C++ dtAllocNavMesh函数代码示例

    EXPORT_API dtStatus dtnmBuildSingleTileMesh(dtNavMeshCreateParams* params
        , dtNavMesh** ppNavMesh)
    {
        if (!params)
            return DT_FAILURE + DT_INVALID_PARAM;

		unsigned char* navData = 0;
		int navDataSize = 0;

		if (!dtCreateNavMeshData(params, &navData, &navDataSize))
            return DT_FAILURE + DT_INVALID_PARAM;
		
        dtNavMesh* pNavMesh = dtAllocNavMesh();
		if (!pNavMesh)
		{
            dtFree(navData);
            return DT_FAILURE + DT_OUT_OF_MEMORY;
		}

		dtStatus status = 
            pNavMesh->init(navData, navDataSize, DT_TILE_FREE_DATA);
		if (dtStatusFailed(status))
		{
            dtFreeNavMesh(pNavMesh);
            dtFree(navData);
            return status;
		}

        *ppNavMesh = pNavMesh;

        return DT_SUCCESS;

    }

    NavMeshPtr makeEmptyNavMesh(const Settings& settings)
    {
        // Max tiles and max polys affect how the tile IDs are caculated.
        // There are 22 bits available for identifying a tile and a polygon.
        const int polysAndTilesBits = 22;
        const auto polysBits = getMinValuableBitsNumber(settings.mMaxPolys);

        if (polysBits >= polysAndTilesBits)
            throw InvalidArgument("Too many polygons per tile");

        const auto tilesBits = polysAndTilesBits - polysBits;

        dtNavMeshParams params;
        std::fill_n(params.orig, 3, 0.0f);
        params.tileWidth = settings.mTileSize * settings.mCellSize;
        params.tileHeight = settings.mTileSize * settings.mCellSize;
        params.maxTiles = 1 << tilesBits;
        params.maxPolys = 1 << polysBits;

        NavMeshPtr navMesh(dtAllocNavMesh(), &dtFreeNavMesh);
        const auto status = navMesh->init(&params);

        if (!dtStatusSucceed(status))
            throw NavigatorException("Failed to init navmesh");

        return navMesh;
    }

void CCollideInterface::ActivateMap(uint32 mapid)
{
	m_navmaplock.Acquire();
	std::map<uint32, NavMeshData*>::iterator itr = m_navdata.find(mapid);

	if(itr != m_navdata.end())
		++itr->second->refs;
	else
	{

		//load params
		char filename[1024];
		sprintf(filename, "mmaps/%03i.mmap", mapid);
		FILE* f = fopen(filename, "rb");

		if(f == NULL)
		{
			m_navmaplock.Release();
			return;
		}

		dtNavMeshParams params;
		fread(&params, sizeof(params), 1, f);
		fclose(f);

		NavMeshData* d = new NavMeshData;
		d->mesh = dtAllocNavMesh();
		d->query = dtAllocNavMeshQuery();
		d->mesh->init(&params);
		d->query->init(d->mesh, 1024);
		d->AddRef();
		m_navdata.insert(std::make_pair(mapid, d));
	}
	m_navmaplock.Release();
}

bool OgreDetourTileCache::initTileCache()
{
    // BUILD TileCache
    dtFreeTileCache(m_tileCache);

    dtStatus status;

    m_tileCache = dtAllocTileCache();
    if (!m_tileCache)
    {
        m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not allocate tile cache.");
        return false;
    }
    status = m_tileCache->init(&m_tcparams, m_talloc, m_tcomp, m_tmproc);
    if (dtStatusFailed(status))
    {
        m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not init tile cache.");
        return false;
    }

    dtFreeNavMesh(m_recast->m_navMesh);

    m_recast->m_navMesh = dtAllocNavMesh();
    if (!m_recast->m_navMesh)
    {
        m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not allocate navmesh.");
        return false;
    }


