recastnavigation/RecastDemo/Source/Sample_SoloMesh.cpp at master · std-vector/recastnavigation · GitHub

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// This software is provided 'as-is', without any express or implied

// warranty. In no event will the authors be held liable for any damages

// arising from the use of this software.

// Permission is granted to anyone to use this software for any purpose,

// including commercial applications, and to alter it and redistribute it

// freely, subject to the following restrictions:

// 1. The origin of this software must not be misrepresented; you must not

// claim that you wrote the original software. If you use this software

// in a product, an acknowledgment in the product documentation would be

// appreciated but is not required.

// 2. Altered source versions must be plainly marked as such, and must not be

// misrepresented as being the original software.

// 3. This notice may not be removed or altered from any source distribution.

#define _USE_MATH_DEFINES

#include <math.h>

#include <stdio.h>

#include <string.h>

#include "SDL.h"

#include "SDL_opengl.h"

#include "imgui.h"

#include "InputGeom.h"

#include "Sample.h"

#include "Sample_SoloMesh.h"

#include "Recast.h"

#include "RecastDebugDraw.h"

#include "RecastDump.h"

#include "DetourNavMesh.h"

#include "DetourNavMeshBuilder.h"

#include "DetourDebugDraw.h"

#include "NavMeshTesterTool.h"

#include "NavMeshPruneTool.h"

#include "OffMeshConnectionTool.h"

#include "ConvexVolumeTool.h"

#include "CrowdTool.h"

#ifdef WIN32

# define snprintf _snprintf

#endif

Sample_SoloMesh::Sample_SoloMesh() :

m_keepInterResults(true),

m_totalBuildTimeMs(0),

m_triareas(0),

m_solid(0),

m_chf(0),

m_cset(0),

m_pmesh(0),

m_dmesh(0),

m_drawMode(DRAWMODE_NAVMESH)

{

setTool(new NavMeshTesterTool);

}

Sample_SoloMesh::~Sample_SoloMesh()

{

cleanup();

}

void Sample_SoloMesh::cleanup()

{

delete [] m_triareas;

m_triareas = 0;

rcFreeHeightField(m_solid);

m_solid = 0;

rcFreeCompactHeightfield(m_chf);

m_chf = 0;

rcFreeContourSet(m_cset);

m_cset = 0;

rcFreePolyMesh(m_pmesh);

m_pmesh = 0;

rcFreePolyMeshDetail(m_dmesh);

m_dmesh = 0;

dtFreeNavMesh(m_navMesh);

m_navMesh = 0;

}

void Sample_SoloMesh::handleSettings()

{

Sample::handleCommonSettings();

if (imguiCheck("Keep Itermediate Results", m_keepInterResults))

m_keepInterResults = !m_keepInterResults;

imguiSeparator();

char msg[64];

snprintf(msg, 64, "Build Time: %.1fms", m_totalBuildTimeMs);

imguiLabel(msg);

imguiSeparator();

}

void Sample_SoloMesh::handleTools()

{

int type = !m_tool ? TOOL_NONE : m_tool->type();

if (imguiCheck("Test Navmesh", type == TOOL_NAVMESH_TESTER))

{

setTool(new NavMeshTesterTool);

}

if (imguiCheck("Prune Navmesh", type == TOOL_NAVMESH_PRUNE))

{

setTool(new NavMeshPruneTool);

}

if (imguiCheck("Create Off-Mesh Connections", type == TOOL_OFFMESH_CONNECTION))

{

setTool(new OffMeshConnectionTool);

}

if (imguiCheck("Create Convex Volumes", type == TOOL_CONVEX_VOLUME))

{

setTool(new ConvexVolumeTool);

}

if (imguiCheck("Create Crowds", type == TOOL_CROWD))

{

setTool(new CrowdTool);

}

imguiSeparatorLine();

imguiIndent();

if (m_tool)

m_tool->handleMenu();

imguiUnindent();

}

void Sample_SoloMesh::handleDebugMode()

{

// Check which modes are valid.

bool valid[MAX_DRAWMODE];

for (int i = 0; i < MAX_DRAWMODE; ++i)

valid[i] = false;

if (m_geom)

