Function dtCreateNavMeshData

3rdparty/recast/DetourNavMeshBuilder.cpp:280–658

@par The output data array is allocated using the detour allocator (dtAlloc()). The method used to free the memory will be determined by how the tile is added to the navigation mesh. @see dtNavMesh, dtNavMesh::addTile()

///
/// @see dtNavMesh, dtNavMesh::addTile()
bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize)
{
	if (params->nvp > DT_VERTS_PER_POLYGON)
		return false;
	if (params->vertCount >= 0xffff)
		return false;
	if (!params->vertCount || !params->verts)
		return false;
	if (!params->polyCount || !params->polys)
		return false;

	const int nvp = params->nvp;
	
	// Classify off-mesh connection points. We store only the connections
	// whose start point is inside the tile.
	unsigned char* offMeshConClass = 0;
	int storedOffMeshConCount = 0;
	int offMeshConLinkCount = 0;
	
	if (params->offMeshConCount > 0)
	{
		offMeshConClass = (unsigned char*)dtAlloc(sizeof(unsigned char)*params->offMeshConCount*2, DT_ALLOC_TEMP);
		if (!offMeshConClass)
			return false;

		// Find tight heigh bounds, used for culling out off-mesh start locations.
		float hmin = FLT_MAX;
		float hmax = -FLT_MAX;
		
		if (params->detailVerts && params->detailVertsCount)
		{
			for (int i = 0; i < params->detailVertsCount; ++i)
			{
				const float h = params->detailVerts[i*3+1];
				hmin = dtMin(hmin,h);
				hmax = dtMax(hmax,h);
			}
		}
		else
		{
			for (int i = 0; i < params->vertCount; ++i)
			{
				const unsigned short* iv = &params->verts[i*3];
				const float h = params->bmin[1] + iv[1] * params->ch;
				hmin = dtMin(hmin,h);
				hmax = dtMax(hmax,h);
			}
		}
		hmin -= params->walkableClimb;
		hmax += params->walkableClimb;
		float bmin[3], bmax[3];
		dtVcopy(bmin, params->bmin);
		dtVcopy(bmax, params->bmax);
		bmin[1] = hmin;
		bmax[1] = hmax;

		for (int i = 0; i < params->offMeshConCount; ++i)
		{