    // Init multi-tile navmesh parameters
    dtNavMeshParams params;
    memset(&params, 0, sizeof(params));
    rcVcopy(params.orig, m_tcparams.orig);   // Set world-space origin of tile grid
    params.tileWidth = m_tileSize*m_tcparams.cs;
    params.tileHeight = m_tileSize*m_tcparams.cs;
    params.maxTiles = m_maxTiles;
    params.maxPolys = m_maxPolysPerTile;

    status = m_recast->m_navMesh->init(&params);
    if (dtStatusFailed(status))
    {
        m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not init navmesh.");
        return false;
    }

    // Init recast navmeshquery with created navmesh (in OgreRecast component)
    m_recast->m_navQuery = dtAllocNavMeshQuery();
    status = m_recast->m_navQuery->init(m_recast->m_navMesh, 2048);
    if (dtStatusFailed(status))
    {
        m_recast->m_pLog->logMessage("ERROR: buildTiledNavigation: Could not init Detour navmesh query");
        return false;
    }

    return true;
}

dtNavMesh* Sample_TileMesh::loadAll(const char* path)
{
	FILE* fp = fopen(path, "rb");
	if (!fp) return 0;
	
	// Read header.
	NavMeshSetHeader header;
	fread(&header, sizeof(NavMeshSetHeader), 1, fp);
	if (header.magic != NAVMESHSET_MAGIC)
	{
		fclose(fp);
		return 0;
	}
	if (header.version != NAVMESHSET_VERSION)
	{
		fclose(fp);
		return 0;
	}
	
	dtNavMesh* mesh = dtAllocNavMesh();
	if (!mesh)
	{
		fclose(fp);
		return 0;
	}
	dtStatus status = mesh->init(&header.params);
	if (dtStatusFailed(status))
	{
		fclose(fp);
		return 0;
	}
		
	// Read tiles.
	for (int i = 0; i < header.numTiles; ++i)
	{
		NavMeshTileHeader tileHeader;
		fread(&tileHeader, sizeof(tileHeader), 1, fp);
		if (!tileHeader.tileRef || !tileHeader.dataSize)
			break;

		unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
		if (!data) break;
		memset(data, 0, tileHeader.dataSize);
		fread(data, tileHeader.dataSize, 1, fp);
		
		mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
	}
	
	fclose(fp);
	
	return mesh;
}

bool Sample_TileMesh::handleBuild()
{
	if (!m_geom || !m_geom->getMesh())
	{
		m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: No vertices and triangles.");
		return false;
	}
	
	dtFreeNavMesh(m_navMesh);
	
	m_navMesh = dtAllocNavMesh();
	if (!m_navMesh)
	{
		m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate navmesh.");
		return false;
	}

	dtNavMeshParams params;
	rcVcopy(params.orig, m_geom->getNavMeshBoundsMin());
	params.tileWidth = m_tileSize*m_cellSize;
	params.tileHeight = m_tileSize*m_cellSize;
	params.maxTiles = m_maxTiles;
	params.maxPolys = m_maxPolysPerTile;
	
	dtStatus status;
	
	status = m_navMesh->init(&params);
	if (dtStatusFailed(status))
	{
		m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
		return false;
	}
	
	status = m_navQuery->init(m_navMesh, 2048);
	if (dtStatusFailed(status))
	{
		m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init Detour navmesh query");
		return false;
	}
	
	if (m_buildAll)
		buildAllTiles();
	
	if (m_tool)
		m_tool->init(this);
	initToolStates(this);

	return true;
}

   bool NavMesh::createNavMesh(dtNavMeshCreateParams &params)
   {
      unsigned char *tileData = NULL;
      S32 tileDataSize = 0;
      if(!dtCreateNavMeshData(&params, &tileData, &tileDataSize))
      {
         Con::errorf("Could not construct NavMeshData for NavMesh %s", getIdString());
         return false;
      }

      tnm = dtAllocNavMesh();
      if(!tnm)
      {
         Con::errorf("Out of memory allocating dtNavMesh for NavMesh %s", getIdString());
         return false;
      }
      dtStatus s = tnm->init(tileData, tileDataSize, DT_TILE_FREE_DATA);
      if(dtStatusFailed(s))
      {
         Con::errorf("Could not initialise dtNavMesh for NavMesh %s", getIdString());
         return false;
      }

