blender-archive/source/blender/editors/object/object_navmesh.cpp

/**
* $Id:$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2004 by Blender Foundation
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#include <math.h>
#include "Recast.h"

extern "C"
{
#include "MEM_guardedalloc.h"

#include "DNA_scene_types.h"
#include "DNA_object_types.h"
#include "DNA_meshdata_types.h"
#include "DNA_ID.h"

#include "BKE_library.h"
#include "BKE_depsgraph.h"
#include "BKE_context.h"
#include "BKE_mesh.h"
#include "BKE_DerivedMesh.h"
#include "BKE_cdderivedmesh.h"
#include "BLI_editVert.h"
#include "BLI_listbase.h"
#include "ED_object.h"
#include "BLI_math_vector.h"

#include "ED_mesh.h"

/*mesh/mesh_intern.h */
extern struct EditVert *addvertlist(EditMesh *em, float *vec, struct EditVert *example);
extern struct EditFace *addfacelist(EditMesh *em, struct EditVert *v1, struct EditVert *v2, struct EditVert *v3, struct EditVert *v4, struct EditFace *example, struct EditFace *exampleEdges);

#include "WM_api.h"
#include "WM_types.h"

static void createVertsTrisData(bContext *C, LinkNode* obs, int& nverts, float*& verts, int &ntris, int*& tris)
{
	MVert *mvert;
	int nfaces = 0, *tri, i, curnverts, basenverts, curnfaces;
	MFace *mface;
	float co[3], wco[3];
	Object *ob;
	LinkNode *oblink, *dmlink;
	DerivedMesh *dm;
	Scene* scene = CTX_data_scene(C);
	LinkNode* dms = NULL;

	nverts = 0;
	ntris = 0;
	//calculate number of verts and tris
	for (oblink = obs; oblink; oblink = oblink->next) 
	{
		ob = (Object*) oblink->link;	
		DerivedMesh *dm = mesh_create_derived_no_virtual(scene, ob, NULL, CD_MASK_MESH);
		BLI_linklist_append(&dms, (void*)dm);

		nverts += dm->getNumVerts(dm);
		nfaces = dm->getNumFaces(dm);
		ntris += nfaces;

		//resolve quad faces
		mface = dm->getFaceArray(dm);
		for (i=0; i<nfaces; i++)
		{
			MFace* mf = &mface[i];
			if (mf->v4)
				ntris+=1;
		}
	}

	//create data
	verts = (float*) MEM_mallocN(sizeof(float)*3*nverts, "verts");
	tris = (int*) MEM_mallocN(sizeof(int)*3*ntris, "faces");

	basenverts = 0;
	tri = tris;
	for (oblink = obs, dmlink = dms; oblink && dmlink; 
			oblink = oblink->next, dmlink = dmlink->next)
	{
		ob = (Object*) oblink->link;
		dm = (DerivedMesh*) dmlink->link;

		curnverts = dm->getNumVerts(dm);
		mvert = dm->getVertArray(dm);
		//copy verts	
		for (i=0; i<curnverts; i++)
		{
			MVert *v = &mvert[i];
			copy_v3_v3(co, v->co);
			mul_v3_m4v3(wco, ob->obmat, co);
			verts[3*(basenverts+i)+0] = wco[0];
			verts[3*(basenverts+i)+1] = wco[2];
			verts[3*(basenverts+i)+2] = wco[1];
		}

		//create tris
		curnfaces = dm->getNumFaces(dm);
		mface = dm->getFaceArray(dm);
		for (i=0; i<curnfaces; i++)
		{
			MFace* mf = &mface[i]; 
			tri[0]= basenverts + mf->v1; tri[1]= basenverts + mf->v3;	tri[2]= basenverts + mf->v2; 
			tri += 3;
			if (mf->v4)
			{
				tri[0]= basenverts + mf->v1; tri[1]= basenverts + mf->v4; tri[2]= basenverts + mf->v3; 
				tri += 3;
			}
		}
		basenverts += curnverts;
	}

