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Diffstat (limited to 'extern/recastnavigation/Recast/Include/Recast.h')
| -rw-r--r-- | extern/recastnavigation/Recast/Include/Recast.h | 1194 |
1 files changed, 0 insertions, 1194 deletions
diff --git a/extern/recastnavigation/Recast/Include/Recast.h b/extern/recastnavigation/Recast/Include/Recast.h deleted file mode 100644 index 6f18247d527..00000000000 --- a/extern/recastnavigation/Recast/Include/Recast.h +++ /dev/null @@ -1,1194 +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_H -#define RECAST_H - -/// The value of PI used by Recast. -static const float RC_PI = 3.14159265f; - -/// Recast log categories. -/// @see rcContext -enum rcLogCategory -{ - RC_LOG_PROGRESS = 1, ///< A progress log entry. - RC_LOG_WARNING, ///< A warning log entry. - RC_LOG_ERROR, ///< An error log entry. -}; - -/// Recast performance timer categories. -/// @see rcContext -enum rcTimerLabel -{ - /// The user defined total time of the build. - RC_TIMER_TOTAL, - /// A user defined build time. - RC_TIMER_TEMP, - /// The time to rasterize the triangles. (See: #rcRasterizeTriangle) - RC_TIMER_RASTERIZE_TRIANGLES, - /// The time to build the compact heightfield. (See: #rcBuildCompactHeightfield) - RC_TIMER_BUILD_COMPACTHEIGHTFIELD, - /// The total time to build the contours. (See: #rcBuildContours) - RC_TIMER_BUILD_CONTOURS, - /// The time to trace the boundaries of the contours. (See: #rcBuildContours) - RC_TIMER_BUILD_CONTOURS_TRACE, - /// The time to simplify the contours. (See: #rcBuildContours) - RC_TIMER_BUILD_CONTOURS_SIMPLIFY, - /// The time to filter ledge spans. (See: #rcFilterLedgeSpans) - RC_TIMER_FILTER_BORDER, - /// The time to filter low height spans. (See: #rcFilterWalkableLowHeightSpans) - RC_TIMER_FILTER_WALKABLE, - /// The time to apply the median filter. (See: #rcMedianFilterWalkableArea) - RC_TIMER_MEDIAN_AREA, - /// The time to filter low obstacles. (See: #rcFilterLowHangingWalkableObstacles) - RC_TIMER_FILTER_LOW_OBSTACLES, - /// The time to build the polygon mesh. (See: #rcBuildPolyMesh) - RC_TIMER_BUILD_POLYMESH, - /// The time to merge polygon meshes. (See: #rcMergePolyMeshes) - RC_TIMER_MERGE_POLYMESH, - /// The time to erode the walkable area. (See: #rcErodeWalkableArea) - RC_TIMER_ERODE_AREA, - /// The time to mark a box area. (See: #rcMarkBoxArea) - RC_TIMER_MARK_BOX_AREA, - /// The time to mark a cylinder area. (See: #rcMarkCylinderArea) - RC_TIMER_MARK_CYLINDER_AREA, - /// The time to mark a convex polygon area. (See: #rcMarkConvexPolyArea) - RC_TIMER_MARK_CONVEXPOLY_AREA, - /// The total time to build the distance field. (See: #rcBuildDistanceField) - RC_TIMER_BUILD_DISTANCEFIELD, - /// The time to build the distances of the distance field. (See: #rcBuildDistanceField) - RC_TIMER_BUILD_DISTANCEFIELD_DIST, - /// The time to blur the distance field. (See: #rcBuildDistanceField) - RC_TIMER_BUILD_DISTANCEFIELD_BLUR, - /// The total time to build the regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone) - RC_TIMER_BUILD_REGIONS, - /// The total time to apply the watershed algorithm. (See: #rcBuildRegions) - RC_TIMER_BUILD_REGIONS_WATERSHED, - /// The time to expand regions while applying the watershed algorithm. (See: #rcBuildRegions) - RC_TIMER_BUILD_REGIONS_EXPAND, - /// The time to flood regions while applying the watershed algorithm. (See: #rcBuildRegions) - RC_TIMER_BUILD_REGIONS_FLOOD, - /// The time to filter out small regions. (See: #rcBuildRegions, #rcBuildRegionsMonotone) - RC_TIMER_BUILD_REGIONS_FILTER, - /// The time to build heightfield layers. (See: #rcBuildHeightfieldLayers) - RC_TIMER_BUILD_LAYERS, - /// The time to build the polygon mesh detail. (See: #rcBuildPolyMeshDetail) - RC_TIMER_BUILD_POLYMESHDETAIL, - /// The time to merge polygon mesh details. (See: #rcMergePolyMeshDetails) - RC_TIMER_MERGE_POLYMESHDETAIL, - /// The maximum number of timers. (Used for iterating timers.) - RC_MAX_TIMERS -}; - -/// Provides an interface for optional logging and performance tracking of the Recast -/// build process. -/// @ingroup recast -class rcContext -{ -public: - - /// Contructor. - /// @param[in] state TRUE if the logging and performance timers should be enabled. [Default: true] - inline rcContext(bool state = true) : m_logEnabled(state), m_timerEnabled(state) {} - virtual ~rcContext() {} - - /// Enables or disables logging. - /// @param[in] state TRUE if logging should be enabled. - inline void enableLog(bool state) { m_logEnabled = state; } - - /// Clears all log entries. - inline void resetLog() { if (m_logEnabled) doResetLog(); } - - /// Logs a message. - /// @param[in] category The category of the message. - /// @param[in] format The message. - void log(const rcLogCategory category, const char* format, ...); - - /// Enables or disables the performance timers. - /// @param[in] state TRUE if timers should be enabled. - inline void enableTimer(bool state) { m_timerEnabled = state; } - - /// Clears all peformance timers. (Resets all to unused.) - inline void resetTimers() { if (m_timerEnabled) doResetTimers(); } - - /// Starts the specified performance timer. - /// @param label The category of the timer. - inline void startTimer(const rcTimerLabel label) { if (m_timerEnabled) doStartTimer(label); } - - /// Stops the specified performance timer. - /// @param label The category of the timer. - inline void stopTimer(const rcTimerLabel label) { if (m_timerEnabled) doStopTimer(label); } - - /// Returns the total accumulated time of the specified performance timer. - /// @param label The category of the timer. - /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. - inline int getAccumulatedTime(const rcTimerLabel label) const { return m_timerEnabled ? doGetAccumulatedTime(label) : -1; } - -protected: - - /// Clears all log entries. - virtual void doResetLog() {} - - /// Logs a message. - /// @param[in] category The category of the message. - /// @param[in] msg The formatted message. - /// @param[in] len The length of the formatted message. - virtual void doLog(const rcLogCategory /*category*/, const char* /*msg*/, const int /*len*/) {} - - /// Clears all timers. (Resets all to unused.) - virtual void doResetTimers() {} - - /// Starts the specified