      // Initialise all flags to something helpful.
      for(U32 i = 0; i < tnm->getMaxTiles(); ++i)
      {
         const dtMeshTile* tile = ((const dtNavMesh*)tnm)->getTile(i);
         if(!tile->header) continue;
         const dtPolyRef base = tnm->getPolyRefBase(tile);
         for(U32 j = 0; j < tile->header->polyCount; ++j)
         {
            const dtPolyRef ref = base | j;
            unsigned short f = 0;
            tnm->getPolyFlags(ref, &f);
            tnm->setPolyFlags(ref, f | 1);
         }
      }

      return true;
   }

    EXPORT_API dtStatus dtnmInitTiledNavMesh(dtNavMeshParams* params
        , dtNavMesh** ppNavMesh)
    {
        if (!params)
            return DT_FAILURE + DT_INVALID_PARAM;

        dtNavMesh* pNavMesh = dtAllocNavMesh();
		if (!pNavMesh)
            return DT_FAILURE + DT_OUT_OF_MEMORY;

		dtStatus status = 
            pNavMesh->init(params);
		if (dtStatusFailed(status))
		{
            dtFreeNavMesh(pNavMesh);
            return status;
		}

        *ppNavMesh = pNavMesh;

        return DT_SUCCESS;
    }

void Sample_TempObstacles::loadAll(const char* path)
{
    FILE* fp = fopen(path, "rb");
    if (!fp) return;

    // Read header.
    TileCacheSetHeader header;
    fread(&header, sizeof(TileCacheSetHeader), 1, fp);
    if (header.magic != TILECACHESET_MAGIC)
    {
        fclose(fp);
        return;
    }
    if (header.version != TILECACHESET_VERSION)
    {
        fclose(fp);
        return;
    }

    m_navMesh = dtAllocNavMesh();
    if (!m_navMesh)
    {
        fclose(fp);
        return;
    }
    dtStatus status = m_navMesh->init(&header.meshParams);
    if (dtStatusFailed(status))
    {
        fclose(fp);
        return;
    }

    m_tileCache = dtAllocTileCache();
    if (!m_tileCache)
    {
        fclose(fp);
        return;
    }
    status = m_tileCache->init(&header.cacheParams, m_talloc, m_tcomp, m_tmproc);
    if (dtStatusFailed(status))
    {
        fclose(fp);
        return;
    }

    // Read tiles.
    for (int i = 0; i < header.numTiles; ++i)
    {
        TileCacheTileHeader tileHeader;
        fread(&tileHeader, sizeof(tileHeader), 1, fp);
        if (!tileHeader.tileRef || !tileHeader.dataSize)
            break;

        unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
        if (!data) break;
        memset(data, 0, tileHeader.dataSize);
        fread(data, tileHeader.dataSize, 1, fp);

        dtCompressedTileRef tile = 0;
        m_tileCache->addTile(data, tileHeader.dataSize, DT_COMPRESSEDTILE_FREE_DATA, &tile);

        if (tile)
            m_tileCache->buildNavMeshTile(tile, m_navMesh);
    }

    fclose(fp);
}

bool Sample_TileMesh::handleLoadSubTiles()
{
    if (!m_geom || !m_geom->getMesh())
    {
        m_ctx->log(RC_LOG_ERROR, "buildNavigation: Input mesh is not specified.");
        return false;
    }

    cleanup();

    const char* meshFilePath = m_geom->getMesh()->getFileName();
    char charBuff[4];
    memset(charBuff, 0, sizeof(charBuff));
    memcpy(charBuff, &meshFilePath[10], sizeof(char) * 3);
    int mapId = atoi(charBuff);
    // load and init dtNavMesh - read parameters from file
    int pathLen = strlen("Meshes/%03i.mmap") + 1;
    char *fileName = new char[pathLen];
    snprintf(fileName, pathLen, "Meshes/%03i.mmap", mapId);
    FILE* file = fopen(fileName, "rb");
    if (!file)
    {
        delete[] fileName;
        return false;
    }
    dtNavMeshParams params;
    int count = fread(&params, sizeof(dtNavMeshParams), 1, file);
    fclose(file);
    if (count != 1)
    {
        delete[] fileName;
        return false;
    }
    params.maxTiles = 25 * 25 * 9;

