Recast: variable name cleanup and improve documentation

Renamed variables to accommodate the XZ -> XY change. Also fixed a dead URL to point to an archived version to maintain documentation.

src/thirdparty/recast/Recast/Include/Recast.h

@@ -1093,7 +1093,7 @@ int rcGetHeightFieldSpanCount(rcContext* context, const rcHeightfield& heightfie
 /// @param[out]		compactHeightfield	The resulting compact heightfield. (Must be pre-allocated.)
 /// @returns True if the operation completed successfully.
 bool rcBuildCompactHeightfield(rcContext* context, int walkableHeight, int walkableClimb,
-							   rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield);
+							   const rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield);
 
 /// Erodes the walkable area within the heightfield by the specified radius. 
 /// @ingroup recast
@@ -1281,7 +1281,7 @@ bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf,
 /// @param[out]		cset		The resulting contour set. (Must be pre-allocated.)
 /// @param[in]		buildFlags	The build flags. (See: #rcBuildContoursFlags)
 /// @returns True if the operation completed successfully.
-bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
+bool rcBuildContours(rcContext* ctx, const rcCompactHeightfield& chf,
 					 float maxError, int maxEdgeLen,
 					 rcContourSet& cset, int buildFlags = RC_CONTOUR_TESS_WALL_EDGES);
 

src/thirdparty/recast/Recast/Source/Recast.cpp

@@ -401,19 +401,19 @@ int rcGetHeightFieldSpanCount(rcContext* context, const rcHeightfield& heightfie
 }
 
 bool rcBuildCompactHeightfield(rcContext* context, const int walkableHeight, const int walkableClimb,
-                               rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield)
+                               const rcHeightfield& heightfield, rcCompactHeightfield& compactHeightfield)
 {
 	rcAssert(context);
 
 	rcScopedTimer timer(context, RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
 
 	const int xSize = heightfield.width;
-	const int zSize = heightfield.height;
+	const int ySize = heightfield.height;
 	const int spanCount = rcGetHeightFieldSpanCount(context, heightfield);
 
 	// Fill in header.
 	compactHeightfield.width = xSize;
-	compactHeightfield.height = zSize;
+	compactHeightfield.height = ySize;
 	compactHeightfield.spanCount = spanCount;
 	compactHeightfield.walkableHeight = walkableHeight;
 	compactHeightfield.walkableClimb = walkableClimb;
@@ -423,13 +423,13 @@ bool rcBuildCompactHeightfield(rcContext* context, const int walkableHeight, con
 	compactHeightfield.bmax[2] += walkableHeight * heightfield.ch;
 	compactHeightfield.cs = heightfield.cs;
 	compactHeightfield.ch = heightfield.ch;
-	compactHeightfield.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell) * xSize * zSize, RC_ALLOC_PERM);
+	compactHeightfield.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell) * xSize * ySize, RC_ALLOC_PERM);
 	if (!compactHeightfield.cells)
 	{
-		context->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", xSize * zSize);
+		context->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Out of memory 'chf.cells' (%d)", xSize * ySize);
 		return false;
 	}
-	memset(compactHeightfield.cells, 0, sizeof(rcCompactCell) * xSize * zSize);
+	memset(compactHeightfield.cells, 0, sizeof(rcCompactCell) * xSize * ySize);
 	compactHeightfield.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan) * spanCount, RC_ALLOC_PERM);
 	if (!compactHeightfield.spans)
 	{
@@ -449,7 +449,7 @@ bool rcBuildCompactHeightfield(rcContext* context, const int walkableHeight, con
 
 	// Fill in cells and spans.
 	int currentCellIndex = 0;
-	const int numColumns = xSize * zSize;
+	const int numColumns = xSize * ySize;
 	for (int columnIndex = 0; columnIndex < numColumns; ++columnIndex)
 	{
 		const rcSpan* span = heightfield.spans[columnIndex];
@@ -483,11 +483,11 @@ bool rcBuildCompactHeightfield(rcContext* context, const int walkableHeight, con
 	const int MAX_LAYERS = RC_NOT_CONNECTED - 1;
 	int maxLayerIndex = 0;
 	const int zStride = xSize; // for readability
-	for (int z = 0; z < zSize; ++z)
+	for (int y = 0; y < ySize; ++y)
 	{
 		for (int x = 0; x < xSize; ++x)
 		{
-			const rcCompactCell& cell = compactHeightfield.cells[x + z * zStride];
+			const rcCompactCell& cell = compactHeightfield.cells[x + y * zStride];
 			for (int i = (int)cell.index, ni = (int)(cell.index + cell.count); i < ni; ++i)
 			{
 				rcCompactSpan& span = compactHeightfield.spans[i];
@@ -496,9 +496,9 @@ bool rcBuildCompactHeightfield(rcContext* context, const int walkableHeight, con
 				{
 					rcSetCon(span, dir, RC_NOT_CONNECTED);
 					const int neighborX = x + rcGetDirOffsetX(dir);
-					const int neighborZ = z + rcGetDirOffsetY(dir);
+					const int neighborZ = y + rcGetDirOffsetY(dir);
 					// First check that the neighbour cell is in bounds.
-					if (neighborX < 0 || neighborZ < 0 || neighborX >= xSize || neighborZ >= zSize)
+					if (neighborX < 0 || neighborZ < 0 || neighborX >= xSize || neighborZ >= ySize)
 					{
 						continue;
 					}