performance timer. - /// @param[in] label The category of timer. - virtual void doStartTimer(const rcTimerLabel /*label*/) {} - - /// Stops the specified performance timer. - /// @param[in] label The category of the timer. - virtual void doStopTimer(const rcTimerLabel /*label*/) {} - - /// Returns the total accumulated time of the specified performance timer. - /// @param[in] label The category of the timer. - /// @return The accumulated time of the timer, or -1 if timers are disabled or the timer has never been started. - virtual int doGetAccumulatedTime(const rcTimerLabel /*label*/) const { return -1; } - - /// True if logging is enabled. - bool m_logEnabled; - - /// True if the performance timers are enabled. - bool m_timerEnabled; -}; - -/// A helper to first start a timer and then stop it when this helper goes out of scope. -/// @see rcContext -class rcScopedTimer -{ -public: - /// Constructs an instance and starts the timer. - /// @param[in] ctx The context to use. - /// @param[in] label The category of the timer. - inline rcScopedTimer(rcContext* ctx, const rcTimerLabel label) : m_ctx(ctx), m_label(label) { m_ctx->startTimer(m_label); } - inline ~rcScopedTimer() { m_ctx->stopTimer(m_label); } - -private: - // Explicitly disabled copy constructor and copy assignment operator. - rcScopedTimer(const rcScopedTimer&); - rcScopedTimer& operator=(const rcScopedTimer&); - - rcContext* const m_ctx; - const rcTimerLabel m_label; -}; - -/// Specifies a configuration to use when performing Recast builds. -/// @ingroup recast -struct rcConfig -{ - /// The width of the field along the x-axis. [Limit: >= 0] [Units: vx] - int width; - - /// The height of the field along the z-axis. [Limit: >= 0] [Units: vx] - int height; - - /// The width/height size of tile's on the xz-plane. [Limit: >= 0] [Units: vx] - int tileSize; - - /// The size of the non-navigable border around the heightfield. [Limit: >=0] [Units: vx] - int borderSize; - - /// The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu] - float cs; - - /// The y-axis cell size to use for fields. [Limit: > 0] [Units: wu] - float ch; - - /// The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] - float bmin[3]; - - /// The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] - float bmax[3]; - - /// The maximum slope that is considered walkable. [Limits: 0 <= value < 90] [Units: Degrees] - float walkableSlopeAngle; - - /// Minimum floor to 'ceiling' height that will still allow the floor area to - /// be considered walkable. [Limit: >= 3] [Units: vx] - int walkableHeight; - - /// Maximum ledge height that is considered to still be traversable. [Limit: >=0] [Units: vx] - int walkableClimb; - - /// The distance to erode/shrink the walkable area of the heightfield away from - /// obstructions. [Limit: >=0] [Units: vx] - int walkableRadius; - - /// The maximum allowed length for contour edges along the border of the mesh. [Limit: >=0] [Units: vx] - int maxEdgeLen; - - /// The maximum distance a simplfied contour's border edges should deviate - /// the original raw contour. [Limit: >=0] [Units: vx] - float maxSimplificationError; - - /// The minimum number of cells allowed to form isolated island areas. [Limit: >=0] [Units: vx] - int minRegionArea; - - /// Any regions with a span count smaller than this value will, if possible, - /// be merged with larger regions. [Limit: >=0] [Units: vx] - int mergeRegionArea; - - /// The maximum number of vertices allowed for polygons generated during the - /// contour to polygon conversion process. [Limit: >= 3] - int maxVertsPerPoly; - - /// Sets the sampling distance to use when generating the detail mesh. - /// (For height detail only.) [Limits: 0 or >= 0.9] [Units: wu] - float detailSampleDist; - - /// The maximum distance the detail mesh surface should deviate from heightfield - /// data. (For height detail only.) [Limit: >=0] [Units: wu] - float detailSampleMaxError; -}; - -/// Defines the number of bits allocated to rcSpan::smin and rcSpan::smax. -static const int RC_SPAN_HEIGHT_BITS = 13; -/// Defines the maximum value for rcSpan::smin and rcSpan::smax. -static const int RC_SPAN_MAX_HEIGHT = (1 << RC_SPAN_HEIGHT_BITS) - 1; - -/// The number of spans allocated per span spool. -/// @see rcSpanPool -static const int RC_SPANS_PER_POOL = 2048; - -/// Represents a span in a heightfield. -/// @see rcHeightfield -struct rcSpan -{ - unsigned int smin : RC_SPAN_HEIGHT_BITS; ///< The lower limit of the span. [Limit: < #smax] - unsigned int smax : RC_SPAN_HEIGHT_BITS; ///< The upper limit of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] - unsigned int area : 6; ///< The area id assigned to the span. - rcSpan* next; ///< The next span higher up in column. -}; - -/// A memory pool used for quick allocation of spans within a heightfield. -/// @see rcHeightfield -struct rcSpanPool -{ - rcSpanPool* next; ///< The next span pool. - rcSpan items[RC_SPANS_PER_POOL]; ///< Array of spans in the pool. -}; - -/// A dynamic heightfield representing obstructed space. -/// @ingroup recast -struct rcHeightfield -{ - int width; ///< The width of the heightfield. (Along the x-axis in cell units.) - int height; ///< The height of the heightfield. (Along the z-axis in cell units.) - float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] - float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] - float cs; ///< The size of each cell. (On the xz-plane.) - float ch; ///< The height of each cell. (The minimum increment along the y-axis.) - rcSpan** spans; ///< Heightfield of spans (width*height). - rcSpanPool* pools; ///< Linked list of span pools. - rcSpan* freelist; ///< The next free span. -}; - -/// Provides information on the content of a cell column in a compact heightfield. -struct rcCompactCell -{ - unsigned int index : 24; ///< Index to the first span in the column. - unsigned int count : 8; ///< Number of spans in the column. -}; - -/// Represents a span of unobstructed space within a compact heightfield. -struct rcCompactSpan -{ - unsigned short y; ///< The lower extent of the span. (Measured from the heightfield's base.) - unsigned short reg; ///< The id of the region the span belongs to. (Or zero if not in a region.) - unsigned int con : 