/// @par
///
/// This filter is usually applied after applying area id's using functions
/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
///
/// @see rcCompactHeightfield
public virtual bool medianFilterWalkableArea(Context ctx, CompactHeightfield chf)
{
int w = chf.width;
int h = chf.height;
ctx.startTimer("MEDIAN_AREA");
int[] areas = new int[chf.spanCount];
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
CompactCell c = chf.cells[x + y * w];
for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
{
CompactSpan s = chf.spans[i];
if (chf.areas[i] == RecastConstants.RC_NULL_AREA)
{
areas[i] = chf.areas[i];
continue;
}
int[] nei = new int[9];
for (int j = 0; j < 9; ++j)
{
nei[j] = chf.areas[i];
}
for (int dir = 0; dir < 4; ++dir)
{
if (RecastCommon.GetCon(s, dir) != RecastConstants.RC_NOT_CONNECTED)
{
int ax = x + RecastCommon.GetDirOffsetX(dir);
int ay = y + RecastCommon.GetDirOffsetY(dir);
int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, dir);
if (chf.areas[ai] != RecastConstants.RC_NULL_AREA)
{
nei[dir * 2 + 0] = chf.areas[ai];
}
CompactSpan @as = chf.spans[ai];
int dir2 = (dir + 1) & 0x3;
if (RecastCommon.GetCon(@as, dir2) != RecastConstants.RC_NOT_CONNECTED)
{
int ax2 = ax + RecastCommon.GetDirOffsetX(dir2);
int ay2 = ay + RecastCommon.GetDirOffsetY(dir2);
int ai2 = chf.cells[ax2 + ay2 * w].index + RecastCommon.GetCon(@as, dir2);
if (chf.areas[ai2] != RecastConstants.RC_NULL_AREA)
{
nei[dir * 2 + 1] = chf.areas[ai2];
}
}
}
}
Array.Sort(nei);
areas[i] = nei[4];
}
}
}
chf.areas = areas;
ctx.stopTimer("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 void erodeWalkableArea(Context ctx, int radius, CompactHeightfield chf)
{
int w = chf.width;
int h = chf.height;
ctx.startTimer("ERODE_AREA");
int[] dist = new int[chf.spanCount];
Arrays.fill(dist, 255);
// Mark boundary cells.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
CompactCell c = chf.cells[x + y * w];
for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
{
if (chf.areas[i] == RecastConstants.RC_NULL_AREA)
{
dist[i] = 0;
}
else
{
CompactSpan s = chf.spans[i];
int nc = 0;
for (int dir = 0; dir < 4; ++dir)
{
if (RecastCommon.GetCon(s, dir) != RecastConstants.RC_NOT_CONNECTED)
{
int nx = x + RecastCommon.GetDirOffsetX(dir);
int ny = y + RecastCommon.GetDirOffsetY(dir);
int nidx = chf.cells[nx + ny * w].index + RecastCommon.GetCon(s, dir);
if (chf.areas[nidx] != RecastConstants.RC_NULL_AREA)
{
nc++;
}
}
}
// At least one missing neighbour.
if (nc != 4)
{
dist[i] = 0;
}
}
}
}
}
int nd;
// Pass 1
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
CompactCell c = chf.cells[x + y * w];
for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
{
CompactSpan s = chf.spans[i];
if (RecastCommon.GetCon(s, 0) != RecastConstants.RC_NOT_CONNECTED)
{
// (-1,0)
int ax = x + RecastCommon.GetDirOffsetX(0);
int ay = y + RecastCommon.GetDirOffsetY(0);
int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 0);
CompactSpan @as = chf.spans[ai];
nd = Math.Min(dist[ai] + 2, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
// (-1,-1)
if (RecastCommon.GetCon(@as, 3) != RecastConstants.RC_NOT_CONNECTED)
{
int aax = ax + RecastCommon.GetDirOffsetX(3);
int aay = ay + RecastCommon.GetDirOffsetY(3);
int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 3);
nd = Math.Min(dist[aai] + 3, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
}
}
if (RecastCommon.GetCon(s, 3) != RecastConstants.RC_NOT_CONNECTED)
{
// (0,-1)
int ax = x + RecastCommon.GetDirOffsetX(3);
int ay = y + RecastCommon.GetDirOffsetY(3);
int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 3);
CompactSpan @as = chf.spans[ai];
nd = Math.Min(dist[ai] + 2, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
// (1,-1)
if (RecastCommon.GetCon(@as, 2) != RecastConstants.RC_NOT_CONNECTED)
{
int aax = ax + RecastCommon.GetDirOffsetX(2);
int aay = ay + RecastCommon.GetDirOffsetY(2);
int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 2);
