1 files changed, 84 insertions, 17 deletions

diff --git a/extern/recastnavigation/Recast/Source/RecastArea.cpp b/extern/recastnavigation/Recast/Source/RecastArea.cpp
index a59acc53eb6..97139cf996a 100644
--- a/extern/recastnavigation/Recast/Source/RecastArea.cpp
+++ b/extern/recastnavigation/Recast/Source/RecastArea.cpp
@@ -41,7 +41,7 @@ bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
 	const int w = chf.width;
 	const int h = chf.height;
 	
-	ctx->startTimer(RC_TIMER_ERODE_AREA);
+	rcScopedTimer timer(ctx, RC_TIMER_ERODE_AREA);
 	
 	unsigned char* dist = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
 	if (!dist)
@@ -75,8 +75,8 @@ bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
 						{
 							const int nx = x + rcGetDirOffsetX(dir);
 							const int ny = y + rcGetDirOffsetY(dir);
-							const int ni = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
-							if (chf.areas[ni] != RC_NULL_AREA)
+							const int nidx = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
+							if (chf.areas[nidx] != RC_NULL_AREA)
 							{
 								nc++;
 							}
@@ -215,8 +215,6 @@ bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
 	
 	rcFree(dist);
 	
-	ctx->stopTimer(RC_TIMER_ERODE_AREA);
-	
 	return true;
 }
 
@@ -245,7 +243,7 @@ bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
 	const int w = chf.width;
 	const int h = chf.height;
 	
-	ctx->startTimer(RC_TIMER_MEDIAN_AREA);
+	rcScopedTimer timer(ctx, RC_TIMER_MEDIAN_AREA);
 	
 	unsigned char* areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
 	if (!areas)
@@ -306,8 +304,6 @@ bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
 	memcpy(chf.areas, areas, sizeof(unsigned char)*chf.spanCount);
 	
 	rcFree(areas);
-
-	ctx->stopTimer(RC_TIMER_MEDIAN_AREA);
 	
 	return true;
 }
@@ -322,7 +318,7 @@ void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigne
 {
 	rcAssert(ctx);
 	
-	ctx->startTimer(RC_TIMER_MARK_BOX_AREA);
+	rcScopedTimer timer(ctx, RC_TIMER_MARK_BOX_AREA);
 
 	int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
 	int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
@@ -357,9 +353,6 @@ void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigne
 			}
 		}
 	}
-
-	ctx->stopTimer(RC_TIMER_MARK_BOX_AREA);
-
 }
 
 
@@ -391,7 +384,7 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
 {
 	rcAssert(ctx);
 	
-	ctx->startTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
+	rcScopedTimer timer(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA);
 
 	float bmin[3], bmax[3];
 	rcVcopy(bmin, verts);
@@ -448,10 +441,86 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
 			}
 		}
 	}
+}
+
+int rcOffsetPoly(const float* verts, const int nverts, const float offset,
+				 float* outVerts, const int maxOutVerts)
+{
+	const float	MITER_LIMIT = 1.20f;
+
+	int n = 0;
+
+	for (int i = 0; i < nverts; i++)
+	{
+		const int a = (i+nverts-1) % nverts;
+		const int b = i;
+		const int c = (i+1) % nverts;
+		const float* va = &verts[a*3];
+		const float* vb = &verts[b*3];
+		const float* vc = &verts[c*3];
+		float dx0 = vb[0] - va[0];
+		float dy0 = vb[2] - va[2];
+		float d0 = dx0*dx0 + dy0*dy0;
+		if (d0 > 1e-6f)
+		{
+			d0 = 1.0f/rcSqrt(d0);
+			dx0 *= d0;
+			dy0 *= d0;
+		}
+		float dx1 = vc[0] - vb[0];
+		float dy1 = vc[2] - vb[2];
+		float d1 = dx1*dx1 + dy1*dy1;
+		if (d1 > 1e-6f)
+		{
+			d1 = 1.0f/rcSqrt(d1);
+			dx1 *= d1;
+			dy1 *= d1;
+		}
+		const float dlx0 = -dy0;
+		const float dly0 = dx0;
+		const float dlx1 = -dy1;
+		const float dly1 = dx1;
+		float cross = dx1*dy0 - dx0*dy1;
+		float dmx = (dlx0 + dlx1) * 0.5f;
+		float dmy = (dly0 + dly1) * 0.5f;
+		float dmr2 = dmx*dmx + dmy*dmy;
+		bool bevel = dmr2 * MITER_LIMIT*MITER_LIMIT < 1.0f;
+		if (dmr2 > 1e-6f)
+		{
+			const float scale = 1.0f / dmr2;
+			dmx *= scale;
+			dmy *= scale;
+		}
 
-	ctx->stopTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
+		if (bevel && cross < 0.0f)
+		{
+			if (n+2 >= maxOutVerts)
+				return 0;
+			float d = (1.0f - (dx0*dx1 + dy0*dy1))*0.5f;
+			outVerts[n*3+0] = vb[0] + (-dlx0+dx0*d)*offset;
+			outVerts[n*3+1] = vb[1];
+			outVerts[n*3+2] = vb[2] + (-dly0+dy0*d)*offset;
+			n++;
+			outVerts[n*3+0] = vb[0] + (-dlx1-dx1*d)*offset;
+			outVerts[n*3+1] = vb[1];
+			outVerts[n*3+2] = vb[2] + (-dly1-dy1*d)*offset;
+			n++;
+		}
+		else
+		{
+			if (n+1 >= maxOutVerts)
+				return 0;
+			outVerts[n*3+0] = vb[0] - dmx*offset;
+			outVerts[n*3+1] = vb[1];
+			outVerts[n*3+2] = vb[2] - dmy*offset;
+			n++;
+		}
+	}
+	
+	return n;
 }
 
+
 /// @par
 ///
 /// The value of spacial parameters are in world units.
@@ -463,7 +532,7 @@ void rcMarkCylinderArea(rcContext* ctx, const float* pos,
 {
 	rcAssert(ctx);
 	
-	ctx->startTimer(RC_TIMER_MARK_CYLINDER_AREA);
+	rcScopedTimer timer(ctx, RC_TIMER_MARK_CYLINDER_AREA);
 	
 	float bmin[3], bmax[3];
 	bmin[0] = pos[0] - r;
@@ -519,6 +588,4 @@ void rcMarkCylinderArea(rcContext* ctx, const float* pos,
 			}
 		}
 	}
-	
-	ctx->stopTimer(RC_TIMER_MARK_CYLINDER_AREA);
 }