88e60dd625
Release notes:
- https://github.com/recastnavigation/recastnavigation/releases/tag/v1.6.0
(cherry picked from commit 2058b63067)
1549 lines
42 KiB
C++
1549 lines
42 KiB
C++
//
|
|
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
|
|
//
|
|
// This software is provided 'as-is', without any express or implied
|
|
// warranty. In no event will the authors be held liable for any damages
|
|
// arising from the use of this software.
|
|
// Permission is granted to anyone to use this software for any purpose,
|
|
// including commercial applications, and to alter it and redistribute it
|
|
// freely, subject to the following restrictions:
|
|
// 1. The origin of this software must not be misrepresented; you must not
|
|
// claim that you wrote the original software. If you use this software
|
|
// in a product, an acknowledgment in the product documentation would be
|
|
// appreciated but is not required.
|
|
// 2. Altered source versions must be plainly marked as such, and must not be
|
|
// misrepresented as being the original software.
|
|
// 3. This notice may not be removed or altered from any source distribution.
|
|
//
|
|
|
|
#include <math.h>
|
|
#include <string.h>
|
|
#include <stdio.h>
|
|
#include "Recast.h"
|
|
#include "RecastAlloc.h"
|
|
#include "RecastAssert.h"
|
|
|
|
struct rcEdge
|
|
{
|
|
unsigned short vert[2];
|
|
unsigned short polyEdge[2];
|
|
unsigned short poly[2];
|
|
};
|
|
|
|
static bool buildMeshAdjacency(unsigned short* polys, const int npolys,
|
|
const int nverts, const int vertsPerPoly)
|
|
{
|
|
// Based on code by Eric Lengyel from:
|
|
// https://web.archive.org/web/20080704083314/http://www.terathon.com/code/edges.php
|
|
|
|
int maxEdgeCount = npolys*vertsPerPoly;
|
|
unsigned short* firstEdge = (unsigned short*)rcAlloc(sizeof(unsigned short)*(nverts + maxEdgeCount), RC_ALLOC_TEMP);
|
|
if (!firstEdge)
|
|
return false;
|
|
unsigned short* nextEdge = firstEdge + nverts;
|
|
int edgeCount = 0;
|
|
|
|
rcEdge* edges = (rcEdge*)rcAlloc(sizeof(rcEdge)*maxEdgeCount, RC_ALLOC_TEMP);
|
|
if (!edges)
|
|
{
|
|
rcFree(firstEdge);
|
|
return false;
|
|
}
|
|
|
|
for (int i = 0; i < nverts; i++)
|
|
firstEdge[i] = RC_MESH_NULL_IDX;
|
|
|
|
for (int i = 0; i < npolys; ++i)
|
|
{
|
|
unsigned short* t = &polys[i*vertsPerPoly*2];
|
|
for (int j = 0; j < vertsPerPoly; ++j)
|
|
{
|
|
if (t[j] == RC_MESH_NULL_IDX) break;
|
|
unsigned short v0 = t[j];
|
|
unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == RC_MESH_NULL_IDX) ? t[0] : t[j+1];
|
|
if (v0 < v1)
|
|
{
|
|
rcEdge& edge = edges[edgeCount];
|
|
edge.vert[0] = v0;
|
|
edge.vert[1] = v1;
|
|
edge.poly[0] = (unsigned short)i;
|
|
edge.polyEdge[0] = (unsigned short)j;
|
|
edge.poly[1] = (unsigned short)i;
|
|
edge.polyEdge[1] = 0;
|
|
// Insert edge
|
|
nextEdge[edgeCount] = firstEdge[v0];
|
|
firstEdge[v0] = (unsigned short)edgeCount;
|
|
edgeCount++;
|
|
}
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < npolys; ++i)
|
|
{
|
|
unsigned short* t = &polys[i*vertsPerPoly*2];
|
|
for (int j = 0; j < vertsPerPoly; ++j)
|
|
{
|
|
if (t[j] == RC_MESH_NULL_IDX) break;
|
|
unsigned short v0 = t[j];
|
|
unsigned short v1 = (j+1 >= vertsPerPoly || t[j+1] == RC_MESH_NULL_IDX) ? t[0] : t[j+1];
|
|
if (v0 > v1)
|
|
{
|
|
for (unsigned short e = firstEdge[v1]; e != RC_MESH_NULL_IDX; e = nextEdge[e])
|
|
{
|
|
rcEdge& edge = edges[e];
|
|
if (edge.vert[1] == v0 && edge.poly[0] == edge.poly[1])
|
|
{
|
|
edge.poly[1] = (unsigned short)i;
|
|
edge.polyEdge[1] = (unsigned short)j;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Store adjacency
|
|
for (int i = 0; i < edgeCount; ++i)
|
|
{
|
|
const rcEdge& e = edges[i];
|
|
if (e.poly[0] != e.poly[1])
|
|
{
|
|
unsigned short* p0 = &polys[e.poly[0]*vertsPerPoly*2];
|
|
unsigned short* p1 = &polys[e.poly[1]*vertsPerPoly*2];
|
|
p0[vertsPerPoly + e.polyEdge[0]] = e.poly[1];
|
|
p1[vertsPerPoly + e.polyEdge[1]] = e.poly[0];
|
|
}
|
|
}
|
|
|
|
rcFree(firstEdge);
|
|
rcFree(edges);
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
static const int VERTEX_BUCKET_COUNT = (1<<12);
|
|
|
|
inline int computeVertexHash(int x, int y, int z)
|
|
{
|
|
const unsigned int h1 = 0x8da6b343; // Large multiplicative constants;
|
|
const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes
|
|
const unsigned int h3 = 0xcb1ab31f;
|
|
unsigned int n = h1 * x + h2 * y + h3 * z;
|
|
return (int)(n & (VERTEX_BUCKET_COUNT-1));
|
|
}
|
|
|
|
static unsigned short addVertex(unsigned short x, unsigned short y, unsigned short z,
|
|
unsigned short* verts, int* firstVert, int* nextVert, int& nv)
|
|
{
|
|
int bucket = computeVertexHash(x, 0, z);
|
|
int i = firstVert[bucket];
|
|
|
|
while (i != -1)
|
|
{
|
|
const unsigned short* v = &verts[i*3];
|
|
if (v[0] == x && (rcAbs(v[1] - y) <= 2) && v[2] == z)
|
|
return (unsigned short)i;
|
|
i = nextVert[i]; // next
|
|
}
|
|
|
|
// Could not find, create new.
|
|
i = nv; nv++;
|
|
unsigned short* v = &verts[i*3];
|
|
v[0] = x;
|
|
v[1] = y;
|
|
v[2] = z;
|
|
nextVert[i] = firstVert[bucket];
|
|
firstVert[bucket] = i;
|
|
|
|
return (unsigned short)i;
|
|
}
|
|
|
|
// Last time I checked the if version got compiled using cmov, which was a lot faster than module (with idiv).
|
|
inline int prev(int i, int n) { return i-1 >= 0 ? i-1 : n-1; }
|
|
inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
|
|
|
|
inline int area2(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]);
|
|
}
|
|
|
|
// Exclusive or: true iff exactly one argument is true.
|
|
// The arguments are negated to ensure that they are 0/1
|
|
// values. Then the bitwise Xor operator may apply.
|
|
// (This idea is due to Michael Baldwin.)
|
|
inline bool xorb(bool x, bool y)
|
|
{
|
|
return !x ^ !y;
|
|
}
|
|
|
|
// Returns true iff c is strictly to the left of the directed
|
|
// line through a to b.
