svn merge ^/trunk/blender -r40644:40720
[blender-staging.git] / source / blender / editors / mesh / mesh_navmesh.c
1 /**
2 * $Id$
3 *
4 * ***** BEGIN GPL LICENSE BLOCK *****
5 *
6 * This program is free software; you can redistribute it and/or
7 * modify it under the terms of the GNU General Public License
8 * as published by the Free Software Foundation; either version 2
9 * of the License, or (at your option) any later version.
10 *
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software Foundation,
18 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
19 *
20 * The Original Code is Copyright (C) 2011 by Blender Foundation
21 * All rights reserved.
22 *
23 * The Original Code is: all of this file.
24 *
25 * Contributor(s): Benoit Bolsee,
26 *                 Nick Samarin
27 *
28 * ***** END GPL LICENSE BLOCK *****
29 */
30
31 #include <math.h>
32
33 #include "MEM_guardedalloc.h"
34
35 #include "DNA_scene_types.h"
36 #include "DNA_object_types.h"
37 #include "DNA_meshdata_types.h"
38 #include "DNA_modifier_types.h"
39 #include "DNA_ID.h"
40
41 #include "BKE_library.h"
42 #include "BKE_depsgraph.h"
43 #include "BKE_context.h"
44 #include "BKE_main.h"
45 #include "BKE_mesh.h"
46 #include "BKE_modifier.h"
47 #include "BKE_scene.h"
48 #include "BKE_DerivedMesh.h"
49 #include "BKE_cdderivedmesh.h"
50
51 #include "BLI_editVert.h"
52 #include "BLI_listbase.h"
53 #include "BLI_utildefines.h"
54 #include "BLI_math_vector.h"
55
56 #include "ED_object.h"
57 #include "ED_mesh.h"
58 #include "ED_screen.h"
59
60 #include "RNA_access.h"
61
62 #include "WM_api.h"
63 #include "WM_types.h"
64
65 #include "mesh_intern.h"
66 #include "recast-capi.h"
67
68 static void createVertsTrisData(bContext *C, LinkNode* obs, int *nverts_r, float **verts_r, int *ntris_r, int **tris_r)
69 {
70         MVert *mvert;
71         int nfaces= 0, *tri, i, curnverts, basenverts, curnfaces;
72         MFace *mface;
73         float co[3], wco[3];
74         Object *ob;
75         LinkNode *oblink, *dmlink;
76         DerivedMesh *dm;
77         Scene* scene= CTX_data_scene(C);
78         LinkNode* dms= NULL;
79
80         int nverts, ntris, *tris;
81         float *verts;
82
83         nverts= 0;
84         ntris= 0;
85
86         /* calculate number of verts and tris */
87         for(oblink= obs; oblink; oblink= oblink->next) {
88                 ob= (Object*) oblink->link;
89                 dm= mesh_create_derived_no_virtual(scene, ob, NULL, CD_MASK_MESH);
90                 BLI_linklist_append(&dms, (void*)dm);
91
92                 nverts+= dm->getNumVerts(dm);
93                 nfaces= dm->getNumFaces(dm);
94                 ntris+= nfaces;
95
96                 /* resolve quad faces */
97                 mface= dm->getFaceArray(dm);
98                 for(i= 0; i<nfaces; i++) {
99                         MFace* mf= &mface[i];
100                         if(mf->v4)
101                                 ntris+=1;
102                 }
103         }
104
105         /* create data */
106         verts= MEM_mallocN(sizeof(float)*3*nverts, "createVertsTrisData verts");
107         tris= MEM_mallocN(sizeof(int)*3*ntris, "createVertsTrisData faces");
108
109         basenverts= 0;
110         tri= tris;
111         for(oblink= obs, dmlink= dms; oblink && dmlink;
112                         oblink= oblink->next, dmlink= dmlink->next) {
113                 ob= (Object*) oblink->link;
114                 dm= (DerivedMesh*) dmlink->link;
115
116                 curnverts= dm->getNumVerts(dm);
117                 mvert= dm->getVertArray(dm);
118
119                 /* copy verts */
120                 for(i= 0; i<curnverts; i++) {
121                         MVert *v= &mvert[i];
122
123                         copy_v3_v3(co, v->co);
124                         mul_v3_m4v3(wco, ob->obmat, co);
125
126                         verts[3*(basenverts+i)+0]= wco[0];
