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This commit is contained in:
Kawe Mazidjatari 2022-07-28 03:21:20 +02:00
parent ce28ea2691
commit 34076142ba
10 changed files with 156 additions and 165 deletions

1
r5dev/naveditor/NavMeshPruneTool.cpp

@ -300,7 +300,6 @@ void NavMeshPruneTool::handleRender()
} }
} }
} }
} }
void NavMeshPruneTool::handleRenderOverlay(double* proj, double* model, int* view) void NavMeshPruneTool::handleRenderOverlay(double* proj, double* model, int* view)

38
r5dev/naveditor/NavMeshTesterTool.cpp

@ -932,8 +932,8 @@ void NavMeshTesterTool::recalc()
if (m_sposSet && m_startRef && m_eposSet) if (m_sposSet && m_startRef && m_eposSet)
{ {
const float dx = m_epos[0] - m_spos[0]; const float dx = m_epos[0] - m_spos[0];
const float dz = m_epos[2] - m_spos[2]; const float dy = m_epos[1] - m_spos[1];
float dist = sqrtf(dx*dx + dz*dz); float dist = sqrtf(dx*dx + dy*dy);
#ifdef DUMP_REQS #ifdef DUMP_REQS
printf("fpc %f %f %f %f 0x%x 0x%x\n", printf("fpc %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], dist, m_spos[0],m_spos[1],m_spos[2], dist,
@ -948,25 +948,25 @@ void NavMeshTesterTool::recalc()
{ {
if (m_sposSet && m_startRef && m_eposSet) if (m_sposSet && m_startRef && m_eposSet)
{ {
const float nx = (m_epos[2] - m_spos[2])*0.25f; const float nx = (m_epos[1] - m_spos[1])*0.25f;
const float nz = -(m_epos[0] - m_spos[0])*0.25f; const float ny = -(m_epos[0] - m_spos[0])*0.25f;
const float agentHeight = m_sample ? m_sample->getAgentHeight() : 0; const float agentHeight = m_sample ? m_sample->getAgentHeight() : 0;
m_queryPoly[0] = m_spos[0] + nx*1.2f; m_queryPoly[0] = m_spos[0] + nx*1.2f;
m_queryPoly[1] = m_spos[1] + agentHeight/2; m_queryPoly[1] = m_spos[1] + ny*1.2f;
m_queryPoly[2] = m_spos[2] + nz*1.2f; m_queryPoly[2] = m_spos[2] + agentHeight/2;
m_queryPoly[3] = m_spos[0] - nx*1.3f; m_queryPoly[3] = m_spos[0] - nx*1.3f;
m_queryPoly[4] = m_spos[1] + agentHeight/2; m_queryPoly[4] = m_spos[1] - ny*1.3f;
m_queryPoly[5] = m_spos[2] - nz*1.3f; m_queryPoly[5] = m_spos[2] + agentHeight/2;
m_queryPoly[6] = m_epos[0] - nx*0.8f; m_queryPoly[6] = m_epos[0] - nx*0.8f;
m_queryPoly[7] = m_epos[1] + agentHeight/2; m_queryPoly[7] = m_epos[1] - ny*0.8f;
m_queryPoly[8] = m_epos[2] - nz*0.8f; m_queryPoly[8] = m_epos[2] + agentHeight/2;
m_queryPoly[9] = m_epos[0] + nx; m_queryPoly[9] = m_epos[0] + nx;
m_queryPoly[10] = m_epos[1] + agentHeight/2; m_queryPoly[10] = m_epos[1] + ny;
m_queryPoly[11] = m_epos[2] + nz; m_queryPoly[11] = m_epos[2] + agentHeight/2;
#ifdef DUMP_REQS #ifdef DUMP_REQS
printf("fpp %f %f %f %f %f %f %f %f %f %f %f %f 0x%x 0x%x\n", printf("fpp %f %f %f %f %f %f %f %f %f %f %f %f 0x%x 0x%x\n",
@ -1386,18 +1386,18 @@ void NavMeshTesterTool::drawAgent(const float* pos, float r, float h, float c, c
dd.depthMask(false); dd.depthMask(false);
// Agent dimensions. // Agent dimensions.
duDebugDrawCylinderWire(&dd, pos[0]-r, pos[1]-r, pos[2] + 0.02f, pos[0]+r, pos[1]+r, pos[2]+h, col, 2.0f); duDebugDrawCylinderWire(&dd, pos[0]-r, pos[1]-r, pos[2]+0.02f, pos[0]+r, pos[1]+r, pos[2]+h, col, 2.0f);
duDebugDrawCircle(&dd, pos[0],pos[1],pos[2] + c,r,duRGBA(0,0,0,64),1.0f); duDebugDrawCircle(&dd, pos[0],pos[1],pos[2] + c,r,duRGBA(0,0,0,64),1.0f);
unsigned int colb = duRGBA(0,0,0,196); unsigned int colb = duRGBA(0,0,0,196);
dd.begin(DU_DRAW_LINES); dd.begin(DU_DRAW_LINES);
dd.vertex(pos[0], pos[1], pos[2] - c, colb); dd.vertex(pos[0],pos[1],pos[2]-c,colb);
dd.vertex(pos[0], pos[1], pos[2] + c, colb); dd.vertex(pos[0],pos[1],pos[2]+c,colb);
dd.vertex(pos[0]-r/2, pos[1], pos[2] + 0.02f, colb); dd.vertex(pos[0]-r/2,pos[1],pos[2]+0.02f,colb);
dd.vertex(pos[0]+r/2, pos[1], pos[2] + 0.02f, colb); dd.vertex(pos[0]+r/2,pos[1],pos[2]+0.02f,colb);
dd.vertex(pos[0], pos[1] - r / 2, pos[2] + 0.02f, colb); dd.vertex(pos[0],pos[1]-r/2,pos[2]+0.02f,colb);
dd.vertex(pos[0], pos[1] + r / 2, pos[2] + 0.02f, colb); dd.vertex(pos[0],pos[1]+r/2,pos[2]+0.02f,colb);
dd.end(); dd.end();
dd.depthMask(true); dd.depthMask(true);

