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[11902] Import Recast Navigation
Import Recast Navigation as third party dependency Credits go to Mikko Mononen memon at inside dot org
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804
dep/recastnavigation/Recast/Source/RecastContour.cpp
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804
dep/recastnavigation/Recast/Source/RecastContour.cpp
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//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#define _USE_MATH_DEFINES
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#include <math.h>
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#include <string.h>
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#include <stdio.h>
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#include "Recast.h"
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#include "RecastAlloc.h"
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#include "RecastAssert.h"
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static int getCornerHeight(int x, int y, int i, int dir,
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const rcCompactHeightfield& chf,
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bool& isBorderVertex)
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{
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const rcCompactSpan& s = chf.spans[i];
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int ch = (int)s.y;
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int dirp = (dir+1) & 0x3;
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unsigned int regs[4] = {0,0,0,0};
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// Combine region and area codes in order to prevent
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// border vertices which are in between two areas to be removed.
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regs[0] = chf.spans[i].reg | (chf.areas[i] << 16);
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if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
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{
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const int ax = x + rcGetDirOffsetX(dir);
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const int ay = y + rcGetDirOffsetY(dir);
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const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
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const rcCompactSpan& as = chf.spans[ai];
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ch = rcMax(ch, (int)as.y);
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regs[1] = chf.spans[ai].reg | (chf.areas[ai] << 16);
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if (rcGetCon(as, dirp) != RC_NOT_CONNECTED)
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{
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const int ax2 = ax + rcGetDirOffsetX(dirp);
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const int ay2 = ay + rcGetDirOffsetY(dirp);
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const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dirp);
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const rcCompactSpan& as2 = chf.spans[ai2];
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ch = rcMax(ch, (int)as2.y);
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regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
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}
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}
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if (rcGetCon(s, dirp) != RC_NOT_CONNECTED)
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{
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const int ax = x + rcGetDirOffsetX(dirp);
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const int ay = y + rcGetDirOffsetY(dirp);
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const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dirp);
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const rcCompactSpan& as = chf.spans[ai];
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ch = rcMax(ch, (int)as.y);
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regs[3] = chf.spans[ai].reg | (chf.areas[ai] << 16);
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if (rcGetCon(as, dir) != RC_NOT_CONNECTED)
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{
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const int ax2 = ax + rcGetDirOffsetX(dir);
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const int ay2 = ay + rcGetDirOffsetY(dir);
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const int ai2 = (int)chf.cells[ax2+ay2*chf.width].index + rcGetCon(as, dir);
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const rcCompactSpan& as2 = chf.spans[ai2];
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ch = rcMax(ch, (int)as2.y);
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regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
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}
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}
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// Check if the vertex is special edge vertex, these vertices will be removed later.
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for (int j = 0; j < 4; ++j)
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{
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const int a = j;
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const int b = (j+1) & 0x3;
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const int c = (j+2) & 0x3;
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const int d = (j+3) & 0x3;
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// The vertex is a border vertex there are two same exterior cells in a row,
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// followed by two interior cells and none of the regions are out of bounds.
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const bool twoSameExts = (regs[a] & regs[b] & RC_BORDER_REG) != 0 && regs[a] == regs[b];
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const bool twoInts = ((regs[c] | regs[d]) & RC_BORDER_REG) == 0;
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const bool intsSameArea = (regs[c]>>16) == (regs[d]>>16);
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const bool noZeros = regs[a] != 0 && regs[b] != 0 && regs[c] != 0 && regs[d] != 0;
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if (twoSameExts && twoInts && intsSameArea && noZeros)
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{
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isBorderVertex = true;
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break;
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}
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}
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return ch;
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}
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static void walkContour(int x, int y, int i,
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rcCompactHeightfield& chf,
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unsigned char* flags, rcIntArray& points)
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{
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// Choose the first non-connected edge
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unsigned char dir = 0;
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while ((flags[i] & (1 << dir)) == 0)
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dir++;
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unsigned char startDir = dir;
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int starti = i;
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const unsigned char area = chf.areas[i];
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int iter = 0;
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while (++iter < 40000)
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{
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if (flags[i] & (1 << dir))
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{
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// Choose the edge corner
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bool isBorderVertex = false;
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bool isAreaBorder = false;
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int px = x;
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int py = getCornerHeight(x, y, i, dir, chf, isBorderVertex);
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int pz = y;
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switch(dir)
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{
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case 0: pz++; break;
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case 1: px++; pz++; break;
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case 2: px++; break;
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}
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int r = 0;
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const rcCompactSpan& s = chf.spans[i];
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if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
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{
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const int ax = x + rcGetDirOffsetX(dir);
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const int ay = y + rcGetDirOffsetY(dir);
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const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
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r = (int)chf.spans[ai].reg;
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if (area != chf.areas[ai])
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isAreaBorder = true;
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}
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if (isBorderVertex)
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r |= RC_BORDER_VERTEX;
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if (isAreaBorder)
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r |= RC_AREA_BORDER;
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points.push(px);
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points.push(py);
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points.push(pz);
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points.push(r);
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flags[i] &= ~(1 << dir); // Remove visited edges
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dir = (dir+1) & 0x3; // Rotate CW
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}
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else
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{
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int ni = -1;
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const int nx = x + rcGetDirOffsetX(dir);
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const int ny = y + rcGetDirOffsetY(dir);
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const rcCompactSpan& s = chf.spans[i];
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if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
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{
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const rcCompactCell& nc = chf.cells[nx+ny*chf.width];
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ni = (int)nc.index + rcGetCon(s, dir);
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}
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if (ni == -1)
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{
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// Should not happen.
