] = uniquevbase+tri[k]-nv; //unique vertex
+					face[k]= uniquevbase+tri[k]-nv; /* unique vertex */
 			}
-			newFace = addfacelist(em, EM_get_vert_for_index(face[0]), EM_get_vert_for_index(face[2]), 
+			newFace= addfacelist(em, EM_get_vert_for_index(face[0]), EM_get_vert_for_index(face[2]),
 									EM_get_vert_for_index(face[1]), NULL, NULL, NULL);
 
-			//set navigation polygon idx to the custom layer
-			polygonIdx = (int*)CustomData_em_get(&em->fdata, newFace->data, CD_RECAST);
-			*polygonIdx = i+1; //add 1 to avoid zero idx
+			/* set navigation polygon idx to the custom layer */
+			polygonIdx= (int*)CustomData_em_get(&em->fdata, newFace->data, CD_RECAST);
+			*polygonIdx= i+1; /* add 1 to avoid zero idx */
 		}
 		
 		EM_free_index_arrays();
@@ -464,17 +404,15 @@ static Object* createRepresentation(bContext *C, struct recast_polyMesh *pmesh,
 	ED_object_exit_editmode(C, EM_FREEDATA); 
 	WM_event_add_notifier(C, NC_OBJECT|ND_DRAW, obedit);
 
-	if (createob)
-	{
-		obedit->gameflag &= ~OB_COLLISION;
-		obedit->gameflag |= OB_NAVMESH;
-		obedit->body_type = OB_BODY_TYPE_NAVMESH;
+	if(createob) {
+		obedit->gameflag&= ~OB_COLLISION;
+		obedit->gameflag|= OB_NAVMESH;
+		obedit->body_type= OB_BODY_TYPE_NAVMESH;
 		rename_id((ID *)obedit, "Navmesh");
 	}
 	
 	md= modifiers_findByType(obedit, eModifierType_NavMesh);
-	if (!md)
-	{
+	if(!md) {
 		ED_object_modifier_add(NULL, bmain, scene, obedit, NULL, eModifierType_NavMesh);
 	}
 
@@ -483,33 +421,25 @@ static Object* createRepresentation(bContext *C, struct recast_polyMesh *pmesh,
 
 static int create_navmesh_exec(bContext *C, wmOperator *UNUSED(op))
 {
-	Scene* scene = CTX_data_scene(C);
+	Scene* scene= CTX_data_scene(C);
 	int nverts, ntris;
 	float* verts;
 	int* tris;
 	struct recast_polyMesh *pmesh;
 	struct recast_polyMeshDetail *dmesh;
-	LinkNode* obs = NULL;
-	Base* navmeshBase = NULL;
-
-	//CTX_DATA_BEGIN(C, Base*, base, selected_editable_bases) //expand macros to avoid error in convertion from void*
-	{
-		ListBase ctx_data_list;
-		CollectionPointerLink *ctx_link;
-		CTX_data_selected_editable_bases(C, &ctx_data_list);
-		for(ctx_link = (CollectionPointerLink *)ctx_data_list.first; 
-				ctx_link; ctx_link = (CollectionPointerLink *)ctx_link->next) {
-		Base* base= (Base*)ctx_link->ptr.data;
-	{
-		if (base->object->body_type==OB_BODY_TYPE_NAVMESH)
-		{
-			if (!navmeshBase || base==CTX_data_active_base(C))
-				navmeshBase = base;
+	LinkNode* obs= NULL;
+	Base* navmeshBase= NULL;
+
+	CTX_DATA_BEGIN(C, Base*, base, selected_editable_bases) {
+		if(base->object->body_type==OB_BODY_TYPE_NAVMESH) {
+			if(!navmeshBase || base==CTX_data_active_base(C))
+				navmeshBase= base;
 		}
 		else
 			BLI_linklist_append(&obs, (void*)base->object);
 	}
 	CTX_DATA_END;
+
 	createVertsTrisData(C, obs, &nverts, &verts, &ntris, &tris);
 	BLI_linklist_free(obs, NULL);
 	buildNavMesh(&scene->gm.recastData, nverts, verts, ntris, tris, &pmesh, &dmesh);
@@ -540,28 +470,25 @@ static int assign_navpolygon_exec(bContext *C, wmOperator *UNUSED(op))
 	Object *obedit= CTX_data_edit_object(C);
 	EditMesh *em= BKE_mesh_get_editmesh((Mesh *)obedit->data);
 
