/**
 * Cleanup recast stuff, not debug manualobjects.
**/
void OgreRecast::RecastCleanup()
{
   if(m_triareas) delete [] m_triareas;
   m_triareas = 0;

   rcFreeHeightField(m_solid);
   m_solid = 0;
   rcFreeCompactHeightfield(m_chf);
   m_chf = 0;
   rcFreeContourSet(m_cset);
   m_cset = 0;
   rcFreePolyMesh(m_pmesh);
   m_pmesh = 0;
   rcFreePolyMeshDetail(m_dmesh);
   m_dmesh = 0;
   dtFreeNavMesh(m_navMesh);
   m_navMesh = 0;

   dtFreeNavMeshQuery(m_navQuery);
   m_navQuery = 0 ;

   if(m_ctx){
       delete m_ctx;
       m_ctx = 0;
   }
}

void RecastInterface::recastClean()
{
	if(_triangleAreas)
	{
		delete[] _triangleAreas;
		_triangleAreas = nullptr;
	}

	rcFreeHeightField(_solid);
	_solid = nullptr;

	rcFreeCompactHeightfield(_compactHeightfield);
	_compactHeightfield = nullptr;

	rcFreeContourSet(_contourSet);
	_contourSet = nullptr;

	rcFreePolyMesh(_polyMesh);
	_polyMesh = nullptr;

	rcFreePolyMeshDetail(_detailMesh);
	_detailMesh = nullptr;

	if(_context)
	{
		delete _context;
		_context = nullptr;
	}
}

 IntermediateValues::~IntermediateValues()
 {
     rcFreeCompactHeightfield(compactHeightfield);
     rcFreeHeightField(heightfield);
     rcFreeContourSet(contours);
     rcFreePolyMesh(polyMesh);
     rcFreePolyMeshDetail(polyMeshDetail);
 }

NavBuildData::~NavBuildData()
{
    delete(ctx_);
    ctx_ = nullptr;
    rcFreeHeightField(heightField_);
    heightField_ = nullptr;
    rcFreeCompactHeightfield(compactHeightField_);
    compactHeightField_ = nullptr;
}

void RecastTileBuilder::cleanup() {
	delete[] m_triareas;
	m_triareas = 0;
	rcFreeHeightField(m_solid);
	m_solid = 0;
	rcFreeCompactHeightfield(m_chf);
	m_chf = 0;
	rcFreeContourSet(m_cset);
	m_cset = 0;
	rcFreePolyMesh(m_pmesh);
	m_pmesh = 0;
	rcFreePolyMeshDetail(m_dmesh);
	m_dmesh = 0;
}

void NavMeshGenerator::cleanup()
{
	rcFreeHeightField(m_solid);
	m_solid = 0;
	rcFreeCompactHeightfield(m_chf);
	m_chf = 0;
	rcFreeContourSet(m_cset);
	m_cset = 0;
	rcFreePolyMesh(m_pmesh);
	m_pmesh = 0;
	rcFreePolyMeshDetail(m_dmesh);
	m_dmesh = 0;
	dtFreeNavMesh(m_navMesh);
	m_navMesh = 0;
}

void Sample_TileMesh::cleanup()
{
	delete [] m_triareaMasks;
	m_triareaMasks = 0;
	rcFreeHeightField(m_solid);
	m_solid = 0;
	rcFreeCompactHeightfield(m_chf);
	m_chf = 0;
	rcFreeContourSet(m_cset);
	m_cset = 0;
	rcFreePolyMesh(m_pmesh);
	m_pmesh = 0;
	rcFreePolyMeshDetail(m_dmesh);
	m_dmesh = 0;
}

void Sample_SoloMeshSimple::cleanup()
{
    delete [] m_triareas;
    m_triareas = 0;
    rcFreeHeightField(m_solid);
    m_solid = 0;
    rcFreeCompactHeightfield(m_chf);
    m_chf = 0;
    rcFreeContourSet(m_cset);
    m_cset = 0;
    rcFreePolyMesh(m_pmesh);
    m_pmesh = 0;
    rcFreePolyMeshDetail(m_dmesh);
    m_dmesh = 0;
    dtFreeNavMesh(m_navMesh);
    m_navMesh = 0;
}