	//release derived mesh
	for (dmlink = dms; dmlink; dmlink = dmlink->next)
	{
		dm = (DerivedMesh*) dmlink->link;
		dm->release(dm);
	}
	BLI_linklist_free(dms, NULL);
}

static bool buildNavMesh(const RecastData& recastParams, int nverts, float* verts, int ntris, int* tris,
								 rcPolyMesh*& pmesh, rcPolyMeshDetail*& dmesh)
{
	float bmin[3], bmax[3];
	rcHeightfield* solid;
	unsigned char *triflags;
	rcCompactHeightfield* chf;
	rcContourSet *cset;

	rcCalcBounds(verts, nverts, bmin, bmax);

	//
	// Step 1. Initialize build config.
	//
	rcConfig cfg;
	memset(&cfg, 0, sizeof(cfg));
	{
/*
		float cellsize = 0.3f;
		float cellheight = 0.2f;
		float agentmaxslope = M_PI/4;
		float agentmaxclimb = 0.9f;
		float agentheight = 2.0f;
		float agentradius = 0.6f;
		float edgemaxlen = 12.0f;
		float edgemaxerror = 1.3f;
		float regionminsize = 50.f;
		float regionmergesize = 20.f;
		int vertsperpoly = 6;
		float detailsampledist = 6.0f;
		float detailsamplemaxerror = 1.0f;
		cfg.cs = cellsize;
		cfg.ch = cellheight;
		cfg.walkableSlopeAngle = agentmaxslope/M_PI*180.f;
		cfg.walkableHeight = (int)ceilf(agentheight/ cfg.ch);
		cfg.walkableClimb = (int)floorf(agentmaxclimb / cfg.ch);
		cfg.walkableRadius = (int)ceilf(agentradius / cfg.cs);
		cfg.maxEdgeLen = (int)(edgemaxlen/cellsize);
		cfg.maxSimplificationError = edgemaxerror;
		cfg.minRegionSize = (int)rcSqr(regionminsize);
		cfg.mergeRegionSize = (int)rcSqr(regionmergesize);
		cfg.maxVertsPerPoly = vertsperpoly;
		cfg.detailSampleDist = detailsampledist< 0.9f ? 0 : cellsize * detailsampledist;
		cfg.detailSampleMaxError = cellheight * detailsamplemaxerror;
*/
		cfg.cs = recastParams.cellsize;
		cfg.ch = recastParams.cellheight;
		cfg.walkableSlopeAngle = recastParams.agentmaxslope/((float)M_PI)*180.f;
		cfg.walkableHeight = (int)ceilf(recastParams.agentheight/ cfg.ch);
		cfg.walkableClimb = (int)floorf(recastParams.agentmaxclimb / cfg.ch);
		cfg.walkableRadius = (int)ceilf(recastParams.agentradius / cfg.cs);
		cfg.maxEdgeLen = (int)(recastParams.edgemaxlen/recastParams.cellsize);
		cfg.maxSimplificationError = recastParams.edgemaxerror;
		cfg.minRegionSize = (int)rcSqr(recastParams.regionminsize);
		cfg.mergeRegionSize = (int)rcSqr(recastParams.regionmergesize);
		cfg.maxVertsPerPoly = recastParams.vertsperpoly;
		cfg.detailSampleDist = recastParams.detailsampledist< 0.9f ? 0 : 
								recastParams.cellsize * recastParams.detailsampledist;
		cfg.detailSampleMaxError = recastParams.cellheight * recastParams.detailsamplemaxerror;

	}

	// Set the area where the navigation will be build.
	vcopy(cfg.bmin, bmin);
	vcopy(cfg.bmax, bmax);
	rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);

	//
	// Step 2. Rasterize input polygon soup.
	//
	// Allocate voxel heightfield where we rasterize our input data to.
	solid = new rcHeightfield;
	if (!solid)
		return false;

	if (!rcCreateHeightfield(*solid, cfg.width, cfg.height, cfg.bmin, cfg.bmax, cfg.cs, cfg.ch))
		return false;

	// Allocate array that can hold triangle flags.
	triflags = (unsigned char*) MEM_mallocN(sizeof(unsigned char)*ntris, "triflags");
	if (!triflags)
		return false;
	// Find triangles which are walkable based on their slope and rasterize them.
	memset(triflags, 0, ntris*sizeof(unsigned char));
	rcMarkWalkableTriangles(cfg.walkableSlopeAngle, verts, nverts, tris, ntris, triflags);
	rcRasterizeTriangles(verts, nverts, tris, triflags, ntris, *solid);
	MEM_freeN(triflags);
	MEM_freeN(verts);
	MEM_freeN(tris);

	//
	// Step 3. Filter walkables surfaces.
	//
	rcFilterLedgeSpans(cfg.walkableHeight, cfg.walkableClimb, *solid);
	rcFilterWalkableLowHeightSpans(cfg.walkableHeight, *solid);

	//
	// Step 4. Partition walkable surface to simple regions.
	//

	chf = new rcCompactHeightfield;
	if (!chf)
		return false;
	if (!rcBuildCompactHeightfield(cfg.walkableHeight, cfg.walkableClimb, RC_WALKABLE, *solid, *chf))
		return false;

	delete solid; 

	// Prepare for region partitioning, by calculating distance field along the walkable surface.
	if (!rcBuildDistanceField(*chf))
		return false;

	// Partition the walkable surface into simple regions without holes.
	if (!rcBuildRegions(*chf, cfg.walkableRadius, cfg.borderSize, cfg.minRegionSize, cfg.mergeRegionSize))
		return false;

	//
	// Step 5. Trace and simplify region contours.
	//
	// Create contours.
	cset = new rcContourSet;
	if (!cset)
		return false;

	if (!rcBuildContours(*chf, cfg.maxSimplificationError, cfg.maxEdgeLen, *cset))
		return false;

	//
	// Step 6. Build polygons mesh from contours.
	//
	pmesh = new rcPolyMesh;
	if (!pmesh)
		return false;
	if (!rcBuildPolyMesh(*cset, cfg.maxVertsPerPoly, *pmesh))
		return false;


	//
	// Step 7. Create detail mesh which allows to access approximate height on each polygon.
	//

	dmesh = new rcPolyMeshDetail;
	if (!dmesh)
		return false;

	if (!rcBuildPolyMeshDetail(*pmesh, *chf, cfg.detailSampleDist, cfg.detailSampleMaxError, *dmesh))
		return false;

	delete chf;
	delete cset;

	return true;
}

static Object* createRepresentation(bContext *C, rcPolyMesh*& pmesh, rcPolyMeshDetail*& dmesh)
{
	Object *obedit;
	float co[3], rot[3];
	EditMesh *em;
	int i,j, k, polyverts;
	unsigned short* v;
	int face[3];

	zero_v3(co);
	zero_v3(rot);
	obedit = ED_object_add_type(C, OB_MESH, co, rot, FALSE, 1);
	ED_object_enter_editmode(C, EM_DO_UNDO|EM_IGNORE_LAYER);

	em = BKE_mesh_get_editmesh(((Mesh *)obedit->data));

	//create verts for polygon mesh
	for(i = 0; i < pmesh->nverts; i++) {
		v = &pmesh->verts[3*i];
		co[0] = pmesh->bmin[0] + v[0]*pmesh->cs;
		co[1] = pmesh->bmin[1] + v[1]*pmesh->ch;
		co[2] = pmesh->bmin[2] + v[2]*pmesh->cs;
		SWAP(float, co[1], co[2]);
		addvertlist(em, co, NULL);
	}
	polyverts = pmesh->nverts;