    dtNavMesh* mesh = dtAllocNavMesh();
    if (dtStatusFailed(mesh->init(&params)))
    {
        dtFreeNavMesh(mesh);
        delete[] fileName;
        return false;
    }
    delete[] fileName;

    memset(charBuff, 0, sizeof(charBuff));
    memcpy(charBuff, &meshFilePath[13], sizeof(char) * 2);
    int x = atoi(charBuff);
    memset(charBuff, 0, sizeof(charBuff));
    memcpy(charBuff, &meshFilePath[15], sizeof(char) * 2);
    int y = atoi(charBuff);

    for (int subRow = 0; subRow < 25; subRow++)
    {
        for (int subCol = 0; subCol < 25; subCol++)
        {
            // load this tile :: Meshes/MMMXXYY.mmtile
            pathLen = strlen("Meshes/%03i%02i%02i_____%02i%02i.mmtile") + 1;
            fileName = new char[pathLen];
            snprintf(fileName, pathLen, "Meshes/%03i%02i%02i_____%02i%02i.mmtile", mapId, x, y, subRow, subCol);

            file = fopen(fileName, "rb");
            if (!file)
            {
                delete[] fileName;
                continue;
            }
            delete[] fileName;

            // read header
            MmapTileHeader fileHeader;
            if (fread(&fileHeader, sizeof(MmapTileHeader), 1, file) != 1 || fileHeader.mmapMagic != MMAP_MAGIC)
            {
                fclose(file);
                continue;
            }

            unsigned char* data = (unsigned char*)dtAlloc(fileHeader.size, DT_ALLOC_PERM);

            size_t result = fread(data, fileHeader.size, 1, file);
            if (!result)
            {
                fclose(file);
                continue;
            }

            // Fix x/y
            dtMeshHeader* header = (dtMeshHeader*)data;
            header->x = header->x * 25 + subRow;
            header->y = header->y * 25 + subCol;

            fclose(file);

            dtTileRef tileRef = 0;

            // memory allocated for data is now managed by detour, and will be deallocated when the tile is removed
            if (!dtStatusSucceed(mesh->addTile(data, fileHeader.size, DT_TILE_FREE_DATA, 0, &tileRef)))
            {
                dtFree(data);
                continue;
            }
//.........这里部分代码省略.........

bool Sample_TempObstacles::handleBuild()
{
    dtStatus status;

    if (!m_geom || !m_geom->getMesh())
    {
        m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: No vertices and triangles.");
        return false;
    }

    m_tmproc->init(m_geom);

    // Init cache
    const float* bmin = m_geom->getNavMeshBoundsMin();
    const float* bmax = m_geom->getNavMeshBoundsMax();
    int gw = 0, gh = 0;
    rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
    const int ts = (int)m_tileSize;
    const int tw = (gw + ts-1) / ts;
    const int th = (gh + ts-1) / ts;

    // Generation params.
    rcConfig cfg;
    memset(&cfg, 0, sizeof(cfg));
    cfg.cs = m_cellSize;
    cfg.ch = m_cellHeight;
    cfg.walkableSlopeAngle = m_agentMaxSlope;
    cfg.walkableHeight = (int)ceilf(m_agentHeight / cfg.ch);
    cfg.walkableClimb = (int)floorf(m_agentMaxClimb / cfg.ch);
    cfg.walkableRadius = (int)ceilf(m_agentRadius / cfg.cs);
    cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
    cfg.maxSimplificationError = m_edgeMaxError;
    cfg.minRegionArea = (int)rcSqr(m_regionMinSize);		// Note: area = size*size
    cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize);	// Note: area = size*size
    cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
    cfg.tileSize = (int)m_tileSize;
    cfg.borderSize = cfg.walkableRadius + 3; // Reserve enough padding.
    cfg.width = cfg.tileSize + cfg.borderSize*2;
    cfg.height = cfg.tileSize + cfg.borderSize*2;
    cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
    cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
    rcVcopy(cfg.bmin, bmin);
    rcVcopy(cfg.bmax, bmax);

