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path: root/source/blender/blenkernel/intern/navmesh_conversion.c
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Diffstat (limited to 'source/blender/blenkernel/intern/navmesh_conversion.c')
-rw-r--r--source/blender/blenkernel/intern/navmesh_conversion.c117
1 files changed, 78 insertions, 39 deletions
diff --git a/source/blender/blenkernel/intern/navmesh_conversion.c b/source/blender/blenkernel/intern/navmesh_conversion.c
index 23d2f50c3f7..34e0be1de92 100644
--- a/source/blender/blenkernel/intern/navmesh_conversion.c
+++ b/source/blender/blenkernel/intern/navmesh_conversion.c
@@ -57,7 +57,8 @@ BLI_INLINE int left(const float* a, const float* b, const float* c)
int polyNumVerts(const unsigned short* p, const int vertsPerPoly)
{
int i, nv = 0;
- for (i=0; i<vertsPerPoly; i++) {
+ for (i=0; i<vertsPerPoly; i++)
+ {
if (p[i]==0xffff)
break;
nv++;
@@ -70,7 +71,8 @@ int polyIsConvex(const unsigned short* p, const int vertsPerPoly, const float* v
int j, nv = polyNumVerts(p, vertsPerPoly);
if (nv<3)
return 0;
- for (j=0; j<nv; j++) {
+ for (j=0; j<nv; j++)
+ {
const float* v = &verts[3*p[j]];
const float* v_next = &verts[3*p[(j+1)%nv]];
const float* v_prev = &verts[3*p[(nv+j-1)%nv]];
@@ -117,7 +119,8 @@ int buildRawVertIndicesData(DerivedMesh* dm, int *nverts_r, float **verts_r,
MFace *faces;
nverts = dm->getNumVerts(dm);
- if (nverts>=0xffff) {
+ if (nverts>=0xffff)
+ {
printf("Converting navmesh: Error! Too many vertices. Max number of vertices %d\n", 0xffff);
return 0;
}
@@ -125,7 +128,8 @@ int buildRawVertIndicesData(DerivedMesh* dm, int *nverts_r, float **verts_r,
dm->getVertCos(dm, (float(*)[3])verts);
//flip coordinates
- for (vi=0; vi<nverts; vi++) {
+ for (vi=0; vi<nverts; vi++)
+ {
SWAP(float, verts[3*vi+1], verts[3*vi+2]);
}
@@ -133,7 +137,8 @@ int buildRawVertIndicesData(DerivedMesh* dm, int *nverts_r, float **verts_r,
nfaces = dm->getNumTessFaces(dm);
faces = dm->getTessFaceArray(dm);
ntris = nfaces;
- for (fi=0; fi<nfaces; fi++) {
+ for (fi=0; fi<nfaces; fi++)
+ {
MFace* face = &faces[fi];
if (face->v4)
ntris++;
@@ -144,13 +149,15 @@ int buildRawVertIndicesData(DerivedMesh* dm, int *nverts_r, float **verts_r,
tris = MEM_callocN(sizeof(unsigned short)*3*ntris, "buildRawVertIndicesData tris");
tri = tris;
triIdx = 0;
- for (fi=0; fi<nfaces; fi++) {
+ for (fi=0; fi<nfaces; fi++)
+ {
MFace* face = &faces[fi];
tri[3*triIdx+0] = (unsigned short) face->v1;
tri[3*triIdx+1] = (unsigned short) face->v3;
tri[3*triIdx+2] = (unsigned short) face->v2;
trisToFacesMap[triIdx++]=fi;
- if (face->v4) {
+ if (face->v4)
+ {
tri[3*triIdx+0] = (unsigned short) face->v1;
tri[3*triIdx+1] = (unsigned short) face->v4;
tri[3*triIdx+2] = (unsigned short) face->v3;
@@ -180,7 +187,8 @@ int buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys,
unsigned short* newPoly = MEM_callocN(sizeof(unsigned short)*capacity, "buildPolygonsByDetailedMeshes newPoly");
memset(newPoly, 0xff, sizeof(unsigned short)*capacity);
- for (polyidx=0; polyidx<npolys; polyidx++) {
+ for (polyidx=0; polyidx<npolys; polyidx++)
+ {