	//create custom data layer to save polygon idx
	CustomData_add_layer_named(&em->fdata, CD_PROP_INT, CD_CALLOC, NULL, 0, "recastData");

	//create verts and faces for detailed mesh
	for (i=0; i<dmesh->nmeshes; i++)
	{
		int uniquevbase = em->totvert;
		unsigned short vbase = dmesh->meshes[4*i+0];
		unsigned short ndv = dmesh->meshes[4*i+1];
		unsigned short tribase = dmesh->meshes[4*i+2];
		unsigned short trinum = dmesh->meshes[4*i+3];
		const unsigned short* p = &pmesh->polys[i*pmesh->nvp*2];
		int nv = 0;
		for (j = 0; j < pmesh->nvp; ++j)
		{
			if (p[j] == 0xffff) break;
			nv++;
		}
		//create unique verts 
		for (j=nv; j<ndv; j++)
		{
			copy_v3_v3(co, &dmesh->verts[3*(vbase + j)]);
			SWAP(float, co[1], co[2]);
			addvertlist(em, co, NULL);
		}

		EM_init_index_arrays(em, 1, 0, 0);
		
		//create faces
		for (j=0; j<trinum; j++)
		{
			unsigned char* tri = &dmesh->tris[4*(tribase+j)];
			EditFace* newFace;
			for (k=0; k<3; k++)
			{
				if (tri[k]<nv)
					face[k] = p[tri[k]]; //shared vertex
				else
					face[k] = uniquevbase+tri[k]-nv; //unique vertex
			}
			newFace = addfacelist(em, EM_get_vert_for_index(face[0]), EM_get_vert_for_index(face[1]), 
									EM_get_vert_for_index(face[2]), NULL, NULL, NULL);

			//set navigation polygon idx to the custom layer
			int* polygonIdx = (int*)CustomData_em_get(&em->fdata, newFace->data, CD_PROP_INT);
			*polygonIdx = i;
		}
		
		EM_free_index_arrays();
	}

	delete pmesh; pmesh = NULL;
	delete dmesh; dmesh = NULL;

	BKE_mesh_end_editmesh((Mesh*)obedit->data, em);
	
	DAG_id_flush_update((ID*)obedit->data, OB_RECALC_DATA);
	WM_event_add_notifier(C, NC_GEOM|ND_DATA, obedit->data);


	ED_object_exit_editmode(C, EM_FREEDATA); 
	WM_event_add_notifier(C, NC_OBJECT|ND_DRAW, obedit);

	obedit->gameflag &= ~OB_COLLISION;
	obedit->gameflag |= OB_NAVMESH;
	obedit->body_type = OB_BODY_TYPE_NAVMESH;
	rename_id((ID *)obedit, "Navmesh");
	return obedit;
}

static int create_navmesh_exec(bContext *C, wmOperator *op)
{
	Scene* scene = CTX_data_scene(C);
	int nverts, ntris;
	float* verts;
	int* tris;
	rcPolyMesh* pmesh;
	rcPolyMeshDetail* dmesh;
	LinkNode* obs = NULL;
	CTX_DATA_BEGIN(C, Base*, base, selected_editable_bases)
	{
		BLI_linklist_append(&obs, (void*)base->object);
	}		
	CTX_DATA_END;
	createVertsTrisData(C, obs, nverts, verts, ntris, tris);
	BLI_linklist_free(obs, NULL);
	buildNavMesh(scene->gm.recastData, nverts, verts, ntris, tris, pmesh, dmesh);
	createRepresentation(C, pmesh, dmesh);

	return OPERATOR_FINISHED;
}

void OBJECT_OT_create_navmesh(wmOperatorType *ot)
{
	/* identifiers */
	ot->name= "NavMesh";
	ot->description= "Create navigation mesh for selected objects";
	ot->idname= "OBJECT_OT_create_navmesh";

	/* api callbacks */
	ot->exec= create_navmesh_exec;

	/* flags */
	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
}
}