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-rw-r--r--extern/recastnavigation/Recast/Source/RecastRasterization.cpp454
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diff --git a/extern/recastnavigation/Recast/Source/RecastRasterization.cpp b/extern/recastnavigation/Recast/Source/RecastRasterization.cpp
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--- a/extern/recastnavigation/Recast/Source/RecastRasterization.cpp
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-//
-// 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.
-//
-
-#define _USE_MATH_DEFINES
-#include <math.h>
-#include <stdio.h>
-#include "Recast.h"
-#include "RecastAlloc.h"
-#include "RecastAssert.h"
-
-inline bool overlapBounds(const float* amin, const float* amax, const float* bmin, const float* bmax)
-{
- bool overlap = true;
- overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
- overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
- overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
- return overlap;
-}
-
-inline bool overlapInterval(unsigned short amin, unsigned short amax,
- unsigned short bmin, unsigned short bmax)
-{
- if (amax < bmin) return false;
- if (amin > bmax) return false;
- return true;
-}
-
-
-static rcSpan* allocSpan(rcHeightfield& hf)
-{
- // If running out of memory, allocate new page and update the freelist.
- if (!hf.freelist || !hf.freelist->next)
- {
- // Create new page.
- // Allocate memory for the new pool.
- rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
- if (!pool) return 0;
-
- // Add the pool into the list of pools.
- pool->next = hf.pools;
- hf.pools = pool;
- // Add new items to the free list.
- rcSpan* freelist = hf.freelist;
- rcSpan* head = &pool->items[0];
- rcSpan* it = &pool->items[RC_SPANS_PER_POOL];
- do
- {
- --it;
- it->next = freelist;
- freelist = it;
- }
- while (it != head);
- hf.freelist = it;
- }
-
- // Pop item from in front of the free list.
- rcSpan* it = hf.freelist;
- hf.freelist = hf.freelist->next;
- return it;
-}
-
-static void freeSpan(rcHeightfield& hf, rcSpan* ptr)
-{
- if (!ptr) return;
- // Add the node in front of the free list.
- ptr->next = hf.freelist;
- hf.freelist = ptr;
-}
-
-static bool addSpan(rcHeightfield& hf, const int x, const int y,
- const unsigned short smin, const unsigned short smax,
- const unsigned char area, const int flagMergeThr)
-{
-
- int idx = x + y*hf.width;
-
- rcSpan* s = allocSpan(hf);
- if (!s)
- return false;
- s->smin = smin;
- s->smax = smax;
- s->area = area;
- s->next = 0;
-
- // Empty cell, add the first span.
- if (!hf.spans[idx])
- {
- hf.spans[idx] = s;
- return true;
- }
- rcSpan* prev = 0;
- rcSpan* cur = hf.spans[idx];
-
- // Insert and merge spans.
- while (cur)
- {
- if (cur->smin > s->smax)
- {
- // Current span is further than the new span, break.
- break;
- }
- else if (cur->smax < s->smin)
- {
- // Current span is before the new span advance.
- prev = cur;
- cur = cur->next;
- }
- else
- {
- // Merge spans.
- if (cur->smin < s->smin)
- s->smin = cur->smin;
- if (cur->smax > s->smax)
- s->smax = cur->smax;
-
- // Merge flags.
- if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr)
- s->area = rcMax(s->area, cur->area);
-
- // Remove current span.
- rcSpan* next = cur->next;
- freeSpan(hf, cur);
- if (prev)
- prev->next = next;
- else
- hf.spans[idx] = next;
- cur = next;
- }
- }
-
- // Insert new span.
- if (prev)
- {
- s->next = prev->next;
- prev->next = s;
- }
- else
- {
- s->next = hf.spans[idx];
- hf.spans[idx] = s;
- }
-
- return true;
-}
-
-/// @par
-///
-/// The span addition can be set to favor flags. If the span is merged to
-/// another span and the new @p smax is within @p flagMergeThr units
-/// from the existing span, the span flags are merged.
-///
-/// @see rcHeightfield, rcSpan.