nd = Math.Min(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)
{
CompactCell c = chf.cells[x + y * w];
for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
{
CompactSpan s = chf.spans[i];
if (RecastCommon.GetCon(s, 2) != RecastConstants.RC_NOT_CONNECTED)
{
// (1,0)
int ax = x + RecastCommon.GetDirOffsetX(2);
int ay = y + RecastCommon.GetDirOffsetY(2);
int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 2);
CompactSpan @as = chf.spans[ai];
nd = Math.Min(dist[ai] + 2, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
// (1,1)
if (RecastCommon.GetCon(@as, 1) != RecastConstants.RC_NOT_CONNECTED)
{
int aax = ax + RecastCommon.GetDirOffsetX(1);
int aay = ay + RecastCommon.GetDirOffsetY(1);
int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 1);
nd = Math.Min(dist[aai] + 3, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
}
}
if (RecastCommon.GetCon(s, 1) != RecastConstants.RC_NOT_CONNECTED)
{
// (0,1)
int ax = x + RecastCommon.GetDirOffsetX(1);
int ay = y + RecastCommon.GetDirOffsetY(1);
int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 1);
CompactSpan @as = chf.spans[ai];
nd = Math.Min(dist[ai] + 2, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
// (-1,1)
if (RecastCommon.GetCon(@as, 0) != RecastConstants.RC_NOT_CONNECTED)
{
int aax = ax + RecastCommon.GetDirOffsetX(0);
int aay = ay + RecastCommon.GetDirOffsetY(0);
int aai = chf.cells[aax + aay * w].index + RecastCommon.GetCon(@as, 0);
nd = Math.Min(dist[aai] + 3, 255);
if (nd < dist[i])
{
dist[i] = nd;
}
}
}
}
}
}
int thr = radius * 2;
for (int i = 0; i < chf.spanCount; ++i)
{
if (dist[i] < thr)
{
chf.areas[i] = RecastConstants.RC_NULL_AREA;
}
}
ctx.stopTimer("ERODE_AREA");
}
public static HeightfieldLayerSet buildHeightfieldLayers(Context ctx, CompactHeightfield chf, int borderSize, int walkableHeight)
{
ctx.startTimer("RC_TIMER_BUILD_LAYERS");
int w = chf.width;
int h = chf.height;
int[] srcReg = new int[chf.spanCount];
Arrays.fill(srcReg, 0xFF);
int nsweeps = chf.width; // Math.max(chf.width, chf.height);
SweepSpan[] sweeps = new SweepSpan[nsweeps];
for (int i = 0; i < sweeps.Length; i++)
{
sweeps[i] = new SweepSpan();
}
// Partition walkable area into monotone regions.
int[] prevCount = new int[256];
int regId = 0;
// Sweep one line at a time.
for (int y = borderSize; y < h - borderSize; ++y)
{
// Collect spans from this row.
Arrays.fill(prevCount, 0, regId, 0);
int sweepId = 0;
for (int x = borderSize; x < w - borderSize; ++x)
{
CompactCell c = chf.cells[x + y * w];
for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
{
CompactSpan s = chf.spans[i];
if (chf.areas[i] == RecastConstants.RC_NULL_AREA)
{
continue;
}
int sid = 0xFF;
// -x
if (RecastCommon.GetCon(s, 0) != RecastConstants.RC_NOT_CONNECTED)
{
int ax = x + RecastCommon.GetDirOffsetX(0);
int ay = y + RecastCommon.GetDirOffsetY(0);
int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 0);
if (chf.areas[ai] != RecastConstants.RC_NULL_AREA && srcReg[ai] != 0xff)
{
sid = srcReg[ai];
}
}
if (sid == 0xff)
{
sid = sweepId++;
sweeps[sid].nei = 0xff;
sweeps[sid].ns = 0;
}
// -y
if (RecastCommon.GetCon(s, 3) != RecastConstants.RC_NOT_CONNECTED)
{
int ax = x + RecastCommon.GetDirOffsetX(3);
int ay = y + RecastCommon.GetDirOffsetY(3);
int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, 3);
int 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] == sweeps[i].ns)
{
sweeps[i].id = sweeps[i].nei;
}
else
{
if (regId == 255)
{
throw new Exception("rcBuildHeightfieldLayers: Region ID overflow.");
}
sweeps[i].id = regId++;
}
}
// Remap local sweep ids to region ids.
for (int x = borderSize; x < w - borderSize; ++x)
{
CompactCell c = chf.cells[x + y * w];
for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
{
if (srcReg[i] != 0xff)
{
srcReg[i] = sweeps[srcReg[i]].id;
}
}
}
}
int nregs = regId;
LayerRegion[] regs = new LayerRegion[nregs];
// Construct regions
for (int i = 0; i < nregs; ++i)
{
regs[i] = new LayerRegion(i);
}
// Find region neighbours and overlapping regions.