{

valid[DRAWMODE_NAVMESH] = m_navMesh != 0;

valid[DRAWMODE_NAVMESH_TRANS] = m_navMesh != 0;

valid[DRAWMODE_NAVMESH_BVTREE] = m_navMesh != 0;

valid[DRAWMODE_NAVMESH_NODES] = m_navQuery != 0;

valid[DRAWMODE_NAVMESH_INVIS] = m_navMesh != 0;

valid[DRAWMODE_MESH] = true;

valid[DRAWMODE_VOXELS] = m_solid != 0;

valid[DRAWMODE_VOXELS_WALKABLE] = m_solid != 0;

valid[DRAWMODE_COMPACT] = m_chf != 0;

valid[DRAWMODE_COMPACT_DISTANCE] = m_chf != 0;

valid[DRAWMODE_COMPACT_REGIONS] = m_chf != 0;

valid[DRAWMODE_REGION_CONNECTIONS] = m_cset != 0;

valid[DRAWMODE_RAW_CONTOURS] = m_cset != 0;

valid[DRAWMODE_BOTH_CONTOURS] = m_cset != 0;

valid[DRAWMODE_CONTOURS] = m_cset != 0;

valid[DRAWMODE_POLYMESH] = m_pmesh != 0;

valid[DRAWMODE_POLYMESH_DETAIL] = m_dmesh != 0;

}

int unavail = 0;

for (int i = 0; i < MAX_DRAWMODE; ++i)

if (!valid[i]) unavail++;

if (unavail == MAX_DRAWMODE)

return;

imguiLabel("Draw");

if (imguiCheck("Input Mesh", m_drawMode == DRAWMODE_MESH, valid[DRAWMODE_MESH]))

m_drawMode = DRAWMODE_MESH;

if (imguiCheck("Navmesh", m_drawMode == DRAWMODE_NAVMESH, valid[DRAWMODE_NAVMESH]))

m_drawMode = DRAWMODE_NAVMESH;

if (imguiCheck("Navmesh Invis", m_drawMode == DRAWMODE_NAVMESH_INVIS, valid[DRAWMODE_NAVMESH_INVIS]))

m_drawMode = DRAWMODE_NAVMESH_INVIS;

if (imguiCheck("Navmesh Trans", m_drawMode == DRAWMODE_NAVMESH_TRANS, valid[DRAWMODE_NAVMESH_TRANS]))

m_drawMode = DRAWMODE_NAVMESH_TRANS;

if (imguiCheck("Navmesh BVTree", m_drawMode == DRAWMODE_NAVMESH_BVTREE, valid[DRAWMODE_NAVMESH_BVTREE]))

m_drawMode = DRAWMODE_NAVMESH_BVTREE;

if (imguiCheck("Navmesh Nodes", m_drawMode == DRAWMODE_NAVMESH_NODES, valid[DRAWMODE_NAVMESH_NODES]))

m_drawMode = DRAWMODE_NAVMESH_NODES;

if (imguiCheck("Voxels", m_drawMode == DRAWMODE_VOXELS, valid[DRAWMODE_VOXELS]))

m_drawMode = DRAWMODE_VOXELS;

if (imguiCheck("Walkable Voxels", m_drawMode == DRAWMODE_VOXELS_WALKABLE, valid[DRAWMODE_VOXELS_WALKABLE]))

m_drawMode = DRAWMODE_VOXELS_WALKABLE;

if (imguiCheck("Compact", m_drawMode == DRAWMODE_COMPACT, valid[DRAWMODE_COMPACT]))

m_drawMode = DRAWMODE_COMPACT;

if (imguiCheck("Compact Distance", m_drawMode == DRAWMODE_COMPACT_DISTANCE, valid[DRAWMODE_COMPACT_DISTANCE]))

m_drawMode = DRAWMODE_COMPACT_DISTANCE;

if (imguiCheck("Compact Regions", m_drawMode == DRAWMODE_COMPACT_REGIONS, valid[DRAWMODE_COMPACT_REGIONS]))

m_drawMode = DRAWMODE_COMPACT_REGIONS;

if (imguiCheck("Region Connections", m_drawMode == DRAWMODE_REGION_CONNECTIONS, valid[DRAWMODE_REGION_CONNECTIONS]))

m_drawMode = DRAWMODE_REGION_CONNECTIONS;

if (imguiCheck("Raw Contours", m_drawMode == DRAWMODE_RAW_CONTOURS, valid[DRAWMODE_RAW_CONTOURS]))

m_drawMode = DRAWMODE_RAW_CONTOURS;

if (imguiCheck("Both Contours", m_drawMode == DRAWMODE_BOTH_CONTOURS, valid[DRAWMODE_BOTH_CONTOURS]))

