/// @par
///
/// This is usually the second to the last step in creating a fully built
/// compact heightfield. This step is required before regions are built
/// using #rcBuildRegions or #rcBuildRegionsMonotone.
///
/// After this step, the distance data is available via the rcCompactHeightfield::maxDistance
/// and rcCompactHeightfield::dist fields.
///
/// @see rcCompactHeightfield, rcBuildRegions, rcBuildRegionsMonotone
public static bool rcBuildDistanceField(rcContext ctx, rcCompactHeightfield chf)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_DISTANCEFIELD);
chf.dist = null;
//ushort* src = (ushort*)rcAlloc(sizeof(ushort)*chf.spanCount, RC_ALLOC_TEMP);
ushort[] src = new ushort[chf.spanCount];
if (src == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'src' ("+chf.spanCount+").");
return false;
}
//ushort* dst = (ushort*)rcAlloc(sizeof(ushort)*chf.spanCount, RC_ALLOC_TEMP);
ushort[] dst = new ushort[chf.spanCount];
if (dst == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildDistanceField: Out of memory 'dst' ("+chf.spanCount+").");
//rcFree(src);
return false;
}
ushort maxDist = 0;
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_DISTANCEFIELD_DIST);
calculateDistanceField(ctx, chf, src, ref maxDist);
chf.maxDistance = maxDist;
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_DISTANCEFIELD_DIST);
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_DISTANCEFIELD_BLUR);
// Blur
if (boxBlur(chf, 1, src, dst) != src){
rcSwap(ref src,ref dst);
}
// Store distance.
chf.dist = src;
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_DISTANCEFIELD_BLUR);
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_DISTANCEFIELD);
//rcFree(dst);
dst = null;
return true;
}
/// @par
///
/// For this filter, the clearance above the span is the distance from the span's
/// maximum to the next higher span's minimum. (Same grid column.)
///
/// @see rcHeightfield, rcConfig
public static void rcFilterWalkableLowHeightSpans(rcContext ctx, int walkableHeight, rcHeightfield solid)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_FILTER_WALKABLE);
int w = solid.width;
int h = solid.height;
int MAX_HEIGHT = 0xffff;
// Remove walkable flag from spans which do not have enough
// space above them for the agent to stand there.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
for (rcSpan s = solid.spans[x + y * w]; s != null; s = s.next)
{
int bot = (int)(s.smax);
int top = s.next != null ? (int)(s.next.smin) : MAX_HEIGHT;
if ((top - bot) <= walkableHeight)
{
s.area = RC_NULL_AREA;
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_FILTER_WALKABLE);
}
/// @par
///
/// No spans will be added if the triangle does not overlap the heightfield grid.
///
/// @see rcHeightfield
public static void rcRasterizeTriangle(rcContext ctx, float[] v0, int v0Start, float[] v1, int v1Start, float[] v2, int v2Start,
byte area, rcHeightfield solid,
int flagMergeThr)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
float ics = 1.0f/solid.cs;
float ich = 1.0f/solid.ch;
rasterizeTri(v0, v0Start, v1, v1Start, v2, v2Start, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
ctx.stopTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
}
/// @par
///
/// No spans will be added if the triangle does not overlap the heightfield grid.
///
/// @see rcHeightfield
public static void rcRasterizeTriangle(rcContext ctx, float[] v0, int v0Start, float[] v1, int v1Start, float[] v2, int v2Start,
byte area, rcHeightfield solid,
int flagMergeThr)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
float ics = 1.0f / solid.cs;
float ich = 1.0f / solid.ch;
rasterizeTri(v0, v0Start, v1, v1Start, v2, v2Start, area, solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
ctx.stopTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
}
/// @par
///
/// Allows the formation of walkable regions that will flow over low lying
/// objects such as curbs, and up structures such as stairways.
///
/// Two neighboring spans are walkable if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb</tt>
///
/// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call
/// #rcFilterLedgeSpans after calling this filter.
///
/// @see rcHeightfield, rcConfig
public static void rcFilterLowHangingWalkableObstacles(rcContext ctx, int walkableClimb, rcHeightfield solid)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_FILTER_LOW_OBSTACLES);
int w = solid.width;
int h = solid.height;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcSpan ps = null;
bool previousWalkable = false;
byte previousArea = RC_NULL_AREA;
for (rcSpan s = solid.spans[x + y * w]; s != null; ps = s, s = s.next)
{
bool walkable = s.area != RC_NULL_AREA;
// If current span is not walkable, but there is walkable
// span just below it, mark the span above it walkable too.
if (!walkable && previousWalkable)
{
if (Math.Abs((int)s.smax - (int)ps.smax) <= walkableClimb)
{
s.area = previousArea;
}
}
// Copy walkable flag so that it cannot propagate
// past multiple non-walkable objects.
previousWalkable = walkable;
previousArea = s.area;
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_FILTER_LOW_OBSTACLES);
}
/// @par
///
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
public static void rcRasterizeTriangles(rcContext ctx, float[] verts, int nv,
int[] tris, byte[] areas, int nt,
rcHeightfield solid, int flagMergeThr)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
float ics = 1.0f/solid.cs;
float ich = 1.0f/solid.ch;
// Rasterize triangles.
for (int i = 0; i < nt; ++i)
{
int v0Start = tris[i*3+0]*3;
int v1Start = tris[i*3+1]*3;
int v2Start = tris[i*3+2]*3;
// Rasterize.
rasterizeTri(verts, v0Start, verts, v1Start, verts, v2Start, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
}
/// @par
///
/// Spans will only be added for triangles that overlap the heightfield grid.
///
/// @see rcHeightfield
public static void rcRasterizeTriangles(rcContext ctx, float[] verts, byte[] areas, int nt,
rcHeightfield solid, int flagMergeThr)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
float ics = 1.0f / solid.cs;
float ich = 1.0f / solid.ch;
// Rasterize triangles.
for (int i = 0; i < nt; ++i)
{
int v0Start = (i * 3 + 0) * 3;
int v1Start = (i * 3 + 1) * 3;
int v2Start = (i * 3 + 2) * 3;
// Rasterize.
rasterizeTri(verts, v0Start, verts, v1Start, verts, v2Start, areas[i], solid, solid.bmin, solid.bmax, solid.cs, ics, ich, flagMergeThr);
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_RASTERIZE_TRIANGLES);
}
/// @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
public static bool rcBuildPolyMesh(rcContext ctx, rcContourSet cset, int nvp, rcPolyMesh mesh)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.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;
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 = Math.Max(maxVertsPerCont, cset.conts[i].nverts);
}
if (maxVertices >= 0xfffe) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Too many vertices " + maxVertices);
return false;
}
//rcScopedDelete<byte> vflags = (byte*)rcAlloc(sizeof(byte)*maxVertices, RC_ALLOC_TEMP);
byte[] vflags = new byte[maxVertices];
if (vflags == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'vflags' " + maxVertices);
return false;
}
//memset(vflags, 0, maxVertices);
//mesh.verts = (ushort*)rcAlloc(sizeof(ushort)*maxVertices*3, RC_ALLOC_PERM);
mesh.verts = new ushort[maxVertices * 3];
if (mesh.verts == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.verts' " + maxVertices);
return false;
}
//mesh.polys = (ushort*)rcAlloc(sizeof(ushort)*maxTris*nvp*2, RC_ALLOC_PERM);
mesh.polys = new ushort[maxTris * nvp * 2];
if (mesh.polys == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.polys' " + maxTris * nvp * 2);
return false;
}
//mesh.regs = (ushort*)rcAlloc(sizeof(ushort)*maxTris, RC_ALLOC_PERM);
mesh.regs = new ushort[maxTris];
if (mesh.regs == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.regs' " + maxTris);
return false;
}
//mesh.areas = (byte*)rcAlloc(sizeof(byte)*maxTris, RC_ALLOC_PERM);
mesh.areas = new byte[maxTris];
if (mesh.areas == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.areas' " + maxTris);
return false;
}
mesh.nverts = 0;
mesh.npolys = 0;
mesh.nvp = nvp;
mesh.maxpolys = maxTris;
//memset(mesh.verts, 0, sizeof(ushort)*maxVertices*3);
//memset(mesh.polys, 0xff, sizeof(ushort)*maxTris*nvp*2);
for (int i = 0; i < maxTris * nvp * 2; ++i) {
mesh.polys[i] = 0xffff;
}
//memset(mesh.regs, 0, sizeof(ushort)*maxTris);
//memset(mesh.areas, 0, sizeof(byte)*maxTris);
//rcScopedDelete<int> nextVert = (int*)rcAlloc(sizeof(int)*maxVertices, RC_ALLOC_TEMP);
int[] nextVert = new int[maxVertices];
if (nextVert == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'nextVert' " + maxVertices);
return false;
}
//memset(nextVert, 0, sizeof(int)*maxVertices);
//rcScopedDelete<int> firstVert = (int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP);
int[] firstVert = new int[VERTEX_BUCKET_COUNT];
if (firstVert == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'firstVert' " + 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);
int[] indices = new int[maxVertsPerCont];
if (indices == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'indices' " + maxVertsPerCont);
return false;
}
//rcScopedDelete<int> tris = (int*)rcAlloc(sizeof(int)*maxVertsPerCont*3, RC_ALLOC_TEMP);
int[] tris = new int[maxVertsPerCont * 3];
if (tris == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'tris' " + maxVertsPerCont * 3);
return false;
}
//rcScopedDelete<ushort> polys = (ushort*)rcAlloc(sizeof(ushort)*(maxVertsPerCont+1)*nvp, RC_ALLOC_TEMP);
ushort[] polys = new ushort[(maxVertsPerCont + 1) * nvp];
if (polys == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'polys' " + (maxVertsPerCont + 1) * nvp);
return false;
}
int tmpPolyIndex = maxVertsPerCont * nvp;
//ushort[] 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, tris);
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(rcLogCategory.RC_LOG_WARNING, "rcBuildPolyMesh: Bad triangulation Contour " + i);
ntris = -ntris;
}
// Add and merge vertices.
for (int j = 0; j < cont.nverts; ++j) {
int vIndex = j * 4;
//const int* v = &cont.verts[j*4];
indices[j] = addVertex((ushort)cont.verts[vIndex + 0], (ushort)cont.verts[vIndex + 1], (ushort)cont.verts[vIndex + 2],
mesh.verts, firstVert, nextVert, ref mesh.nverts);
if ((cont.verts[vIndex + 3] & RC_BORDER_VERTEX) != 0) {
// This vertex should be removed.
vflags[indices[j]] = 1;
}
}
// Build initial polygons.
int npolys = 0;
//memset(polys, 0xff, maxVertsPerCont*nvp*sizeof(ushort));
for (int j = 0; j < nvp * maxVertsPerCont; ++j) {
polys[j] = 0xffff;
}
for (int j = 0; j < ntris; ++j) {
int tIndex = j * 3;
//int* t = &tris[j*3];
if (tris[tIndex + 0] != tris[tIndex + 1] && tris[tIndex + 0] != tris[tIndex + 2] && tris[tIndex + 1] != tris[tIndex + 2]) {
polys[npolys * nvp + 0] = (ushort)indices[tris[tIndex + 0]];
polys[npolys * nvp + 1] = (ushort)indices[tris[tIndex + 1]];
polys[npolys * nvp + 2] = (ushort)indices[tris[tIndex + 2]];
npolys++;
}
}
if (npolys == 0) {
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) {
int pjIndex = j * nvp;
//ushort* pj = &polys[j*nvp];
for (int k = j + 1; k < npolys; ++k) {
//ushort* pk = &polys[k*nvp];
int pkIndex = k * nvp;
int ea = 0, eb = 0;
int v = getPolyMergeValue(polys, pjIndex, polys, pkIndex, mesh.verts, ref ea, ref eb, nvp);
if (v > bestMergeVal) {
bestMergeVal = v;
bestPa = j;
bestPb = k;
bestEa = ea;
bestEb = eb;
}
}
}
if (bestMergeVal > 0) {
// Found best, merge.
//ushort* pa = &polys[bestPa*nvp];
//ushort* pb = &polys[bestPb*nvp];
int paIndex = bestPa * nvp;
int pbIndex = bestPb * nvp;
mergePolys(polys, paIndex, polys, pbIndex, bestEa, bestEb, polys, tmpPolyIndex, nvp);
//ushort* lastPoly = &polys[(npolys-1)*nvp];
int lastPolyIndex = (npolys - 1) * nvp;
if (pbIndex != lastPolyIndex) {
//memcpy(pb, lastPoly, sizeof(ushort)*nvp);
for (int j = 0; j < nvp; ++j) {
polys[pbIndex + j] = polys[lastPolyIndex + j];
}
}
npolys--;
} else {
// Could not merge any polygons, stop.
break;
}
}
}
// Store polygons.
for (int j = 0; j < npolys; ++j) {
//ushort* p = &mesh.polys[mesh.npolys*nvp*2];
//ushort* q = &polys[j*nvp];
int pIndex = mesh.npolys * nvp * 2;
int qIndex = j * nvp;
for (int k = 0; k < nvp; ++k) {
mesh.polys[pIndex + k] = polys[qIndex + k];
}
mesh.regs[mesh.npolys] = cont.reg;
mesh.areas[mesh.npolys] = cont.area;
mesh.npolys++;
if (mesh.npolys > maxTris) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Too many polygons " + mesh.npolys + " max " + maxTris);
return false;
}
}
}
// Remove edge vertices.
for (int i = 0; i < mesh.nverts; ++i) {
if (vflags[i] != 0) {
if (!canRemoveVertex(ctx, mesh, (ushort)i)) {
continue;
}
if (!removeVertex(ctx, mesh, (ushort)i, maxTris)) {
// Failed to remove vertex
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Failed to remove edge vertex " + 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(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Adjacency failed.");
return false;
}
// Find portal edges
if (mesh.borderSize > 0) {
int w = cset.width;
int h = cset.height;
for (int i = 0; i < mesh.npolys; ++i) {
int pIndex = i * 2 * nvp;
//ushort* p = &mesh.polys[i*2*nvp];
for (int j = 0; j < nvp; ++j) {
if (mesh.polys[pIndex + j] == RC_MESH_NULL_IDX) {
break;
}
// Skip connected edges.
if (mesh.polys[pIndex + nvp + j] != RC_MESH_NULL_IDX) {
continue;
}
int nj = j + 1;
if (nj >= nvp || mesh.polys[pIndex + nj] == RC_MESH_NULL_IDX) nj = 0;
//ushort* va = &mesh.verts[mesh.polys[pIndex + j]*3];
//ushort* vb = &mesh.verts[mesh.polys[pIndex + nj]*3];
int vaIndex = mesh.polys[pIndex + j] * 3;
int vbIndex = mesh.polys[pIndex + nj] * 3;
if ((int)mesh.verts[vaIndex + 0] == 0 && (int)mesh.verts[vbIndex + 0] == 0)
mesh.polys[pIndex + nvp + j] = 0x8000 | 0;
else if ((int)mesh.verts[vaIndex + 2] == h && (int)mesh.verts[vbIndex + 2] == h)
mesh.polys[pIndex + nvp + j] = 0x8000 | 1;
else if ((int)mesh.verts[vaIndex + 0] == w && (int)mesh.verts[vbIndex + 0] == w)
mesh.polys[pIndex + nvp + j] = 0x8000 | 2;
else if ((int)mesh.verts[vaIndex + 2] == 0 && (int)mesh.verts[vbIndex + 2] == 0)
mesh.polys[pIndex + nvp + j] = 0x8000 | 3;
}
}
}
// Just allocate the mesh flags array. The user is resposible to fill it.