List <int> lregs = new List <int>();
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
CompactCell c = chf.cells[x + y * w];
lregs.Clear();
for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
{
CompactSpan s = chf.spans[i];
int 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.
lregs.Add(ri);
// Update neighbours
for (int dir = 0; dir < 4; ++dir)
{
if (RecastCommon.GetCon(s, dir) != RecastConstants.RC_NOT_CONNECTED)
{
int ax = x + RecastCommon.GetDirOffsetX(dir);
int ay = y + RecastCommon.GetDirOffsetY(dir);
int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, dir);
int rai = srcReg[ai];
if (rai != 0xff && rai != ri)
{
addUnique(regs[ri].neis, rai);
}
}
}
}
// Update overlapping regions.
for (int i = 0; i < lregs.Count - 1; ++i)
{
for (int j = i + 1; j < lregs.Count; ++j)
{
if (lregs[i] != lregs[j])
{
LayerRegion ri = regs[lregs[i]];
LayerRegion rj = regs[lregs[j]];
addUnique(ri.layers, lregs[j]);
addUnique(rj.layers, lregs[i]);
}
}
}
}
}
// Create 2D layers from regions.
int layerId = 0;
List <int> stack = new List <int>();
for (int i = 0; i < nregs; ++i)
{
LayerRegion root = regs[i];
// Skip already visited.
if (root.layerId != 0xff)
{
continue;
}
// Start search.
root.layerId = layerId;
root.@base = true;
stack.Add(i);
while (stack.Count > 0)
{
// Pop front
LayerRegion reg = regs[stack[0]];
stack.RemoveAt(0);
foreach (int nei in reg.neis)
{
LayerRegion regn = regs[nei];
// Skip already visited.
if (regn.layerId != 0xff)
{
continue;
}
// Skip if the neighbour is overlapping root region.
if (contains(root.layers, 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;
}
// Deepen
stack.Add(nei);
// Mark layer id
regn.layerId = layerId;
// Merge current layers to root.
foreach (int layer in regn.layers)
{
addUnique(root.layers, layer);
}
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.
int mergeHeight = walkableHeight * 4;
for (int i = 0; i < nregs; ++i)
{
LayerRegion ri = regs[i];
if (!ri.@base)
{
continue;
}
int newId = ri.layerId;
for (;;)
{
int oldId = 0xff;
for (int j = 0; j < nregs; ++j)
{
if (i == j)
{
continue;
}
LayerRegion rj = regs[j];
if (!rj.@base)
{
continue;
}
// Skip if the regions are not close to each other.
if (!overlapRange(ri.ymin, ri.ymax + mergeHeight, rj.ymin, 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 merging '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, 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)
{
LayerRegion rj = regs[j];
if (rj.layerId == oldId)
{
rj.@base = false;
// Remap layerIds.
rj.layerId = newId;
// Add overlaid layers from 'rj' to 'ri'.
foreach (int layer in rj.layers)
{
addUnique(ri.layers, layer);
}
// Update height bounds.
ri.ymin = Math.Min(ri.ymin, rj.ymin);
ri.ymax = Math.Max(ri.ymax, rj.ymax);
}
}
}
}
// Compact layerIds
int[] remap = new int[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(RC_TIMER_BUILD_LAYERS);
return(null);
}
// Create layers.
// rcAssert(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];
RecastVectors.copy(bmin, chf.bmin);
RecastVectors.copy(bmax, chf.bmax);
bmin[0] += borderSize * chf.cs;
bmin[2] += borderSize * chf.cs;
bmax[0] -= borderSize * chf.cs;
bmax[2] -= borderSize * chf.cs;
HeightfieldLayerSet lset = new HeightfieldLayerSet();
lset.layers = new HeightfieldLayer[layerId];
for (int i = 0; i < lset.layers.Length; i++)
{
lset.layers[i] = new HeightfieldLayer();
}
// Store layers.
for (int i = 0; i < lset.layers.Length; ++i)
{
int curId = i;
HeightfieldLayer layer = lset.layers[i];
int gridSize = lw * lh;
layer.heights = new int[gridSize];
Arrays.fill(layer.heights, 0xFF);
layer.areas = new int[gridSize];
layer.cons = new int[gridSize];
// Find layer height bounds.
int hmin = 0, hmax = 0;
for (int j = 0; j < nregs; ++j)
{
if (regs[j].@base && regs[j].layerId == curId)
{
hmin = regs[j].ymin;
hmax = regs[j].ymax;
}
}
layer.width = lw;
layer.height = lh;
layer.cs = chf.cs;
layer.ch = chf.ch;
// Adjust the bbox to fit the heightfield.