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return;
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}
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x = nx;
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y = ny;
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i = ni;
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dir = (dir+3) & 0x3; // Rotate CCW
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}
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if (starti == i && startDir == dir)
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{
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break;
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}
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}
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}
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static float distancePtSeg(const int x, const int z,
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const int px, const int pz,
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const int qx, const int qz)
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{
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/* float pqx = (float)(qx - px);
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float pqy = (float)(qy - py);
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float pqz = (float)(qz - pz);
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float dx = (float)(x - px);
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float dy = (float)(y - py);
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float dz = (float)(z - pz);
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float d = pqx*pqx + pqy*pqy + pqz*pqz;
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float t = pqx*dx + pqy*dy + pqz*dz;
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if (d > 0)
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t /= d;
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if (t < 0)
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t = 0;
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else if (t > 1)
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t = 1;
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dx = px + t*pqx - x;
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dy = py + t*pqy - y;
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dz = pz + t*pqz - z;
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return dx*dx + dy*dy + dz*dz;*/
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float pqx = (float)(qx - px);
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float pqz = (float)(qz - pz);
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float dx = (float)(x - px);
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float dz = (float)(z - pz);
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float d = pqx*pqx + pqz*pqz;
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float t = pqx*dx + pqz*dz;
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if (d > 0)
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t /= d;
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if (t < 0)
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t = 0;
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else if (t > 1)
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t = 1;
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dx = px + t*pqx - x;
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dz = pz + t*pqz - z;
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return dx*dx + dz*dz;
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}
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static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
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const float maxError, const int maxEdgeLen, const int buildFlags)
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{
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// Add initial points.
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bool hasConnections = false;
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for (int i = 0; i < points.size(); i += 4)
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{
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if ((points[i+3] & RC_CONTOUR_REG_MASK) != 0)
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{
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hasConnections = true;
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break;
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}
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}
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if (hasConnections)
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{
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// The contour has some portals to other regions.
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// Add a new point to every location where the region changes.
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for (int i = 0, ni = points.size()/4; i < ni; ++i)
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{
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int ii = (i+1) % ni;
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const bool differentRegs = (points[i*4+3] & RC_CONTOUR_REG_MASK) != (points[ii*4+3] & RC_CONTOUR_REG_MASK);
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const bool areaBorders = (points[i*4+3] & RC_AREA_BORDER) != (points[ii*4+3] & RC_AREA_BORDER);
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if (differentRegs || areaBorders)
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{
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simplified.push(points[i*4+0]);
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simplified.push(points[i*4+1]);
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simplified.push(points[i*4+2]);
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simplified.push(i);
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}
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}
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}
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if (simplified.size() == 0)
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{
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// If there is no connections at all,
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// create some initial points for the simplification process.
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// Find lower-left and upper-right vertices of the contour.
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int llx = points[0];
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int lly = points[1];
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int llz = points[2];
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int lli = 0;
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int urx = points[0];
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int ury = points[1];
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int urz = points[2];
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int uri = 0;
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for (int i = 0; i < points.size(); i += 4)
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{
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int x = points[i+0];
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int y = points[i+1];
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int z = points[i+2];
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if (x < llx || (x == llx && z < llz))
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{
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llx = x;
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lly = y;
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llz = z;
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lli = i/4;
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}
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if (x > urx || (x == urx && z > urz))
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{
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urx = x;
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ury = y;
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urz = z;
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uri = i/4;
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}
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}
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simplified.push(llx);
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simplified.push(lly);
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simplified.push(llz);
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simplified.push(lli);
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simplified.push(urx);
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simplified.push(ury);
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simplified.push(urz);
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simplified.push(uri);
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}
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// Add points until all raw points are within
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// error tolerance to the simplified shape.
