Welcome to mirror list, hosted at ThFree Co, Russian Federation.

git.blender.org/blender.git - Unnamed repository; edit this file 'description' to name the repository.
summaryrefslogtreecommitdiff
path: root/extern/recastnavigation/Recast/Source/RecastArea.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'extern/recastnavigation/Recast/Source/RecastArea.cpp')
-rw-r--r--extern/recastnavigation/Recast/Source/RecastArea.cpp591
1 files changed, 0 insertions, 591 deletions
diff --git a/extern/recastnavigation/Recast/Source/RecastArea.cpp b/extern/recastnavigation/Recast/Source/RecastArea.cpp
deleted file mode 100644
index 97139cf996a..00000000000
--- a/extern/recastnavigation/Recast/Source/RecastArea.cpp
+++ /dev/null
@@ -1,591 +0,0 @@
-//
-// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
-//
-// This software is provided 'as-is', without any express or implied
-// warranty. In no event will the authors be held liable for any damages
-// arising from the use of this software.
-// Permission is granted to anyone to use this software for any purpose,
-// including commercial applications, and to alter it and redistribute it
-// freely, subject to the following restrictions:
-// 1. The origin of this software must not be misrepresented; you must not
-// claim that you wrote the original software. If you use this software
-// in a product, an acknowledgment in the product documentation would be
-// appreciated but is not required.
-// 2. Altered source versions must be plainly marked as such, and must not be
-// misrepresented as being the original software.
-// 3. This notice may not be removed or altered from any source distribution.
-//
-
-#include <float.h>
-#define _USE_MATH_DEFINES
-#include <math.h>
-#include <string.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include "Recast.h"
-#include "RecastAlloc.h"
-#include "RecastAssert.h"
-
-/// @par
-///
-/// Basically, any spans that are closer to a boundary or obstruction than the specified radius
-/// are marked as unwalkable.
-///
-/// This method is usually called immediately after the heightfield has been built.
-///
-/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
-bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
-{
- rcAssert(ctx);
-
- const int w = chf.width;
- const int h = chf.height;
-
- rcScopedTimer timer(ctx, RC_TIMER_ERODE_AREA);
-
- unsigned char* dist = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
- if (!dist)
- {
- ctx->log(RC_LOG_ERROR, "erodeWalkableArea: Out of memory 'dist' (%d).", chf.spanCount);
- return false;
- }
-
- // Init distance.
- memset(dist, 0xff, sizeof(unsigned char)*chf.spanCount);
-
- // Mark boundary cells.
- for (int y = 0; y < h; ++y)
- {
- for (int x = 0; x < w; ++x)
- {
- const rcCompactCell& c = chf.cells[x+y*w];
- for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
- {
- if (chf.areas[i] == RC_NULL_AREA)
- {
- dist[i] = 0;
- }
- else
- {
- const rcCompactSpan& s = chf.spans[i];
- int nc = 0;
- for (int dir = 0; dir < 4; ++dir)
- {
- if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
- {
- const int nx = x + rcGetDirOffsetX(dir);
- const int ny = y + rcGetDirOffsetY(dir);
- const int nidx = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
- if (chf.areas[nidx] != RC_NULL_AREA)
- {
- nc++;
- }
- }
- }
- // At least one missing neighbour.
- if (nc != 4)
- dist[i] = 0;
- }
- }
- }
- }
-
- unsigned char nd;
-
- // Pass 1
- for (int y = 0; y < h; ++y)
- {
- for (int x = 0; x < w; ++x)
- {
- const rcCompactCell& c = chf.cells[x+y*w];
- for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
- {
- const rcCompactSpan& s = chf.spans[i];
-
- if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
- {
- // (-1,0)
- const int ax = x + rcGetDirOffsetX(0);
- const int ay = y + rcGetDirOffsetY(0);
- const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
- const rcCompactSpan& as = chf.spans[ai];
- nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
- if (nd < dist[i])
- dist[i] = nd;
-
- // (-1,-1)
- if (rcGetCon(as, 3) != RC_NOT_CONNECTED)
- {
- const int aax = ax + rcGetDirOffsetX(3);
- const int aay = ay + rcGetDirOffsetY(3);
- const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 3);
- nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
- if (nd < dist[i])
- dist[i] = nd;
- }
- }
- if (rcGetCon(s, 3) != RC_NOT_CONNECTED)
- {
- // (0,-1)
- const int ax = x + rcGetDirOffsetX(3);
- const int ay = y + rcGetDirOffsetY(3);
