Fixed mem leaks with layers. Added layer region generation test.

git-svn-id: http://recastnavigation.googlecode.com/svn/trunk@278 678f7576-1c49-11de-8b5c-13accb87f508

DebugUtils/Include/RecastDebugDraw.h

@@ -32,6 +32,7 @@ void duDebugDrawCompactHeightfieldDistance(struct duDebugDraw* dd, const struct
 void duDebugDrawLeanHeightfieldSolid(duDebugDraw* dd, const struct rcLeanHeightfield& lhf);
 
 void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset);
+void duDebugDrawHeightfieldLayersRegions(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset);
 
 void duDebugDrawRegionConnections(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
 void duDebugDrawRawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);

DebugUtils/Source/RecastDebugDraw.cpp

@@ -329,13 +329,14 @@ void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLay
 
 	const float cs = lset.cs;
 	const float ch = lset.ch;
-	const int w = lset.width;
-	const int h = lset.height;
 
 	for (int i = 0; i < lset.nlayers; ++i)
 	{
 		const rcHeightfieldLayer* layer = &lset.layers[i];
-
+
+		const int w = layer->width;
+		const int h = layer->height;
+
 		unsigned int color = duIntToCol(i+1, 255);
 
 		// Layer bounds
@@ -415,6 +416,93 @@ void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLay
 
 }
 
+void duDebugDrawHeightfieldLayersRegions(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset)
+{
+	if (!dd) return;
+
+	const float cs = lset.cs;
+	const float ch = lset.ch;
+
+	for (int i = 0; i < lset.nlayers; ++i)
+	{
+		const rcHeightfieldLayer* layer = &lset.layers[i];
+
+		const int w = layer->width;
+		const int h = layer->height;
+
+		unsigned int color = duIntToCol(i+1, 255);
+
+		// Layer bounds
+		float bmin[3], bmax[3];
+		rcVcopy(bmin, lset.bmin);
+		rcVcopy(bmax, lset.bmax);
+		bmin[1] = lset.bmin[1] + (layer->ymin-1)*ch;
+		bmax[1] = lset.bmin[1] + (layer->ymax+1)*ch;
+		duDebugDrawBoxWire(dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duTransCol(color,128), 2.0f);
+
+		// Layer height
+		dd->begin(DU_DRAW_QUADS);
+		for (int y = 0; y < h; ++y)
+		{
+			for (int x = 0; x < w; ++x)
+			{
+				const int idx = x+y*w;
+				const int h = (int)layer->heights[idx];
+				if (h == 0xffff) continue;
+				const unsigned char area = layer->regs ? layer->regs[idx]+1 : 1;
+
+				unsigned int col = duLerpCol(color, duIntToCol(area, 255), 128);
+
+				const float fx = lset.bmin[0] + x*cs;
+				const float fy = lset.bmin[1] + (h+1)*ch;
+				const float fz = lset.bmin[2] + y*cs;
+
+				dd->vertex(fx, fy, fz, col);
+				dd->vertex(fx, fy, fz+cs, col);
+				dd->vertex(fx+cs, fy, fz+cs, col);
+				dd->vertex(fx+cs, fy, fz, col);
+			}
+		}
+		dd->end();
+
+/*		// Portals
+		unsigned int pcol = duLerpCol(color,duRGBA(255,255,255,255),128);
+		dd->begin(DU_DRAW_LINES, 2.0f);
+		for (int j = 0; j < layer->nportals; ++j)
+		{
+			const rcHeightfieldLayerPortal* portal = &layer->portals[j];
+			if (portal->dir == 0 || portal->dir == 2)
+			{
+				const int ha = (int)layer->heights[portal->pos + portal->smin*w];
+				const int hb = (int)layer->heights[portal->pos + (portal->smax-1)*w];
+				const int xx = (portal->dir == 0) ? portal->pos : portal->pos+1;
+				const float fx = lset.bmin[0] + xx*cs;
+				const float fya = lset.bmin[1] + (ha+4)*ch;
+				const float fyb = lset.bmin[1] + (hb+4)*ch;
+				const float fza = lset.bmin[2] + portal->smin*cs;
+				const float fzb = lset.bmin[2] + portal->smax*cs;
+				dd->vertex(fx, fya, fza, pcol);
+				dd->vertex(fx, fyb, fzb, pcol);
+			}
+			else if (portal->dir == 3 || portal->dir == 1)
+			{
+				const int ha = (int)layer->heights[portal->smin + portal->pos*w];
+				const int hb = (int)layer->heights[(portal->smax-1) + portal->pos*w];
+				const int yy = (portal->dir == 3) ? portal->pos : portal->pos+1;
+				const float fxa = lset.bmin[0] + portal->smin*cs;
+				const float fxb = lset.bmin[0] + portal->smax*cs;
+				const float fya = lset.bmin[1] + (ha+3)*ch;
+				const float fyb = lset.bmin[1] + (hb+3)*ch;
+				const float fz = lset.bmin[2] + yy*cs;
+				dd->vertex(fxa, fya, fz, pcol);
+				dd->vertex(fxb, fyb, fz, pcol);
+			}
+		}
+		dd->end();*/
+	}
+
+}
+
 static void getContourCenter(const rcContour* cont, const float* orig, float cs, float ch, float* center)
 {
 	center[0] = 0;