void NavMeshCreator::freeIntermediateResults()
{
    rcFreeContourSet(m_intermediateContourSet);
    m_intermediateContourSet = 0;
    
    rcFreePolyMesh(m_intermediatePolyMesh);
    m_intermediatePolyMesh = 0;
    
    rcFreeHeightField(m_intermediateHeightfield);
    m_intermediateHeightfield = 0;
    
    rcFreeCompactHeightfield(m_intermediateCompactHeightfield);
    m_intermediateCompactHeightfield = 0;
    
    rcFreePolyMeshDetail(m_intermediatePolyMeshDetail);
    m_intermediatePolyMeshDetail = 0;
}

   void NavMesh::freeIntermediates(bool freeAll)
   {
      mNavMeshLock.lock();

      rcFreeHeightField(hf);          hf = NULL;
      rcFreeCompactHeightfield(chf); chf = NULL;

      if(!mSaveIntermediates || freeAll)
      {
         rcFreeContourSet(cs);        cs = NULL;
         rcFreePolyMesh(pm);          pm = NULL;
         rcFreePolyMeshDetail(pmd);  pmd = NULL;
         delete mInPolys;
         mInPolys = NULL;
      }

      mNavMeshLock.unlock();
   }

uint8* TileBuilder::BuildInstance( dtNavMeshParams& navMeshParams )
{
    float* bmin = NULL, *bmax = NULL;

    _Geometry->CalculateBoundingBox(bmin, bmax);

    rcVcopy(InstanceConfig.bmax, bmax);
    rcVcopy(InstanceConfig.bmin, bmin);

    uint32 numVerts = _Geometry->Vertices.size();
    uint32 numTris = _Geometry->Triangles.size();
    float* vertices;
    int* triangles;
    uint8* areas;
    _Geometry->GetRawData(vertices, triangles, areas);

    // this sets the dimensions of the heightfield
    rcCalcGridSize(InstanceConfig.bmin, InstanceConfig.bmax, InstanceConfig.cs, &InstanceConfig.width, &InstanceConfig.height);

    rcHeightfield* hf = rcAllocHeightfield();
    rcCreateHeightfield(Context, *hf, InstanceConfig.width, InstanceConfig.height, InstanceConfig.bmin, InstanceConfig.bmax, InstanceConfig.cs, InstanceConfig.ch);

    rcClearUnwalkableTriangles(Context, InstanceConfig.walkableSlopeAngle, vertices, numVerts, triangles, numTris, areas);
    rcRasterizeTriangles(Context, vertices, numVerts, triangles, areas, numTris, *hf, InstanceConfig.walkableClimb);

    rcFilterLowHangingWalkableObstacles(Context, InstanceConfig.walkableClimb, *hf);
    rcFilterLedgeSpans(Context, InstanceConfig.walkableHeight, InstanceConfig.walkableClimb, *hf);
    rcFilterWalkableLowHeightSpans(Context, InstanceConfig.walkableHeight, *hf);

    rcCompactHeightfield* chf = rcAllocCompactHeightfield();
    rcBuildCompactHeightfield(Context, InstanceConfig.walkableHeight, InstanceConfig.walkableClimb, *hf, *chf);

    rcErodeWalkableArea(Context, InstanceConfig.walkableRadius, *chf);
    rcBuildDistanceField(Context, *chf);
    rcBuildRegions(Context, *chf, InstanceConfig.borderSize, InstanceConfig.minRegionArea, InstanceConfig.minRegionArea);

    rcContourSet* contours = rcAllocContourSet();
    rcBuildContours(Context, *chf, InstanceConfig.maxSimplificationError, InstanceConfig.maxEdgeLen, *contours);

    rcPolyMesh* pmesh = rcAllocPolyMesh();
    rcBuildPolyMesh(Context, *contours, InstanceConfig.maxVertsPerPoly, *pmesh);

    rcPolyMeshDetail* dmesh = rcAllocPolyMeshDetail();
    rcBuildPolyMeshDetail(Context, *pmesh, *chf, InstanceConfig.detailSampleDist, InstanceConfig.detailSampleMaxError, *dmesh);