19
r5dev/naveditor/Sample_TileMesh.cpp

@ -126,12 +126,12 @@ public:
glColor4ub(0,0,0,128); glColor4ub(0,0,0,128);
glLineWidth(2.0f); glLineWidth(2.0f);
glBegin(GL_LINES); glBegin(GL_LINES);
glVertex3f(m_hitPos[0]-s,m_hitPos[1]+0.1f,m_hitPos[2]); glVertex3f(m_hitPos[0]-s,m_hitPos[1],m_hitPos[2]+0.1f);
glVertex3f(m_hitPos[0]+s,m_hitPos[1]+0.1f,m_hitPos[2]); glVertex3f(m_hitPos[0]+s,m_hitPos[1],m_hitPos[2]+0.1f);
glVertex3f(m_hitPos[0],m_hitPos[1]-s+0.1f,m_hitPos[2]); glVertex3f(m_hitPos[0],m_hitPos[1]-s,m_hitPos[2]+0.1f);
glVertex3f(m_hitPos[0],m_hitPos[1]+s+0.1f,m_hitPos[2]); glVertex3f(m_hitPos[0],m_hitPos[1]+s,m_hitPos[2]+0.1f);
glVertex3f(m_hitPos[0],m_hitPos[1]+0.1f,m_hitPos[2]-s); glVertex3f(m_hitPos[0],m_hitPos[1],m_hitPos[2]-s+0.1f);
glVertex3f(m_hitPos[0],m_hitPos[1]+0.1f,m_hitPos[2]+s); glVertex3f(m_hitPos[0],m_hitPos[1],m_hitPos[2]+s+0.1f);
glEnd(); glEnd();
glLineWidth(1.0f); glLineWidth(1.0f);
} }
@ -686,13 +686,11 @@ void Sample_TileMesh::getTileExtents(int tx, int ty, float* tmin, float* tmax)
const float* bmin = m_geom->getNavMeshBoundsMin(); const float* bmin = m_geom->getNavMeshBoundsMin();
const float* bmax = m_geom->getNavMeshBoundsMax(); const float* bmax = m_geom->getNavMeshBoundsMax();
tmin[0] = bmax[0] - (tx+1)*ts; tmin[0] = bmax[0] - (tx+1)*ts;
//tmin[0] = bmin[0] + tx * ts; tmin[1] = bmin[1] + (ty)*ts;
tmin[1] = bmin[1] + ty * ts;
tmin[2] = bmin[2]; tmin[2] = bmin[2];
tmax[0] = bmax[0] - (tx)*ts; tmax[0] = bmax[0] - (tx)*ts;
//tmax[0] = bmin[0] + (tx + 1)*ts; tmax[1] = bmin[1] + (ty+1)*ts;
tmax[1] = bmin[1] + (ty + 1)*ts;
tmax[2] = bmax[2]; tmax[2] = bmax[2];
} }
void Sample_TileMesh::getTilePos(const float* pos, int& tx, int& ty) void Sample_TileMesh::getTilePos(const float* pos, int& tx, int& ty)
@ -704,7 +702,6 @@ void Sample_TileMesh::getTilePos(const float* pos, int& tx, int& ty)
const float ts = m_tileSize*m_cellSize; const float ts = m_tileSize*m_cellSize;
tx = (int)((bmax[0]- pos[0]) / ts); tx = (int)((bmax[0]- pos[0]) / ts);
//tx = (int)((pos[0] - bmin[0]) / ts);
ty = (int)((pos[1] - bmin[1]) / ts); ty = (int)((pos[1] - bmin[1]) / ts);
} }

