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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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360
dep/recastnavigation/Recast/Source/RecastRasterization.cpp
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dep/recastnavigation/Recast/Source/RecastRasterization.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 <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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inline bool overlapBounds(const float* amin, const float* amax, const float* bmin, const float* bmax)
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{
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bool overlap = true;
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overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
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overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
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overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
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return overlap;
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}
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inline bool overlapInterval(unsigned short amin, unsigned short amax,
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unsigned short bmin, unsigned short bmax)
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{
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if (amax < bmin) return false;
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if (amin > bmax) return false;
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return true;
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}
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static rcSpan* allocSpan(rcHeightfield& hf)
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{
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// If running out of memory, allocate new page and update the freelist.
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if (!hf.freelist || !hf.freelist->next)
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{
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// Create new page.
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// Allocate memory for the new pool.
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rcSpanPool* pool = (rcSpanPool*)rcAlloc(sizeof(rcSpanPool), RC_ALLOC_PERM);
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if (!pool) return 0;
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pool->next = 0;
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// Add the pool into the list of pools.
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pool->next = hf.pools;
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hf.pools = pool;
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// Add new items to the free list.
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rcSpan* freelist = hf.freelist;
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rcSpan* head = &pool->items[0];
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rcSpan* it = &pool->items[RC_SPANS_PER_POOL];
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do
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{
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--it;
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it->next = freelist;
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freelist = it;
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}
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while (it != head);
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hf.freelist = it;
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}
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// Pop item from in front of the free list.
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rcSpan* it = hf.freelist;
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hf.freelist = hf.freelist->next;
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return it;
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}
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static void freeSpan(rcHeightfield& hf, rcSpan* ptr)
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{
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if (!ptr) return;
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// Add the node in front of the free list.
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ptr->next = hf.freelist;
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hf.freelist = ptr;
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}
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static void addSpan(rcHeightfield& hf, const int x, const int y,
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const unsigned short smin, const unsigned short smax,
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const unsigned char area, const int flagMergeThr)
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{
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int idx = x + y*hf.width;
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rcSpan* s = allocSpan(hf);
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s->smin = smin;
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s->smax = smax;
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s->area = area;
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s->next = 0;
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// Empty cell, add he first span.
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if (!hf.spans[idx])
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{
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hf.spans[idx] = s;
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return;
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}
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rcSpan* prev = 0;
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rcSpan* cur = hf.spans[idx];
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// Insert and merge spans.
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while (cur)
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{
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if (cur->smin > s->smax)
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{
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// Current span is further than the new span, break.
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break;
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}
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else if (cur->smax < s->smin)
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{
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// Current span is before the new span advance.
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prev = cur;
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cur = cur->next;
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}
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else
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{
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// Merge spans.
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if (cur->smin < s->smin)
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s->smin = cur->smin;
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if (cur->smax > s->smax)
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s->smax = cur->smax;
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// Merge flags.
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if (rcAbs((int)s->smax - (int)cur->smax) <= flagMergeThr)
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s->area = rcMax(s->area, cur->area);
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// Remove current span.
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rcSpan* next = cur->next;
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freeSpan(hf, cur);
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if (prev)
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prev->next = next;
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else
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hf.spans[idx] = next;
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cur = next;
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}
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}
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// Insert new span.
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if (prev)
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{
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s->next = prev->next;
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prev->next = s;
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}
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else
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{
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s->next = hf.spans[idx];
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hf.spans[idx] = s;
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}
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}
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void rcAddSpan(rcContext* /*ctx*/, rcHeightfield& hf, const int x, const int y,
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const unsigned short smin, const unsigned short smax,
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const unsigned char area, const int flagMergeThr)
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{
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// rcAssert(ctx);
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addSpan(hf, x,y, smin, smax, area, flagMergeThr);
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}
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static int clipPoly(const float* in, int n, float* out, float pnx, float pnz, float pd)
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{
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float d[12];
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for (int i = 0; i < n; ++i)
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d[i] = pnx*in[i*3+0] + pnz*in[i*3+2] + pd;
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int m = 0;
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for (int i = 0, j = n-1; i < n; j=i, ++i)
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{
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bool ina = d[j] >= 0;
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bool inb = d[i] >= 0;
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if (ina != inb)
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{
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float s = d[j] / (d[j] - d[i]);
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out[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s;
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out[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s;
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out[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s;
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m++;
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}
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if (inb)
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{
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out[m*3+0] = in[i*3+0];
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out[m*3+1] = in[i*3+1];
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out[m*3+2] = in[i*3+2];
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m++;
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}
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}
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return m;
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}
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static void rasterizeTri(const float* v0, const float* v1, const float* v2,
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const unsigned char area, rcHeightfield& hf,
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const float* bmin, const float* bmax,
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const float cs, const float ics, const float ich,
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const int flagMergeThr)
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{
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const int w = hf.width;
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const int h = hf.height;
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float tmin[3], tmax[3];
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const float by = bmax[1] - bmin[1];
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// Calculate the bounding box of the triangle.
