Benoit Bolsee
e6a9b68c79
- Upgrade Recast library to latest portable version - Implement recast_qsort based on FreeBSD qsort.c to have portable thread safe quick sort for use in conversion routine. - Better default value for the Build Navigation Mesh operator
513 lines
13 KiB
C
513 lines
13 KiB
C
/**
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* $Id$
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#include <math.h>
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#include <stdlib.h>
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#include "MEM_guardedalloc.h"
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#include "DNA_meshdata_types.h"
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#include "BKE_navmesh_conversion.h"
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#include "BKE_cdderivedmesh.h"
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#include "BLI_utildefines.h"
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#include "BLI_math.h"
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#include "recast-capi.h"
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BM_INLINE float area2(const float* a, const float* b, const float* c)
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{
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return (b[0] - a[0]) * (c[2] - a[2]) - (c[0] - a[0]) * (b[2] - a[2]);
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}
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BM_INLINE int left(const float* a, const float* b, const float* c)
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{
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return area2(a, b, c) < 0;
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}
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int polyNumVerts(const unsigned short* p, const int vertsPerPoly)
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{
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int i, nv = 0;
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for (i=0; i<vertsPerPoly; i++)
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{
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if (p[i]==0xffff)
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break;
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nv++;
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}
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return nv;
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}
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int polyIsConvex(const unsigned short* p, const int vertsPerPoly, const float* verts)
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{
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int j, nv = polyNumVerts(p, vertsPerPoly);
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if (nv<3)
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return 0;
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for (j=0; j<nv; j++)
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{
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const float* v = &verts[3*p[j]];
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const float* v_next = &verts[3*p[(j+1)%nv]];
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const float* v_prev = &verts[3*p[(nv+j-1)%nv]];
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if (!left(v_prev, v, v_next))
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return 0;
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}
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return 1;
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}
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float distPointToSegmentSq(const float* point, const float* a, const float* b)
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{
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float abx[3], dx[3];
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float d, t;
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sub_v3_v3v3(abx, b,a);
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sub_v3_v3v3(dx, point,a);
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d = abx[0]*abx[0]+abx[2]*abx[2];
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t = abx[0]*dx[0]+abx[2]*dx[2];
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if (d > 0)
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t /= d;
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if (t < 0)
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t = 0;
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else if (t > 1)
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t = 1;
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dx[0] = a[0] + t*abx[0] - point[0];
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dx[2] = a[2] + t*abx[2] - point[2];
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return dx[0]*dx[0] + dx[2]*dx[2];
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}
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int buildRawVertIndicesData(DerivedMesh* dm, int *nverts_r, float **verts_r,
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int *ntris_r, unsigned short **tris_r, int **trisToFacesMap_r,
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int **recastData)
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{
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int vi, fi, triIdx;
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int nverts, ntris;
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int *trisToFacesMap;
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float *verts;
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unsigned short *tris, *tri;
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int nfaces;
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MFace *faces;
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nverts = dm->getNumVerts(dm);
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if (nverts>=0xffff)
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{
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printf("Converting navmesh: Error! Too many vertices. Max number of vertices %d\n", 0xffff);
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return 0;
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}
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verts = MEM_callocN(sizeof(float)*3*nverts, "buildRawVertIndicesData verts");
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dm->getVertCos(dm, (float(*)[3])verts);
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//flip coordinates
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for (vi=0; vi<nverts; vi++)
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{
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SWAP(float, verts[3*vi+1], verts[3*vi+2]);
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}
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//calculate number of tris
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nfaces = dm->getNumFaces(dm);
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faces = dm->getFaceArray(dm);
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ntris = nfaces;
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for (fi=0; fi<nfaces; fi++)
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{
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MFace* face = &faces[fi];
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if (face->v4)
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ntris++;
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}
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//copy and transform to triangles (reorder on the run)
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trisToFacesMap = MEM_callocN(sizeof(int)*ntris, "buildRawVertIndicesData trisToFacesMap");
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tris = MEM_callocN(sizeof(unsigned short)*3*ntris, "buildRawVertIndicesData tris");
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tri = tris;
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triIdx = 0;
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for (fi=0; fi<nfaces; fi++)
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{
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MFace* face = &faces[fi];
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tri[3*triIdx+0] = (unsigned short) face->v1;
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tri[3*triIdx+1] = (unsigned short) face->v3;
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tri[3*triIdx+2] = (unsigned short) face->v2;
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trisToFacesMap[triIdx++]=fi;
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if (face->v4)
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{
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tri[3*triIdx+0] = (unsigned short) face->v1;
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tri[3*triIdx+1] = (unsigned short) face->v4;
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tri[3*triIdx+2] = (unsigned short) face->v3;
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trisToFacesMap[triIdx++]=fi;
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}
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}
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//carefully, recast data is just reference to data in derived mesh
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*recastData = (int*)CustomData_get_layer(&dm->faceData, CD_RECAST);
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*nverts_r = nverts;
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*verts_r = verts;
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*ntris_r = ntris;
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*tris_r = tris;
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*trisToFacesMap_r = trisToFacesMap;
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return 1;
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}
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int buildPolygonsByDetailedMeshes(const int vertsPerPoly, const int npolys,
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unsigned short* polys, const unsigned short* dmeshes,
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const float* verts, const unsigned short* dtris,
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const int* dtrisToPolysMap)
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{
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int polyidx;
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int capacity = vertsPerPoly;
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unsigned short* newPoly = MEM_callocN(sizeof(unsigned short)*capacity, "buildPolygonsByDetailedMeshes newPoly");
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memset(newPoly, 0xff, sizeof(unsigned short)*capacity);
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for (polyidx=0; polyidx<npolys; polyidx++)
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{
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size_t i;
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int j, k;
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int nv = 0;
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//search border
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int tri, btri = -1;
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int edge, bedge = -1;
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int dtrisNum = dmeshes[polyidx*4+3];
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int dtrisBase = dmeshes[polyidx*4+2];
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unsigned char *traversedTris = MEM_callocN(sizeof(unsigned char)*dtrisNum, "buildPolygonsByDetailedMeshes traversedTris");
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unsigned short* adjustedPoly;
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int adjustedNv;
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int allBorderTraversed;
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for (j=0; j<dtrisNum && btri==-1;j++)
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{
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int curpolytri = dtrisBase+j;
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for (k=0; k<3; k++)
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{
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unsigned short neighbortri = dtris[curpolytri*3*2+3+k];
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if ( neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1)
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{
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btri = curpolytri;
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bedge = k;
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break;
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}
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}
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}
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if (btri==-1 || bedge==-1)
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{
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//can't find triangle with border edge
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MEM_freeN(traversedTris);
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MEM_freeN(newPoly);
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return 0;
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}
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newPoly[nv++] = dtris[btri*3*2+bedge];
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tri = btri;
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edge = (bedge+1)%3;
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traversedTris[tri-dtrisBase] = 1;
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while (tri!=btri || edge!=bedge)
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{
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int neighbortri = dtris[tri*3*2+3+edge];
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if (neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1)
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{
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if (nv==capacity)
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{
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unsigned short* newPolyBig;
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capacity += vertsPerPoly;
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newPolyBig = MEM_callocN(sizeof(unsigned short)*capacity, "buildPolygonsByDetailedMeshes newPolyBig");
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memset(newPolyBig, 0xff, sizeof(unsigned short)*capacity);
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memcpy(newPolyBig, newPoly, sizeof(unsigned short)*nv);
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MEM_freeN(newPoly);
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newPoly = newPolyBig;
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}
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newPoly[nv++] = dtris[tri*3*2+edge];
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//move to next edge
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edge = (edge+1)%3;
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}
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else
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{
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//move to next tri
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int twinedge = -1;
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for (k=0; k<3; k++)
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{
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if (dtris[neighbortri*3*2+3+k] == tri)
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{
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twinedge = k;
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break;
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}
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}
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if (twinedge==-1)
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{
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printf("Converting navmesh: Error! Can't find neighbor edge - invalid adjacency info\n");
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MEM_freeN(traversedTris);
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goto returnLabel;
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}
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tri = neighbortri;
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edge = (twinedge+1)%3;
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traversedTris[tri-dtrisBase] = 1;
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}
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}
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adjustedPoly = MEM_callocN(sizeof(unsigned short)*nv, "buildPolygonsByDetailedMeshes adjustedPoly");
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adjustedNv = 0;
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for (i=0; i<nv; i++)
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{
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unsigned short prev = newPoly[(nv+i-1)%nv];
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unsigned short cur = newPoly[i];
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unsigned short next = newPoly[(i+1)%nv];
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float distSq = distPointToSegmentSq(&verts[3*cur], &verts[3*prev], &verts[3*next]);
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static const float tolerance = 0.001f;
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if (distSq>tolerance)
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adjustedPoly[adjustedNv++] = cur;
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}
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memcpy(newPoly, adjustedPoly, adjustedNv*sizeof(unsigned short));
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MEM_freeN(adjustedPoly);
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nv = adjustedNv;
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allBorderTraversed = 1;
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for (i=0; i<dtrisNum; i++)
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{
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if (traversedTris[i]==0)
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{
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//check whether it has border edges
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int curpolytri = dtrisBase+i;
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for (k=0; k<3; k++)
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{
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unsigned short neighbortri = dtris[curpolytri*3*2+3+k];
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if ( neighbortri==0xffff || dtrisToPolysMap[neighbortri]!=polyidx+1)
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{
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allBorderTraversed = 0;
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break;
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}
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}
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}
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}
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if (nv<=vertsPerPoly && allBorderTraversed)
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{
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for (i=0; i<nv; i++)
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{
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polys[polyidx*vertsPerPoly*2+i] = newPoly[i];
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}
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}
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MEM_freeN(traversedTris);
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}
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returnLabel:
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MEM_freeN(newPoly);
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return 1;
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}
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struct SortContext
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{
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const int* recastData;
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const int* trisToFacesMap;
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};
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static int compareByData(void *ctx, const void * a, const void * b)
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{
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return (((struct SortContext *)ctx)->recastData[((struct SortContext *)ctx)->trisToFacesMap[*(int*)a]] -
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((struct SortContext *)ctx)->recastData[((struct SortContext *)ctx)->trisToFacesMap[*(int*)b]] );
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}
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int buildNavMeshData(const int nverts, const float* verts,
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const int ntris, const unsigned short *tris,
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const int* recastData, const int* trisToFacesMap,
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int *ndtris_r, unsigned short **dtris_r,
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int *npolys_r, unsigned short **dmeshes_r, unsigned short **polys_r,
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int *vertsPerPoly_r, int **dtrisToPolysMap_r, int **dtrisToTrisMap_r)
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{
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int *trisMapping = MEM_callocN(sizeof(int)*ntris, "buildNavMeshData trisMapping");
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int i;
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struct SortContext context;
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int validTriStart, prevPolyIdx, curPolyIdx, newPolyIdx, prevpolyidx;
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unsigned short *dmesh;
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int ndtris, npolys, vertsPerPoly;
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unsigned short *dtris, *dmeshes, *polys;
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int *dtrisToPolysMap, *dtrisToTrisMap;
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if (!recastData)
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{
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printf("Converting navmesh: Error! Can't find recast custom data\n");
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return 0;
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}
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//sort the triangles by polygon idx
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for (i=0; i<ntris; i++)
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trisMapping[i]=i;
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context.recastData = recastData;
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context.trisToFacesMap = trisToFacesMap;
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recast_qsort(trisMapping, ntris, sizeof(int), &context, compareByData);
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//search first valid triangle - triangle of convex polygon
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validTriStart = -1;
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for (i=0; i< ntris; i++)
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{
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if (recastData[trisToFacesMap[trisMapping[i]]]>0)
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{
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validTriStart = i;
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break;
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}
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}
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if (validTriStart<0)
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{
