#include "SharedConfig.h"
#include "Util.h"
#include "Vector.h"
#include "Heightfield.h"
#include "CompactHeightfield.h"

Classes
class	rcContext
	Provides an interface for optional logging and performance tracking of the Recast build process. More...

struct	rcConfig
	Specifies a configuration to use when performing Recast builds. More...

struct	rcSpan
	Represents a span in a heightfield. More...

struct	rcSpanPool
	A memory pool used for quick allocation of spans within a heightfield. More...

struct	rcHeightfield
	A dynamic heightfield representing obstructed space. More...

struct	rcCompactCell
	Provides information on the content of a cell column in a compact heightfield. More...

struct	rcCompactSpan
	Represents a span of unobstructed space within a compact heightfield. More...

struct	rcCompactHeightfield
	A compact, static heightfield representing unobstructed space. More...

struct	rcHeightfieldLayer
	Represents a heightfield layer within a layer set. More...

struct	rcHeightfieldLayerSet
	Represents a set of heightfield layers. More...

struct	rcContour
	Represents a simple, non-overlapping contour in field space. More...

struct	rcContourSet
	Represents a group of related contours. More...

struct	rcPolyMesh
	Represents a polygon mesh suitable for use in building a navigation mesh. More...

struct	rcPolyMeshDetail
	Contains triangle meshes that represent detailed height data associated with the polygons in its associated polygon mesh object. More...

struct	rcHeightThreshold

Enumerations
enum	rcLogCategory { RC_LOG_PROGRESS = 1, RC_LOG_WARNING, RC_LOG_ERROR }
	Recast log categories. More...

enum	rcTimerLabel { RC_TIMER_TOTAL, RC_TIMER_TEMP, RC_TIMER_RASTERIZE_TRIANGLES, RC_TIMER_BUILD_COMPACTHEIGHTFIELD, RC_TIMER_BUILD_CONTOURS, RC_TIMER_BUILD_CONTOURS_TRACE, RC_TIMER_BUILD_CONTOURS_SIMPLIFY, RC_TIMER_FILTER_BORDER, RC_TIMER_FILTER_WALKABLE, RC_TIMER_MEDIAN_AREA, RC_TIMER_FILTER_LOW_OBSTACLES, RC_TIMER_BUILD_POLYMESH, RC_TIMER_MERGE_POLYMESH, RC_TIMER_ERODE_AREA, RC_TIMER_MARK_BOX_AREA, RC_TIMER_MARK_CYLINDER_AREA, RC_TIMER_MARK_CONVEXPOLY_AREA, RC_TIMER_BUILD_DISTANCEFIELD, RC_TIMER_BUILD_DISTANCEFIELD_DIST, RC_TIMER_BUILD_DISTANCEFIELD_BLUR, RC_TIMER_BUILD_REGIONS, RC_TIMER_BUILD_REGIONS_WATERSHED, RC_TIMER_BUILD_REGIONS_EXPAND, RC_TIMER_BUILD_REGIONS_FLOOD, RC_TIMER_BUILD_REGIONS_FILTER, RC_TIMER_BUILD_LAYERS, RC_TIMER_BUILD_POLYMESHDETAIL, RC_TIMER_MERGE_POLYMESHDETAIL, RC_MAX_TIMERS }
	Recast performance timer categories. More...

enum	rcBuildContoursFlags { RC_CONTOUR_TESS_WALL_EDGES = 0x01, RC_CONTOUR_TESS_AREA_EDGES = 0x02 }
	Contour build flags. More...

Functions
void	rcFilterHeightThresholds (rcContext ctx, const rcHeightThreshold heights, int numHeights, rcHeightfield &solid)

bool	rcErodeWalkableArea (rcContext *ctx, int radius, rcCompactHeightfield &chf)
	Erodes the walkable area within the heightfield by the specified radius. More...

bool	rcMedianFilterWalkableArea (rcContext *ctx, rcCompactHeightfield &chf)
	Applies a median filter to walkable area types (based on area id), removing noise. More...

void	rcMarkBoxArea (rcContext ctx, const float bmin, const float *bmax, navAreaMask areaId, rcCompactHeightfield &chf)
	Applies an area id to all spans within the specified bounding box. More...

