extern/recastnavigation/recast-capi.cpp

   1 /*
   2  *
   3  * ***** BEGIN GPL LICENSE BLOCK *****
   4  *
   5  * This program is free software; you can redistribute it and/or
   6  * modify it under the terms of the GNU General Public License
   7  * as published by the Free Software Foundation; either version 2
   8  * of the License, or (at your option) any later version.
   9  *
  10  * This program is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13  * GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this program; if not, write to the Free Software Foundation,
  17  * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
  18  *
  19  * The Original Code is Copyright (C) 2011 Blender Foundation.
  20  * All rights reserved.
  21  *
  22  * Contributor(s): Sergey Sharybin
  23  *
  24  * ***** END GPL LICENSE BLOCK *****
  25  */
  26
  27 #include "recast-capi.h"
  28
  29 #include <math.h>
  30 #include "Recast.h"
  31
  32 static rcContext *sctx;
  33
  34 #define INIT_SCTX()                     \
  35         if (sctx == NULL) sctx = new rcContext(false)
  36
  37 int recast_buildMeshAdjacency(unsigned short* polys, const int npolys,
  38                         const int nverts, const int vertsPerPoly)
  39 {
  40         return (int) buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly);
  41 }
  42
  43 void recast_calcBounds(const float *verts, int nv, float *bmin, float *bmax)
  44 {
  45         rcCalcBounds(verts, nv, bmin, bmax);
  46 }
  47
  48 void recast_calcGridSize(const float *bmin, const float *bmax, float cs, int *w, int *h)
  49 {
  50         rcCalcGridSize(bmin, bmax, cs, w, h);
  51 }
  52
  53 struct recast_heightfield *recast_newHeightfield(void)
  54 {
  55         return (struct recast_heightfield *) rcAllocHeightfield();
  56 }
  57
  58 void recast_destroyHeightfield(struct recast_heightfield *heightfield)
  59 {
  60         rcFreeHeightField((rcHeightfield *) heightfield);
  61 }
  62
  63 int recast_createHeightfield(struct recast_heightfield *hf, int width, int height,
  64                         const float *bmin, const float* bmax, float cs, float ch)
  65 {
  66         INIT_SCTX();
  67         return rcCreateHeightfield(sctx, *(rcHeightfield *)hf, width, height, bmin, bmax, cs, ch);
  68 }
  69
  70 void recast_markWalkableTriangles(const float walkableSlopeAngle,const float *verts, int nv,
  71                         const int *tris, int nt, unsigned char *flags)
  72 {
  73         INIT_SCTX();
  74         rcMarkWalkableTriangles(sctx, walkableSlopeAngle, verts, nv, tris, nt, flags);
  75 }
  76
  77 void recast_rasterizeTriangles(const float *verts, int nv, const int *tris,
  78                         const unsigned char *flags, int nt, struct recast_heightfield *solid)
  79 {
  80         INIT_SCTX();
  81         rcRasterizeTriangles(sctx, verts, nv, tris, flags, nt, *(rcHeightfield *) solid);
  82 }
  83
  84 void recast_filterLedgeSpans(const int walkableHeight, const int walkableClimb,
  85                         struct recast_heightfield *solid)
  86 {
  87         INIT_SCTX();
  88         rcFilterLedgeSpans(sctx, walkableHeight, walkableClimb, *(rcHeightfield *) solid);
  89 }
  90
  91 void recast_filterWalkableLowHeightSpans(int walkableHeight, struct recast_heightfield *solid)
  92 {
  93         INIT_SCTX();
  94         rcFilterWalkableLowHeightSpans(sctx, walkableHeight, *(rcHeightfield *) solid);
  95 }
  96
  97 void recast_filterLowHangingWalkableObstacles(const int walkableClimb, struct recast_heightfield *solid)
  98 {
  99         INIT_SCTX();
 100         rcFilterLowHangingWalkableObstacles(sctx, walkableClimb, *(rcHeightfield *) solid);
 101 }
 102
 103 struct recast_compactHeightfield *recast_newCompactHeightfield(void)
 104 {
 105         return (struct recast_compactHeightfield *) rcAllocCompactHeightfield();
 106 }
 107