36
r5dev/naveditor/TestCase.cpp

@ -324,13 +324,13 @@ void TestCase::handleRender()
dtVsub(dir, iter->epos, iter->spos); dtVsub(dir, iter->epos, iter->spos);
dtVnormalize(dir); dtVnormalize(dir);
glColor4ub(128,25,0,192); glColor4ub(128,25,0,192);
glVertex3f(iter->spos[0],iter->spos[1]-0.3f,iter->spos[2]); glVertex3f(iter->spos[0],iter->spos[1],iter->spos[2]-0.3f);
glVertex3f(iter->spos[0],iter->spos[1]+0.3f,iter->spos[2]); glVertex3f(iter->spos[0],iter->spos[1],iter->spos[2]+0.3f);
glVertex3f(iter->spos[0],iter->spos[1]+0.3f,iter->spos[2]); glVertex3f(iter->spos[0],iter->spos[1],iter->spos[2]+0.3f);
glVertex3f(iter->spos[0]+dir[0]*0.3f,iter->spos[1]+0.3f+dir[1]*0.3f,iter->spos[2]+dir[2]*0.3f); glVertex3f(iter->spos[0]+dir[0]*0.3f,iter->spos[1]+dir[1]*0.3f,iter->spos[2]+0.3f+dir[2]*0.3f);
glColor4ub(51,102,0,129); glColor4ub(51,102,0,129);
glVertex3f(iter->epos[0],iter->epos[1]-0.3f,iter->epos[2]); glVertex3f(iter->epos[0],iter->epos[1],iter->epos[2]-0.3f);
glVertex3f(iter->epos[0],iter->epos[1]+0.3f,iter->epos[2]); glVertex3f(iter->epos[0],iter->epos[1],iter->epos[2]+0.3f);
if (iter->expand) if (iter->expand)
{ {
@ -338,24 +338,24 @@ void TestCase::handleRender()
glColor4ub(255,32,0,128); glColor4ub(255,32,0,128);
glVertex3f(iter->spos[0]-s,iter->spos[1],iter->spos[2]); glVertex3f(iter->spos[0]-s,iter->spos[1],iter->spos[2]);
glVertex3f(iter->spos[0]+s,iter->spos[1],iter->spos[2]); glVertex3f(iter->spos[0]+s,iter->spos[1],iter->spos[2]);
glVertex3f(iter->spos[0],iter->spos[1],iter->spos[2]-s); glVertex3f(iter->spos[0],iter->spos[1]-s,iter->spos[2]);
glVertex3f(iter->spos[0],iter->spos[1],iter->spos[2]+s); glVertex3f(iter->spos[0],iter->spos[1]+s,iter->spos[2]);
glColor4ub(255,192,0,255); glColor4ub(255,192,0,255);
glVertex3f(iter->nspos[0]-s,iter->nspos[1],iter->nspos[2]); glVertex3f(iter->nspos[0]-s,iter->nspos[1],iter->nspos[2]);
glVertex3f(iter->nspos[0]+s,iter->nspos[1],iter->nspos[2]); glVertex3f(iter->nspos[0]+s,iter->nspos[1],iter->nspos[2]);
glVertex3f(iter->nspos[0],iter->nspos[1],iter->nspos[2]-s); glVertex3f(iter->nspos[0],iter->nspos[1]-s,iter->nspos[2]);
glVertex3f(iter->nspos[0],iter->nspos[1],iter->nspos[2]+s); glVertex3f(iter->nspos[0],iter->nspos[1]+s,iter->nspos[2]);
glColor4ub(255,32,0,128); glColor4ub(255,32,0,128);
glVertex3f(iter->epos[0]-s,iter->epos[1],iter->epos[2]); glVertex3f(iter->epos[0]-s,iter->epos[1],iter->epos[2]);
glVertex3f(iter->epos[0]+s,iter->epos[1],iter->epos[2]); glVertex3f(iter->epos[0]+s,iter->epos[1],iter->epos[2]);
glVertex3f(iter->epos[0],iter->epos[1],iter->epos[2]-s); glVertex3f(iter->epos[0],iter->epos[1]-s,iter->epos[2]);
glVertex3f(iter->epos[0],iter->epos[1],iter->epos[2]+s); glVertex3f(iter->epos[0],iter->epos[1]+s,iter->epos[2]);
glColor4ub(255,192,0,255); glColor4ub(255,192,0,255);
glVertex3f(iter->nepos[0]-s,iter->nepos[1],iter->nepos[2]); glVertex3f(iter->nepos[0]-s,iter->nepos[1],iter->nepos[2]);
glVertex3f(iter->nepos[0]+s,iter->nepos[1],iter->nepos[2]); glVertex3f(iter->nepos[0]+s,iter->nepos[1],iter->nepos[2]);
glVertex3f(iter->nepos[0],iter->nepos[1],iter->nepos[2]-s); glVertex3f(iter->nepos[0],iter->nepos[1]-s,iter->nepos[2]);
glVertex3f(iter->nepos[0],iter->nepos[1],iter->nepos[2]+s); glVertex3f(iter->nepos[0],iter->nepos[1]+s,iter->nepos[2]);
} }
if (iter->expand) if (iter->expand)
@ -365,8 +365,8 @@ void TestCase::handleRender()
for (int i = 0; i < iter->nstraight-1; ++i) for (int i = 0; i < iter->nstraight-1; ++i)
{ {
glVertex3f(iter->straight[i*3+0],iter->straight[i*3+1]+0.3f,iter->straight[i*3+2]); glVertex3f(iter->straight[i*3+0],iter->straight[i*3+1],iter->straight[i*3+2]+0.3f);
glVertex3f(iter->straight[(i+1)*3+0],iter->straight[(i+1)*3+1]+0.3f,iter->straight[(i+1)*3+2]); glVertex3f(iter->straight[(i+1)*3+0],iter->straight[(i+1)*3+1],iter->straight[(i+1)*3+2]+0.3f);
} }
} }
glEnd(); glEnd();
@ -393,14 +393,14 @@ bool TestCase::handleRenderOverlay(double* proj, double* model, int* view)
dtVnormalize(dir); dtVnormalize(dir);
dtVmad(pt, iter->spos, dir, LABEL_DIST); dtVmad(pt, iter->spos, dir, LABEL_DIST);
} }
pt[1]+=0.5f; pt[2]+=0.5f;
} }
else else
{ {
dtVsub(dir, iter->epos, iter->spos); dtVsub(dir, iter->epos, iter->spos);
dtVnormalize(dir); dtVnormalize(dir);
dtVmad(pt, iter->spos, dir, LABEL_DIST); dtVmad(pt, iter->spos, dir, LABEL_DIST);
pt[1]+=0.5f; pt[2]+=0.5f;
} }
if (gluProject((GLdouble)pt[0], (GLdouble)pt[1], (GLdouble)pt[2], if (gluProject((GLdouble)pt[0], (GLdouble)pt[1], (GLdouble)pt[2],

3
r5dev/thirdparty/recast/DebugUtils/Source/DebugDraw.cpp vendored

@ -458,12 +458,9 @@ void appendArrowHead(struct duDebugDraw* dd, const float* p, const float* q,
dd->vertex(p, col); dd->vertex(p, col);
dd->vertex(p[0]+az[0]*s+ay[0]*s/2, p[1]+az[1]*s+ay[1]*s/2, p[2]+az[2]*s+ay[2]*s/2, col); dd->vertex(p[0]+az[0]*s+ay[0]*s/2, p[1]+az[1]*s+ay[1]*s/2, p[2]+az[2]*s+ay[2]*s/2, col);
// dd->vertex(p[0]+az[0]*s+ax[0]*s/3, p[1]+az[1]*s+ax[1]*s/3, p[2]+az[2]*s+ax[2]*s/3, col);
dd->vertex(p, col); dd->vertex(p, col);
dd->vertex(p[0]+az[0]*s-ay[0]*s/2, p[1]+az[1]*s-ay[1]*s/2, p[2]+az[2]*s-ay[2]*s/2, col); dd->vertex(p[0]+az[0]*s-ay[0]*s/2, p[1]+az[1]*s-ay[1]*s/2, p[2]+az[2]*s-ay[2]*s/2, col);
// dd->vertex(p[0]+az[0]*s-ax[0]*s/3, p[1]+az[1]*s-ax[1]*s/3, p[2]+az[2]*s-ax[2]*s/3, col);
} }
void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0, void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0,