void	rcMarkConvexPolyArea (rcContext ctx, const float verts, const int nverts, const float hmin, const float hmax, navAreaMask areaId, rcCompactHeightfield &chf)
	Applies the area id to the all spans within the specified convex polygon. More...

int	rcOffsetPoly (const float verts, const int nverts, const float offset, float outVerts, const int maxOutVerts)
	Helper function to offset voncex polygons for rcMarkConvexPolyArea. More...

void	rcMarkCylinderArea (rcContext ctx, const float pos, const float r, const float h, navAreaMask areaMask, rcCompactHeightfield &chf)
	Applies the area id to all spans within the specified cylinder. More...

bool	rcBuildHeightfieldLayers (rcContext *ctx, rcCompactHeightfield &chf, const int borderSize, const int walkableHeight, rcHeightfieldLayerSet &lset)
	Builds a layer set from the specified compact heightfield. More...

bool	rcBuildContours (rcContext *ctx, rcCompactHeightfield &chf, const float maxError, const int maxEdgeLen, rcContourSet &cset, const int buildFlags=RC_CONTOUR_TESS_WALL_EDGES)
	Builds a contour set from the region outlines in the provided compact heightfield. More...

bool	rcBuildPolyMesh (rcContext *ctx, rcContourSet &cset, const int nvp, rcPolyMesh &mesh)
	Builds a polygon mesh from the provided contours. More...

bool	rcMergePolyMeshes (rcContext ctx, rcPolyMesh *meshes, const int nmeshes, rcPolyMesh &mesh)
	Merges multiple polygon meshes into a single mesh. More...

bool	rcBuildPolyMeshDetail (rcContext *ctx, const rcPolyMesh &mesh, const rcCompactHeightfield &chf, const float sampleDist, const float sampleMaxError, rcPolyMeshDetail &dmesh)
	Builds a detail mesh from the provided polygon mesh. More...

bool	rcCopyPolyMesh (rcContext *ctx, const rcPolyMesh &src, rcPolyMesh &dst)
	Copies the poly mesh data from src to dst. More...

bool	rcMergePolyMeshDetails (rcContext ctx, rcPolyMeshDetail *meshes, const int nmeshes, rcPolyMeshDetail &mesh)
	Merges multiple detail meshes into a single detail mesh. More...

int	rcConvexhull (const float pts, int npts, int out)

Allocation Functions
Functions used to allocate and de-allocate Recast objects. See also rcAllocSetCustom
rcHeightfield *	rcAllocHeightfield ()
	Allocates a heightfield object using the Recast allocator. More...

void	rcFreeHeightField (rcHeightfield *hf)
	Frees the specified heightfield object using the Recast allocator. More...

rcCompactHeightfield *	rcAllocCompactHeightfield ()
	Allocates a compact heightfield object using the Recast allocator. More...

void	rcFreeCompactHeightfield (rcCompactHeightfield *chf)
	Frees the specified compact heightfield object using the Recast allocator. More...

rcHeightfieldLayerSet *	rcAllocHeightfieldLayerSet ()
	Allocates a heightfield layer set using the Recast allocator. More...

void	rcFreeHeightfieldLayerSet (rcHeightfieldLayerSet *lset)
	Frees the specified heightfield layer set using the Recast allocator. More...

rcContourSet *	rcAllocContourSet ()
	Allocates a contour set object using the Recast allocator. More...

void	rcFreeContourSet (rcContourSet *cset)
	Frees the specified contour set using the Recast allocator. More...

rcPolyMesh *	rcAllocPolyMesh ()
	Allocates a polygon mesh object using the Recast allocator. More...

void	rcFreePolyMesh (rcPolyMesh *pmesh)
	Frees the specified polygon mesh using the Recast allocator. More...

rcPolyMeshDetail *	rcAllocPolyMeshDetail ()
	Allocates a detail mesh object using the Recast allocator. More...

void	rcFreePolyMeshDetail (rcPolyMeshDetail *dmesh)
	Frees the specified detail mesh using the Recast allocator. More...