RecastVectors.copy(layer.bmin, bmin);
RecastVectors.copy(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 heightfield.
for (int y = 0; y < lh; ++y)
{
for (int x = 0; x < lw; ++x)
{
int cx = borderSize + x;
int cy = borderSize + y;
CompactCell c = chf.cells[cx + cy * w];
for (int j = c.index, nj = c.index + c.count; j < nj; ++j)
{
CompactSpan s = chf.spans[j];
// Skip unassigned regions.
if (srcReg[j] == 0xff)
{
continue;
}
// Skip of does nto belong to current layer.
int 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] = (char)(s.y - hmin);
layer.areas[idx] = chf.areas[j];
// Check connection.
char portal = (char)0;
char con = (char)0;
for (int dir = 0; dir < 4; ++dir)
{
if (RecastCommon.GetCon(s, dir) != RecastConstants.RC_NOT_CONNECTED)
{
int ax = cx + RecastCommon.GetDirOffsetX(dir);
int ay = cy + RecastCommon.GetDirOffsetY(dir);
int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, dir);
int alid = srcReg[ai] != 0xff ? regs[srcReg[ai]].layerId : 0xff;
// Portal mask
if (chf.areas[ai] != RecastConstants.RC_NULL_AREA && lid != alid)
{
portal |= (char)(1 << dir);
// Update height so that it matches on both
// sides of the portal.
CompactSpan @as = chf.spans[ai];
if (@as.y > hmin)
{
layer.heights[idx] = Math.Max(layer.heights[idx], (char)(@as.y - hmin));
}
}
// Valid connection mask
if (chf.areas[ai] != RecastConstants.RC_NULL_AREA && lid == alid)
{
int nx = ax - borderSize;
int ny = ay - borderSize;
if (nx >= 0 && ny >= 0 && nx < lw && ny < lh)
{
con |= (char)(1 << dir);
}
}
}
}
layer.cons[idx] = (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(RC_TIMER_BUILD_LAYERS);
return(lset);
}
/// @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 filterLedgeSpans(Context ctx, int walkableHeight, int walkableClimb, Heightfield solid)
{
ctx.startTimer("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 (Span s = solid.spans[x + y * w]; s != null; s = s.next)
{
// Skip non walkable spans.
if (s.area == RecastConstants.RC_NULL_AREA)
{
continue;
}
int bot = (s.smax);
int top = s.next != null ? 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 + RecastCommon.GetDirOffsetX(dir);
int dy = y + RecastCommon.GetDirOffsetY(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.
Span ns = solid.spans[dx + dy * w];
int nbot = -walkableClimb;
int ntop = ns != null ? 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 = ns.smax;
ntop = ns.next != null ? 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 = RecastConstants.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 = RecastConstants.RC_NULL_AREA;
}
}
}
}
ctx.stopTimer("FILTER_BORDER");
}
/// @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 ContourSet buildContours(Context ctx, CompactHeightfield chf, float maxError, int maxEdgeLen, int buildFlags)
{
int w = chf.width;
int h = chf.height;
int borderSize = chf.borderSize;
ContourSet cset = new ContourSet();
ctx.startTimer("BUILD_CONTOURS");
RecastVectors.copy(cset.bmin, chf.bmin, 0);
RecastVectors.copy(cset.bmax, chf.bmax, 0);
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[] flags = new int[chf.spanCount];
ctx.startTimer("BUILD_CONTOURS_TRACE");
// Mark boundaries.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
CompactCell c = chf.cells[x + y * w];
for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
{
int res = 0;
CompactSpan s = chf.spans[i];
if (chf.spans[i].reg == 0 || (chf.spans[i].reg & RecastConstants.RC_BORDER_REG) != 0)
{
flags[i] = 0;
continue;
}
for (int dir = 0; dir < 4; ++dir)
{
int r = 0;
if (RecastCommon.GetCon(s, dir) != RecastConstants.RC_NOT_CONNECTED)
{
int ax = x + RecastCommon.GetDirOffsetX(dir);
int ay = y + RecastCommon.GetDirOffsetY(dir);
int ai = chf.cells[ax + ay * w].index + RecastCommon.GetCon(s, dir);
r = chf.spans[ai].reg;
}
if (r == chf.spans[i].reg)
{
res |= (1 << dir);
}
}
flags[i] = res ^ 0xf; // Inverse, mark non connected edges.