    // Set flags according to area types (e.g. Swim for Water)
    for (int i = 0; i < pmesh->npolys; i++)
    {
        if (pmesh->areas[i] == Constants::POLY_AREA_ROAD || pmesh->areas[i] == Constants::POLY_AREA_TERRAIN)
            pmesh->flags[i] = Constants::POLY_FLAG_WALK;
        else if (pmesh->areas[i] == Constants::POLY_AREA_WATER)
            pmesh->flags[i] = Constants::POLY_FLAG_SWIM;
    }

    dtNavMeshCreateParams params;
    memset(&params, 0, sizeof(params));
    // PolyMesh data
    params.verts = pmesh->verts;
    params.vertCount = pmesh->nverts;
    params.polys = pmesh->polys;
    params.polyAreas = pmesh->areas;
    params.polyFlags = pmesh->flags;
    params.polyCount = pmesh->npolys;
    params.nvp = pmesh->nvp;
    // PolyMeshDetail data
    params.detailMeshes = dmesh->meshes;
    params.detailVerts = dmesh->verts;
    params.detailVertsCount = dmesh->nverts;
    params.detailTris = dmesh->tris;
    params.detailTriCount = dmesh->ntris;
    rcVcopy(params.bmin, pmesh->bmin);
    rcVcopy(params.bmax, pmesh->bmax);
    // General settings
    params.ch = InstanceConfig.ch;
    params.cs = InstanceConfig.cs;
    params.walkableClimb = InstanceConfig.walkableClimb * InstanceConfig.ch;
    params.walkableHeight = InstanceConfig.walkableHeight * InstanceConfig.ch;
    params.walkableRadius = InstanceConfig.walkableRadius * InstanceConfig.cs;
    params.tileX = X;
    params.tileY = Y;
    params.tileLayer = 0;
    params.buildBvTree = true;

    rcVcopy(params.bmax, bmax);
    rcVcopy(params.bmin, bmin);

    // Offmesh-connection settings
    params.offMeshConCount = 0; // none for now

    rcFreeHeightField(hf);
    rcFreeCompactHeightfield(chf);
    rcFreeContourSet(contours);
    delete vertices;
    delete triangles;
    delete areas;
    delete bmin;
    delete bmax;

    if (!params.polyCount || !params.polys || Constants::TilesPerMap * Constants::TilesPerMap == params.polyCount)
    {
//.........这里部分代码省略.........

//.........这里部分代码省略.........
    rcBuildCompactHeightfield(Context, Config.walkableHeight, Config.walkableClimb, *hf, *chf);

    rcErodeWalkableArea(Context, Config.walkableRadius, *chf);
    rcBuildDistanceField(Context, *chf);
    rcBuildRegions(Context, *chf, Config.borderSize, Config.minRegionArea, Config.mergeRegionArea);

    rcContourSet* contours = rcAllocContourSet();
    rcBuildContours(Context, *chf, Config.maxSimplificationError, Config.maxEdgeLen, *contours);

    rcPolyMesh* pmesh = rcAllocPolyMesh();
    rcBuildPolyMesh(Context, *contours, Config.maxVertsPerPoly, *pmesh);

    rcPolyMeshDetail* dmesh = rcAllocPolyMeshDetail();
    rcBuildPolyMeshDetail(Context, *pmesh, *chf, Config.detailSampleDist, Config.detailSampleMaxError, *dmesh);

