#include "Recast/Recast.h"
#include "Recast/RecastAlloc.h"
#include "Recast/RecastAssert.h"

Macros
#define	_USE_MATH_DEFINES

Functions
	DEFINE_LOG_CATEGORY (LogRecast)

float	rcSqrt (float x)

double	rcSqrt (double x)

rcHeightfield *	rcAllocHeightfield ()

void	rcFreeHeightField (rcHeightfield *hf)

rcCompactHeightfield *	rcAllocCompactHeightfield ()

void	rcFreeCompactHeightfield (rcCompactHeightfield *chf)

rcHeightfieldLayerSet *	rcAllocHeightfieldLayerSet ()

void	rcFreeHeightfieldLayerSet (rcHeightfieldLayerSet *lset)

rcContourSet *	rcAllocContourSet ()

void	rcFreeContourSet (rcContourSet *cset)

rcPolyMesh *	rcAllocPolyMesh ()

void	rcFreePolyMesh (rcPolyMesh *pmesh)

rcPolyMeshDetail *	rcAllocPolyMeshDetail ()

void	rcFreePolyMeshDetail (rcPolyMeshDetail *dmesh)

void	rcCalcBounds (const rcReal verts, int nv, rcReal bmin, rcReal *bmax)

void	rcCalcGridSize (const rcReal bmin, const rcReal bmax, rcReal cs, int w, int h)

bool	rcCreateHeightfield (rcContext , rcHeightfield &hf, int width, int height, const rcReal bmin, const rcReal *bmax, rcReal cs, rcReal ch, bool bAllocateTempSpanColumns)

void	rcResetHeightfield (rcHeightfield &hf)

void	rcCalcTriNormals (const rcReal verts, const int nv, const int tris, const int nt, rcReal *norms)

void	rcMarkWalkableTriangles (rcContext , const rcReal walkableSlopeAngle, const rcReal verts, int, const int tris, int nt, unsigned char areas)

void	rcMarkWalkableTrianglesCos (rcContext , const rcReal walkableSlopeCos, const rcReal verts, int, const int tris, int nt, unsigned char areas)

void	rcClearUnwalkableTriangles (rcContext , const rcReal walkableSlopeAngle, const rcReal verts, int, const int tris, int nt, unsigned char areas)

int	rcGetHeightFieldSpanCount (rcContext *, rcHeightfield &hf)

bool	rcBuildCompactHeightfield (rcContext *ctx, const int walkableHeight, const int walkableClimb, rcHeightfield &hf, rcCompactHeightfield &chf)

Macro Definition Documentation

◆ _USE_MATH_DEFINES

#define _USE_MATH_DEFINES

Function Documentation

◆ DEFINE_LOG_CATEGORY()

DEFINE_LOG_CATEGORY ( LogRecast )

◆ rcAllocCompactHeightfield()

rcCompactHeightfield * rcAllocCompactHeightfield ( )

Allocates a compact heightfield object using the Recast allocator.

Returns: A compact heightfield that is ready for initialization, or null on failure.

See also: rcBuildCompactHeightfield, rcFreeCompactHeightfield

◆ rcAllocContourSet()

rcContourSet * rcAllocContourSet ( )

Allocates a contour set object using the Recast allocator.

Returns: A contour set that is ready for initialization, or null on failure.

See also: rcBuildContours, rcFreeContourSet

◆ rcAllocHeightfield()

rcHeightfield * rcAllocHeightfield ( )

Allocates a heightfield object using the Recast allocator.

Returns: A heightfield that is ready for initialization, or null on failure.

See also: rcCreateHeightfield, rcFreeHeightField

◆ rcAllocHeightfieldLayerSet()

rcHeightfieldLayerSet * rcAllocHeightfieldLayerSet ( )

Allocates a heightfield layer set using the Recast allocator.

Returns: A heightfield layer set that is ready for initialization, or null on failure.

See also: rcBuildHeightfieldLayers, rcFreeHeightfieldLayerSet

◆ rcAllocPolyMesh()

rcPolyMesh * rcAllocPolyMesh ( )

Allocates a polygon mesh object using the Recast allocator.

Returns: A polygon mesh that is ready for initialization, or null on failure.

See also: rcBuildPolyMesh, rcFreePolyMesh

◆ rcAllocPolyMeshDetail()

rcPolyMeshDetail * rcAllocPolyMeshDetail ( )

Allocates a detail mesh object using the Recast allocator.