}
}
}
ctx.stopTimer("BUILD_CONTOURS_TRACE");
List <int> verts = new List <int>(256);
List <int> simplified = new List <int>(64);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
CompactCell c = chf.cells[x + y * w];
for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
{
if (flags[i] == 0 || flags[i] == 0xf)
{
flags[i] = 0;
continue;
}
int reg = chf.spans[i].reg;
if (reg == 0 || (reg & RecastConstants.RC_BORDER_REG) != 0)
{
continue;
}
int area = chf.areas[i];
verts.Clear();
simplified.Clear();
ctx.startTimer("BUILD_CONTOURS_TRACE");
walkContour(x, y, i, chf, flags, verts);
ctx.stopTimer("BUILD_CONTOURS_TRACE");
ctx.startTimer("BUILD_CONTOURS_SIMPLIFY");
simplifyContour(verts, simplified, maxError, maxEdgeLen, buildFlags);
removeDegenerateSegments(simplified);
ctx.stopTimer("BUILD_CONTOURS_SIMPLIFY");
// Store region->contour remap info.
// Create contour.
if (simplified.Count / 4 >= 3)
{
Contour cont = new Contour();
cset.conts.Add(cont);
cont.nverts = simplified.Count / 4;
cont.verts = new int[simplified.Count];
for (int l = 0; l < cont.verts.Length; l++)
{
cont.verts[l] = simplified[l];
}
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[verts.Count];
for (int l = 0; l < cont.rverts.Length; l++)
{
cont.rverts[l] = verts[l];
}
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;
}
}
}
}
// Merge holes if needed.
if (cset.conts.Count > 0)
{
// Calculate winding of all polygons.
int[] winding = new int[cset.conts.Count];
int nholes = 0;
for (int i = 0; i < cset.conts.Count; ++i)
{
Contour cont = cset.conts[i];
// If the contour is wound backwards, it is a hole.
winding[i] = 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;
ContourRegion[] regions = new ContourRegion[nregions];
for (int i = 0; i < nregions; i++)
{
regions[i] = new ContourRegion();
}
for (int i = 0; i < cset.conts.Count; ++i)
{
Contour cont = cset.conts[i];
// Positively would contours are outlines, negative holes.
if (winding[i] > 0)
{
if (regions[cont.reg].outline != null)
{
throw new Exception("rcBuildContours: Multiple outlines for region " + cont.reg + ".");
}
regions[cont.reg].outline = cont;
}
else
{
regions[cont.reg].nholes++;
}
}
for (int i = 0; i < nregions; i++)
{
if (regions[i].nholes > 0)
{
regions[i].holes = new ContourHole[regions[i].nholes];
for (int nh = 0; nh < regions[i].nholes; nh++)
{
regions[i].holes[nh] = new ContourHole();
}
regions[i].nholes = 0;
}
}
for (int i = 0; i < cset.conts.Count; ++i)
{
Contour cont = cset.conts[i];
ContourRegion 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++)
{
ContourRegion reg = regions[i];
if (reg.nholes == 0)
{
continue;
}
if (reg.outline != 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.
throw new Exception("rcBuildContours: Bad outline for region " + i + ", contour simplification is likely too aggressive.");
}
}
}
}
ctx.stopTimer("BUILD_CONTOURS");
return(cset);
}
private static int getCornerHeight(int x, int y, int i, int dir, CompactHeightfield chf, bool isBorderVertex)
{
CompactSpan s = chf.spans[i];
int ch = s.y;
int dirp = (dir + 1) & 0x3;
int[] regs = { 0, 0, 0, 0 };
// Combine region and area codes in order to prevent
// border vertices which are in between two areas to be removed.