    // Set flags according to area types (e.g. Swim for Water)
    for (int i = 0; i < pmesh->npolys; i++)
    {
        if (pmesh->areas[i] == Constants::POLY_AREA_ROAD || pmesh->areas[i] == Constants::POLY_AREA_TERRAIN)
            pmesh->flags[i] = Constants::POLY_FLAG_WALK;
        else if (pmesh->areas[i] == Constants::POLY_AREA_WATER)
            pmesh->flags[i] = Constants::POLY_FLAG_SWIM;
    }

    dtNavMeshCreateParams params;
    memset(&params, 0, sizeof(params));
    // PolyMesh data
    params.verts = pmesh->verts;
    params.vertCount = pmesh->nverts;
    params.polys = pmesh->polys;
    params.polyAreas = pmesh->areas;
    params.polyFlags = pmesh->flags;
    params.polyCount = pmesh->npolys;
    params.nvp = pmesh->nvp;
    // PolyMeshDetail data
    params.detailMeshes = dmesh->meshes;
    params.detailVerts = dmesh->verts;
    params.detailVertsCount = dmesh->nverts;
    params.detailTris = dmesh->tris;
    params.detailTriCount = dmesh->ntris;
    // General settings
    params.ch = Config.ch;
    params.cs = Config.cs;
    params.walkableClimb = Config.walkableClimb * Config.ch;
    params.walkableHeight = Config.walkableHeight * Config.ch;
    params.walkableRadius = Config.walkableRadius * Config.cs;
    params.tileX = X;
    params.tileY = Y;
    params.tileLayer = 0;
    params.buildBvTree = true;

    // Recalculate the bounds with the added geometry
    float* bmin2 = NULL, *bmax2 = NULL;
    CalculateTileBounds(bmin2, bmax2, navMeshParams);
    bmin2[1] = bmin[1];
    bmax2[1] = bmax[1];

    rcVcopy(params.bmax, bmax2);
    rcVcopy(params.bmin, bmin2);

    // Offmesh-connection settings
    params.offMeshConCount = 0; // none for now

    rcFreeHeightField(hf);
    rcFreeCompactHeightfield(chf);
    rcFreeContourSet(contours);
    delete vertices;
    delete triangles;
    delete areas;
    delete bmin;
    delete bmax;

    if (!params.polyCount || !params.polys || Constants::TilesPerMap * Constants::TilesPerMap == params.polyCount)
    {
        // we have flat tiles with no actual geometry - don't build those, its useless
        // keep in mind that we do output those into debug info
        // drop tiles with only exact count - some tiles may have geometry while having less tiles
        printf("[%02i, %02i] No polygons to build on tile, skipping.\n", X, Y);
        rcFreePolyMesh(pmesh);
        rcFreePolyMeshDetail(dmesh);
        return NULL;
    }

    int navDataSize;
    uint8* navData;
    printf("[%02i, %02i] Creating the navmesh with %i vertices, %i polys, %i triangles!\n", X, Y, params.vertCount, params.polyCount, params.detailTriCount);
    bool result = dtCreateNavMeshData(&params, &navData, &navDataSize);

    rcFreePolyMesh(pmesh);
    rcFreePolyMeshDetail(dmesh);

    if (result)
    {
        printf("[%02i, %02i] NavMesh created, size %i!\n", X, Y, navDataSize);
        DataSize = navDataSize;
        return navData;
    }

    return NULL;
}

//.........这里部分代码省略.........
                }

                if (!rcBuildRegions(m_rcContext, *tile.chf, tileCfg.borderSize, tileCfg.minRegionArea, tileCfg.mergeRegionArea))
                {
                    printf("%s Failed building regions!                \n", tileString.c_str());
                    continue;
                }

                tile.cset = rcAllocContourSet();
                if (!tile.cset || !rcBuildContours(m_rcContext, *tile.chf, tileCfg.maxSimplificationError, tileCfg.maxEdgeLen, *tile.cset))
                {
                    printf("%s Failed building contours!               \n", tileString.c_str());
                    continue;
                }

                // build polymesh
                tile.pmesh = rcAllocPolyMesh();
                if (!tile.pmesh || !rcBuildPolyMesh(m_rcContext, *tile.cset, tileCfg.maxVertsPerPoly, *tile.pmesh))
                {
                    printf("%s Failed building polymesh!               \n", tileString.c_str());
                    continue;
                }

                tile.dmesh = rcAllocPolyMeshDetail();
                if (!tile.dmesh || !rcBuildPolyMeshDetail(m_rcContext, *tile.pmesh, *tile.chf, tileCfg.detailSampleDist, tileCfg.detailSampleMaxError, *tile.dmesh))
                {
                    printf("%s Failed building polymesh detail!        \n", tileString.c_str());
                    continue;
                }