24; ///< Packed neighbor connection data. - unsigned int h : 8; ///< The height of the span. (Measured from #y.) -}; - -/// A compact, static heightfield representing unobstructed space. -/// @ingroup recast -struct rcCompactHeightfield -{ - int width; ///< The width of the heightfield. (Along the x-axis in cell units.) - int height; ///< The height of the heightfield. (Along the z-axis in cell units.) - int spanCount; ///< The number of spans in the heightfield. - int walkableHeight; ///< The walkable height used during the build of the field. (See: rcConfig::walkableHeight) - int walkableClimb; ///< The walkable climb used during the build of the field. (See: rcConfig::walkableClimb) - int borderSize; ///< The AABB border size used during the build of the field. (See: rcConfig::borderSize) - unsigned short maxDistance; ///< The maximum distance value of any span within the field. - unsigned short maxRegions; ///< The maximum region id of any span within the field. - float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] - float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] - float cs; ///< The size of each cell. (On the xz-plane.) - float ch; ///< The height of each cell. (The minimum increment along the y-axis.) - rcCompactCell* cells; ///< Array of cells. [Size: #width*#height] - rcCompactSpan* spans; ///< Array of spans. [Size: #spanCount] - unsigned short* dist; ///< Array containing border distance data. [Size: #spanCount] - unsigned char* areas; ///< Array containing area id data. [Size: #spanCount] -}; - -/// Represents a heightfield layer within a layer set. -/// @see rcHeightfieldLayerSet -struct rcHeightfieldLayer -{ - float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] - float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] - float cs; ///< The size of each cell. (On the xz-plane.) - float ch; ///< The height of each cell. (The minimum increment along the y-axis.) - int width; ///< The width of the heightfield. (Along the x-axis in cell units.) - int height; ///< The height of the heightfield. (Along the z-axis in cell units.) - int minx; ///< The minimum x-bounds of usable data. - int maxx; ///< The maximum x-bounds of usable data. - int miny; ///< The minimum y-bounds of usable data. (Along the z-axis.) - int maxy; ///< The maximum y-bounds of usable data. (Along the z-axis.) - int hmin; ///< The minimum height bounds of usable data. (Along the y-axis.) - int hmax; ///< The maximum height bounds of usable data. (Along the y-axis.) - unsigned char* heights; ///< The heightfield. [Size: width * height] - unsigned char* areas; ///< Area ids. [Size: Same as #heights] - unsigned char* cons; ///< Packed neighbor connection information. [Size: Same as #heights] -}; - -/// Represents a set of heightfield layers. -/// @ingroup recast -/// @see rcAllocHeightfieldLayerSet, rcFreeHeightfieldLayerSet -struct rcHeightfieldLayerSet -{ - rcHeightfieldLayer* layers; ///< The layers in the set. [Size: #nlayers] - int nlayers; ///< The number of layers in the set. -}; - -/// Represents a simple, non-overlapping contour in field space. -struct rcContour -{ - int* verts; ///< Simplified contour vertex and connection data. [Size: 4 * #nverts] - int nverts; ///< The number of vertices in the simplified contour. - int* rverts; ///< Raw contour vertex and connection data. [Size: 4 * #nrverts] - int nrverts; ///< The number of vertices in the raw contour. - unsigned short reg; ///< The region id of the contour. - unsigned char area; ///< The area id of the contour. -}; - -/// Represents a group of related contours. -/// @ingroup recast -struct rcContourSet -{ - rcContour* conts; ///< An array of the contours in the set. [Size: #nconts] - int nconts; ///< The number of contours in the set. - float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] - float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] - float cs; ///< The size of each cell. (On the xz-plane.) - float ch; ///< The height of each cell. (The minimum increment along the y-axis.) - int width; ///< The width of the set. (Along the x-axis in cell units.) - int height; ///< The height of the set. (Along the z-axis in cell units.) - int borderSize; ///< The AABB border size used to generate the source data from which the contours were derived. - float maxError; ///< The max edge error that this contour set was simplified with. -}; - -/// Represents a polygon mesh suitable for use in building a navigation mesh. -/// @ingroup recast -struct rcPolyMesh -{ - unsigned short* verts; ///< The mesh vertices. [Form: (x, y, z) * #nverts] - unsigned short* polys; ///< Polygon and neighbor data. [Length: #maxpolys * 2 * #nvp] - unsigned short* regs; ///< The region id assigned to each polygon. [Length: #maxpolys] - unsigned short* flags; ///< The user defined flags for each polygon. [Length: #maxpolys] - unsigned char* areas; ///< The area id assigned to each polygon. [Length: #maxpolys] - int nverts; ///< The number of vertices. - int npolys; ///< The number of polygons. - int maxpolys; ///< The number of allocated polygons. - int nvp; ///< The maximum number of vertices per polygon. - float bmin[3]; ///< The minimum bounds in world space. [(x, y, z)] - float bmax[3]; ///< The maximum bounds in world space. [(x, y, z)] - float cs; ///< The size of each cell. (On the xz-plane.) - float ch; ///< The height of each cell. (The minimum increment along the y-axis.) - int borderSize; ///< The AABB border size used to generate the source data from which the mesh was derived. - float maxEdgeError; ///< The max error of the polygon edges in the mesh. -}; - -/// Contains triangle meshes that represent detailed height data associated -/// with the polygons in its associated polygon mesh object. -/// @ingroup recast -struct rcPolyMeshDetail -{ - unsigned int* meshes; ///< The sub-mesh data. [Size: 4*#nmeshes] - float* verts; ///< The mesh vertices. [Size: 3*#nverts] - unsigned char* tris; ///< The mesh triangles. [Size: 4*#ntris] - int nmeshes; ///< The number of sub-meshes defined by #meshes. - int nverts; ///< The number of vertices in #verts. - int ntris; ///< The number of triangles in #tris. -}; - -/// @name Allocation Functions -/// Functions used to allocate