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const int pn = points.size()/4;
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for (int i = 0; i < simplified.size()/4; )
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{
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int ii = (i+1) % (simplified.size()/4);
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const int ax = simplified[i*4+0];
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const int az = simplified[i*4+2];
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const int ai = simplified[i*4+3];
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const int bx = simplified[ii*4+0];
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const int bz = simplified[ii*4+2];
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const int bi = simplified[ii*4+3];
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// Find maximum deviation from the segment.
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float maxd = 0;
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int maxi = -1;
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int ci, cinc, endi;
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// Traverse the segment in lexilogical order so that the
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// max deviation is calculated similarly when traversing
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// opposite segments.
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if (bx > ax || (bx == ax && bz > az))
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{
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cinc = 1;
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ci = (ai+cinc) % pn;
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endi = bi;
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}
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else
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{
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cinc = pn-1;
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ci = (bi+cinc) % pn;
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endi = ai;
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}
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// Tessellate only outer edges oredges between areas.
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if ((points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0 ||
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(points[ci*4+3] & RC_AREA_BORDER))
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{
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while (ci != endi)
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{
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float d = distancePtSeg(points[ci*4+0], points[ci*4+2], ax, az, bx, bz);
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if (d > maxd)
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{
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maxd = d;
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maxi = ci;
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}
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ci = (ci+cinc) % pn;
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}
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}
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// If the max deviation is larger than accepted error,
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// add new point, else continue to next segment.
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if (maxi != -1 && maxd > (maxError*maxError))
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{
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// Add space for the new point.
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simplified.resize(simplified.size()+4);
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const int n = simplified.size()/4;
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for (int j = n-1; j > i; --j)
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{
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simplified[j*4+0] = simplified[(j-1)*4+0];
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simplified[j*4+1] = simplified[(j-1)*4+1];
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simplified[j*4+2] = simplified[(j-1)*4+2];
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simplified[j*4+3] = simplified[(j-1)*4+3];
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}
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// Add the point.
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simplified[(i+1)*4+0] = points[maxi*4+0];
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simplified[(i+1)*4+1] = points[maxi*4+1];
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simplified[(i+1)*4+2] = points[maxi*4+2];
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simplified[(i+1)*4+3] = maxi;
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}
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else
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{
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++i;
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}
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}
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// Split too long edges.
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if (maxEdgeLen > 0 && (buildFlags & (RC_CONTOUR_TESS_WALL_EDGES|RC_CONTOUR_TESS_AREA_EDGES)) != 0)
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{
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for (int i = 0; i < simplified.size()/4; )
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{
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const int ii = (i+1) % (simplified.size()/4);
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const int ax = simplified[i*4+0];
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const int az = simplified[i*4+2];
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const int ai = simplified[i*4+3];
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const int bx = simplified[ii*4+0];
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const int bz = simplified[ii*4+2];
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const int bi = simplified[ii*4+3];
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// Find maximum deviation from the segment.
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int maxi = -1;
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int ci = (ai+1) % pn;
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// Tessellate only outer edges or edges between areas.
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bool tess = false;
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// Wall edges.
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if ((buildFlags & RC_CONTOUR_TESS_WALL_EDGES) && (points[ci*4+3] & RC_CONTOUR_REG_MASK) == 0)
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tess = true;
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// Edges between areas.
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if ((buildFlags & RC_CONTOUR_TESS_AREA_EDGES) && (points[ci*4+3] & RC_AREA_BORDER))
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tess = true;
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if (tess)
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{
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int dx = bx - ax;
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int dz = bz - az;
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if (dx*dx + dz*dz > maxEdgeLen*maxEdgeLen)
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{
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// Round based on the segments in lexilogical order so that the
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// max tesselation is consistent regardles in which direction
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// segments are traversed.
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if (bx > ax || (bx == ax && bz > az))
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{
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const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
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maxi = (ai + n/2) % pn;
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}
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else
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{
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const int n = bi < ai ? (bi+pn - ai) : (bi - ai);
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maxi = (ai + (n+1)/2) % pn;
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}
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}
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}
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// If the max deviation is larger than accepted error,
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// add new point, else continue to next segment.