    // Tile cache params.
    dtTileCacheParams tcparams;
    memset(&tcparams, 0, sizeof(tcparams));
    rcVcopy(tcparams.orig, bmin);
    tcparams.cs = m_cellSize;
    tcparams.ch = m_cellHeight;
    tcparams.width = (int)m_tileSize;
    tcparams.height = (int)m_tileSize;
    tcparams.walkableHeight = m_agentHeight;
    tcparams.walkableRadius = m_agentRadius;
    tcparams.walkableClimb = m_agentMaxClimb;
    tcparams.maxSimplificationError = m_edgeMaxError;
    tcparams.maxTiles = tw*th*EXPECTED_LAYERS_PER_TILE;
    tcparams.maxObstacles = 128;

    dtFreeTileCache(m_tileCache);

    m_tileCache = dtAllocTileCache();
    if (!m_tileCache)
    {
        m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate tile cache.");
        return false;
    }
    status = m_tileCache->init(&tcparams, m_talloc, m_tcomp, m_tmproc);
    if (dtStatusFailed(status))
    {
        m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init tile cache.");
        return false;
    }

    dtFreeNavMesh(m_navMesh);

    m_navMesh = dtAllocNavMesh();
    if (!m_navMesh)
    {
        m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate navmesh.");
        return false;
    }

    dtNavMeshParams params;
    memset(&params, 0, sizeof(params));
    rcVcopy(params.orig, bmin);
    params.tileWidth = m_tileSize*m_cellSize;
    params.tileHeight = m_tileSize*m_cellSize;
    params.maxTiles = m_maxTiles;
    params.maxPolys = m_maxPolysPerTile;

    status = m_navMesh->init(&params);
    if (dtStatusFailed(status))
    {
        m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
        return false;
    }

    status = m_navQuery->init(m_navMesh, 2048);
    if (dtStatusFailed(status))
//.........这里部分代码省略.........

bool BotLoadNavMesh( const char *filename, NavData_t &nav )
{
	char mapname[ MAX_QPATH ];
	char filePath[ MAX_QPATH ];
	char gameName[ MAX_STRING_CHARS ];
	fileHandle_t f = 0;

	BotLoadOffMeshConnections( filename, &nav );

	Cvar_VariableStringBuffer( "mapname", mapname, sizeof( mapname ) );
	Cvar_VariableStringBuffer( "fs_game", gameName, sizeof( gameName ) );
	Com_sprintf( filePath, sizeof( filePath ), "maps/%s-%s.navMesh", mapname, filename );
	Com_Printf( " loading navigation mesh file '%s'...\n", filePath );

	int len = FS_FOpenFileRead( filePath, &f, qtrue );

	if ( !f )
	{
		Com_Printf( S_COLOR_RED "ERROR: Cannot open Navigaton Mesh file\n" );
		return false;
	}

	if ( len < 0 )
	{
		Com_Printf( S_COLOR_RED "ERROR: Negative Length for Navigation Mesh file\n" );
		return false;
	}

	NavMeshSetHeader header;
	
	FS_Read( &header, sizeof( header ), f );

	SwapNavMeshSetHeader( header );

	if ( header.magic != NAVMESHSET_MAGIC )
	{
		Com_Printf( S_COLOR_RED "ERROR: File is wrong magic\n" );
		FS_FCloseFile( f );
		return false;
	}

	if ( header.version != NAVMESHSET_VERSION )
	{
		Com_Printf( S_COLOR_RED "ERROR: File is wrong version found: %d want: %d\n", header.version, NAVMESHSET_VERSION );
		FS_FCloseFile( f );
		return false;
	}

	nav.mesh = dtAllocNavMesh();

	if ( !nav.mesh )
	{
		Com_Printf( S_COLOR_RED "ERROR: Unable to allocate nav mesh\n" );
		FS_FCloseFile( f );
		return false;
	}

	dtStatus status = nav.mesh->init( &header.params );

	if ( dtStatusFailed( status ) )
	{
		Com_Printf( S_COLOR_RED "ERROR: Could not init navmesh\n" );
		dtFreeNavMesh( nav.mesh );
		nav.mesh = NULL;
		FS_FCloseFile( f );
		return false;
	}

	nav.cache = dtAllocTileCache();