                // free those up
                // we may want to keep them in the future for debug
                // but right now, we don't have the code to merge them
                rcFreeHeightField(tile.solid);
                tile.solid = NULL;
                rcFreeCompactHeightfield(tile.chf);
                tile.chf = NULL;
                rcFreeContourSet(tile.cset);
                tile.cset = NULL;

                pmmerge[nmerge] = tile.pmesh;
                dmmerge[nmerge] = tile.dmesh;
                nmerge++;
            }
        }

        iv.polyMesh = rcAllocPolyMesh();
        if (!iv.polyMesh)
        {
            printf("%s alloc iv.polyMesh FAILED!\n", tileString.c_str());
            delete[] pmmerge;
            delete[] dmmerge;
            delete[] tiles;
            return;
        }
        rcMergePolyMeshes(m_rcContext, pmmerge, nmerge, *iv.polyMesh);

        iv.polyMeshDetail = rcAllocPolyMeshDetail();
        if (!iv.polyMeshDetail)
        {
            printf("%s alloc m_dmesh FAILED!\n", tileString.c_str());
            delete[] pmmerge;
            delete[] dmmerge;
            delete[] tiles;
            return;
        }

//.........这里部分代码省略.........
	if (!m_keepInterResults)
	{
		delete [] m_triareas;
		m_triareas = 0;
	}
	
	// Once all geometry is rasterized, we do initial pass of filtering to
	// remove unwanted overhangs caused by the conservative rasterization
	// as well as filter spans where the character cannot possibly stand.
	if (m_filterLowHangingObstacles)
		rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, *m_solid);
	if (m_filterLedgeSpans)
		rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
	if (m_filterWalkableLowHeightSpans)
		rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, *m_solid);
	
	// Compact the heightfield so that it is faster to handle from now on.
	// This will result more cache coherent data as well as the neighbours
	// between walkable cells will be calculated.
	m_chf = rcAllocCompactHeightfield();
	if (!m_chf)
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
		return 0;
	}
	if (!rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid, *m_chf))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
		return 0;
	}
	
	if (!m_keepInterResults)
	{
		rcFreeHeightField(m_solid);
		m_solid = 0;
	}

	// Erode the walkable area by agent radius.
	if (!rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, *m_chf))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
		return 0;
	}

	// (Optional) Mark areas.
	const ConvexVolume* vols = m_geom->getConvexVolumes();
	for (int i  = 0; i < m_geom->getConvexVolumeCount(); ++i)
		rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);
	
	
	// Partition the heightfield so that we can use simple algorithm later to triangulate the walkable areas.
	// There are 3 martitioning methods, each with some pros and cons:
	// 1) Watershed partitioning
	//   - the classic Recast partitioning
	//   - creates the nicest tessellation
	//   - usually slowest
	//   - partitions the heightfield into nice regions without holes or overlaps
	//   - the are some corner cases where this method creates produces holes and overlaps
	//      - holes may appear when a small obstacles is close to large open area (triangulation can handle this)
	//      - overlaps may occur if you have narrow spiral corridors (i.e stairs), this make triangulation to fail
	//   * generally the best choice if you precompute the nacmesh, use this if you have large open areas
	// 2) Monotone partioning
	//   - fastest
	//   - partitions the heightfield into regions without holes and overlaps (guaranteed)
	//   - creates long thin polygons, which sometimes causes paths with detours
	//   * use this if you want fast navmesh generation

//.........这里部分代码省略.........
   // as well as filter spans where the character cannot possibly stand.
   rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, *m_solid);
   rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
   rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, *m_solid);








