#include <float.h>
#include <string.h>
#include <stdio.h>
#include "DetourNavMesh.h"
#include "DetourNode.h"
#include "DetourCommon.h"
#include "DetourMath.h"
#include "DetourAlloc.h"
#include "DetourAssert.h"
#include <new>

Include dependency graph for DetourNavMesh.cpp:

Classes
struct	dtTileState

struct	dtPolyState

Functions
bool	overlapSlabs (const float amin, const float amax, const float bmin, const float bmax, const float px, const float py)

static float	getSlabCoord (const float *va, const int side)

static void	calcSlabEndPoints (const float va, const float vb, float bmin, float bmax, const int side)

int	computeTileHash (int x, int y, const int mask)

unsigned int	allocLink (dtMeshTile *tile)

void	freeLink (dtMeshTile *tile, unsigned int link)

dtNavMesh *	dtAllocNavMesh ()

void	dtFreeNavMesh (dtNavMesh *navmesh)

Function Documentation

unsigned int allocLink ( dtMeshTile * tile )

inline

 {
  if (tile->linksFreeList == DT_NULL_LINK)
  return DT_NULL_LINK;
  unsigned int link = tile->linksFreeList;
  tile->linksFreeList = tile->links[link].next;
  return link;
 }

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static void calcSlabEndPoints	(	const float *	va,
		const float *	vb,
		float *	bmin,
		float *	bmax,
		const int	side
	)

static

 {
  if (side == 0 || side == 4)
  {
  if (va[2] < vb[2])
  {
  bmin[0] = va[2];
  bmin[1] = va[1];
  bmax[0] = vb[2];
  bmax[1] = vb[1];
  }
  else
  {
  bmin[0] = vb[2];
  bmin[1] = vb[1];
  bmax[0] = va[2];
  bmax[1] = va[1];
  }
  }
  else if (side == 2 || side == 6)
  {
  if (va[0] < vb[0])
  {
  bmin[0] = va[0];
  bmin[1] = va[1];
  bmax[0] = vb[0];
  bmax[1] = vb[1];
  }
  else
  {
  bmin[0] = vb[0];
  bmin[1] = vb[1];
  bmax[0] = va[0];
  bmax[1] = va[1];
  }
  }
 }

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int computeTileHash	(	int	x,
		int	y,
		const int	mask
	)

inline

 {
  const unsigned int h1 = 0x8da6b343; // Large multiplicative constants;
  const unsigned int h2 = 0xd8163841; // here arbitrarily chosen primes
  unsigned int n = h1 * x + h2 * y;
  return (int)(n & mask);
 }

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void freeLink	(	dtMeshTile *	tile,
		unsigned int	link
	)

inline

 {
  tile->links[link].next = tile->linksFreeList;
  tile->linksFreeList = link;
 }

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static float getSlabCoord	(	const float *	va,
		const int	side
	)

static

 {
  if (side == 0 || side == 4)
  return va[0];
  else if (side == 2 || side == 6)
  return va[2];
  return 0;
 }

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bool overlapSlabs	(	const float *	amin,
		const float *	amax,
		const float *	bmin,
		const float *	bmax,
		const float	px,
		const float	py
	)

inline

 {
  // Check for horizontal overlap.
  // The segment is shrunken a little so that slabs which touch
  // at end points are not connected.
  const float minx = dtMax(amin[0]+px,bmin[0]+px);
  const float maxx = dtMin(amax[0]-px,bmax[0]-px);
  if (minx > maxx)
  return false;
  
  // Check vertical overlap.
  const float ad = (amax[1]-amin[1]) / (amax[0]-amin[0]);
  const float ak = amin[1] - ad*amin[0];
  const float bd = (bmax[1]-bmin[1]) / (bmax[0]-bmin[0]);
  const float bk = bmin[1] - bd*bmin[0];
  const float aminy = ad*minx + ak;
  const float amaxy = ad*maxx + ak;
  const float bminy = bd*minx + bk;
  const float bmaxy = bd*maxx + bk;
  const float dmin = bminy - aminy;
  const float dmax = bmaxy - amaxy;
  
  // Crossing segments always overlap.
  if (dmin*dmax < 0)
  return true;
  
  // Check for overlap at endpoints.
  const float thr = dtSqr(py*2);
  if (dmin*dmin <= thr || dmax*dmax <= thr)
  return true;
  
  return false;
 }

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Classes

Functions

Function Documentation