Recast

API > API/Runtime > API/Runtime/Navmesh

Classes

  Type Name Description
Public struct rcBorderSize Specifies the size of borders around the heightfield.  
Public struct rcCompactCell Provides information on the content of a cell column in a compact heightfield.  
Public struct rcCompactHeightfield A compact, static heightfield representing unobstructed space.  
Public struct rcCompactSpan Represents a span of unobstructed space within a compact heightfield.  
Public struct rcConfig Specifies a configuration to use when performing Recast builds.  
Public class rcContext Provides an interface for optional logging and performance tracking of the Recast build process.  
Public struct rcContour Represents a simple, non-overlapping contour in field space.  
Public struct rcContourSet Represents a group of related contours.  
Public struct rcEdgeHit    
Public struct rcHeightfield A dynamic heightfield representing obstructed space.  
Public struct rcHeightfieldLayer Represents a heightfield layer within a layer set.  
Public struct rcHeightfieldLayerSet Represents a set of heightfield layers.  
Public class rcIntArray A simple dynamic array of integers.  
Public struct rcPolyMesh @UE BEGIN  
Public struct rcPolyMeshDetail Contains triangle meshes that represent detailed height data associated with the polygons in its associated polygon mesh object.  
Public struct rcRowExt    
Public class rcScopedDelete A simple helper class used to delete an array when it goes out of scope.  
Public class rcScopedStructArrayDelete A simple helper class used to delete an array of instances of structs, that require cleaning up by calling destructor on every instance before release.  
Public struct rcSpan Represents a span in a heightfield.  
Public struct rcSpanCache    
Public struct rcSpanData Represents data of span in a heightfield.  
Public struct rcSpanPool A memory pool used for quick allocation of spans within a heightfield.  
Public struct rcTempSpan    

Constants

Name Description
RC_AREA_BORDER Area border flag.
RC_BORDER_REG Heighfield border flag.
RC_BORDER_VERTEX Border vertex flag.
RC_CONTOUR_REG_MASK Applied to the region id field of contour vertices in order to extract the region id.
RC_MESH_NULL_IDX An value which indicates an invalid index within a mesh.
RC_NOT_CONNECTED The value returned by rcGetCon if the specified direction is not connected to another span.
RC_NULL_AREA Represents the null area.
RC_PI The value of PI used by Recast.
RC_SPAN_HEIGHT_BITS Defines the number of bits allocated to rcSpanData::smin and rcSpanData::smax.
RC_SPAN_MAX_HEIGHT Defines the maximum value for rcSpanData::smin and rcSpanData::smax.
RC_SPANS_PER_POOL The number of spans allocated per span spool.
RC_WALKABLE_AREA The default area id used to indicate a walkable polygon.

Typedefs

Name Description
rcAllocFunc A memory allocation function.
rcFreeFunc A memory deallocation function.
rcReal  
rcSpanUInt  

Enums

  Type Name Description
Public enum rcAllocHint Copyright Epic Games, Inc.  
Public enum rcBuildContoursFlags Contour build flags.  
Public enum rcFilterLowAreaFlags UE.  
Public enum rcLogCategory Recast log categories.  
Public enum rcNeighborSlopeFilterMode UE.  
Public enum rcRasterizationFlags UE.  
Public enum rcRegionPartitioning Region partitioning methods  
Public enum rcTimerLabel Recast performance timer categories.  

Functions

  Type Name Description
Public function T

rcAbs ( T a
)

 Returns the absolute value.
Public function double

rcAbs ( double x
)

  
Public function float

rcAbs ( float x
)

  
Public function void

rcAddSpan ( rcContext* ctx,
rcHeightfield& hf,
const int x,
const int y,
const unsigned short smin,
const unsigned short smax,
const unsigned char area,
const int flagMergeThr
)

 Adds a span to the specified heightfield.
Public function void

rcAddSpans ( rcContext* ctx,
rcHeightfield& hf,
const int flagMergeThr,
const rcSpanCache* cachedSpans,
const int nspans
)

  
Public function void *

rcAlloc ( int size,
rcAllocHint hint
)

 Allocates a memory block.
Public function rcCompactHeightfield * Allocates a compact heightfield object using the Recast allocator.
Public function rcContourSet * Allocates a contour set object using the Recast allocator.
Public function rcHeightfield * Allocates a heightfield object using the Recast allocator.
Public function rcHeightfieldLayerSet * Allocates a heightfield layer set using the Recast allocator.
Public function rcPolyMesh * @UE BEGIN
Public function rcPolyMeshDetail * Allocates a detail mesh object using the Recast allocator.
Public function void

rcAllocSetCustom ( rcAllocFunc* allocFunc,
rcFreeFunc* freeFunc
)