4
r5dev/thirdparty/recast/DebugUtils/Source/RecastDump.cpp vendored

@ -69,8 +69,8 @@ bool duDumpPolyMeshToObj(rcPolyMesh& pmesh, duFileIO* io)
{ {
const unsigned short* v = &pmesh.verts[i*3]; const unsigned short* v = &pmesh.verts[i*3];
const float x = orig[0] + v[0]*cs; const float x = orig[0] + v[0]*cs;
const float y = orig[1] + (v[1]+1)*ch + 0.1f; const float y = orig[1] + v[1]*cs;
const float z = orig[2] + v[2]*cs; const float z = orig[2] +(v[2]+1)*ch + 0.1f;
ioprintf(io, "v %f %f %f\n", x,y,z); ioprintf(io, "v %f %f %f\n", x,y,z);
} }

3
r5dev/thirdparty/recast/Detour/Source/DetourNavMesh.cpp vendored

@ -525,7 +525,6 @@ void dtNavMesh::connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int
} }
} }
} }
} }
void dtNavMesh::connectIntLinks(dtMeshTile* tile) void dtNavMesh::connectIntLinks(dtMeshTile* tile)
@ -562,7 +561,7 @@ void dtNavMesh::connectIntLinks(dtMeshTile* tile)
poly->firstLink = idx; poly->firstLink = idx;
link->flags = 0xffff00ff; link->flags = 0xffff00ff;
} }
} }
} }
} }

26
r5dev/thirdparty/recast/DetourTileCache/Source/DetourTileCache.cpp vendored

@ -780,11 +780,11 @@ void dtTileCache::calcTightTileBounds(const dtTileCacheLayerHeader* header, floa
{ {
const float cs = m_params.cs; const float cs = m_params.cs;
bmin[0] = header->bmin[0] + header->minx*cs; bmin[0] = header->bmin[0] + header->minx*cs;
bmin[1] = header->bmin[1]; bmin[1] = header->bmin[1] + header->miny*cs;
bmin[2] = header->bmin[2] + header->miny*cs; bmin[2] = header->bmin[2];
bmax[0] = header->bmin[0] + (header->maxx+1)*cs; bmax[0] = header->bmin[0] + (header->maxx+1)*cs;
bmax[1] = header->bmax[1]; bmax[1] = header->bmax[1] + (header->maxy+1)*cs;
bmax[2] = header->bmin[2] + (header->maxy+1)*cs; bmax[2] = header->bmin[2];
} }
void dtTileCache::getObstacleBounds(const struct dtTileCacheObstacle* ob, float* bmin, float* bmax) const void dtTileCache::getObstacleBounds(const struct dtTileCacheObstacle* ob, float* bmin, float* bmax) const
@ -794,11 +794,11 @@ void dtTileCache::getObstacleBounds(const struct dtTileCacheObstacle* ob, float*
const dtObstacleCylinder &cl = ob->cylinder; const dtObstacleCylinder &cl = ob->cylinder;
bmin[0] = cl.pos[0] - cl.radius; bmin[0] = cl.pos[0] - cl.radius;
bmin[1] = cl.pos[1]; bmin[1] = cl.pos[1] - cl.radius;
bmin[2] = cl.pos[2] - cl.radius; bmin[2] = cl.pos[2];
bmax[0] = cl.pos[0] + cl.radius; bmax[0] = cl.pos[0] + cl.radius;
bmax[1] = cl.pos[1] + cl.height; bmax[1] = cl.pos[1] + cl.radius;
bmax[2] = cl.pos[2] + cl.radius; bmax[2] = cl.pos[2] + cl.height;
} }
else if (ob->type == DT_OBSTACLE_BOX) else if (ob->type == DT_OBSTACLE_BOX)
{ {
@ -809,12 +809,12 @@ void dtTileCache::getObstacleBounds(const struct dtTileCacheObstacle* ob, float*
{ {
const dtObstacleOrientedBox &orientedBox = ob->orientedBox; const dtObstacleOrientedBox &orientedBox = ob->orientedBox;
float maxr = 1.41f*dtMax(orientedBox.halfExtents[0], orientedBox.halfExtents[2]); float maxr = 1.41f*dtMax(orientedBox.halfExtents[0], orientedBox.halfExtents[1]);
bmin[0] = orientedBox.center[0] - maxr; bmin[0] = orientedBox.center[0] - maxr;
bmax[0] = orientedBox.center[0] + maxr; bmax[0] = orientedBox.center[0] + maxr;
bmin[1] = orientedBox.center[1] - orientedBox.halfExtents[1]; bmin[1] = orientedBox.center[1] - maxr;
bmax[1] = orientedBox.center[1] + orientedBox.halfExtents[1]; bmax[1] = orientedBox.center[1] + maxr;
bmin[2] = orientedBox.center[2] - maxr; bmin[2] = orientedBox.center[2] - orientedBox.halfExtents[2];
bmax[2] = orientedBox.center[2] + maxr; bmax[2] = orientedBox.center[2] + orientedBox.halfExtents[2];
} }
} }

187
r5dev/thirdparty/recast/DetourTileCache/Source/DetourTileCacheBuilder.cpp vendored