//mesh.flags = (ushort*)rcAlloc(sizeof(ushort)*mesh.npolys, RC_ALLOC_PERM);
mesh.flags = new ushort[mesh.npolys];
if (mesh.flags == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: Out of memory 'mesh.flags' " + mesh.npolys);
return false;
}
//memset(mesh.flags, 0, sizeof(ushort) * mesh.npolys);
if (mesh.nverts > 0xffff) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many vertices " + mesh.nverts + "(max " + 0xffff + ") Data can be corrupted.");
}
if (mesh.npolys > 0xffff) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMesh: The resulting mesh has too many polygons " + mesh.npolys + " (max " + 0xffff + "). Data can be corrupted.");
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_POLYMESH);
return true;
}
/// @par
///
/// This filter is usually applied after applying area id's using functions
/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
///
/// @see rcCompactHeightfield
public static bool rcMedianFilterWalkableArea(rcContext ctx, rcCompactHeightfield chf)
{
Debug.Assert(ctx != null, "rcContext is null");
int w = chf.width;
int h = chf.height;
ctx.startTimer(rcTimerLabel.RC_TIMER_MEDIAN_AREA);
byte[] areas = new byte[chf.spanCount];//(byte*)rcAlloc(sizeof(byte)*chf.spanCount, RC_ALLOC_TEMP);
if (areas == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "medianFilterWalkableArea: Out of memory 'areas' " + chf.spanCount);
return false;
}
// Init distance.
for (int i = 0; i < chf.spanCount; ++i) {
areas[i] = 0xff;
}
//memset(areas, 0xff, sizeof(byte)*chf.spanCount);
for (int y = 0; y < h; ++y) {
for (int x = 0; x < w; ++x) {
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA) {
areas[i] = chf.areas[i];
continue;
}
byte[] nei = new byte[9];
for (int j = 0; j < 9; ++j)
nei[j] = chf.areas[i];
for (int dir = 0; dir < 4; ++dir) {
if (rcGetCon(s, dir) != RC_NOT_CONNECTED) {
int ax = x + rcGetDirOffsetX(dir);
int ay = y + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, dir);
if (chf.areas[ai] != RC_NULL_AREA)
nei[dir * 2 + 0] = chf.areas[ai];
rcCompactSpan aSpan = chf.spans[ai];
int dir2 = (dir + 1) & 0x3;
if (rcGetCon(aSpan, dir2) != RC_NOT_CONNECTED) {
int ax2 = ax + rcGetDirOffsetX(dir2);
int ay2 = ay + rcGetDirOffsetY(dir2);
int ai2 = (int)chf.cells[ax2 + ay2 * w].index + rcGetCon(aSpan, dir2);
if (chf.areas[ai2] != RC_NULL_AREA)
nei[dir * 2 + 1] = chf.areas[ai2];
}
}
}
insertSort(nei, 9);
areas[i] = nei[4];
}
}
}
chf.areas = areas;
//memcpy(chf.areas, areas, sizeof(byte)*chf.spanCount);
//rcFree(areas);
ctx.stopTimer(rcTimerLabel.RC_TIMER_MEDIAN_AREA);
return true;
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
public static void rcMarkCylinderArea(rcContext ctx, float[] pos,
float r, float h, byte areaId,
rcCompactHeightfield chf)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_MARK_CYLINDER_AREA);
float[] bmin = new float[3];
float[] bmax = new float[3];
bmin[0] = pos[0] - r;
bmin[1] = pos[1];
bmin[2] = pos[2] - r;
bmax[0] = pos[0] + r;
bmax[1] = pos[1] + h;
bmax[2] = pos[2] + r;
float r2 = r * r;
int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs);
int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch);
int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs);
int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs);
int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch);
int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs);
if (maxx < 0) return;
if (minx >= chf.width) return;
if (maxz < 0) return;
if (minz >= chf.height) return;
if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width - 1;
if (minz < 0) minz = 0;
if (maxz >= chf.height) maxz = chf.height - 1;
for (int z = minz; z <= maxz; ++z) {
for (int x = minx; x <= maxx; ++x) {
rcCompactCell c = chf.cells[x + z * chf.width];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA)
continue;
if ((int)s.y >= miny && (int)s.y <= maxy) {
float sx = chf.bmin[0] + (x + 0.5f) * chf.cs;
float sz = chf.bmin[2] + (z + 0.5f) * chf.cs;
float dx = sx - pos[0];
float dz = sz - pos[2];
if (dx * dx + dz * dz < r2) {
chf.areas[i] = areaId;
}
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_MARK_CYLINDER_AREA);
}
/// @par
///
/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour.
/// Contours will form simple polygons.
///
/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be
/// re-assigned to the zero (null) region.
///
/// Partitioning can result in smaller than necessary regions. @p mergeRegionArea helps
/// reduce unecessarily small regions.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// The region data will be available via the rcCompactHeightfield::maxRegions
/// and rcCompactSpan::reg fields.
///
/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
///
/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
public static bool rcBuildRegionsMonotone(rcContext ctx, rcCompactHeightfield chf,
int borderSize, int minRegionArea, int mergeRegionArea)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS);
int w = chf.width;
int h = chf.height;
ushort id = 1;
ushort[] srcReg = new ushort[chf.spanCount];
if (srcReg == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'src' ("+chf.spanCount+").");
return false;
}
int nsweeps = Math.Max(chf.width,chf.height);
rcSweepSpan[] sweeps = new rcSweepSpan[nsweeps];
rccsArrayItemsCreate(sweeps);
if (sweeps == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildRegionsMonotone: Out of memory 'sweeps' ("+nsweeps+").");
return false;
}
// Mark border regions.
if (borderSize > 0)
{
// Make sure border will not overflow.
int bw = Math.Min(w, borderSize);
int bh = Math.Min(h, borderSize);
// Paint regions
paintRectRegion(0, bw, 0, h, (ushort)(id|RC_BORDER_REG), chf, srcReg); id++;
paintRectRegion(w-bw, w, 0, h, (ushort)(id|RC_BORDER_REG), chf, srcReg); id++;
paintRectRegion(0, w, 0, bh, (ushort)(id|RC_BORDER_REG), chf, srcReg); id++;
paintRectRegion(0, w, h-bh, h, (ushort)(id|RC_BORDER_REG), chf, srcReg); id++;
chf.borderSize = borderSize;
}
List<int> prev = new List<int>();//256
prev.Capacity = 256;
// Sweep one line at a time.
for (int y = borderSize; y < h-borderSize; ++y)
{
// Collect spans from this row.
rccsResizeList(prev, id+1);
for (int i=0;i<id;++i){
prev[i] = 0;
}
ushort rid = 1;
for (int x = borderSize; x < w-borderSize; ++x)
{
rcCompactCell c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA) continue;
// -x
ushort previd = 0;
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(0);
int ay = y + rcGetDirOffsetY(0);
int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 0);
if ((srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
previd = srcReg[ai];
}
if (previd == 0)
{
previd = rid++;
sweeps[previd].rid = previd;
sweeps[previd].ns = 0;
sweeps[previd].nei = 0;
}
// -y
if (rcGetCon(s,3) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(3);
int ay = y + rcGetDirOffsetY(3);
int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, 3);
if (srcReg[ai] != 0 && (srcReg[ai] & RC_BORDER_REG) == 0 && chf.areas[i] == chf.areas[ai])
{
ushort nr = srcReg[ai];
if (sweeps[previd].nei == 0 || sweeps[previd].nei == nr)
{
sweeps[previd].nei = nr;
sweeps[previd].ns++;
prev[nr]++;
}
else
{
sweeps[previd].nei = RC_NULL_NEI;
}
}
}
srcReg[i] = previd;
}
}
// Create unique ID.
for (int i = 1; i < rid; ++i)
{
if (sweeps[i].nei != RC_NULL_NEI && sweeps[i].nei != 0 &&
prev[sweeps[i].nei] == (int)sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
sweeps[i].id = id++;
}
}
// Remap IDs
for (int x = borderSize; x < w-borderSize; ++x)
{
rcCompactCell c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (srcReg[i] > 0 && srcReg[i] < rid)
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS_FILTER);
// Filter out small regions.
chf.maxRegions = id;
if (!filterSmallRegions(ctx, minRegionArea, mergeRegionArea, ref chf.maxRegions, chf, srcReg))
return false;
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS_FILTER);
// Store the result out.
for (int i = 0; i < chf.spanCount; ++i)
chf.spans[i].reg = srcReg[i];
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS);
return true;
}
/// @par
///
/// The raw contours will match the region outlines exactly. The @p maxError and @p maxEdgeLen
/// parameters control how closely the simplified contours will match the raw contours.
///
/// Simplified contours are generated such that the vertices for portals between areas match up.
/// (They are considered mandatory vertices.)
///
/// Setting @p maxEdgeLength to zero will disabled the edge length feature.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
public static bool rcBuildContours(rcContext ctx, rcCompactHeightfield chf,
float maxError, int maxEdgeLen,
rcContourSet cset, int buildFlags)
{
Debug.Assert(ctx != null, "rcContext is null");
int w = chf.width;
int h = chf.height;
int borderSize = chf.borderSize;
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS);
rcVcopy(cset.bmin, chf.bmin);
rcVcopy(cset.bmax, chf.bmax);
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
float pad = borderSize*chf.cs;
cset.bmin[0] += pad;
cset.bmin[2] += pad;
cset.bmax[0] -= pad;
cset.bmax[2] -= pad;
}
cset.cs = chf.cs;
cset.ch = chf.ch;
cset.width = chf.width - chf.borderSize*2;
cset.height = chf.height - chf.borderSize*2;
cset.borderSize = chf.borderSize;
int maxContours = Math.Max((int)chf.maxRegions, 8);
//cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
cset.conts = new rcContour[maxContours];
//if (cset.conts == null)
// return false;
cset.nconts = 0;
//rcScopedDelete<byte> flags = (byte*)rcAlloc(sizeof(byte)*chf.spanCount, RC_ALLOC_TEMP);
byte[] flags = new byte[chf.spanCount];
if (flags == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags' " + chf.spanCount);
return false;
}
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
// Mark boundaries.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
byte res = 0;
rcCompactSpan s = chf.spans[i];
if (chf.spans[i].reg == 0 || (chf.spans[i].reg & RC_BORDER_REG) != 0)
{
flags[i] = 0;
continue;
}
for (int dir = 0; dir < 4; ++dir)
{
ushort r = 0;
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(dir);
int ay = y + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(s, dir);
r = chf.spans[ai].reg;
}
if (r == chf.spans[i].reg)
res |= (byte)(1 << dir);
}
flags[i] = (byte)(res ^ 0xf); // Inverse, mark non connected edges.
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
//List<int> verts(256);
List<int> verts = new List<int>();
verts.Capacity = 256;
//List<int> simplified(64);
List<int> simplified = new List<int>();
simplified.Capacity = 64;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x+y*w];
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
if (flags[i] == 0 || flags[i] == 0xf)
{
flags[i] = 0;
continue;
}
ushort reg = chf.spans[i].reg;
if (reg == 0 || (reg & RC_BORDER_REG) != 0) {
continue;
}
byte area = chf.areas[i];
//verts.resize(0);
//simplified.resize(0);
verts.Clear();
simplified.Clear();
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
walkContour(x, y, i, chf, flags, verts);
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags);
removeDegenerateSegments(simplified);
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
// Store region.contour remap info.
// Create contour.
if (simplified.Count/4 >= 3)
{
if (cset.nconts >= maxContours)
{
// Allocate more contours.