 108 void recast_destroyCompactHeightfield(struct recast_compactHeightfield *compactHeightfield)
 109 {
 110         rcFreeCompactHeightfield( (rcCompactHeightfield *) compactHeightfield);
 111 }
 112
 113 int recast_buildCompactHeightfield(const int walkableHeight, const int walkableClimb,
 114                         struct recast_heightfield *hf, struct recast_compactHeightfield *chf)
 115 {
 116         INIT_SCTX();
 117         return rcBuildCompactHeightfield(sctx, walkableHeight, walkableClimb,
 118                 *(rcHeightfield *) hf, *(rcCompactHeightfield *) chf);
 119 }
 120
 121 int recast_erodeWalkableArea(int radius, struct recast_compactHeightfield *chf)
 122 {
 123         INIT_SCTX();
 124         return rcErodeWalkableArea(sctx, radius, *(rcCompactHeightfield *) chf);
 125 }
 126
 127 int recast_buildDistanceField(struct recast_compactHeightfield *chf)
 128 {
 129         INIT_SCTX();
 130         return rcBuildDistanceField(sctx, *(rcCompactHeightfield *) chf);
 131 }
 132
 133 int recast_buildRegions(struct recast_compactHeightfield *chf, int borderSize,
 134         int minRegionSize, int mergeRegionSize)
 135 {
 136         INIT_SCTX();
 137         return rcBuildRegions(sctx, *(rcCompactHeightfield *) chf, borderSize,
 138                                 minRegionSize, mergeRegionSize);
 139 }
 140
 141 struct recast_contourSet *recast_newContourSet(void)
 142 {
 143         return (struct recast_contourSet *) rcAllocContourSet();
 144 }
 145
 146 void recast_destroyContourSet(struct recast_contourSet *contourSet)
 147 {
 148         rcFreeContourSet((rcContourSet *) contourSet);
 149 }
 150
 151 int recast_buildContours(struct recast_compactHeightfield *chf,
 152                         const float maxError, const int maxEdgeLen, struct recast_contourSet *cset)
 153 {
 154         INIT_SCTX();
 155         return rcBuildContours(sctx, *(rcCompactHeightfield *) chf, maxError, maxEdgeLen, *(rcContourSet *) cset);
 156 }
 157
 158 struct recast_polyMesh *recast_newPolyMesh(void)
 159 {
 160         return (recast_polyMesh *) rcAllocPolyMesh();
 161 }
 162
 163 void recast_destroyPolyMesh(struct recast_polyMesh *polyMesh)
 164 {
 165         rcFreePolyMesh((rcPolyMesh *) polyMesh);
 166 }
 167
 168 int recast_buildPolyMesh(struct recast_contourSet *cset, int nvp, struct recast_polyMesh *mesh)
 169 {
 170         INIT_SCTX();
 171         return rcBuildPolyMesh(sctx, *(rcContourSet *) cset, nvp, * (rcPolyMesh *) mesh);
 172 }
 173
 174 unsigned short *recast_polyMeshGetVerts(struct recast_polyMesh *mesh, int *nverts)
 175 {
 176         rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
 177
 178         if (nverts)
 179                 *nverts = pmesh->nverts;
 180
 181         return pmesh->verts;
 182 }
 183
 184 void recast_polyMeshGetBoundbox(struct recast_polyMesh *mesh, float *bmin, float *bmax)
 185 {
 186         rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
 187
 188         if (bmin) {
 189                 bmin[0] = pmesh->bmin[0];
 190                 bmin[1] = pmesh->bmin[1];
 191                 bmin[2] = pmesh->bmin[2];
 192         }
 193
 194         if (bmax) {
 195                 bmax[0] = pmesh->bmax[0];
 196                 bmax[1] = pmesh->bmax[1];
 197                 bmax[2] = pmesh->bmax[2];
 198         }
 199 }
 200
 201 void recast_polyMeshGetCell(struct recast_polyMesh *mesh, float *cs, float *ch)
 202 {
 203         rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
 204
 205         if (cs)
 206                 *cs = pmesh->cs;
 207
 208         if (ch)
 209                 *ch = pmesh->ch;
 210 }
 211
 212 unsigned short *recast_polyMeshGetPolys(struct recast_polyMesh *mesh, int *npolys, int *nvp)
 213 {
 214         rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
 215
 216         if (npolys)
 217                 *npolys = pmesh->npolys;
 218
 219         if (nvp)