- const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
- const rcCompactSpan& as = chf.spans[ai];
- nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
- if (nd < dist[i])
- dist[i] = nd;
-
- // (1,-1)
- if (rcGetCon(as, 2) != RC_NOT_CONNECTED)
- {
- const int aax = ax + rcGetDirOffsetX(2);
- const int aay = ay + rcGetDirOffsetY(2);
- const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 2);
- nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
- if (nd < dist[i])
- dist[i] = nd;
- }
- }
- }
- }
- }
-
- // Pass 2
- for (int y = h-1; y >= 0; --y)
- {
- for (int x = w-1; x >= 0; --x)
- {
- const rcCompactCell& c = chf.cells[x+y*w];
- for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
- {
- const rcCompactSpan& s = chf.spans[i];
-
- if (rcGetCon(s, 2) != RC_NOT_CONNECTED)
- {
- // (1,0)
- const int ax = x + rcGetDirOffsetX(2);
- const int ay = y + rcGetDirOffsetY(2);
- const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 2);
- const rcCompactSpan& as = chf.spans[ai];
- nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
- if (nd < dist[i])
- dist[i] = nd;
-
- // (1,1)
- if (rcGetCon(as, 1) != RC_NOT_CONNECTED)
- {
- const int aax = ax + rcGetDirOffsetX(1);
- const int aay = ay + rcGetDirOffsetY(1);
- const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 1);
- nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
- if (nd < dist[i])
- dist[i] = nd;
- }
- }
- if (rcGetCon(s, 1) != RC_NOT_CONNECTED)
- {
- // (0,1)
- const int ax = x + rcGetDirOffsetX(1);
- const int ay = y + rcGetDirOffsetY(1);
- const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 1);
- const rcCompactSpan& as = chf.spans[ai];
- nd = (unsigned char)rcMin((int)dist[ai]+2, 255);
- if (nd < dist[i])
- dist[i] = nd;
-
- // (-1,1)
- if (rcGetCon(as, 0) != RC_NOT_CONNECTED)
- {
- const int aax = ax + rcGetDirOffsetX(0);
- const int aay = ay + rcGetDirOffsetY(0);
- const int aai = (int)chf.cells[aax+aay*w].index + rcGetCon(as, 0);
- nd = (unsigned char)rcMin((int)dist[aai]+3, 255);
- if (nd < dist[i])
- dist[i] = nd;
- }
- }
- }
- }
- }
-
- const unsigned char thr = (unsigned char)(radius*2);
- for (int i = 0; i < chf.spanCount; ++i)
- if (dist[i] < thr)
- chf.areas[i] = RC_NULL_AREA;
-
- rcFree(dist);
-
- return true;
-}
-
-static void insertSort(unsigned char* a, const int n)
-{
- int i, j;
- for (i = 1; i < n; i++)
- {
- const unsigned char value = a[i];
- for (j = i - 1; j >= 0 && a[j] > value; j--)
- a[j+1] = a[j];
- a[j+1] = value;
- }
-}
-
-/// @par
-///
-/// This filter is usually applied after applying area id's using functions
-/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
-///
-/// @see rcCompactHeightfield
-bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
-{
- rcAssert(ctx);
-
- const int w = chf.width;
- const int h = chf.height;
-
- rcScopedTimer timer(ctx, RC_TIMER_MEDIAN_AREA);
-
- unsigned char* areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
- if (!areas)
- {
- ctx->log(RC_LOG_ERROR, "medianFilterWalkableArea: Out of memory 'areas' (%d).", chf.spanCount);
- return false;
- }
-
- // Init distance.
- memset(areas, 0xff, sizeof(unsigned char)*chf.spanCount);
-
- for (int y = 0; y < h; ++y)
- {
- for (int x = 0; x < w; ++x)
- {
- const rcCompactCell& c = chf.cells[x+y*w];
- for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
- {
- const rcCompactSpan& s = chf.spans[i];
- if (chf.areas[i] == RC_NULL_AREA)
- {
- areas[i] = chf.areas[i];
- continue;
- }
-
- unsigned char nei[9];
- for (int j = 0; j < 9; ++j)
- nei[j] = chf.areas[i];
-
- for (int dir = 0; dir < 4; ++dir)
- {
- if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
- {
- const int ax = x + rcGetDirOffsetX(dir);
- const int ay = y + rcGetDirOffsetY(dir);
- const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
- if (chf.areas[ai] != RC_NULL_AREA)
- nei[dir*2+0] = chf.areas[ai];
-
- const rcCompactSpan& as = chf.spans[ai];
- const int dir2 = (dir+1) & 0x3;
- if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
- {
- const int ax2 = ax + rcGetDirOffsetX(dir2);
- const int ay2 = ay + rcGetDirOffsetY(dir2);
- const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
- if (chf.areas[ai2] != RC_NULL_AREA)
- nei[dir*2+1] = chf.areas[ai2];
- }
- }
- }
- insertSort(nei, 9);
- areas[i] = nei[4];
- }
- }
- }
-
- memcpy(chf.areas, areas, sizeof(unsigned char)*chf.spanCount);
-
- rcFree(areas);
-
- return true;
-}
-
-/// @par
-///
-/// The value of spacial parameters are in world units.