@ -393,14 +393,14 @@ static bool appendVertex(dtTempContour& cont, const int x, const int y, const in
{ {
if (pa[0] == pb[0] && (int)pb[0] == x) if (pa[0] == pb[0] && (int)pb[0] == x)
{ {
// The verts are aligned aling x-axis, update z. // The verts are aligned aling x-axis, update y.
pb[1] = (unsigned char)y; pb[1] = (unsigned char)y;
pb[2] = (unsigned char)z; pb[0] = (unsigned char)x;
return true; return true;
} }
else if (pa[2] == pb[2] && (int)pb[2] == z) else if (pa[2] == pb[2] && (int)pb[2] == y)
{ {
// The verts are aligned aling z-axis, update x. // The verts are aligned aling y-axis, update x.
pb[0] = (unsigned char)x; pb[0] = (unsigned char)x;
pb[1] = (unsigned char)y; pb[1] = (unsigned char)y;
return true; return true;
@ -488,16 +488,16 @@ static bool walkContour(dtTileCacheLayer& layer, int x, int y, dtTempContour& co
{ {
// Solid edge. // Solid edge.
int px = x; int px = x;
int pz = y; int py = y;
switch(dir) switch(dir)
{ {
case 0: pz++; break; case 0: py++; break;
case 1: px++; pz++; break; case 1: px++; py++; break;
case 2: px++; break; case 2: px++; break;
} }
// Try to merge with previous vertex. // Try to merge with previous vertex.
if (!appendVertex(cont, px, (int)layer.heights[x+y*w], pz,rn)) if (!appendVertex(cont, px, (int)layer.heights[x+y*w], py,rn))
return false; return false;
ndir = (dir+1) & 0x3; // Rotate CW ndir = (dir+1) & 0x3; // Rotate CW
@ -530,16 +530,16 @@ static bool walkContour(dtTileCacheLayer& layer, int x, int y, dtTempContour& co
} }
static float distancePtSeg(const int x, const int z, static float distancePtSeg(const int x, const int y,
const int px, const int pz, const int px, const int py,
const int qx, const int qz) const int qx, const int qz)
{ {
float pqx = (float)(qx - px); float pqx = (float)(qx - px);
float pqz = (float)(qz - pz); float pqz = (float)(qz - py);
float dx = (float)(x - px); float dx = (float)(x - px);
float dz = (float)(z - pz); float dy = (float)(y - py);
float d = pqx*pqx + pqz*pqz; float d = pqx*pqx + pqz*pqz;
float t = pqx*dx + pqz*dz; float t = pqx*dx + pqz*dy;
if (d > 0) if (d > 0)
t /= d; t /= d;
if (t < 0) if (t < 0)
@ -548,9 +548,9 @@ static float distancePtSeg(const int x, const int z,
t = 1; t = 1;
dx = px + t*pqx - x; dx = px + t*pqx - x;
dz = pz + t*pqz - z; dy = py + t*pqz - y;
return dx*dx + dz*dz; return dx*dx + dy*dy;
} }
static void simplifyContour(dtTempContour& cont, const float maxError) static void simplifyContour(dtTempContour& cont, const float maxError)
@ -572,25 +572,25 @@ static void simplifyContour(dtTempContour& cont, const float maxError)
// create some initial points for the simplification process. // create some initial points for the simplification process.
// Find lower-left and upper-right vertices of the contour. // Find lower-left and upper-right vertices of the contour.
int llx = cont.verts[0]; int llx = cont.verts[0];
int llz = cont.verts[2]; int lly = cont.verts[1];
int lli = 0; int lli = 0;
int urx = cont.verts[0]; int urx = cont.verts[0];
int urz = cont.verts[2]; int ury = cont.verts[1];
int uri = 0; int uri = 0;
for (int i = 1; i < cont.nverts; ++i) for (int i = 1; i < cont.nverts; ++i)
{ {
int x = cont.verts[i*4+0]; int x = cont.verts[i*4+0];
int z = cont.verts[i*4+2]; int y = cont.verts[i*4+1];
if (x < llx || (x == llx && z < llz)) if (x < llx || (x == llx && y < lly))
{ {
llx = x; llx = x;
llz = z; lly = y;
lli = i; lli = i;
} }
if (x > urx || (x == urx && z > urz)) if (x > urx || (x == urx && y > ury))
{ {
urx = x; urx = x;
urz = z; ury = y;
uri = i; uri = i;
} }
} }
@ -607,11 +607,11 @@ static void simplifyContour(dtTempContour& cont, const float maxError)
const int ai = (int)cont.poly[i]; const int ai = (int)cont.poly[i];
const int ax = (int)cont.verts[ai*4+0]; const int ax = (int)cont.verts[ai*4+0];
const int az = (int)cont.verts[ai*4+2]; const int ay = (int)cont.verts[ai*4+1];
const int bi = (int)cont.poly[ii]; const int bi = (int)cont.poly[ii];
const int bx = (int)cont.verts[bi*4+0]; const int bx = (int)cont.verts[bi*4+0];
const int bz = (int)cont.verts[bi*4+2]; const int by = (int)cont.verts[bi*4+1];
// Find maximum deviation from the segment. // Find maximum deviation from the segment.
float maxd = 0; float maxd = 0;
@ -621,7 +621,7 @@ static void simplifyContour(dtTempContour& cont, const float maxError)
// Traverse the segment in lexilogical order so that the // Traverse the segment in lexilogical order so that the
// max deviation is calculated similarly when traversing // max deviation is calculated similarly when traversing
// opposite segments. // opposite segments.
if (bx > ax || (bx == ax && bz > az)) if (bx > ax || (bx == ax && by > ay))
{ {
cinc = 1; cinc = 1;