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if (maxi != -1)
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{
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// Add space for the new point.
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simplified.resize(simplified.size()+4);
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const int n = simplified.size()/4;
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for (int j = n-1; j > i; --j)
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{
|
||||
simplified[j*4+0] = simplified[(j-1)*4+0];
|
||||
simplified[j*4+1] = simplified[(j-1)*4+1];
|
||||
simplified[j*4+2] = simplified[(j-1)*4+2];
|
||||
simplified[j*4+3] = simplified[(j-1)*4+3];
|
||||
}
|
||||
// Add the point.
|
||||
simplified[(i+1)*4+0] = points[maxi*4+0];
|
||||
simplified[(i+1)*4+1] = points[maxi*4+1];
|
||||
simplified[(i+1)*4+2] = points[maxi*4+2];
|
||||
simplified[(i+1)*4+3] = maxi;
|
||||
}
|
||||
else
|
||||
{
|
||||
++i;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < simplified.size()/4; ++i)
|
||||
{
|
||||
// The edge vertex flag is take from the current raw point,
|
||||
// and the neighbour region is take from the next raw point.
|
||||
const int ai = (simplified[i*4+3]+1) % pn;
|
||||
const int bi = simplified[i*4+3];
|
||||
simplified[i*4+3] = (points[ai*4+3] & RC_CONTOUR_REG_MASK) | (points[bi*4+3] & RC_BORDER_VERTEX);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
static void removeDegenerateSegments(rcIntArray& simplified)
|
||||
{
|
||||
// Remove adjacent vertices which are equal on xz-plane,
|
||||
// or else the triangulator will get confused.
|
||||
for (int i = 0; i < simplified.size()/4; ++i)
|
||||
{
|
||||
int ni = i+1;
|
||||
if (ni >= (simplified.size()/4))
|
||||
ni = 0;
|
||||
|
||||
if (simplified[i*4+0] == simplified[ni*4+0] &&
|
||||
simplified[i*4+2] == simplified[ni*4+2])
|
||||
{
|
||||
// Degenerate segment, remove.
|
||||
for (int j = i; j < simplified.size()/4-1; ++j)
|
||||
{
|
||||
simplified[j*4+0] = simplified[(j+1)*4+0];
|
||||
simplified[j*4+1] = simplified[(j+1)*4+1];
|
||||
simplified[j*4+2] = simplified[(j+1)*4+2];
|
||||
simplified[j*4+3] = simplified[(j+1)*4+3];
|
||||
}
|
||||
simplified.resize(simplified.size()-4);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static int calcAreaOfPolygon2D(const int* verts, const int nverts)
|
||||
{
|
||||
int area = 0;
|
||||
for (int i = 0, j = nverts-1; i < nverts; j=i++)
|
||||
{
|
||||
const int* vi = &verts[i*4];
|
||||
const int* vj = &verts[j*4];
|
||||
area += vi[0] * vj[2] - vj[0] * vi[2];
|
||||
}
|
||||
return (area+1) / 2;
|
||||
}
|
||||
|
||||
inline bool ileft(const int* a, const int* b, const int* c)
|
||||
{
|
||||
return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]) <= 0;
|
||||
}
|
||||
|
||||
static void getClosestIndices(const int* vertsa, const int nvertsa,
|
||||
const int* vertsb, const int nvertsb,
|
||||
int& ia, int& ib)
|
||||
{
|
||||
int closestDist = 0xfffffff;
|
||||
ia = -1, ib = -1;
|
||||
for (int i = 0; i < nvertsa; ++i)
|
||||
{
|
||||
const int in = (i+1) % nvertsa;
|
||||
const int ip = (i+nvertsa-1) % nvertsa;
|
||||
const int* va = &vertsa[i*4];
|
||||
const int* van = &vertsa[in*4];
|
||||
const int* vap = &vertsa[ip*4];
|
||||
|
||||
for (int j = 0; j < nvertsb; ++j)
|
||||
{
|
||||
const int* vb = &vertsb[j*4];
|
||||
// vb must be "infront" of va.
|
||||
if (ileft(vap,va,vb) && ileft(va,van,vb))
|
||||
{
|
||||
const int dx = vb[0] - va[0];
|
||||
const int dz = vb[2] - va[2];
|
||||
const int d = dx*dx + dz*dz;
|
||||
if (d < closestDist)
|
||||
{
|
||||
ia = i;
|
||||
ib = j;
|
||||
closestDist = d;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static bool mergeContours(rcContour& ca, rcContour& cb, int ia, int ib)
|
||||
{
|
||||
const int maxVerts = ca.nverts + cb.nverts + 2;
|
||||
int* verts = (int*)rcAlloc(sizeof(int)*maxVerts*4, RC_ALLOC_PERM);
|
||||
if (!verts)
|
||||
return false;
|
||||
|
||||
int nv = 0;
|
||||
|
||||
// Copy contour A.