 Sets the base custom allocation functions to be used by Recast.
Public function bool

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

 Builds a compact heightfield representing open space, from a heightfield representing solid space.
Public function bool

rcBuildContours ( rcContext* ctx,
rcCompactHeightfield& chf,
const rcReal maxError,
const int maxEdgeLen,
rcContourSet& cset,
const int flags
)

 Builds a contour set from the region outlines in the provided compact heightfield.
Public function bool Builds the distance field for the specified compact heightfield.
Public function bool

rcBuildHeightfieldLayers ( rcContext* ctx,
rcCompactHeightfield& chf,
const rcBorderSize borderSize,
const int walkableHeight,
rcHeightfieldLayerSet& lset
)

 Builds a layer set from the specified compact heightfield.
Public function bool

rcBuildHeightfieldLayersChunky ( rcContext* ctx,
rcCompactHeightfield& chf,
const rcBorderSize borderSize,
const int walkableHeight,
const int chunkSize,
rcHeightfieldLayerSet& lset
)

 Builds a layer set from the specified compact heightfield.
Public function bool

rcBuildHeightfieldLayersMonotone ( rcContext* ctx,
rcCompactHeightfield& chf,
const rcBorderSize borderSize,
const int walkableHeight,
rcHeightfieldLayerSet& lset
)

 Builds a layer set from the specified compact heightfield.
Public function bool

rcBuildPolyMesh ( rcContext* ctx,
rcContourSet& cset,
const int nvp,
rcPolyMesh& mesh
)

 Builds a polygon mesh from the provided contours.
Public function bool

rcBuildPolyMeshDetail ( rcContext* ctx,
const rcPolyMesh& mesh,
const rcCompactHeightfield& chf,
const rcReal sampleDist,
const rcReal sampleMaxError,
rcPolyMeshDetail& dmesh
)

 Builds a detail mesh from the provided polygon mesh.
Public function bool

rcBuildRegions ( rcContext* ctx,
rcCompactHeightfield& chf,
const int borderSize,
const int minRegionArea,
const int mergeRegionArea
)

 Builds region data for the heightfield using watershed partitioning.
Public function bool

rcBuildRegionsChunky ( rcContext* ctx,
rcCompactHeightfield& chf,
const rcBorderSize borderSize,
const int minRegionArea,
const int mergeRegionArea,
const int chunkSize
)

 Builds region data for the heightfield using simple monotone partitioning.
Public function bool

rcBuildRegionsMonotone ( rcContext* ctx,
rcCompactHeightfield& chf,
const rcBorderSize borderSize,
const int minRegionArea,
const int mergeRegionArea
)

 Builds region data for the heightfield using simple monotone partitioning.
Public function void

rcCacheSpans ( rcContext* ctx,
rcHeightfield& hf,
rcSpanCache* cachedSpans
)

  
Public function void

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

 Calculates the bounding box of an array of vertices.
Public function 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.
Public function 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
Public function float

rcCeil ( float x
)

  
Public function double

rcCeil ( double x
)

  
Public function T

rcClamp ( T v,
T mn,
T mx
)

 Clamps the value to the specified range.
Public function rcReal

rcClamp ( rcReal v,
rcReal mn,
rcReal mx
)

 When used with a mixture of rcReal and other types (in practice floats and doubles mixed here) this overridden function will be preferred by the compiler.
Public function void

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

 Sets the area id of all triangles with a slope greater than or equal to the specified value to RC_NULL_AREA.
Public function bool

rcCopyPolyMesh ( rcContext* ctx,
const rcPolyMesh& src,
rcPolyMesh& dst
)

 Copies the poly mesh data from src to dst.
Public function float

rcCos ( float x
)

  
Public function double

rcCos ( double x
)

  
Public function int  
Public function bool

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

 Initializes a new heightfield.
Public function bool

rcErodeWalkableAndLowAreas ( rcContext* ctx,
int radius,
unsigned int height,
unsigned char areaId,
unsigned char filterFlags,
rcCompactHeightfield& chf
)

 Erodes the walkable area within the heightfield by the specified radius.
Public function bool Erodes the walkable area within the heightfield by the specified radius.
Public function void

rcFilterLedgeSpans ( rcContext* ctx,
const int walkableHeight,
const int walkableClimb,
const rcNeighborSlopeFilterMode neighborSlopeFilterMode,
const rcReal maxStepFromWalkableSlope,
const rcReal ch,
const int yStart,
const int maxYProcess,
rcHeightfield& solid
)