|
|
inline bool left(const int* a, const int* b, const int* c)
|
|
{
|
|
return area2(a, b, c) < 0;
|
|
}
|
|
|
|
inline bool leftOn(const int* a, const int* b, const int* c)
|
|
{
|
|
return area2(a, b, c) <= 0;
|
|
}
|
|
|
|
inline bool collinear(const int* a, const int* b, const int* c)
|
|
{
|
|
return area2(a, b, c) == 0;
|
|
}
|
|
|
|
// Returns true iff ab properly intersects cd: they share
|
|
// a point interior to both segments. The properness of the
|
|
// intersection is ensured by using strict leftness.
|
|
static bool intersectProp(const int* a, const int* b, const int* c, const int* d)
|
|
{
|
|
// Eliminate improper cases.
|
|
if (collinear(a,b,c) || collinear(a,b,d) ||
|
|
collinear(c,d,a) || collinear(c,d,b))
|
|
return false;
|
|
|
|
return xorb(left(a,b,c), left(a,b,d)) && xorb(left(c,d,a), left(c,d,b));
|
|
}
|
|
|
|
// Returns T iff (a,b,c) are collinear and point c lies
|
|
// on the closed segement ab.
|
|
static bool between(const int* a, const int* b, const int* c)
|
|
{
|
|
if (!collinear(a, b, c))
|
|
return false;
|
|
// If ab not vertical, check betweenness on x; else on y.
|
|
if (a[0] != b[0])
|
|
return ((a[0] <= c[0]) && (c[0] <= b[0])) || ((a[0] >= c[0]) && (c[0] >= b[0]));
|
|
else
|
|
return ((a[2] <= c[2]) && (c[2] <= b[2])) || ((a[2] >= c[2]) && (c[2] >= b[2]));
|
|
}
|
|
|
|
// Returns true iff segments ab and cd intersect, properly or improperly.
|
|
static bool intersect(const int* a, const int* b, const int* c, const int* d)
|
|
{
|
|
if (intersectProp(a, b, c, d))
|
|
return true;
|
|
else if (between(a, b, c) || between(a, b, d) ||
|
|
between(c, d, a) || between(c, d, b))
|
|
return true;
|
|
else
|
|
return false;
|
|
}
|
|
|
|
static bool vequal(const int* a, const int* b)
|
|
{
|
|
return a[0] == b[0] && a[2] == b[2];
|
|
}
|
|
|
|
// Returns T iff (v_i, v_j) is a proper internal *or* external
|
|
// diagonal of P, *ignoring edges incident to v_i and v_j*.
|
|
static bool diagonalie(int i, int j, int n, const int* verts, int* indices)
|
|
{
|
|
const int* d0 = &verts[(indices[i] & 0x0fffffff) * 4];
|
|
const int* d1 = &verts[(indices[j] & 0x0fffffff) * 4];
|
|
|
|
// For each edge (k,k+1) of P
|
|
for (int k = 0; k < n; k++)
|
|
{
|
|
int k1 = next(k, n);
|
|
// Skip edges incident to i or j
|
|
if (!((k == i) || (k1 == i) || (k == j) || (k1 == j)))
|
|
{
|
|
const int* p0 = &verts[(indices[k] & 0x0fffffff) * 4];
|
|
const int* p1 = &verts[(indices[k1] & 0x0fffffff) * 4];
|
|
|
|
if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1))
|
|
continue;
|
|
|
|
if (intersect(d0, d1, p0, p1))
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
// Returns true iff the diagonal (i,j) is strictly internal to the
|
|
// polygon P in the neighborhood of the i endpoint.
|
|
static bool inCone(int i, int j, int n, const int* verts, int* indices)
|
|
{
|
|
const int* pi = &verts[(indices[i] & 0x0fffffff) * 4];
|
|
const int* pj = &verts[(indices[j] & 0x0fffffff) * 4];
|
|
const int* pi1 = &verts[(indices[next(i, n)] & 0x0fffffff) * 4];
|
|
const int* pin1 = &verts[(indices[prev(i, n)] & 0x0fffffff) * 4];
|
|
|
|
// If P[i] is a convex vertex [ i+1 left or on (i-1,i) ].
|
|
if (leftOn(pin1, pi, pi1))
|
|
return left(pi, pj, pin1) && left(pj, pi, pi1);
|
|
// Assume (i-1,i,i+1) not collinear.
|
|
// else P[i] is reflex.
|
|
return !(leftOn(pi, pj, pi1) && leftOn(pj, pi, pin1));
|
|
}
|
|
|
|
// Returns T iff (v_i, v_j) is a proper internal
|
|
// diagonal of P.
|
|
static bool diagonal(int i, int j, int n, const int* verts, int* indices)
|
|
{
|
|
return inCone(i, j, n, verts, indices) && diagonalie(i, j, n, verts, indices);
|
|
}
|
|
|
|
|
|
static bool diagonalieLoose(int i, int j, int n, const int* verts, int* indices)
|
|
{
|
|
const int* d0 = &verts[(indices[i] & 0x0fffffff) * 4];
|
|
const int* d1 = &verts[(indices[j] & 0x0fffffff) * 4];
|
|
|
|
// For each edge (k,k+1) of P
|
|
for (int k = 0; k < n; k++)
|
|
{
|
|
int k1 = next(k, n);
|
|
// Skip edges incident to i or j
|
|
if (!((k == i) || (k1 == i) || (k == j) || (k1 == j)))
|
|
{
|
|
const int* p0 = &verts[(indices[k] & 0x0fffffff) * 4];
|
|
const int* p1 = &verts[(indices[k1] & 0x0fffffff) * 4];
|
|
|
|
if (vequal(d0, p0) || vequal(d1, p0) || vequal(d0, p1) || vequal(d1, p1))
|
|
continue;
|
|
|
|
if (intersectProp(d0, d1, p0, p1))
|
|
return false;
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
static bool inConeLoose(int i, int j, int n, const int* verts, int* indices)
|
|
{
|
|
const int* pi = &verts[(indices[i] & 0x0fffffff) * 4];
|
|
const int* pj = &verts[(indices[j] & 0x0fffffff) * 4];
|
|
const int* pi1 = &verts[(indices[next(i, n)] & 0x0fffffff) * 4];
|
|
const int* pin1 = &verts[(indices[prev(i, n)] & 0x0fffffff) * 4];
|
|
|
|
// If P[i] is a convex vertex [ i+1 left or on (i-1,i) ].
|
|
if (leftOn(pin1, pi, pi1))
|
|
return leftOn(pi, pj, pin1) && leftOn(pj, pi, pi1);
|
|
// Assume (i-1,i,i+1) not collinear.
|
|
// else P[i] is reflex.
|
|
return !(leftOn(pi, pj, pi1) && leftOn(pj, pi, pin1));
|
|
}
|
|
|
|
static bool diagonalLoose(int i, int j, int n, const int* verts, int* indices)
|
|
{
|
|
return inConeLoose(i, j, n, verts, indices) && diagonalieLoose(i, j, n, verts, indices);
|
|
}
|
|
|
|
|
|
static int triangulate(int n, const int* verts, int* indices, int* tris)
|
|
{
|
|
int ntris = 0;
|
|
int* dst = tris;
|
|
|
|
// The last bit of the index is used to indicate if the vertex can be removed.