m_drawMode = DRAWMODE_BOTH_CONTOURS;

if (imguiCheck("Contours", m_drawMode == DRAWMODE_CONTOURS, valid[DRAWMODE_CONTOURS]))

m_drawMode = DRAWMODE_CONTOURS;

if (imguiCheck("Poly Mesh", m_drawMode == DRAWMODE_POLYMESH, valid[DRAWMODE_POLYMESH]))

m_drawMode = DRAWMODE_POLYMESH;

if (imguiCheck("Poly Mesh Detail", m_drawMode == DRAWMODE_POLYMESH_DETAIL, valid[DRAWMODE_POLYMESH_DETAIL]))

m_drawMode = DRAWMODE_POLYMESH_DETAIL;

if (unavail)

{

imguiValue("Tick 'Keep Itermediate Results'");

imguiValue("to see more debug mode options.");

}

void Sample_SoloMesh::handleRender()

{

if (!m_geom || !m_geom->getMesh())

return;

DebugDrawGL dd;

glEnable(GL_FOG);

glDepthMask(GL_TRUE);

const float texScale = 1.0f / (m_cellSize * 10.0f);

if (m_drawMode != DRAWMODE_NAVMESH_TRANS)

{

// Draw mesh

duDebugDrawTriMeshSlope(&dd, m_geom->getMesh()->getVerts(), m_geom->getMesh()->getVertCount(),

m_geom->getMesh()->getTris(), m_geom->getMesh()->getNormals(), m_geom->getMesh()->getTriCount(),

m_agentMaxSlope, texScale);

m_geom->drawOffMeshConnections(&dd);

}

glDisable(GL_FOG);

glDepthMask(GL_FALSE);

// Draw bounds

const float* bmin = m_geom->getNavMeshBoundsMin();

const float* bmax = m_geom->getNavMeshBoundsMax();

duDebugDrawBoxWire(&dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duRGBA(255,255,255,128), 1.0f);

dd.begin(DU_DRAW_POINTS, 5.0f);

dd.vertex(bmin[0],bmin[1],bmin[2],duRGBA(255,255,255,128));

dd.end();

if (m_navMesh && m_navQuery &&

(m_drawMode == DRAWMODE_NAVMESH ||

m_drawMode == DRAWMODE_NAVMESH_TRANS ||

m_drawMode == DRAWMODE_NAVMESH_BVTREE ||

m_drawMode == DRAWMODE_NAVMESH_NODES ||

m_drawMode == DRAWMODE_NAVMESH_INVIS))

{

if (m_drawMode != DRAWMODE_NAVMESH_INVIS)

duDebugDrawNavMeshWithClosedList(&dd, *m_navMesh, *m_navQuery, m_navMeshDrawFlags);

if (m_drawMode == DRAWMODE_NAVMESH_BVTREE)

duDebugDrawNavMeshBVTree(&dd, *m_navMesh);

if (m_drawMode == DRAWMODE_NAVMESH_NODES)

duDebugDrawNavMeshNodes(&dd, *m_navQuery);

duDebugDrawNavMeshPolysWithFlags(&dd, *m_navMesh, SAMPLE_POLYFLAGS_DISABLED, duRGBA(0,0,0,128));

}

glDepthMask(GL_TRUE);

if (m_chf && m_drawMode == DRAWMODE_COMPACT)

duDebugDrawCompactHeightfieldSolid(&dd, *m_chf);

if (m_chf && m_drawMode == DRAWMODE_COMPACT_DISTANCE)

duDebugDrawCompactHeightfieldDistance(&dd, *m_chf);

if (m_chf && m_drawMode == DRAWMODE_COMPACT_REGIONS)

duDebugDrawCompactHeightfieldRegions(&dd, *m_chf);

if (m_solid && m_drawMode == DRAWMODE_VOXELS)

{

glEnable(GL_FOG);

duDebugDrawHeightfieldSolid(&dd, *m_solid);

glDisable(GL_FOG);

}

if (m_solid && m_drawMode == DRAWMODE_VOXELS_WALKABLE)

{

glEnable(GL_FOG);

duDebugDrawHeightfieldWalkable(&dd, *m_solid);

glDisable(GL_FOG);

}

if (m_cset && m_drawMode == DRAWMODE_RAW_CONTOURS)

{

glDepthMask(GL_FALSE);

duDebugDrawRawContours(&dd, *m_cset);

glDepthMask(GL_TRUE);

}

if (m_cset && m_drawMode == DRAWMODE_BOTH_CONTOURS)