	if ( !nav.cache )
	{
		Com_Printf( S_COLOR_RED "ERROR: Could not allocate tile cache\n" );
		dtFreeNavMesh( nav.mesh );
		nav.mesh = NULL;
		FS_FCloseFile( f );
		return false;
	}

	status = nav.cache->init( &header.cacheParams, &alloc, &comp, &nav.process );

	if ( dtStatusFailed( status ) )
	{
		Com_Printf( S_COLOR_RED "ERROR: Could not init tile cache\n" );
		dtFreeNavMesh( nav.mesh );
		dtFreeTileCache( nav.cache );
		nav.mesh = NULL;
		nav.cache = NULL;
		FS_FCloseFile( f );
		return false;
	}

	for ( int i = 0; i < header.numTiles; i++ )
	{
		NavMeshTileHeader tileHeader;

		FS_Read( &tileHeader, sizeof( tileHeader ), f );

		SwapNavMeshTileHeader( tileHeader );

//.........这里部分代码省略.........

//-------------------------------------------------------------------------------------
bool NavMeshHandle::_create(int layer, const std::string& resPath, const std::string& res, NavMeshHandle* pNavMeshHandle)
{
	KBE_ASSERT(pNavMeshHandle);
	FILE* fp = fopen(res.c_str(), "rb");
	if (!fp)
	{
		ERROR_MSG(fmt::format("NavMeshHandle::create: open({}) is error!\n", 
			Resmgr::getSingleton().matchRes(res)));

		return false;
	}
	
	DEBUG_MSG(fmt::format("NavMeshHandle::create: ({}), layer={}\n", 
		res, layer));

	bool safeStorage = true;
	int pos = 0;
	int size = sizeof(NavMeshSetHeader);
	
	fseek(fp, 0, SEEK_END); 
	size_t flen = ftell(fp); 
	fseek(fp, 0, SEEK_SET); 

	uint8* data = new uint8[flen];
	if(data == NULL)
	{
		ERROR_MSG(fmt::format("NavMeshHandle::create: open({}), memory(size={}) error!\n", 
			Resmgr::getSingleton().matchRes(res), flen));

		fclose(fp);
		SAFE_RELEASE_ARRAY(data);
		return false;
	}

	size_t readsize = fread(data, 1, flen, fp);
	if(readsize != flen)
	{
		ERROR_MSG(fmt::format("NavMeshHandle::create: open({}), read(size={} != {}) error!\n", 
			Resmgr::getSingleton().matchRes(res), readsize, flen));

		fclose(fp);
		SAFE_RELEASE_ARRAY(data);
		return false;
	}

	if (readsize < sizeof(NavMeshSetHeader))
	{
		ERROR_MSG(fmt::format("NavMeshHandle::create: open({}), NavMeshSetHeader is error!\n", 
			Resmgr::getSingleton().matchRes(res)));

		fclose(fp);
		SAFE_RELEASE_ARRAY(data);
		return false;
	}

	NavMeshSetHeader header;
	memcpy(&header, data, size);

	pos += size;

	if (header.version != NavMeshHandle::RCN_NAVMESH_VERSION)
	{
		ERROR_MSG(fmt::format("NavMeshHandle::create: navmesh version({}) is not match({})!\n", 
			header.version, ((int)NavMeshHandle::RCN_NAVMESH_VERSION)));

		fclose(fp);
		SAFE_RELEASE_ARRAY(data);
		return false;
	}

	dtNavMesh* mesh = dtAllocNavMesh();
	if (!mesh)
	{
		ERROR_MSG("NavMeshHandle::create: dtAllocNavMesh is failed!\n");
		fclose(fp);
		SAFE_RELEASE_ARRAY(data);
		return false;
	}

	dtStatus status = mesh->init(&header.params);
	if (dtStatusFailed(status))
	{
		ERROR_MSG(fmt::format("NavMeshHandle::create: mesh init is error({})!\n", status));
		fclose(fp);
		SAFE_RELEASE_ARRAY(data);
		return false;
	}