// This can happen when there are tiny holes in the heightfield.
int oldMax = maxContours;
maxContours *= 2;
rcContour[] newConts = new rcContour[maxContours];// (rcContour*)rcAlloc(sizeof(rcContour) * maxContours, RC_ALLOC_PERM);
for (int j = 0; j < cset.nconts; ++j)
{
newConts[j] = cset.conts[j];
// Reset source pointers to prevent data deletion.
cset.conts[j].verts = null;
cset.conts[j].rverts = null;
}
//rcFree(cset.conts);
cset.conts = newConts;
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Expanding max contours from " + oldMax + " to "+ maxContours);
}
int contId = cset.nconts;
cset.nconts++;
rcContour cont = cset.conts[contId];
cont.nverts = simplified.Count/4;
cont.verts = new int[cont.nverts * 4]; //(int*)rcAlloc(sizeof(int)*cont.nverts*4, RC_ALLOC_PERM);
if (cont.verts == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'verts' " + cont.nverts);
return false;
}
//memcpy(cont.verts, &simplified[0], sizeof(int)*cont.nverts*4);
for (int j = 0; j < cont.nverts * 4; ++j) {
cont.verts[j] = simplified[j];
}
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int j = 0; j < cont.nverts; ++j)
{
//int* v = &cont.verts[j*4];
cont.verts[j * 4] -= borderSize;
cont.verts[j*4 + 2] -= borderSize;
//v[0] -= borderSize;
//v[2] -= borderSize;
}
}
cont.nrverts = verts.Count/4;
cont.rverts = new int[cont.nrverts * 4];//(int*)rcAlloc(sizeof(int)*cont.nrverts*4, RC_ALLOC_PERM);
if (cont.rverts == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'rverts' " + cont.nrverts);
return false;
}
//memcpy(cont.rverts, &verts[0], sizeof(int)*cont.nrverts*4);
for (int j = 0; j < cont.nrverts * 4; ++j) {
cont.rverts[j] = verts[j];
}
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int j = 0; j < cont.nrverts; ++j)
{
//int* v = &cont.rverts[j*4];
cont.rverts[j * 4] -= borderSize;
cont.rverts[j * 4 + 2] -= borderSize;
}
}
/* cont.cx = cont.cy = cont.cz = 0;
for (int i = 0; i < cont.nverts; ++i)
{
cont.cx += cont.verts[i*4+0];
cont.cy += cont.verts[i*4+1];
cont.cz += cont.verts[i*4+2];
}
cont.cx /= cont.nverts;
cont.cy /= cont.nverts;
cont.cz /= cont.nverts;*/
cont.reg = reg;
cont.area = area;
cset.conts[contId] = cont;
}
}
}
}
// Check and merge droppings.
// Sometimes the previous algorithms can fail and create several contours
// per area. This pass will try to merge the holes into the main region.
for (int i = 0; i < cset.nconts; ++i)
{
rcContour cont = cset.conts[i];
// Check if the contour is would backwards.
if (calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0)
{
// Find another contour which has the same region ID.
int mergeIdx = -1;
for (int j = 0; j < cset.nconts; ++j)
{
if (i == j) continue;
if (cset.conts[j].nverts != 0 && cset.conts[j].reg == cont.reg)
{
// Make sure the polygon is correctly oriented.
if (calcAreaOfPolygon2D(cset.conts[j].verts, cset.conts[j].nverts) != 0)
{
mergeIdx = j;
break;
}
}
}
if (mergeIdx == -1)
{
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Could not find merge target for bad contour " + i);
}
else
{
rcContour mcont = cset.conts[mergeIdx];
// Merge by closest points.
int ia = 0, ib = 0;
getClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ref ia, ref ib);
if (ia == -1 || ib == -1)
{
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Failed to find merge points for " + i + " and " + mergeIdx);
continue;
}
if (!mergeContours(ref mcont,ref cont, ia, ib))
{
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Failed to merge contours " + i + " and " + mergeIdx);
continue;
}
cset.conts[mergeIdx] = mcont;
cset.conts[i] = cont;
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS);
return true;
}
/// @see rcAllocPolyMeshDetail, rcPolyMeshDetail
static bool rcMergePolyMeshDetails(rcContext ctx, rcPolyMeshDetail[] meshes, int nmeshes, ref rcPolyMeshDetail mesh)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_MERGE_POLYMESHDETAIL);
int maxVerts = 0;
int maxTris = 0;
int maxMeshes = 0;
for (int i = 0; i < nmeshes; ++i)
{
if (meshes[i] == null) {
continue;
}
maxVerts += meshes[i].nverts;
maxTris += meshes[i].ntris;
maxMeshes += meshes[i].nmeshes;
}
mesh.nmeshes = 0;
//mesh.meshes = (uint*)rcAlloc(sizeof(uint)*maxMeshes*4, RC_ALLOC_PERM);
mesh.meshes = new uint[maxMeshes*4];
if (mesh.meshes == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'pmdtl.meshes' ("+maxMeshes*4+").");
return false;
}
mesh.ntris = 0;
//mesh.tris = (byte*)rcAlloc(sizeof(byte)*maxTris*4, RC_ALLOC_PERM);
mesh.tris = new byte[maxTris*4];
if (mesh.tris == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' (" + maxTris*4 + ").");
return false;
}
mesh.nverts = 0;
//mesh.verts = (float*)rcAlloc(sizeof(float)*maxVerts*3, RC_ALLOC_PERM);
mesh.verts = new float[maxVerts*3];
if (mesh.verts == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' ("+maxVerts*3+").");
return false;
}
// Merge datas.
for (int i = 0; i < nmeshes; ++i)
{
rcPolyMeshDetail dm = meshes[i];
if (dm == null) {
continue;
}
for (int j = 0; j < dm.nmeshes; ++j)
{
//uint* dst = &mesh.meshes[mesh.nmeshes*4];
//uint* src = &dm.meshes[j*4];
int dstIndex = mesh.nmeshes*4;
int srcIndex = j*4;
mesh.meshes[dstIndex + 0] = (uint)mesh.nverts + dm.meshes[srcIndex + 0];
mesh.meshes[dstIndex + 1] = dm.meshes[srcIndex + 1];
mesh.meshes[dstIndex + 2] = (uint)mesh.ntris + dm.meshes[srcIndex + 2];
mesh.meshes[dstIndex + 3] = dm.meshes[srcIndex + 3];
mesh.nmeshes++;
}
for (int k = 0; k < dm.nverts; ++k)
{
rcVcopy(mesh.verts,mesh.nverts*3, dm.verts, k*3);
mesh.nverts++;
}
for (int k = 0; k < dm.ntris; ++k)
{
mesh.tris[mesh.ntris*4+0] = dm.tris[k*4+0];
mesh.tris[mesh.ntris*4+1] = dm.tris[k*4+1];
mesh.tris[mesh.ntris*4+2] = dm.tris[k*4+2];
mesh.tris[mesh.ntris*4+3] = dm.tris[k*4+3];
mesh.ntris++;
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_MERGE_POLYMESHDETAIL);
return true;
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// The y-values of the polygon vertices are ignored. So the polygon is effectively
/// projected onto the xz-plane at @p hmin, then extruded to @p hmax.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
public static void rcMarkConvexPolyArea(rcContext ctx, float[] verts, int nverts,
float hmin, float hmax, byte areaId,
rcCompactHeightfield chf)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_MARK_CONVEXPOLY_AREA);
float[] bmin = new float[3];
float[] bmax = new float[3];
rcVcopy(bmin, verts);
rcVcopy(bmax, verts);
for (int i = 1; i < nverts; ++i)
{
int vStart = i * 3;
rcVmin(bmin, 0, verts, vStart);
rcVmax(bmax, 0, verts, vStart);
}
bmin[1] = hmin;
bmax[1] = hmax;
int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs);
int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch);
int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs);
int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs);
int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch);
int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs);
if (maxx < 0)
{
return;
}
if (minx >= chf.width)
{
return;
}
if (maxz < 0)
{
return;
}
if (minz >= chf.height)
{
return;
}
if (minx < 0)
{
minx = 0;
}
if (maxx >= chf.width)
{
maxx = chf.width - 1;
}
if (minz < 0)
{
minz = 0;
}
if (maxz >= chf.height)
{
maxz = chf.height - 1;
}
// TODO: Optimize.
for (int z = minz; z <= maxz; ++z)
{
for (int x = minx; x <= maxx; ++x)
{
rcCompactCell c = chf.cells[x + z * chf.width];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA)
{
continue;
}
if ((int)s.y >= miny && (int)s.y <= maxy)
{
float[] p = new float[3];
p[0] = chf.bmin[0] + (x + 0.5f) * chf.cs;
p[1] = 0;
p[2] = chf.bmin[2] + (z + 0.5f) * chf.cs;
if (pointInPoly(nverts, verts, p))
{
chf.areas[i] = areaId;
}
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_MARK_CONVEXPOLY_AREA);
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
public static void rcMarkBoxArea(rcContext ctx, float[] bmin, float[] bmax, byte areaId,
rcCompactHeightfield chf)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_MARK_BOX_AREA);
int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs);
int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch);
int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs);
int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs);
int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch);
int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs);
if (maxx < 0)
{
return;
}
if (minx >= chf.width)
{
return;
}
if (maxz < 0)
{
return;
}
if (minz >= chf.height)
{
return;
}
if (minx < 0)
{
minx = 0;
}
if (maxx >= chf.width)
{
maxx = chf.width - 1;
}
if (minz < 0)
{
minz = 0;
}
if (maxz >= chf.height)
{
maxz = chf.height - 1;
}
for (int z = minz; z <= maxz; ++z)
{
for (int x = minx; x <= maxx; ++x)
{
rcCompactCell c = chf.cells[x + z * chf.width];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
rcCompactSpan s = chf.spans[i];
if ((int)s.y >= miny && (int)s.y <= maxy)
{
if (chf.areas[i] != RC_NULL_AREA)
{
chf.areas[i] = areaId;
}
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_MARK_BOX_AREA);
}
/// @par
///
/// This filter is usually applied after applying area id's using functions
/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
///
/// @see rcCompactHeightfield
public static bool rcMedianFilterWalkableArea(rcContext ctx, rcCompactHeightfield chf)
{
Debug.Assert(ctx != null, "rcContext is null");
int w = chf.width;
int h = chf.height;
ctx.startTimer(rcTimerLabel.RC_TIMER_MEDIAN_AREA);
byte[] areas = new byte[chf.spanCount];//(byte*)rcAlloc(sizeof(byte)*chf.spanCount, RC_ALLOC_TEMP);
if (areas == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "medianFilterWalkableArea: Out of memory 'areas' " + chf.spanCount);
return(false);
}
// Init distance.
for (int i = 0; i < chf.spanCount; ++i)
{
areas[i] = 0xff;
}
//memset(areas, 0xff, sizeof(byte)*chf.spanCount);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA)
{
areas[i] = chf.areas[i];
continue;
}
byte[] nei = new byte[9];
for (int j = 0; j < 9; ++j)
{
nei[j] = chf.areas[i];
}
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(dir);
int ay = y + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, dir);
if (chf.areas[ai] != RC_NULL_AREA)
{
nei[dir * 2 + 0] = chf.areas[ai];
}
rcCompactSpan aSpan = chf.spans[ai];
int dir2 = (dir + 1) & 0x3;
if (rcGetCon(aSpan, dir2) != RC_NOT_CONNECTED)
{
int ax2 = ax + rcGetDirOffsetX(dir2);
int ay2 = ay + rcGetDirOffsetY(dir2);
int ai2 = (int)chf.cells[ax2 + ay2 * w].index + rcGetCon(aSpan, dir2);
if (chf.areas[ai2] != RC_NULL_AREA)
{
nei[dir * 2 + 1] = chf.areas[ai2];
}
}
}
}
insertSort(nei, 9);
areas[i] = nei[4];
}
}
}
chf.areas = areas;
ctx.stopTimer(rcTimerLabel.RC_TIMER_MEDIAN_AREA);
return(true);
}
/// @par
///
/// Basically, any spans that are closer to a boundary or obstruction than the specified radius
/// are marked as unwalkable.
///
/// This method is usually called immediately after the heightfield has been built.
///
/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
public static bool rcErodeWalkableArea(rcContext ctx, int radius, rcCompactHeightfield chf)
{
Debug.Assert(ctx != null, "rcContext is null");
int w = chf.width;
int h = chf.height;
ctx.startTimer(rcTimerLabel.RC_TIMER_ERODE_AREA);
byte[] dist = new byte[chf.spanCount];//(byte*)rcAlloc(sizeof(byte)*chf.spanCount, RC_ALLOC_TEMP);
if (dist == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "erodeWalkableArea: Out of memory 'dist' " + chf.spanCount);
return(false);
}
// Init distance.
for (int i = 0; i < chf.spanCount; ++i)
{
dist[i] = 0xff;
}
// memset(dist, 0xff, sizeof(byte)*chf.spanCount);
// Mark boundary cells.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
if (chf.areas[i] == RC_NULL_AREA)
{
dist[i] = 0;
}
else
{
rcCompactSpan s = chf.spans[i];
int nc = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int nx = x + rcGetDirOffsetX(dir);
int ny = y + rcGetDirOffsetY(dir);
int nidx = (int)chf.cells[nx + ny * w].index + rcGetCon(s, dir);
if (chf.areas[nidx] != RC_NULL_AREA)
{
nc++;
}
}
}
// At least one missing neighbour.