127                         verts[3*(basenverts+i)+1]= wco[2];
128                         verts[3*(basenverts+i)+2]= wco[1];
129                 }
130
131                 /* create tris */
132                 curnfaces= dm->getNumFaces(dm);
133                 mface= dm->getFaceArray(dm);
134
135                 for(i= 0; i<curnfaces; i++) {
136                         MFace* mf= &mface[i];
137
138                         tri[0]= basenverts + mf->v1;
139                         tri[1]= basenverts + mf->v3;
140                         tri[2]= basenverts + mf->v2;
141                         tri += 3;
142
143                         if(mf->v4) {
144                                 tri[0]= basenverts + mf->v1;
145                                 tri[1]= basenverts + mf->v4;
146                                 tri[2]= basenverts + mf->v3;
147                                 tri += 3;
148                         }
149                 }
150
151                 basenverts+= curnverts;
152         }
153
154         /* release derived mesh */
155         for(dmlink= dms; dmlink; dmlink= dmlink->next) {
156                 dm= (DerivedMesh*) dmlink->link;
157                 dm->release(dm);
158         }
159
160         BLI_linklist_free(dms, NULL);
161
162         *nverts_r= nverts;
163         *verts_r= verts;
164         *ntris_r= ntris;
165         *tris_r= tris;
166 }
167
168 static int buildNavMesh(const RecastData *recastParams, int nverts, float *verts, int ntris, int *tris,
169                                                                  struct recast_polyMesh **pmesh, struct recast_polyMeshDetail **dmesh)
170 {
171         float bmin[3], bmax[3];
172         struct recast_heightfield *solid;
173         unsigned char *triflags;
174         struct recast_compactHeightfield* chf;
175         struct recast_contourSet *cset;
176         int width, height, walkableHeight, walkableClimb, walkableRadius;
177         int minRegionArea, mergeRegionArea, maxEdgeLen;
178         float detailSampleDist, detailSampleMaxError;
179
180         recast_calcBounds(verts, nverts, bmin, bmax);
181
182         /* ** Step 1. Initialize build config ** */
183         walkableHeight= (int)ceilf(recastParams->agentheight/ recastParams->cellheight);
184         walkableClimb= (int)floorf(recastParams->agentmaxclimb / recastParams->cellheight);
185         walkableRadius= (int)ceilf(recastParams->agentradius / recastParams->cellsize);
186         minRegionArea= (int)(recastParams->regionminsize * recastParams->regionminsize);
187         mergeRegionArea= (int)(recastParams->regionmergesize * recastParams->regionmergesize);
188         maxEdgeLen= (int)(recastParams->edgemaxlen/recastParams->cellsize);
189         detailSampleDist= recastParams->detailsampledist< 0.9f ? 0 :
190                         recastParams->cellsize * recastParams->detailsampledist;
191         detailSampleMaxError= recastParams->cellheight * recastParams->detailsamplemaxerror;
192
193         /* Set the area where the navigation will be build. */
194         recast_calcGridSize(bmin, bmax, recastParams->cellsize, &width, &height);
195
196         /* ** Step 2: Rasterize input polygon soup ** */
197         /* Allocate voxel heightfield where we rasterize our input data to */
198         solid= recast_newHeightfield();
199
200         if(!recast_createHeightfield(solid, width, height, bmin, bmax, recastParams->cellsize, recastParams->cellheight)) {
201                 recast_destroyHeightfield(solid);
202
203                 return 0;
204         }
205
206         /* Allocate array that can hold triangle flags */
207         triflags= MEM_callocN(sizeof(unsigned char)*ntris, "buildNavMesh triflags");
208
209         /* Find triangles which are walkable based on their slope and rasterize them */
210         recast_markWalkableTriangles(RAD2DEG(recastParams->agentmaxslope), verts, nverts, tris, ntris, triflags);