 Marks spans that are ledges as not-walkable, by a number of y coords at a time.
Public function void

rcFilterLedgeSpans ( rcContext* ctx,
const int walkableHeight,
const int walkableClimb,
const rcNeighborSlopeFilterMode neighborSlopeFilterMode,
const rcReal maxStepFromWalkableSlope,
const rcReal ch,
rcHeightfield& solid
)

 Marks spans that are ledges as not-walkable.
Public function void

rcFilterLowHangingWalkableObstacles ( rcContext* ctx,
const int walkableClimb,
rcHeightfield& solid
)

 Marks non-walkable spans as walkable if their maximum is within `walkableClimp_ of a walkable neighbor.
Public function void

rcFilterWalkableLowHeightSpans ( rcContext* ctx,
int walkableHeight,
rcHeightfield& solid
)

 Marks walkable spans as not walkable if the clearance above the span is less than the specified height.
Public function void

rcFilterWalkableLowHeightSpansSequences ( rcContext* ctx,
int walkableHeight,
rcHeightfield& solid
)

  
Public function double

rcFloor ( double x
)

  
Public function float

rcFloor ( float x
)

  
Public function void

rcFree ( void* ptr
)

 Deallocates a memory block.
Public function void Frees the specified compact heightfield object using the Recast allocator.
Public function void Frees the specified contour set using the Recast allocator.
Public function void Frees the specified heightfield object using the Recast allocator.
Public function void Frees the specified heightfield layer set using the Recast allocator.
Public function void Frees the specified polygon mesh using the Recast allocator.
Public function void Frees the specified detail mesh using the Recast allocator.
Public function int

rcGetCon ( const rcCompactSpan& s,
int dir
)

 Gets neighbor connection data for the specified direction.
Public function int

rcGetDirOffsetX ( int dir
)

 Gets the standard width (x-axis) offset for the specified direction.
Public function int

rcGetDirOffsetY ( int dir
)

 Gets the standard height (z-axis) offset for the specified direction.
Public function int Returns the number of spans contained in the specified heightfield.
Public function void

rcMarkBoxArea ( rcContext* ctx,
const rcReal* bmin,
const rcReal* bmax,
unsigned char areaId,
rcCompactHeightfield& chf
)

 Applies an area id to all spans within the specified bounding box.
Public function void

rcMarkConvexPolyArea ( rcContext* ctx,
const rcReal* verts,
const int nverts,
const rcReal hmin,
const rcReal hmax,
unsigned char areaId,
rcCompactHeightfield& chf
)

 Applies the area id to the all spans within the specified convex polygon.
Public function void

rcMarkCylinderArea ( rcContext* ctx,
const rcReal* pos,
const rcReal r,
const rcReal h,
unsigned char areaId,
rcCompactHeightfield& chf
)

 Applies the area id to all spans within the specified cylinder.
Public function bool

rcMarkLowAreas ( rcContext* ctx,
unsigned int height,
unsigned char areaId,
rcCompactHeightfield& chf
)

 Marks all spans that have insufficient free space above
Public function void

rcMarkWalkableTriangles ( rcContext* ctx,
const rcReal walkableSlopeAngle,
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.
Public function 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.
Public function T

rcMax ( T a,
T b
)

 Returns the maximum of two values.
Public function rcReal

rcMax ( rcReal a,
rcReal b
)

 When used with a mixture of rcReal and other types (in practice floats and doubles mixed here) this overridden function will be preferred by the compiler.
Public function bool Applies a median filter to walkable area types (based on area id), removing noise.
Public function void

rcMemCpy ( void* dst,
void* src,
int size
)

  
Public function bool

rcMergePolyMeshDetails ( rcContext* ctx,
rcPolyMeshDetail** meshes,
const int nmeshes,
rcPolyMeshDetail& mesh
)

 Merges multiple detail meshes into a single detail mesh.
Public function bool

rcMergePolyMeshes ( rcContext* ctx,
rcPolyMesh** meshes,
const int nmeshes,
rcPolyMesh& mesh
)

 Merges multiple polygon meshes into a single mesh.
Public function rcReal

rcMin ( rcReal a,
rcReal b
)

 When used with a mixture of rcReal and other types (in practice floats and doubles mixed here) this overridden function will be preferred by the compiler.
Public function T

rcMin ( T a,
T b
)

 Returns the minimum of two values.
Public function int

rcOffsetPoly ( const rcReal* verts,
const int nverts,
const rcReal offset,
rcReal* outVerts,
const int maxOutVerts
)