|
|
for (int i = 0; i < n; i++)
|
|
{
|
|
int i1 = next(i, n);
|
|
int i2 = next(i1, n);
|
|
if (diagonal(i, i2, n, verts, indices))
|
|
indices[i1] |= 0x80000000;
|
|
}
|
|
|
|
while (n > 3)
|
|
{
|
|
int minLen = -1;
|
|
int mini = -1;
|
|
for (int i = 0; i < n; i++)
|
|
{
|
|
int i1 = next(i, n);
|
|
if (indices[i1] & 0x80000000)
|
|
{
|
|
const int* p0 = &verts[(indices[i] & 0x0fffffff) * 4];
|
|
const int* p2 = &verts[(indices[next(i1, n)] & 0x0fffffff) * 4];
|
|
|
|
int dx = p2[0] - p0[0];
|
|
int dy = p2[2] - p0[2];
|
|
int len = dx*dx + dy*dy;
|
|
|
|
if (minLen < 0 || len < minLen)
|
|
{
|
|
minLen = len;
|
|
mini = i;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (mini == -1)
|
|
{
|
|
// We might get here because the contour has overlapping segments, like this:
|
|
//
|
|
// A o-o=====o---o B
|
|
// / |C D| \.
|
|
// o o o o
|
|
// : : : :
|
|
// We'll try to recover by loosing up the inCone test a bit so that a diagonal
|
|
// like A-B or C-D can be found and we can continue.
|
|
minLen = -1;
|
|
mini = -1;
|
|
for (int i = 0; i < n; i++)
|
|
{
|
|
int i1 = next(i, n);
|
|
int i2 = next(i1, n);
|
|
if (diagonalLoose(i, i2, n, verts, indices))
|
|
{
|
|
const int* p0 = &verts[(indices[i] & 0x0fffffff) * 4];
|
|
const int* p2 = &verts[(indices[next(i2, n)] & 0x0fffffff) * 4];
|
|
int dx = p2[0] - p0[0];
|
|
int dy = p2[2] - p0[2];
|
|
int len = dx*dx + dy*dy;
|
|
|
|
if (minLen < 0 || len < minLen)
|
|
{
|
|
minLen = len;
|
|
mini = i;
|
|
}
|
|
}
|
|
}
|
|
if (mini == -1)
|
|
{
|
|
// The contour is messed up. This sometimes happens
|
|
// if the contour simplification is too aggressive.
|
|
return -ntris;
|
|
}
|
|
}
|
|
|
|
int i = mini;
|
|
int i1 = next(i, n);
|
|
int i2 = next(i1, n);
|
|
|
|
*dst++ = indices[i] & 0x0fffffff;
|
|
*dst++ = indices[i1] & 0x0fffffff;
|
|
*dst++ = indices[i2] & 0x0fffffff;
|
|
ntris++;
|
|
|
|
// Removes P[i1] by copying P[i+1]...P[n-1] left one index.
|
|
n--;
|
|
for (int k = i1; k < n; k++)
|
|
indices[k] = indices[k+1];
|
|
|
|
if (i1 >= n) i1 = 0;
|
|
i = prev(i1,n);
|
|
// Update diagonal flags.
|
|
if (diagonal(prev(i, n), i1, n, verts, indices))
|
|
indices[i] |= 0x80000000;
|
|
else
|
|
indices[i] &= 0x0fffffff;
|
|
|
|
if (diagonal(i, next(i1, n), n, verts, indices))
|
|
indices[i1] |= 0x80000000;
|
|
else
|
|
indices[i1] &= 0x0fffffff;
|
|
}
|
|
|
|
// Append the remaining triangle.
|
|
*dst++ = indices[0] & 0x0fffffff;
|
|
*dst++ = indices[1] & 0x0fffffff;
|
|
*dst++ = indices[2] & 0x0fffffff;
|
|
ntris++;
|
|
|
|
return ntris;
|
|
}
|
|
|
|
static int countPolyVerts(const unsigned short* p, const int nvp)
|
|
{
|
|
for (int i = 0; i < nvp; ++i)
|
|
if (p[i] == RC_MESH_NULL_IDX)
|
|
return i;
|
|
return nvp;
|
|
}
|
|
|
|
inline bool uleft(const unsigned short* a, const unsigned short* b, const unsigned short* c)
|
|
{
|
|
return ((int)b[0] - (int)a[0]) * ((int)c[2] - (int)a[2]) -
|
|
((int)c[0] - (int)a[0]) * ((int)b[2] - (int)a[2]) < 0;
|
|
}
|
|
|
|
static int getPolyMergeValue(unsigned short* pa, unsigned short* pb,
|
|
const unsigned short* verts, int& ea, int& eb,
|
|
const int nvp)
|
|
{
|
|
const int na = countPolyVerts(pa, nvp);
|
|
const int nb = countPolyVerts(pb, nvp);
|
|
|
|
// If the merged polygon would be too big, do not merge.
|
|
if (na+nb-2 > nvp)
|
|
return -1;
|
|
|
|
// Check if the polygons share an edge.
|
|
ea = -1;
|
|
eb = -1;
|
|
|
|
for (int i = 0; i < na; ++i)
|
|
{
|
|
unsigned short va0 = pa[i];
|
|
unsigned short va1 = pa[(i+1) % na];
|
|
if (va0 > va1)
|
|
rcSwap(va0, va1);
|
|
for (int j = 0; j < nb; ++j)
|
|
{
|
|
unsigned short vb0 = pb[j];
|
|
unsigned short vb1 = pb[(j+1) % nb];
|
|
if (vb0 > vb1)
|
|
rcSwap(vb0, vb1);
|
|
if (va0 == vb0 && va1 == vb1)
|
|
{
|
|
ea = i;
|
|
eb = j;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
// No common edge, cannot merge.
|
|
if (ea == -1 || eb == -1)
|
|
return -1;
|
|
|
|
// Check to see if the merged polygon would be convex.
|
|
unsigned short va, vb, vc;
|
|
|
|
va = pa[(ea+na-1) % na];
|
|
vb = pa[ea];
|
|
vc = pb[(eb+2) % nb];
|
|
if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3]))
|
|
return -1;
|
|
|
|
va = pb[(eb+nb-1) % nb];
|
|
vb = pb[eb];
|
|
vc = pa[(ea+2) % na];
|
|
if (!uleft(&verts[va*3], &verts[vb*3], &verts[vc*3]))
|
|
return -1;
|
|
|
|
va = pa[ea];
|
|
vb = pa[(ea+1)%na];
|
|
|
|
int dx = (int)verts[va*3+0] - (int)verts[vb*3+0];
|
|
int dy = (int)verts[va*3+2] - (int)verts[vb*3+2];
|
|
|
|
return dx*dx + dy*dy;
|
|
}
|
|
|
|
static void mergePolyVerts(unsigned short* pa, unsigned short* pb, int ea, int eb,
|
|
unsigned short* tmp, const int nvp)
|
|
{
|
|
const int na = countPolyVerts(pa, nvp);
|
|
const int nb = countPolyVerts(pb, nvp);
|
|
|
|
// Merge polygons.
|
|
memset(tmp, 0xff, sizeof(unsigned short)*nvp);
|
|
int n = 0;
|
|
// Add pa
|
|
for (int i = 0; i < na-1; ++i)
|
|
tmp[n++] = pa[(ea+1+i) % na];
|
|
// Add pb
|
|
for (int i = 0; i < nb-1; ++i)
|
|
tmp[n++] = pb[(eb+1+i) % nb];
|
|
|
|
memcpy(pa, tmp, sizeof(unsigned short)*nvp);
|
|
}
|
|
|
|
|
|
static void pushFront(int v, int* arr, int& an)
|
|
{
|
|
an++;
|
|
for (int i = an-1; i > 0; --i) arr[i] = arr[i-1];
|
|
arr[0] = v;
|
|
}
|
|
|
|
static void pushBack(int v, int* arr, int& an)
|
|
{
|
|
arr[an] = v;
|
|
an++;
|
|
}
|
|
|
|
static bool canRemoveVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short rem)
|
|
{
|
|
const int nvp = mesh.nvp;
|
|
|
|
// Count number of polygons to remove.
