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[Build] More Project build cleanup
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Antz
Antz
parent
d258cc922a
commit
4613154144
565 changed files with 26862 additions and 109982 deletions
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@ -26,7 +26,14 @@
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#include "RecastAlloc.h"
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#include "RecastAssert.h"
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/// @par
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///
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/// Basically, any spans that are closer to a boundary or obstruction than the specified radius
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/// are marked as unwalkable.
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///
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/// This method is usually called immediately after the heightfield has been built.
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///
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/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
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bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
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{
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rcAssert(ctx);
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@ -54,14 +61,26 @@ bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
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const rcCompactCell& c = chf.cells[x+y*w];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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if (chf.areas[i] != RC_NULL_AREA)
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if (chf.areas[i] == RC_NULL_AREA)
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{
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dist[i] = 0;
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}
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else
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{
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const rcCompactSpan& s = chf.spans[i];
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int nc = 0;
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for (int dir = 0; dir < 4; ++dir)
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{
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if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
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nc++;
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{
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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 int nidx = (int)chf.cells[nx+ny*w].index + rcGetCon(s, dir);
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if (chf.areas[nidx] != RC_NULL_AREA)
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{
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nc++;
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}
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}
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}
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// At least one missing neighbour.
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if (nc != 4)
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@ -213,7 +232,12 @@ static void insertSort(unsigned char* a, const int n)
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}
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}
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/// @par
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///
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/// This filter is usually applied after applying area id's using functions
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/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
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///
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/// @see rcCompactHeightfield
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bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
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{
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rcAssert(ctx);
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@ -288,6 +312,11 @@ bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
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return true;
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}
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/// @par
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///
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/// The value of spacial parameters are in world units.
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///
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/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
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void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
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rcCompactHeightfield& chf)
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{
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@ -322,7 +351,8 @@ void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigne
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rcCompactSpan& s = chf.spans[i];
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if ((int)s.y >= miny && (int)s.y <= maxy)
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{
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chf.areas[i] = areaId;
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if (chf.areas[i] != RC_NULL_AREA)
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chf.areas[i] = areaId;
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}
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}
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}
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@ -347,6 +377,14 @@ static int pointInPoly(int nvert, const float* verts, const float* p)
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return c;
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}
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/// @par
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///
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/// The value of spacial parameters are in world units.
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///
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/// The y-values of the polygon vertices are ignored. So the polygon is effectively
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/// projected onto the xz-plane at @p hmin, then extruded to @p hmax.
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///
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/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
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void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
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const float hmin, const float hmax, unsigned char areaId,
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rcCompactHeightfield& chf)
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@ -393,6 +431,8 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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rcCompactSpan& s = chf.spans[i];
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if (chf.areas[i] == RC_NULL_AREA)
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continue;
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if ((int)s.y >= miny && (int)s.y <= maxy)
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{
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float p[3];
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@ -411,3 +451,152 @@ void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
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ctx->stopTimer(RC_TIMER_MARK_CONVEXPOLY_AREA);
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}
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int rcOffsetPoly(const float* verts, const int nverts, const float offset,
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float* outVerts, const int maxOutVerts)
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{
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const float MITER_LIMIT = 1.20f;
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int n = 0;
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for (int i = 0; i < nverts; i++)
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{
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const int a = (i+nverts-1) % nverts;
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const int b = i;
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const int c = (i+1) % nverts;
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const float* va = &verts[a*3];
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const float* vb = &verts[b*3];