regs[0] = chf.spans[i].reg | (chf.areas[i] << 16);
if (RecastCommon.GetCon(s, dir) != RecastConstants.RC_NOT_CONNECTED)
{
int ax = x + RecastCommon.GetDirOffsetX(dir);
int ay = y + RecastCommon.GetDirOffsetY(dir);
int ai = chf.cells[ax + ay * chf.width].index + RecastCommon.GetCon(s, dir);
CompactSpan @as = chf.spans[ai];
ch = Math.Max(ch, @as.y);
regs[1] = chf.spans[ai].reg | (chf.areas[ai] << 16);
if (RecastCommon.GetCon(@as, dirp) != RecastConstants.RC_NOT_CONNECTED)
{
int ax2 = ax + RecastCommon.GetDirOffsetX(dirp);
int ay2 = ay + RecastCommon.GetDirOffsetY(dirp);
int ai2 = chf.cells[ax2 + ay2 * chf.width].index + RecastCommon.GetCon(@as, dirp);
CompactSpan as2 = chf.spans[ai2];
ch = Math.Max(ch, as2.y);
regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
}
}
if (RecastCommon.GetCon(s, dirp) != RecastConstants.RC_NOT_CONNECTED)
{
int ax = x + RecastCommon.GetDirOffsetX(dirp);
int ay = y + RecastCommon.GetDirOffsetY(dirp);
int ai = chf.cells[ax + ay * chf.width].index + RecastCommon.GetCon(s, dirp);
CompactSpan @as = chf.spans[ai];
ch = Math.Max(ch, @as.y);
regs[3] = chf.spans[ai].reg | (chf.areas[ai] << 16);
if (RecastCommon.GetCon(@as, dir) != RecastConstants.RC_NOT_CONNECTED)
{
int ax2 = ax + RecastCommon.GetDirOffsetX(dir);
int ay2 = ay + RecastCommon.GetDirOffsetY(dir);
int ai2 = chf.cells[ax2 + ay2 * chf.width].index + RecastCommon.GetCon(@as, dir);
CompactSpan as2 = chf.spans[ai2];
ch = Math.Max(ch, as2.y);
regs[2] = chf.spans[ai2].reg | (chf.areas[ai2] << 16);
}
}
// Check if the vertex is special edge vertex, these vertices will be removed later.
for (int j = 0; j < 4; ++j)
{
int a = j;
int b = (j + 1) & 0x3;
int c = (j + 2) & 0x3;
int d = (j + 3) & 0x3;
// The vertex is a border vertex there are two same exterior cells in a row,
// followed by two interior cells and none of the regions are out of bounds.
bool twoSameExts = (regs[a] & regs[b] & RecastConstants.RC_BORDER_REG) != 0 && regs[a] == regs[b];
bool twoInts = ((regs[c] | regs[d]) & RecastConstants.RC_BORDER_REG) == 0;
bool intsSameArea = (regs[c] >> 16) == (regs[d] >> 16);
bool noZeros = regs[a] != 0 && regs[b] != 0 && regs[c] != 0 && regs[d] != 0;
if (twoSameExts && twoInts && intsSameArea && noZeros)
{
isBorderVertex = true;
break;
}
}
return(ch);
}
private static void walkContour(int x, int y, int i, CompactHeightfield chf, int[] flags, List <int> points)
{
// Choose the first non-connected edge
int dir = 0;
while ((flags[i] & (1 << dir)) == 0)
{
dir++;
}
int startDir = dir;
int starti = i;
int area = chf.areas[i];
int iter = 0;
while (++iter < 40000)
{
if ((flags[i] & (1 << dir)) != 0)
{
// Choose the edge corner
bool isBorderVertex = false;
bool isAreaBorder = false;
int px = x;
int py = getCornerHeight(x, y, i, dir, chf, isBorderVertex);
int pz = y;
switch (dir)
{
case 0:
pz++;
break;
case 1:
px++;
pz++;
break;
case 2:
px++;
break;
}
int r = 0;
CompactSpan s = chf.spans[i];
if (RecastCommon.GetCon(s, dir) != RecastConstants.RC_NOT_CONNECTED)
{
int ax = x + RecastCommon.GetDirOffsetX(dir);
int ay = y + RecastCommon.GetDirOffsetY(dir);
int ai = chf.cells[ax + ay * chf.width].index + RecastCommon.GetCon(s, dir);
r = chf.spans[ai].reg;
if (area != chf.areas[ai])
{
isAreaBorder = true;
}
}
if (isBorderVertex)
{
r |= RecastConstants.RC_BORDER_VERTEX;
}
if (isAreaBorder)
{
r |= RecastConstants.RC_AREA_BORDER;
}
points.Add(px);
points.Add(py);
points.Add(pz);
points.Add(r);
flags[i] &= ~(1 << dir); // Remove visited edges
dir = (dir + 1) & 0x3; // Rotate CW
}
else
{
int ni = -1;
int nx = x + RecastCommon.GetDirOffsetX(dir);
int ny = y + RecastCommon.GetDirOffsetY(dir);
CompactSpan s = chf.spans[i];
if (RecastCommon.GetCon(s, dir) != RecastConstants.RC_NOT_CONNECTED)
{
CompactCell nc = chf.cells[nx + ny * chf.width];
ni = nc.index + RecastCommon.GetCon(s, dir);
}
if (ni == -1)
{
// Should not happen.
return;
}
x = nx;
y = ny;
i = ni;
dir = (dir + 3) & 0x3; // Rotate CCW
}
if (starti == i && startDir == dir)
{
break;
}
}
}
/// @par
///
/// This is just the beginning of the process of fully building a compact heightfield.