and de-allocate Recast objects. -/// @see rcAllocSetCustom -/// @{ - -/// Allocates a heightfield object using the Recast allocator. -/// @return A heightfield that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcCreateHeightfield, rcFreeHeightField -rcHeightfield* rcAllocHeightfield(); - -/// Frees the specified heightfield object using the Recast allocator. -/// @param[in] hf A heightfield allocated using #rcAllocHeightfield -/// @ingroup recast -/// @see rcAllocHeightfield -void rcFreeHeightField(rcHeightfield* hf); - -/// Allocates a compact heightfield object using the Recast allocator. -/// @return A compact heightfield that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildCompactHeightfield, rcFreeCompactHeightfield -rcCompactHeightfield* rcAllocCompactHeightfield(); - -/// Frees the specified compact heightfield object using the Recast allocator. -/// @param[in] chf A compact heightfield allocated using #rcAllocCompactHeightfield -/// @ingroup recast -/// @see rcAllocCompactHeightfield -void rcFreeCompactHeightfield(rcCompactHeightfield* chf); - -/// Allocates a heightfield layer set using the Recast allocator. -/// @return A heightfield layer set that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet -rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet(); - -/// Frees the specified heightfield layer set using the Recast allocator. -/// @param[in] lset A heightfield layer set allocated using #rcAllocHeightfieldLayerSet -/// @ingroup recast -/// @see rcAllocHeightfieldLayerSet -void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset); - -/// Allocates a contour set object using the Recast allocator. -/// @return A contour set that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildContours, rcFreeContourSet -rcContourSet* rcAllocContourSet(); - -/// Frees the specified contour set using the Recast allocator. -/// @param[in] cset A contour set allocated using #rcAllocContourSet -/// @ingroup recast -/// @see rcAllocContourSet -void rcFreeContourSet(rcContourSet* cset); - -/// Allocates a polygon mesh object using the Recast allocator. -/// @return A polygon mesh that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildPolyMesh, rcFreePolyMesh -rcPolyMesh* rcAllocPolyMesh(); - -/// Frees the specified polygon mesh using the Recast allocator. -/// @param[in] pmesh A polygon mesh allocated using #rcAllocPolyMesh -/// @ingroup recast -/// @see rcAllocPolyMesh -void rcFreePolyMesh(rcPolyMesh* pmesh); - -/// Allocates a detail mesh object using the Recast allocator. -/// @return A detail mesh that is ready for initialization, or null on failure. -/// @ingroup recast -/// @see rcBuildPolyMeshDetail, rcFreePolyMeshDetail -rcPolyMeshDetail* rcAllocPolyMeshDetail(); - -/// Frees the specified detail mesh using the Recast allocator. -/// @param[in] dmesh A detail mesh allocated using #rcAllocPolyMeshDetail -/// @ingroup recast -/// @see rcAllocPolyMeshDetail -void rcFreePolyMeshDetail(rcPolyMeshDetail* dmesh); - -/// @} - -/// Heighfield border flag. -/// If a heightfield region ID has this bit set, then the region is a border -/// region and its spans are considered unwalkable. -/// (Used during the region and contour build process.) -/// @see rcCompactSpan::reg -static const unsigned short RC_BORDER_REG = 0x8000; - -/// Polygon touches multiple regions. -/// If a polygon has this region ID it was merged with or created -/// from polygons of different regions during the polymesh -/// build step that removes redundant border vertices. -/// (Used during the polymesh and detail polymesh build processes) -/// @see rcPolyMesh::regs -static const unsigned short RC_MULTIPLE_REGS = 0; - -/// Border vertex flag. -/// If a region ID has this bit set, then the associated element lies on -/// a tile border. If a contour vertex's region ID has this bit set, the -/// vertex will later be removed in order to match the segments and vertices -/// at tile boundaries. -/// (Used during the build process.) -/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts -static const int RC_BORDER_VERTEX = 0x10000; - -/// Area border flag. -/// If a region ID has this bit set, then the associated element lies on -/// the border of an area. -/// (Used during the region and contour build process.) -/// @see rcCompactSpan::reg, #rcContour::verts, #rcContour::rverts -static const int RC_AREA_BORDER = 0x20000; - -/// Contour build flags. -/// @see rcBuildContours -enum rcBuildContoursFlags -{ - RC_CONTOUR_TESS_WALL_EDGES = 0x01, ///< Tessellate solid (impassable) edges during contour simplification. - RC_CONTOUR_TESS_AREA_EDGES = 0x02, ///< Tessellate edges between areas during contour simplification. -}; - -/// Applied to the region id field of contour vertices in order to extract the region id. -/// The region id field of a vertex may have several flags applied to it. So the -/// fields value can't be used directly. -/// @see rcContour::verts, rcContour::rverts -static const int RC_CONTOUR_REG_MASK = 0xffff; - -/// An value which indicates an invalid index within a mesh. -/// @note This does not necessarily indicate an error. -/// @see rcPolyMesh::polys -static const unsigned short RC_MESH_NULL_IDX = 0xffff; - -/// Represents the null area. -/// When a data element is given this value it is considered to no longer be -/// assigned to a usable area. (E.g. It is unwalkable.) -static const unsigned char RC_NULL_AREA = 0; - -/// The default area id used to indicate a walkable polygon. -/// This is also the maximum allowed area id, and the only non-null area id -/// recognized by some steps in the build process. -static const unsigned char RC_WALKABLE_AREA = 63; - -/// The value returned by #rcGetCon if the specified direction is not connected -/// to another span. (Has no neighbor.) -static const int RC_NOT_CONNECTED = 0x3f; - -/// @name General helper functions -/// @{ - -/// Used to ignore a function parameter. VS complains about unused parameters -/// and this silences the warning. -/// @param [in] _ Unused parameter -template<class T> void rcIgnoreUnused(const T&) { } - -/// Swaps the values of the two parameters. -/// @param[in,out] a Value A -/// @param[in,out] b Value B -template<class T> inline void rcSwap(T& a, T& b) { T