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const float* vc = &verts[c*3];
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float dx0 = vb[0] - va[0];
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float dy0 = vb[2] - va[2];
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float d0 = dx0*dx0 + dy0*dy0;
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if (d0 > 1e-6f)
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{
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d0 = 1.0f/rcSqrt(d0);
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dx0 *= d0;
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dy0 *= d0;
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}
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float dx1 = vc[0] - vb[0];
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float dy1 = vc[2] - vb[2];
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float d1 = dx1*dx1 + dy1*dy1;
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if (d1 > 1e-6f)
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{
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d1 = 1.0f/rcSqrt(d1);
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dx1 *= d1;
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dy1 *= d1;
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}
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const float dlx0 = -dy0;
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const float dly0 = dx0;
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const float dlx1 = -dy1;
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const float dly1 = dx1;
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float cross = dx1*dy0 - dx0*dy1;
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float dmx = (dlx0 + dlx1) * 0.5f;
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float dmy = (dly0 + dly1) * 0.5f;
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float dmr2 = dmx*dmx + dmy*dmy;
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bool bevel = dmr2 * MITER_LIMIT*MITER_LIMIT < 1.0f;
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if (dmr2 > 1e-6f)
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{
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const float scale = 1.0f / dmr2;
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dmx *= scale;
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dmy *= scale;
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}
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if (bevel && cross < 0.0f)
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{
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if (n+2 >= maxOutVerts)
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return 0;
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float d = (1.0f - (dx0*dx1 + dy0*dy1))*0.5f;
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outVerts[n*3+0] = vb[0] + (-dlx0+dx0*d)*offset;
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outVerts[n*3+1] = vb[1];
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outVerts[n*3+2] = vb[2] + (-dly0+dy0*d)*offset;
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n++;
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outVerts[n*3+0] = vb[0] + (-dlx1-dx1*d)*offset;
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outVerts[n*3+1] = vb[1];
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outVerts[n*3+2] = vb[2] + (-dly1-dy1*d)*offset;
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n++;
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}
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else
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{
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if (n+1 >= maxOutVerts)
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return 0;
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outVerts[n*3+0] = vb[0] - dmx*offset;
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outVerts[n*3+1] = vb[1];
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outVerts[n*3+2] = vb[2] - dmy*offset;
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n++;
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}
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}
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return n;
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}
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/// @par
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///
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/// The value of spacial parameters are in world units.
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///
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/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
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void rcMarkCylinderArea(rcContext* ctx, const float* pos,
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const float r, const float h, unsigned char areaId,
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rcCompactHeightfield& chf)
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{
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rcAssert(ctx);
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ctx->startTimer(RC_TIMER_MARK_CYLINDER_AREA);
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float bmin[3], bmax[3];
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bmin[0] = pos[0] - r;
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bmin[1] = pos[1];
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bmin[2] = pos[2] - r;
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bmax[0] = pos[0] + r;
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bmax[1] = pos[1] + h;
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bmax[2] = pos[2] + r;
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const float r2 = r*r;
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int minx = (int)((bmin[0]-chf.bmin[0])/chf.cs);
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int miny = (int)((bmin[1]-chf.bmin[1])/chf.ch);
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int minz = (int)((bmin[2]-chf.bmin[2])/chf.cs);
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int maxx = (int)((bmax[0]-chf.bmin[0])/chf.cs);
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int maxy = (int)((bmax[1]-chf.bmin[1])/chf.ch);
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int maxz = (int)((bmax[2]-chf.bmin[2])/chf.cs);
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if (maxx < 0) return;
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if (minx >= chf.width) return;
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if (maxz < 0) return;
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if (minz >= chf.height) return;
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if (minx < 0) minx = 0;
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if (maxx >= chf.width) maxx = chf.width-1;
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if (minz < 0) minz = 0;
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if (maxz >= chf.height) maxz = chf.height-1;
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for (int z = minz; z <= maxz; ++z)
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{
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for (int x = minx; x <= maxx; ++x)
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{
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const rcCompactCell& c = chf.cells[x+z*chf.width];
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for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
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{
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rcCompactSpan& s = chf.spans[i];
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if (chf.areas[i] == RC_NULL_AREA)
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continue;
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if ((int)s.y >= miny && (int)s.y <= maxy)
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{
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const float sx = chf.bmin[0] + (x+0.5f)*chf.cs;
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const float sz = chf.bmin[2] + (z+0.5f)*chf.cs;
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const float dx = sx - pos[0];
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const float dz = sz - pos[2];
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if (dx*dx + dz*dz < r2)
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{
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chf.areas[i] = areaId;
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}
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}
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}
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}
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}
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ctx->stopTimer(RC_TIMER_MARK_CYLINDER_AREA);
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}
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