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update recast

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This commit is contained in:
Johxz 2018-02-28 22:15:31 -06:00
parent 78caec2718
commit 594866f24c
34 changed files with 1138 additions and 407 deletions
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127
Engine/lib/recast/Detour/Source/DetourNavMeshBuilder.cpp
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@ -106,7 +106,6 @@ inline int longestAxis(unsigned short x, unsigned short y, unsigned short z)
if (z > maxVal)
{
axis = 2;
maxVal = z;
}
return axis;
}
@ -169,45 +168,72 @@ static void subdivide(BVItem* items, int nitems, int imin, int imax, int& curNod
}
}
static int createBVTree(const unsigned short* verts, const int /*nverts*/,
const unsigned short* polys, const int npolys, const int nvp,
const float cs, const float ch,
const int /*nnodes*/, dtBVNode* nodes)
static int createBVTree(dtNavMeshCreateParams* params, dtBVNode* nodes, int /*nnodes*/)
{
// Build tree
BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*npolys, DT_ALLOC_TEMP);
for (int i = 0; i < npolys; i++)
float quantFactor = 1 / params->cs;
BVItem* items = (BVItem*)dtAlloc(sizeof(BVItem)*params->polyCount, DT_ALLOC_TEMP);
for (int i = 0; i < params->polyCount; i++)
{
BVItem& it = items[i];
it.i = i;
// Calc polygon bounds.
const unsigned short* p = &polys[i*nvp*2];
it.bmin[0] = it.bmax[0] = verts[p[0]*3+0];
it.bmin[1] = it.bmax[1] = verts[p[0]*3+1];
it.bmin[2] = it.bmax[2] = verts[p[0]*3+2];
for (int j = 1; j < nvp; ++j)
// Calc polygon bounds. Use detail meshes if available.
if (params->detailMeshes)
{
if (p[j] == MESH_NULL_IDX) break;
unsigned short x = verts[p[j]*3+0];
unsigned short y = verts[p[j]*3+1];
unsigned short z = verts[p[j]*3+2];
if (x < it.bmin[0]) it.bmin[0] = x;
if (y < it.bmin[1]) it.bmin[1] = y;
if (z < it.bmin[2]) it.bmin[2] = z;
if (x > it.bmax[0]) it.bmax[0] = x;
if (y > it.bmax[1]) it.bmax[1] = y;
if (z > it.bmax[2]) it.bmax[2] = z;
int vb = (int)params->detailMeshes[i*4+0];
int ndv = (int)params->detailMeshes[i*4+1];
float bmin[3];
float bmax[3];
const float* dv = &params->detailVerts[vb*3];
dtVcopy(bmin, dv);
dtVcopy(bmax, dv);
for (int j = 1; j < ndv; j++)
{
dtVmin(bmin, &dv[j * 3]);
dtVmax(bmax, &dv[j * 3]);
}
// BV-tree uses cs for all dimensions
it.bmin[0] = (unsigned short)dtClamp((int)((bmin[0] - params->bmin[0])*quantFactor), 0, 0xffff);
it.bmin[1] = (unsigned short)dtClamp((int)((bmin[1] - params->bmin[1])*quantFactor), 0, 0xffff);
it.bmin[2] = (unsigned short)dtClamp((int)((bmin[2] - params->bmin[2])*quantFactor), 0, 0xffff);
it.bmax[0] = (unsigned short)dtClamp((int)((bmax[0] - params->bmin[0])*quantFactor), 0, 0xffff);
it.bmax[1] = (unsigned short)dtClamp((int)((bmax[1] - params->bmin[1])*quantFactor), 0, 0xffff);
it.bmax[2] = (unsigned short)dtClamp((int)((bmax[2] - params->bmin[2])*quantFactor), 0, 0xffff);
}
else
{
const unsigned short* p = &params->polys[i*params->nvp * 2];
it.bmin[0] = it.bmax[0] = params->verts[p[0] * 3 + 0];
it.bmin[1] = it.bmax[1] = params->verts[p[0] * 3 + 1];
it.bmin[2] = it.bmax[2] = params->verts[p[0] * 3 + 2];
for (int j = 1; j < params->nvp; ++j)
{
if (p[j] == MESH_NULL_IDX) break;
unsigned short x = params->verts[p[j] * 3 + 0];
unsigned short y = params->verts[p[j] * 3 + 1];
unsigned short z = params->verts[p[j] * 3 + 2];
if (x < it.bmin[0]) it.bmin[0] = x;
if (y < it.bmin[1]) it.bmin[1] = y;
if (z < it.bmin[2]) it.bmin[2] = z;
if (x > it.bmax[0]) it.bmax[0] = x;
if (y > it.bmax[1]) it.bmax[1] = y;
if (z > it.bmax[2]) it.bmax[2] = z;
}
// Remap y
it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1] * params->ch / params->cs);
it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1] * params->ch / params->cs);
