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bmin[2] = pos[2] - radius;
bmax[0] = pos[0] + radius;
bmax[1] = pos[1] + height;
bmax[2] = pos[2] + radius;
const float r2 = dtSqr(radius/cs + 0.5f);
const int w = (int)layer.header->width;
const int h = (int)layer.header->height;
const float ics = 1.0f/cs;
const float ich = 1.0f/ch;
const float px = (pos[0]-orig[0])*ics;
const float pz = (pos[2]-orig[2])*ics;
int minx = (int)dtMathFloorf((bmin[0]-orig[0])*ics);
int miny = (int)dtMathFloorf((bmin[1]-orig[1])*ich);
int minz = (int)dtMathFloorf((bmin[2]-orig[2])*ics);
int maxx = (int)dtMathFloorf((bmax[0]-orig[0])*ics);
int maxy = (int)dtMathFloorf((bmax[1]-orig[1])*ich);
int maxz = (int)dtMathFloorf((bmax[2]-orig[2])*ics);
if (maxx < 0) return DT_SUCCESS;
if (minx >= w) return DT_SUCCESS;
if (maxz < 0) return DT_SUCCESS;
if (minz >= h) return DT_SUCCESS;
if (minx < 0) minx = 0;
if (maxx >= w) maxx = w-1;
if (minz < 0) minz = 0;
if (maxz >= h) maxz = h-1;
for (int z = minz; z <= maxz; ++z)
{
for (int x = minx; x <= maxx; ++x)
{
const float dx = (float)(x+0.5f) - px;
const float dz = (float)(z+0.5f) - pz;
if (dx*dx + dz*dz > r2)
continue;
const int y = layer.heights[x+z*w];
if (y < miny || y > maxy)
continue;
layer.areas[x+z*w] = areaId;
}
}
return DT_SUCCESS;
}
dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
const float* bmin, const float* bmax, const unsigned char areaId)
{
const int w = (int)layer.header->width;
const int h = (int)layer.header->height;
const float ics = 1.0f/cs;
const float ich = 1.0f/ch;
int minx = (int)floorf((bmin[0]-orig[0])*ics);
int miny = (int)floorf((bmin[1]-orig[1])*ich);
int minz = (int)floorf((bmin[2]-orig[2])*ics);
int maxx = (int)floorf((bmax[0]-orig[0])*ics);
int maxy = (int)floorf((bmax[1]-orig[1])*ich);
int maxz = (int)floorf((bmax[2]-orig[2])*ics);
if (maxx < 0) return DT_SUCCESS;
if (minx >= w) return DT_SUCCESS;
if (maxz < 0) return DT_SUCCESS;
if (minz >= h) return DT_SUCCESS;
if (minx < 0) minx = 0;
if (maxx >= w) maxx = w-1;
if (minz < 0) minz = 0;
if (maxz >= h) maxz = h-1;
for (int z = minz; z <= maxz; ++z)
{
for (int x = minx; x <= maxx; ++x)
{
const int y = layer.heights[x+z*w];
if (y < miny || y > maxy)
continue;
layer.areas[x+z*w] = areaId;
}
}
return DT_SUCCESS;
}
dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
const float* center, const float* halfExtents, const float* rotAux, const unsigned char areaId)
{
const int w = (int)layer.header->width;
const int h = (int)layer.header->height;
const float ics = 1.0f/cs;
const float ich = 1.0f/ch;
float cx = (center[0] - orig[0])*ics;
float cz = (center[2] - orig[2])*ics;
float maxr = 1.41f*dtMax(halfExtents[0], halfExtents[2]);