-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)
-{
- rcAssert(ctx);
-
- if (!addSpan(hf, x, y, smin, smax, area, flagMergeThr))
- {
- ctx->log(RC_LOG_ERROR, "rcAddSpan: Out of memory.");
- return false;
- }
-
- return true;
-}
-
-// divides a convex polygons into two convex polygons on both sides of a line
-static void dividePoly(const float* in, int nin,
- float* out1, int* nout1,
- float* out2, int* nout2,
- float x, int axis)
-{
- float d[12];
- for (int i = 0; i < nin; ++i)
- d[i] = x - in[i*3+axis];
-
- int m = 0, n = 0;
- for (int i = 0, j = nin-1; i < nin; j=i, ++i)
- {
- bool ina = d[j] >= 0;
- bool inb = d[i] >= 0;
- if (ina != inb)
- {
- float s = d[j] / (d[j] - d[i]);
- out1[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s;
- out1[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s;
- out1[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s;
- rcVcopy(out2 + n*3, out1 + m*3);
- m++;
- n++;
- // add the i'th point to the right polygon. Do NOT add points that are on the dividing line
- // since these were already added above
- if (d[i] > 0)
- {
- rcVcopy(out1 + m*3, in + i*3);
- m++;
- }
- else if (d[i] < 0)
- {
- rcVcopy(out2 + n*3, in + i*3);
- n++;
- }
- }
- else // same side
- {
- // add the i'th point to the right polygon. Addition is done even for points on the dividing line
- if (d[i] >= 0)
- {
- rcVcopy(out1 + m*3, in + i*3);
- m++;
- if (d[i] != 0)
- continue;
- }
- rcVcopy(out2 + n*3, in + i*3);
- n++;
- }
- }
-
- *nout1 = m;
- *nout2 = n;
-}
-
-
-
-static bool rasterizeTri(const float* v0, const float* v1, const float* v2,
- const unsigned char area, rcHeightfield& hf,
- const float* bmin, const float* bmax,
- const float cs, const float ics, const float ich,
- const int flagMergeThr)
-{
- const int w = hf.width;
- const int h = hf.height;
- float tmin[3], tmax[3];
- const float by = bmax[1] - bmin[1];
-
- // Calculate the bounding box of the triangle.
- rcVcopy(tmin, v0);
- rcVcopy(tmax, v0);
- rcVmin(tmin, v1);
- rcVmin(tmin, v2);
- rcVmax(tmax, v1);
- rcVmax(tmax, v2);
-
- // If the triangle does not touch the bbox of the heightfield, skip the triagle.
- if (!overlapBounds(bmin, bmax, tmin, tmax))
- return true;
-
- // Calculate the footprint of the triangle on the grid's y-axis
- int y0 = (int)((tmin[2] - bmin[2])*ics);
- int y1 = (int)((tmax[2] - bmin[2])*ics);
- y0 = rcClamp(y0, 0, h-1);
- y1 = rcClamp(y1, 0, h-1);
-
- // Clip the triangle into all grid cells it touches.
- float buf[7*3*4];
- float *in = buf, *inrow = buf+7*3, *p1 = inrow+7*3, *p2 = p1+7*3;
-
- rcVcopy(&in[0], v0);
- rcVcopy(&in[1*3], v1);
- rcVcopy(&in[2*3], v2);
- int nvrow, nvIn = 3;
-
- for (int y = y0; y <= y1; ++y)
- {
- // Clip polygon to row. Store the remaining polygon as well
- const float cz = bmin[2] + y*cs;
- dividePoly(in, nvIn, inrow, &nvrow, p1, &nvIn, cz+cs, 2);
- rcSwap(in, p1);
- if (nvrow < 3) continue;
-
- // find the horizontal bounds in the row
- float minX = inrow[0], maxX = inrow[0];
- for (int i=1; i<nvrow; ++i)
- {
- if (minX > inrow[i*3]) minX = inrow[i*3];
- if (maxX < inrow[i*3]) maxX = inrow[i*3];
- }
- int x0 = (int)((minX - bmin[0])*ics);
- int x1 = (int)((maxX - bmin[0])*ics);
- x0 = rcClamp(x0, 0, w-1);
- x1 = rcClamp(x1, 0, w-1);
-
- int nv, nv2 = nvrow;
-
- for (int x = x0; x <= x1; ++x)
- {
- // Clip polygon to column. store the remaining polygon as well
- const float cx = bmin[0] + x*cs;
- dividePoly(inrow, nv2, p1, &nv, p2, &nv2, cx+cs, 0);
- rcSwap(inrow, p2);
- if (nv < 3) continue;
-
- // Calculate min and max of the span.