Recast/Include/Recast.h

@@ -221,6 +221,38 @@ struct rcLeanHeightfield
 };
 
 
+
+struct rcHeightfieldLayerPortal
+{
+	unsigned short pos;					// Position of the portal.
+	unsigned short smin, smax;			// Span min/max of the portal.
+	unsigned char dir;					// Direction of the portal (same as used by rcGetCon()).
+};
+
+struct rcHeightfieldLayer
+{
+	int width, height;					// Width and height of the layer.
+	int nportals;						// Number of portals.
+	unsigned short ymin, ymax;			// Height min/max range.
+	unsigned short* heights;			// Heighfield.
+	unsigned char* areas;				// Area types.
+	unsigned char* regs;				// Regions.
+	rcHeightfieldLayerPortal* portals;	// Portals.
+};
+
+struct rcHeightfieldLayerSet
+{
+	rcHeightfieldLayer* layers;			// Pointer to layers.
+	int nlayers;						// Number of layers.
+	float bmin[3], bmax[3];				// Bounding box of the heightfield.
+	float cs, ch;						// Cell size and height.
+};
+
+rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet();
+void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset);
+
+
+
 struct rcContour
 {
 	int* verts;			// Vertex coordinates, each vertex contains 4 components.
@@ -680,6 +712,7 @@ bool rcBuildDistanceField(rcContext* ctx, rcCompactHeightfield& chf);
 // Here area means the count of spans in an area.
 // Params:
 //	chf - (in/out) compact heightfield representing the open space.
+//  borderSize - (in) Non-navigable Border around the heightfield.
 //	minRegionArea - (in) the smallest allowed region area.
 //	maxMergeRegionArea - (in) the largest allowed region area which can be merged.
 // Returns false if operation ran out of memory.
@@ -696,12 +729,28 @@ bool rcBuildRegions(rcContext* ctx, rcCompactHeightfield& chf,
 // Here area means the count of spans in an area.
 // Params:
 //	chf - (in/out) compact heightfield representing the open space.
+//  borderSize - (in) Non-navigable Border around the heightfield.
 //	minRegionArea - (in) the smallest allowed regions size.
 //	maxMergeRegionArea - (in) the largest allowed regions size which can be merged.
 // Returns false if operation ran out of memory.
 bool rcBuildRegionsMonotone(rcContext* ctx, rcCompactHeightfield& chf,
 							const int borderSize, const int minRegionArea, const int mergeRegionArea);
 
+// Builds 2D layer representation of a heighfield.
+// Params:
+//  chf - (in) compact heightfield representing the open space.
+//  borderSize - (in) Non-navigable Border around the heightfield.
+//	walkableHeight - (in) minimum height where the agent can still walk.
+//  lset - (out) set of 2D heighfield layers.
+// Returns false if operation ran out of memory.
+bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, 
+							  const int borderSize, const int walkableHeight,
+							  rcHeightfieldLayerSet& lset);
+
+// TODO: move this somewhere else, once the layer meshing is done.
+bool rcBuildLayerRegions(rcContext* ctx, rcHeightfieldLayer& layer, const int walkableClimb);
+
+
 // Builds simplified contours from the regions outlines.
 // Params:
 //	chf - (in) compact heightfield which has regions set.
@@ -740,40 +789,4 @@ bool rcMergePolyMeshDetails(rcContext* ctx, rcPolyMeshDetail** meshes, const int
 
 
 
-// TODO: Put in right place!
-struct rcHeightfieldLayerPortal
-{
-	unsigned short pos, smin, smax;
-	unsigned char dir;
-};
-
-struct rcHeightfieldLayer
-{
-	unsigned short ymin, ymax;
-	unsigned short* heights;
-	unsigned char* areas;
-	rcHeightfieldLayerPortal* portals;
-	int nportals;
-};
-
-struct rcHeightfieldLayerSet
-{
-	rcHeightfieldLayer* layers;
-	int nlayers;
-	int width, height;
-	int borderSize;
-	float bmin[3], bmax[3];	// Bounding box of the heightfield.
-	float cs, ch;			// Cell size and height.
-};
-
-rcHeightfieldLayerSet* rcAllocHeightfieldLayerSet();
-void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset);
-
-
-bool rcBuildHeightfieldLayers(rcContext* ctx, rcCompactHeightfield& chf, 
-							  const int borderSize, const int walkableHeight,
-							  rcHeightfieldLayerSet& lset);
-
-
-
 #endif // RECAST_H

Recast/Source/Recast.cpp

@@ -105,6 +105,8 @@ void rcFreeHeightfieldLayerSet(rcHeightfieldLayerSet* lset)
 	{
 		rcFree(lset->layers[i].heights);
 		rcFree(lset->layers[i].areas);
+		rcFree(lset->layers[i].regs);
+		rcFree(lset->layers[i].portals);
 	}
 	rcFree(lset->layers);
 	rcFree(lset);