Compact Heightfield Functions
See also rcCompactHeightfield
bool	rcBuildRegions (rcContext *ctx, rcCompactHeightfield &chf, const int borderSize, const int minRegionArea, const int mergeRegionArea)
	Builds region data for the heightfield using watershed partitioning. More...

bool	rcBuildLayerRegions (rcContext *ctx, rcCompactHeightfield &chf, const int borderSize, const int minRegionArea)
	Builds region data for the heightfield by partitioning the heightfield in non-overlapping layers. More...

bool	rcBuildRegionsMonotone (rcContext *ctx, rcCompactHeightfield &chf, const int borderSize, const int minRegionArea, const int mergeRegionArea)
	Builds region data for the heightfield using simple monotone partitioning. More...

Variables
static const float	RC_PI = 3.14159265f
	The value of PI used by Recast. More...

static const unsigned short	RC_BORDER_REG = 0x8000
	Heighfield border flag. More...

static const int	RC_BORDER_VERTEX = 0x10000
	Border vertex flag. More...

static const int	RC_AREA_BORDER = 0x20000
	Area border flag. More...

static const int	RC_CONTOUR_REG_MASK = 0xffff
	Applied to the region id field of contour vertices in order to extract the region id. More...

static const unsigned short	RC_MESH_NULL_IDX = 0xffff
	An value which indicates an invalid index within a mesh. More...

static const navAreaMask	RC_NULL_AREA = 0
	Represents the null area. More...

static const navAreaMask	RC_WALKABLE_AREA = 0x1
	The default area id used to indicate a walkable polygon. More...

static const int	RC_NOT_CONNECTED = 0x3f
	The value returned by rcGetCon if the specified direction is not connected to another span. More...

Enumeration Type Documentation

enum rcBuildContoursFlags

Contour build flags.

See also: rcBuildContours

Enumerator
RC_CONTOUR_TESS_WALL_EDGES	Tessellate solid (impassable) edges during contour simplification.
RC_CONTOUR_TESS_AREA_EDGES	Tessellate edges between areas during contour simplification.

enum rcLogCategory

Recast log categories.

See also: rcContext

Enumerator
RC_LOG_PROGRESS	A progress log entry.
RC_LOG_WARNING	A warning log entry.
RC_LOG_ERROR	An error log entry.

enum rcTimerLabel

Recast performance timer categories.