|
|
int numTouchedVerts = 0;
|
|
int numRemainingEdges = 0;
|
|
for (int i = 0; i < mesh.npolys; ++i)
|
|
{
|
|
unsigned short* p = &mesh.polys[i*nvp*2];
|
|
const int nv = countPolyVerts(p, nvp);
|
|
int numRemoved = 0;
|
|
int numVerts = 0;
|
|
for (int j = 0; j < nv; ++j)
|
|
{
|
|
if (p[j] == rem)
|
|
{
|
|
numTouchedVerts++;
|
|
numRemoved++;
|
|
}
|
|
numVerts++;
|
|
}
|
|
if (numRemoved)
|
|
{
|
|
numRemainingEdges += numVerts-(numRemoved+1);
|
|
}
|
|
}
|
|
|
|
// There would be too few edges remaining to create a polygon.
|
|
// This can happen for example when a tip of a triangle is marked
|
|
// as deletion, but there are no other polys that share the vertex.
|
|
// In this case, the vertex should not be removed.
|
|
if (numRemainingEdges <= 2)
|
|
return false;
|
|
|
|
// Find edges which share the removed vertex.
|
|
const int maxEdges = numTouchedVerts*2;
|
|
int nedges = 0;
|
|
rcScopedDelete<int> edges((int*)rcAlloc(sizeof(int)*maxEdges*3, RC_ALLOC_TEMP));
|
|
if (!edges)
|
|
{
|
|
ctx->log(RC_LOG_WARNING, "canRemoveVertex: Out of memory 'edges' (%d).", maxEdges*3);
|
|
return false;
|
|
}
|
|
|
|
for (int i = 0; i < mesh.npolys; ++i)
|
|
{
|
|
unsigned short* p = &mesh.polys[i*nvp*2];
|
|
const int nv = countPolyVerts(p, nvp);
|
|
|
|
// Collect edges which touches the removed vertex.
|
|
for (int j = 0, k = nv-1; j < nv; k = j++)
|
|
{
|
|
if (p[j] == rem || p[k] == rem)
|
|
{
|
|
// Arrange edge so that a=rem.
|
|
int a = p[j], b = p[k];
|
|
if (b == rem)
|
|
rcSwap(a,b);
|
|
|
|
// Check if the edge exists
|
|
bool exists = false;
|
|
for (int m = 0; m < nedges; ++m)
|
|
{
|
|
int* e = &edges[m*3];
|
|
if (e[1] == b)
|
|
{
|
|
// Exists, increment vertex share count.
|
|
e[2]++;
|
|
exists = true;
|
|
}
|
|
}
|
|
// Add new edge.
|
|
if (!exists)
|
|
{
|
|
int* e = &edges[nedges*3];
|
|
e[0] = a;
|
|
e[1] = b;
|
|
e[2] = 1;
|
|
nedges++;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// There should be no more than 2 open edges.
|
|
// This catches the case that two non-adjacent polygons
|
|
// share the removed vertex. In that case, do not remove the vertex.
|
|
int numOpenEdges = 0;
|
|
for (int i = 0; i < nedges; ++i)
|
|
{
|
|
if (edges[i*3+2] < 2)
|
|
numOpenEdges++;
|
|
}
|
|
if (numOpenEdges > 2)
|
|
return false;
|
|
|
|
return true;
|
|
}
|
|
|
|
static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short rem, const int maxTris)
|
|
{
|
|
const int nvp = mesh.nvp;
|
|
|
|
// Count number of polygons to remove.
|
|
int numRemovedVerts = 0;
|
|
for (int i = 0; i < mesh.npolys; ++i)
|
|
{
|
|
unsigned short* p = &mesh.polys[i*nvp*2];
|
|
const int nv = countPolyVerts(p, nvp);
|
|
for (int j = 0; j < nv; ++j)
|
|
{
|
|
if (p[j] == rem)
|
|
numRemovedVerts++;
|
|
}
|
|
}
|
|
|
|
int nedges = 0;
|
|
rcScopedDelete<int> edges((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp*4, RC_ALLOC_TEMP));
|
|
if (!edges)
|
|
{
|
|
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'edges' (%d).", numRemovedVerts*nvp*4);
|
|
return false;
|
|
}
|
|
|
|
int nhole = 0;
|
|
rcScopedDelete<int> hole((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP));
|
|
if (!hole)
|
|
{
|
|
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hole' (%d).", numRemovedVerts*nvp);
|
|
return false;
|
|
}
|
|
|
|
int nhreg = 0;
|
|
rcScopedDelete<int> hreg((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP));
|
|
if (!hreg)
|
|
{
|
|
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'hreg' (%d).", numRemovedVerts*nvp);
|
|
return false;
|
|
}
|
|
|
|
int nharea = 0;
|
|
rcScopedDelete<int> harea((int*)rcAlloc(sizeof(int)*numRemovedVerts*nvp, RC_ALLOC_TEMP));
|
|
if (!harea)
|
|
{
|
|
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'harea' (%d).", numRemovedVerts*nvp);
|
|
return false;
|
|
}
|
|
|
|
for (int i = 0; i < mesh.npolys; ++i)
|
|
{
|
|
unsigned short* p = &mesh.polys[i*nvp*2];
|
|
const int nv = countPolyVerts(p, nvp);
|
|
bool hasRem = false;
|
|
for (int j = 0; j < nv; ++j)
|
|
if (p[j] == rem) hasRem = true;
|
|
if (hasRem)
|
|
{
|
|
// Collect edges which does not touch the removed vertex.
|
|
for (int j = 0, k = nv-1; j < nv; k = j++)
|
|
{
|
|
if (p[j] != rem && p[k] != rem)
|
|
{
|
|
int* e = &edges[nedges*4];
|
|
e[0] = p[k];
|
|
e[1] = p[j];
|
|
e[2] = mesh.regs[i];
|
|
e[3] = mesh.areas[i];
|
|
nedges++;
|
|
}
|
|
}
|
|
// Remove the polygon.
|
|
unsigned short* p2 = &mesh.polys[(mesh.npolys-1)*nvp*2];
|
|
if (p != p2)
|
|
memcpy(p,p2,sizeof(unsigned short)*nvp);
|
|
memset(p+nvp,0xff,sizeof(unsigned short)*nvp);
|
|
mesh.regs[i] = mesh.regs[mesh.npolys-1];
|
|
mesh.areas[i] = mesh.areas[mesh.npolys-1];
|
|
mesh.npolys--;
|
|
--i;
|
|
}
|
|
}
|
|
|
|
// Remove vertex.
|
|
for (int i = (int)rem; i < mesh.nverts - 1; ++i)
|
|
{
|
|
mesh.verts[i*3+0] = mesh.verts[(i+1)*3+0];
|
|
mesh.verts[i*3+1] = mesh.verts[(i+1)*3+1];
|
|
mesh.verts[i*3+2] = mesh.verts[(i+1)*3+2];
|
|
}
|
|
mesh.nverts--;
|
|
|
|
// Adjust indices to match the removed vertex layout.
|
|
for (int i = 0; i < mesh.npolys; ++i)
|
|
{
|
|
unsigned short* p = &mesh.polys[i*nvp*2];
|
|
const int nv = countPolyVerts(p, nvp);
|
|
for (int j = 0; j < nv; ++j)
|
|
if (p[j] > rem) p[j]--;
|
|
}
|
|
for (int i = 0; i < nedges; ++i)
|
|
{
|
|
if (edges[i*4+0] > rem) edges[i*4+0]--;
|
|
if (edges[i*4+1] > rem) edges[i*4+1]--;
|
|
}
|
|
|
|
if (nedges == 0)
|
|
return true;
|
|
|
|
// Start with one vertex, keep appending connected
|
|
// segments to the start and end of the hole.
