/// @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];
/// @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);
}
