static void addUnique(rcIntArray& a, int v)
{
	if (!a.contains(v))
	{
		a.push(v);
	}
}

static void push3(rcIntArray& queue, int v1, int v2, int v3)
{
	queue.resize(queue.size() + 3);
	queue[queue.size() - 3] = v1;
	queue[queue.size() - 2] = v2;
	queue[queue.size() - 1] = v3;
}

static void appendStacks(rcIntArray& srcStack, rcIntArray& dstStack,
						 unsigned short* srcReg)
{
	for (int j=0; j<srcStack.size(); j+=3)
	{
		int i = srcStack[j+2];
		if ((i < 0) || (srcReg[i] != 0))
			continue;
		dstStack.push(srcStack[j]);
		dstStack.push(srcStack[j+1]);
		dstStack.push(srcStack[j+2]);
	}
}

static void removeDegenerateSegments(rcIntArray& simplified)
{
	// Remove adjacent vertices which are equal on xz-plane,
	// or else the triangulator will get confused.
	int npts = simplified.size()/4;
	for (int i = 0; i < npts; ++i)
	{
		int ni = next(i, npts);
		
		if (vequal(&simplified[i*4], &simplified[ni*4]))
		{
			// Degenerate segment, remove.
			for (int j = i; j < simplified.size()/4-1; ++j)
			{
				simplified[j*4+0] = simplified[(j+1)*4+0];
				simplified[j*4+1] = simplified[(j+1)*4+1];
				simplified[j*4+2] = simplified[(j+1)*4+2];
				simplified[j*4+3] = simplified[(j+1)*4+3];
			}
			simplified.resize(simplified.size()-4);
			npts--;
		}
	}
}

static bool buildPolyDetail(rcContext* ctx, const float* in, const int nin,
							const float sampleDist, const float sampleMaxError,
							const rcCompactHeightfield& chf, const rcHeightPatch& hp,
							float* verts, int& nverts, rcIntArray& tris,
							rcIntArray& edges, rcIntArray& samples)
{
	static const int MAX_VERTS = 127;
	static const int MAX_TRIS = 255;	// Max tris for delaunay is 2n-2-k (n=num verts, k=num hull verts).
	static const int MAX_VERTS_PER_EDGE = 32;
	float edge[(MAX_VERTS_PER_EDGE+1)*3];
	int hull[MAX_VERTS];
	int nhull = 0;
	
	nverts = 0;
	
	for (int i = 0; i < nin; ++i)
		rcVcopy(&verts[i*3], &in[i*3]);
	nverts = nin;
	
	edges.resize(0);
	tris.resize(0);
	
	const float cs = chf.cs;
	const float ics = 1.0f/cs;
	
	// Calculate minimum extents of the polygon based on input data.
	float minExtent = polyMinExtent(verts, nverts);
	
	// Tessellate outlines.
	// This is done in separate pass in order to ensure
	// seamless height values across the ply boundaries.
	if (sampleDist > 0)
	{
		for (int i = 0, j = nin-1; i < nin; j=i++)
		{
			const float* vj = &in[j*3];
			const float* vi = &in[i*3];
			bool swapped = false;
			// Make sure the segments are always handled in same order
			// using lexological sort or else there will be seams.
			if (fabsf(vj[0]-vi[0]) < 1e-6f)
			{
				if (vj[2] > vi[2])
				{
					rcSwap(vj,vi);
					swapped = true;
				}
			}
			else
			{
				if (vj[0] > vi[0])
				{
					rcSwap(vj,vi);
					swapped = true;
				}
			}
			// Create samples along the edge.
			float dx = vi[0] - vj[0];
			float dy = vi[1] - vj[1];
			float dz = vi[2] - vj[2];
			float d = sqrtf(dx*dx + dz*dz);
			int nn = 1 + (int)floorf(d/sampleDist);
			if (nn >= MAX_VERTS_PER_EDGE) nn = MAX_VERTS_PER_EDGE-1;
			if (nverts+nn >= MAX_VERTS)
				nn = MAX_VERTS-1-nverts;
			