size_t i;
int j, k;
int nv = 0;
@@ -194,18 +202,22 @@ int buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys,
int adjustedNv;
int allBorderTraversed;
- for (j=0; j<dtrisNum && btri==-1;j++) {
+ for (j=0; j<dtrisNum && btri==-1;j++)
+ {
int curpolytri = dtrisBase+j;
- for (k=0; k<3; k++) {
+ for (k=0; k<3; k++)
+ {
unsigned short neighbortri = dtris[curpolytri*3*2+3+k];
- if ( neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1) {
+ if ( neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1)
+ {
btri = curpolytri;
bedge = k;
break;
}
}
}
- if (btri==-1 || bedge==-1) {
+ if (btri==-1 || bedge==-1)
+ {
//can't find triangle with border edge
MEM_freeN(traversedTris);
MEM_freeN(newPoly);
@@ -217,10 +229,13 @@ int buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys,
tri = btri;
edge = (bedge+1)%3;
traversedTris[tri-dtrisBase] = 1;
- while (tri != btri || edge != bedge) {
+ while (tri!=btri || edge!=bedge)
+ {
int neighbortri = dtris[tri*3*2+3+edge];
- if (neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1) {
- if (nv==capacity) {
+ if (neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1)
+ {
+ if (nv==capacity)
+ {
unsigned short* newPolyBig;
capacity += vertsPerPoly;
newPolyBig = MEM_callocN(sizeof(unsigned short)*capacity, "buildPolygonsByDetailedMeshes newPolyBig");
@@ -236,13 +251,16 @@ int buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys,
else {
//move to next tri
int twinedge = -1;
- for (k=0; k<3; k++) {
- if (dtris[neighbortri*3*2+3+k] == tri) {
+ for (k=0; k<3; k++)
+ {
+ if (dtris[neighbortri*3*2+3+k] == tri)
+ {
twinedge = k;
break;
}
}
- if (twinedge==-1) {
+ if (twinedge==-1)
+ {
printf("Converting navmesh: Error! Can't find neighbor edge - invalid adjacency info\n");
MEM_freeN(traversedTris);
goto returnLabel;
@@ -255,7 +273,8 @@ int buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys,
adjustedPoly = MEM_callocN(sizeof(unsigned short)*nv, "buildPolygonsByDetailedMeshes adjustedPoly");
adjustedNv = 0;
- for (i=0; i<nv; i++) {
+ for (i=0; i<nv; i++)
+ {
unsigned short prev = newPoly[(nv+i-1)%nv];
unsigned short cur = newPoly[i];
unsigned short next = newPoly[(i+1)%nv];
@@ -269,13 +288,17 @@ int buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys,
nv = adjustedNv;
allBorderTraversed = 1;
- for (i=0; i<dtrisNum; i++) {
- if (traversedTris[i]==0) {
+ for (i=0; i<dtrisNum; i++)
+ {
+ if (traversedTris[i]==0)
+ {
//check whether it has border edges
int curpolytri = dtrisBase+i;
- for (k=0; k<3; k++) {
+ for (k=0; k<3; k++)
+ {
unsigned short neighbortri = dtris[curpolytri*3*2+3+k];
- if ( neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1) {
+ if ( neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1)
+ {
allBorderTraversed = 0;
break;
}
@@ -283,8 +306,10 @@ int buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys,
}
}
- if (nv<=vertsPerPoly && allBorderTraversed) {
- for (i=0; i<nv; i++) {
+ if (nv<=vertsPerPoly && allBorderTraversed)
+ {
+ for (i=0; i<nv; i++)
+ {
polys[polyidx*vertsPerPoly*2+i] = newPoly[i];
}
}
@@ -328,7 +353,8 @@ int buildNavMeshData(const int nverts, const float* verts,