   //
   // Step 4. Partition walkable surface to simple regions.
   //

   // Compact the heightfield so that it is faster to handle from now on.
   // This will result more cache coherent data as well as the neighbours
   // between walkable cells will be calculated.
   m_chf = rcAllocCompactHeightfield();
   if (!m_chf)
   {
      m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'chf'.");
      return false;
   }
   if (!rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid, *m_chf))
   {
      m_pLog->logMessage("ERROR: buildNavigation: Could not build compact data.");
      return false;
   }
   
   if (!m_keepInterResults)
   {
      rcFreeHeightField(m_solid);
      m_solid = 0;
   }


   // Erode the walkable area by agent radius.
   if (!rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, *m_chf))
   {
      m_pLog->logMessage("ERROR: buildNavigation: Could not erode walkable areas.");
      return false;
   }

// TODO implement
   // (Optional) Mark areas.
   //const ConvexVolume* vols = m_geom->getConvexVolumes();
   //for (int i  = 0; i < m_geom->getConvexVolumeCount(); ++i)
   //   rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);


   // Prepare for region partitioning, by calculating distance field along the walkable surface.
   if (!rcBuildDistanceField(m_ctx, *m_chf))
   {
      m_pLog->logMessage("ERROR: buildNavigation: Could not build distance field.");
      return false;
   }

   // Partition the walkable surface into simple regions without holes.
   if (!rcBuildRegions(m_ctx, *m_chf, m_cfg.borderSize, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
   {
      m_pLog->logMessage("ERROR: buildNavigation: Could not build regions.");
      return false;
   }

//.........这里部分代码省略.........
		rcRasterizeTriangles(m_ctx, verts, nverts, tris, m_triareas, ntris, *m_solid, m_cfg.walkableClimb);
	}
	
	if (!m_keepInterResults)
	{
		delete [] m_triareas;
		m_triareas = 0;
	}
	
	// Once all geometry is rasterized, we do initial pass of filtering to
	// remove unwanted overhangs caused by the conservative rasterization
	// as well as filter spans where the character cannot possibly stand.
	rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, *m_solid);
	rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
	rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, *m_solid);
	
	// Compact the heightfield so that it is faster to handle from now on.
	// This will result more cache coherent data as well as the neighbours
	// between walkable cells will be calculated.
	m_chf = rcAllocCompactHeightfield();
	if (!m_chf)
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
		return 0;
	}
	if (!rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid, *m_chf))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
		return 0;
	}
	
	if (!m_keepInterResults)
	{
		rcFreeHeightField(m_solid);
		m_solid = 0;
	}

	// Erode the walkable area by agent radius.
	if (!rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, *m_chf))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
		return false;
	}

	// (Optional) Mark areas.
	const ConvexVolume* vols = m_geom->getConvexVolumes();
	for (int i  = 0; i < m_geom->getConvexVolumeCount(); ++i)
		rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);
	
	// Prepare for region partitioning, by calculating distance field along the walkable surface.
	if (!rcBuildDistanceField(m_ctx, *m_chf))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build distance field.");
		return 0;
	}
	
	// Partition the walkable surface into simple regions without holes.
	if (!rcBuildRegions(m_ctx, *m_chf, m_cfg.borderSize, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build regions.");
		return 0;
	}
 
	// Create contours.
	m_cset = rcAllocContourSet();
	if (!m_cset)

void recast_destroyHeightfield(struct recast_heightfield *heightfield)
{
	rcFreeHeightField((rcHeightfield *) heightfield);
}

//.........这里部分代码省略.........
	//
	// Step 3. Filter walkables surfaces.
	//
	
	// Once all geoemtry is rasterized, we do initial pass of filtering to
	// remove unwanted overhangs caused by the conservative rasterization
	// as well as filter spans where the character cannot possibly stand.
	rcFilterLowHangingWalkableObstacles(m_ctx, m_cfg.walkableClimb, *m_solid);
	rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
	rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, *m_solid);