if (nc != 4)
{
dist[i] = 0;
}
}
}
}
}
byte nd = 0;
// Pass 1
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
rcCompactSpan s = chf.spans[i];
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
// (-1,0)
int ax = x + rcGetDirOffsetX(0);
int ay = y + rcGetDirOffsetY(0);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 0);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
// (-1,-1)
if (rcGetCon(aSpan, 3) != RC_NOT_CONNECTED)
{
int aax = ax + rcGetDirOffsetX(3);
int aay = ay + rcGetDirOffsetY(3);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 3);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
}
}
if (rcGetCon(s, 3) != RC_NOT_CONNECTED)
{
// (0,-1)
int ax = x + rcGetDirOffsetX(3);
int ay = y + rcGetDirOffsetY(3);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 3);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
// (1,-1)
if (rcGetCon(aSpan, 2) != RC_NOT_CONNECTED)
{
int aax = ax + rcGetDirOffsetX(2);
int aay = ay + rcGetDirOffsetY(2);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 2);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
}
}
}
}
}
// Pass 2
for (int y = h - 1; y >= 0; --y)
{
for (int x = w - 1; x >= 0; --x)
{
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
rcCompactSpan s = chf.spans[i];
if (rcGetCon(s, 2) != RC_NOT_CONNECTED)
{
// (1,0)
int ax = x + rcGetDirOffsetX(2);
int ay = y + rcGetDirOffsetY(2);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 2);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
// (1,1)
if (rcGetCon(aSpan, 1) != RC_NOT_CONNECTED)
{
int aax = ax + rcGetDirOffsetX(1);
int aay = ay + rcGetDirOffsetY(1);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 1);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
}
}
if (rcGetCon(s, 1) != RC_NOT_CONNECTED)
{
// (0,1)
int ax = x + rcGetDirOffsetX(1);
int ay = y + rcGetDirOffsetY(1);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 1);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
// (-1,1)
if (rcGetCon(aSpan, 0) != RC_NOT_CONNECTED)
{
int aax = ax + rcGetDirOffsetX(0);
int aay = ay + rcGetDirOffsetY(0);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 0);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
}
}
}
}
}
byte thr = (byte)(radius * 2);
for (int i = 0; i < chf.spanCount; ++i)
{
if (dist[i] < thr)
{
chf.areas[i] = RC_NULL_AREA;
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_ERODE_AREA);
return(true);
}
/// @par
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfieldLayerSet, rcCompactHeightfield, rcHeightfieldLayerSet, rcConfig
public static bool rcBuildHeightfieldLayers(rcContext ctx, rcCompactHeightfield chf,
int borderSize, int walkableHeight,
rcHeightfieldLayerSet lset)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_LAYERS);
int w = chf.width;
int h = chf.height;
byte[] srcReg = new byte[chf.spanCount];
if (srcReg == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'srcReg' " + chf.spanCount);
return(false);
}
for (int i = 0; i < chf.spanCount; ++i)
{
srcReg[i] = 0xff;
}
int nsweeps = chf.width;
rcLayerSweepSpan[] sweeps = new rcLayerSweepSpan[nsweeps];
if (sweeps == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'sweeps' " + nsweeps);
return(false);
}
// Partition walkable area into monotone regions.
int[] prevCount = new int[256];
byte regId = 0;
for (int y = borderSize; y < h - borderSize; ++y)
{
//memset to 0 is done by C# alloc
//memset(prevCount,0,sizeof(int)*regId);
byte sweepId = 0;
for (int x = borderSize; x < w - borderSize; ++x)
{
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA)
{
continue;
}
byte sid = 0xff;
// -x
if (rcGetCon(s, 0) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(0);
int ay = y + rcGetDirOffsetY(0);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 0);
if (chf.areas[ai] != RC_NULL_AREA && srcReg[ai] != 0xff)
{
sid = srcReg[ai];
}
}
if (sid == 0xff)
{
sid = sweepId++;
sweeps[sid].nei = (byte)0xff;
sweeps[sid].ns = 0;
}
// -y
if (rcGetCon(s, 3) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(3);
int ay = y + rcGetDirOffsetY(3);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 3);
byte nr = srcReg[ai];
if (nr != 0xff)
{
// Set neighbour when first valid neighbour is encoutered.
if (sweeps[sid].ns == 0)
{
sweeps[sid].nei = nr;
}
if (sweeps[sid].nei == nr)
{
// Update existing neighbour
sweeps[sid].ns++;
prevCount[nr]++;
}
else
{
// This is hit if there is nore than one neighbour.
// Invalidate the neighbour.
sweeps[sid].nei = 0xff;
}
}
}
srcReg[i] = sid;
}
}
// Create unique ID.
for (int i = 0; i < sweepId; ++i)
{
// If the neighbour is set and there is only one continuous connection to it,
// the sweep will be merged with the previous one, else new region is created.
if (sweeps[i].nei != 0xff && prevCount[sweeps[i].nei] == (int)sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
if (regId == 255)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Region ID overflow.");
return(false);
}
sweeps[i].id = regId++;
}
}
// Remap local sweep ids to region ids.
for (int x = borderSize; x < w - borderSize; ++x)
{
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
if (srcReg[i] != 0xff)
{
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
}
// Allocate and init layer regions.
int nregs = (int)regId;
rcLayerRegion[] regs = new rcLayerRegion[nregs];
if (regs == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'regs' " + nregs);
return(false);
}
//memset(regs, 0, sizeof(rcLayerRegion)*nregs);
for (int i = 0; i < nregs; ++i)
{
regs[i].layerId = 0xff;
regs[i].ymin = 0xffff;
regs[i].ymax = 0;
}
// Find region neighbours and overlapping regions.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x + y * w];
byte[] lregs = new byte[RC_MAX_LAYERS];
int nlregs = 0;
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
rcCompactSpan s = chf.spans[i];
byte ri = srcReg[i];
if (ri == 0xff)
{
continue;
}
regs[ri].ymin = Math.Min(regs[ri].ymin, s.y);
regs[ri].ymax = Math.Max(regs[ri].ymax, s.y);
// Collect all region layers.
if (nlregs < RC_MAX_LAYERS)
{
lregs[nlregs++] = ri;
}
// Update neighbours
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(dir);
int ay = y + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, dir);
byte rai = srcReg[ai];
if (rai != 0xff && rai != ri)
{
addUnique(regs[ri].neis, ref regs[ri].nneis, rai);
}
}
}
}
// Update overlapping regions.
for (int i = 0; i < nlregs - 1; ++i)
{
for (int j = i + 1; j < nlregs; ++j)
{
if (lregs[i] != lregs[j])
{
rcLayerRegion ri = regs[lregs[i]];
rcLayerRegion rj = regs[lregs[j]];
addUnique(ri.layers, ref ri.nlayers, lregs[j]);
addUnique(rj.layers, ref rj.nlayers, lregs[i]);
}
}
}
}
}
// Create 2D layers from regions.
byte layerId = 0;
const int MAX_STACK = 64;
byte[] stack = new byte[MAX_STACK];
int nstack = 0;
for (int i = 0; i < nregs; ++i)
{
rcLayerRegion root = regs[i];
// Skip alreadu visited.
if (root.layerId != 0xff)
{
continue;
}
// Start search.
root.layerId = layerId;
root.baseFlag = 1;
nstack = 0;
stack[nstack++] = (byte)i;
while (nstack != 0)
{
// Pop front
rcLayerRegion reg = regs[stack[0]];
nstack--;
for (int j = 0; j < nstack; ++j)
{
stack[j] = stack[j + 1];
}
int nneis = (int)reg.nneis;
for (int j = 0; j < nneis; ++j)
{
byte nei = reg.neis[j];
rcLayerRegion regn = regs[nei];
// Skip already visited.
if (regn.layerId != 0xff)
{
continue;
}
// Skip if the neighbour is overlapping root region.
if (contains(root.layers, root.nlayers, nei))
{
continue;
}
// Skip if the height range would become too large.
int ymin = Math.Min(root.ymin, regn.ymin);
int ymax = Math.Max(root.ymax, regn.ymax);
if ((ymax - ymin) >= 255)
{
continue;
}
if (nstack < MAX_STACK)
{
// Deepen
stack[nstack++] = (byte)nei;
// Mark layer id
regn.layerId = layerId;
// Merge current layers to root.
for (int k = 0; k < regn.nlayers; ++k)
{
addUnique(root.layers, ref root.nlayers, regn.layers[k]);
}
root.ymin = Math.Min(root.ymin, regn.ymin);
root.ymax = Math.Max(root.ymax, regn.ymax);
}
}
}
layerId++;
}
// Merge non-overlapping regions that are close in height.
ushort mergeHeight = (ushort)(walkableHeight * 4);
for (int i = 0; i < nregs; ++i)
{
rcLayerRegion ri = regs[i];
if (ri.baseFlag == 0)
{
continue;
}
byte newId = ri.layerId;
for (; ;)
{
byte oldId = 0xff;
for (int j = 0; j < nregs; ++j)
{
if (i == j)
{
continue;
}
rcLayerRegion rj = regs[j];
if (rj.baseFlag == 0)
{
continue;
}
// Skip if teh regions are not close to each other.
if (!overlapRange(ri.ymin,
(ushort)(ri.ymax + mergeHeight),
rj.ymin,
(ushort)(rj.ymax + mergeHeight)))
{
continue;
}
// Skip if the height range would become too large.
int ymin = Math.Min(ri.ymin, rj.ymin);
int ymax = Math.Max(ri.ymax, rj.ymax);
if ((ymax - ymin) >= 255)
{
continue;
}
// Make sure that there is no overlap when mergin 'ri' and 'rj'.
bool overlap = false;
// Iterate over all regions which have the same layerId as 'rj'
for (int k = 0; k < nregs; ++k)
{
if (regs[k].layerId != rj.layerId)
{
continue;
}
// Check if region 'k' is overlapping region 'ri'
// Index to 'regs' is the same as region id.
if (contains(ri.layers, ri.nlayers, (byte)k))
{
overlap = true;
break;
}
}
// Cannot merge of regions overlap.
if (overlap)
{
continue;
}
// Can merge i and j.
oldId = rj.layerId;
break;
}
// Could not find anything to merge with, stop.
if (oldId == 0xff)
{
break;
}
// Merge
for (int j = 0; j < nregs; ++j)
{
rcLayerRegion rj = regs[j];
if (rj.layerId == oldId)
{
rj.baseFlag = 0;
// Remap layerIds.
rj.layerId = newId;
// Add overlaid layers from 'rj' to 'ri'.
for (int k = 0; k < rj.nlayers; ++k)
{
addUnique(ri.layers, ref ri.nlayers, rj.layers[k]);
}
// Update heigh bounds.
ri.ymin = Math.Min(ri.ymin, rj.ymin);
ri.ymax = Math.Max(ri.ymax, rj.ymax);
}
}
}
}
// Compact layerIds
byte[] remap = new byte[256];
//memset(remap, 0, 256);
// Find number of unique layers.
layerId = 0;
for (int i = 0; i < nregs; ++i)
{
remap[regs[i].layerId] = 1;
}
for (int i = 0; i < 256; ++i)
{
if (remap[i] != 0)
{
remap[i] = layerId++;
}
else
{
remap[i] = 0xff;
}
}
// Remap ids.
for (int i = 0; i < nregs; ++i)
{
regs[i].layerId = remap[regs[i].layerId];
}
// No layers, return empty.
if (layerId == 0)
{
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_LAYERS);
return(true);
}
// Create layers.
Debug.Assert(lset.layers == null, "Assert lset.layers == 0");
int lw = w - borderSize * 2;
int lh = h - borderSize * 2;
// Build contracted bbox for layers.
float[] bmin = new float[3];
float[] bmax = new float[3];
rcVcopy(bmin, chf.bmin);
rcVcopy(bmax, chf.bmax);
bmin[0] += borderSize * chf.cs;
bmin[2] += borderSize * chf.cs;
bmax[0] -= borderSize * chf.cs;
bmax[2] -= borderSize * chf.cs;
lset.nlayers = (int)layerId;
//lset.layers = (rcHeightfieldLayer*)rcAlloc(sizeof(rcHeightfieldLayer)*lset.nlayers, RC_ALLOC_PERM);
lset.layers = new rcHeightfieldLayer[lset.nlayers];
if (lset.layers == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'layers' " + lset.nlayers);
return(false);
}
//memset(lset.layers, 0, sizeof(rcHeightfieldLayer)*lset.nlayers);
// Store layers.
for (int i = 0; i < lset.nlayers; ++i)
{
byte curId = (byte)i;
// Allocate memory for the current layer.
rcHeightfieldLayer layer = lset.layers[i];
//memset(layer, 0, sizeof(rcHeightfieldLayer));
int gridSize = sizeof(byte) * lw * lh;
layer.heights = new byte[gridSize];//(byte*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (layer.heights == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'heights' " + gridSize);
return(false);
}
//memset(layer.heights, 0xff, gridSize);
for (int j = 0; j < gridSize; ++j)
{
layer.heights[j] = 0xFF;
}
layer.areas = new byte[gridSize];// (byte*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (layer.areas == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'areas' " + gridSize);
return(false);
}
//memset(layer.areas, 0, gridSize);
layer.cons = new byte[gridSize];// (byte*)rcAlloc(gridSize, RC_ALLOC_PERM);
if (layer.cons == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildHeightfieldLayers: Out of memory 'cons' " + gridSize);
return(false);
}
//memset(layer.cons, 0, gridSize);
// Find layer height bounds.
int hmin = 0, hmax = 0;
for (int j = 0; j < nregs; ++j)
{
if (regs[j].baseFlag != 0 && regs[j].layerId == curId)
{
hmin = (int)regs[j].ymin;
hmax = (int)regs[j].ymax;
}
}
layer.width = lw;
layer.height = lh;
layer.cs = chf.cs;
layer.ch = chf.ch;
// Adjust the bbox to fit the heighfield.
rcVcopy(layer.bmin, bmin);
rcVcopy(layer.bmax, bmax);
layer.bmin[1] = bmin[1] + hmin * chf.ch;
layer.bmax[1] = bmin[1] + hmax * chf.ch;
layer.hmin = hmin;
layer.hmax = hmax;
// Update usable data region.
layer.minx = layer.width;
layer.maxx = 0;
layer.miny = layer.height;
layer.maxy = 0;
// Copy height and area from compact heighfield.
for (int y = 0; y < lh; ++y)
{
for (int x = 0; x < lw; ++x)
{
int cx = borderSize + x;
int cy = borderSize + y;
rcCompactCell c = chf.cells[cx + cy * w];
for (int j = (int)c.index, nj = (int)(c.index + c.count); j < nj; ++j)
{
rcCompactSpan s = chf.spans[j];
// Skip unassigned regions.
if (srcReg[j] == 0xff)
{
continue;
}
// Skip of does nto belong to current layer.