See also: rcContext

Enumerator
RC_TIMER_TOTAL	The user defined total time of the build.
RC_TIMER_TEMP	A user defined build time.
RC_TIMER_RASTERIZE_TRIANGLES	The time to rasterize the triangles. (See: rcRasterizeTriangle)
RC_TIMER_BUILD_COMPACTHEIGHTFIELD	The time to build the compact heightfield. (See: rcBuildCompactHeightfield)
RC_TIMER_BUILD_CONTOURS	The total time to build the contours. (See: rcBuildContours)
RC_TIMER_BUILD_CONTOURS_TRACE	The time to trace the boundaries of the contours. (See: rcBuildContours)
RC_TIMER_BUILD_CONTOURS_SIMPLIFY	The time to simplify the contours. (See: rcBuildContours)
RC_TIMER_FILTER_BORDER	The time to filter ledge spans. (See: rcFilterLedgeSpans)
RC_TIMER_FILTER_WALKABLE	The time to filter low height spans. (See: rcFilterWalkableLowHeightSpans)
RC_TIMER_MEDIAN_AREA	The time to apply the median filter. (See: rcMedianFilterWalkableArea)
RC_TIMER_FILTER_LOW_OBSTACLES	The time to filter low obstacles. (See: rcFilterLowHangingWalkableObstacles)
RC_TIMER_BUILD_POLYMESH	The time to build the polygon mesh. (See: rcBuildPolyMesh)
RC_TIMER_MERGE_POLYMESH	The time to merge polygon meshes. (See: rcMergePolyMeshes)
RC_TIMER_ERODE_AREA	The time to erode the walkable area. (See: rcErodeWalkableArea)
RC_TIMER_MARK_BOX_AREA	The time to mark a box area. (See: rcMarkBoxArea)
RC_TIMER_MARK_CYLINDER_AREA	The time to mark a cylinder area. (See: rcMarkCylinderArea)
RC_TIMER_MARK_CONVEXPOLY_AREA	The time to mark a convex polygon area. (See: rcMarkConvexPolyArea)
RC_TIMER_BUILD_DISTANCEFIELD	The total time to build the distance field. (See: rcBuildDistanceField)
RC_TIMER_BUILD_DISTANCEFIELD_DIST	The time to build the distances of the distance field. (See: rcBuildDistanceField)
RC_TIMER_BUILD_DISTANCEFIELD_BLUR	The time to blur the distance field. (See: rcBuildDistanceField)
RC_TIMER_BUILD_REGIONS	The total time to build the regions. (See: rcBuildRegions, rcBuildRegionsMonotone)
RC_TIMER_BUILD_REGIONS_WATERSHED	The total time to apply the watershed algorithm. (See: rcBuildRegions)
RC_TIMER_BUILD_REGIONS_EXPAND	The time to expand regions while applying the watershed algorithm. (See: rcBuildRegions)
RC_TIMER_BUILD_REGIONS_FLOOD	The time to flood regions while applying the watershed algorithm. (See: rcBuildRegions)
RC_TIMER_BUILD_REGIONS_FILTER	The time to filter out small regions. (See: rcBuildRegions, rcBuildRegionsMonotone)
RC_TIMER_BUILD_LAYERS	The time to build heightfield layers. (See: rcBuildHeightfieldLayers)
RC_TIMER_BUILD_POLYMESHDETAIL	The time to build the polygon mesh detail. (See: rcBuildPolyMeshDetail)
RC_TIMER_MERGE_POLYMESHDETAIL	The time to merge polygon mesh details. (See: rcMergePolyMeshDetails)
RC_MAX_TIMERS	The maximum number of timers. (Used for iterating timers.)

Function Documentation

int rcConvexhull	(	const float *	pts,
		int	npts,
		int *	out
	)

void rcFilterHeightThresholds	(	rcContext *	ctx,
		const rcHeightThreshold *	heights,
		int	numHeights,
		rcHeightfield &	solid
	)

Variable Documentation

const int RC_AREA_BORDER = 0x20000

static

Area border flag.

If a region ID has this bit set, then the associated element lies on the border of an area. (Used during the region and contour build process.)

See also: rcCompactSpan::reg, rcContour::verts, rcContour::rverts

const unsigned short RC_BORDER_REG = 0x8000

static

Heighfield border flag.

If a heightfield region ID has this bit set, then the region is a border region and its spans are considered unwalkable. (Used during the region and contour build process.)

See also: rcCompactSpan::reg

const int RC_BORDER_VERTEX = 0x10000

static

Border vertex flag.

If a region ID has this bit set, then the associated element lies on a tile border. If a contour vertex's region ID has this bit set, the vertex will later be removed in order to match the segments and vertices at tile boundaries. (Used during the build process.)

See also: rcCompactSpan::reg, rcContour::verts, rcContour::rverts

const int RC_CONTOUR_REG_MASK = 0xffff

static

Applied to the region id field of contour vertices in order to extract the region id.

The region id field of a vertex may have several flags applied to it. So the fields value can't be used directly.

See also: rcContour::verts, rcContour::rverts

const unsigned short RC_MESH_NULL_IDX = 0xffff

static

An value which indicates an invalid index within a mesh.

Note: This does not necessarily indicate an error.

See also: rcPolyMesh::polys

const int RC_NOT_CONNECTED = 0x3f

static

The value returned by rcGetCon if the specified direction is not connected to another span.

(Has no neighbor.)

const navAreaMask RC_NULL_AREA = 0

static

Represents the null area.

When a data element is given this value it is considered to no longer be assigned to a usable area. (E.g. It is unwalkable.)

const float RC_PI = 3.14159265f

static

The value of PI used by Recast.

const navAreaMask RC_WALKABLE_AREA = 0x1

static

The default area id used to indicate a walkable polygon.

This is also the maximum allowed area id, and the only non-null area id recognized by some steps in the build process.

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

Function Documentation

Variable Documentation