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feat(Core/Mmaps): Handle different slopes in mmaps and Add some more input parameters to improve (#10974)

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This commit is contained in:
IntelligentQuantum
2022-04-25 00:14:50 +04:30
committed by GitHub
parent 090cc5e2c6
commit b544eb420e
10 changed files with 274 additions and 182 deletions
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60
deps/recastnavigation/Recast/Source/Recast.cpp vendored
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@@ -59,13 +59,13 @@ float rcSqrt(float x)
/// @class rcContext
/// @par
///
/// This class does not provide logging or timer functionality on its
/// own. Both must be provided by a concrete implementation
/// by overriding the protected member functions. Also, this class does not
/// provide an interface for extracting log messages. (Only adding them.)
/// This class does not provide logging or timer functionality on its
/// own. Both must be provided by a concrete implementation
/// by overriding the protected member functions. Also, this class does not
/// provide an interface for extracting log messages. (Only adding them.)
/// So concrete implementations must provide one.
///
/// If no logging or timers are required, just pass an instance of this
/// If no logging or timers are required, just pass an instance of this
/// class through the Recast build process.
///
@@ -293,14 +293,14 @@ void rcCalcGridSize(const float* bmin, const float* bmax, float cs, int* w, int*
/// @par
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
/// @see rcAllocHeightfield, rcHeightfield
///
/// @see rcAllocHeightfield, rcHeightfield
bool rcCreateHeightfield(rcContext* ctx, rcHeightfield& hf, int width, int height,
const float* bmin, const float* bmax,
float cs, float ch)
{
rcIgnoreUnused(ctx);
hf.width = width;
hf.height = height;
rcVcopy(hf.bmin, bmin);
@@ -327,29 +327,29 @@ static void calcTriNormal(const float* v0, const float* v1, const float* v2, flo
///
/// Only sets the area id's for the walkable triangles. Does not alter the
/// area id's for unwalkable triangles.
///
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
///
/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
const float* verts, int nv,
const int* tris, int nt,
unsigned char* areas)
unsigned char* areas, unsigned char areaType)
{
rcIgnoreUnused(ctx);
rcIgnoreUnused(nv);
const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
float norm[3];
for (int i = 0; i < nt; ++i)
{
const int* tri = &tris[i*3];
calcTriNormal(&verts[tri[0]*3], &verts[tri[1]*3], &verts[tri[2]*3], norm);
// Check if the face is walkable.
if (norm[1] > walkableThr)
areas[i] = RC_WALKABLE_AREA;
areas[i] = areaType;
}
}
@@ -357,9 +357,9 @@ void rcMarkWalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
///
/// Only sets the area id's for the unwalkable triangles. Does not alter the
/// area id's for walkable triangles.
///
///
/// See the #rcConfig documentation for more information on the configuration parameters.
///
///
/// @see rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles
void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
const float* verts, int /*nv*/,
@@ -367,11 +367,11 @@ void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
unsigned char* areas)
{
rcIgnoreUnused(ctx);
const float walkableThr = cosf(walkableSlopeAngle/180.0f*RC_PI);
float norm[3];
for (int i = 0; i < nt; ++i)
{
const int* tri = &tris[i*3];
@@ -385,7 +385,7 @@ void rcClearUnwalkableTriangles(rcContext* ctx, const float walkableSlopeAngle,
int rcGetHeightFieldSpanCount(rcContext* ctx, rcHeightfield& hf)
{
rcIgnoreUnused(ctx);
const int w = hf.width;
const int h = hf.height;
int spanCount = 0;
@@ -416,9 +416,9 @@ bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const i
rcHeightfield& hf, rcCompactHeightfield& chf)
{
rcAssert(ctx);
rcScopedTimer timer(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD);
const int w = hf.width;
const int h = hf.height;
const int spanCount = rcGetHeightFieldSpanCount(ctx, hf);
@@ -456,9 +456,9 @@ bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const i
return false;
}
memset(chf.areas, RC_NULL_AREA, sizeof(unsigned char)*spanCount);
const int MAX_HEIGHT = 0xffff;
// Fill in cells and spans.
int idx = 0;
for (int y = 0; y < h; ++y)
@@ -499,7 +499,7 @@ bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const i
for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
{
rcCompactSpan& s = chf.spans[i];
for (int dir = 0; dir < 4; ++dir)
{
rcSetCon(s, dir, RC_NOT_CONNECTED);
@@ -508,7 +508,7 @@ bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const i
// 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.
const rcCompactCell& nc = chf.cells[nx+ny*w];
@@ -533,18 +533,18 @@ bool rcBuildCompactHeightfield(rcContext* ctx, const int walkableHeight, const i
break;
}
}
}
}
}
}
if (tooHighNeighbour > MAX_LAYERS)
{
ctx->log(RC_LOG_ERROR, "rcBuildCompactHeightfield: Heightfield has too many layers %d (max: %d)",
tooHighNeighbour, MAX_LAYERS);
}
return true;
}
@@ -554,7 +554,7 @@ static int getHeightfieldMemoryUsage(const rcHeightfield& hf)
int size = 0;
size += sizeof(hf);
size += hf.width * hf.height * sizeof(rcSpan*);
rcSpanPool* pool = hf.pools;
while (pool)
{