byte lid = regs[srcReg[j]].layerId;
if (lid != curId)
{
continue;
}
// Update data bounds.
layer.minx = Math.Min(layer.minx, x);
layer.maxx = Math.Max(layer.maxx, x);
layer.miny = Math.Min(layer.miny, y);
layer.maxy = Math.Max(layer.maxy, y);
// Store height and area type.
int idx = x + y * lw;
layer.heights[idx] = (byte)(s.y - hmin);
layer.areas[idx] = chf.areas[j];
// Check connection.
byte portal = 0;
byte con = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int ax = cx + rcGetDirOffsetX(dir);
int ay = cy + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, dir);
byte alid = srcReg[ai] != (byte)0xff ? regs[srcReg[ai]].layerId : (byte)0xff;
// Portal mask
if (chf.areas[ai] != RC_NULL_AREA && lid != alid)
{
portal |= (byte)(1 << dir);
// Update height so that it matches on both sides of the portal.
rcCompactSpan aSpan = chf.spans[ai];
if (aSpan.y > hmin)
{
layer.heights[idx] = Math.Max(layer.heights[idx], (byte)(aSpan.y - hmin));
}
}
// Valid connection mask
if (chf.areas[ai] != RC_NULL_AREA && lid == alid)
{
int nx = ax - borderSize;
int ny = ay - borderSize;
if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
{
con |= (byte)(1 << dir);
}
}
}
}
layer.cons[idx] = (byte)((portal << 4) | con);
}
}
}
if (layer.minx > layer.maxx)
{
layer.minx = layer.maxx = 0;
}
if (layer.miny > layer.maxy)
{
layer.miny = layer.maxy = 0;
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_LAYERS);
return(true);
}
/// @see rcAllocPolyMesh, rcPolyMesh
public static bool rcMergePolyMeshes(rcContext ctx, ref rcPolyMesh[] meshes, int nmeshes, rcPolyMesh mesh)
{
Debug.Assert(ctx != null, "rcContext is null");
if (nmeshes == 0 || meshes == null)
return true;
ctx.startTimer(rcTimerLabel.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 = Math.Max(maxVertsPerMesh, meshes[i].nverts);
maxVerts += meshes[i].nverts;
maxPolys += meshes[i].npolys;
}
mesh.nverts = 0;
//mesh.verts = (ushort*)rcAlloc(sizeof(ushort)*maxVerts*3, RC_ALLOC_PERM);
mesh.verts = new ushort[maxVerts * 3];
if (mesh.verts == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.verts' " + maxVerts * 3);
return false;
}
mesh.npolys = 0;
//mesh.polys = (ushort*)rcAlloc(sizeof(ushort)*maxPolys*2*mesh.nvp, RC_ALLOC_PERM);
mesh.polys = new ushort[maxPolys * 2 * mesh.nvp];
if (mesh.polys == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.polys' " + maxPolys * 2 * mesh.nvp);
return false;
}
//memset(mesh.polys, 0xff, sizeof(ushort)*maxPolys*2*mesh.nvp);
for (int i = 0; i < maxPolys * 2 * mesh.nvp; ++i) {
mesh.polys[i] = 0xffff;
}
//mesh.regs = (ushort*)rcAlloc(sizeof(ushort)*maxPolys, RC_ALLOC_PERM);
mesh.regs = new ushort[maxPolys];
if (mesh.regs == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.regs' " + maxPolys);
return false;
}
//memset(mesh.regs, 0, sizeof(ushort)*maxPolys);
//mesh.areas = (byte*)rcAlloc(sizeof(byte)*maxPolys, RC_ALLOC_PERM);
mesh.areas = new byte[maxPolys];
if (mesh.areas == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.areas' " + maxPolys);
return false;
}
//memset(mesh.areas, 0, sizeof(byte)*maxPolys);
//mesh.flags = (ushort*)rcAlloc(sizeof(ushort)*maxPolys, RC_ALLOC_PERM);
mesh.flags = new ushort[maxPolys];
if (mesh.flags == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'mesh.flags' " + maxPolys);
return false;
}
//memset(mesh.flags, 0, sizeof(ushort)*maxPolys);
//rcScopedDelete<int> nextVert = (int*)rcAlloc(sizeof(int)*maxVerts, RC_ALLOC_TEMP);
int[] nextVert = new int[maxVerts];
if (nextVert == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'nextVert' " + maxVerts);
return false;
}
//memset(nextVert, 0, sizeof(int)*maxVerts);
//rcScopedDelete<int> firstVert = (int*)rcAlloc(sizeof(int)*VERTEX_BUCKET_COUNT, RC_ALLOC_TEMP);
int[] firstVert = new int[VERTEX_BUCKET_COUNT];
if (firstVert == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'firstVert' " + VERTEX_BUCKET_COUNT);
return false;
}
for (int i = 0; i < VERTEX_BUCKET_COUNT; ++i) {
firstVert[i] = -1;
}
//rcScopedDelete<ushort> vremap = (ushort*)rcAlloc(sizeof(ushort)*maxVertsPerMesh, RC_ALLOC_PERM);
ushort[] vremap = new ushort[maxVertsPerMesh];
if (vremap == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcMergePolyMeshes: Out of memory 'vremap' " + maxVertsPerMesh);
return false;
}
//memset(vremap, 0, sizeof(ushort)*maxVertsPerMesh);
for (int i = 0; i < nmeshes; ++i) {
rcPolyMesh pmesh = meshes[i];
ushort ox = (ushort)Math.Floor((pmesh.bmin[0] - mesh.bmin[0]) / mesh.cs + 0.5f);
ushort oz = (ushort)Math.Floor((pmesh.bmin[2] - mesh.bmin[2]) / mesh.cs + 0.5f);
bool isMinX = (ox == 0);
bool isMinZ = (oz == 0);
bool isMaxX = ((ushort)Math.Floor((mesh.bmax[0] - pmesh.bmax[0]) / mesh.cs + 0.5f)) == 0;
bool isMaxZ = ((ushort)Math.Floor((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) {
//ushort* v = &pmesh.verts[j*3];
int vIndex = j * 3;
vremap[j] = addVertex((ushort)(pmesh.verts[vIndex + 0] + ox), pmesh.verts[vIndex + 1], (ushort)(pmesh.verts[vIndex + 2] + oz),
mesh.verts, firstVert, nextVert, ref mesh.nverts);
}
for (int j = 0; j < pmesh.npolys; ++j) {
//ushort* tgt = &mesh.polys[mesh.npolys*2*mesh.nvp];
//ushort* src = &pmesh.polys[j*2*mesh.nvp];
int tgtIndex = mesh.npolys * 2 * mesh.nvp;
int srcIndex = 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 (pmesh.polys[srcIndex + k] == RC_MESH_NULL_IDX) {
break;
}
mesh.polys[tgtIndex + k] = vremap[pmesh.polys[srcIndex + k]];
}
if (isOnBorder) {
for (int k = mesh.nvp; k < mesh.nvp * 2; ++k) {
if ((pmesh.polys[srcIndex + k] & 0x8000) != 0 && (pmesh.polys[srcIndex + k] != 0xffff)) {
ushort dir = (ushort)(pmesh.polys[srcIndex + k] & 0xf);
switch (dir) {
case 0: // Portal x-
if (isMinX)
mesh.polys[tgtIndex + k] = pmesh.polys[srcIndex + k];
break;
case 1: // Portal z+
if (isMaxZ)
mesh.polys[tgtIndex + k] = pmesh.polys[srcIndex + k];
break;
case 2: // Portal x+
if (isMaxX)
mesh.polys[tgtIndex + k] = pmesh.polys[srcIndex + k];
break;
case 3: // Portal z-
if (isMinZ)
mesh.polys[tgtIndex + k] = pmesh.polys[srcIndex + k];
break;
}
}
}
}
}
}
// Calculate adjacency.
if (!buildMeshAdjacency(mesh.polys, mesh.npolys, mesh.nverts, mesh.nvp)) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcMergePolyMeshes: Adjacency failed.");
return false;
}
if (mesh.nverts > 0xffff) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many vertices " + mesh.nverts + " (max " + 0xffff + "). Data can be corrupted.");
}
if (mesh.npolys > 0xffff) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcMergePolyMeshes: The resulting mesh has too many polygons " + mesh.npolys + " (max " + 0xffff + "). Data can be corrupted.");
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_MERGE_POLYMESH);
return true;
}
/// @par
///
/// The raw contours will match the region outlines exactly. The @p maxError and @p maxEdgeLen
/// parameters control how closely the simplified contours will match the raw contours.
///
/// Simplified contours are generated such that the vertices for portals between areas match up.
/// (They are considered mandatory vertices.)
///
/// Setting @p maxEdgeLength to zero will disabled the edge length feature.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
public static bool rcBuildContours(rcContext ctx, rcCompactHeightfield chf, double maxError, int maxEdgeLen, rcContourSet cset, int buildFlags = 1)
{
Debug.Assert(ctx != null, "rcContext is null");
int w = chf.width;
int h = chf.height;
int borderSize = chf.borderSize;
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS);
rcVcopy(cset.bmin, chf.bmin);
rcVcopy(cset.bmax, chf.bmax);
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
float pad = borderSize * chf.cs;
cset.bmin[0] += pad;
cset.bmin[2] += pad;
cset.bmax[0] -= pad;
cset.bmax[2] -= pad;
}
cset.cs = chf.cs;
cset.ch = chf.ch;
cset.width = chf.width - chf.borderSize * 2;
cset.height = chf.height - chf.borderSize * 2;
cset.borderSize = chf.borderSize;
cset.maxError = (float)maxError;
int maxContours = Math.Max((int)chf.maxRegions, 8);
cset.conts = new rcContour[maxContours];
for (var i = 0; i < maxContours; ++i)
{
cset.conts[i] = new rcContour();
}
cset.nconts = 0;
byte[] flags = new byte[chf.spanCount];
if (flags == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags' " + chf.spanCount);
return(false);
}
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
// Mark boundaries.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
byte res = 0;
rcCompactSpan s = chf.spans[i];
if (chf.spans[i].reg == 0 || (chf.spans[i].reg & RC_BORDER_REG) != 0)
{
flags[i] = 0;
continue;
}
for (int dir = 0; dir < 4; ++dir)
{
ushort r = 0;
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(dir);
int ay = y + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, dir);
r = chf.spans[ai].reg;
}
if (r == chf.spans[i].reg)
{
res |= (byte)(1 << dir);
}
}
flags[i] = (byte)(res ^ 0xf); // Inverse, mark non connected edges.
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
List <int> verts = new(256);
List <int> simplified = new(64);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
if (flags[i] == 0 || flags[i] == 0xf)
{
flags[i] = 0;
continue;
}
ushort reg = chf.spans[i].reg;
if (reg == 0 || (reg & RC_BORDER_REG) != 0)
{
continue;
}
byte area = chf.areas[i];
verts.Clear();
simplified.Clear();
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
walkContour(x, y, i, chf, flags, verts);
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags);
removeDegenerateSegments(simplified);
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
// Store region.contour remap info.
// Create contour.
if (simplified.Count / 4 >= 3)
{
if (cset.nconts >= maxContours)
{
// Allocate more contours.
// This can happen when there are tiny holes in the heightfield.
int oldMax = maxContours;
maxContours *= 2;
rcContour[] newConts = new rcContour[maxContours];
for (int j = 0; j < cset.nconts; ++j)
{
newConts[j] = cset.conts[j];
// Reset source pointers to prevent data deletion.
cset.conts[j].verts = null;
cset.conts[j].rverts = null;
}
cset.conts = newConts;
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Expanding max contours from " + oldMax + " to " + maxContours);
}
int contId = cset.nconts;
if (contId == 7)
{
}
cset.nconts++;
rcContour cont = cset.conts[contId];
cont.nverts = simplified.Count / 4;
cont.verts = new int[cont.nverts * 4];
if (cont.verts == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'verts' " + cont.nverts);
return(false);
}
for (int j = 0; j < cont.nverts * 4; ++j)
{
cont.verts[j] = simplified[j];
}
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int j = 0; j < cont.nverts; ++j)
{
cont.verts[j * 4] -= borderSize;
cont.verts[j * 4 + 2] -= borderSize;
}
}
cont.nrverts = verts.Count / 4;
cont.rverts = new int[cont.nrverts * 4];
if (cont.rverts == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'rverts' " + cont.nrverts);
return(false);
}
for (int j = 0; j < cont.nrverts * 4; ++j)
{
cont.rverts[j] = verts[j];
}
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int j = 0; j < cont.nrverts; ++j)
{
cont.rverts[j * 4] -= borderSize;
cont.rverts[j * 4 + 2] -= borderSize;
}
}
cont.reg = reg;
cont.area = area;
cset.conts[contId] = cont;
}
}
}
}
// Merge holes if needed.
if (cset.nconts > 0)
{
// Calculate winding of all polygons.
sbyte[] winding = new sbyte[cset.nconts];
int nholes = 0;
for (int i = 0; i < cset.nconts; ++i)
{
rcContour cont = cset.conts[i];
// If the contour is wound backwards, it is a hole.
winding[i] = (sbyte)(calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0 ? -1 : 1);
if (winding[i] < 0)
{
nholes++;
}
}
if (nholes > 0)
{
// Collect outline contour and holes contours per region.
