mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-02-13 19:53:48 +00:00
Updated recast to 1.5.1
This commit is contained in:
Johxz
parent
630949514a
commit
c7e5b35744
55 changed files with 3277 additions and 1460 deletions
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@ -50,7 +50,7 @@ static rcSpan* allocSpan(rcHeightfield& hf)
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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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@ -82,7 +82,7 @@ static void freeSpan(rcHeightfield& hf, rcSpan* ptr)
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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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static bool 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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@ -90,16 +90,18 @@ static void addSpan(rcHeightfield& hf, const int x, const int y,
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int idx = x + y*hf.width;
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rcSpan* s = allocSpan(hf);
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if (!s)
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return false;
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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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// Empty cell, add the 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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return true;
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}
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rcSpan* prev = 0;
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rcSpan* cur = hf.spans[idx];
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@ -152,6 +154,8 @@ static void addSpan(rcHeightfield& hf, const int x, const int y,
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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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return true;
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}
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/// @par
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@ -161,45 +165,80 @@ static void addSpan(rcHeightfield& hf, const int x, const int y,
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/// from the existing span, the span flags are merged.
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///
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/// @see rcHeightfield, rcSpan.
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void rcAddSpan(rcContext* /*ctx*/, rcHeightfield& hf, const int x, const int y,
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bool 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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rcAssert(ctx);
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if (!addSpan(hf, x, y, smin, smax, area, flagMergeThr))
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{
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ctx->log(RC_LOG_ERROR, "rcAddSpan: Out of memory.");
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return false;
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}
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return true;
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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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// divides a convex polygons into two convex polygons on both sides of a line
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static void dividePoly(const float* in, int nin,
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float* out1, int* nout1,
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float* out2, int* nout2,
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float x, int axis)
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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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for (int i = 0; i < nin; ++i)
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d[i] = x - in[i*3+axis];
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int m = 0, n = 0;
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for (int i = 0, j = nin-1; i < nin; 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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out1[m*3+0] = in[j*3+0] + (in[i*3+0] - in[j*3+0])*s;
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out1[m*3+1] = in[j*3+1] + (in[i*3+1] - in[j*3+1])*s;
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out1[m*3+2] = in[j*3+2] + (in[i*3+2] - in[j*3+2])*s;
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rcVcopy(out2 + n*3, out1 + m*3);
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m++;
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n++;
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// add the i'th point to the right polygon. Do NOT add points that are on the dividing line
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// since these were already added above
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if (d[i] > 0)
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{
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rcVcopy(out1 + m*3, in + i*3);
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m++;
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}
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else if (d[i] < 0)
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{
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rcVcopy(out2 + n*3, in + i*3);
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n++;
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}
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}
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if (inb)
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else // same side
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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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// add the i'th point to the right polygon. Addition is done even for points on the dividing line
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if (d[i] >= 0)
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{
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rcVcopy(out1 + m*3, in + i*3);
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m++;
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if (d[i] != 0)
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continue;
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}
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rcVcopy(out2 + n*3, in + i*3);
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n++;
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}
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}
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return m;
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*nout1 = m;
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*nout2 = n;
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}
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static void rasterizeTri(const float* v0, const float* v1, const float* v2,
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static bool 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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@ -220,50 +259,59 @@ static void rasterizeTri(const float* v0, const float* v1, const float* 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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return true;
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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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// Calculate the footprint of the triangle on the grid's y-axis
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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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float buf[7*3*4];
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float *in = buf, *inrow = buf+7*3, *p1 = inrow+7*3, *p2 = p1+7*3;
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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, nvIn = 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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// Clip polygon to row. Store the remaining polygon as well
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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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dividePoly(in, nvIn, inrow, &nvrow, p1, &nvIn, cz+cs, 2);
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rcSwap(in, p1);
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if (nvrow < 3) continue;
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// find the horizontal bounds in the row
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float minX = inrow[0], maxX = inrow[0];
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for (int i=1; i<nvrow; ++i)
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{
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if (minX > inrow[i*3]) minX = inrow[i*3];
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if (maxX < inrow[i*3]) maxX = inrow[i*3];
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}
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int x0 = (int)((minX - bmin[0])*ics);
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int x1 = (int)((maxX - bmin[0])*ics);
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x0 = rcClamp(x0, 0, w-1);
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x1 = rcClamp(x1, 0, w-1);
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int nv, nv2 = nvrow;
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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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// Clip polygon to column. store the remaining polygon as well
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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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dividePoly(inrow, nv2, p1, &nv, p2, &nv2, cx+cs, 0);
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rcSwap(inrow, p2);
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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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float smin = p1[1], smax = p1[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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smin = rcMin(smin, p1[i*3+1]);
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smax = rcMax(smax, p1[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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@ -278,9 +326,12 @@ static void rasterizeTri(const float* v0, const float* v1, const float* v2,
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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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if (!addSpan(hf, x, y, ismin, ismax, area, flagMergeThr))
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return false;
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}
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}
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return true;
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}
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/// @par
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@ -288,19 +339,23 @@ static void rasterizeTri(const float* v0, const float* v1, const float* v2,
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/// No spans will be added if the triangle does not overlap the heightfield grid.
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///
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/// @see rcHeightfield
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void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const float* v2,
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bool 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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rcScopedTimer timer(ctx, 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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if (!rasterizeTri(v0, v1, v2, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr))
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{
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ctx->log(RC_LOG_ERROR, "rcRasterizeTriangle: Out of memory.");
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return false;
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}
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ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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return true;
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}
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/// @par
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@ -308,13 +363,13 @@ void rcRasterizeTriangle(rcContext* ctx, const float* v0, const float* v1, const
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/// Spans will only be added for triangles that overlap the heightfield grid.
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///
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/// @see rcHeightfield
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void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
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bool 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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rcScopedTimer timer(ctx, 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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@ -325,10 +380,14 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
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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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if (!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->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
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return false;
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}
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}
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ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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return true;
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}
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/// @par
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@ -336,13 +395,13 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
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/// Spans will only be added for triangles that overlap the heightfield grid.
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///
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/// @see rcHeightfield
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void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
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bool 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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rcScopedTimer timer(ctx, 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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@ -353,10 +412,14 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
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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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if (!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->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
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return false;
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}
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}
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ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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return true;
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}
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/// @par
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@ -364,12 +427,12 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const int /*nv*/,
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/// Spans will only be added for triangles that overlap the heightfield grid.
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///
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/// @see rcHeightfield
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void rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned char* areas, const int nt,
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bool 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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rcScopedTimer timer(ctx, 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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@ -380,8 +443,12 @@ void rcRasterizeTriangles(rcContext* ctx, const float* verts, const unsigned cha
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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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if (!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->log(RC_LOG_ERROR, "rcRasterizeTriangles: Out of memory.");
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return false;
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}
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}
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ctx->stopTimer(RC_TIMER_RASTERIZE_TRIANGLES);
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return true;
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}
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