ci = (ai+cinc) % cont.nverts; ci = (ai+cinc) % cont.nverts;
@ -637,7 +637,7 @@ static void simplifyContour(dtTempContour& cont, const float maxError)
// Tessellate only outer edges or edges between areas. // Tessellate only outer edges or edges between areas.
while (ci != endi) while (ci != endi)
{ {
float d = distancePtSeg(cont.verts[ci*4+0], cont.verts[ci*4+2], ax, az, bx, bz); float d = distancePtSeg(cont.verts[ci*4+0], cont.verts[ci*4+1], ax, ay, bx, by);
if (d > maxd) if (d > maxd)
{ {
maxd = d; maxd = d;
@ -654,7 +654,7 @@ static void simplifyContour(dtTempContour& cont, const float maxError)
cont.npoly++; cont.npoly++;
for (int j = cont.npoly-1; j > i; --j) for (int j = cont.npoly-1; j > i; --j)
cont.poly[j] = cont.poly[j-1]; cont.poly[j] = cont.poly[j-1];
cont.poly[i+1] = (unsigned short)maxi; cont.poly[i+2] = (unsigned short)maxi;
} }
else else
{ {
@ -697,17 +697,17 @@ static unsigned char getCornerHeight(dtTileCacheLayer& layer,
unsigned char preg = 0xff; unsigned char preg = 0xff;
bool allSameReg = true; bool allSameReg = true;
for (int dz = -1; dz <= 0; ++dz) for (int dy = -1; dy <= 0; ++dy)
{ {
for (int dx = -1; dx <= 0; ++dx) for (int dx = -1; dx <= 0; ++dx)
{ {
const int px = x+dx; const int px = x+dx;
const int pz = z+dz; const int py = y+dy;
if (px >= 0 && pz >= 0 && px < w && pz < h) if (px >= 0 && py >= 0 && px < w && py < h)
{ {
const int idx = px + pz*w; const int idx = px + py*w;
const int lh = (int)layer.heights[idx]; const int lh = (int)layer.heights[idx];
if (dtAbs(lh-y) <= walkableClimb && layer.areas[idx] != DT_TILECACHE_NULL_AREA) if (dtAbs(lh-z) <= walkableClimb && layer.areas[idx] != DT_TILECACHE_NULL_AREA)
{ {
height = dtMax(height, (unsigned char)lh); height = dtMax(height, (unsigned char)lh);
portal &= (layer.cons[idx] >> 4); portal &= (layer.cons[idx] >> 4);
@ -786,7 +786,7 @@ dtStatus dtBuildTileCacheContours(dtTileCacheAlloc* alloc,
if (!walkContour(layer, x, y, temp)) if (!walkContour(layer, x, y, temp))
{ {
// Too complex contour. // Too complex contour.
// Note: If you hit here ofte, try increasing 'maxTempVerts'. // Note: If you hit here often, try increasing 'maxTempVerts'.
return DT_FAILURE | DT_BUFFER_TOO_SMALL; return DT_FAILURE | DT_BUFFER_TOO_SMALL;
} }
@ -811,8 +811,8 @@ dtStatus dtBuildTileCacheContours(dtTileCacheAlloc* alloc,
walkableClimb, shouldRemove); walkableClimb, shouldRemove);
dst[0] = v[0]; dst[0] = v[0];
dst[1] = lh; dst[1] = v[1];
dst[2] = v[2]; dst[2] = lh;
// Store portal direction and remove status to the fourth component. // Store portal direction and remove status to the fourth component.
dst[3] = 0x0f; dst[3] = 0x0f;
@ -982,10 +982,10 @@ static bool buildMeshAdjacency(dtTileCacheAlloc* alloc,
{ {
// Find matching vertical edge // Find matching vertical edge
const unsigned short x = (unsigned short)va[0]; const unsigned short x = (unsigned short)va[0];
unsigned short zmin = (unsigned short)va[2]; unsigned short ymin = (unsigned short)va[1];
unsigned short zmax = (unsigned short)vb[2]; unsigned short ymax = (unsigned short)vb[1];
if (zmin > zmax) if (ymin > ymax)
dtSwap(zmin, zmax); dtSwap(ymin, ymax);
for (int m = 0; m < edgeCount; ++m) for (int m = 0; m < edgeCount; ++m)
{ {
@ -997,11 +997,11 @@ static bool buildMeshAdjacency(dtTileCacheAlloc* alloc,
const unsigned short* evb = &verts[e.vert[1]*3]; const unsigned short* evb = &verts[e.vert[1]*3];
if (eva[0] == x && evb[0] == x) if (eva[0] == x && evb[0] == x)
{ {
unsigned short ezmin = eva[2]; unsigned short eymin = eva[1];
unsigned short ezmax = evb[2]; unsigned short eymax = evb[1];
if (ezmin > ezmax) if (eymin > eymax)
dtSwap(ezmin, ezmax); dtSwap(eymin, eymax);
if (overlapRangeExl(zmin,zmax, ezmin, ezmax)) if (overlapRangeExl(ymin,ymax, eymin, eymax))
{ {
// Reuse the other polyedge to store dir. // Reuse the other polyedge to store dir.
e.polyEdge[1] = dir; e.polyEdge[1] = dir;
@ -1059,7 +1059,6 @@ static bool buildMeshAdjacency(dtTileCacheAlloc* alloc,
unsigned short* p0 = &polys[e.poly[0]*MAX_VERTS_PER_POLY*2]; unsigned short* p0 = &polys[e.poly[0]*MAX_VERTS_PER_POLY*2];
p0[MAX_VERTS_PER_POLY + e.polyEdge[0]] = 0x8000 | (unsigned short)e.polyEdge[1]; p0[MAX_VERTS_PER_POLY + e.polyEdge[0]] = 0x8000 | (unsigned short)e.polyEdge[1];
} }
} }
return true; return true;
@ -1072,7 +1071,7 @@ inline int next(int i, int n) { return i+1 < n ? i+1 : 0; }
inline int area2(const unsigned char* a, const unsigned char* b, const unsigned char* c) inline int area2(const unsigned char* a, const unsigned char* b, const unsigned char* c)
{ {
return ((int)b[0] - (int)a[0]) * ((int)c[2] - (int)a[2]) - ((int)c[0] - (int)a[0]) * ((int)b[2] - (int)a[2]); return ((int)b[0] - (int)a[0]) * ((int)c[1] - (int)a[1]) - ((int)c[0] - (int)a[0]) * ((int)b[1] - (int)a[1]);