{

glDepthMask(GL_FALSE);

duDebugDrawRawContours(&dd, *m_cset, 0.5f);

duDebugDrawContours(&dd, *m_cset);

glDepthMask(GL_TRUE);

}

if (m_cset && m_drawMode == DRAWMODE_CONTOURS)

{

glDepthMask(GL_FALSE);

duDebugDrawContours(&dd, *m_cset);

glDepthMask(GL_TRUE);

}

if (m_chf && m_cset && m_drawMode == DRAWMODE_REGION_CONNECTIONS)

{

duDebugDrawCompactHeightfieldRegions(&dd, *m_chf);

glDepthMask(GL_FALSE);

duDebugDrawRegionConnections(&dd, *m_cset);

glDepthMask(GL_TRUE);

}

if (m_pmesh && m_drawMode == DRAWMODE_POLYMESH)

{

glDepthMask(GL_FALSE);

duDebugDrawPolyMesh(&dd, *m_pmesh);

glDepthMask(GL_TRUE);

}

if (m_dmesh && m_drawMode == DRAWMODE_POLYMESH_DETAIL)

{

glDepthMask(GL_FALSE);

duDebugDrawPolyMeshDetail(&dd, *m_dmesh);

glDepthMask(GL_TRUE);

}

m_geom->drawConvexVolumes(&dd);

if (m_tool)

m_tool->handleRender();

renderToolStates();

glDepthMask(GL_TRUE);

}

void Sample_SoloMesh::handleRenderOverlay(double* proj, double* model, int* view)

{

if (m_tool)

m_tool->handleRenderOverlay(proj, model, view);

renderOverlayToolStates(proj, model, view);

}

void Sample_SoloMesh::handleMeshChanged(class InputGeom* geom)

{

Sample::handleMeshChanged(geom);

dtFreeNavMesh(m_navMesh);

m_navMesh = 0;

if (m_tool)

{

m_tool->reset();

m_tool->init(this);

}

resetToolStates();

initToolStates(this);

}

bool Sample_SoloMesh::handleBuild()

{

if (!m_geom || !m_geom->getMesh())

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Input mesh is not specified.");

return false;

}

cleanup();

const float* bmin = m_geom->getNavMeshBoundsMin();

const float* bmax = m_geom->getNavMeshBoundsMax();

const float* verts = m_geom->getMesh()->getVerts();

const int nverts = m_geom->getMesh()->getVertCount();

const int* tris = m_geom->getMesh()->getTris();

const int ntris = m_geom->getMesh()->getTriCount();

// Step 1. Initialize build config.

// Init build configuration from GUI

memset(&m_cfg, 0, sizeof(m_cfg));

m_cfg.cs = m_cellSize;

m_cfg.ch = m_cellHeight;

m_cfg.walkableSlopeAngle = m_agentMaxSlope;

m_cfg.walkableHeight = (int)ceilf(m_agentHeight / m_cfg.ch);

m_cfg.walkableClimb = (int)floorf(m_agentMaxClimb / m_cfg.ch);

m_cfg.walkableRadius = (int)ceilf(m_agentRadius / m_cfg.cs);

m_cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);

m_cfg.maxSimplificationError = m_edgeMaxError;

m_cfg.minRegionArea = (int)rcSqr(m_regionMinSize); // Note: area = size*size

m_cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize); // Note: area = size*size

m_cfg.maxVertsPerPoly = (int)m_vertsPerPoly;

m_cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;

m_cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;

// Set the area where the navigation will be build.

// Here the bounds of the input mesh are used, but the

// area could be specified by an user defined box, etc.

rcVcopy(m_cfg.bmin, bmin);

rcVcopy(m_cfg.bmax, bmax);

rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, &m_cfg.width, &m_cfg.height);

// Reset build times gathering.

m_ctx->resetTimers();

// Start the build process.

m_ctx->startTimer(RC_TIMER_TOTAL);

m_ctx->log(RC_LOG_PROGRESS, "Building navigation:");

m_ctx->log(RC_LOG_PROGRESS, " - %d x %d cells", m_cfg.width, m_cfg.height);

m_ctx->log(RC_LOG_PROGRESS, " - %.1fK verts, %.1fK tris", nverts/1000.0f, ntris/1000.0f);

// Step 2. Rasterize input polygon soup.

// Allocate voxel heightfield where we rasterize our input data to.

m_solid = rcAllocHeightfield();

if (!m_solid)

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");

return false;

}

if (!rcCreateHeightfield(m_ctx, *m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch))

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");

return false;

}

// Allocate array that can hold triangle area types.

// If you have multiple meshes you need to process, allocate

// and array which can hold the max number of triangles you need to process.

m_triareas = new unsigned char[ntris];

if (!m_triareas)

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (%d).", ntris);

return false;

}

// Find triangles which are walkable based on their slope and rasterize them.

// If your input data is multiple meshes, you can transform them here, calculate

// the are type for each of the meshes and rasterize them.

memset(m_triareas, 0, ntris*sizeof(unsigned char));

rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle, verts, nverts, tris, ntris, m_triareas);

if (!rcRasterizeTriangles(m_ctx, verts, nverts, tris, m_triareas, ntris, *m_solid, m_cfg.walkableClimb))

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not rasterize triangles.");

return false;

}

if (!m_keepInterResults)

{

delete [] m_triareas;

m_triareas = 0;

}

// Step 3. Filter walkables surfaces.

// Once all geoemtry is rasterized, we do initial pass of filtering to

// remove unwanted overhangs caused by the conservative rasterization

// as well as filter spans where the character cannot possibly stand.

rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, *m_solid);

rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);

rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, *m_solid);

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

// Compact the heightfield so that it is faster to handle from now on.

// This will result more cache coherent data as well as the neighbours

// between walkable cells will be calculated.

m_chf = rcAllocCompactHeightfield();

if (!m_chf)

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");

return false;

}

if (!rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid, *m_chf))

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");

return false;

}

if (!m_keepInterResults)

{

rcFreeHeightField(m_solid);

m_solid = 0;

}

// Erode the walkable area by agent radius.

if (!rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, *m_chf))

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");

return false;

}

// (Optional) Mark areas.

const ConvexVolume* vols = m_geom->getConvexVolumes();

for (int i = 0; i < m_geom->getConvexVolumeCount(); ++i)

rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);

// Partition the heightfield so that we can use simple algorithm later to triangulate the walkable areas.

// There are 3 martitioning methods, each with some pros and cons:

// 1) Watershed partitioning

// - the classic Recast partitioning

// - creates the nicest tessellation

// - usually slowest

// - partitions the heightfield into nice regions without holes or overlaps

// - the are some corner cases where this method creates produces holes and overlaps

// - holes may appear when a small obstacles is close to large open area (triangulation can handle this)

// - overlaps may occur if you have narrow spiral corridors (i.e stairs), this make triangulation to fail

// * generally the best choice if you precompute the nacmesh, use this if you have large open areas

// 2) Monotone partioning

// - fastest

// - partitions the heightfield into regions without holes and overlaps (guaranteed)

// - creates long thin polygons, which sometimes causes paths with detours

// * use this if you want fast navmesh generation

// 3) Layer partitoining

// - quite fast

// - partitions the heighfield into non-overlapping regions

// - relies on the triangulation code to cope with holes (thus slower than monotone partitioning)

// - produces better triangles than monotone partitioning

// - does not have the corner cases of watershed partitioning

// - can be slow and create a bit ugly tessellation (still better than monotone)

// if you have large open areas with small obstacles (not a problem if you use tiles)

// * good choice to use for tiled navmesh with medium and small sized tiles

if (m_partitionType == SAMPLE_PARTITION_WATERSHED)

{

// Prepare for region partitioning, by calculating distance field along the walkable surface.

if (!rcBuildDistanceField(m_ctx, *m_chf))

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build distance field.");

return false;

}

// Partition the walkable surface into simple regions without holes.

if (!rcBuildRegions(m_ctx, *m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea))

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build watershed regions.");

return false;

}

else if (m_partitionType == SAMPLE_PARTITION_MONOTONE)

{

// Partition the walkable surface into simple regions without holes.

// Monotone partitioning does not need distancefield.

if (!rcBuildRegionsMonotone(m_ctx, *m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea))

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build monotone regions.");

return false;

}

else // SAMPLE_PARTITION_LAYERS

{

// Partition the walkable surface into simple regions without holes.

if (!rcBuildLayerRegions(m_ctx, *m_chf, 0, m_cfg.minRegionArea))

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build layer regions.");

return false;

}

// Step 5. Trace and simplify region contours.

// Create contours.

m_cset = rcAllocContourSet();

if (!m_cset)

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");

return false;

}

if (!rcBuildContours(m_ctx, *m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, *m_cset))

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");

return false;

}

// Step 6. Build polygons mesh from contours.