/// Various filters may be applied, then the distance field and regions built.
/// E.g: #rcBuildDistanceField and #rcBuildRegions
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig
public static CompactHeightfield buildCompactHeightfield(Context ctx, int walkableHeight, int walkableClimb, Heightfield hf)
{
ctx.startTimer("BUILD_COMPACTHEIGHTFIELD");
CompactHeightfield chf = new CompactHeightfield();
int w = hf.width;
int h = hf.height;
int spanCount = getHeightFieldSpanCount(ctx, hf);
// Fill in header.
chf.width = w;
chf.height = h;
chf.spanCount = spanCount;
chf.walkableHeight = walkableHeight;
chf.walkableClimb = walkableClimb;
chf.maxRegions = 0;
RecastVectors.copy(chf.bmin, hf.bmin);
RecastVectors.copy(chf.bmax, hf.bmax);
chf.bmax[1] += walkableHeight * hf.ch;
chf.cs = hf.cs;
chf.ch = hf.ch;
chf.cells = new CompactCell[w * h];
chf.spans = new CompactSpan[spanCount];
chf.areas = new int[spanCount];
int MAX_HEIGHT = 0xffff;
for (int i = 0; i < chf.cells.Length; i++)
{
chf.cells[i] = new CompactCell();
}
for (int i = 0; i < chf.spans.Length; i++)
{
chf.spans[i] = new CompactSpan();
}
// Fill in cells and spans.
int idx = 0;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
Span s = hf.spans[x + y * w];
// If there are no spans at this cell, just leave the data to index=0, count=0.
if (s == null)
{
continue;
}
CompactCell c = chf.cells[x + y * w];
c.index = idx;
c.count = 0;
while (s != null)
{
if (s.area != RecastConstants.RC_NULL_AREA)
{
int bot = s.smax;
int top = s.next != null ? (int)s.next.smin : MAX_HEIGHT;
chf.spans[idx].y = RecastCommon.clamp(bot, 0, 0xffff);
chf.spans[idx].h = RecastCommon.clamp(top - bot, 0, 0xff);
chf.areas[idx] = s.area;
idx++;
c.count++;
}
s = s.next;
}
}
}
// Find neighbour connections.
int MAX_LAYERS = RecastConstants.RC_NOT_CONNECTED - 1;
int tooHighNeighbour = 0;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
CompactCell c = chf.cells[x + y * w];
for (int i = c.index, ni = c.index + c.count; i < ni; ++i)
{
CompactSpan s = chf.spans[i];
for (int dir = 0; dir < 4; ++dir)
{
RecastCommon.SetCon(s, dir, RecastConstants.RC_NOT_CONNECTED);
int nx = x + RecastCommon.GetDirOffsetX(dir);
int ny = y + RecastCommon.GetDirOffsetY(dir);
// First check that the neighbour cell is in bounds.
if (nx < 0 || ny < 0 || nx >= w || ny >= h)
{
continue;
}
// Iterate over all neighbour spans and check if any of the is
// accessible from current cell.
CompactCell nc = chf.cells[nx + ny * w];
for (int k = nc.index, nk = nc.index + nc.count; k < nk; ++k)
{
CompactSpan ns = chf.spans[k];
int bot = Math.Max(s.y, ns.y);
int top = Math.Min(s.y + s.h, ns.y + ns.h);
// Check that the gap between the spans is walkable,
// and that the climb height between the gaps is not too high.
if ((top - bot) >= walkableHeight && Math.Abs(ns.y - s.y) <= walkableClimb)
{
// Mark direction as walkable.
int lidx = k - nc.index;
if (lidx < 0 || lidx > MAX_LAYERS)
{
tooHighNeighbour = Math.Max(tooHighNeighbour, lidx);
continue;
}
RecastCommon.SetCon(s, dir, lidx);
break;
}
}
}
}
}
}
if (tooHighNeighbour > MAX_LAYERS)
{
throw new Exception("rcBuildCompactHeightfield: Heightfield has too many layers " + tooHighNeighbour + " (max: " + MAX_LAYERS + ")");
}
ctx.stopTimer("BUILD_COMPACTHEIGHTFIELD");
return(chf);
}
private static void rasterizeTri(float[] verts, int v0, int v1, int v2, int area, Heightfield hf, float[] bmin, float[] bmax, float cs, float ics, float ich, int flagMergeThr)
{
int w = hf.width;
int h = hf.height;
float[] tmin = new float[3]; float[] tmax = new float[3];
float by = bmax[1] - bmin[1];
// Calculate the bounding box of the triangle.