} }
// Exclusive or: true iff exactly one argument is true. // Exclusive or: true iff exactly one argument is true.
@ -1125,7 +1124,7 @@ static bool between(const unsigned char* a, const unsigned char* b, const unsign
if (a[0] != b[0]) if (a[0] != b[0])
return ((a[0] <= c[0]) && (c[0] <= b[0])) || ((a[0] >= c[0]) && (c[0] >= b[0])); return ((a[0] <= c[0]) && (c[0] <= b[0])) || ((a[0] >= c[0]) && (c[0] >= b[0]));
else else
return ((a[2] <= c[2]) && (c[2] <= b[2])) || ((a[2] >= c[2]) && (c[2] >= b[2])); return ((a[1] <= c[1]) && (c[1] <= b[1])) || ((a[1] >= c[1]) && (c[1] >= b[1]));
} }
// Returns true iff segments ab and cd intersect, properly or improperly. // Returns true iff segments ab and cd intersect, properly or improperly.
@ -1143,7 +1142,7 @@ static bool intersect(const unsigned char* a, const unsigned char* b,
static bool vequal(const unsigned char* a, const unsigned char* b) static bool vequal(const unsigned char* a, const unsigned char* b)
{ {
return a[0] == b[0] && a[2] == b[2]; return a[0] == b[0] && a[1] == b[1];
} }
// Returns T iff (v_i, v_j) is a proper internal *or* external // Returns T iff (v_i, v_j) is a proper internal *or* external
@ -1224,8 +1223,8 @@ static int triangulate(int n, const unsigned char* verts, unsigned short* indice
const unsigned char* p2 = &verts[(indices[next(i1, n)] & 0x7fff) * 4]; const unsigned char* p2 = &verts[(indices[next(i1, n)] & 0x7fff) * 4];
const int dx = (int)p2[0] - (int)p0[0]; const int dx = (int)p2[0] - (int)p0[0];
const int dz = (int)p2[2] - (int)p0[2]; const int dy = (int)p2[1] - (int)p0[1];
const int len = dx*dx + dz*dz; const int len = dx*dx + dy*dy;
if (minLen < 0 || len < minLen) if (minLen < 0 || len < minLen)
{ {
minLen = len; minLen = len;
@ -1294,8 +1293,8 @@ static int countPolyVerts(const unsigned short* p)
inline bool uleft(const unsigned short* a, const unsigned short* b, const unsigned short* c) inline bool uleft(const unsigned short* a, const unsigned short* b, const unsigned short* c)
{ {
return ((int)b[0] - (int)a[0]) * ((int)c[2] - (int)a[2]) - return ((int)b[0] - (int)a[0]) * ((int)c[1] - (int)a[1]) -
((int)c[0] - (int)a[0]) * ((int)b[2] - (int)a[2]) < 0; ((int)c[0] - (int)a[0]) * ((int)b[1] - (int)a[1]) < 0;
} }
static int getPolyMergeValue(unsigned short* pa, unsigned short* pb, static int getPolyMergeValue(unsigned short* pa, unsigned short* pb,
@ -1356,7 +1355,7 @@ static int getPolyMergeValue(unsigned short* pa, unsigned short* pb,
vb = pa[(ea+1)%na]; vb = pa[(ea+1)%na];
int dx = (int)verts[va*3+0] - (int)verts[vb*3+0]; int dx = (int)verts[va*3+0] - (int)verts[vb*3+0];
int dy = (int)verts[va*3+2] - (int)verts[vb*3+2]; int dy = (int)verts[va*3+1] - (int)verts[vb*3+1];
return dx*dx + dy*dy; return dx*dx + dy*dy;
} }
@ -1952,11 +1951,11 @@ dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const fl
{ {
float bmin[3], bmax[3]; float bmin[3], bmax[3];
bmin[0] = pos[0] - radius; bmin[0] = pos[0] - radius;
bmin[1] = pos[1]; bmin[1] = pos[1] - radius;
bmin[2] = pos[2] - radius; bmin[2] = pos[2];
bmax[0] = pos[0] + radius; bmax[0] = pos[0] + radius;
bmax[1] = pos[1] + height; bmax[1] = pos[1] + radius;
bmax[2] = pos[2] + radius; bmax[2] = pos[2] + height;;
const float r2 = dtSqr(radius/cs + 0.5f); const float r2 = dtSqr(radius/cs + 0.5f);
const int w = (int)layer.header->width; const int w = (int)layer.header->width;
@ -1965,7 +1964,7 @@ dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const fl
const float ich = 1.0f/ch; const float ich = 1.0f/ch;
const float px = (pos[0]-orig[0])*ics; const float px = (pos[0]-orig[0])*ics;
const float pz = (pos[2]-orig[2])*ics; const float py = (pos[1]-orig[1])*ics;
int minx = (int)dtMathFloorf((bmin[0]-orig[0])*ics); int minx = (int)dtMathFloorf((bmin[0]-orig[0])*ics);
int miny = (int)dtMathFloorf((bmin[1]-orig[1])*ich); int miny = (int)dtMathFloorf((bmin[1]-orig[1])*ich);
@ -1976,26 +1975,26 @@ dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const fl
if (maxx < 0) return DT_SUCCESS; if (maxx < 0) return DT_SUCCESS;
if (minx >= w) return DT_SUCCESS; if (minx >= w) return DT_SUCCESS;
if (maxz < 0) return DT_SUCCESS; if (maxy < 0) return DT_SUCCESS;
if (minz >= h) return DT_SUCCESS; if (miny >= h) return DT_SUCCESS;
if (minx < 0) minx = 0; if (minx < 0) minx = 0;
if (maxx >= w) maxx = w-1; if (maxx >= w) maxx = w-1;
if (minz < 0) minz = 0; if (miny < 0) miny = 0;
if (maxz >= h) maxz = h-1; if (maxy >= h) maxy = h-1;
for (int z = minz; z <= maxz; ++z) for (int y = miny; y <= maxy; ++y)
{ {
for (int x = minx; x <= maxx; ++x) for (int x = minx; x <= maxx; ++x)
{ {