			for (int k = 0; k <= nn; ++k)
			{
				float u = (float)k/(float)nn;
				float* pos = &edge[k*3];
				pos[0] = vj[0] + dx*u;
				pos[1] = vj[1] + dy*u;
				pos[2] = vj[2] + dz*u;
				pos[1] = getHeight(pos[0],pos[1],pos[2], cs, ics, chf.ch, hp)*chf.ch;
			}
			// Simplify samples.
			int idx[MAX_VERTS_PER_EDGE] = {0,nn};
			int nidx = 2;
			for (int k = 0; k < nidx-1; )
			{
				const int a = idx[k];
				const int b = idx[k+1];
				const float* va = &edge[a*3];
				const float* vb = &edge[b*3];
				// Find maximum deviation along the segment.
				float maxd = 0;
				int maxi = -1;
				for (int m = a+1; m < b; ++m)
				{
					float dev = distancePtSeg(&edge[m*3],va,vb);
					if (dev > maxd)
					{
						maxd = dev;
						maxi = m;
					}
				}
				// If the max deviation is larger than accepted error,
				// add new point, else continue to next segment.
				if (maxi != -1 && maxd > rcSqr(sampleMaxError))
				{
//.........这里部分代码省略.........

static void triangulateHull(const int nverts, const float* verts, const int nhull, const int* hull, rcIntArray& tris)
{
	int start = 0, left = 1, right = nhull-1;
	
	// Start from an ear with shortest perimeter.
	// This tends to favor well formed triangles as starting point.
	float dmin = 0;
	for (int i = 0; i < nhull; i++)
	{
		int pi = prev(i, nhull);
		int ni = next(i, nhull);
		const float* pv = &verts[hull[pi]*3];
		const float* cv = &verts[hull[i]*3];
		const float* nv = &verts[hull[ni]*3];
		const float d = vdist2(pv,cv) + vdist2(cv,nv) + vdist2(nv,pv);
		if (d < dmin)
		{
			start = i;
			left = ni;
			right = pi;
			dmin = d;
		}
	}
	
	// Add first triangle
	tris.push(hull[start]);
	tris.push(hull[left]);
	tris.push(hull[right]);
	tris.push(0);
	
	// Triangulate the polygon by moving left or right,
	// depending on which triangle has shorter perimeter.
	// This heuristic was chose emprically, since it seems
	// handle tesselated straight edges well.
	while (next(left, nhull) != right)
	{
		// Check to see if se should advance left or right.
		int nleft = next(left, nhull);
		int nright = prev(right, nhull);
		
		const float* cvleft = &verts[hull[left]*3];
		const float* nvleft = &verts[hull[nleft]*3];
		const float* cvright = &verts[hull[right]*3];
		const float* nvright = &verts[hull[nright]*3];
		const float dleft = vdist2(cvleft, nvleft) + vdist2(nvleft, cvright);
		const float dright = vdist2(cvright, nvright) + vdist2(cvleft, nvright);
		
		if (dleft < dright)
		{
			tris.push(hull[left]);
			tris.push(hull[nleft]);
			tris.push(hull[right]);
			tris.push(0);
			left = nleft;
		}
		else
		{
			tris.push(hull[left]);
			tris.push(hull[nright]);
			tris.push(hull[right]);
			tris.push(0);
			right = nright;
		}
	}
}

static void delaunayHull(rcContext* ctx, const int npts, const float* pts,
						 const int nhull, const int* hull,
						 rcIntArray& tris, rcIntArray& edges)
{
	int nfaces = 0;
	int nedges = 0;
	const int maxEdges = npts*10;
	edges.resize(maxEdges*4);
	
	for (int i = 0, j = nhull-1; i < nhull; j=i++)
		addEdge(ctx, &edges[0], nedges, maxEdges, hull[j],hull[i], HULL, UNDEF);
	
	int currentEdge = 0;
	while (currentEdge < nedges)
	{
		if (edges[currentEdge*4+2] == UNDEF)
			completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
		if (edges[currentEdge*4+3] == UNDEF)
			completeFacet(ctx, pts, npts, &edges[0], nedges, maxEdges, nfaces, currentEdge);
		currentEdge++;
	}
	