211         recast_rasterizeTriangles(verts, nverts, tris, triflags, ntris, solid);
212         MEM_freeN(triflags);
213
214         /* ** Step 3: Filter walkables surfaces ** */
215         recast_filterLowHangingWalkableObstacles(walkableClimb, solid);
216         recast_filterLedgeSpans(walkableHeight, walkableClimb, solid);
217         recast_filterWalkableLowHeightSpans(walkableHeight, solid);
218
219         /* ** Step 4: Partition walkable surface to simple regions ** */
220
221         chf= recast_newCompactHeightfield();
222         if(!recast_buildCompactHeightfield(walkableHeight, walkableClimb, solid, chf)) {
223                 recast_destroyHeightfield(solid);
224                 recast_destroyCompactHeightfield(chf);
225
226                 return 0;
227         }
228
229         recast_destroyHeightfield(solid);
230         solid = NULL;
231
232         if (!recast_erodeWalkableArea(walkableRadius, chf)) {
233                 recast_destroyCompactHeightfield(chf);
234
235                 return 0;
236         }
237
238         /* Prepare for region partitioning, by calculating distance field along the walkable surface */
239         if(!recast_buildDistanceField(chf)) {
240                 recast_destroyCompactHeightfield(chf);
241
242                 return 0;
243         }
244
245         /* Partition the walkable surface into simple regions without holes */
246         if(!recast_buildRegions(chf, 0, minRegionArea, mergeRegionArea)) {
247                 recast_destroyCompactHeightfield(chf);
248
249                 return 0;
250         }
251
252         /* ** Step 5: Trace and simplify region contours ** */
253         /* Create contours */
254         cset= recast_newContourSet();
255
256         if(!recast_buildContours(chf, recastParams->edgemaxerror, maxEdgeLen, cset)) {
257                 recast_destroyCompactHeightfield(chf);
258                 recast_destroyContourSet(cset);
259
260                 return 0;
261         }
262
263         /* ** Step 6: Build polygons mesh from contours ** */
264         *pmesh= recast_newPolyMesh();
265         if(!recast_buildPolyMesh(cset, recastParams->vertsperpoly, *pmesh)) {
266                 recast_destroyCompactHeightfield(chf);
267                 recast_destroyContourSet(cset);
268                 recast_destroyPolyMesh(*pmesh);
269
270                 return 0;
271         }
272
273
274         /* ** Step 7: Create detail mesh which allows to access approximate height on each polygon ** */
275
276         *dmesh= recast_newPolyMeshDetail();
277         if(!recast_buildPolyMeshDetail(*pmesh, chf, detailSampleDist, detailSampleMaxError, *dmesh)) {
278                 recast_destroyCompactHeightfield(chf);
279                 recast_destroyContourSet(cset);
280                 recast_destroyPolyMesh(*pmesh);
281                 recast_destroyPolyMeshDetail(*dmesh);
282
283                 return 0;
284         }
285
286         recast_destroyCompactHeightfield(chf);
287         recast_destroyContourSet(cset);
288
289         return 1;
290 }
291
292 static Object* createRepresentation(bContext *C, struct recast_polyMesh *pmesh, struct recast_polyMeshDetail *dmesh, Base* base)
293 {
294         float co[3], rot[3];
295         EditMesh *em;
296         int i,j, k;
297         unsigned short* v;
298         int face[3];
299         Main *bmain= CTX_data_main(C);
300         Scene *scene= CTX_data_scene(C);
301         Object* obedit;
302         int createob= base==NULL;
303         int nverts, nmeshes, nvp;
304         unsigned short *verts, *polys;
305         unsigned int *meshes;
306         float bmin[3], cs, ch, *dverts;
307         unsigned char *tris;
308         ModifierData *md;
309
310         zero_v3(co);
311         zero_v3(rot);
312
313         if(createob) {
314                 /* create new object */