 Helper function to offset voncex polygons for rcMarkConvexPolyArea.
Public function void

rcRasterizeTriangle ( rcContext* ctx,
const rcReal* v0,
const rcReal* v1,
const rcReal* v2,
const unsigned char area,
rcHeightfield& solid,
const int flagMergeThr,
const int rasterizationFlags,
const int* rasterizationMasks
)

 Rasterizes a triangle into the specified heightfield.
Public function void

rcRasterizeTriangles ( rcContext* ctx,
const rcReal* verts,
const unsigned char* areas,
const int nt,
rcHeightfield& solid,
const int flagMergeThr,
const int rasterizationFlags,
const int* rasterizationMasks
)

 Rasterizes triangles into the specified heightfield.
Public function void

rcRasterizeTriangles ( rcContext* ctx,
const rcReal* verts,
const int nv,
const int* tris,
const unsigned char* areas,
const int nt,
rcHeightfield& solid,
const int flagMergeThr,
const int rasterizationFlags,
const int* rasterizationMasks
)

 Rasterizes an indexed triangle mesh into the specified heightfield.
Public function void

rcRasterizeTriangles ( rcContext* ctx,
const rcReal* verts,
const int nv,
const unsigned short* tris,
const unsigned char* areas,
const int nt,
rcHeightfield& solid,
const int flagMergeThr,
const int rasterizationFlags,
const int* rasterizationMasks
)

 Rasterizes an indexed triangle mesh into the specified heightfield.
Public function void

rcReplaceBoxArea ( rcContext* ctx,
const rcReal* bmin,
const rcReal* bmax,
unsigned char areaId,
unsigned char filterAreaId,
rcCompactHeightfield& chf
)

 Replaces an area id in spans with matching filter area within the specified bounding box.
Public function void

rcReplaceConvexPolyArea ( rcContext* ctx,
const rcReal* verts,
const int nverts,
const rcReal hmin,
const rcReal hmax,
unsigned char areaId,
unsigned char filterAreaId,
rcCompactHeightfield& chf
)

 Replaces an area id in spans with matching filter area within the specified convex polygon.
Public function void

rcReplaceCylinderArea ( rcContext* ctx,
const rcReal* pos,
const rcReal r,
const rcReal h,
unsigned char areaId,
unsigned char filterAreaId,
rcCompactHeightfield& chf
)

 Replaces an area id in spans with matching filter area within the specified cylinder.
Public function void Resets all spans of heightfield.
Public function void

rcSetCon ( rcCompactSpan& s,
int dir,
int i
)

 Sets the neighbor connection data for the specified direction.
Public function float

rcSin ( float x
)

  
Public function double

rcSin ( double x
)

  
Public function T

rcSqr ( T a
)

 Returns the square of the value.
Public function rcReal

rcSqrt ( rcReal x
)

 Returns the square root of the value.
Public function void

rcSwap ( T& a,
T& b
)

 Swaps the values of the two parameters.
Public function void

rcVadd ( rcReal* dest,
const rcReal* v1,
const rcReal* v2
)

 Performs a vector addition. (v1_ + v2_)
Public function void

rcVcopy ( rcReal* dest,
const rcReal* v
)

 Performs a vector copy.
Public function void

rcVcross ( rcReal* dest,
const rcReal* v1,
const rcReal* v2
)

 Derives the cross product of two vectors. (v1_ x v2_)
Public function rcReal

rcVdist ( const rcReal* v1,
const rcReal* v2
)

 Returns the distance between two points.
Public function rcReal

rcVdistSqr ( const rcReal* v1,
const rcReal* v2
)

 Returns the square of the distance between two points.
Public function rcReal

rcVdot ( const rcReal* v1,
const rcReal* v2
)

 Derives the dot product of two vectors. (v1_ . v2_)
Public function void

rcVmad ( rcReal* dest,
const rcReal* v1,
const rcReal* v2,
const rcReal s
)

 Performs a scaled vector addition. (v1_ + (v2 * `s))
Public function void

rcVmax ( rcReal* mx,
const rcReal* v
)

 Selects the maximum value of each element from the specified vectors.
Public function void

rcVmin ( rcReal* mn,
const rcReal* v
)

 Selects the minimum value of each element from the specified vectors.
Public function void Normalizes the vector.
Public function void

rcVsub ( rcReal* dest,
const rcReal* v1,
const rcReal* v2
)

 Performs a vector subtraction. (v1_ - v2_)

Variables

  Type Name Description
Public variable rcReal RC_REAL_MAX  

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