|
|
pushBack(edges[0], hole, nhole);
|
|
pushBack(edges[2], hreg, nhreg);
|
|
pushBack(edges[3], harea, nharea);
|
|
|
|
while (nedges)
|
|
{
|
|
bool match = false;
|
|
|
|
for (int i = 0; i < nedges; ++i)
|
|
{
|
|
const int ea = edges[i*4+0];
|
|
const int eb = edges[i*4+1];
|
|
const int r = edges[i*4+2];
|
|
const int a = edges[i*4+3];
|
|
bool add = false;
|
|
if (hole[0] == eb)
|
|
{
|
|
// The segment matches the beginning of the hole boundary.
|
|
pushFront(ea, hole, nhole);
|
|
pushFront(r, hreg, nhreg);
|
|
pushFront(a, harea, nharea);
|
|
add = true;
|
|
}
|
|
else if (hole[nhole-1] == ea)
|
|
{
|
|
// The segment matches the end of the hole boundary.
|
|
pushBack(eb, hole, nhole);
|
|
pushBack(r, hreg, nhreg);
|
|
pushBack(a, harea, nharea);
|
|
add = true;
|
|
}
|
|
if (add)
|
|
{
|
|
// The edge segment was added, remove it.
|
|
edges[i*4+0] = edges[(nedges-1)*4+0];
|
|
edges[i*4+1] = edges[(nedges-1)*4+1];
|
|
edges[i*4+2] = edges[(nedges-1)*4+2];
|
|
edges[i*4+3] = edges[(nedges-1)*4+3];
|
|
--nedges;
|
|
match = true;
|
|
--i;
|
|
}
|
|
}
|
|
|
|
if (!match)
|
|
break;
|
|
}
|
|
|
|
rcScopedDelete<int> tris((int*)rcAlloc(sizeof(int)*nhole*3, RC_ALLOC_TEMP));
|
|
if (!tris)
|
|
{
|
|
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tris' (%d).", nhole*3);
|
|
return false;
|
|
}
|
|
|
|
rcScopedDelete<int> tverts((int*)rcAlloc(sizeof(int)*nhole*4, RC_ALLOC_TEMP));
|
|
if (!tverts)
|
|
{
|
|
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'tverts' (%d).", nhole*4);
|
|
return false;
|
|
}
|
|
|
|
rcScopedDelete<int> thole((int*)rcAlloc(sizeof(int)*nhole, RC_ALLOC_TEMP));
|
|
if (!thole)
|
|
{
|
|
ctx->log(RC_LOG_WARNING, "removeVertex: Out of memory 'thole' (%d).", nhole);
|
|
return false;
|
|
}
|
|
|
|
// Generate temp vertex array for triangulation.
|
|
for (int i = 0; i < nhole; ++i)
|
|
{
|
|
const int pi = hole[i];
|
|
tverts[i*4+0] = mesh.verts[pi*3+0];
|
|
tverts[i*4+1] = mesh.verts[pi*3+1];
|
|
tverts[i*4+2] = mesh.verts[pi*3+2];
|
|
tverts[i*4+3] = 0;
|
|
thole[i] = i;
|
|
}
|
|
|
|
// Triangulate the hole.
|
|
int ntris = triangulate(nhole, &tverts[0], &thole[0], tris);
|
|
if (ntris < 0)
|
|
{
|
|
ntris = -ntris;
|
|
ctx->log(RC_LOG_WARNING, "removeVertex: triangulate() returned bad results.");
|
|
}
|
|
|
|
// Merge the hole triangles back to polygons.
|
|
rcScopedDelete<unsigned short> polys((unsigned short*)rcAlloc(sizeof(unsigned short)*(ntris+1)*nvp, RC_ALLOC_TEMP));
|
|
if (!polys)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'polys' (%d).", (ntris+1)*nvp);
|
|
return false;
|
|
}
|
|
rcScopedDelete<unsigned short> pregs((unsigned short*)rcAlloc(sizeof(unsigned short)*ntris, RC_ALLOC_TEMP));
|
|
if (!pregs)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pregs' (%d).", ntris);
|
|
return false;
|
|
}
|
|
rcScopedDelete<unsigned char> pareas((unsigned char*)rcAlloc(sizeof(unsigned char)*ntris, RC_ALLOC_TEMP));
|
|
if (!pareas)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "removeVertex: Out of memory 'pareas' (%d).", ntris);
|
|
return false;
|
|
}
|
|
|
|
unsigned short* tmpPoly = &polys[ntris*nvp];
|
|
|
|
// Build initial polygons.
|
|
int npolys = 0;
|
|
memset(polys, 0xff, ntris*nvp*sizeof(unsigned short));
|
|
for (int j = 0; j < ntris; ++j)
|
|
{
|
|
int* t = &tris[j*3];
|
|
if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2])
|
|
{
|
|
polys[npolys*nvp+0] = (unsigned short)hole[t[0]];
|
|
polys[npolys*nvp+1] = (unsigned short)hole[t[1]];
|
|
polys[npolys*nvp+2] = (unsigned short)hole[t[2]];
|
|
|
|
// If this polygon covers multiple region types then
|
|
// mark it as such
|
|
if (hreg[t[0]] != hreg[t[1]] || hreg[t[1]] != hreg[t[2]])
|
|
pregs[npolys] = RC_MULTIPLE_REGS;
|
|
else
|
|
pregs[npolys] = (unsigned short)hreg[t[0]];
|
|
|
|
pareas[npolys] = (unsigned char)harea[t[0]];
|
|
npolys++;
|
|
}
|
|
}
|
|
if (!npolys)
|
|
return true;
|
|
|
|
// Merge polygons.
|
|
if (nvp > 3)
|
|
{
|
|
for (;;)
|
|
{
|
|
// Find best polygons to merge.
|
|
int bestMergeVal = 0;
|
|
int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0;
|
|
|
|
for (int j = 0; j < npolys-1; ++j)
|
|
{
|
|
unsigned short* pj = &polys[j*nvp];
|
|
for (int k = j+1; k < npolys; ++k)
|
|
{
|
|
unsigned short* pk = &polys[k*nvp];
|
|
int ea, eb;
|
|
int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp);
|
|
if (v > bestMergeVal)
|
|
{
|
|
bestMergeVal = v;
|
|
bestPa = j;
|
|
bestPb = k;
|
|
bestEa = ea;
|
|
bestEb = eb;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (bestMergeVal > 0)
|
|
{
|
|
// Found best, merge.
|
|
unsigned short* pa = &polys[bestPa*nvp];
|
|
unsigned short* pb = &polys[bestPb*nvp];
|
|
mergePolyVerts(pa, pb, bestEa, bestEb, tmpPoly, nvp);
|
|
if (pregs[bestPa] != pregs[bestPb])
|
|
pregs[bestPa] = RC_MULTIPLE_REGS;
|
|
|
|
unsigned short* last = &polys[(npolys-1)*nvp];
|
|
if (pb != last)
|
|
memcpy(pb, last, sizeof(unsigned short)*nvp);
|
|
pregs[bestPb] = pregs[npolys-1];
|
|
pareas[bestPb] = pareas[npolys-1];
|
|
npolys--;
|
|
}
|
|
else
|
|
{
|
|
// Could not merge any polygons, stop.