Returns: A detail mesh that is ready for initialization, or null on failure.

See also: rcBuildPolyMeshDetail, rcFreePolyMeshDetail

◆ rcBuildCompactHeightfield()

bool rcBuildCompactHeightfield	(	rcContext *	ctx,
		const int	walkableHeight,
		const int	walkableClimb,
		rcHeightfield &	hf,
		rcCompactHeightfield &	chf
	)

This is just the beginning of the process of fully building a compact heightfield. Various filters may be applied applied, then the distance field and regions built. E.g: rcBuildDistanceField and rcBuildRegions

See the rcConfig documentation for more information on the configuration parameters.

See also: rcAllocCompactHeightfield, rcHeightfield, rcCompactHeightfield, rcConfig

◆ rcCalcBounds()

void rcCalcBounds	(	const rcReal *	verts,
		int	nv,
		rcReal *	bmin,
		rcReal *	bmax
	)

Calculates the bounding box of an array of vertices.

Parameters

[in]	verts	An array of vertices. [(x, y, z) * `nv`]
[in]	nv	The number of vertices in the `verts` array.
[out]	bmin	The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
[out]	bmax	The maximum bounds of the AABB. [(x, y, z)] [Units: wu]

◆ rcCalcGridSize()

void rcCalcGridSize	(	const rcReal *	bmin,
		const rcReal *	bmax,
		rcReal	cs,
		int *	w,
		int *	h
	)

Calculates the grid size based on the bounding box and grid cell size.

Parameters

[in]	bmin	The minimum bounds of the AABB. [(x, y, z)] [Units: wu]
[in]	bmax	The maximum bounds of the AABB. [(x, y, z)] [Units: wu]
[in]	cs	The xz-plane cell size. [Limit: > 0] [Units: wu]
[out]	w	The width along the x-axis. [Limit: >= 0] [Units: vx]
[out]	h	The height along the z-axis. [Limit: >= 0] [Units: vx]

◆ rcCalcTriNormals()

void rcCalcTriNormals	(	const rcReal *	verts,
		const int	nv,
		const int *	tris,
		const int	nt,
		rcReal *	norms
	)

Calculates the normals of each triangles in an array

Parameters

[in]	verts	An array of vertices. [(x, y, z) * `nv`]
[in]	nv	The number of vertices in the `verts` array.
[in]	tris	The triangle vertex indices. [(vertA, vertB, vertC) * `nt`]
[in]	nt	The number of triangles.
[out]	norms	The normal vector of each triangle. [(x, y, z) * `nt`]

◆ rcClearUnwalkableTriangles()

void rcClearUnwalkableTriangles	(	rcContext *	ctx,
		const rcReal	walkableSlopeAngle,
		const rcReal *	verts,
		int	nv,
		const int *	tris,
		int	nt,
		unsigned char *	areas
	)

Only sets the aread id's for the unwalkable triangles. Does not alter the area id's for walkable triangles.

See the rcConfig documentation for more information on the configuration parameters.

See also: rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles

◆ rcCreateHeightfield()

bool rcCreateHeightfield	(	rcContext *	ctx,
		rcHeightfield &	hf,
		int	width,
		int	height,
		const rcReal *	bmin,
		const rcReal *	bmax,
		rcReal	cs,
		rcReal	ch,
		bool	bAllocateTempSpanColumns
	)

See the rcConfig documentation for more information on the configuration parameters.

See also: rcAllocHeightfield, rcHeightfield

◆ rcFreeCompactHeightfield()

void rcFreeCompactHeightfield ( rcCompactHeightfield * chf )

Frees the specified compact heightfield object using the Recast allocator.

Parameters

[in] chf A compact heightfield allocated using rcAllocCompactHeightfield

See also: rcAllocCompactHeightfield

◆ rcFreeContourSet()

void rcFreeContourSet ( rcContourSet * cset )

Frees the specified contour set using the Recast allocator.

Parameters

[in] cset A contour set allocated using rcAllocContourSet

See also: rcAllocContourSet

◆ rcFreeHeightField()

void rcFreeHeightField ( rcHeightfield * hf )

Frees the specified heightfield object using the Recast allocator.

Parameters

[in] hf A heightfield allocated using rcAllocHeightfield

See also: rcAllocHeightfield

◆ rcFreeHeightfieldLayerSet()

void rcFreeHeightfieldLayerSet ( rcHeightfieldLayerSet * lset )

Frees the specified heightfield layer set using the Recast allocator.