	// Read tiles.
	bool success = true;
	for (int i = 0; i < header.tileCount; ++i)
	{
		NavMeshTileHeader tileHeader;
		size = sizeof(NavMeshTileHeader);
		memcpy(&tileHeader, &data[pos], size);
		pos += size;

		size = tileHeader.dataSize;
		if (!tileHeader.tileRef || !tileHeader.dataSize)
//.........这里部分代码省略.........

dtNavMesh* buildMesh(InputGeom* geom, WCellBuildContext* wcellContext, int numCores)
{
	dtNavMesh* mesh = 0;

	if (!geom || !geom->getMesh())
	{
		CleanupAfterBuild();
		wcellContext->log(RC_LOG_ERROR, "buildTiledNavigation: No vertices and triangles.");
		return 0;
	}
	
	mesh = dtAllocNavMesh();
	if (!mesh)
	{
		CleanupAfterBuild();
		wcellContext->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate navmesh.");
		return 0;
	}

	// setup some default parameters
	rcConfig cfg;
	memset(&cfg, 0, sizeof(rcConfig));
	const float agentHeight = 2.1f;				// most character toons are about this tall
	const float agentRadius = 0.6f;				// most character toons are about this big around
	const float agentClimb = 1.0f;				// character toons can step up this far. Seems ridiculously high ...
	const float tileSize = 1600.0f/3.0f/16.0f;	// The size of one chunk

	cfg.cs = 0.1f;										// cell size is a sort of resolution -> the bigger the faster
	cfg.ch = 0.05f;										// cell height -> distance from mesh to ground, if too low, recast will not build essential parts of the mesh for some reason
	cfg.walkableSlopeAngle = 50.0f;						// max climbable slope, bigger values won't make much of a change
	cfg.walkableHeight = (int)ceilf(agentHeight/cfg.ch);// minimum space to ceiling
	cfg.walkableClimb = (int)floorf(agentClimb/cfg.ch); // how high the agent can climb in one step
	cfg.walkableRadius = (int)ceilf(agentRadius/cfg.cs);// minimum distance to objects
	cfg.tileSize = (int)(tileSize/cfg.cs + 0.5f);
	cfg.maxEdgeLen = cfg.tileSize/2;;
	cfg.borderSize = cfg.walkableRadius + 3;
	cfg.width = cfg.tileSize + cfg.borderSize*2;
	cfg.height = cfg.tileSize + cfg.borderSize*2;	
	cfg.maxSimplificationError = 1.3f;
	cfg.minRegionArea = (int)rcSqr(8);		// Note: area = size*size
	cfg.mergeRegionArea = (int)rcSqr(20);	// Note: area = size*size
	cfg.maxVertsPerPoly = 3;
	cfg.detailSampleDist = cfg.cs * 9;
	cfg.detailSampleMaxError = cfg.ch * 1.0f;

	// default calculations - for some reason not included in basic recast
	const float* bmin = geom->getMeshBoundsMin();
	const float* bmax = geom->getMeshBoundsMax();
	
	int gw = 0, gh = 0;
	rcCalcGridSize(bmin, bmax, cfg.cs, &gw, &gh);
	const int ts = cfg.tileSize;
	const int tw = (gw + ts-1) / ts;
	const int th = (gh + ts-1) / ts;

	// Max tiles and max polys affect how the tile IDs are caculated.
	// There are 22 bits available for identifying a tile and a polygon.
	int tileBits = rcMin((int)ilog2(nextPow2(tw*th)), 14);
	if (tileBits > 14) tileBits = 14;
	int polyBits = 22 - tileBits;
	int maxTiles = 1 << tileBits;
	int maxPolysPerTile = 1 << polyBits;

	dtNavMeshParams params;
	rcVcopy(params.orig, geom->getMeshBoundsMin());
	params.tileWidth = cfg.tileSize * cfg.cs;
	params.tileHeight = cfg.tileSize * cfg.cs;
	params.maxTiles = maxTiles;
	params.maxPolys = maxPolysPerTile;
	
	dtStatus status;
	
	status = mesh->init(&params);
	if (dtStatusFailed(status))
	{
		CleanupAfterBuild();
		wcellContext->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
		return 0;
	}
	
	// start building
	const float tcs = cfg.tileSize*cfg.cs;
	wcellContext->startTimer(RC_TIMER_TEMP);
	
	TileAdder Adder;

	dispatcher.Reset();
	dispatcher.maxHeight = th;
	dispatcher.maxWidth = tw;

	int numThreads = 0;
	numThreads = std::min(2*numCores, 8);

	boost::thread *threads[8];
	for(int i = 0; i < numThreads; ++i)
	{
		QuadrantTiler newTiler;
		newTiler.geom = geom;
		newTiler.cfg = cfg;
		newTiler.ctx = *wcellContext;
//.........这里部分代码省略.........