	//
	// Step 4. Partition walkable surface to simple regions.
	//

	// Compact the heightfield so that it is faster to handle from now on.
	// This will result more cache coherent data as well as the neighbours
	// between walkable cells will be calculated.
	m_chf = rcAllocCompactHeightfield();
	if (!m_chf)
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
		return false;
	}
	if (!rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid, *m_chf))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
		return false;
	}
	
	if (!m_keepInterResults)
	{
		rcFreeHeightField(m_solid);
		m_solid = 0;
	}
		
	// Erode the walkable area by agent radius.
	if (!rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, *m_chf))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
		return false;
	}

	// (Optional) Mark areas.
	const ConvexVolume* vols = m_geom->getConvexVolumes();
	for (int i  = 0; i < m_geom->getConvexVolumeCount(); ++i)
		rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);

	
	// Partition the heightfield so that we can use simple algorithm later to triangulate the walkable areas.
	// There are 3 martitioning methods, each with some pros and cons:
	// 1) Watershed partitioning
	//   - the classic Recast partitioning
	//   - creates the nicest tessellation
	//   - usually slowest
	//   - partitions the heightfield into nice regions without holes or overlaps
	//   - the are some corner cases where this method creates produces holes and overlaps
	//      - holes may appear when a small obstacles is close to large open area (triangulation can handle this)
	//      - overlaps may occur if you have narrow spiral corridors (i.e stairs), this make triangulation to fail
	//   * generally the best choice if you precompute the nacmesh, use this if you have large open areas
	// 2) Monotone partioning
	//   - fastest
	//   - partitions the heightfield into regions without holes and overlaps (guaranteed)
	//   - creates long thin polygons, which sometimes causes paths with detours
	//   * use this if you want fast navmesh generation

//.........这里部分代码省略.........
    rcPolyMesh** pmmerge = new rcPolyMesh*[Constants::TilesPerMap * Constants::TilesPerMap];
    rcPolyMeshDetail** dmmerge = new rcPolyMeshDetail*[Constants::TilesPerMap * Constants::TilesPerMap];

    int nmerge = 0;
    for (int y = 0; y < Constants::TilesPerMap; ++y)
    {
        for (int x = 0; x < Constants::TilesPerMap; ++x)
        {
            // Calculate the per tile bounding box.
            tileCfg.bmin[0] = Config.bmin[0] + float(x * Config.tileSize - Config.borderSize) * Config.cs;
            tileCfg.bmin[2] = Config.bmin[2] + float(y * Config.tileSize - Config.borderSize) * Config.cs;
            tileCfg.bmax[0] = Config.bmin[0] + float((x + 1) * Config.tileSize + Config.borderSize) * Config.cs;
            tileCfg.bmax[2] = Config.bmin[2] + float((y + 1) * Config.tileSize + Config.borderSize) * Config.cs;


            rcHeightfield* hf = rcAllocHeightfield();
            rcCreateHeightfield(Context, *hf, tileCfg.width, tileCfg.height, tileCfg.bmin, tileCfg.bmax, tileCfg.cs, tileCfg.ch);
            rcClearUnwalkableTriangles(Context, tileCfg.walkableSlopeAngle, vertices, numVerts, triangles, numTris, areas);
            rcRasterizeTriangles(Context, vertices, numVerts, triangles, areas, numTris, *hf, Config.walkableClimb);

            // Once all geometry is rasterized, we do initial pass of filtering to
            // remove unwanted overhangs caused by the conservative rasterization
            // as well as filter spans where the character cannot possibly stand.
            rcFilterLowHangingWalkableObstacles(Context, Config.walkableClimb, *hf);
            rcFilterLedgeSpans(Context, tileCfg.walkableHeight, tileCfg.walkableClimb, *hf);
            rcFilterWalkableLowHeightSpans(Context, tileCfg.walkableHeight, *hf);

            // Compact the heightfield so that it is faster to handle from now on.
            // This will result in more cache coherent data as well as the neighbours
            // between walkable cells will be calculated.
            rcCompactHeightfield* chf = rcAllocCompactHeightfield();
            rcBuildCompactHeightfield(Context, tileCfg.walkableHeight, tileCfg.walkableClimb, *hf, *chf);

            rcFreeHeightField(hf);