t = a; a = b; b = t; } - -/// Returns the minimum of two values. -/// @param[in] a Value A -/// @param[in] b Value B -/// @return The minimum of the two values. -template<class T> inline T rcMin(T a, T b) { return a < b ? a : b; } - -/// Returns the maximum of two values. -/// @param[in] a Value A -/// @param[in] b Value B -/// @return The maximum of the two values. -template<class T> inline T rcMax(T a, T b) { return a > b ? a : b; } - -/// Returns the absolute value. -/// @param[in] a The value. -/// @return The absolute value of the specified value. -template<class T> inline T rcAbs(T a) { return a < 0 ? -a : a; } - -/// Returns the square of the value. -/// @param[in] a The value. -/// @return The square of the value. -template<class T> inline T rcSqr(T a) { return a*a; } - -/// Clamps the value to the specified range. -/// @param[in] v The value to clamp. -/// @param[in] mn The minimum permitted return value. -/// @param[in] mx The maximum permitted return value. -/// @return The value, clamped to the specified range. -template<class T> inline T rcClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } - -/// Returns the square root of the value. -/// @param[in] x The value. -/// @return The square root of the vlaue. -float rcSqrt(float x); - -/// @} -/// @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 rcVcross(float* dest, const float* v1, const float* v2) -{ - dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; - dest[1] = v1[2]*v2[0] - v1[0]*v2[2]; - dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; -} - -/// Derives the dot product of two vectors. (@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 rcVdot(const float* v1, const float* v2) -{ - return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; -} - -/// Performs a scaled vector addition. (@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 rcVmad(float* dest, const float* v1, const float* v2, const float s) -{ - dest[0] = v1[0]+v2[0]*s; - dest[1] = v1[1]+v2[1]*s; - dest[2] = v1[2]+v2[2]*s; -} - -/// Performs a vector addition. (@p v1 + @p v2) -/// @param[out] dest The result vector. [(x, y, z)] -/// @param[in] v1 The base vector. [(x, y, z)] -/// @param[in] v2 The vector to add to @p v1. [(x, y, z)] -inline void rcVadd(float* dest, const float* v1, const float* v2) -{ - dest[0] = v1[0]+v2[0]; - dest[1] = v1[1]+v2[1]; - dest[2] = v1[2]+v2[2]; -} - -/// Performs a vector subtraction. (@p v1 - @p v2) -/// @param[out] dest The result vector. [(x, y, z)] -/// @param[in] v1 The base vector. [(x, y, z)] -/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)] -inline void rcVsub(float* dest, const float* v1, const float* v2) -{ - dest[0] = v1[0]-v2[0]; - dest[1] = v1[1]-v2[1]; - dest[2] = v1[2]-v2[2]; -} - -/// Selects the minimum value of each element from the specified vectors. -/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)] -/// @param[in] v A vector. [(x, y, z)] -inline void rcVmin(float* mn, const float* v) -{ - mn[0] = rcMin(mn[0], v[0]); - mn[1] = rcMin(mn[1], v[1]); - mn[2] = rcMin(mn[2], v[2]); -} - -/// Selects the maximum value of each element from the specified vectors. -/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)] -/// @param[in] v A vector. [(x, y, z)] -inline void rcVmax(float* mx, const float* v) -{ - mx[0] = rcMax(mx[0], v[0]); - mx[1] = rcMax(mx[1], v[1]); - mx[2] = rcMax(mx[2], v[2]); -} - -/// Performs a vector copy. -/// @param[out] dest The result. [(x, y, z)] -/// @param[in] v The vector to copy. [(x, y, z)] -inline void rcVcopy(float* dest, const float* v) -{ - dest[0] = v[0]; - dest[1] = v[1]; - dest[2] = v[2]; -} - -/// Returns the distance between two points. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] -/// @return The distance between the two points. -inline float rcVdist(const float* v1, const float* v2) -{ - float dx = v2[0] - v1[0]; - float dy = v2[1] - v1[1]; - float dz = v2[2] - v1[2]; - return rcSqrt(dx*dx + dy*dy + dz*dz); -} - -/// Returns the square of the distance between two points. -/// @param[in] v1 A point. [(x, y, z)] -/// @param[in] v2 A point. [(x, y, z)] -/// @return The square of the distance between the two points. -inline float rcVdistSqr(const float* v1, const float* v2) -{ - float dx = v2[0] - v1[0]; - float dy = v2[1] - v1[1]; - float dz = v2[2] - v1[2]; - return dx*dx + dy*dy + dz*dz; -} - -/// Normalizes the vector. -/// @param[in,out] v The vector to normalize. [(x, y, z)] -inline void rcVnormalize(float* v) -{ - float d = 1.0f / rcSqrt(rcSqr(v[0]) + rcSqr(v[1]) + rcSqr(v[2])); - v[0] *= d; - v[1] *= d; - v[2] *= d; -} - -/// @} -/// @name Heightfield Functions -/// @see rcHeightfield -/// @{ - -/// Calculates the bounding box of an array of vertices. -/// @ingroup recast -/// @param[in] verts An array of vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices in the @p verts array. -/// @param[out] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu] -/// @param[out] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu] -void rcCalcBounds(const float* verts, int nv, float* bmin, float* bmax); - -/// Calculates the grid size based on the bounding box and grid cell size. -/// @ingroup recast -/// @param[in] bmin The minimum bounds of the AABB. [(x, y, z)] [Units: wu] -/// @param[in] bmax The maximum bounds of the AABB. [(x, y, z)] [Units: wu] -/// @param[in] cs The xz-plane cell size. [Limit: > 0] [Units: wu] -/// @param[out] w The width along the x-axis. [Limit: >= 0] [Units: vx] -/// @param[out] h The height along the z-axis. [Limit: >= 0] [Units: vx] -void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int* h); - -/// Initializes a new heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] hf The allocated heightfield to initialize. -/// @param[in] width The width of the field along the x-axis. [Limit: >= 0] [Units: vx] -/// @param[in] height The height of the field along the z-axis. [Limit: >= 0] [Units: vx] -/// @param[in] bmin The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu] -/// @param[in] bmax The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu] -/// @param[in] cs The xz-plane cell size to use for the field. [Limit: > 0] [Units: wu] -/// @param[in] ch The y-axis cell size to use for field. [Limit: > 0] [Units: wu] -/// @returns True if the operation completed successfully. -bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height, - const float* bmin, const float* bmax, - float cs, float ch); - -/// Sets the area id of all triangles with a slope below the specified value -/// to #RC_WALKABLE_AREA. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. -/// [Limits: 0 <= value < 90] [Units: Degrees] -/// @param[in] verts The vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices. -/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt] -/// @param[in] nt The number of triangles. -/// @param[out] areas The triangle area ids. [Length: >= @p nt] -void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv, - const int* tris, int nt, unsigned char* areas); - -/// Sets the area id of all triangles with a slope greater than or equal to the specified value to #RC_NULL_AREA. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableSlopeAngle The maximum slope that is considered walkable. -/// [Limits: 0 <= value < 90] [Units: Degrees] -/// @param[in] verts The vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices. -/// @param[in] tris The triangle vertex indices. [(vertA, vertB, vertC) * @p nt] -/// @param[in] nt The number of triangles. -/// @param[out] areas The triangle area ids. [Length: >= @p nt] -void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle, const float* verts, int nv, - const int* tris, int nt, unsigned char* areas); - -/// Adds a span to the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] hf An initialized heightfield. -/// @param[in] x The width index where the span is to be added. -/// [Limits: 0 <= value < rcHeightfield::width] -/// @param[in] y The height index where the span is to be added. -/// [Limits: 0 <= value < rcHeightfield::height] -/// @param[in] smin The minimum height of the span. [Limit: < @p smax] [Units: vx] -/// @param[in] smax The maximum height of the span. [Limit: <= #RC_SPAN_MAX_HEIGHT] [Units: vx] -/// @param[in] area The area id of the span. [Limit: <= #RC_WALKABLE_AREA) -/// @param[in] flagMergeThr The merge theshold. [Limit: >= 0] [Units: vx] -/// @returns True if the operation completed successfully. -bool rcAddSpan(rcContext* ctx, rcHeightfield& hf, const int x, const int y, - const unsigned short smin, const unsigned short smax, - const unsigned char area, const int flagMergeThr); - -/// Rasterizes a triangle into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] v0 Triangle vertex 0 [(x, y, z)] -/// @param[in] v1 Triangle vertex 1 [(x, y, z)] -/// @param[in] v2 Triangle vertex 2 [(x, y, z)] -/// @param[in] area The area id of the triangle. [Limit: <= #RC_WALKABLE_AREA] -/// @param[in,out] solid An initialized heightfield. -/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. -/// [Limit: >= 0] [Units: vx] -/// @returns True if the operation completed successfully. -bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2, - const unsigned char area, rcHeightfield& solid, - const int flagMergeThr = 1); - -/// Rasterizes an indexed triangle mesh into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices. -/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] -/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] -/// @param[in] nt The number of triangles. -/// @param[in,out] solid An initialized heightfield. -/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. -/// [Limit: >= 0] [Units: vx] -/// @returns True if the operation completed successfully. -bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv, - const int* tris, const unsigned char* areas, const int nt, - rcHeightfield& solid, const int flagMergeThr = 1); - -/// Rasterizes an indexed triangle mesh into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The vertices. [(x, y, z) * @p nv] -/// @param[in] nv The number of vertices. -/// @param[in] tris The triangle indices. [(vertA, vertB, vertC) * @p nt] -/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] -/// @param[in] nt The number of triangles. -/// @param[in,out] solid An initialized heightfield. -/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. -/// [Limit: >= 0] [Units: vx] -/// @returns True if the operation completed successfully. -bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const int nv, - const unsigned short* tris, const unsigned char* areas, const int nt, - rcHeightfield& solid, const int flagMergeThr = 1); - -/// Rasterizes triangles into the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The triangle vertices. [(ax, ay, az, bx, by, bz, cx, by, cx) * @p nt] -/// @param[in] areas The area id's of the triangles. [Limit: <= #RC_WALKABLE_AREA] [Size: @p nt] -/// @param[in] nt The number of triangles. -/// @param[in,out] solid An initialized heightfield. -/// @param[in] flagMergeThr The distance where the walkable flag is favored over the non-walkable flag. -/// [Limit: >= 0] [Units: vx] -/// @returns True if the operation completed successfully. -bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt, - rcHeightfield& solid, const int flagMergeThr = 1); - -/// Marks non-walkable spans as walkable if their maximum is within @p walkableClimp of a walkable neihbor. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. -/// [Limit: >=0] [Units: vx] -/// @param[in,out] solid A fully built heightfield. (All spans have been added.) -void rcFilterLowHangingWalkableObstacles(rcContext* ctx, const int walkableClimb, rcHeightfield& solid); - -/// Marks spans that are ledges as not-walkable. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to -/// be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. -/// [Limit: >=0] [Units: vx] -/// @param[in,out] solid A fully built heightfield. (All spans have been added.) -void rcFilterLedgeSpans(rcContext* ctx, const int walkableHeight, - const int walkableClimb, rcHeightfield& solid); - -/// Marks walkable spans as not walkable if the clearence above the span is less than the specified height. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area to -/// be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[in,out] solid A fully built heightfield. (All spans have been added.) -void rcFilterWalkableLowHeightSpans(rcContext* ctx, int walkableHeight, rcHeightfield& solid); - -/// Returns the number of spans contained in the specified heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] hf An initialized heightfield. -/// @returns The number of spans in the heightfield. -int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf); - -/// @} -/// @name Compact Heightfield Functions -/// @see rcCompactHeightfield -/// @{ - -/// Builds a compact heightfield representing open space, from a heightfield representing solid space. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area -/// to be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[in] walkableClimb Maximum ledge height that is considered to still be traversable. -/// [Limit: >=0] [Units: vx] -/// @param[in] hf The heightfield to be compacted. -/// @param[out] chf The resulting compact heightfield. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const int walkableClimb, - rcHeightfield& hf, rcCompactHeightfield& chf); - -/// Erodes the walkable area within the heightfield by the specified radius. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] radius The radius of erosion. [Limits: 0 < value < 255] [Units: vx] -/// @param[in,out] chf The populated compact heightfield to erode. -/// @returns True if the operation completed successfully. -bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf); - -/// Applies a median filter to walkable area types (based on area id), removing noise. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @returns True if the operation completed successfully. -bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf); - -/// Applies an area id to all spans within the specified bounding box. (AABB) -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] bmin The minimum of the bounding box. [(x, y, z)] -/// @param[in] bmax The maximum of the bounding box. [(x, y, z)] -/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] -/// @param[in,out] chf A populated compact heightfield. -void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId, - rcCompactHeightfield& chf); - -/// Applies the area id to the all spans within the specified convex polygon. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] verts The vertices of the polygon [Fomr: (x, y, z) * @p nverts] -/// @param[in] nverts The number of vertices in the polygon. -/// @param[in] hmin The height of the base of the polygon. -/// @param[in] hmax The height of the top of the polygon. -/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] -/// @param[in,out] chf A populated compact heightfield. -void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts, - const float hmin, const float hmax, unsigned char areaId, - rcCompactHeightfield& chf); - -/// Helper function to offset voncex polygons for rcMarkConvexPolyArea. -/// @ingroup recast -/// @param[in] verts The vertices of the polygon [Form: (x, y, z) * @p nverts] -/// @param[in] nverts The number of vertices in the polygon. -/// @param[out] outVerts The offset vertices (should hold up to 2 * @p nverts) [Form: (x, y, z) * return value] -/// @param[in] maxOutVerts The max number of vertices that can be stored to @p outVerts. -/// @returns Number of vertices in the offset polygon or 0 if too few vertices in @p outVerts. -int rcOffsetPoly(const float* verts, const int nverts, const float offset, - float* outVerts, const int maxOutVerts); - -/// Applies the area id to all spans within the specified cylinder. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] pos The center of the base of the cylinder. [Form: (x, y, z)] -/// @param[in] r The radius of the cylinder. -/// @param[in] h The height of the cylinder. -/// @param[in] areaId The area id to apply. [Limit: <= #RC_WALKABLE_AREA] -/// @param[in,out] chf A populated compact heightfield. -void rcMarkCylinderArea(rcContext* ctx, const float* pos, - const float r, const float h, unsigned char areaId, - rcCompactHeightfield& chf); - -/// Builds the distance field for the specified compact heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @returns True if the operation completed successfully. -bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf); - -/// Builds region data for the heightfield using watershed partitioning. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @param[in] borderSize The size of the non-navigable border around the heightfield. -/// [Limit: >=0] [Units: vx] -/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. -/// [Limit: >=0] [Units: vx]. -/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible, -/// be merged with larger regions. [Limit: >=0] [Units: vx] -/// @returns True if the operation completed successfully. -bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int minRegionArea, const int mergeRegionArea); - -/// Builds region data for the heightfield by partitioning the heightfield in non-overlapping layers. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @param[in] borderSize The size of the non-navigable border around the heightfield. -/// [Limit: >=0] [Units: vx] -/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. -/// [Limit: >=0] [Units: vx]. -/// @returns True if the operation completed successfully. -bool rcBuildLayerRegions(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int minRegionArea); - -/// Builds region data for the heightfield using simple monotone partitioning. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in,out] chf A populated compact heightfield. -/// @param[in] borderSize The size of the non-navigable border around the heightfield. -/// [Limit: >=0] [Units: vx] -/// @param[in] minRegionArea The minimum number of cells allowed to form isolated island areas. -/// [Limit: >=0] [Units: vx]. -/// @param[in] mergeRegionArea Any regions with a span count smaller than this value will, if possible, -/// be merged with larger regions. [Limit: >=0] [Units: vx] -/// @returns True if the operation completed successfully. -bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int minRegionArea, const int mergeRegionArea); - -/// Sets the neighbor connection data for the specified direction. -/// @param[in] s The span to update. -/// @param[in] dir The direction to set. [Limits: 0 <= value < 4] -/// @param[in] i The index of the neighbor span. -inline void rcSetCon(rcCompactSpan& s, int dir, int i) -{ - const unsigned int shift = (unsigned int)dir*6; - unsigned int con = s.con; - s.con = (con & ~(0x3f << shift)) | (((unsigned int)i & 0x3f) << shift); -} - -/// Gets neighbor connection data for the specified direction. -/// @param[in] s The span to check. -/// @param[in] dir The direction to check. [Limits: 0 <= value < 4] -/// @return The neighbor connection data for the specified direction, -/// or #RC_NOT_CONNECTED if there is no connection. -inline int rcGetCon(const rcCompactSpan& s, int dir) -{ - const unsigned int shift = (unsigned int)dir*6; - return (s.con >> shift) & 0x3f; -} - -/// Gets the standard width (x-axis) offset for the specified direction. -/// @param[in] dir The direction. [Limits: 0 <= value < 4] -/// @return The width offset to apply to the current cell position to move -/// in the direction. -inline int rcGetDirOffsetX(int dir) -{ - static const int offset[4] = { -1, 0, 1, 0, }; - return offset[dir&0x03]; -} - -/// Gets the standard height (z-axis) offset for the specified direction. -/// @param[in] dir The direction. [Limits: 0 <= value < 4] -/// @return The height offset to apply to the current cell position to move -/// in the direction. -inline int rcGetDirOffsetY(int dir) -{ - static const int offset[4] = { 0, 1, 0, -1 }; - return offset[dir&0x03]; -} - -/// Gets the direction for the specified offset. One of x and y should be 0. -/// @param[in] x The x offset. [Limits: -1 <= value <= 1] -/// @param[in] y The y offset. [Limits: -1 <= value <= 1] -/// @return The direction that represents the offset. -inline int rcGetDirForOffset(int x, int y) -{ - static const int dirs[5] = { 3, 0, -1, 2, 1 }; - return dirs[((y+1)<<1)+x]; -} - -/// @} -/// @name Layer, Contour, Polymesh, and Detail Mesh Functions -/// @see rcHeightfieldLayer, rcContourSet, rcPolyMesh, rcPolyMeshDetail -/// @{ - -/// Builds a layer set from the specified compact heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] chf A fully built compact heightfield. -/// @param[in] borderSize The size of the non-navigable border around the heightfield. [Limit: >=0] -/// [Units: vx] -/// @param[in] walkableHeight Minimum floor to 'ceiling' height that will still allow the floor area -/// to be considered walkable. [Limit: >= 3] [Units: vx] -/// @param[out] lset The resulting layer set. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, - const int borderSize, const int walkableHeight, - rcHeightfieldLayerSet& lset); - -/// Builds a contour set from the region outlines in the provided compact heightfield. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] chf A fully built compact heightfield. -/// @param[in] maxError The maximum distance a simplfied contour's border edges should deviate -/// the original raw contour. [Limit: >=0] [Units: wu] -/// @param[in] maxEdgeLen The maximum allowed length for contour edges along the border of the mesh. -/// [Limit: >=0] [Units: vx] -/// @param[out] cset The resulting contour set. (Must be pre-allocated.) -/// @param[in] buildFlags The build flags. (See: #rcBuildContoursFlags) -/// @returns True if the operation completed successfully. -bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf, - const float maxError, const int maxEdgeLen, - rcContourSet& cset, const int buildFlags = RC_CONTOUR_TESS_WALL_EDGES); - -/// Builds a polygon mesh from the provided contours. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] cset A fully built contour set. -/// @param[in] nvp The maximum number of vertices allowed for polygons generated during the -/// contour to polygon conversion process. [Limit: >= 3] -/// @param[out] mesh The resulting polygon mesh. (Must be re-allocated.) -/// @returns True if the operation completed successfully. -bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh); - -/// Merges multiple polygon meshes into a single mesh. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] meshes An array of polygon meshes to merge. [Size: @p nmeshes] -/// @param[in] nmeshes The number of polygon meshes in the meshes array. -/// @param[in] mesh The resulting polygon mesh. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh); - -/// Builds a detail mesh from the provided polygon mesh. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] mesh A fully built polygon mesh. -/// @param[in] chf The compact heightfield used to build the polygon mesh. -/// @param[in] sampleDist Sets the distance to use when samping the heightfield. [Limit: >=0] [Units: wu] -/// @param[in] sampleMaxError The maximum distance the detail mesh surface should deviate from -/// heightfield data. [Limit: >=0] [Units: wu] -/// @param[out] dmesh The resulting detail mesh. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcBuildPolyMeshDetail(rcContext* ctx, const rcPolyMesh& mesh, const rcCompactHeightfield& chf, - const float sampleDist, const float sampleMaxError, - rcPolyMeshDetail& dmesh); - -/// Copies the poly mesh data from src to dst. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] src The source mesh to copy from. -/// @param[out] dst The resulting detail mesh. (Must be pre-allocated, must be empty mesh.) -/// @returns True if the operation completed successfully. -bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst); - -/// Merges multiple detail meshes into a single detail mesh. -/// @ingroup recast -/// @param[in,out] ctx The build context to use during the operation. -/// @param[in] meshes An array of detail meshes to merge. [Size: @p nmeshes] -/// @param[in] nmeshes The number of detail meshes in the meshes array. -/// @param[out] mesh The resulting detail mesh. (Must be pre-allocated.) -/// @returns True if the operation completed successfully. -bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int nmeshes, rcPolyMeshDetail& mesh); - -bool buildMeshAdjacency(unsigned short* polys, const int npolys, const int nverts, const int vertsPerPoly); - -/// @} - -#endif // RECAST_H - -/////////////////////////////////////////////////////////////////////////// - -// Due to the large amount of detail documentation for this file, -// the content normally located at the end of the header file has been separated -// out to a file in /Docs/Extern. |