|
||||
for (int i = 0; i <= ca.nverts; ++i)
|
||||
{
|
||||
int* dst = &verts[nv*4];
|
||||
const int* src = &ca.verts[((ia+i)%ca.nverts)*4];
|
||||
dst[0] = src[0];
|
||||
dst[1] = src[1];
|
||||
dst[2] = src[2];
|
||||
dst[3] = src[3];
|
||||
nv++;
|
||||
}
|
||||
|
||||
// Copy contour B
|
||||
for (int i = 0; i <= cb.nverts; ++i)
|
||||
{
|
||||
int* dst = &verts[nv*4];
|
||||
const int* src = &cb.verts[((ib+i)%cb.nverts)*4];
|
||||
dst[0] = src[0];
|
||||
dst[1] = src[1];
|
||||
dst[2] = src[2];
|
||||
dst[3] = src[3];
|
||||
nv++;
|
||||
}
|
||||
|
||||
rcFree(ca.verts);
|
||||
ca.verts = verts;
|
||||
ca.nverts = nv;
|
||||
|
||||
rcFree(cb.verts);
|
||||
cb.verts = 0;
|
||||
cb.nverts = 0;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
|
||||
const float maxError, const int maxEdgeLen,
|
||||
rcContourSet& cset, const int buildFlags)
|
||||
{
|
||||
rcAssert(ctx);
|
||||
|
||||
const int w = chf.width;
|
||||
const int h = chf.height;
|
||||
|
||||
ctx->startTimer(RC_TIMER_BUILD_CONTOURS);
|
||||
|
||||
rcVcopy(cset.bmin, chf.bmin);
|
||||
rcVcopy(cset.bmax, chf.bmax);
|
||||
cset.cs = chf.cs;
|
||||
cset.ch = chf.ch;
|
||||
|
||||
int maxContours = rcMax((int)chf.maxRegions, 8);
|
||||
cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
|
||||
if (!cset.conts)
|
||||
return false;
|
||||
cset.nconts = 0;
|
||||
|
||||
rcScopedDelete<unsigned char> flags = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_TEMP);
|
||||
if (!flags)
|
||||
{
|
||||
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags' (%d).", chf.spanCount);
|
||||
return false;
|
||||
}
|
||||
|
||||
ctx->startTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
|
||||
|
||||
// Mark boundaries.
|
||||
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)
|
||||
{
|
||||
unsigned char res = 0;
|
||||
const rcCompactSpan& s = chf.spans[i];
|
||||
if (!chf.spans[i].reg || (chf.spans[i].reg & RC_BORDER_REG))
|
||||
{
|
||||
flags[i] = 0;
|
||||
continue;
|
||||
}
|
||||
for (int dir = 0; dir < 4; ++dir)
|
||||
{
|
||||
unsigned short r = 0;
|
||||
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);
|
||||
r = chf.spans[ai].reg;
|
||||
}
|
||||
if (r == chf.spans[i].reg)
|
||||
res |= (1 << dir);
|
||||
}
|
||||
flags[i] = res ^ 0xf; // Inverse, mark non connected edges.
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_TRACE);
|
||||
|
||||
ctx->startTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
|
||||
|
||||
rcIntArray verts(256);
|
||||
rcIntArray simplified(64);
|
||||
|
||||
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 (flags[i] == 0 || flags[i] == 0xf)
|
||||
{
|
||||
flags[i] = 0;
|
||||
continue;
|
||||
}
|
||||
const unsigned short reg = chf.spans[i].reg;
|
||||
if (!reg || (reg & RC_BORDER_REG))
|
||||
continue;
|
||||
const unsigned char area = chf.areas[i];
|
||||
|
||||
verts.resize(0);
|
||||
simplified.resize(0);
|
||||
walkContour(x, y, i, chf, flags, verts);
|
||||
simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags);
|
||||
removeDegenerateSegments(simplified);
|
||||
|
||||
// Store region->contour remap info.
|
||||
// Create contour.
|
||||
if (simplified.size()/4 >= 3)
|
||||
{
|
||||
if (cset.nconts >= maxContours)
|
||||
{
|
||||
// Allocate more contours.