            // Erode the walkable area by agent radius.
            rcErodeWalkableArea(Context, Config.walkableRadius, *chf);
            // Prepare for region partitioning, by calculating distance field along the walkable surface.
            rcBuildDistanceField(Context, *chf);
            // Partition the walkable surface into simple regions without holes.
            rcBuildRegions(Context, *chf, tileCfg.borderSize, tileCfg.minRegionArea, tileCfg.mergeRegionArea);

            // Create contours.
            rcContourSet* cset = rcAllocContourSet();
            rcBuildContours(Context, *chf, tileCfg.maxSimplificationError, tileCfg.maxEdgeLen, *cset);

            // Build polygon navmesh from the contours.
            rcPolyMesh* pmesh = rcAllocPolyMesh();
            rcBuildPolyMesh(Context, *cset, tileCfg.maxVertsPerPoly, *pmesh);

            // Build detail mesh.
            rcPolyMeshDetail* dmesh = rcAllocPolyMeshDetail();
            rcBuildPolyMeshDetail(Context, *pmesh, *chf, tileCfg.detailSampleDist, tileCfg.detailSampleMaxError, *dmesh);

            // Free memory
            rcFreeCompactHeightfield(chf);
            rcFreeContourSet(cset);

            pmmerge[nmerge] = pmesh;
            dmmerge[nmerge] = dmesh;
            ++nmerge;
        }
    }

    rcPolyMesh* pmesh = rcAllocPolyMesh();
    rcMergePolyMeshes(Context, pmmerge, nmerge, *pmesh);

//.........这里部分代码省略.........
	//I know I put this option in the params, but...
	if(!_recastParams.getKeepIntermediateResults())
	{
		delete[] _triangleAreas;
		_triangleAreas = nullptr;
	}

	//Step 3 : Filter walkables surfaces
	//Initial pass of filtering to remove unwanted overhangs caused
	//by the conservative rasterization.
	//Also filters spans where the character can't stand.
	rcFilterLowHangingWalkableObstacles(_context,_config.walkableClimb,*_solid);
	rcFilterLedgeSpans(_context,_config.walkableHeight,_config.walkableClimb,*_solid);
	rcFilterWalkableLowHeightSpans(_context,_config.walkableHeight,*_solid);

	//Step 4 : Partition walkable surface to simple regions
	//Compact the heightfield so that it is faster to handle from now on.
	_compactHeightfield = rcAllocCompactHeightfield();
	if(!_compactHeightfield)
	{
		std::cout << "Error! Out of memory '_compactHeightfield'" << std::endl;
		return false;
	}
	if(!rcBuildCompactHeightfield(_context,
								  _config.walkableHeight,_config.walkableClimb,
								  *_solid,*_compactHeightfield))
	{
		std::cout << "Error! BuildNav - Could not build compact data." << std::endl;
		return false;
	}

	if(!_recastParams.getKeepIntermediateResults())
	{
		rcFreeHeightField(_solid);
		_solid = nullptr;
	}

	//Erode walkable area by agent radius
	if(!rcErodeWalkableArea(_context,_config.walkableRadius,*_compactHeightfield))
	{
		std::cout << "Error! BuildNav - Could not erode walkable areas." << std::endl;
		return false;
	}

	//Prepare for region partitioning, generate distance field
	if(!rcBuildDistanceField(_context,*_compactHeightfield))
	{
		std::cout << "Error! BuildNav - Could not build distance field." << std::endl;
		return false;
	}

	//Partition the walkable surface into simple regions w/o holes
	if(!rcBuildRegions(_context,*_compactHeightfield,
					   _config.borderSize,
					   _config.minRegionArea,_config.mergeRegionArea))
	{
		std::cout << "Error! BuildNav - Could not build regions." << std::endl;
		return false;
	}

	//Step 5 : Trace and simplify region contours.
	//create contours
	_contourSet = rcAllocContourSet();
	if(!_contourSet)
	{
		std::cout << "Error! BuildNav - Out of memory '_contourSet'" << std::endl;