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printf("Converting navmesh: Error! No valid polygons in mesh\n");
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MEM_freeN(trisMapping);
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return 0;
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}
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ndtris = ntris-validTriStart;
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//fill dtris to faces mapping
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dtrisToTrisMap = MEM_callocN(sizeof(int)*ndtris, "buildNavMeshData dtrisToTrisMap");
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memcpy(dtrisToTrisMap, &trisMapping[validTriStart], ndtris*sizeof(int));
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MEM_freeN(trisMapping);
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//create detailed mesh triangles - copy only valid triangles
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//and reserve memory for adjacency info
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dtris = MEM_callocN(sizeof(unsigned short)*3*2*ndtris, "buildNavMeshData dtris");
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memset(dtris, 0xffff, sizeof(unsigned short)*3*2*ndtris);
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for (i=0; i<ndtris; i++)
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{
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memcpy(dtris+3*2*i, tris+3*dtrisToTrisMap[i], sizeof(unsigned short)*3);
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}
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//create new recast data corresponded to dtris and renumber for continuous indices
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prevPolyIdx = -1;
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newPolyIdx = 0;
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dtrisToPolysMap = MEM_callocN(sizeof(int)*ndtris, "buildNavMeshData dtrisToPolysMap");
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for (i=0; i<ndtris; i++)
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{
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curPolyIdx = recastData[trisToFacesMap[dtrisToTrisMap[i]]];
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if (curPolyIdx!=prevPolyIdx)
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{
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newPolyIdx++;
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prevPolyIdx=curPolyIdx;
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}
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dtrisToPolysMap[i] = newPolyIdx;
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}
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//build adjacency info for detailed mesh triangles
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recast_buildMeshAdjacency(dtris, ndtris, nverts, 3);
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//create detailed mesh description for each navigation polygon
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npolys = dtrisToPolysMap[ndtris-1];
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dmeshes = MEM_callocN(sizeof(unsigned short)*npolys*4, "buildNavMeshData dmeshes");
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memset(dmeshes, 0, npolys*4*sizeof(unsigned short));
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dmesh = NULL;
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prevpolyidx = 0;
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for (i=0; i<ndtris; i++)
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{
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int curpolyidx = dtrisToPolysMap[i];
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if (curpolyidx!=prevpolyidx)
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{
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if (curpolyidx!=prevpolyidx+1)
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{
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printf("Converting navmesh: Error! Wrong order of detailed mesh faces\n");
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return 0;
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}
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dmesh = dmesh==NULL ? dmeshes : dmesh+4;
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dmesh[2] = (unsigned short)i; //tbase
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dmesh[3] = 0; //tnum
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prevpolyidx = curpolyidx;
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}
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dmesh[3]++;
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}
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//create navigation polygons
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vertsPerPoly = 6;
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polys = MEM_callocN(sizeof(unsigned short)*npolys*vertsPerPoly*2, "buildNavMeshData polys");
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memset(polys, 0xff, sizeof(unsigned short)*vertsPerPoly*2*npolys);
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buildPolygonsByDetailedMeshes(vertsPerPoly, npolys, polys, dmeshes, verts, dtris, dtrisToPolysMap);
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*ndtris_r = ndtris;
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*npolys_r = npolys;
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*vertsPerPoly_r = vertsPerPoly;
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*dtris_r = dtris;
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*dmeshes_r = dmeshes;
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*polys_r = polys;
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*dtrisToPolysMap_r = dtrisToPolysMap;
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*dtrisToTrisMap_r = dtrisToTrisMap;
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return 1;
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}
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int buildNavMeshDataByDerivedMesh(DerivedMesh *dm, int *vertsPerPoly,
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int *nverts, float **verts,
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int *ndtris, unsigned short **dtris,
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int *npolys, unsigned short **dmeshes,
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unsigned short **polys, int **dtrisToPolysMap,
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int **dtrisToTrisMap, int **trisToFacesMap)
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{
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int res = 1;
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int ntris = 0, *recastData=NULL;
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unsigned short *tris=NULL;
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res = buildRawVertIndicesData(dm, nverts, verts, &ntris, &tris, trisToFacesMap, &recastData);
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if (!res)
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{
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printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n");
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goto exit;
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}
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res = buildNavMeshData(*nverts, *verts, ntris, tris, recastData, *trisToFacesMap,
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ndtris, dtris, npolys, dmeshes,polys, vertsPerPoly,
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|
dtrisToPolysMap, dtrisToTrisMap);
|
|
if (!res)
|
|
{
|
|
printf("Converting navmesh: Error! Can't get vertices and indices from mesh\n");
|
|
goto exit;
|
|
}
|
|
|
|
exit:
|
|
if (tris)
|
|
MEM_freeN(tris);
|
|
|
|
return res;
|
|
}
|
|
|
|
int polyFindVertex(const unsigned short* p, const int vertsPerPoly, unsigned short vertexIdx)
|
|
{
|
|
int i, res = -1;
|
|
for(i=0; i<vertsPerPoly; i++)
|
|
{
|
|
if (p[i]==0xffff)
|
|
break;
|
|
if (p[i]==vertexIdx)
|
|
{
|
|
res = i;
|
|
break;
|
|
}
|
|
}
|
|
return res;
|
|
}
|