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Store polygons.
|
|
for (int i = 0; i < npolys; ++i)
|
|
{
|
|
if (mesh.npolys >= maxTris) break;
|
|
unsigned short* p = &mesh.polys[mesh.npolys*nvp*2];
|
|
memset(p,0xff,sizeof(unsigned short)*nvp*2);
|
|
for (int j = 0; j < nvp; ++j)
|
|
p[j] = polys[i*nvp+j];
|
|
mesh.regs[mesh.npolys] = pregs[i];
|
|
mesh.areas[mesh.npolys] = pareas[i];
|
|
mesh.npolys++;
|
|
if (mesh.npolys > maxTris)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "removeVertex: Too many polygons %d (max:%d).", mesh.npolys, maxTris);
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
/// @par
|
|
///
|
|
/// @note If the mesh data is to be used to construct a Detour navigation mesh, then the upper
|
|
/// limit must be retricted to <= #DT_VERTS_PER_POLYGON.
|
|
///
|
|
/// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig
|
|
bool rcBuildPolyMesh(rcContext* ctx, const rcContourSet& cset, const int nvp, rcPolyMesh& mesh)
|
|
{
|
|
rcAssert(ctx);
|
|
|
|
rcScopedTimer timer(ctx, RC_TIMER_BUILD_POLYMESH);
|
|
|
|
rcVcopy(mesh.bmin, cset.bmin);
|
|
rcVcopy(mesh.bmax, cset.bmax);
|
|
mesh.cs = cset.cs;
|
|
mesh.ch = cset.ch;
|
|
mesh.borderSize = cset.borderSize;
|
|
mesh.maxEdgeError = cset.maxError;
|
|
|
|
int maxVertices = 0;
|
|
int maxTris = 0;
|
|
int maxVertsPerCont = 0;
|
|
for (int i = 0; i < cset.nconts; ++i)
|
|
{
|
|
// Skip null contours.
|
|
if (cset.conts[i].nverts < 3) continue;
|
|
maxVertices += cset.conts[i].nverts;
|
|
maxTris += cset.conts[i].nverts - 2;
|
|
maxVertsPerCont = rcMax(maxVertsPerCont, cset.conts[i].nverts);
|
|
}
|
|
|
|
if (maxVertices >= 0xfffe)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many vertices %d.", maxVertices);
|
|
return false;
|
|
}
|
|
|
|
rcScopedDelete<unsigned char> vflags((unsigned char*)rcAlloc(sizeof(unsigned char)*maxVertices, RC_ALLOC_TEMP));
|
|
if (!vflags)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'vflags' (%d).", maxVertices);
|
|
return false;
|
|
}
|
|
memset(vflags, 0, maxVertices);
|
|
|
|
mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertices*3, RC_ALLOC_PERM);
|
|
if (!mesh.verts)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' (%d).", maxVertices);
|
|
return false;
|
|
}
|
|
mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris*nvp*2, RC_ALLOC_PERM);
|
|
if (!mesh.polys)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.polys' (%d).", maxTris*nvp*2);
|
|
return false;
|
|
}
|
|
mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxTris, RC_ALLOC_PERM);
|
|
if (!mesh.regs)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.regs' (%d).", maxTris);
|
|
return false;
|
|
}
|
|
mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxTris, RC_ALLOC_PERM);
|
|
if (!mesh.areas)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.areas' (%d).", maxTris);
|
|
return false;
|
|
}
|
|
|
|
mesh.nverts = 0;
|
|
mesh.npolys = 0;
|
|
mesh.nvp = nvp;
|
|
mesh.maxpolys = maxTris;
|
|
|
|
memset(mesh.verts, 0, sizeof(unsigned short)*maxVertices*3);
|
|
memset(mesh.polys, 0xff, sizeof(unsigned short)*maxTris*nvp*2);
|
|
memset(mesh.regs, 0, sizeof(unsigned short)*maxTris);
|
|
memset(mesh.areas, 0, sizeof(unsigned char)*maxTris);
|
|
|
|
rcScopedDelete<int> nextVert((int*)rcAlloc(sizeof(int)*maxVertices, RC_ALLOC_TEMP));
|
|
if (!nextVert)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'nextVert' (%d).", maxVertices);
|
|
return false;
|
|
}
|
|
memset(nextVert, 0, sizeof(int)*maxVertices);
|
|
|
|
rcScopedDelete<int> firstVert((int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP));
|
|
if (!firstVert)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
|
|
return false;
|
|
}
|
|
for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
|
|
firstVert[i] = -1;
|
|
|
|
rcScopedDelete<int> indices((int*)rcAlloc(sizeof(int)*maxVertsPerCont, RC_ALLOC_TEMP));
|
|
if (!indices)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'indices' (%d).", maxVertsPerCont);
|
|
return false;
|
|
}
|
|
rcScopedDelete<int> tris((int*)rcAlloc(sizeof(int)*maxVertsPerCont*3, RC_ALLOC_TEMP));
|
|
if (!tris)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'tris' (%d).", maxVertsPerCont*3);
|
|
return false;
|
|
}
|
|
rcScopedDelete<unsigned short> polys((unsigned short*)rcAlloc(sizeof(unsigned short)*(maxVertsPerCont+1)*nvp, RC_ALLOC_TEMP));
|
|
if (!polys)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'polys' (%d).", maxVertsPerCont*nvp);
|
|
return false;
|
|
}
|
|
unsigned short* tmpPoly = &polys[maxVertsPerCont*nvp];
|
|
|
|
for (int i = 0; i < cset.nconts; ++i)
|
|
{
|
|
rcContour& cont = cset.conts[i];
|
|
|
|
// Skip null contours.
|
|
if (cont.nverts < 3)
|
|
continue;
|
|
|
|
// Triangulate contour
|
|
for (int j = 0; j < cont.nverts; ++j)
|
|
indices[j] = j;
|
|
|
|
int ntris = triangulate(cont.nverts, cont.verts, &indices[0], &tris[0]);
|
|
if (ntris <= 0)
|
|
{
|
|
// Bad triangulation, should not happen.
|
|
/* printf("\tconst float bmin[3] = {%ff,%ff,%ff};\n", cset.bmin[0], cset.bmin[1], cset.bmin[2]);
|
|
printf("\tconst float cs = %ff;\n", cset.cs);
|
|
printf("\tconst float ch = %ff;\n", cset.ch);
|
|
printf("\tconst int verts[] = {\n");
|
|
for (int k = 0; k < cont.nverts; ++k)
|
|
{
|
|
const int* v = &cont.verts[k*4];
|
|
printf("\t\t%d,%d,%d,%d,\n", v[0], v[1], v[2], v[3]);
|
|
}
|
|
printf("\t};\n\tconst int nverts = sizeof(verts)/(sizeof(int)*4);\n");*/
|
|
ctx->log(RC_LOG_WARNING, "rcBuildPolyMesh: Bad triangulation Contour %d.", i);
|
|
ntris = -ntris;
|
|
}
|
|
|
|
// Add and merge vertices.
|
|
for (int j = 0; j < cont.nverts; ++j)
|
|
{
|
|
const int* v = &cont.verts[j*4];
|
|
indices[j] = addVertex((unsigned short)v[0], (unsigned short)v[1], (unsigned short)v[2],
|
|
mesh.verts, firstVert, nextVert, mesh.nverts);
|
|
if (v[3] & RC_BORDER_VERTEX)
|
|
{
|
|
// This vertex should be removed.
|
|
vflags[indices[j]] = 1;
|
|
}
|
|
}
|
|
|
|
// Build initial polygons.
|
|
int npolys = 0;
|
|
memset(polys, 0xff, maxVertsPerCont*nvp*sizeof(unsigned short));
|
|
for (int j = 0; j < ntris; ++j)
|
|
{
|
|
int* t = &tris[j*3];
|
|
if (t[0] != t[1] && t[0] != t[2] && t[1] != t[2])
|
|
{
|
|
polys[npolys*nvp+0] = (unsigned short)indices[t[0]];
|
|
polys[npolys*nvp+1] = (unsigned short)indices[t[1]];
|
|
polys[npolys*nvp+2] = (unsigned short)indices[t[2]];
|
|
npolys++;
|
|
}
|
|
}
|
|
if (!npolys)
|
|
continue;
|
|
|
|
// Merge polygons.