315                 obedit= ED_object_add_type(C, OB_MESH, co, rot, FALSE, 1);
316         }
317         else {
318                 obedit= base->object;
319                 scene_select_base(scene, base);
320                 copy_v3_v3(obedit->loc, co);
321                 copy_v3_v3(obedit->rot, rot);
322         }
323
324         ED_object_enter_editmode(C, EM_DO_UNDO|EM_IGNORE_LAYER);
325         em= BKE_mesh_get_editmesh(((Mesh *)obedit->data));
326
327         if(!createob) {
328                 /* clear */
329                 if(em->verts.first) free_vertlist(em, &em->verts);
330                 if(em->edges.first) free_edgelist(em, &em->edges);
331                 if(em->faces.first) free_facelist(em, &em->faces);
332                 if(em->selected.first) BLI_freelistN(&(em->selected));
333         }
334
335         /* create verts for polygon mesh */
336         verts= recast_polyMeshGetVerts(pmesh, &nverts);
337         recast_polyMeshGetBoundbox(pmesh, bmin, NULL);
338         recast_polyMeshGetCell(pmesh, &cs, &ch);
339
340         for(i= 0; i<nverts; i++) {
341                 v= &verts[3*i];
342                 co[0]= bmin[0] + v[0]*cs;
343                 co[1]= bmin[1] + v[1]*ch;
344                 co[2]= bmin[2] + v[2]*cs;
345                 SWAP(float, co[1], co[2]);
346                 addvertlist(em, co, NULL);
347         }
348
349         /* create custom data layer to save polygon idx */
350         CustomData_add_layer_named(&em->fdata, CD_RECAST, CD_CALLOC, NULL, 0, "createRepresentation recastData");
351
352         /* create verts and faces for detailed mesh */
353         meshes= recast_polyMeshDetailGetMeshes(dmesh, &nmeshes);
354         polys= recast_polyMeshGetPolys(pmesh, NULL, &nvp);
355         dverts= recast_polyMeshDetailGetVerts(dmesh, NULL);
356         tris= recast_polyMeshDetailGetTris(dmesh, NULL);
357
358         for(i= 0; i<nmeshes; i++) {
359                 int uniquevbase= em->totvert;
360                 unsigned int vbase= meshes[4*i+0];
361                 unsigned short ndv= meshes[4*i+1];
362                 unsigned short tribase= meshes[4*i+2];
363                 unsigned short trinum= meshes[4*i+3];
364                 const unsigned short* p= &polys[i*nvp*2];
365                 int nv= 0;
366
367                 for(j= 0; j < nvp; ++j) {
368                         if(p[j]==0xffff) break;
369                         nv++;
370                 }
371
372                 /* create unique verts  */
373                 for(j= nv; j<ndv; j++) {
374                         copy_v3_v3(co, &dverts[3*(vbase + j)]);
375                         SWAP(float, co[1], co[2]);
376                         addvertlist(em, co, NULL);
377                 }
378
379                 EM_init_index_arrays(em, 1, 0, 0);
380
381                 /* create faces */
382                 for(j= 0; j<trinum; j++) {
383                         unsigned char* tri= &tris[4*(tribase+j)];
384                         EditFace* newFace;
385                         int* polygonIdx;
386
387                         for(k= 0; k<3; k++) {
388                                 if(tri[k]<nv)
389                                         face[k]= p[tri[k]]; /* shared vertex */
390                                 else
391                                         face[k]= uniquevbase+tri[k]-nv; /* unique vertex */
392                         }
393                         newFace= addfacelist(em, EM_get_vert_for_index(face[0]), EM_get_vert_for_index(face[2]),
394                                                                         EM_get_vert_for_index(face[1]), NULL, NULL, NULL);
395
396                         /* set navigation polygon idx to the custom layer */
397                         polygonIdx= (int*)CustomData_em_get(&em->fdata, newFace->data, CD_RECAST);
398                         *polygonIdx= i+1; /* add 1 to avoid zero idx */