const float dx = (float)(x+0.5f) - px; const float dx = (float)(x+0.5f) - px;
const float dz = (float)(z+0.5f) - pz; const float dy = (float)(y+0.5f) - py;
if (dx*dx + dz*dz > r2) if (dx*dx + dy*dy > r2)
continue; continue;
const int y = layer.heights[x+z*w]; const int z = layer.heights[x+y*w];
if (y < miny || y > maxy) if (z < minz || z > maxz)
continue; continue;
layer.areas[x+z*w] = areaId; layer.areas[x+y*w] = areaId;
} }
} }
@ -2019,22 +2018,22 @@ dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float c
if (maxx < 0) return DT_SUCCESS; if (maxx < 0) return DT_SUCCESS;
if (minx >= w) return DT_SUCCESS; if (minx >= w) return DT_SUCCESS;
if (maxz < 0) return DT_SUCCESS; if (maxy < 0) return DT_SUCCESS;
if (minz >= h) return DT_SUCCESS; if (miny >= h) return DT_SUCCESS;
if (minx < 0) minx = 0; if (minx < 0) minx = 0;
if (maxx >= w) maxx = w-1; if (maxx >= w) maxx = w-1;
if (minz < 0) minz = 0; if (miny < 0) miny = 0;
if (maxz >= h) maxz = h-1; if (maxy >= h) maxy = h-1;
for (int z = minz; z <= maxz; ++z) for (int y = miny; y <= maxy; ++y)
{ {
for (int x = minx; x <= maxx; ++x) for (int x = minx; x <= maxx; ++x)
{ {
const int y = layer.heights[x+z*w]; const int z = layer.heights[x+y*w];
if (y < miny || y > maxy) if (z < minz || z > maxz)
continue; continue;
layer.areas[x+z*w] = areaId; layer.areas[x+y*w] = areaId;
} }
} }
@ -2050,45 +2049,45 @@ dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float c
const float ich = 1.0f/ch; const float ich = 1.0f/ch;
float cx = (center[0] - orig[0])*ics; float cx = (center[0] - orig[0])*ics;
float cz = (center[2] - orig[2])*ics; float cy = (center[1] - orig[1])*ics;
float maxr = 1.41f*dtMax(halfExtents[0], halfExtents[2]); float maxr = 1.41f*dtMax(halfExtents[0], halfExtents[2]);
int minx = (int)floorf(cx - maxr*ics); int minx = (int)floorf(cx - maxr*ics);
int maxx = (int)floorf(cx + maxr*ics); int maxx = (int)floorf(cx + maxr*ics);
int minz = (int)floorf(cz - maxr*ics); int miny = (int)floorf(cy - maxr*ics);
int maxz = (int)floorf(cz + maxr*ics); int maxy = (int)floorf(cy + maxr*ics);
int miny = (int)floorf((center[1]-halfExtents[1]-orig[1])*ich); int minz = (int)floorf((center[1]-halfExtents[1]-orig[1])*ich);
int maxy = (int)floorf((center[1]+halfExtents[1]-orig[1])*ich); int maxz = (int)floorf((center[1]+halfExtents[1]-orig[1])*ich);
if (maxx < 0) return DT_SUCCESS; if (maxx < 0) return DT_SUCCESS;
if (minx >= w) return DT_SUCCESS; if (minx >= w) return DT_SUCCESS;
if (maxz < 0) return DT_SUCCESS; if (maxy < 0) return DT_SUCCESS;
if (minz >= h) return DT_SUCCESS; if (miny >= h) return DT_SUCCESS;
if (minx < 0) minx = 0; if (minx < 0) minx = 0;
if (maxx >= w) maxx = w-1; if (maxx >= w) maxx = w-1;
if (minz < 0) minz = 0; if (miny < 0) miny = 0;
if (maxz >= h) maxz = h-1; if (maxy >= h) maxy = h-1;
float xhalf = halfExtents[0]*ics + 0.5f; float xhalf = halfExtents[0]*ics + 0.5f;
float zhalf = halfExtents[2]*ics + 0.5f; float yhalf = halfExtents[1]*ics + 0.5f;
for (int z = minz; z <= maxz; ++z) for (int y = miny; y <= maxy; ++y)
{ {
for (int x = minx; x <= maxx; ++x) for (int x = minx; x <= maxx; ++x)
{ {
float x2 = 2.0f*(float(x) - cx); float x2 = 2.0f*(float(x) - cx);
float z2 = 2.0f*(float(z) - cz); float y2 = 2.0f*(float(y) - cy);
float xrot = rotAux[1]*x2 + rotAux[0]*z2; float xrot = rotAux[1]*x2 + rotAux[0]*y2;
if (xrot > xhalf || xrot < -xhalf) if (xrot > xhalf || xrot < -xhalf)
continue; continue;
float zrot = rotAux[1]*z2 - rotAux[0]*x2; float yrot = rotAux[1]*y2 - rotAux[0]*x2;
if (zrot > zhalf || zrot < -zhalf) if (yrot > yhalf || yrot < -yhalf)
continue; continue;
const int y = layer.heights[x+z*w]; const int z = layer.heights[x+y*w];
if (y < miny || y > maxy) if (z < minz || z > maxz)
continue; continue;
layer.areas[x+z*w] = areaId; layer.areas[x+y*w] = areaId;
} }
} }

4
r5dev/thirdparty/recast/Recast/Source/RecastArea.cpp vendored

@ -335,7 +335,7 @@ void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigne
if (minx < 0) minx = 0; if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width-1; if (maxx >= chf.width) maxx = chf.width-1;
if (miny < 0) miny = 0; if (miny < 0) miny = 0;
if (maxy >= chf.height) maxy = chf.height-1; if (maxy >= chf.height) maxy = chf.height-1;
for (int y = miny; y <= maxy; ++y) for (int y = miny; y <= maxy; ++y)
{ {
@ -558,7 +558,7 @@ void rcMarkCylinderArea(rcContext* ctx, const float* pos,
if (minx < 0) minx = 0; if (minx < 0) minx = 0;
if (maxx >= chf.width) maxx = chf.width-1; if (maxx >= chf.width) maxx = chf.width-1;
if (miny < 0) minz = 0; if (miny < 0) minz = 0;
if (maxy >= chf.height) maxy = chf.height-1; if (maxy >= chf.height) maxy = chf.height-1;
for (int y = miny; y <= maxy; ++y) for (int y = miny; y <= maxy; ++y)