src/thirdparty/recast/Recast/Source/RecastContour.cpp

@@ -101,7 +101,7 @@ static int getCornerHeight(int x, int y, int i, int dir,
 }
 
 static void walkContour(int x, int y, int i,
-						rcCompactHeightfield& chf,
+						const rcCompactHeightfield& chf,
 						unsigned char* flags, rcIntArray& points)
 {
 	// Choose the first non-connected edge
@@ -183,16 +183,16 @@ static void walkContour(int x, int y, int i,
 	}
 }
 
-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)
 {
 	float pqx = (float)(qx - px);
-	float pqz = (float)(qz - pz);
+	float pqz = (float)(qz - py);
 	float dx = (float)(x - px);
-	float dz = (float)(z - pz);
+	float dy = (float)(y - py);
 	float d = pqx*pqx + pqz*pqz;
-	float t = pqx*dx + pqz*dz;
+	float t = pqx*dx + pqz*dy;
 	if (d > 0)
 		t /= d;
 	if (t < 0)
@@ -201,9 +201,9 @@ static float distancePtSeg(const int x, const int z,
 		t = 1;
 	
 	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(rcIntArray& points, rcIntArray& simplified,
@@ -512,7 +512,7 @@ static bool intersectProp(const int* a, const int* b, const int* c, const int* d
 }
 
 // Returns T iff (a,b,c) are collinear and point c lies
-// on the closed segement ab.
+// on the closed segment ab.
 static bool between(const int* a, const int* b, const int* c)
 {
 	if (!collinear(a, b, c))
@@ -541,7 +541,7 @@ static bool vequal(const int* a, const int* b)
 	return a[0] == b[0] && a[1] == b[1];
 }
 
-static bool intersectSegCountour(const int* d0, const int* d1, int i, int n, const int* verts)
+static bool intersectSegContour(const int* d0, const int* d1, int i, int n, const int* verts)
 {
 	// For each edge (k,k+1) of P
 	for (int k = 0; k < n; k++)
@@ -749,7 +749,7 @@ static void mergeRegionHoles(rcContext* ctx, rcContourRegion& region)
 		for (int iter = 0; iter < hole->nverts; iter++)
 		{
 			// Find potential diagonals.
-			// The 'best' vertex must be in the cone described by 3 cosequtive vertices of the outline.
+			// The 'best' vertex must be in the cone described by 3 consecutive vertices of the outline.
 			// ..o j-1
 			//   |
 			//   |   * best
@@ -777,9 +777,9 @@ static void mergeRegionHoles(rcContext* ctx, rcContourRegion& region)
 			for (int j = 0; j < ndiags; j++)
 			{
 				const int* pt = &outline->verts[diags[j].vert*4];
-				bool intersect = intersectSegCountour(pt, corner, diags[j].vert, outline->nverts, outline->verts);
+				bool intersect = intersectSegContour(pt, corner, diags[j].vert, outline->nverts, outline->verts);
 				for (int k = i; k < region.nholes && !intersect; k++)
-					intersect |= intersectSegCountour(pt, corner, -1, region.holes[k].contour->nverts, region.holes[k].contour->verts);
+					intersect |= intersectSegContour(pt, corner, -1, region.holes[k].contour->nverts, region.holes[k].contour->verts);
 				if (!intersect)
 				{
 					index = diags[j].vert;
@@ -820,7 +820,7 @@ static void mergeRegionHoles(rcContext* ctx, rcContourRegion& region)
 /// See the #rcConfig documentation for more information on the configuration parameters.
 ///
 /// @see rcAllocContourSet, rcCompactHeightfield, rcContourSet, rcConfig
-bool rcBuildContours(rcContext* ctx, rcCompactHeightfield& chf,
+bool rcBuildContours(rcContext* ctx, const rcCompactHeightfield& chf,
 					 const float maxError, const int maxEdgeLen,
 					 rcContourSet& cset, const int buildFlags)
 {

src/thirdparty/recast/Recast/Source/RecastFilter.cpp

@@ -28,9 +28,9 @@ void rcFilterLowHangingWalkableObstacles(rcContext* context, const int walkableC
 	rcScopedTimer timer(context, RC_TIMER_FILTER_LOW_OBSTACLES);
 
 	const int xSize = heightfield.width;
-	const int zSize = heightfield.height;
+	const int ySize = heightfield.height;
 
-	for (int z = 0; z < zSize; ++z)
+	for (int y = 0; y < ySize; ++y)
 	{
 		for (int x = 0; x < xSize; ++x)
 		{
@@ -38,7 +38,7 @@ void rcFilterLowHangingWalkableObstacles(rcContext* context, const int walkableC
 			bool previousWasWalkable = false;
 			unsigned char previousArea = RC_NULL_AREA;
 
-			for (rcSpan* span = heightfield.spans[x + z * xSize]; span != NULL; previousSpan = span, span = span->next)
+			for (rcSpan* span = heightfield.spans[x + y * xSize]; span != NULL; previousSpan = span, span = span->next)
 			{
 				const bool walkable = span->area != RC_NULL_AREA;
 				// If current span is not walkable, but there is walkable
@@ -71,11 +71,11 @@ void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int
 	const int MAX_HEIGHT = 0xffff; // TODO (graham): Move this to a more visible constant and update usages.
 	