399                 }
400                 
401                 EM_free_index_arrays();
402         }
403
404         recast_destroyPolyMesh(pmesh);
405         recast_destroyPolyMeshDetail(dmesh);
406
407         BKE_mesh_end_editmesh((Mesh*)obedit->data, em);
408         
409         DAG_id_tag_update((ID*)obedit->data, OB_RECALC_DATA);
410         WM_event_add_notifier(C, NC_GEOM|ND_DATA, obedit->data);
411
412
413         ED_object_exit_editmode(C, EM_FREEDATA); 
414         WM_event_add_notifier(C, NC_OBJECT|ND_DRAW, obedit);
415
416         if(createob) {
417                 obedit->gameflag&= ~OB_COLLISION;
418                 obedit->gameflag|= OB_NAVMESH;
419                 obedit->body_type= OB_BODY_TYPE_NAVMESH;
420                 rename_id((ID *)obedit, "Navmesh");
421         }
422         
423         md= modifiers_findByType(obedit, eModifierType_NavMesh);
424         if(!md) {
425                 ED_object_modifier_add(NULL, bmain, scene, obedit, NULL, eModifierType_NavMesh);
426         }
427
428         return obedit;
429 }
430
431 static int create_navmesh_exec(bContext *C, wmOperator *UNUSED(op))
432 {
433         Scene* scene= CTX_data_scene(C);
434         int nverts= 0, ntris= 0;
435         float *verts= NULL;
436         int *tris= 0;
437         struct recast_polyMesh *pmesh= NULL;
438         struct recast_polyMeshDetail *dmesh= NULL;
439         LinkNode* obs= NULL;
440         Base* navmeshBase= NULL;
441
442         CTX_DATA_BEGIN(C, Base*, base, selected_editable_bases) {
443                 if(base->object->body_type==OB_BODY_TYPE_NAVMESH) {
444                         if(!navmeshBase || base==CTX_data_active_base(C))
445                                 navmeshBase= base;
446                 }
447                 else
448                         BLI_linklist_append(&obs, (void*)base->object);
449         }
450         CTX_DATA_END;
451
452         createVertsTrisData(C, obs, &nverts, &verts, &ntris, &tris);
453         BLI_linklist_free(obs, NULL);
454         buildNavMesh(&scene->gm.recastData, nverts, verts, ntris, tris, &pmesh, &dmesh);
455         createRepresentation(C, pmesh, dmesh, navmeshBase);
456
457         MEM_freeN(verts);
458         MEM_freeN(tris);
459
460         return OPERATOR_FINISHED;
461 }
462
463 void MESH_OT_create_navmesh(wmOperatorType *ot)
464 {
465         /* identifiers */
466         ot->name= "Create navigation mesh";
467         ot->description= "Create navigation mesh for selected objects";
468         ot->idname= "MESH_OT_create_navmesh";
469
470         /* api callbacks */
471         ot->exec= create_navmesh_exec;
472
473         /* flags */
474         ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
475 }
476
477 static int assign_navpolygon_exec(bContext *C, wmOperator *UNUSED(op))
478 {
479         Object *obedit= CTX_data_edit_object(C);
480         EditMesh *em= BKE_mesh_get_editmesh((Mesh *)obedit->data);
481
482         /* do work here */
483         int targetPolyIdx= -1;
484         EditFace *ef, *efa;
485         efa= EM_get_actFace(em, 0);
486
487         if(efa) {
488                 if(CustomData_has_layer(&em->fdata, CD_RECAST)) {
489                         targetPolyIdx= *(int*)CustomData_em_get(&em->fdata, efa->data, CD_RECAST);
490                         targetPolyIdx= targetPolyIdx>=0? targetPolyIdx : -targetPolyIdx;
491
492                         if(targetPolyIdx>0) {
493                                 /* set target poly idx to other selected faces */
494                                 ef= (EditFace*)em->faces.last;
495                                 while(ef)  {
496                                         if((ef->f & SELECT )&& ef!=efa)  {
497                                                 int* recastDataBlock= (int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST);