-///
-/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
-void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
- rcCompactHeightfield& chf)
-{
- rcAssert(ctx);
-
- 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);
- int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
- int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
- int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
- int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
-
- if (maxx < 0) return;
- if (minx >= chf.width) return;
- if (maxz < 0) return;
- if (minz >= chf.height) return;
-
- if (minx < 0) minx = 0;
- if (maxx >= chf.width) maxx = chf.width-1;
- if (minz < 0) minz = 0;
- if (maxz >= chf.height) maxz = chf.height-1;
-
- for (int z = minz; z <= maxz; ++z)
- {
- for (int x = minx; x <= maxx; ++x)
- {
- const rcCompactCell& c = chf.cells[x+z*chf.width];
- for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
- {
- rcCompactSpan& s = chf.spans[i];
- if ((int)s.y >= miny && (int)s.y <= maxy)
- {
- if (chf.areas[i] != RC_NULL_AREA)
- chf.areas[i] = areaId;
- }
- }
- }
- }
-}
-
-
-static int pointInPoly(int nvert, const float* verts, const float* p)
-{
- int i, j, c = 0;
- for (i = 0, j = nvert-1; i < nvert; j = i++)
- {
- const float* vi = &verts[i*3];
- const float* vj = &verts[j*3];
- if (((vi[2] > p[2]) != (vj[2] > p[2])) &&
- (p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
- c = !c;
- }
- return c;
-}
-
-/// @par
-///
-/// The value of spacial parameters are in world units.
-///
-/// The y-values of the polygon vertices are ignored. So the polygon is effectively
-/// projected onto the xz-plane at @p hmin, then extruded to @p hmax.
-///
-/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
-void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
- const float hmin, const float hmax, unsigned char areaId,
- rcCompactHeightfield& chf)
-{
- rcAssert(ctx);
-
- rcScopedTimer timer(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA);
-
- float bmin[3], bmax[3];
- rcVcopy(bmin, verts);
- rcVcopy(bmax, verts);
- for (int i = 1; i < nverts; ++i)
- {
- rcVmin(bmin, &verts[i*3]);
- rcVmax(bmax, &verts[i*3]);
- }
- bmin[1] = hmin;
- bmax[1] = hmax;
-
- int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
- int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
- int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
- int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
- int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
- int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
-
- if (maxx < 0) return;
- if (minx >= chf.width) return;
- if (maxz < 0) return;
- if (minz >= chf.height) return;
-
- if (minx < 0) minx = 0;
- if (maxx >= chf.width) maxx = chf.width-1;
- if (minz < 0) minz = 0;
- if (maxz >= chf.height) maxz = chf.height-1;
-
-
- // TODO: Optimize.
- for (int z = minz; z <= maxz; ++z)
- {
- for (int x = minx; x <= maxx; ++x)
- {
- const rcCompactCell& c = chf.cells[x+z*chf.width];
- for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
- {
- rcCompactSpan& s = chf.spans[i];
- if (chf.areas[i] == RC_NULL_AREA)
- continue;
- if ((int)s.y >= miny && (int)s.y <= maxy)
- {
- float p[3];
- p[0] = chf.bmin[0] + (x+0.5f)*chf.cs;
- p[1] = 0;
- p[2] = chf.bmin[2] + (z+0.5f)*chf.cs;
-
- if (pointInPoly(nverts, verts, p))
- {
- chf.areas[i] = areaId;
- }
- }
- }
- }
- }
-}
-
-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;
- }
-
- 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.
-///
-/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
-void rcMarkCylinderArea(rcContext* ctx, const float* pos,
- const float r, const float h, unsigned char areaId,
- rcCompactHeightfield& chf)
-{
- rcAssert(ctx);
-
- rcScopedTimer timer(ctx, RC_TIMER_MARK_CYLINDER_AREA);
-
- float bmin[3], bmax[3];
- bmin[0] = pos[0] - r;
- bmin[1] = pos[1];
- bmin[2] = pos[2] - r;
- bmax[0] = pos[0] + r;
- bmax[1] = pos[1] + h;
- bmax[2] = pos[2] + r;
- const float r2 = r*r;
-
- int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
- int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
- int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
- int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
- int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
- int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
-
- if (maxx < 0) return;
- if (minx >= chf.width) return;
- if (maxz < 0) return;
- if (minz >= chf.height) return;
-
- if (minx < 0) minx = 0;
- if (maxx >= chf.width) maxx = chf.width-1;
- if (minz < 0) minz = 0;
- if (maxz >= chf.height) maxz = chf.height-1;
-
-
- for (int z = minz; z <= maxz; ++z)
- {
- for (int x = minx; x <= maxx; ++x)
- {
- const rcCompactCell& c = chf.cells[x+z*chf.width];
- for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
- {
- rcCompactSpan& s = chf.spans[i];
-
- if (chf.areas[i] == RC_NULL_AREA)
- continue;
-
- if ((int)s.y >= miny && (int)s.y <= maxy)
- {
- const float sx = chf.bmin[0] + (x+0.5f)*chf.cs;
- const float sz = chf.bmin[2] + (z+0.5f)*chf.cs;
- const float dx = sx - pos[0];
- const float dz = sz - pos[2];
-
- if (dx*dx + dz*dz < r2)
- {
- chf.areas[i] = areaId;
- }
- }
- }
- }
- }
-}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-09 03:43:56 +0300