- float smin = p1[1], smax = p1[1];
- for (int i = 1; i < nv; ++i)
- {
- smin = rcMin(smin, p1[i*3+1]);
- smax = rcMax(smax, p1[i*3+1]);
- }
- smin -= bmin[1];
- smax -= bmin[1];
- // Skip the span if it is outside the heightfield bbox
- if (smax < 0.0f) continue;
- if (smin > by) continue;
- // Clamp the span to the heightfield bbox.
- if (smin < 0.0f) smin = 0;
- if (smax > by) smax = by;
-
- // Snap the span to the heightfield height grid.
- unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, RC_SPAN_MAX_HEIGHT);
- unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), (int)ismin+1, RC_SPAN_MAX_HEIGHT);
-
- if (!addSpan(hf, x, y, ismin, ismax, area, flagMergeThr))
- return false;
- }
- }
-
- return true;
-}
-
-/// @par
-///
-/// No spans will be added if the triangle does not overlap the heightfield grid.
-///
-/// @see rcHeightfield
-bool rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
- const unsigned char area, rcHeightfield& solid,
- const int flagMergeThr)
-{
- rcAssert(ctx);
-
- rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
-
- const float ics = 1.0f/solid.cs;
- const float ich = 1.0f/solid.ch;
- if (!rasterizeTri(v0, v1, v2, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
- {
- ctx->log(RC_LOG_ERROR, "rcRasterizeTriangle: Out of memory.");
- return false;
- }
-
- return true;
-}
-
-/// @par
-///
-/// Spans will only be added for triangles that overlap the heightfield grid.
-///
-/// @see rcHeightfield
-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)
-{
- rcAssert(ctx);
-
- rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
-
- const float ics = 1.0f/solid.cs;
- const float ich = 1.0f/solid.ch;
- // Rasterize triangles.
- for (int i = 0; i < nt; ++i)
- {
- const float* v0 = &verts[tris[i*3+0]*3];
- const float* v1 = &verts[tris[i*3+1]*3];
- const float* v2 = &verts[tris[i*3+2]*3];
- // Rasterize.
- if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
- {
- ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
- return false;
- }
- }
-
- return true;
-}
-
-/// @par
-///
-/// Spans will only be added for triangles that overlap the heightfield grid.
-///
-/// @see rcHeightfield
-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)
-{
- rcAssert(ctx);
-
- rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
-
- const float ics = 1.0f/solid.cs;
- const float ich = 1.0f/solid.ch;
- // Rasterize triangles.
- for (int i = 0; i < nt; ++i)
- {
- const float* v0 = &verts[tris[i*3+0]*3];
- const float* v1 = &verts[tris[i*3+1]*3];
- const float* v2 = &verts[tris[i*3+2]*3];
- // Rasterize.
- if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
- {
- ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
- return false;
- }
- }
-
- return true;
-}
-
-/// @par
-///
-/// Spans will only be added for triangles that overlap the heightfield grid.
-///
-/// @see rcHeightfield
-bool rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
- rcHeightfield& solid, const int flagMergeThr)
-{
- rcAssert(ctx);
-
- rcScopedTimer timer(ctx, RC_TIMER_RASTERIZE_TRIANGLES);
-
- const float ics = 1.0f/solid.cs;
- const float ich = 1.0f/solid.ch;
- // Rasterize triangles.
- for (int i = 0; i < nt; ++i)
- {
- const float* v0 = &verts[(i*3+0)*3];
- const float* v1 = &verts[(i*3+1)*3];
- const float* v2 = &verts[(i*3+2)*3];
- // Rasterize.
- if (!rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
- {
- ctx->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
- return false;
- }
- }
-
- return true;
-}
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