// We assume that there is one outline and multiple holes.
int nregions = chf.maxRegions + 1;
rcContourRegion[] regions = new rcContourRegion[nregions];
for (var i = 0; i < nregions; ++i)
{
regions[i] = new rcContourRegion();
}
rcContourHole[] holes = new rcContourHole[cset.nconts];
for (var i = 0; i < cset.nconts; ++i)
{
holes[i] = new rcContourHole();
}
for (int i = 0; i < cset.nconts; ++i)
{
rcContour cont = cset.conts[i];
// Positively would contours are outlines, negative holes.
if (winding[i] > 0)
{
regions[cont.reg].outline = cont;
}
else
{
regions[cont.reg].nholes++;
}
}
int index = 0;
for (int i = 0; i < nregions; i++)
{
if (regions[i].nholes > 0)
{
regions[i].holes = new rcContourHole[cset.nconts];
Array.Copy(holes, index, regions[i].holes, 0, cset.nconts - index);
index += regions[i].nholes;
regions[i].nholes = 0;
}
}
for (int i = 0; i < cset.nconts; ++i)
{
rcContour cont = cset.conts[i];
rcContourRegion reg = regions[cont.reg];
if (winding[i] < 0)
{
reg.holes[reg.nholes++].contour = cont;
}
}
// Finally merge each regions holes into the outline.
for (int i = 0; i < nregions; i++)
{
rcContourRegion reg = regions[i];
if (reg.nholes == 0)
{
continue;
}
if (reg.outline.verts != null)
{
mergeRegionHoles(ctx, reg);
}
else
{
// The region does not have an outline.
// This can happen if the contour becaomes selfoverlapping because of
// too aggressive simplification settings.
ctx.log(rcLogCategory.RC_LOG_ERROR, string.Format("rcBuildContours: Bad outline for region {0}, contour simplification is likely too aggressive.", i));
}
}
}
}
return(true);
}
/// @par
///
/// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb
/// from the current span's maximum.
/// This method removes the impact of the overestimation of conservative voxelization
/// so the resulting mesh will not have regions hanging in the air over ledges.
///
/// A span is a ledge if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
///
/// @see rcHeightfield, rcConfig
public static void rcFilterLedgeSpans(rcContext ctx, int walkableHeight, int walkableClimb,
rcHeightfield solid)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_FILTER_BORDER);
int w = solid.width;
int h = solid.height;
int MAX_HEIGHT = 0xffff;
// Mark border spans.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
for (rcSpan s = solid.spans[x + y * w]; s != null; s = s.next)
{
// Skip non walkable spans.
if (s.area == RC_NULL_AREA)
{
continue;
}
int bot = (int)(s.smax);
int top = s.next != null ? (int)(s.next.smin) : MAX_HEIGHT;
// Find neighbours minimum height.
int minh = MAX_HEIGHT;
// Min and max height of accessible neighbours.
int asmin = s.smax;
int asmax = s.smax;
for (int dir = 0; dir < 4; ++dir)
{
int dx = x + rcGetDirOffsetX(dir);
int dy = y + rcGetDirOffsetY(dir);
// Skip neighbours which are out of bounds.
if (dx < 0 || dy < 0 || dx >= w || dy >= h)
{
minh = Math.Min(minh, -walkableClimb - bot);
continue;
}
// From minus infinity to the first span.
rcSpan ns = solid.spans[dx + dy * w];
int nbot = -walkableClimb;
int ntop = ns != null ? (int)ns.smin : MAX_HEIGHT;
// Skip neightbour if the gap between the spans is too small.
if (Math.Min(top, ntop) - Math.Max(bot, nbot) > walkableHeight)
{
minh = Math.Min(minh, nbot - bot);
}
// Rest of the spans.
for (ns = solid.spans[dx + dy * w]; ns != null; ns = ns.next)
{
nbot = (int)ns.smax;
ntop = ns.next != null ? (int)ns.next.smin : MAX_HEIGHT;
// Skip neightbour if the gap between the spans is too small.
if (Math.Min(top, ntop) - Math.Max(bot, nbot) > walkableHeight)
{
minh = Math.Min(minh, nbot - bot);
// Find min/max accessible neighbour height.
if (Math.Abs(nbot - bot) <= walkableClimb)
{
if (nbot < asmin)
{
asmin = nbot;
}
if (nbot > asmax)
{
asmax = nbot;
}
}
}
}
}
// The current span is close to a ledge if the drop to any
// neighbour span is less than the walkableClimb.
if (minh < -walkableClimb)
{
s.area = RC_NULL_AREA;
}
// If the difference between all neighbours is too large,
// we are at steep slope, mark the span as ledge.
if ((asmax - asmin) > walkableClimb)
{
s.area = RC_NULL_AREA;
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_FILTER_BORDER);
}
/// @par
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocPolyMeshDetail, rcPolyMesh, rcCompactHeightfield, rcPolyMeshDetail, rcConfig
public static bool rcBuildPolyMeshDetail(rcContext ctx, rcPolyMesh mesh, rcCompactHeightfield chf,
float sampleDist, float sampleMaxError,
rcPolyMeshDetail dmesh)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_POLYMESHDETAIL);
if (mesh.nverts == 0 || mesh.npolys == 0)
return true;
int nvp = mesh.nvp;
float cs = mesh.cs;
float ch = mesh.ch;
float[] orig = mesh.bmin;
int borderSize = mesh.borderSize;
List<int> edges = new List<int>();
List<int> tris = new List<int>();
List<int> stack = new List<int>();
List<int> samples = new List<int>();
edges.Capacity = 64;
tris.Capacity = 512;
stack.Capacity = 512;
samples.Capacity = 512;
float[] verts = new float[256*3];
rcHeightPatch hp = new rcHeightPatch();
int nPolyVerts = 0;
int maxhw = 0, maxhh = 0;
//rcScopedDelete<int> bounds = (int*)rcAlloc(sizeof(int)*mesh.npolys*4, RC_ALLOC_TEMP);
int[] bounds = new int[mesh.npolys*4];
if (bounds == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'bounds' ("+ mesh.npolys*4+").");
return false;
}
//rcScopedDelete<float> poly = (float*)rcAlloc(sizeof(float)*nvp*3, RC_ALLOC_TEMP);
float[] poly = new float[nvp*3];
if (poly == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'poly' ("+nvp*3+").");
return false;
}
// Find max size for a polygon area.
for (int i = 0; i < mesh.npolys; ++i)
{
//ushort* p = &mesh.polys[i*nvp*2];
int pStart = i*nvp*2;
//int& xmin = bounds[i*4+0];
//int& xmax = bounds[i*4+1];
//int& ymin = bounds[i*4+2];
//int& ymax = bounds[i*4+3];
int xmin = i*4+0;
int xmax = i*4+1;
int ymin = i*4+2;
int ymax = i*4+3;
bounds[xmin] = chf.width;
bounds[xmax] = 0;
bounds[ymin] = chf.height;
bounds[ymax] = 0;
for (int j = 0; j < nvp; ++j)
{
if(mesh.polys[pStart + j] == RC_MESH_NULL_IDX)
break;
//t ushort* v = &mesh.verts[p[j]*3];
int vIndex = mesh.polys[pStart + j] * 3;
bounds[xmin] = Math.Min(bounds[xmin], (int)mesh.verts[vIndex + 0]);
bounds[xmax] = Math.Max(bounds[xmax], (int)mesh.verts[vIndex + 0]);
bounds[ymin] = Math.Min(bounds[ymin], (int)mesh.verts[vIndex + 2]);
bounds[ymax] = Math.Max(bounds[ymax], (int)mesh.verts[vIndex + 2]);
nPolyVerts++;
}
bounds[xmin] = Math.Max(0,bounds[xmin]-1);
bounds[xmax] = Math.Min(chf.width,bounds[xmax]+1);
bounds[ymin] = Math.Max(0,bounds[ymin]-1);
bounds[ymax] = Math.Min(chf.height,bounds[ymax]+1);
if (bounds[xmin] >= bounds[xmax] || bounds[ymin] >= bounds[ymax]) continue;
maxhw = Math.Max(maxhw, bounds[xmax]-bounds[xmin]);
maxhh = Math.Max(maxhh, bounds[ymax]-bounds[ymin]);
}
//hp.data = (ushort*)rcAlloc(sizeof(ushort)*maxhw*maxhh, RC_ALLOC_TEMP);
hp.data = new ushort[maxhh*maxhw];
if (hp.data == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'hp.data' ("+maxhw*maxhh+").");
return false;
}
dmesh.nmeshes = mesh.npolys;
dmesh.nverts = 0;
dmesh.ntris = 0;
//dmesh.meshes = (uint*)rcAlloc(sizeof(uint)*dmesh.nmeshes*4, RC_ALLOC_PERM);
dmesh.meshes = new uint[dmesh.nmeshes*4];
if (dmesh.meshes == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.meshes' ("+dmesh.nmeshes*4+").");
return false;
}
int vcap = nPolyVerts+nPolyVerts/2;
int tcap = vcap*2;
dmesh.nverts = 0;
//dmesh.verts = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM);
dmesh.verts = new float[vcap*3];
if (dmesh.verts == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.verts' ("+vcap*3+").");
return false;
}
dmesh.ntris = 0;
//dmesh.tris = (byte*)rcAlloc(sizeof(byte*)*tcap*4, RC_ALLOC_PERM);
dmesh.tris = new byte[tcap*4];
if (dmesh.tris == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'dmesh.tris' ("+tcap*4+").");
return false;
}
for (int i = 0; i < mesh.npolys; ++i)
{
//const ushort* p = &mesh.polys[i*nvp*2];
int pIndex = i*nvp*2;
// Store polygon vertices for processing.
int npoly = 0;
for (int j = 0; j < nvp; ++j)
{
if(mesh.polys[pIndex + j] == RC_MESH_NULL_IDX)
break;
//const ushort* v = &mesh.verts[p[j]*3];
int vIndex = mesh.polys[pIndex + j] * 3;
poly[j*3+0] = mesh.verts[vIndex + 0]*cs;
poly[j*3+1] = mesh.verts[vIndex + 1]*ch;
poly[j*3+2] = mesh.verts[vIndex + 2]*cs;
npoly++;
}
// Get the height data from the area of the polygon.
hp.xmin = bounds[i*4+0];
hp.ymin = bounds[i*4+2];
hp.width = bounds[i*4+1]-bounds[i*4+0];
hp.height = bounds[i*4+3]-bounds[i*4+2];
getHeightData(chf, mesh.polys, pIndex, npoly, mesh.verts, borderSize, hp, stack, mesh.regs[i]);
// Build detail mesh.
int nverts = 0;
if (!buildPolyDetail(ctx, poly, npoly,
sampleDist, sampleMaxError,
chf, hp, verts, ref nverts, tris,
edges, samples))
{
return false;
}
// Move detail verts to world space.
for (int j = 0; j < nverts; ++j)
{
verts[j*3+0] += orig[0];
verts[j*3+1] += orig[1] + chf.ch; // Is this offset necessary?
verts[j*3+2] += orig[2];
}
// Offset poly too, will be used to flag checking.
for (int j = 0; j < npoly; ++j)
{
poly[j*3+0] += orig[0];
poly[j*3+1] += orig[1];
poly[j*3+2] += orig[2];
}
// Store detail submesh.
int ntris = tris.Count/4;
dmesh.meshes[i*4+0] = (uint)dmesh.nverts;
dmesh.meshes[i*4+1] = (uint)nverts;
dmesh.meshes[i*4+2] = (uint)dmesh.ntris;
dmesh.meshes[i*4+3] = (uint)ntris;
// Store vertices, allocate more memory if necessary.
if (dmesh.nverts+nverts > vcap)
{
while (dmesh.nverts+nverts > vcap){
vcap += 256;
}
//float* newv = (float*)rcAlloc(sizeof(float)*vcap*3, RC_ALLOC_PERM);
float[] newv = new float[vcap*3];
if (newv == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newv' ("+vcap*3+").");
return false;
}
if (dmesh.nverts != 0){
//memcpy(newv, dmesh.verts, sizeof(float)*3*dmesh.nverts);
for (int j=0;j<3*dmesh.nverts;++j){
newv[j] = dmesh.verts[j];
}
}
//rcFree(dmesh.verts);
//dmesh.verts = null;
dmesh.verts = newv;
}
for (int j = 0; j < nverts; ++j)
{
dmesh.verts[dmesh.nverts*3+0] = verts[j*3+0];
dmesh.verts[dmesh.nverts*3+1] = verts[j*3+1];
dmesh.verts[dmesh.nverts*3+2] = verts[j*3+2];
dmesh.nverts++;
}
// Store triangles, allocate more memory if necessary.
if (dmesh.ntris+ntris > tcap)
{
while (dmesh.ntris+ntris > tcap){
tcap += 256;
}
//byte* newt = (byte*)rcAlloc(sizeof(byte)*tcap*4, RC_ALLOC_PERM);
byte[] newt = new byte[tcap*4];
if (newt == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildPolyMeshDetail: Out of memory 'newt' ("+tcap*4+").");
return false;
}
if (dmesh.ntris != 0){
//memcpy(newt, dmesh.tris, sizeof(byte)*4*dmesh.ntris);
for (int j = 0;j<4*dmesh.ntris;++j){
newt[j] = dmesh.tris[j];
}
}
//rcFree(dmesh.tris);
dmesh.tris = newt;
}
for (int j = 0; j < ntris; ++j)
{
//const int* t = &tris[j*4];
int tIndex = j*4;
dmesh.tris[dmesh.ntris*4+0] = (byte)tris[tIndex + 0];
dmesh.tris[dmesh.ntris*4+1] = (byte)tris[tIndex + 1];
dmesh.tris[dmesh.ntris*4+2] = (byte)tris[tIndex + 2];
dmesh.tris[dmesh.ntris*4+3] = getTriFlags(verts, tris[tIndex + 0]*3, verts, tris[tIndex + 1]*3, verts, tris[tIndex + 2]*3, poly, 0, npoly);
dmesh.ntris++;
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_POLYMESHDETAIL);
return true;
}
/// @par
///
/// For this filter, the clearance above the span is the distance from the span's
/// maximum to the next higher span's minimum. (Same grid column.)