 220                 *nvp = pmesh->nvp;
 221
 222         return pmesh->polys;
 223 }
 224
 225 struct recast_polyMeshDetail *recast_newPolyMeshDetail(void)
 226 {
 227         return (struct recast_polyMeshDetail *) rcAllocPolyMeshDetail();
 228 }
 229
 230 void recast_destroyPolyMeshDetail(struct recast_polyMeshDetail *polyMeshDetail)
 231 {
 232         rcFreePolyMeshDetail((rcPolyMeshDetail *) polyMeshDetail);
 233 }
 234
 235 int recast_buildPolyMeshDetail(const struct recast_polyMesh *mesh, const struct recast_compactHeightfield *chf,
 236                         const float sampleDist, const float sampleMaxError, struct recast_polyMeshDetail *dmesh)
 237 {
 238         INIT_SCTX();
 239         return rcBuildPolyMeshDetail(sctx, *(rcPolyMesh *) mesh, *(rcCompactHeightfield *) chf,
 240                         sampleDist, sampleMaxError, *(rcPolyMeshDetail *) dmesh);
 241 }
 242
 243 float *recast_polyMeshDetailGetVerts(struct recast_polyMeshDetail *mesh, int *nverts)
 244 {
 245         rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh;
 246
 247         if (nverts)
 248                 *nverts = dmesh->nverts;
 249
 250         return dmesh->verts;
 251 }
 252
 253 unsigned char *recast_polyMeshDetailGetTris(struct recast_polyMeshDetail *mesh, int *ntris)
 254 {
 255         rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh;
 256
 257         if (ntris)
 258                 *ntris = dmesh->ntris;
 259
 260         return dmesh->tris;
 261 }
 262
 263 unsigned int *recast_polyMeshDetailGetMeshes(struct recast_polyMeshDetail *mesh, int *nmeshes)
 264 {
 265         rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh;
 266
 267         if (nmeshes)
 268                 *nmeshes = dmesh->nmeshes;
 269
 270         return dmesh->meshes;
 271 }
 272
 273 //  qsort based on FreeBSD source (libkern\qsort.c)
 274 typedef int     cmp_t(void *, const void *, const void *);
 275 static inline char      *med3(char *, char *, char *, cmp_t *, void *);
 276 static inline void       swapfunc(char *, char *, int, int);
 277
 278 #define min(a, b)       (a) < (b) ? a : b
 279 #define swapcode(TYPE, parmi, parmj, n)         \
 280 {                                                                                       \
 281         long i = (n) / sizeof (TYPE);                   \
 282         TYPE *pi = (TYPE *) (parmi);                    \
 283         TYPE *pj = (TYPE *) (parmj);                    \
 284         do {                                                                    \
 285                 TYPE    t = *pi;                                        \
 286                 *pi++ = *pj;                                            \
 287                 *pj++ = t;                                                      \
 288         } while (--i > 0);                                              \
 289 }
 290 #define SWAPINIT(a, es) swaptype = ((char *)a - (char *)0) % sizeof(long) || \
 291         es % sizeof(long) ? 2 : es == sizeof(long)? 0 : 1;
 292
 293 static inline void swapfunc(char* a, char* b, int n, int swaptype)
 294 {
 295         if(swaptype <= 1)
 296                 swapcode(long, a, b, n)
 297         else
 298         swapcode(char, a, b, n)
 299 }
 300
 301 #define swap(a, b)                                      \
 302         if (swaptype == 0) {                    \
 303                 long t = *(long *)(a);          \
 304                 *(long *)(a) = *(long *)(b);\
 305                 *(long *)(b) = t;                       \
 306         } else                                                  \
 307                 swapfunc(a, b, es, swaptype)
 308
 309 #define vecswap(a, b, n)        if ((n) > 0) swapfunc(a, b, n, swaptype)
 310 #define CMP(t, x, y) (cmp((t), (x), (y)))
 311
 312 static inline char * med3(char *a, char *b, char *c, cmp_t *cmp, void *thunk)
 313 {
 314         return CMP(thunk, a, b) < 0 ?