|
|
if (nvp > 3)
|
|
{
|
|
for(;;)
|
|
{
|
|
// Find best polygons to merge.
|
|
int bestMergeVal = 0;
|
|
int bestPa = 0, bestPb = 0, bestEa = 0, bestEb = 0;
|
|
|
|
for (int j = 0; j < npolys-1; ++j)
|
|
{
|
|
unsigned short* pj = &polys[j*nvp];
|
|
for (int k = j+1; k < npolys; ++k)
|
|
{
|
|
unsigned short* pk = &polys[k*nvp];
|
|
int ea, eb;
|
|
int v = getPolyMergeValue(pj, pk, mesh.verts, ea, eb, nvp);
|
|
if (v > bestMergeVal)
|
|
{
|
|
bestMergeVal = v;
|
|
bestPa = j;
|
|
bestPb = k;
|
|
bestEa = ea;
|
|
bestEb = eb;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (bestMergeVal > 0)
|
|
{
|
|
// Found best, merge.
|
|
unsigned short* pa = &polys[bestPa*nvp];
|
|
unsigned short* pb = &polys[bestPb*nvp];
|
|
mergePolyVerts(pa, pb, bestEa, bestEb, tmpPoly, nvp);
|
|
unsigned short* lastPoly = &polys[(npolys-1)*nvp];
|
|
if (pb != lastPoly)
|
|
memcpy(pb, lastPoly, sizeof(unsigned short)*nvp);
|
|
npolys--;
|
|
}
|
|
else
|
|
{
|
|
// Could not merge any polygons, stop.
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Store polygons.
|
|
for (int j = 0; j < npolys; ++j)
|
|
{
|
|
unsigned short* p = &mesh.polys[mesh.npolys*nvp*2];
|
|
unsigned short* q = &polys[j*nvp];
|
|
for (int k = 0; k < nvp; ++k)
|
|
p[k] = q[k];
|
|
mesh.regs[mesh.npolys] = cont.reg;
|
|
mesh.areas[mesh.npolys] = cont.area;
|
|
mesh.npolys++;
|
|
if (mesh.npolys > maxTris)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Too many polygons %d (max:%d).", mesh.npolys, maxTris);
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
// Remove edge vertices.
|
|
for (int i = 0; i < mesh.nverts; ++i)
|
|
{
|
|
if (vflags[i])
|
|
{
|
|
if (!canRemoveVertex(ctx, mesh, (unsigned short)i))
|
|
continue;
|
|
if (!removeVertex(ctx, mesh, (unsigned short)i, maxTris))
|
|
{
|
|
// Failed to remove vertex
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Failed to remove edge vertex %d.", i);
|
|
return false;
|
|
}
|
|
// Remove vertex
|
|
// Note: mesh.nverts is already decremented inside removeVertex()!
|
|
// Fixup vertex flags
|
|
for (int j = i; j < mesh.nverts; ++j)
|
|
vflags[j] = vflags[j+1];
|
|
--i;
|
|
}
|
|
}
|
|
|
|
// Calculate adjacency.
|
|
if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, nvp))
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Adjacency failed.");
|
|
return false;
|
|
}
|
|
|
|
// Find portal edges
|
|
if (mesh.borderSize > 0)
|
|
{
|
|
const int w = cset.width;
|
|
const int h = cset.height;
|
|
for (int i = 0; i < mesh.npolys; ++i)
|
|
{
|
|
unsigned short* p = &mesh.polys[i*2*nvp];
|
|
for (int j = 0; j < nvp; ++j)
|
|
{
|
|
if (p[j] == RC_MESH_NULL_IDX) break;
|
|
// Skip connected edges.
|
|
if (p[nvp+j] != RC_MESH_NULL_IDX)
|
|
continue;
|
|
int nj = j+1;
|
|
if (nj >= nvp || p[nj] == RC_MESH_NULL_IDX) nj = 0;
|
|
const unsigned short* va = &mesh.verts[p[j]*3];
|
|
const unsigned short* vb = &mesh.verts[p[nj]*3];
|
|
|
|
if ((int)va[0] == 0 && (int)vb[0] == 0)
|
|
p[nvp+j] = 0x8000 | 0;
|
|
else if ((int)va[2] == h && (int)vb[2] == h)
|
|
p[nvp+j] = 0x8000 | 1;
|
|
else if ((int)va[0] == w && (int)vb[0] == w)
|
|
p[nvp+j] = 0x8000 | 2;
|
|
else if ((int)va[2] == 0 && (int)vb[2] == 0)
|
|
p[nvp+j] = 0x8000 | 3;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Just allocate the mesh flags array. The user is resposible to fill it.
|
|
mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*mesh.npolys, RC_ALLOC_PERM);
|
|
if (!mesh.flags)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.flags' (%d).", mesh.npolys);
|
|
return false;
|
|
}
|
|
memset(mesh.flags, 0, sizeof(unsigned short) * mesh.npolys);
|
|
|
|
if (mesh.nverts > 0xffff)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff);
|
|
}
|
|
if (mesh.npolys > 0xffff)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
/// @see rcAllocPolyMesh, rcPolyMesh
|
|
bool rcMergePolyMeshes(rcContext* ctx, rcPolyMesh** meshes, const int nmeshes, rcPolyMesh& mesh)
|
|
{
|
|
rcAssert(ctx);
|
|
|
|
if (!nmeshes || !meshes)
|
|
return true;
|
|
|
|
rcScopedTimer timer(ctx, RC_TIMER_MERGE_POLYMESH);
|
|
|
|
mesh.nvp = meshes[0]->nvp;
|
|
mesh.cs = meshes[0]->cs;
|
|
mesh.ch = meshes[0]->ch;
|
|
rcVcopy(mesh.bmin, meshes[0]->bmin);
|
|
rcVcopy(mesh.bmax, meshes[0]->bmax);
|
|
|
|
int maxVerts = 0;
|
|
int maxPolys = 0;
|
|
int maxVertsPerMesh = 0;
|
|
for (int i = 0; i < nmeshes; ++i)
|
|
{
|
|
rcVmin(mesh.bmin, meshes[i]->bmin);
|
|
rcVmax(mesh.bmax, meshes[i]->bmax);
|
|
maxVertsPerMesh = rcMax(maxVertsPerMesh, meshes[i]->nverts);
|
|
maxVerts += meshes[i]->nverts;
|
|
maxPolys += meshes[i]->npolys;
|
|
}
|
|
|
|
mesh.nverts = 0;
|
|
mesh.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxVerts*3, RC_ALLOC_PERM);
|
|
if (!mesh.verts)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.verts' (%d).", maxVerts*3);
|
|
return false;
|
|
}
|
|
|
|
mesh.npolys = 0;
|
|
mesh.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys*2*mesh.nvp, RC_ALLOC_PERM);
|
|
if (!mesh.polys)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.polys' (%d).", maxPolys*2*mesh.nvp);
|
|
return false;
|
|
}
|
|
memset(mesh.polys, 0xff, sizeof(unsigned short)*maxPolys*2*mesh.nvp);
|
|
|
|
mesh.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM);
|
|
if (!mesh.regs)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.regs' (%d).", maxPolys);
|
|
return false;
|
|
}
|
|
memset(mesh.regs, 0, sizeof(unsigned short)*maxPolys);
|
|
|
|
mesh.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*maxPolys, RC_ALLOC_PERM);
|
|
if (!mesh.areas)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.areas' (%d).", maxPolys);
|
|
return false;
|
|
}
|
|
memset(mesh.areas, 0, sizeof(unsigned char)*maxPolys);
