From a25c7f647e3050239d0c0ea35db37a3e48f84e4c Mon Sep 17 00:00:00 2001 From: Sergey Sharybin Date: Tue, 27 Sep 2011 09:09:43 +0000 Subject: navmesh: convert object_navmesh.cpp to plain c. --- extern/recastnavigation/recast-capi.cpp | 215 ++++++++++++++++++++++++++++++++ extern/recastnavigation/recast-capi.h | 86 +++++++++++++ 2 files changed, 301 insertions(+) (limited to 'extern') diff --git a/extern/recastnavigation/recast-capi.cpp b/extern/recastnavigation/recast-capi.cpp index 52c4cdc90ed..2348497b0d7 100644 --- a/extern/recastnavigation/recast-capi.cpp +++ b/extern/recastnavigation/recast-capi.cpp @@ -35,3 +35,218 @@ int recast_buildMeshAdjacency(unsigned short* polys, const int npolys, { return (int) buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly); } + +void recast_calcBounds(const float *verts, int nv, float *bmin, float *bmax) +{ + rcCalcBounds(verts, nv, bmin, bmax); +} + +void recast_calcGridSize(const float *bmin, const float *bmax, float cs, int *w, int *h) +{ + rcCalcGridSize(bmin, bmax, cs, w, h); +} + +struct recast_heightfield *recast_newHeightfield(void) +{ + return (struct recast_heightfield *) (new rcHeightfield); +} + +void recast_destroyHeightfield(struct recast_heightfield *heightfield) +{ + delete (rcHeightfield *) heightfield; +} + +int recast_createHeightfield(struct recast_heightfield *hf, int width, int height, + const float *bmin, const float* bmax, float cs, float ch) +{ + return rcCreateHeightfield(*(rcHeightfield *)hf, width, height, bmin, bmax, cs, ch); +} + +void recast_markWalkableTriangles(const float walkableSlopeAngle,const float *verts, int nv, + const int *tris, int nt, unsigned char *flags) +{ + rcMarkWalkableTriangles(walkableSlopeAngle, verts, nv, tris, nt, flags); +} + +void recast_rasterizeTriangles(const float *verts, int nv, const int *tris, + const unsigned char *flags, int nt, struct recast_heightfield *solid) +{ + rcRasterizeTriangles(verts, nv, tris, flags, nt, *(rcHeightfield *) solid); +} + +void recast_filterLedgeSpans(const int walkableHeight, const int walkableClimb, + struct recast_heightfield *solid) +{ + rcFilterLedgeSpans(walkableHeight, walkableClimb, *(rcHeightfield *) solid); +} + +void recast_filterWalkableLowHeightSpans(int walkableHeight, struct recast_heightfield *solid) +{ + rcFilterWalkableLowHeightSpans(walkableHeight, *(rcHeightfield *) solid); +} + +struct recast_compactHeightfield *recast_newCompactHeightfield(void) +{ + return (struct recast_compactHeightfield *) (new rcCompactHeightfield); +} + +void recast_destroyCompactHeightfield(struct recast_compactHeightfield *compactHeightfield) +{ + delete (rcCompactHeightfield *) compactHeightfield; +} + +int recast_buildCompactHeightfield(const int walkableHeight, const int walkableClimb, + unsigned char flags, struct recast_heightfield *hf, struct recast_compactHeightfield *chf) +{ + int rcFlags = 0; + + if(flags & RECAST_WALKABLE) + rcFlags |= RC_WALKABLE; + + if(flags & RECAST_REACHABLE) + rcFlags |= RC_REACHABLE; + + return rcBuildCompactHeightfield(walkableHeight, walkableClimb, rcFlags, + *(rcHeightfield *) hf, *(rcCompactHeightfield *) chf); +} + +int recast_buildDistanceField(struct recast_compactHeightfield *chf) +{ + return rcBuildDistanceField(*(rcCompactHeightfield *) chf); +} + +int recast_buildRegions(struct recast_compactHeightfield *chf, int walkableRadius, int borderSize, + int minRegionSize, int mergeRegionSize) +{ + return rcBuildRegions(*(rcCompactHeightfield *) chf, walkableRadius, borderSize, + minRegionSize, mergeRegionSize); +} + +struct recast_contourSet *recast_newContourSet(void) +{ + return (struct recast_contourSet *) (new rcContourSet); +} + +void recast_destroyContourSet(struct recast_contourSet *contourSet) +{ + delete (rcContourSet *) contourSet; +} + +int recast_buildContours(struct recast_compactHeightfield *chf, + const float maxError, const int maxEdgeLen, struct recast_contourSet *cset) +{ + return rcBuildContours(*(rcCompactHeightfield *) chf, maxError, maxEdgeLen, *(rcContourSet *) cset); +} + +struct recast_polyMesh *recast_newPolyMesh(void) +{ + return (recast_polyMesh *) (new rcPolyMesh); +} + +void recast_destroyPolyMesh(struct recast_polyMesh *polyMesh) +{ + delete (rcPolyMesh *) polyMesh; +} + +int recast_buildPolyMesh(struct recast_contourSet *cset, int nvp, struct recast_polyMesh *mesh) +{ + return rcBuildPolyMesh(*(rcContourSet *) cset, nvp, * (rcPolyMesh *) mesh); +} + +unsigned short *recast_polyMeshGetVerts(struct recast_polyMesh *mesh, int *nverts) +{ + rcPolyMesh *pmesh = (rcPolyMesh *)mesh; + + if (nverts) + *nverts = pmesh->nverts; + + return pmesh->verts; +} + +void recast_polyMeshGetBoundbox(struct recast_polyMesh *mesh, float *bmin, float *bmax) +{ + rcPolyMesh *pmesh = (rcPolyMesh *)mesh; + + if (bmin) { + bmin[0] = pmesh->bmin[0]; + bmin[1] = pmesh->bmin[1]; + bmin[2] = pmesh->bmin[2]; + } + + if (bmax) { + bmax[0] = pmesh->bmax[0]; + bmax[1] = pmesh->bmax[1]; + bmax[2] = pmesh->bmax[2]; + } +} + +void recast_polyMeshGetCell(struct recast_polyMesh *mesh, float *cs, float *ch) +{ + rcPolyMesh *pmesh = (rcPolyMesh *)mesh; + + if (cs) + *cs = pmesh->cs; + + if (ch) + *ch = pmesh->ch; +} + +unsigned short *recast_polyMeshGetPolys(struct recast_polyMesh *mesh, int *npolys, int *nvp) +{ + rcPolyMesh *pmesh = (rcPolyMesh *)mesh; + + if (npolys) + *npolys = pmesh->npolys; + + if (nvp) + *nvp = pmesh->nvp; + + return pmesh->polys; +} + +struct recast_polyMeshDetail *recast_newPolyMeshDetail(void) +{ + return (struct recast_polyMeshDetail *) (new rcPolyMeshDetail); +} + +void recast_destroyPolyMeshDetail(struct recast_polyMeshDetail *polyMeshDetail) +{ + delete (rcPolyMeshDetail *) polyMeshDetail; +} + +int recast_buildPolyMeshDetail(const struct recast_polyMesh *mesh, const struct recast_compactHeightfield *chf, + const float sampleDist, const float sampleMaxError, struct recast_polyMeshDetail *dmesh) +{ + return rcBuildPolyMeshDetail(*(rcPolyMesh *) mesh, *(rcCompactHeightfield *) chf, + sampleDist, sampleMaxError, *(rcPolyMeshDetail *) dmesh); +} + +float *recast_polyMeshDetailGetVerts(struct recast_polyMeshDetail *mesh, int *nverts) +{ + rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh; + + if (nverts) + *nverts = dmesh->nverts; + + return dmesh->verts; +} + +unsigned char *recast_polyMeshDetailGetTris(struct recast_polyMeshDetail *mesh, int *ntris) +{ + rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh; + + if (ntris) + *ntris = dmesh->ntris; + + return dmesh->tris; +} + +unsigned short *recast_polyMeshDetailGetMeshes(struct recast_polyMeshDetail *mesh, int *nmeshes) +{ + rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh; + + if (nmeshes) + *nmeshes = dmesh->nmeshes; + + return dmesh->meshes; +} diff --git a/extern/recastnavigation/recast-capi.h b/extern/recastnavigation/recast-capi.h index 0d20fdf9981..58fe08e6335 100644 --- a/extern/recastnavigation/recast-capi.h +++ b/extern/recastnavigation/recast-capi.h @@ -32,9 +32,95 @@ extern "C" { #endif +struct recast_polyMesh; +struct recast_polyMeshDetail; +struct recast_heightfield; +struct recast_compactHeightfield; +struct recast_contourSet; + +enum recast_SpanFlags +{ + RECAST_WALKABLE = 0x01, + RECAST_REACHABLE = 0x02 +}; + int recast_buildMeshAdjacency(unsigned short* polys, const int npolys, const int nverts, const int vertsPerPoly); +void recast_calcBounds(const float *verts, int nv, float *bmin, float *bmax); + +void recast_calcGridSize(const float *bmin, const float *bmax, float cs, int *w, int *h); + +struct recast_heightfield *recast_newHeightfield(void); + +void recast_destroyHeightfield(struct recast_heightfield *heightfield); + +int recast_createHeightfield(struct recast_heightfield *hf, int width, int height, + 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); + +void recast_rasterizeTriangles(const float *verts, int nv, const int *tris, + const unsigned char *flags, int nt, struct recast_heightfield *solid); + +void recast_filterLedgeSpans(const int walkableHeight, const int walkableClimb, + struct recast_heightfield *solid); + +void recast_filterWalkableLowHeightSpans(int walkableHeight, struct recast_heightfield *solid); + +struct recast_compactHeightfield *recast_newCompactHeightfield(void); + +void recast_destroyCompactHeightfield(struct recast_compactHeightfield *compactHeightfield); + +int recast_buildCompactHeightfield(const int walkableHeight, const int walkableClimb, + unsigned char flags, struct recast_heightfield *hf, struct recast_compactHeightfield *chf); + +int recast_buildDistanceField(struct recast_compactHeightfield *chf); + +int recast_buildRegions(struct recast_compactHeightfield *chf, int walkableRadius, int borderSize, + int minRegionSize, int mergeRegionSize); + +/* Contour set */ + +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); + +/* Poly mesh */ + +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); + +unsigned short *recast_polyMeshGetVerts(struct recast_polyMesh *mesh, int *nverts); + +void recast_polyMeshGetBoundbox(struct recast_polyMesh *mesh, float *bmin, float *bmax); + +void recast_polyMeshGetCell(struct recast_polyMesh *mesh, float *cs, float *ch); + +unsigned short *recast_polyMeshGetPolys(struct recast_polyMesh *mesh, int *npolys, int *nvp); + +/* Poly mesh detail */ + +struct recast_polyMeshDetail *recast_newPolyMeshDetail(void); + +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); + +float *recast_polyMeshDetailGetVerts(struct recast_polyMeshDetail *mesh, int *nverts); + +unsigned char *recast_polyMeshDetailGetTris(struct recast_polyMeshDetail *mesh, int *ntris); + +unsigned short *recast_polyMeshDetailGetMeshes(struct recast_polyMeshDetail *mesh, int *nmeshes); + #ifdef __cplusplus } #endif -- cgit v1.2.3