///
/// @see rcHeightfield, rcConfig
public static void rcFilterWalkableLowHeightSpans(rcContext ctx, int walkableHeight, rcHeightfield solid)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_FILTER_WALKABLE);
int w = solid.width;
int h = solid.height;
int MAX_HEIGHT = 0xffff;
// Remove walkable flag from spans which do not have enough
// space above them for the agent to stand there.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
for (rcSpan s = solid.spans[x + y*w]; s != null; s = s.next)
{
int bot = (int)(s.smax);
int top = s.next != null ? (int)(s.next.smin) : MAX_HEIGHT;
if ((top - bot) <= walkableHeight) {
s.area = RC_NULL_AREA;
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_FILTER_WALKABLE);
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
static public void rcMarkCylinderArea(rcContext ctx, float[] pos,
float r, float h, byte areaId,
rcCompactHeightfield chf)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_MARK_CYLINDER_AREA);
float[] bmin = new float[3];
float[] bmax = new float[3];
bmin[0] = pos[0] - r;
bmin[1] = pos[1];
bmin[2] = pos[2] - r;
bmax[0] = pos[0] + r;
bmax[1] = pos[1] + h;
bmax[2] = pos[2] + r;
float r2 = r * r;
int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs);
int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch);
int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs);
int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs);
int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch);
int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs);
if (maxx < 0)
{
return;
}
if (minx >= chf.width)
{
return;
}
if (maxz < 0)
{
return;
}
if (minz >= chf.height)
{
return;
}
if (minx < 0)
{
minx = 0;
}
if (maxx >= chf.width)
{
maxx = chf.width - 1;
}
if (minz < 0)
{
minz = 0;
}
if (maxz >= chf.height)
{
maxz = chf.height - 1;
}
for (int z = minz; z <= maxz; ++z)
{
for (int x = minx; x <= maxx; ++x)
{
rcCompactCell c = chf.cells[x + z * chf.width];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA)
{
continue;
}
if ((int)s.y >= miny && (int)s.y <= maxy)
{
float sx = chf.bmin[0] + (x + 0.5f) * chf.cs;
float sz = chf.bmin[2] + (z + 0.5f) * chf.cs;
float dx = sx - pos[0];
float dz = sz - pos[2];
if (dx * dx + dz * dz < r2)
{
chf.areas[i] = areaId;
}
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_MARK_CYLINDER_AREA);
}
/// @par
///
/// The raw contours will match the region outlines exactly. The @p maxError and @p maxEdgeLen
/// parameters control how closely the simplified contours will match the raw contours.
///
/// Simplified contours are generated such that the vertices for portals between areas match up.
/// (They are considered mandatory vertices.)
///
/// Setting @p maxEdgeLength to zero will disabled the edge length feature.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
public static bool rcBuildContours(rcContext ctx, rcCompactHeightfield chf,
float maxError, int maxEdgeLen,
rcContourSet cset, int buildFlags)
{
Debug.Assert(ctx != null, "rcContext is null");
int w = chf.width;
int h = chf.height;
int borderSize = chf.borderSize;
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS);
rcVcopy(cset.bmin, chf.bmin);
rcVcopy(cset.bmax, chf.bmax);
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
float pad = borderSize * chf.cs;
cset.bmin[0] += pad;
cset.bmin[2] += pad;
cset.bmax[0] -= pad;
cset.bmax[2] -= pad;
}
cset.cs = chf.cs;
cset.ch = chf.ch;
cset.width = chf.width - chf.borderSize * 2;
cset.height = chf.height - chf.borderSize * 2;
cset.borderSize = chf.borderSize;
int maxContours = Math.Max((int)chf.maxRegions, 8);
//cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*maxContours, RC_ALLOC_PERM);
cset.conts = new rcContour[maxContours];
//if (cset.conts == null)
// return false;
cset.nconts = 0;
//rcScopedDelete<byte> flags = (byte*)rcAlloc(sizeof(byte)*chf.spanCount, RC_ALLOC_TEMP);
byte[] flags = new byte[chf.spanCount];
if (flags == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'flags' " + chf.spanCount);
return(false);
}
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
// Mark boundaries.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
byte res = 0;
rcCompactSpan s = chf.spans[i];
if (chf.spans[i].reg == 0 || (chf.spans[i].reg & RC_BORDER_REG) != 0)
{
flags[i] = 0;
continue;
}
for (int dir = 0; dir < 4; ++dir)
{
ushort r = 0;
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
int ax = x + rcGetDirOffsetX(dir);
int ay = y + rcGetDirOffsetY(dir);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, dir);
r = chf.spans[ai].reg;
}
if (r == chf.spans[i].reg)
{
res |= (byte)(1 << dir);
}
}
flags[i] = (byte)(res ^ 0xf); // Inverse, mark non connected edges.
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
//List<int> verts(256);
List <int> verts = new List <int>();
verts.Capacity = 256;
//List<int> simplified(64);
List <int> simplified = new List <int>();
simplified.Capacity = 64;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
{
if (flags[i] == 0 || flags[i] == 0xf)
{
flags[i] = 0;
continue;
}
ushort reg = chf.spans[i].reg;
if (reg == 0 || (reg & RC_BORDER_REG) != 0)
{
continue;
}
byte area = chf.areas[i];
//verts.resize(0);
//simplified.resize(0);
verts.Clear();
simplified.Clear();
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
walkContour(x, y, i, chf, flags, verts);
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_TRACE);
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags);
removeDegenerateSegments(simplified);
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS_SIMPLIFY);
// Store region.contour remap info.
// Create contour.
if (simplified.Count / 4 >= 3)
{
if (cset.nconts >= maxContours)
{
// Allocate more contours.
// This can happen when there are tiny holes in the heightfield.
int oldMax = maxContours;
maxContours *= 2;
rcContour[] newConts = new rcContour[maxContours];// (rcContour*)rcAlloc(sizeof(rcContour) * maxContours, RC_ALLOC_PERM);
for (int j = 0; j < cset.nconts; ++j)
{
newConts[j] = cset.conts[j];
// Reset source pointers to prevent data deletion.
cset.conts[j].verts = null;
cset.conts[j].rverts = null;
}
//rcFree(cset.conts);
cset.conts = newConts;
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Expanding max contours from " + oldMax + " to " + maxContours);
}
int contId = cset.nconts;
cset.nconts++;
rcContour cont = cset.conts[contId];
cont.nverts = simplified.Count / 4;
cont.verts = new int[cont.nverts * 4]; //(int*)rcAlloc(sizeof(int)*cont.nverts*4, RC_ALLOC_PERM);
if (cont.verts == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'verts' " + cont.nverts);
return(false);
}
//memcpy(cont.verts, &simplified[0], sizeof(int)*cont.nverts*4);
for (int j = 0; j < cont.nverts * 4; ++j)
{
cont.verts[j] = simplified[j];
}
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int j = 0; j < cont.nverts; ++j)
{
//int* v = &cont.verts[j*4];
cont.verts[j * 4] -= borderSize;
cont.verts[j * 4 + 2] -= borderSize;
//v[0] -= borderSize;
//v[2] -= borderSize;
}
}
cont.nrverts = verts.Count / 4;
cont.rverts = new int[cont.nrverts * 4];//(int*)rcAlloc(sizeof(int)*cont.nrverts*4, RC_ALLOC_PERM);
if (cont.rverts == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildContours: Out of memory 'rverts' " + cont.nrverts);
return(false);
}
//memcpy(cont.rverts, &verts[0], sizeof(int)*cont.nrverts*4);
for (int j = 0; j < cont.nrverts * 4; ++j)
{
cont.rverts[j] = verts[j];
}
if (borderSize > 0)
{
// If the heightfield was build with bordersize, remove the offset.
for (int j = 0; j < cont.nrverts; ++j)
{
//int* v = &cont.rverts[j*4];
cont.rverts[j * 4] -= borderSize;
cont.rverts[j * 4 + 2] -= borderSize;
}
}
/* cont.cx = cont.cy = cont.cz = 0;
* for (int i = 0; i < cont.nverts; ++i)
* {
* cont.cx += cont.verts[i*4+0];
* cont.cy += cont.verts[i*4+1];
* cont.cz += cont.verts[i*4+2];
* }
* cont.cx /= cont.nverts;
* cont.cy /= cont.nverts;
* cont.cz /= cont.nverts;*/
cont.reg = reg;
cont.area = area;
cset.conts[contId] = cont;
}
}
}
}
// Check and merge droppings.
// Sometimes the previous algorithms can fail and create several contours
// per area. This pass will try to merge the holes into the main region.
for (int i = 0; i < cset.nconts; ++i)
{
rcContour cont = cset.conts[i];
// Check if the contour is would backwards.
if (calcAreaOfPolygon2D(cont.verts, cont.nverts) < 0)
{
// Find another contour which has the same region ID.
int mergeIdx = -1;
for (int j = 0; j < cset.nconts; ++j)
{
if (i == j)
{
continue;
}
if (cset.conts[j].nverts != 0 && cset.conts[j].reg == cont.reg)
{
// Make sure the polygon is correctly oriented.
if (calcAreaOfPolygon2D(cset.conts[j].verts, cset.conts[j].nverts) != 0)
{
mergeIdx = j;
break;
}
}
}
if (mergeIdx == -1)
{
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Could not find merge target for bad contour " + i);
}
else
{
rcContour mcont = cset.conts[mergeIdx];
// Merge by closest points.
int ia = 0, ib = 0;
getClosestIndices(mcont.verts, mcont.nverts, cont.verts, cont.nverts, ref ia, ref ib);
if (ia == -1 || ib == -1)
{
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Failed to find merge points for " + i + " and " + mergeIdx);
continue;
}
if (!mergeContours(ref mcont, ref cont, ia, ib))
{
ctx.log(rcLogCategory.RC_LOG_WARNING, "rcBuildContours: Failed to merge contours " + i + " and " + mergeIdx);
continue;
}
cset.conts[mergeIdx] = mcont;
cset.conts[i] = cont;
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_CONTOURS);
return(true);
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
public static void rcMarkBoxArea(rcContext ctx, float[] bmin, float[] bmax, byte areaId,
rcCompactHeightfield chf)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_MARK_BOX_AREA);
int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs);
int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch);
int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs);
int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs);
int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch);
int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs);
if (maxx < 0) return;
if (minx >= chf.width) return;
if (maxz < 0) return;
if (minz >= chf.height) return;
if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width - 1;
if (minz < 0) minz = 0;
if (maxz >= chf.height) maxz = chf.height - 1;
for (int z = minz; z <= maxz; ++z) {
for (int x = minx; x <= maxx; ++x) {
rcCompactCell c = chf.cells[x + z * chf.width];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if ((int)s.y >= miny && (int)s.y <= maxy) {
if (chf.areas[i] != RC_NULL_AREA)
chf.areas[i] = areaId;
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_MARK_BOX_AREA);
}
/// @par
///
/// The value of spacial parameters are in world units.
///
/// The y-values of the polygon vertices are ignored. So the polygon is effectively
/// projected onto the xz-plane at @p hmin, then extruded to @p hmax.
///
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
public static void rcMarkConvexPolyArea(rcContext ctx, float[] verts, int nverts,
float hmin, float hmax, byte areaId,
rcCompactHeightfield chf)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_MARK_CONVEXPOLY_AREA);
float[] bmin = new float[3];
float[] bmax = new float[3];
rcVcopy(bmin, verts);
rcVcopy(bmax, verts);
for (int i = 1; i < nverts; ++i) {
int vStart = i * 3;
rcVmin(bmin, 0, verts, vStart);
rcVmax(bmax, 0, verts, vStart);
}
bmin[1] = hmin;
bmax[1] = hmax;
int minx = (int)((bmin[0] - chf.bmin[0]) / chf.cs);
int miny = (int)((bmin[1] - chf.bmin[1]) / chf.ch);
int minz = (int)((bmin[2] - chf.bmin[2]) / chf.cs);
int maxx = (int)((bmax[0] - chf.bmin[0]) / chf.cs);
int maxy = (int)((bmax[1] - chf.bmin[1]) / chf.ch);
int maxz = (int)((bmax[2] - chf.bmin[2]) / chf.cs);
if (maxx < 0) return;
if (minx >= chf.width) return;
if (maxz < 0) return;
if (minz >= chf.height) return;
if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width - 1;
if (minz < 0) minz = 0;
if (maxz >= chf.height) maxz = chf.height - 1;
// TODO: Optimize.
for (int z = minz; z <= maxz; ++z) {
for (int x = minx; x <= maxx; ++x) {
rcCompactCell c = chf.cells[x + z * chf.width];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if (chf.areas[i] == RC_NULL_AREA)
continue;
if ((int)s.y >= miny && (int)s.y <= maxy) {
float[] p = new float[3];
p[0] = chf.bmin[0] + (x + 0.5f) * chf.cs;
p[1] = 0;
p[2] = chf.bmin[2] + (z + 0.5f) * chf.cs;
if (pointInPoly(nverts, verts, p)) {
chf.areas[i] = areaId;
}
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_MARK_CONVEXPOLY_AREA);
}
/// @par
///
/// Allows the formation of walkable regions that will flow over low lying
/// objects such as curbs, and up structures such as stairways.
///
/// Two neighboring spans are walkable if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) < waklableClimb</tt>
///
/// @warning Will override the effect of #rcFilterLedgeSpans. So if both filters are used, call
/// #rcFilterLedgeSpans after calling this filter.
///
/// @see rcHeightfield, rcConfig
public static void rcFilterLowHangingWalkableObstacles(rcContext ctx, int walkableClimb, rcHeightfield solid)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_FILTER_LOW_OBSTACLES);
int w = solid.width;
int h = solid.height;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
rcSpan ps = null;
bool previousWalkable = false;
byte previousArea = RC_NULL_AREA;
for (rcSpan s = solid.spans[x + y*w]; s != null; ps = s, s = s.next)
{
bool walkable = s.area != RC_NULL_AREA;
// If current span is not walkable, but there is walkable
// span just below it, mark the span above it walkable too.
if (!walkable && previousWalkable)
{
if (Math.Abs((int)s.smax - (int)ps.smax) <= walkableClimb){
s.area = previousArea;
}
}
// Copy walkable flag so that it cannot propagate
// past multiple non-walkable objects.
previousWalkable = walkable;
previousArea = s.area;
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_FILTER_LOW_OBSTACLES);
}
/// @par
///
/// Basically, any spans that are closer to a boundary or obstruction than the specified radius
/// are marked as unwalkable.