Parameters

[in] lset A heightfield layer set allocated using rcAllocHeightfieldLayerSet

See also: rcAllocHeightfieldLayerSet

◆ rcFreePolyMesh()

void rcFreePolyMesh ( rcPolyMesh * pmesh )

Frees the specified polygon mesh using the Recast allocator.

Parameters

[in] pmesh A polygon mesh allocated using rcAllocPolyMesh

See also: rcAllocPolyMesh

◆ rcFreePolyMeshDetail()

void rcFreePolyMeshDetail ( rcPolyMeshDetail * dmesh )

Frees the specified detail mesh using the Recast allocator.

Parameters

[in] dmesh A detail mesh allocated using rcAllocPolyMeshDetail

See also: rcAllocPolyMeshDetail

◆ rcGetHeightFieldSpanCount()

int rcGetHeightFieldSpanCount	(	rcContext *	ctx,
		rcHeightfield &	hf
	)

Returns the number of spans contained in the specified heightfield.

Parameters

[in,out]	ctx	The build context to use during the operation.
[in]	hf	An initialized heightfield.

Returns: The number of spans in the heightfield.

◆ rcMarkWalkableTriangles()

void rcMarkWalkableTriangles	(	rcContext *	ctx,
		const rcReal	walkableSlopeAngle,
		const rcReal *	verts,
		int	nv,
		const int *	tris,
		int	nt,
		unsigned char *	areas
	)

Only sets the aread id's for the walkable triangles. Does not alter the area id's for unwalkable triangles.

See the rcConfig documentation for more information on the configuration parameters.

See also: rcHeightfield, rcClearUnwalkableTriangles, rcRasterizeTriangles

◆ rcMarkWalkableTrianglesCos()

void rcMarkWalkableTrianglesCos	(	rcContext *	ctx,
		const rcReal	walkableSlopeCos,
		const rcReal *	verts,
		int	nv,
		const int *	tris,
		int	nt,
		unsigned char *	areas
	)

Sets the area id of all triangles with a slope below the specified value to RC_WALKABLE_AREA.

Parameters

[in,out]	ctx	The build context to use during the operation.
[in]	walkableSlopeCos	The cosine of maximum slope that is considered walkable. [Limits: 0 <= value < 1]
[in]	verts	The vertices. [(x, y, z) * `nv`]
[in]	nv	The number of vertices.
[in]	tris	The triangle vertex indices. [(vertA, vertB, vertC) * `nt`]
[in]	nt	The number of triangles.
[out]	areas	The triangle area ids. [Length: >= `nt`]

◆ rcResetHeightfield()

void rcResetHeightfield ( rcHeightfield & hf )

Resets all spans of heightfield.

Parameters

[in,out]	hf	The heightfield to reset.
[in]	bmin	The minimum bounds of the field's AABB. [(x, y, z)] [Units: wu]
[in]	bmax	The maximum bounds of the field's AABB. [(x, y, z)] [Units: wu]
[in,out]	hf	The heightfield toreset.

◆ rcSqrt() [1/2]

double rcSqrt ( rcReal x )

Returns the square root of the value.

Parameters

[in] x The value.

Returns: The square root of the vlaue.

◆ rcSqrt() [2/2]

float rcSqrt ( float x )

Macros

Functions

Macro Definition Documentation

◆ _USE_MATH_DEFINES

Function Documentation

◆ DEFINE_LOG_CATEGORY()

◆ rcAllocCompactHeightfield()

◆ rcAllocContourSet()

◆ rcAllocHeightfield()

◆ rcAllocHeightfieldLayerSet()

◆ rcAllocPolyMesh()

◆ rcAllocPolyMeshDetail()

◆ rcBuildCompactHeightfield()

◆ rcCalcBounds()

◆ rcCalcGridSize()

◆ rcCalcTriNormals()

◆ rcClearUnwalkableTriangles()

◆ rcCreateHeightfield()

◆ rcFreeCompactHeightfield()

◆ rcFreeContourSet()

◆ rcFreeHeightField()

◆ rcFreeHeightfieldLayerSet()

◆ rcFreePolyMesh()

◆ rcFreePolyMeshDetail()

◆ rcGetHeightFieldSpanCount()

◆ rcMarkWalkableTriangles()

◆ rcMarkWalkableTrianglesCos()

◆ rcResetHeightfield()

◆ rcSqrt() [1/2]

◆ rcSqrt() [2/2]