unsigned short *dtris, *dmeshes, *polys;
int *dtrisToPolysMap, *dtrisToTrisMap;
- if (!recastData) {
+ if (!recastData)
+ {
printf("Converting navmesh: Error! Can't find recast custom data\n");
return 0;
}
@@ -344,14 +370,17 @@ int buildNavMeshData(const int nverts, const float* verts,
//search first valid triangle - triangle of convex polygon
validTriStart = -1;
- for (i=0; i< ntris; i++) {
- if (recastData[trisToFacesMap[trisMapping[i]]]>0) {
+ for (i=0; i< ntris; i++)
+ {
+ if (recastData[trisToFacesMap[trisMapping[i]]]>0)
+ {
validTriStart = i;
break;
}
}
- if (validTriStart<0) {
+ if (validTriStart<0)
+ {
printf("Converting navmesh: Error! No valid polygons in mesh\n");
MEM_freeN(trisMapping);
return 0;
@@ -367,7 +396,8 @@ int buildNavMeshData(const int nverts, const float* verts,
//and reserve memory for adjacency info
dtris = MEM_callocN(sizeof(unsigned short)*3*2*ndtris, "buildNavMeshData dtris");
memset(dtris, 0xffff, sizeof(unsigned short)*3*2*ndtris);
- for (i=0; i<ndtris; i++) {
+ for (i=0; i<ndtris; i++)
+ {
memcpy(dtris+3*2*i, tris+3*dtrisToTrisMap[i], sizeof(unsigned short)*3);
}
@@ -375,9 +405,11 @@ int buildNavMeshData(const int nverts, const float* verts,
prevPolyIdx = -1;
newPolyIdx = 0;
dtrisToPolysMap = MEM_callocN(sizeof(int)*ndtris, "buildNavMeshData dtrisToPolysMap");
- for (i=0; i<ndtris; i++) {
+ for (i=0; i<ndtris; i++)
+ {
curPolyIdx = recastData[trisToFacesMap[dtrisToTrisMap[i]]];
- if (curPolyIdx!=prevPolyIdx) {
+ if (curPolyIdx!=prevPolyIdx)
+ {
newPolyIdx++;
prevPolyIdx=curPolyIdx;
}
@@ -394,10 +426,13 @@ int buildNavMeshData(const int nverts, const float* verts,
memset(dmeshes, 0, npolys*4*sizeof(unsigned short));
dmesh = NULL;
prevpolyidx = 0;
- for (i=0; i<ndtris; i++) {
+ for (i=0; i<ndtris; i++)
+ {
int curpolyidx = dtrisToPolysMap[i];
- if (curpolyidx!=prevpolyidx) {
- if (curpolyidx!=prevpolyidx+1) {
+ if (curpolyidx!=prevpolyidx)
+ {
+ if (curpolyidx!=prevpolyidx+1)
+ {
printf("Converting navmesh: Error! Wrong order of detailed mesh faces\n");
return 0;
}
@@ -441,7 +476,8 @@ int buildNavMeshDataByDerivedMesh(DerivedMesh *dm, int *vertsPerPoly,
unsigned short *tris=NULL;
res = buildRawVertIndicesData(dm, nverts, verts, &ntris, &tris, trisToFacesMap, &recastData);
- if (!res) {
+ if (!res)
+ {
printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n");
goto exit;
}
@@ -449,7 +485,8 @@ int buildNavMeshDataByDerivedMesh(DerivedMesh *dm, int *vertsPerPoly,
res = buildNavMeshData(*nverts, *verts, ntris, tris, recastData, *trisToFacesMap,
ndtris, dtris, npolys, dmeshes,polys, vertsPerPoly,
dtrisToPolysMap, dtrisToTrisMap);
- if (!res) {
+ if (!res)
+ {
printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n");
goto exit;
}
@@ -464,10 +501,12 @@ exit:
int polyFindVertex(const unsigned short* p, const int vertsPerPoly, unsigned short vertexIdx)
{
int i, res = -1;
- for (i=0; i<vertsPerPoly; i++) {
+ for (i=0; i<vertsPerPoly; i++)
+ {
if (p[i]==0xffff)
break;
- if (p[i] == vertexIdx) {
+ if (p[i]==vertexIdx)
+ {
res = i;
break;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-03 02:45:49 +0300