///
/// This method is usually called immediately after the heightfield has been built.
///
/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
public static bool rcErodeWalkableArea(rcContext ctx, int radius, rcCompactHeightfield chf)
{
Debug.Assert(ctx != null, "rcContext is null");
int w = chf.width;
int h = chf.height;
ctx.startTimer(rcTimerLabel.RC_TIMER_ERODE_AREA);
byte[] dist = new byte[chf.spanCount];//(byte*)rcAlloc(sizeof(byte)*chf.spanCount, RC_ALLOC_TEMP);
if (dist == null) {
ctx.log(rcLogCategory.RC_LOG_ERROR, "erodeWalkableArea: Out of memory 'dist' " + chf.spanCount);
return false;
}
// Init distance.
for (int i=0; i < chf.spanCount; ++i) {
dist[i] = 0xff;
}
// memset(dist, 0xff, sizeof(byte)*chf.spanCount);
// Mark boundary cells.
for (int y = 0; y < h; ++y) {
for (int x = 0; x < w; ++x) {
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
if (chf.areas[i] == RC_NULL_AREA) {
dist[i] = 0;
} else {
rcCompactSpan s = chf.spans[i];
int nc = 0;
for (int dir = 0; dir < 4; ++dir) {
if (rcGetCon(s, dir) != RC_NOT_CONNECTED) {
int nx = x + rcGetDirOffsetX(dir);
int ny = y + rcGetDirOffsetY(dir);
int nidx = (int)chf.cells[nx + ny * w].index + rcGetCon(s, dir);
if (chf.areas[nidx] != RC_NULL_AREA) {
nc++;
}
}
}
// At least one missing neighbour.
if (nc != 4)
dist[i] = 0;
}
}
}
}
byte nd = 0;
// Pass 1
for (int y = 0; y < h; ++y) {
for (int x = 0; x < w; ++x) {
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if (rcGetCon(s, 0) != RC_NOT_CONNECTED) {
// (-1,0)
int ax = x + rcGetDirOffsetX(0);
int ay = y + rcGetDirOffsetY(0);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 0);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
dist[i] = nd;
// (-1,-1)
if (rcGetCon(aSpan, 3) != RC_NOT_CONNECTED) {
int aax = ax + rcGetDirOffsetX(3);
int aay = ay + rcGetDirOffsetY(3);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 3);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
if (rcGetCon(s, 3) != RC_NOT_CONNECTED) {
// (0,-1)
int ax = x + rcGetDirOffsetX(3);
int ay = y + rcGetDirOffsetY(3);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 3);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
dist[i] = nd;
// (1,-1)
if (rcGetCon(aSpan, 2) != RC_NOT_CONNECTED) {
int aax = ax + rcGetDirOffsetX(2);
int aay = ay + rcGetDirOffsetY(2);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 2);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
}
}
}
// Pass 2
for (int y = h - 1; y >= 0; --y) {
for (int x = w - 1; x >= 0; --x) {
rcCompactCell c = chf.cells[x + y * w];
for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i) {
rcCompactSpan s = chf.spans[i];
if (rcGetCon(s, 2) != RC_NOT_CONNECTED) {
// (1,0)
int ax = x + rcGetDirOffsetX(2);
int ay = y + rcGetDirOffsetY(2);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 2);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
dist[i] = nd;
// (1,1)
if (rcGetCon(aSpan, 1) != RC_NOT_CONNECTED) {
int aax = ax + rcGetDirOffsetX(1);
int aay = ay + rcGetDirOffsetY(1);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 1);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
if (rcGetCon(s, 1) != RC_NOT_CONNECTED) {
// (0,1)
int ax = x + rcGetDirOffsetX(1);
int ay = y + rcGetDirOffsetY(1);
int ai = (int)chf.cells[ax + ay * w].index + rcGetCon(s, 1);
rcCompactSpan aSpan = chf.spans[ai];
nd = (byte)Math.Min((int)dist[ai] + 2, 255);
if (nd < dist[i])
dist[i] = nd;
// (-1,1)
if (rcGetCon(aSpan, 0) != RC_NOT_CONNECTED) {
int aax = ax + rcGetDirOffsetX(0);
int aay = ay + rcGetDirOffsetY(0);
int aai = (int)chf.cells[aax + aay * w].index + rcGetCon(aSpan, 0);
nd = (byte)Math.Min((int)dist[aai] + 3, 255);
if (nd < dist[i])
dist[i] = nd;
}
}
}
}
}
byte thr = (byte)(radius * 2);
for (int i = 0; i < chf.spanCount; ++i)
if (dist[i] < thr)
chf.areas[i] = RC_NULL_AREA;
ctx.stopTimer(rcTimerLabel.RC_TIMER_ERODE_AREA);
return true;
}
/// @par
///
/// A ledge is a span with one or more neighbors whose maximum is further away than @p walkableClimb
/// from the current span's maximum.
/// This method removes the impact of the overestimation of conservative voxelization
/// so the resulting mesh will not have regions hanging in the air over ledges.
///
/// A span is a ledge if: <tt>rcAbs(currentSpan.smax - neighborSpan.smax) > walkableClimb</tt>
///
/// @see rcHeightfield, rcConfig
public static void rcFilterLedgeSpans(rcContext ctx, int walkableHeight, int walkableClimb,
rcHeightfield solid)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_FILTER_BORDER);
int w = solid.width;
int h = solid.height;
int MAX_HEIGHT = 0xffff;
// Mark border spans.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
for (rcSpan s = solid.spans[x + y*w]; s != null; s = s.next)
{
// Skip non walkable spans.
if (s.area == RC_NULL_AREA){
continue;
}
int bot = (int)(s.smax);
int top = s.next != null ? (int)(s.next.smin) : MAX_HEIGHT;
// Find neighbours minimum height.
int minh = MAX_HEIGHT;
// Min and max height of accessible neighbours.
int asmin = s.smax;
int asmax = s.smax;
for (int dir = 0; dir < 4; ++dir)
{
int dx = x + rcGetDirOffsetX(dir);
int dy = y + rcGetDirOffsetY(dir);
// Skip neighbours which are out of bounds.
if (dx < 0 || dy < 0 || dx >= w || dy >= h)
{
minh = Math.Min(minh, -walkableClimb - bot);
continue;
}
// From minus infinity to the first span.
rcSpan ns = solid.spans[dx + dy*w];
int nbot = -walkableClimb;
int ntop = ns != null ? (int)ns.smin : MAX_HEIGHT;
// Skip neightbour if the gap between the spans is too small.
if (Math.Min(top,ntop) - Math.Max(bot,nbot) > walkableHeight)
minh = Math.Min(minh, nbot - bot);
// Rest of the spans.
for (ns = solid.spans[dx + dy*w]; ns != null; ns = ns.next)
{
nbot = (int)ns.smax;
ntop = ns.next != null ? (int)ns.next.smin : MAX_HEIGHT;
// Skip neightbour if the gap between the spans is too small.
if (Math.Min(top,ntop) - Math.Max(bot,nbot) > walkableHeight)
{
minh = Math.Min(minh, nbot - bot);
// Find min/max accessible neighbour height.
if (Math.Abs(nbot - bot) <= walkableClimb)
{
if (nbot < asmin) asmin = nbot;
if (nbot > asmax) asmax = nbot;
}
}
}
}
// The current span is close to a ledge if the drop to any
// neighbour span is less than the walkableClimb.
if (minh < -walkableClimb){
s.area = RC_NULL_AREA;
}
// If the difference between all neighbours is too large,
// we are at steep slope, mark the span as ledge.
if ((asmax - asmin) > walkableClimb)
{
s.area = RC_NULL_AREA;
}
}
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_FILTER_BORDER);
}
/// @par
///
/// Non-null regions will consist of connected, non-overlapping walkable spans that form a single contour.
/// Contours will form simple polygons.
///
/// If multiple regions form an area that is smaller than @p minRegionArea, then all spans will be
/// re-assigned to the zero (null) region.
///
/// Watershed partitioning can result in smaller than necessary regions, especially in diagonal corridors.
/// @p mergeRegionArea helps reduce unecessarily small regions.
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// The region data will be available via the rcCompactHeightfield::maxRegions
/// and rcCompactSpan::reg fields.
///
/// @warning The distance field must be created using #rcBuildDistanceField before attempting to build regions.
///
/// @see rcCompactHeightfield, rcCompactSpan, rcBuildDistanceField, rcBuildRegionsMonotone, rcConfig
public static bool rcBuildRegions(rcContext ctx, rcCompactHeightfield chf,
int borderSize, int minRegionArea, int mergeRegionArea)
{
Debug.Assert(ctx != null, "rcContext is null");
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS);
int w = chf.width;
int h = chf.height;
//rcScopedDelete<ushort> buf = (ushort*)rcAlloc(sizeof(ushort)*chf.spanCount*4, RC_ALLOC_TEMP);
/*
ushort[] buf = new ushort[chf.spanCount*4];
if (buf == null)
{
ctx.log(rcLogCategory.RC_LOG_ERROR, "rcBuildRegions: Out of memory 'tmp' ("+chf.spanCount*4+").");
return false;
}
*/
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS_WATERSHED);
const int LOG_NB_STACKS = 3;
const int NB_STACKS = 1 << LOG_NB_STACKS;
List<int>[] lvlStacks = new List<int>[NB_STACKS];
for (int i = 0; i < NB_STACKS; ++i) {
lvlStacks[i] = new List<int>();
//rccsResizeList(lvlStacks[i], 1024);
lvlStacks[i].Capacity = 1024;
}
List<int> stack = new List<int>();//(1024);
List<int> visited = new List<int>();//(1024);
stack.Capacity = 1024;
visited.Capacity = 1024;
//rccResizeList(stack, 1024);
//rccResizeList(visited, 1024);
ushort[] srcReg = new ushort[chf.spanCount];
ushort[] srcDist = new ushort[chf.spanCount];//buf+chf.spanCount;
ushort[] dstReg = new ushort[chf.spanCount];// buf+chf.spanCount*2;
ushort[] dstDist = new ushort[chf.spanCount];//buf+chf.spanCount*3;
//memset(srcReg, 0, sizeof(ushort)*chf.spanCount);
//memset(srcDist, 0, sizeof(ushort)*chf.spanCount);
ushort regionId = 1;
ushort level = (ushort)((chf.maxDistance+1) & ~1);
// TODO: Figure better formula, expandIters defines how much the
// watershed "overflows" and simplifies the regions. Tying it to
// agent radius was usually good indication how greedy it could be.
// const int expandIters = 4 + walkableRadius * 2;
const int expandIters = 8;
if (borderSize > 0)
{
// Make sure border will not overflow.
int bw = Math.Min(w, borderSize);
int bh = Math.Min(h, borderSize);
// Paint regions
paintRectRegion(0, bw, 0, h,(ushort)( regionId|RC_BORDER_REG ), chf, srcReg); regionId++;
paintRectRegion(w - bw, w, 0, h, (ushort)(regionId | RC_BORDER_REG), chf, srcReg); regionId++;
paintRectRegion(0, w, 0, bh, (ushort)(regionId | RC_BORDER_REG), chf, srcReg); regionId++;
paintRectRegion(0, w, h - bh, h, (ushort)(regionId | RC_BORDER_REG), chf, srcReg); regionId++;
chf.borderSize = borderSize;
}
int sId = -1;
while (level > 0)
{
level = (ushort)(level >= 2 ? level-2 : 0);
sId = (sId+1) & (NB_STACKS-1);
// ctx.startTimer(rcTimerLabel.RC_TIMER_DIVIDE_TO_LEVELS);
if (sId == 0)
sortCellsByLevel(level, chf, srcReg, NB_STACKS, lvlStacks, 1);
else
appendStacks(lvlStacks[sId-1], lvlStacks[sId], srcReg); // copy left overs from last level
// ctx.stopTimer(rcTimerLabel.RC_TIMER_DIVIDE_TO_LEVELS);
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS_EXPAND);
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters, level, chf, srcReg, srcDist, dstReg, dstDist, lvlStacks[sId], false) != srcReg)
{
rcSwap(ref srcReg,ref dstReg);
rcSwap(ref srcDist,ref dstDist);
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS_EXPAND);
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS_FLOOD);
// Mark new regions with IDs.
for (int j=0; j<lvlStacks[sId].Count; j+=3)
{
int x = lvlStacks[sId][j];
int y = lvlStacks[sId][j+1];
int i = lvlStacks[sId][j+2];
if (i >= 0 && srcReg[i] == 0)
{
if (floodRegion(x, y, i, level, regionId, chf, srcReg, srcDist, stack))
regionId++;
}
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS_FLOOD);
}
// Expand current regions until no empty connected cells found.
if (expandRegions(expandIters*8, 0, chf, srcReg, srcDist, dstReg, dstDist, stack, true) != srcReg)
{
rcSwap(ref srcReg,ref dstReg);
rcSwap(ref srcDist,ref dstDist);
}
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS_WATERSHED);
ctx.startTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS_FILTER);
// Filter out small regions.
chf.maxRegions = regionId;
if (!filterSmallRegions(ctx, minRegionArea, mergeRegionArea, ref chf.maxRegions, chf, srcReg))
return false;
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS_FILTER);
// Write the result out.
for (int i = 0; i < chf.spanCount; ++i)
chf.spans[i].reg = srcReg[i];
ctx.stopTimer(rcTimerLabel.RC_TIMER_BUILD_REGIONS);
return true;
}