1 files changed, 57 insertions, 10 deletions

diff --git a/extern/recastnavigation/recast-capi.h b/extern/recastnavigation/recast-capi.h
index 54bf84931c4..306bf79c167 100644
--- a/extern/recastnavigation/recast-capi.h
+++ b/extern/recastnavigation/recast-capi.h
@@ -38,12 +38,13 @@ struct recast_polyMesh;
 struct recast_polyMeshDetail;
 struct recast_heightfield;
 struct recast_compactHeightfield;
+struct recast_heightfieldLayerSet;
 struct recast_contourSet;
 
-enum recast_SpanFlags
+enum recast_BuildContoursFlags
 {
-	RECAST_WALKABLE = 0x01,
-	RECAST_REACHABLE = 0x02
+	RECAST_CONTOUR_TESS_WALL_EDGES = 0x01,
+	RECAST_CONTOUR_TESS_AREA_EDGES = 0x02,
 };
 
 int recast_buildMeshAdjacency(unsigned short* polys, const int npolys,
@@ -61,10 +62,22 @@ int recast_createHeightfield(struct recast_heightfield *hf, int width, int heigh
 			const float *bmin, const float* bmax, float cs, float ch);
 
 void recast_markWalkableTriangles(const float walkableSlopeAngle,const float *verts, int nv,
-			const int *tris, int nt, unsigned char *flags);
+			const int *tris, int nt, unsigned char *areas);
 
-void recast_rasterizeTriangles(const float *verts, int nv, const int *tris,
-			const unsigned char *flags, int nt, struct recast_heightfield *solid);
+void recast_clearUnwalkableTriangles(const float walkableSlopeAngle, const float* verts, int nv,
+			const int* tris, int nt, unsigned char* areas);
+
+int recast_addSpan(struct recast_heightfield *hf, const int x, const int y,
+			const unsigned short smin, const unsigned short smax,
+			const unsigned char area, const int flagMergeThr);
+
+int recast_rasterizeTriangle(const float* v0, const float* v1, const float* v2,
+			const unsigned char area, struct recast_heightfield *solid,
+			const int flagMergeThr);
+
+int recast_rasterizeTriangles(const float *verts, const int nv, const int *tris,
+			const unsigned char *areas, const int nt, struct recast_heightfield *solid,
+			const int flagMergeThr);
 
 void recast_filterLedgeSpans(const int walkableHeight, const int walkableClimb,
 			struct recast_heightfield *solid);
@@ -73,6 +86,12 @@ void recast_filterWalkableLowHeightSpans(int walkableHeight, struct recast_heigh
 
 void recast_filterLowHangingWalkableObstacles(const int walkableClimb, struct recast_heightfield *solid);
 
+int recast_getHeightFieldSpanCount(struct recast_heightfield *hf);
+
+struct recast_heightfieldLayerSet *recast_newHeightfieldLayerSet(void);
+
+void recast_destroyHeightfieldLayerSet(struct recast_heightfieldLayerSet *lset);
+
 struct recast_compactHeightfield *recast_newCompactHeightfield(void);
 
 void recast_destroyCompactHeightfield(struct recast_compactHeightfield *compactHeightfield);
@@ -82,10 +101,31 @@ int recast_buildCompactHeightfield(const int walkableHeight, const int walkableC
 
 int recast_erodeWalkableArea(int radius, struct recast_compactHeightfield *chf);
 
+int recast_medianFilterWalkableArea(struct recast_compactHeightfield *chf);
+
+void recast_markBoxArea(const float *bmin, const float *bmax, unsigned char areaId,
+			struct recast_compactHeightfield *chf);
+
+void recast_markConvexPolyArea(const float* verts, const int nverts,
+			const float hmin, const float hmax, unsigned char areaId,
+			struct recast_compactHeightfield *chf);
+
+int recast_offsetPoly(const float* verts, const int nverts,
+			const float offset, float *outVerts, const int maxOutVerts);
+
+void recast_markCylinderArea(const float* pos, const float r, const float h,
+			unsigned char areaId, struct recast_compactHeightfield *chf);
+
 int recast_buildDistanceField(struct recast_compactHeightfield *chf);
 
-int recast_buildRegions(struct recast_compactHeightfield *chf, int borderSize,
-	int minRegionSize, int mergeRegionSize);
+int recast_buildRegions(struct recast_compactHeightfield *chf,
+			const int borderSize, const int minRegionArea, const int mergeRegionArea);
+
+int recast_buildLayerRegions(struct recast_compactHeightfield *chf,
+			const int borderSize, const int minRegionArea);
+
+int recast_buildRegionsMonotone(struct recast_compactHeightfield *chf,
+			const int borderSize, const int minRegionArea, const int mergeRegionArea);
 
 /* Contour set */
 
@@ -94,7 +134,8 @@ struct recast_contourSet *recast_newContourSet(void);
 void recast_destroyContourSet(struct recast_contourSet *contourSet);
 
 int recast_buildContours(struct recast_compactHeightfield *chf,
-			const float maxError, const int maxEdgeLen, struct recast_contourSet *cset);
+			const float maxError, const int maxEdgeLen, struct recast_contourSet *cset,
+			const int buildFlags);
 
 /* Poly mesh */
 
@@ -102,7 +143,11 @@ struct recast_polyMesh *recast_newPolyMesh(void);
 
 void recast_destroyPolyMesh(struct recast_polyMesh *polyMesh);
 
-int recast_buildPolyMesh(struct recast_contourSet *cset, int nvp, struct recast_polyMesh *mesh);
+int recast_buildPolyMesh(struct recast_contourSet *cset, const int nvp, struct recast_polyMesh *mesh);
+
+int recast_mergePolyMeshes(struct recast_polyMesh **meshes, const int nmeshes, struct recast_polyMesh *mesh);
+
+int recast_copyPolyMesh(const struct recast_polyMesh *src, struct recast_polyMesh *dst);
 
 unsigned short *recast_polyMeshGetVerts(struct recast_polyMesh *mesh, int *nverts);
 
@@ -121,6 +166,8 @@ void recast_destroyPolyMeshDetail(struct recast_polyMeshDetail *polyMeshDetail);
 int recast_buildPolyMeshDetail(const struct recast_polyMesh *mesh, const struct recast_compactHeightfield *chf,
 			const float sampleDist, const float sampleMaxError, struct recast_polyMeshDetail *dmesh);
 
+int recast_mergePolyMeshDetails(struct recast_polyMeshDetail **meshes, const int nmeshes, struct recast_polyMeshDetail *mesh);
+
 float *recast_polyMeshDetailGetVerts(struct recast_polyMeshDetail *mesh, int *nverts);
 
 unsigned char *recast_polyMeshDetailGetTris(struct recast_polyMeshDetail *mesh, int *ntris);