 	// Mark border spans.
-	for (int z = 0; z < zSize; ++z)
+	for (int y = 0; y < zSize; ++y)
 	{
 		for (int x = 0; x < xSize; ++x)
 		{
-			for (rcSpan* span = heightfield.spans[x + z * xSize]; span; span = span->next)
+			for (rcSpan* span = heightfield.spans[x + y * xSize]; span; span = span->next)
 			{
 				// Skip non walkable spans.
 				if (span->area == RC_NULL_AREA)
@@ -96,7 +96,7 @@ void rcFilterLedgeSpans(rcContext* context, const int walkableHeight, const int
 				for (int direction = 0; direction < 4; ++direction)
 				{
 					int dx = x + rcGetDirOffsetX(direction);
-					int dy = z + rcGetDirOffsetY(direction);
+					int dy = y + rcGetDirOffsetY(direction);
 					// Skip neighbours which are out of bounds.
 					if (dx < 0 || dy < 0 || dx >= xSize || dy >= zSize)
 					{
@@ -161,16 +161,16 @@ void rcFilterWalkableLowHeightSpans(rcContext* context, const int walkableHeight
 	rcScopedTimer timer(context, RC_TIMER_FILTER_WALKABLE);
 	
 	const int xSize = heightfield.width;
-	const int zSize = heightfield.height;
+	const int ySize = heightfield.height;
 	const 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 z = 0; z < zSize; ++z)
+	for (int y = 0; y < ySize; ++y)
 	{
 		for (int x = 0; x < xSize; ++x)
 		{
-			for (rcSpan* span = heightfield.spans[x + z*xSize]; span; span = span->next)
+			for (rcSpan* span = heightfield.spans[x + y*xSize]; span; span = span->next)
 			{
 				const int bot = (int)(span->smax);
 				const int top = span->next ? (int)(span->next->smin) : MAX_HEIGHT;

src/thirdparty/recast/Recast/Source/RecastMesh.cpp

@@ -35,7 +35,7 @@ static bool buildMeshAdjacency(unsigned short* polys, const int npolys,
 							   const int nverts, const int vertsPerPoly)
 {
 	// Based on code by Eric Lengyel from:
-	// http://www.terathon.com/code/edges.php
+	// https://web.archive.org/web/20080704083314/http://www.terathon.com/code/edges.php
 	
 	int maxEdgeCount = npolys*vertsPerPoly;
 	unsigned short* firstEdge = (unsigned short*)rcAlloc(sizeof(unsigned short)*(nverts + maxEdgeCount), RC_ALLOC_TEMP);
@@ -1044,27 +1044,11 @@ static bool removeVertex(rcContext* ctx, rcPolyMesh& mesh, const unsigned short
 	
 	return true;
 }
-void copy_flip_poly_mesh(unsigned short* input,unsigned short *output,int max_idx)
-{
 
-	//find actual vertex count
-	int cidx = 0;
-	for (int i = 0; i < max_idx; i++)
-		if (input[i] != 0xffff)
-			cidx++;
-		else
-			break;
-
-	//copy it out
-	for (int i = 0; i < cidx; i++)
-	{
-		output[i] = input[cidx - i-1];
-	}
-}
 /// @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.
+/// limit must be restricted to <= #DT_VERTS_PER_POLYGON.
 ///
 /// @see rcAllocPolyMesh, rcContourSet, rcPolyMesh, rcConfig
 bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMesh& mesh)
@@ -1290,7 +1274,6 @@ bool rcBuildPolyMesh(rcContext* ctx, rcContourSet& cset, const int nvp, rcPolyMe
 		{
 			unsigned short* p = &mesh.polys[mesh.npolys*nvp*2];
 			unsigned short* q = &polys[j*nvp];
-			//copy_flip_poly_mesh(q, p, nvp);
 			for (int k = 0; k < nvp; ++k)
 				p[k] = q[k];
 			mesh.regs[mesh.npolys] = cont.reg;
@@ -1691,7 +1674,7 @@ void flip_neis_direction(unsigned short* arr, int count)
 		p[nvp+j] = 0x8000 | 3;
 	*/
 }
-void rcFlipPolyMesh(rcPolyMesh& mesh)
+void rcFlipPolyMesh(rcPolyMesh& /*mesh*/)
 {
 #if !REVERSE_DIRECTION
 	for (int i = 0; i < mesh.npolys; i++)