 315                 (CMP(thunk, b, c) < 0 ? b : (CMP(thunk, a, c) < 0 ? c : a ))
 316                 :(CMP(thunk, b, c) > 0 ? b : (CMP(thunk, a, c) < 0 ? a : c ));
 317 }
 318
 319 void recast_qsort(void *a, size_t n, size_t es, void *thunk, cmp_t *cmp)
 320 {
 321         char *pa, *pb, *pc, *pd, *pl, *pm, *pn;
 322         int d, r, swaptype, swap_cnt;
 323
 324 loop:
 325         SWAPINIT(a, es);
 326         swap_cnt = 0;
 327         if (n < 7) {
 328                 for (pm = (char *)a + es; pm < (char *)a + n * es; pm += es)
 329                         for (pl = pm;
 330                                 pl > (char *)a && CMP(thunk, pl - es, pl) > 0;
 331                                 pl -= es)
 332                                 swap(pl, pl - es);
 333                 return;
 334         }
 335         pm = (char *)a + (n / 2) * es;
 336         if (n > 7) {
 337                 pl = (char *)a;
 338                 pn = (char *)a + (n - 1) * es;
 339                 if (n > 40) {
 340                         d = (n / 8) * es;
 341                         pl = med3(pl, pl + d, pl + 2 * d, cmp, thunk);
 342                         pm = med3(pm - d, pm, pm + d, cmp, thunk);
 343                         pn = med3(pn - 2 * d, pn - d, pn, cmp, thunk);
 344                 }
 345                 pm = med3(pl, pm, pn, cmp, thunk);
 346         }
 347         swap((char *)a, pm);
 348         pa = pb = (char *)a + es;
 349
 350         pc = pd = (char *)a + (n - 1) * es;
 351         for (;;) {
 352                 while (pb <= pc && (r = CMP(thunk, pb, a)) <= 0) {
 353                         if (r == 0) {
 354                                 swap_cnt = 1;
 355                                 swap(pa, pb);
 356                                 pa += es;
 357                         }
 358                         pb += es;
 359                 }
 360                 while (pb <= pc && (r = CMP(thunk, pc, a)) >= 0) {
 361                         if (r == 0) {
 362                                 swap_cnt = 1;
 363                                 swap(pc, pd);
 364                                 pd -= es;
 365                         }
 366                         pc -= es;
 367                 }
 368                 if (pb > pc)
 369                         break;
 370                 swap(pb, pc);
 371                 swap_cnt = 1;
 372                 pb += es;
 373                 pc -= es;
 374         }
 375         if (swap_cnt == 0) {  /* Switch to insertion sort */
 376                 for (pm = (char *)a + es; pm < (char *)a + n * es; pm += es)
 377                         for (pl = pm;
 378                                 pl > (char *)a && CMP(thunk, pl - es, pl) > 0;
 379                                 pl -= es)
 380                                 swap(pl, pl - es);
 381                 return;
 382         }
 383
 384         pn = (char *)a + n * es;
 385         r = min(pa - (char *)a, pb - pa);
 386         vecswap((char *)a, pb - r, r);
 387         r = min(pd - pc, pn - pd - es);
 388         vecswap(pb, pn - r, r);
 389         if ((r = pb - pa) > es)
 390                 recast_qsort(a, r / es, es, thunk, cmp);
 391         if ((r = pd - pc) > es) {
 392                 /* Iterate rather than recurse to save stack space */
 393                 a = pn - r;
 394                 n = r / es;
 395                 goto loop;
 396         }
 397 }
 398