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rcVcopy(tmin, v0);
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rcVcopy(tmax, v0);
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rcVmin(tmin, v1);
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rcVmin(tmin, v2);
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rcVmax(tmax, v1);
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rcVmax(tmax, v2);
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// If the triangle does not touch the bbox of the heightfield, skip the triagle.
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if (!overlapBounds(bmin, bmax, tmin, tmax))
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return;
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// Calculate the footpring of the triangle on the grid.
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int x0 = (int)((tmin[0] - bmin[0])*ics);
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int y0 = (int)((tmin[2] - bmin[2])*ics);
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int x1 = (int)((tmax[0] - bmin[0])*ics);
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int y1 = (int)((tmax[2] - bmin[2])*ics);
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x0 = rcClamp(x0, 0, w-1);
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y0 = rcClamp(y0, 0, h-1);
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x1 = rcClamp(x1, 0, w-1);
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y1 = rcClamp(y1, 0, h-1);
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// Clip the triangle into all grid cells it touches.
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float in[7*3], out[7*3], inrow[7*3];
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for (int y = y0; y <= y1; ++y)
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{
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// Clip polygon to row.
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rcVcopy(&in[0], v0);
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rcVcopy(&in[1*3], v1);
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rcVcopy(&in[2*3], v2);
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int nvrow = 3;
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const float cz = bmin[2] + y*cs;
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nvrow = clipPoly(in, nvrow, out, 0, 1, -cz);
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if (nvrow < 3) continue;
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nvrow = clipPoly(out, nvrow, inrow, 0, -1, cz+cs);
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if (nvrow < 3) continue;
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for (int x = x0; x <= x1; ++x)
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{
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// Clip polygon to column.
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int nv = nvrow;
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const float cx = bmin[0] + x*cs;
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nv = clipPoly(inrow, nv, out, 1, 0, -cx);
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if (nv < 3) continue;
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nv = clipPoly(out, nv, in, -1, 0, cx+cs);
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if (nv < 3) continue;
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// Calculate min and max of the span.
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float smin = in[1], smax = in[1];
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for (int i = 1; i < nv; ++i)
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{
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smin = rcMin(smin, in[i*3+1]);
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smax = rcMax(smax, in[i*3+1]);
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}
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smin -= bmin[1];
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smax -= bmin[1];
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// Skip the span if it is outside the heightfield bbox
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if (smax < 0.0f) continue;
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if (smin > by) continue;
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// Clamp the span to the heightfield bbox.
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if (smin < 0.0f) smin = 0;
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if (smax > by) smax = by;
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// Snap the span to the heightfield height grid.
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unsigned short ismin = (unsigned short)rcClamp((int)floorf(smin * ich), 0, RC_SPAN_MAX_HEIGHT);
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unsigned short ismax = (unsigned short)rcClamp((int)ceilf(smax * ich), (int)ismin+1, RC_SPAN_MAX_HEIGHT);
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addSpan(hf, x, y, ismin, ismax, area, flagMergeThr);
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}
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}
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}
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void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
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const unsigned char area, rcHeightfield& solid,
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const int flagMergeThr)
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{
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rcAssert(ctx);
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ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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const float ics = 1.0f/solid.cs;
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const float ich = 1.0f/solid.ch;
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rasterizeTri(v0, v1, v2, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
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ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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}
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void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
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const int* tris, const unsigned char* areas, const int nt,
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rcHeightfield& solid, const int flagMergeThr)
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{
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rcAssert(ctx);
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ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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const float ics = 1.0f/solid.cs;
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const float ich = 1.0f/solid.ch;
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// Rasterize triangles.
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for (int i = 0; i < nt; ++i)
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{
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const float* v0 = &verts[tris[i*3+0]*3];
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const float* v1 = &verts[tris[i*3+1]*3];
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const float* v2 = &verts[tris[i*3+2]*3];
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// Rasterize.
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rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
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}
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ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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}
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void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
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const unsigned short* tris, const unsigned char* areas, const int nt,
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rcHeightfield& solid, const int flagMergeThr)
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{
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rcAssert(ctx);
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ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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const float ics = 1.0f/solid.cs;
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const float ich = 1.0f/solid.ch;
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// Rasterize triangles.
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for (int i = 0; i < nt; ++i)
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{
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const float* v0 = &verts[tris[i*3+0]*3];
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const float* v1 = &verts[tris[i*3+1]*3];
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const float* v2 = &verts[tris[i*3+2]*3];
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// Rasterize.
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rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
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}
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ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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}
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void rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
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rcHeightfield& solid, const int flagMergeThr)
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{
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rcAssert(ctx);
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ctx->startTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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const float ics = 1.0f/solid.cs;
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const float ich = 1.0f/solid.ch;
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// Rasterize triangles.
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for (int i = 0; i < nt; ++i)
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{
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const float* v0 = &verts[(i*3+0)*3];
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const float* v1 = &verts[(i*3+1)*3];
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const float* v2 = &verts[(i*3+2)*3];
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// Rasterize.
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rasterizeTri(v0, v1, v2, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
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}
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ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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}
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