}
// Remap y
it.bmin[1] = (unsigned short)dtMathFloorf((float)it.bmin[1]*ch/cs);
it.bmax[1] = (unsigned short)dtMathCeilf((float)it.bmax[1]*ch/cs);
}
int curNode = 0;
subdivide(items, npolys, 0, npolys, curNode, nodes);
subdivide(items, params->polyCount, 0, params->polyCount, curNode, nodes);
dtFree(items);
@ -421,15 +447,16 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
memset(data, 0, dataSize);
unsigned char* d = data;
dtMeshHeader* header = (dtMeshHeader*)d; d += headerSize;
float* navVerts = (float*)d; d += vertsSize;
dtPoly* navPolys = (dtPoly*)d; d += polysSize;
d += linksSize;
dtPolyDetail* navDMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
float* navDVerts = (float*)d; d += detailVertsSize;
unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
dtBVNode* navBvtree = (dtBVNode*)d; d += bvTreeSize;
dtOffMeshConnection* offMeshCons = (dtOffMeshConnection*)d; d += offMeshConsSize;
dtMeshHeader* header = dtGetThenAdvanceBufferPointer<dtMeshHeader>(d, headerSize);
float* navVerts = dtGetThenAdvanceBufferPointer<float>(d, vertsSize);
dtPoly* navPolys = dtGetThenAdvanceBufferPointer<dtPoly>(d, polysSize);
d += linksSize; // Ignore links; just leave enough space for them. They'll be created on load.
dtPolyDetail* navDMeshes = dtGetThenAdvanceBufferPointer<dtPolyDetail>(d, detailMeshesSize);
float* navDVerts = dtGetThenAdvanceBufferPointer<float>(d, detailVertsSize);
unsigned char* navDTris = dtGetThenAdvanceBufferPointer<unsigned char>(d, detailTrisSize);
dtBVNode* navBvtree = dtGetThenAdvanceBufferPointer<dtBVNode>(d, bvTreeSize);
dtOffMeshConnection* offMeshCons = dtGetThenAdvanceBufferPointer<dtOffMeshConnection>(d, offMeshConsSize);
// Store header
@ -595,11 +622,9 @@ bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData,
}
// Store and create BVtree.
// TODO: take detail mesh into account! use byte per bbox extent?
if (params->buildBvTree)
{
createBVTree(params->verts, params->vertCount, params->polys, params->polyCount,
nvp, params->cs, params->ch, params->polyCount*2, navBvtree);
createBVTree(params, navBvtree, 2*params->polyCount);
}
// Store Off-Mesh connections.
@ -705,14 +730,16 @@ bool dtNavMeshDataSwapEndian(unsigned char* data, const int /*dataSize*/)
const int offMeshLinksSize = dtAlign4(sizeof(dtOffMeshConnection)*header->offMeshConCount);
unsigned char* d = data + headerSize;
float* verts = (float*)d; d += vertsSize;
dtPoly* polys = (dtPoly*)d; d += polysSize;
/*dtLink* links = (dtLink*)d;*/ d += linksSize;
dtPolyDetail* detailMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
float* detailVerts = (float*)d; d += detailVertsSize;
/*unsigned char* detailTris = (unsigned char*)d;*/ d += detailTrisSize;
dtBVNode* bvTree = (dtBVNode*)d; d += bvtreeSize;
dtOffMeshConnection* offMeshCons = (dtOffMeshConnection*)d; d += offMeshLinksSize;
float* verts = dtGetThenAdvanceBufferPointer<float>(d, vertsSize);
dtPoly* polys = dtGetThenAdvanceBufferPointer<dtPoly>(d, polysSize);
d += linksSize; // Ignore links; they technically should be endian-swapped but all their data is overwritten on load anyway.
//dtLink* links = dtGetThenAdvanceBufferPointer<dtLink>(d, linksSize);
dtPolyDetail* detailMeshes = dtGetThenAdvanceBufferPointer<dtPolyDetail>(d, detailMeshesSize);
float* detailVerts = dtGetThenAdvanceBufferPointer<float>(d, detailVertsSize);
d += detailTrisSize; // Ignore detail tris; single bytes can't be endian-swapped.
//unsigned char* detailTris = dtGetThenAdvanceBufferPointer<unsigned char>(d, detailTrisSize);
dtBVNode* bvTree = dtGetThenAdvanceBufferPointer<dtBVNode>(d, bvtreeSize);
dtOffMeshConnection* offMeshCons = dtGetThenAdvanceBufferPointer<dtOffMeshConnection>(d, offMeshLinksSize);
// Vertices
for (int i = 0; i < header->vertCount*3; ++i)