498                                                 *recastDataBlock= targetPolyIdx;
499                                         }
500                                         ef= ef->prev;
501                                 }
502                         }
503                 }               
504         }
505         
506         DAG_id_tag_update((ID*)obedit->data, OB_RECALC_DATA);
507         WM_event_add_notifier(C, NC_GEOM|ND_DATA, obedit->data);
508
509         BKE_mesh_end_editmesh((Mesh*)obedit->data, em);
510
511         return OPERATOR_FINISHED;
512 }
513
514 void MESH_OT_assign_navpolygon(struct wmOperatorType *ot)
515 {
516         /* identifiers */
517         ot->name= "Assign polygon index";
518         ot->description= "Assign polygon index to face by active face";
519         ot->idname= "MESH_OT_assign_navpolygon";
520
521         /* api callbacks */
522         ot->poll= ED_operator_editmesh;
523         ot->exec= assign_navpolygon_exec;
524
525         /* flags */
526         ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
527 }
528
529 static int compare(const void * a, const void * b){  
530         return ( *(int*)a - *(int*)b );
531 }
532
533 static int findFreeNavPolyIndex(EditMesh* em)
534 {
535         /* construct vector of indices */
536         int numfaces= em->totface;
537         int* indices= MEM_callocN(sizeof(int)*numfaces, "findFreeNavPolyIndex(indices)");
538         EditFace* ef= (EditFace*)em->faces.last;
539         int i, idx= 0, freeIdx= 1;
540
541         while(ef) {
542                 int polyIdx= *(int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST);
543                 indices[idx]= polyIdx;
544                 idx++;
545                 ef= ef->prev;
546         }
547
548         qsort(indices, numfaces, sizeof(int), compare);
549
550         /* search first free index */
551         freeIdx= 1;
552         for(i= 0; i<numfaces; i++) {
553                 if(indices[i]==freeIdx)
554                         freeIdx++;
555                 else if(indices[i]>freeIdx)
556                         break;
557         }
558
559         MEM_freeN(indices);
560
561         return freeIdx;
562 }
563
564 static int assign_new_navpolygon_exec(bContext *C, wmOperator *UNUSED(op))
565 {
566         Object *obedit= CTX_data_edit_object(C);
567         EditMesh *em= BKE_mesh_get_editmesh((Mesh *)obedit->data);
568         EditFace *ef;
569
570         if(CustomData_has_layer(&em->fdata, CD_RECAST)) {
571                 int targetPolyIdx= findFreeNavPolyIndex(em);
572
573                 if(targetPolyIdx>0) {
574                         /* set target poly idx to selected faces */
575                         ef= (EditFace*)em->faces.last;
576                         while(ef) {
577                                 if(ef->f & SELECT) {
578                                         int *recastDataBlock= (int*)CustomData_em_get(&em->fdata, ef->data, CD_RECAST);
579                                         *recastDataBlock= targetPolyIdx;
580                                 }
581                                 ef= ef->prev;
582                         }
583                 }
584         }
585
586         DAG_id_tag_update((ID*)obedit->data, OB_RECALC_DATA);
587         WM_event_add_notifier(C, NC_GEOM|ND_DATA, obedit->data);
588
589         BKE_mesh_end_editmesh((Mesh*)obedit->data, em);
590         return OPERATOR_FINISHED;
591 }
592
593 void MESH_OT_assign_new_navpolygon(struct wmOperatorType *ot)
594 {
595         /* identifiers */
596         ot->name= "Assign new polygon index";
597         ot->description= "Assign new polygon index to face";
598         ot->idname= "MESH_OT_assign_new_navpolygon";
599
600         /* api callbacks */
601         ot->poll= ED_operator_editmesh;
602         ot->exec= assign_new_navpolygon_exec;
603
604         /* flags */
605         ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
606 }