// Build polygon navmesh from the contours.

m_pmesh = rcAllocPolyMesh();

if (!m_pmesh)

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");

return false;

}

if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");

return false;

}

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

m_dmesh = rcAllocPolyMeshDetail();

if (!m_dmesh)

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmdtl'.");

return false;

}

if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, *m_dmesh))

{

m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build detail mesh.");

return false;

}

if (!m_keepInterResults)

{

rcFreeCompactHeightfield(m_chf);

m_chf = 0;

rcFreeContourSet(m_cset);

m_cset = 0;

}

// At this point the navigation mesh data is ready, you can access it from m_pmesh.

// See duDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.

// (Optional) Step 8. Create Detour data from Recast poly mesh.

// The GUI may allow more max points per polygon than Detour can handle.

// Only build the detour navmesh if we do not exceed the limit.

if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)

{

unsigned char* navData = 0;

int navDataSize = 0;

// Update poly flags from areas.

for (int i = 0; i < m_pmesh->npolys; ++i)

{

if (m_pmesh->areas[i] == RC_WALKABLE_AREA)

m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;

if (m_pmesh->areas[i] == SAMPLE_POLYAREA_GROUND ||

m_pmesh->areas[i] == SAMPLE_POLYAREA_GRASS ||

m_pmesh->areas[i] == SAMPLE_POLYAREA_ROAD)

{

m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK;

}

else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_WATER)

{

m_pmesh->flags[i] = SAMPLE_POLYFLAGS_SWIM;

}

else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_DOOR)

{

m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR;

}

dtNavMeshCreateParams params;

memset(&params, 0, sizeof(params));

params.verts = m_pmesh->verts;

params.vertCount = m_pmesh->nverts;

params.polys = m_pmesh->polys;

params.polyAreas = m_pmesh->areas;

params.polyFlags = m_pmesh->flags;

params.polyCount = m_pmesh->npolys;

params.nvp = m_pmesh->nvp;

params.detailMeshes = m_dmesh->meshes;

params.detailVerts = m_dmesh->verts;

params.detailVertsCount = m_dmesh->nverts;

params.detailTris = m_dmesh->tris;

params.detailTriCount = m_dmesh->ntris;

params.offMeshConVerts = m_geom->getOffMeshConnectionVerts();

params.offMeshConRad = m_geom->getOffMeshConnectionRads();

params.offMeshConDir = m_geom->getOffMeshConnectionDirs();

params.offMeshConAreas = m_geom->getOffMeshConnectionAreas();

params.offMeshConFlags = m_geom->getOffMeshConnectionFlags();

params.offMeshConUserID = m_geom->getOffMeshConnectionId();

params.offMeshConCount = m_geom->getOffMeshConnectionCount();

params.walkableHeight = m_agentHeight;

params.walkableRadius = m_agentRadius;

params.walkableClimb = m_agentMaxClimb;

rcVcopy(params.bmin, m_pmesh->bmin);

rcVcopy(params.bmax, m_pmesh->bmax);

params.cs = m_cfg.cs;

params.ch = m_cfg.ch;

params.buildBvTree = true;

if (!dtCreateNavMeshData(&params, &navData, &navDataSize))

{

m_ctx->log(RC_LOG_ERROR, "Could not build Detour navmesh.");

return false;

}

m_navMesh = dtAllocNavMesh();

if (!m_navMesh)

{

dtFree(navData);

m_ctx->log(RC_LOG_ERROR, "Could not create Detour navmesh");

return false;

}

dtStatus status;

status = m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA);

if (dtStatusFailed(status))

{

dtFree(navData);

m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh");

return false;

}

status = m_navQuery->init(m_navMesh, 2048);

if (dtStatusFailed(status))

{

m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh query");

return false;

}

m_ctx->stopTimer(RC_TIMER_TOTAL);

// Show performance stats.

duLogBuildTimes(*m_ctx, m_ctx->getAccumulatedTime(RC_TIMER_TOTAL));

m_ctx->log(RC_LOG_PROGRESS, ">> Polymesh: %d vertices %d polygons", m_pmesh->nverts, m_pmesh->npolys);

m_totalBuildTimeMs = m_ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;

if (m_tool)

m_tool->init(this);

initToolStates(this);

return true;

}

recastnavigation/RecastDemo/Source/Sample_SoloMesh.cpp at master · std-vector/recastnavigation · GitHub

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