-	//do work here
-	int targetPolyIdx = -1;
+	/* do work here */
+	int targetPolyIdx= -1;
 	EditFace *ef, *efa;
-	efa = EM_get_actFace(em, 0);
-	if (efa) 
-	{
-		if (CustomData_has_layer(&em->fdata, CD_RECAST))
-		{
-			targetPolyIdx = *(int*)CustomData_em_get(&em->fdata, efa->data, CD_RECAST);
-			targetPolyIdx = targetPolyIdx>=0? targetPolyIdx : -targetPolyIdx;
-			if (targetPolyIdx>0)
-			{
-				//set target poly idx to other selected faces
-				ef = (EditFace*)em->faces.last;
-				while(ef) 
-				{
-					if((ef->f & SELECT )&& ef!=efa) 
-					{
-						int* recastDataBlock = (int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST);
-						*recastDataBlock = targetPolyIdx;
+	efa= EM_get_actFace(em, 0);
+
+	if(efa) {
+		if(CustomData_has_layer(&em->fdata, CD_RECAST)) {
+			targetPolyIdx= *(int*)CustomData_em_get(&em->fdata, efa->data, CD_RECAST);
+			targetPolyIdx= targetPolyIdx>=0? targetPolyIdx : -targetPolyIdx;
+
+			if(targetPolyIdx>0) {
+				/* set target poly idx to other selected faces */
+				ef= (EditFace*)em->faces.last;
+				while(ef)  {
+					if((ef->f & SELECT )&& ef!=efa)  {
+						int* recastDataBlock= (int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST);
+						*recastDataBlock= targetPolyIdx;
 					}
-					ef = ef->prev;
+					ef= ef->prev;
 				}
 			}
 		}		
@@ -571,6 +498,7 @@ static int assign_navpolygon_exec(bContext *C, wmOperator *UNUSED(op))
 	WM_event_add_notifier(C, NC_GEOM|ND_DATA, obedit->data);
 
 	BKE_mesh_end_editmesh((Mesh*)obedit->data, em);
+
 	return OPERATOR_FINISHED;
 }
 
@@ -595,29 +523,27 @@ static int compare(const void * a, const void * b){
 
 static int findFreeNavPolyIndex(EditMesh* em)
 {
-	//construct vector of indices
-	int numfaces = em->totface;
-	int* indices = MEM_callocN(sizeof(int)*numfaces, "findFreeNavPolyIndex(indices)");
-	EditFace* ef = (EditFace*)em->faces.last;
-	int i, idx = 0, freeIdx = 1;
-
-	while(ef) 
-	{
-		int polyIdx = *(int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST);
-		indices[idx] = polyIdx;
+	/* construct vector of indices */
+	int numfaces= em->totface;
+	int* indices= MEM_callocN(sizeof(int)*numfaces, "findFreeNavPolyIndex(indices)");
+	EditFace* ef= (EditFace*)em->faces.last;
+	int i, idx= 0, freeIdx= 1;
+
+	while(ef) {
+		int polyIdx= *(int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST);
+		indices[idx]= polyIdx;
 		idx++;
-		ef = ef->prev;
+		ef= ef->prev;
 	}
 
 	qsort(indices, numfaces, sizeof(int), compare);
 
-	//search first free index
-	freeIdx = 1;
-	for (i=0; i<numfaces; i++)
-	{
-		if (indices[i]==freeIdx)
+	/* search first free index */
+	freeIdx= 1;
+	for(i= 0; i<numfaces; i++) {
+		if(indices[i]==freeIdx)
 			freeIdx++;
-		else if (indices[i]>freeIdx)
+		else if(indices[i]>freeIdx)
 			break;
 	}
 
@@ -630,26 +556,23 @@ static int assign_new_navpolygon_exec(bContext *C, wmOperator *UNUSED(op))
 {
 	Object *obedit= CTX_data_edit_object(C);
 	EditMesh *em= BKE_mesh_get_editmesh((Mesh *)obedit->data);
-
 	EditFace *ef;
-	if (CustomData_has_layer(&em->fdata, CD_RECAST))
-	{
-		int targetPolyIdx = findFreeNavPolyIndex(em);
-		if (targetPolyIdx>0)
-		{
-			//set target poly idx to selected faces
-			ef = (EditFace*)em->faces.last;
-			while(ef) 
-			{
-				if(ef->f & SELECT ) 
-				{
-					int* recastDataBlock = (int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST);
-					*recastDataBlock = targetPolyIdx;
+
+	if(CustomData_has_layer(&em->fdata, CD_RECAST)) {
+		int targetPolyIdx= findFreeNavPolyIndex(em);
+
+		if(targetPolyIdx>0) {
+			/* set target poly idx to selected faces */
+			ef= (EditFace*)em->faces.last;
+			while(ef) {
+				if(ef->f & SELECT) {
+					int *recastDataBlock= (int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST);
+					*recastDataBlock= targetPolyIdx;
 				}
-				ef = ef->prev;
+				ef= ef->prev;
 			}
 		}
-	}		
+	}
 
 	DAG_id_tag_update((ID*)obedit->data, OB_RECALC_DATA);
 	WM_event_add_notifier(C, NC_GEOM|ND_DATA, obedit->data);