godot/thirdparty/recastnavigation/Recast/Source/RecastArea.cpp

//
// Copyright (c) 2009-2010 Mikko Mononen [email protected]
//
// 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.
//

#include <float.h>
#include <math.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"

/// @par 
/// 
/// Basically, any spans that are closer to a boundary or obstruction than the specified radius 
/// are marked as unwalkable.
///
/// This method is usually called immediately after the heightfield has been built.
///
/// @see rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius
bool rcErodeWalkableArea(rcContext* ctx, int radius, rcCompactHeightfield& chf)
{ … }

static void insertSort(unsigned char* a, const int n)
{ … }

/// @par
///
/// This filter is usually applied after applying area id's using functions
/// such as #rcMarkBoxArea, #rcMarkConvexPolyArea, and #rcMarkCylinderArea.
/// 
/// @see rcCompactHeightfield
bool rcMedianFilterWalkableArea(rcContext* ctx, rcCompactHeightfield& chf)
{ … }

/// @par
///
/// The value of spacial parameters are in world units.
/// 
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
void rcMarkBoxArea(rcContext* ctx, const float* bmin, const float* bmax, unsigned char areaId,
				   rcCompactHeightfield& chf)
{ … }


static int pointInPoly(int nvert, const float* verts, const float* p)
{ … }

/// @par
///
/// The value of spacial parameters are in world units.
/// 
/// The y-values of the polygon vertices are ignored. So the polygon is effectively 
/// projected onto the xz-plane at @p hmin, then extruded to @p hmax.
/// 
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
void rcMarkConvexPolyArea(rcContext* ctx, const float* verts, const int nverts,
						  const float hmin, const float hmax, unsigned char areaId,
						  rcCompactHeightfield& chf)
{ … }

int rcOffsetPoly(const float* verts, const int nverts, const float offset,
				 float* outVerts, const int maxOutVerts)
{ … }


/// @par
///
/// The value of spacial parameters are in world units.
/// 
/// @see rcCompactHeightfield, rcMedianFilterWalkableArea
void rcMarkCylinderArea(rcContext* ctx, const float* pos,
						const float r, const float h, unsigned char areaId,
						rcCompactHeightfield& chf)
{ … }