DetourInterface::DetourInterface(rcPolyMesh* polyMesh,rcPolyMeshDetail* detailMesh,rcdtConfig& config)
	: _navMesh(nullptr),
	  _navQuery(nullptr),
	  _isMeshBuilt(false)
{
	detourCleanup();

	unsigned char* navData = 0;
	int navDataSize = 0;

	if(config.recastConfig->maxVertsPerPoly > DT_VERTS_PER_POLYGON)
	{
		return;
	}

#if defined(DEBUG) || defined(_DEBUG)
	std::cout << "Detour - Stage 1" << std::endl;
#endif

	for(int i = 0; i < polyMesh->npolys; ++i)
	{
		if(polyMesh->areas[i] == RC_WALKABLE_AREA)
		{
			polyMesh->areas[i] = DT_PA_GROUND;
			polyMesh->flags[i] = DT_PF_WALK;
		}
	}

	dtNavMeshCreateParams params;
	memset(&params,0,sizeof(params));
	params.verts = polyMesh->verts;
	params.vertCount = polyMesh->nverts;
	params.polys = polyMesh->polys;
	params.polyAreas = polyMesh->areas;
	params.polyFlags = polyMesh->flags;
	params.polyCount = polyMesh->npolys;
	params.nvp = polyMesh->nvp;
	params.detailMeshes = detailMesh->meshes;
	params.detailVerts = detailMesh->verts;
	params.detailVertsCount = detailMesh->nverts;
	params.detailTris = detailMesh->tris;
	params.detailTriCount = detailMesh->ntris;

	//offmesh connections are not implemented. I don't even know what they are!
	params.offMeshConCount = 0;

	params.walkableHeight = config.userConfig->getAgentHeight();
	params.walkableRadius = config.userConfig->getAgentRadius();
	params.walkableClimb = config.userConfig->getAgentMaxClimb();
	params.buildBvTree = true;

	rcVcopy(params.bmin, config.recastConfig->bmin);
	rcVcopy(params.bmax, config.recastConfig->bmax);
	params.cs = config.recastConfig->cs;
	params.ch = config.recastConfig->ch;

#if defined(DEBUG) || defined(_DEBUG)
	std::cout << "Detour - Stage 2" << std::endl;
#endif

	if(!dtCreateNavMeshData(&params,&navData,&navDataSize))
	{
		std::cout << "Error! Detour - could not build navmesh!" << std::endl;
		std::cout << " - " << params.cs << std::endl;
		std::cout << " - " << params.ch << std::endl;
		std::cout << " - " << params.walkableRadius << std::endl;
		//_isMeshBuilt = false;
		return;
	}

#if defined(DEBUG) || defined(_DEBUG)
	std::cout << "Detour - Stage 3" << std::endl;
#endif

	_navMesh = dtAllocNavMesh();
	if(!_navMesh)
	{
		dtFree(_navMesh);
		std::cout << "Error! Detour - could not create Detour navmesh!" << std::endl;
		return;
	}

#if defined(DEBUG) || defined(_DEBUG)
	std::cout << "Detour - Stage 4" << std::endl;
#endif

	dtStatus status;
	status = _navMesh->init(navData,navDataSize,DT_TILE_FREE_DATA);
	if(dtStatusFailed(status))
	{
		dtFree(navData);
		std::cout << "Error! Could not initialize Detour NavMesh." << std::endl;
		return;
	}

#if defined(DEBUG) || defined(_DEBUG)
	std::cout << "Detour - Stage 5" << std::endl;
#endif

	_navQuery = dtAllocNavMeshQuery();
//.........这里部分代码省略.........