|
|
|
|
mesh.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*maxPolys, RC_ALLOC_PERM);
|
|
if (!mesh.flags)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.flags' (%d).", maxPolys);
|
|
return false;
|
|
}
|
|
memset(mesh.flags, 0, sizeof(unsigned short)*maxPolys);
|
|
|
|
rcScopedDelete<int> nextVert((int*)rcAlloc(sizeof(int)*maxVerts, RC_ALLOC_TEMP));
|
|
if (!nextVert)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'nextVert' (%d).", maxVerts);
|
|
return false;
|
|
}
|
|
memset(nextVert, 0, sizeof(int)*maxVerts);
|
|
|
|
rcScopedDelete<int> firstVert((int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP));
|
|
if (!firstVert)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'firstVert' (%d).", VERTEX_BUCKET_COUNT);
|
|
return false;
|
|
}
|
|
for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i)
|
|
firstVert[i] = -1;
|
|
|
|
rcScopedDelete<unsigned short> vremap((unsigned short*)rcAlloc(sizeof(unsigned short)*maxVertsPerMesh, RC_ALLOC_PERM));
|
|
if (!vremap)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'vremap' (%d).", maxVertsPerMesh);
|
|
return false;
|
|
}
|
|
memset(vremap, 0, sizeof(unsigned short)*maxVertsPerMesh);
|
|
|
|
for (int i = 0; i < nmeshes; ++i)
|
|
{
|
|
const rcPolyMesh* pmesh = meshes[i];
|
|
|
|
const unsigned short ox = (unsigned short)floorf((pmesh->bmin[0]-mesh.bmin[0])/mesh.cs+0.5f);
|
|
const unsigned short oz = (unsigned short)floorf((pmesh->bmin[2]-mesh.bmin[2])/mesh.cs+0.5f);
|
|
|
|
bool isMinX = (ox == 0);
|
|
bool isMinZ = (oz == 0);
|
|
bool isMaxX = ((unsigned short)floorf((mesh.bmax[0] - pmesh->bmax[0]) / mesh.cs + 0.5f)) == 0;
|
|
bool isMaxZ = ((unsigned short)floorf((mesh.bmax[2] - pmesh->bmax[2]) / mesh.cs + 0.5f)) == 0;
|
|
bool isOnBorder = (isMinX || isMinZ || isMaxX || isMaxZ);
|
|
|
|
for (int j = 0; j < pmesh->nverts; ++j)
|
|
{
|
|
unsigned short* v = &pmesh->verts[j*3];
|
|
vremap[j] = addVertex(v[0]+ox, v[1], v[2]+oz,
|
|
mesh.verts, firstVert, nextVert, mesh.nverts);
|
|
}
|
|
|
|
for (int j = 0; j < pmesh->npolys; ++j)
|
|
{
|
|
unsigned short* tgt = &mesh.polys[mesh.npolys*2*mesh.nvp];
|
|
unsigned short* src = &pmesh->polys[j*2*mesh.nvp];
|
|
mesh.regs[mesh.npolys] = pmesh->regs[j];
|
|
mesh.areas[mesh.npolys] = pmesh->areas[j];
|
|
mesh.flags[mesh.npolys] = pmesh->flags[j];
|
|
mesh.npolys++;
|
|
for (int k = 0; k < mesh.nvp; ++k)
|
|
{
|
|
if (src[k] == RC_MESH_NULL_IDX) break;
|
|
tgt[k] = vremap[src[k]];
|
|
}
|
|
|
|
if (isOnBorder)
|
|
{
|
|
for (int k = mesh.nvp; k < mesh.nvp * 2; ++k)
|
|
{
|
|
if (src[k] & 0x8000 && src[k] != 0xffff)
|
|
{
|
|
unsigned short dir = src[k] & 0xf;
|
|
switch (dir)
|
|
{
|
|
case 0: // Portal x-
|
|
if (isMinX)
|
|
tgt[k] = src[k];
|
|
break;
|
|
case 1: // Portal z+
|
|
if (isMaxZ)
|
|
tgt[k] = src[k];
|
|
break;
|
|
case 2: // Portal x+
|
|
if (isMaxX)
|
|
tgt[k] = src[k];
|
|
break;
|
|
case 3: // Portal z-
|
|
if (isMinZ)
|
|
tgt[k] = src[k];
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Calculate adjacency.
|
|
if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, mesh.nvp))
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: Adjacency failed.");
|
|
return false;
|
|
}
|
|
|
|
if (mesh.nverts > 0xffff)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many vertices %d (max %d). Data can be corrupted.", mesh.nverts, 0xffff);
|
|
}
|
|
if (mesh.npolys > 0xffff)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many polygons %d (max %d). Data can be corrupted.", mesh.npolys, 0xffff);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool rcCopyPolyMesh(rcContext* ctx, const rcPolyMesh& src, rcPolyMesh& dst)
|
|
{
|
|
rcAssert(ctx);
|
|
|
|
// Destination must be empty.
|
|
rcAssert(dst.verts == 0);
|
|
rcAssert(dst.polys == 0);
|
|
rcAssert(dst.regs == 0);
|
|
rcAssert(dst.areas == 0);
|
|
rcAssert(dst.flags == 0);
|
|
|
|
dst.nverts = src.nverts;
|
|
dst.npolys = src.npolys;
|
|
dst.maxpolys = src.npolys;
|
|
dst.nvp = src.nvp;
|
|
rcVcopy(dst.bmin, src.bmin);
|
|
rcVcopy(dst.bmax, src.bmax);
|
|
dst.cs = src.cs;
|
|
dst.ch = src.ch;
|
|
dst.borderSize = src.borderSize;
|
|
dst.maxEdgeError = src.maxEdgeError;
|
|
|
|
dst.verts = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.nverts*3, RC_ALLOC_PERM);
|
|
if (!dst.verts)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.verts' (%d).", src.nverts*3);
|
|
return false;
|
|
}
|
|
memcpy(dst.verts, src.verts, sizeof(unsigned short)*src.nverts*3);
|
|
|
|
dst.polys = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys*2*src.nvp, RC_ALLOC_PERM);
|
|
if (!dst.polys)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.polys' (%d).", src.npolys*2*src.nvp);
|
|
return false;
|
|
}
|
|
memcpy(dst.polys, src.polys, sizeof(unsigned short)*src.npolys*2*src.nvp);
|
|
|
|
dst.regs = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys, RC_ALLOC_PERM);
|
|
if (!dst.regs)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.regs' (%d).", src.npolys);
|
|
return false;
|
|
}
|
|
memcpy(dst.regs, src.regs, sizeof(unsigned short)*src.npolys);
|
|
|
|
dst.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*src.npolys, RC_ALLOC_PERM);
|
|
if (!dst.areas)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.areas' (%d).", src.npolys);
|
|
return false;
|
|
}
|
|
memcpy(dst.areas, src.areas, sizeof(unsigned char)*src.npolys);
|
|
|
|
dst.flags = (unsigned short*)rcAlloc(sizeof(unsigned short)*src.npolys, RC_ALLOC_PERM);
|
|
if (!dst.flags)
|
|
{
|
|
ctx->log(RC_LOG_ERROR, "rcCopyPolyMesh: Out of memory 'dst.flags' (%d).", src.npolys);
|
|
return false;
|
|
}
|
|
memcpy(dst.flags, src.flags, sizeof(unsigned short)*src.npolys);
|
|
|
|
return true;
|
|
}
|