|
||||
// This can happen when there are tiny holes in the heightfield.
|
||||
const int oldMax = maxContours;
|
||||
maxContours *= 2;
|
||||
rcContour* newConts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
|
||||
for (int j = 0; j < cset.nconts; ++j)
|
||||
{
|
||||
newConts[j] = cset.conts[j];
|
||||
// Reset source pointers to prevent data deletion.
|
||||
cset.conts[j].verts = 0;
|
||||
cset.conts[j].rverts = 0;
|
||||
}
|
||||
rcFree(cset.conts);
|
||||
cset.conts = newConts;
|
||||
|
||||
ctx->log(RC_LOG_WARNING, "rcBuildContours: Expanding max contours from %d to %d.", oldMax, maxContours);
|
||||
}
|
||||
|
||||
rcContour* cont = &cset.conts[cset.nconts++];
|
||||
|
||||
cont->nverts = simplified.size()/4;
|
||||
cont->verts = (int*)rcAlloc(sizeof(int)*cont->nverts*4, RC_ALLOC_PERM);
|
||||
if (!cont->verts)
|
||||
{
|
||||
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'verts' (%d).", cont->nverts);
|
||||
return false;
|
||||
}
|
||||
memcpy(cont->verts, &simplified[0], sizeof(int)*cont->nverts*4);
|
||||
|
||||
cont->nrverts = verts.size()/4;
|
||||
cont->rverts = (int*)rcAlloc(sizeof(int)*cont->nrverts*4, RC_ALLOC_PERM);
|
||||
if (!cont->rverts)
|
||||
{
|
||||
ctx->log(RC_LOG_ERROR, "rcBuildContours: Out of memory 'rverts' (%d).", cont->nrverts);
|
||||
return false;
|
||||
}
|
||||
memcpy(cont->rverts, &verts[0], sizeof(int)*cont->nrverts*4);
|
||||
|
||||
/* cont->cx = cont->cy = cont->cz = 0;
|
||||
for (int i = 0; i < cont->nverts; ++i)
|
||||
{
|
||||
cont->cx += cont->verts[i*4+0];
|
||||
cont->cy += cont->verts[i*4+1];
|
||||
cont->cz += cont->verts[i*4+2];
|
||||
}
|
||||
cont->cx /= cont->nverts;
|
||||
cont->cy /= cont->nverts;
|
||||
cont->cz /= cont->nverts;*/
|
||||
|
||||
cont->reg = reg;
|
||||
cont->area = area;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Check and merge droppings.
|
||||
// Sometimes the previous algorithms can fail and create several contours
|
||||
// per area. This pass will try to merge the holes into the main region.
|
||||
for (int i = 0; i < cset.nconts; ++i)
|
||||
{
|
||||
rcContour& cont = cset.conts[i];
|
||||
// Check if the contour is would backwards.
|
||||
if (calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0)
|
||||
{
|
||||
// Find another contour which has the same region ID.
|
||||
int mergeIdx = -1;
|
||||
for (int j = 0; j < cset.nconts; ++j)
|
||||
{
|
||||
if (i == j) continue;
|
||||
if (cset.conts[j].nverts && cset.conts[j].reg == cont.reg)
|
||||
{
|
||||
// Make sure the polygon is correctly oriented.
|
||||
if (calcAreaOfPolygon2D(cset.conts[j].verts, cset.conts[j].nverts))
|
||||
{
|
||||
mergeIdx = j;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (mergeIdx == -1)
|
||||
{
|
||||
ctx->log(RC_LOG_WARNING, "rcBuildContours: Could not find merge target for bad contour %d.", i);
|
||||
}
|
||||
else
|
||||
{
|
||||
rcContour& mcont = cset.conts[mergeIdx];
|
||||
// Merge by closest points.
|
||||
int ia = 0, ib = 0;
|
||||
getClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ia, ib);
|
||||
if (ia == -1 || ib == -1)
|
||||
{
|
||||
ctx->log(RC_LOG_WARNING, "rcBuildContours: Failed to find merge points for %d and %d.", i, mergeIdx);
|
||||
continue;
|
||||
}
|
||||
if (!mergeContours(mcont, cont, ia, ib))
|
||||
{
|
||||
ctx->log(RC_LOG_WARNING, "rcBuildContours: Failed to merge contours %d and %d.", i, mergeIdx);
|
||||
continue;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
|
||||
|
||||
ctx->stopTimer(RC_TIMER_BUILD_CONTOURS);
|
||||
|
||||
return true;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue