#include "StdAfx.h" #include "EtNavigationMeshGenerator.h" namespace EtNavigationMesh { const int RECT_DIVIDE = 20; static const float EPSILON = 0.0000000001f; const float UNITSIZE = 50.0f; const int REORDER_TOLERANCE = 3; const int REORDER_FACE_MAX = 32; CEtNavigationMeshGenerator::CEtNavigationMeshGenerator( void ) : m_iXBlockCount( 0 ), m_iYBlockCount( 0 ), m_iXAttributeCount( 0 ), m_iYAttributeCount( 0 ), m_iNumUsingVertices( 0 ) { m_vlNaviRects.assign( 1, S_RECT() ); } CEtNavigationMeshGenerator::~CEtNavigationMeshGenerator( void ) { } char CEtNavigationMeshGenerator::NormalizeAttribute( char cAttribute ) { char cResult = 0; if( 0xf == (cAttribute & 0xf) ) cResult = 2; if( (cAttribute & 0x0f) > 0 ) cResult = 1; return cResult; } void CEtNavigationMeshGenerator::SetNaviAttributes( int iAttribute, int iXStart, int iYStart, int iXEnd, int iYEnd ) { for( int iY = iYStart; iY < iYEnd; ++iY ) { for( int iX = iXStart; iX < iXEnd; ++iX ) { m_vlNaviAttributes[ m_iXAttributeCount*iY + iX ] = iAttribute; } } } void CEtNavigationMeshGenerator::Initialize( int iX, int iY, char* pAttribute ) { m_iXAttributeCount = iX; m_iYAttributeCount = iY; m_iXBlockCount = m_iXAttributeCount - 1; m_iYBlockCount = m_iYAttributeCount - 1; int iNumAttributeCount = m_iXAttributeCount * m_iYAttributeCount; m_vlMapAttributes.assign( iNumAttributeCount, 0 ); m_vlNaviAttributes.assign( iNumAttributeCount, 0 ); for( int i = 0; i < iNumAttributeCount; ++i ) { m_vlMapAttributes.at( i ) = NormalizeAttribute( *(pAttribute+i) ); } } void CEtNavigationMeshGenerator::Generate( int &iNumVertices, int &iNumFaces ) { CollapseAttributeBlocks(); CollapseNaviRectsAndTriangulatePolygon(); ReorderFaceIndex(); PolygonReduction(); MakeupNavigationData( iNumVertices, iNumFaces ); } void CEtNavigationMeshGenerator::CollapseAttributeBlocks() { for( int iY = 0; iY < m_iYBlockCount; ++iY ) { for( int iX = 0; iX < m_iXBlockCount; ++iX ) { int iIndex = (iY*m_iXAttributeCount) + iX; unsigned char cMapAttribute = m_vlMapAttributes.at( iIndex ); if( 1 == cMapAttribute ) { continue; } int iNaviAttribute = NaviAttrAt( iX, iY ); if( iNaviAttribute != 0 ) { int iWidth = m_vlNaviRects.at(iNaviAttribute).iRight - m_vlNaviRects.at(iNaviAttribute).iLeft; iX += (iWidth - 1); continue; } bool bRight = true; bool bUp = true; int iCollapsedWidth = 1; int iCollapsedHeight = 1; while( bRight || bUp ) { if( bRight ) { for( int iYCheck = 0; iYCheck < iCollapsedHeight; ++iYCheck ) { int iCurNaviAttribute = NaviAttrAt( iX+iCollapsedWidth, iY+iYCheck ); int iCurMapAttribute = m_vlMapAttributes.at( m_iXAttributeCount*(iY+iYCheck) + iX+iCollapsedWidth ); if( false == ((iX+iCollapsedWidth) < m_iXBlockCount) || iCurMapAttribute != (int)cMapAttribute || 0 != iCurNaviAttribute ) { bRight = false; break; } } if( bRight ) iCollapsedWidth++; } if( bUp ) { for( int iXCheck = 0; iXCheck < iCollapsedWidth; ++iXCheck ) { int iCurNaviAttribute = NaviAttrAt( iX+iXCheck, iY+iCollapsedHeight ); int iCurMapAttribute = m_vlMapAttributes.at( m_iXAttributeCount*(iY+iCollapsedHeight) + iX+iXCheck ); if( false == ((iY+iCollapsedHeight) < m_iYBlockCount) || iCurMapAttribute != (int)cMapAttribute || 0 != iCurNaviAttribute ) { bUp = false; break; } } if( bUp ) iCollapsedHeight++; } if( (iX + iCollapsedWidth) % RECT_DIVIDE == 0 ) bRight = false; if( (iY + iCollapsedHeight) % RECT_DIVIDE == 0 ) bUp = false; } int iNaviRectID = int(m_vlNaviRects.size()); S_RECT CollapsedRect( iNaviRectID, iX, iX+iCollapsedWidth, iY, iY+iCollapsedHeight, cMapAttribute ); m_vlNaviRects.push_back( CollapsedRect ); SetNaviAttributes( iNaviRectID, iX, iY, iX+iCollapsedWidth, iY+iCollapsedHeight ); iX += (iCollapsedWidth-1); } } } void CEtNavigationMeshGenerator::CollapseNaviRectsAndTriangulatePolygon( void ) { int iNumRects = (int)m_vlNaviRects.size(); for( int iRect = 1; iRect < iNumRects; ++iRect ) { S_RECT& Rect = m_vlNaviRects.at(iRect); S_VERTEX Vertex; vector vlNaviVertices; int iRectWidth = Rect.iRight - Rect.iLeft; int iRectHeight = Rect.iHeight - Rect.iBottom; int iSplitWidth = 0; int iSplitHeight = 0; int iXAttributeBefore = 0; int iYAttributeBefore = 0; ScanSplitVertex( LB_TO_RB, Rect.iLeft, Rect.iBottom, Rect.iRight, Rect.iBottom, iRectWidth, iRectHeight, iSplitWidth, iSplitHeight, iXAttributeBefore, iYAttributeBefore, Rect.iAttribute, vlNaviVertices ); ScanSplitVertex( RB_TO_RT, Rect.iRight, Rect.iBottom, Rect.iRight, Rect.iHeight, iRectWidth, iRectHeight, iSplitWidth, iSplitHeight, iXAttributeBefore, iYAttributeBefore, Rect.iAttribute, vlNaviVertices ); ScanSplitVertex( RT_TO_LT, Rect.iRight, Rect.iHeight, Rect.iLeft, Rect.iHeight, iRectWidth, iSplitWidth, iSplitHeight, iRectHeight, iXAttributeBefore, iYAttributeBefore, Rect.iAttribute, vlNaviVertices ); ScanSplitVertex( LT_TO_LB, Rect.iLeft, Rect.iHeight, Rect.iLeft, Rect.iBottom, iRectWidth, iRectHeight, iSplitWidth, iSplitHeight, iXAttributeBefore, iYAttributeBefore, Rect.iAttribute, vlNaviVertices ); TriangulatePolygonAndRegister( vlNaviVertices, Rect.iAttribute ); } } void CEtNavigationMeshGenerator::ScanSplitVertex( int iScanDirection, int iXStart, int iYStart, int iXEnd, int iYEnd, int iRectWidth, int iRectHeight, int& iSplitWidth, int& iSplitHeight, int& iXAttributeBefore, int& iYAttributeBefore, int iCurRectNaviAttribute, vector& vlNaviVertices ) { bool bXBound = false; bool bYBound = false; int iCurXAttr = 0; int iCurYAttr = 0; int iCurXPos = 0; int iCurYPos = 0; if( iXEnd < iXStart ) swap( iXStart, iXEnd ); if( iYEnd < iYStart ) swap( iYStart, iYEnd ); switch( iScanDirection ) { case LB_TO_RB: { bXBound = (0 == iXStart); bYBound = (0 == iYStart); iCurYPos = iYStart; if( bXBound ) { iYAttributeBefore = 0; iSplitHeight = iRectHeight; } else { iYAttributeBefore = NaviAttrAt( iXStart-1, iCurYPos ); ++iCurYPos; iSplitHeight = 1; for( iCurYPos; iCurYPos < iYEnd; ++iCurYPos ) { iCurYAttr = NaviAttrAt( iXStart-1, iCurYPos ); if( iCurYAttr != iYAttributeBefore ) { --iCurYPos; break; } ++iSplitHeight; } } iCurXPos = iXStart; if( bYBound ) { iXAttributeBefore = 0; iSplitWidth = iRectWidth; } else { iXAttributeBefore = NaviAttrAt( iCurXPos, iYStart-1 ); ++iCurXPos; iSplitWidth = 1; for( iCurXPos; iCurXPos < iXEnd; ++iCurXPos ) { iCurXAttr = NaviAttrAt( iCurXPos, iYStart-1 ); if( iCurXAttr != iXAttributeBefore ) { --iCurXPos; break; } ++iSplitWidth; } } if( (((iSplitHeight > 1) || (iSplitWidth > 2)) && ((iSplitWidth > 1) || (iSplitHeight > 2))) || false == (iXAttributeBefore == 0 && iYAttributeBefore == 0) ) { vlNaviVertices.push_back( S_VERTEX(iXStart, iYStart) ); } if( bYBound ) { iCurXAttr = 0; iSplitWidth = iRectWidth; } if( iSplitWidth != iRectWidth ) { iXAttributeBefore = NaviAttrAt( iCurXPos, iYStart-1 ); ++iCurXPos; iSplitWidth = 1; for( iCurXPos; iCurXPos < iXEnd; ++iCurXPos ) { iCurXAttr = NaviAttrAt( iCurXPos, iYStart-1 ); if( iCurXAttr == iXAttributeBefore ) { ++iSplitWidth; } else { iXAttributeBefore = iCurXAttr; vlNaviVertices.push_back( S_VERTEX(iCurXPos, iYStart) ); iSplitWidth = 1; } } } } break; case RB_TO_RT: { bXBound = (m_iXBlockCount == iXEnd); bYBound = false; iCurYPos = iYStart; if( bXBound ) { iYAttributeBefore = 0; iSplitHeight = iRectHeight; } else { iYAttributeBefore = NaviAttrAt( iXEnd, iCurYPos ); ++iCurYPos; iSplitHeight = 1; for( iCurYPos; iCurYPos < iYEnd; ++iCurYPos ) { iCurYAttr = NaviAttrAt( iXEnd, iCurYPos ); if( iCurYAttr != iYAttributeBefore ) { --iCurYPos; break; } ++iSplitHeight; } } if( (((iSplitHeight > 1) || (iSplitWidth > 2)) && ((iSplitWidth > 1) || (iSplitHeight > 2))) || false == (iXAttributeBefore == 0 && iYAttributeBefore == 0) ) { vlNaviVertices.push_back( S_VERTEX(iXEnd, iYStart) ); } if( bXBound ) { iYAttributeBefore = 0; iSplitHeight = iRectHeight; } if( iSplitHeight != iRectHeight ) { iYAttributeBefore = NaviAttrAt( iXEnd, iCurYPos ); ++iCurYPos; iSplitHeight = 1; for( iCurYPos; iCurYPos < iYEnd; ++iCurYPos ) { iCurYAttr = NaviAttrAt( iXEnd, iCurYPos ); if( iCurYAttr == iYAttributeBefore ) { ++iSplitHeight; } else { iYAttributeBefore = iCurYAttr; vlNaviVertices.push_back( S_VERTEX(iXEnd, iCurYPos) ); iSplitHeight = 1; } } } } break; case RT_TO_LT: { bXBound = false; bYBound = (iYEnd == m_iYBlockCount); iCurXPos = iXEnd-1; if( bYBound ) { iXAttributeBefore = 0; iSplitWidth = iRectWidth; } else { iXAttributeBefore = NaviAttrAt( iCurXPos, iYEnd ); --iCurXPos; iSplitWidth = 1; for( iCurXPos; iCurXPos >= iXStart; --iCurXPos ) { iCurXAttr = NaviAttrAt( iCurXPos, iYEnd ); if( iCurXAttr != iXAttributeBefore ) { ++iCurXPos; break; } ++iSplitWidth; } } if( (((iSplitHeight > 1) || (iSplitWidth > 2)) && ((iSplitWidth > 1) || (iSplitHeight > 2))) || false == (iXAttributeBefore == 0 && iYAttributeBefore == 0) ) { vlNaviVertices.push_back( S_VERTEX(iXEnd, iYEnd) ); } if( bYBound ) { iXAttributeBefore = 0; iSplitWidth = iRectWidth; } if( iSplitWidth != iRectWidth ) { iXAttributeBefore = NaviAttrAt( iCurXPos, iYEnd ); --iCurXPos; iSplitWidth = 1; for( iCurXPos; iCurXPos >= iXStart; --iCurXPos ) { iCurXAttr = NaviAttrAt( iCurXPos, iYEnd ); if( iCurXAttr == iXAttributeBefore ) { ++iSplitWidth; } else { iXAttributeBefore = iCurXAttr; vlNaviVertices.push_back( S_VERTEX(iCurXPos+1, iYEnd) ); iSplitWidth = 1; } } } } break; case LT_TO_LB: { bXBound = (iXStart == 0); bYBound = false; iCurYPos = iYEnd-1; if( bXBound ) { iYAttributeBefore = 0; iSplitHeight = iRectHeight; } else { iYAttributeBefore = NaviAttrAt( iXStart-1, iCurYPos ); --iCurYPos; iSplitHeight = 1; for( iCurYPos; iCurYPos >= iYStart; --iCurYPos ) { iCurYAttr = NaviAttrAt( iXStart-1, iCurYPos ); if( iCurYAttr != iYAttributeBefore ) { ++iCurYPos; break; } ++iSplitHeight; } } if( (((iSplitHeight > 1) || (iSplitWidth > 2)) && ((iSplitWidth > 1) || (iSplitHeight > 2))) || false == (iXAttributeBefore == 0 && iYAttributeBefore == 0) ) { vlNaviVertices.push_back( S_VERTEX(iXStart, iYEnd) ); } if( bXBound ) { iYAttributeBefore = 0; iSplitHeight = iRectHeight; } if( iSplitHeight != iRectHeight ) { iYAttributeBefore = NaviAttrAt( iXStart-1, iCurYPos ); --iCurYPos; iSplitHeight = 1; for( iCurYPos; iCurYPos >= iYStart; --iCurYPos ) { iCurYAttr = NaviAttrAt( iXStart-1, iCurYPos ); if( iCurYAttr == iYAttributeBefore ) { ++iSplitHeight; } else { iYAttributeBefore = iCurYAttr; vlNaviVertices.push_back( S_VERTEX(iXStart, iCurYPos+1) ); iSplitHeight = 1; } } } } break; } } void CEtNavigationMeshGenerator::TriangulatePolygonAndRegister( /*IN*/ const vector& vlVertices, int iAttribute ) { vector vlResults; TriangulatePolygon( vlVertices, vlResults ); for( int i = 0; i < (int)vlResults.size(); i += 3 ) { S_VERTEX v[ 3 ]; v[ 0 ] = vlResults.at( i ); v[ 1 ] = vlResults.at( i+1 ); v[ 2 ]= vlResults.at( i+2 ); RegisterFace( v, iAttribute ); } } void CEtNavigationMeshGenerator::RegisterFace( S_VERTEX* apVertices, int iAttribute ) { S_FACE Face; int aiIndex[ 3 ] = { 0 }; for( int i = 0; i < 3; ++i ) { vector::iterator iter = find( m_vlNaviMeshVertices.begin(), m_vlNaviMeshVertices.end(), apVertices[ i ] ); if( m_vlNaviMeshVertices.end() == iter ) { Face.aiVertexIndex[ i ] = (int)m_vlNaviMeshVertices.size(); apVertices[ i ].vlContainedFaceIndices.push_back( (int)m_vlNaviMeshFaces.size() ); m_vlNaviMeshVertices.push_back( apVertices[ i ] ); } else { Face.aiVertexIndex[ i ] = (int)std::distance( m_vlNaviMeshVertices.begin(), iter ); iter->vlContainedFaceIndices.push_back( (int)m_vlNaviMeshFaces.size() ); continue; } } Face.iNaviRectID = iAttribute; m_vlNaviMeshFaces.push_back( Face ); } void CEtNavigationMeshGenerator::RemoveFace( int iFaceIndex ) { vector::iterator iter = m_vlNaviMeshFaces.begin() + iFaceIndex; for( int i = 0; i < 3; ++i ) { int iVertexIndex = iter->aiVertexIndex[ i ]; S_VERTEX& Vertex = m_vlNaviMeshVertices.at( iVertexIndex ); vector& vlCF = Vertex.vlContainedFaceIndices; vector::iterator iter = find( vlCF.begin(), vlCF.end(), iFaceIndex ); if( vlCF.end() != iter ) vlCF.erase( iter ); } m_vlNaviMeshFaces.at( iFaceIndex ).Removed(); } float CEtNavigationMeshGenerator::Area(const vector &contour) { int n = (int)contour.size(); float A=0.0f; for(int p=n-1,q=0; q= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f)); }; bool CEtNavigationMeshGenerator::Snip(const vector &contour,int u,int v,int w,int n,int *V) { int p; //float Ax, Ay, Bx, By, Cx, Cy, Px, Py; int Ax, Ay, Bx, By, Cx, Cy, Px, Py; Ax = contour[V[u]].GetX(); Ay = contour[V[u]].GetY(); Bx = contour[V[v]].GetX(); By = contour[V[v]].GetY(); Cx = contour[V[w]].GetX(); Cy = contour[V[w]].GetY(); if ( EPSILON > (((Bx-Ax)*(Cy-Ay)) - ((By-Ay)*(Cx-Ax))) ) return false; for (p=0;p &contour,vector &result) { /* allocate and initialize list of Vertices in polygon */ int n = (int)contour.size(); if ( n < 3 ) return false; int *V = new int[n]; /* we want a counter-clockwise polygon in V */ if ( 0.0f < Area(contour) ) for (int v=0; v2; ) { /* if we loop, it is probably a non-simple polygon */ if (0 >= (count--)) { //** Triangulate: ERROR - probable bad polygon! delete [] V; return false; } /* three consecutive vertices in current polygon, */ int u = v ; if (nv <= u) u = 0; /* previous */ v = u+1; if (nv <= v) v = 0; /* new v */ int w = v+1; if (nv <= w) w = 0; /* next */ if ( Snip(contour,u,v,w,nv,V) ) { int a,b,c,s,t; /* true names of the vertices */ a = V[u]; b = V[v]; c = V[w]; /* output Triangle */ result.push_back( contour[a] ); result.push_back( contour[b] ); result.push_back( contour[c] ); m++; /* remove v from remaining polygon */ for(s=v,t=v+1;t vlReordereTargetFaces; int iCurNaviRectID = 0; bool bCantReorder = false; int iContainedIndices = (int)Vertex.vlContainedFaceIndices.size(); for( int k = 0; k < iContainedIndices; ++k ) { int iFaceIndex = Vertex.vlContainedFaceIndices.at( k ); if( -1 < iFaceIndex ) { const S_FACE& Face = m_vlNaviMeshFaces.at( iFaceIndex ); if( iCurNaviRectID != Face.iNaviRectID ) { bCantReorder = true; break; } vlReordereTargetFaces.push_back( Vertex.vlContainedFaceIndices.at(k) ); } } if( bCantReorder ) continue; int iSelectedStartVertexIndex = 0; S_FACE& FirstFace = m_vlNaviMeshFaces.at( Vertex.vlContainedFaceIndices.front() ); for( int i = 0; i < 3; ++i ) { if( (m_vlNaviMeshVertices.at( FirstFace.aiVertexIndex[ i ] ).iX == Vertex.iX) && (m_vlNaviMeshVertices.at( FirstFace.aiVertexIndex[ i ] ).iY == Vertex.iY) ) { iSelectedStartVertexIndex = FirstFace.aiVertexIndex[ i ]; break; } } vector vlReorderedIndices[ 3 ]; for( int i = 0; i < 3; ++i ) vlReorderedIndices[ i ].assign( vlReordereTargetFaces.size(), int() ); int iNumReorderTargetFaces = (int)vlReordereTargetFaces.size(); for( int iFace = 0; iFace < iNumReorderTargetFaces; ++iFace ) { S_FACE& CurFace = m_vlNaviMeshFaces.at( vlReordereTargetFaces.at(iFace) ); for( int i = 0; i < 3; ++i ) { if( CurFace.aiVertexIndex[ i ] == iSelectedStartVertexIndex ) { for( int k = 0; k < 3; ++k ) { int iVertexIndex = (i+k) % 3; vlReorderedIndices[ k ].at(iFace) = ( CurFace.aiVertexIndex[ iVertexIndex ] ); } break; } } } for( int iLeftFace = 0; iLeftFace < iNumReorderTargetFaces-1; ++iLeftFace ) { int iRightFace = iLeftFace+1; for( iRightFace; iRightFace < iNumReorderTargetFaces; ++iRightFace ) { if( vlReorderedIndices[ 2 ].at(iLeftFace) == vlReorderedIndices[ 1 ].at(iRightFace) ) { if( iLeftFace+1 != iRightFace ) { // 바로 옆에 인접해 있지 않다면 붙여버린다. std::swap( vlReordereTargetFaces[ iLeftFace+1 ], vlReordereTargetFaces[ iRightFace ] ); for( int i = 0; i < 3; ++i ) std::swap( vlReorderedIndices[ i ].at(iLeftFace+1), vlReorderedIndices[ i ].at(iRightFace) ); } break; } } if( iRightFace == iNumReorderTargetFaces ) { bCantReorder = true; break; } } if( bCantReorder ) continue; if( vlReorderedIndices[ 2 ].back() != vlReorderedIndices[ 1 ].front() ) continue; vector vlSourceVertices; vlSourceVertices.assign( iNumReorderTargetFaces, S_VERTEX() ); for( int i = 0; i < iNumReorderTargetFaces; ++i ) { vlSourceVertices[ i ].iX = m_vlNaviMeshVertices.at( vlReorderedIndices[2].at(i) ).iX; vlSourceVertices[ i ].iY = m_vlNaviMeshVertices.at( vlReorderedIndices[2].at(i) ).iY; } vector vlReorderedFaceVertices; TriangulatePolygon( vlSourceVertices, vlReorderedFaceVertices ); for( int i = 0; i < (int)vlReorderedFaceVertices.size(); i += 3 ) { S_VERTEX v[ 3 ]; v[ 0 ] = vlReorderedFaceVertices[ i ]; v[ 1 ] = vlReorderedFaceVertices[ i+1 ]; v[ 2 ] = vlReorderedFaceVertices[ i+2 ]; RegisterFace( v, iCurNaviRectID ); bNeedReorder = true; } for( int i = 0; i < iNumReorderTargetFaces; ++i ) { RemoveFace( vlReordereTargetFaces.at(i) ); bNeedReorder = true; } } } } void CEtNavigationMeshGenerator::MakeupNavigationData( int& iNumVertices, int& iNumFaces ) { int iVertexCount = 0; int iFaceCount = 0; for( int i = 0; i < (int)m_vlNaviMeshVertices.size(); ++i ) { S_VERTEX& Vertex = m_vlNaviMeshVertices.at( i ); vector3 ResultVertex; ResultVertex.x = float( Vertex.iX ) * UNITSIZE; ResultVertex.y = 0.0f; ResultVertex.z = float( Vertex.iY ) * UNITSIZE; m_vlResultVertices.push_back( ResultVertex ); Vertex.iIndex = iVertexCount; ++iVertexCount; } iNumVertices = iVertexCount; for( int i = 0; i < (int)m_vlNaviMeshFaces.size(); ++i ) { S_FACE& Face = m_vlNaviMeshFaces.at( i ); if( false == Face.bRemoved ) { m_vlResultFaceIndices.push_back( Face.aiVertexIndex[ 0 ] ); m_vlResultFaceIndices.push_back( Face.aiVertexIndex[ 2 ] ); m_vlResultFaceIndices.push_back( Face.aiVertexIndex[ 1 ] ); ++iFaceCount; } } iNumFaces = iFaceCount; } void CEtNavigationMeshGenerator::PolygonReduction( void ) { int iNumVertices = (int)m_vlNaviMeshVertices.size(); for( int i = 0; i < iNumVertices; ++i ) { S_VERTEX& Vertex = m_vlNaviMeshVertices.at( i ); if( false == Vertex.vlContainedFaceIndices.empty() ) m_iNumUsingVertices += 1; Vertex.iIndex = i; if( NaviAttrAt(Vertex.iX-1, Vertex.iY) == 0 || NaviAttrAt(Vertex.iX+1, Vertex.iY) == 0 || NaviAttrAt(Vertex.iX, Vertex.iY-1) == 0 || NaviAttrAt(Vertex.iX, Vertex.iY+1) == 0 || NaviAttrAt(Vertex.iX-1, Vertex.iY-1) == 0 || NaviAttrAt(Vertex.iX+1, Vertex.iY+1) == 0) Vertex.bBound = true; else Vertex.bBound = false; } int iNumFaces = (int)m_vlNaviMeshFaces.size(); for( int i = 0; i < iNumFaces; ++i ) { S_FACE& Face = m_vlNaviMeshFaces.at( i ); if( false == Face.bRemoved ) { for( int k = 0; k < 3; ++k ) { S_VERTEX& Vertex = m_vlNaviMeshVertices.at( Face.aiVertexIndex[ k ] ); Vertex.setNeighborVertexIndices.insert( Face.aiVertexIndex[ (k+1)%3 ] ); Vertex.setNeighborVertexIndices.insert( Face.aiVertexIndex[ (k+2)%3 ] ); } } } int iNumDesireVertices = m_iNumUsingVertices - (m_iNumUsingVertices / 3); while( m_iNumUsingVertices > iNumDesireVertices ) { S_VERTEX* pVertexToRemove = CalcMinimumCostEdge(); CollapseEdge( pVertexToRemove ); } } S_VERTEX* CEtNavigationMeshGenerator::CalcMinimumCostEdge( void ) { S_VERTEX* pResult = NULL; float fMinimumCost = FLT_MAX; for( int i = 0; i < (int)m_vlNaviMeshVertices.size(); ++i ) { S_VERTEX& Vertex = m_vlNaviMeshVertices.at( i ); if( Vertex.bRemoved ) continue; if( FLT_MAX == Vertex.fCollapseCost ) continue; if( Vertex.fCollapseCost < fMinimumCost ) { pResult = &Vertex; } } if( NULL == pResult ) { int iGreatestContainFaceCount = 0; for( int i = 0; i < (int)m_vlNaviMeshVertices.size(); ++i ) { S_VERTEX& Vertex = m_vlNaviMeshVertices.at( i ); if( Vertex.bRemoved ) continue; if( iGreatestContainFaceCount < (int)Vertex.vlContainedFaceIndices.size() ) { pResult = &Vertex; iGreatestContainFaceCount = (int)Vertex.vlContainedFaceIndices.size(); } } if( pResult ) { ComputeEdgeCostAtVertex( pResult->iIndex ); } } return pResult; } void CEtNavigationMeshGenerator::CollapseEdge( S_VERTEX* pVertexToRemove ) { if( NULL == pVertexToRemove->pCollapse ) { RemoveVertex( pVertexToRemove ); return; } vector vlNeighborsOfVertexToRemove; set::iterator iter = pVertexToRemove->setNeighborVertexIndices.begin(); for( iter; iter != pVertexToRemove->setNeighborVertexIndices.end(); ++iter ) { vlNeighborsOfVertexToRemove.push_back( *iter ); } vector vlTemp = pVertexToRemove->vlContainedFaceIndices; for( int i = (int)vlTemp.size()-1; i >= 0; --i ) { int iFaceIndex = vlTemp.at( i ); bool bHasVertex = HasVertex( iFaceIndex, pVertexToRemove->pCollapse ); if( bHasVertex ) { RemoveFace( iFaceIndex ); } } S_VERTEX* pCollapseDest = pVertexToRemove->pCollapse; for( int i = (int)pVertexToRemove->vlContainedFaceIndices.size()-1; i >= 0; --i ) { int iFaceIndex = pVertexToRemove->vlContainedFaceIndices.at( i ); ReplaceVertex( iFaceIndex, pVertexToRemove, pCollapseDest ); } RemoveVertex( pVertexToRemove ); for( int i = 0; i < (int)vlNeighborsOfVertexToRemove.size(); ++i ) { ComputeEdgeCostAtVertex( vlNeighborsOfVertexToRemove.at(i) ); } } bool CEtNavigationMeshGenerator::HasVertex( int iFaceIndex, S_VERTEX* pVertex ) { const S_FACE& Face = m_vlNaviMeshFaces.at( iFaceIndex ); for( int i = 0; i < 3; ++i ) { if( Face.aiVertexIndex[ i ] == pVertex->iIndex ) return true; } return false; } void CEtNavigationMeshGenerator::RemoveVertex( S_VERTEX* pVertexToRemove ) { if( NULL == pVertexToRemove ) return; pVertexToRemove->Removed(); m_iNumUsingVertices--; } void CEtNavigationMeshGenerator::ReplaceVertex( int iFaceIndex, S_VERTEX* pVertexToReplace, S_VERTEX* pDestVertex ) { S_FACE& Face = m_vlNaviMeshFaces.at( iFaceIndex ); for( int i = 0; i < 3; ++i ) { if( Face.aiVertexIndex[ i ] == pVertexToReplace->iIndex ) { m_vlNaviMeshVertices.at( Face.aiVertexIndex[(i+1)%3] ).setNeighborVertexIndices.erase( pVertexToReplace->iIndex ); m_vlNaviMeshVertices.at( Face.aiVertexIndex[(i+2)%3] ).setNeighborVertexIndices.erase( pVertexToReplace->iIndex ); Face.aiVertexIndex[ i ] = pDestVertex->iIndex; pDestVertex->setNeighborVertexIndices.insert( Face.aiVertexIndex[(i+1)%3] ); pDestVertex->setNeighborVertexIndices.insert( Face.aiVertexIndex[(i+2)%3] ); m_vlNaviMeshVertices.at( Face.aiVertexIndex[(i+1)%3] ).setNeighborVertexIndices.insert( pDestVertex->iIndex ); m_vlNaviMeshVertices.at( Face.aiVertexIndex[(i+2)%3] ).setNeighborVertexIndices.insert( pDestVertex->iIndex ); break; } } pDestVertex->setNeighborVertexIndices.erase( pVertexToReplace->iIndex ); _ASSERT( find( pDestVertex->vlContainedFaceIndices.begin(), pDestVertex->vlContainedFaceIndices.end(), iFaceIndex ) == pDestVertex->vlContainedFaceIndices.end() ); pDestVertex->vlContainedFaceIndices.push_back( iFaceIndex ); } void CEtNavigationMeshGenerator::ComputeEdgeCostAtVertex( int iVertexIndex ) { S_VERTEX* pVertex = &m_vlNaviMeshVertices.at( iVertexIndex ); if( pVertex->bRemoved ) return; if( pVertex->setNeighborVertexIndices.empty() ) { pVertex->pCollapse = NULL; pVertex->fCollapseCost = 0.01f; return; } pVertex->fCollapseCost = FLT_MAX; pVertex->pCollapse = NULL; if( pVertex->bBound ) return; //if( 12 < (int)pVertex->vlContainedFaceIndices.size() ) // return; set::iterator iter = pVertex->setNeighborVertexIndices.begin(); for( iter; iter != pVertex->setNeighborVertexIndices.end(); ++iter ) { S_VERTEX* pEdgeDestVertex = &m_vlNaviMeshVertices.at( *iter ); if( pEdgeDestVertex->bRemoved ) continue; if( iVertexIndex == pEdgeDestVertex->iIndex ) continue; float fCost = ComputeEdgeCollapseCost( pVertex, pEdgeDestVertex ); if( fCost < pVertex->fCollapseCost ) { pVertex->fCollapseCost = fCost; pVertex->pCollapse = pEdgeDestVertex; } } } float CEtNavigationMeshGenerator::ComputeEdgeCollapseCost( S_VERTEX* pVertexStart, S_VERTEX* pVertexEnd ) { float fLengthSQ = 0.0f; fLengthSQ = float( ((pVertexEnd->iX-pVertexStart->iX)*(pVertexEnd->iX-pVertexStart->iX)) + ((pVertexEnd->iY-pVertexStart->iY)*(pVertexEnd->iY-pVertexStart->iY)) ); return fLengthSQ; } } // namespace EtNavigation