RecastVectors.copy(tmin, verts, v0 * 3);
RecastVectors.copy(tmax, verts, v0 * 3);
RecastVectors.min(tmin, verts, v1 * 3);
RecastVectors.min(tmin, verts, v2 * 3);
RecastVectors.max(tmax, verts, v1 * 3);
RecastVectors.max(tmax, verts, v2 * 3);
// If the triangle does not touch the bbox of the heightfield, skip the triagle.
if (!overlapBounds(bmin, bmax, tmin, tmax))
{
return;
}
// Calculate the footprint of the triangle on the grid's y-axis
int y0 = (int)((tmin[2] - bmin[2]) * ics);
int y1 = (int)((tmax[2] - bmin[2]) * ics);
y0 = RecastCommon.clamp(y0, 0, h - 1);
y1 = RecastCommon.clamp(y1, 0, h - 1);
// Clip the triangle into all grid cells it touches.
float[] buf = new float[7 * 3 * 4];
int @in = 0;
int inrow = 7 * 3;
int p1 = inrow + 7 * 3;
int p2 = p1 + 7 * 3;
RecastVectors.copy(buf, 0, verts, v0 * 3);
RecastVectors.copy(buf, 3, verts, v1 * 3);
RecastVectors.copy(buf, 6, verts, v2 * 3);
int nvrow, nvIn = 3;
for (int y = y0; y <= y1; ++y)
{
// Clip polygon to row. Store the remaining polygon as well
float cz = bmin[2] + y * cs;
int[] nvrowin = dividePoly(buf, @in, nvIn, inrow, p1, cz + cs, 2);
nvrow = nvrowin[0];
nvIn = nvrowin[1];
{
int temp = @in;
@in = p1;
p1 = temp;
}
if (nvrow < 3)
{
continue;
}
// find the horizontal bounds in the row
float minX = buf[inrow], maxX = buf[inrow];
for (int i = 1; i < nvrow; ++i)
{
if (minX > buf[inrow + i * 3])
{
minX = buf[inrow + i * 3];
}
if (maxX < buf[inrow + i * 3])
{
maxX = buf[inrow + i * 3];
}
}
int x0 = (int)((minX - bmin[0]) * ics);
int x1 = (int)((maxX - bmin[0]) * ics);
x0 = RecastCommon.clamp(x0, 0, w - 1);
x1 = RecastCommon.clamp(x1, 0, w - 1);
int nv, nv2 = nvrow;
for (int x = x0; x <= x1; ++x)
{
// Clip polygon to column. store the remaining polygon as well
float cx = bmin[0] + x * cs;
int[] nvnv2 = dividePoly(buf, inrow, nv2, p1, p2, cx + cs, 0);
nv = nvnv2[0];
nv2 = nvnv2[1];
{
int temp = inrow;
inrow = p2;
p2 = temp;
}
if (nv < 3)
{
continue;
}
// Calculate min and max of the span.
float smin = buf[p1 + 1], smax = buf[p1 + 1];
for (int i = 1; i < nv; ++i)
{
smin = Math.Min(smin, buf[p1 + i * 3 + 1]);
smax = Math.Max(smax, buf[p1 + i * 3 + 1]);
}
smin -= bmin[1];
smax -= bmin[1];
// Skip the span if it is outside the heightfield bbox
if (smax < 0.0f)
{
continue;
}
if (smin > by)
{
continue;
}
// Clamp the span to the heightfield bbox.
if (smin < 0.0f)
{
smin = 0;
}
if (smax > by)
{
smax = by;
}
// Snap the span to the heightfield height grid.
int ismin = RecastCommon.clamp((int)Math.Floor(smin * ich), 0, RecastConstants.RC_SPAN_MAX_HEIGHT);
int ismax = RecastCommon.clamp((int)Math.Ceiling(smax * ich), ismin + 1, RecastConstants.RC_SPAN_MAX_HEIGHT);
addSpan(hf, x, y, ismin, ismax, area, flagMergeThr);
}
}
}