	// Create tris
	tris.resize(nfaces*4);
	for (int i = 0; i < nfaces*4; ++i)
		tris[i] = -1;
	
	for (int i = 0; i < nedges; ++i)
	{
		const int* e = &edges[i*4];
		if (e[3] >= 0)
		{
			// Left face
			int* t = &tris[e[3]*4];
			if (t[0] == -1)
			{
				t[0] = e[0];
				t[1] = e[1];
			}
			else if (t[0] == e[1])
				t[2] = e[0];
			else if (t[1] == e[0])
				t[2] = e[1];
		}
		if (e[2] >= 0)
		{
			// Right
			int* t = &tris[e[2]*4];
			if (t[0] == -1)
			{
				t[0] = e[1];
				t[1] = e[0];
			}
			else if (t[0] == e[0])
				t[2] = e[1];
			else if (t[1] == e[1])
				t[2] = e[0];
		}
	}
	
	for (int i = 0; i < tris.size()/4; ++i)
	{
		int* t = &tris[i*4];
		if (t[0] == -1 || t[1] == -1 || t[2] == -1)
		{
			ctx->log(RC_LOG_WARNING, "delaunayHull: Removing dangling face %d [%d,%d,%d].", i, t[0],t[1],t[2]);
			t[0] = tris[tris.size()-4];
			t[1] = tris[tris.size()-3];
			t[2] = tris[tris.size()-2];
			t[3] = tris[tris.size()-1];
			tris.resize(tris.size()-4);
			--i;
		}
	}
}

static void seedArrayWithPolyCenter(rcContext* ctx, const rcCompactHeightfield& chf,
									const unsigned short* poly, const int npoly,
									const unsigned short* verts, const int bs,
									rcHeightPatch& hp, rcIntArray& array)
{
	// Note: Reads to the compact heightfield are offset by border size (bs)
	// since border size offset is already removed from the polymesh vertices.
	
	static const int offset[9*2] =
	{
		0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0,
	};
	
	// Find cell closest to a poly vertex
	int startCellX = 0, startCellY = 0, startSpanIndex = -1;
	int dmin = RC_UNSET_HEIGHT;
	for (int j = 0; j < npoly && dmin > 0; ++j)
	{
		for (int k = 0; k < 9 && dmin > 0; ++k)
		{
			const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
			const int ay = (int)verts[poly[j]*3+1];
			const int az = (int)verts[poly[j]*3+2] + offset[k*2+1];
			if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
				az < hp.ymin || az >= hp.ymin+hp.height)
				continue;
			
			const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width];
			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni && dmin > 0; ++i)
			{
				const rcCompactSpan& s = chf.spans[i];
				int d = rcAbs(ay - (int)s.y);
				if (d < dmin)
				{
					startCellX = ax;
					startCellY = az;
					startSpanIndex = i;
					dmin = d;
				}
			}
		}
	}
	
	rcAssert(startSpanIndex != -1);
	// Find center of the polygon
	int pcx = 0, pcy = 0;
	for (int j = 0; j < npoly; ++j)
	{
		pcx += (int)verts[poly[j]*3+0];
		pcy += (int)verts[poly[j]*3+2];
	}
	pcx /= npoly;
	pcy /= npoly;
	
	// Use seeds array as a stack for DFS
	array.resize(0);
	array.push(startCellX);
	array.push(startCellY);
	array.push(startSpanIndex);

	int dirs[] = { 0, 1, 2, 3 };
	memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
	// DFS to move to the center. Note that we need a DFS here and can not just move
	// directly towards the center without recording intermediate nodes, even though the polygons
	// are convex. In very rare we can get stuck due to contour simplification if we do not
	// record nodes.
	int cx = -1, cy = -1, ci = -1;
	while (true)
	{
		if (array.size() < 3)
		{
			ctx->log(RC_LOG_WARNING, "Walk towards polygon center failed to reach center");
			break;
		}

		ci = array.pop();
		cy = array.pop();
		cx = array.pop();

		if (cx == pcx && cy == pcy)
			break;

		// If we are already at the correct X-position, prefer direction
		// directly towards the center in the Y-axis; otherwise prefer
		// direction in the X-axis
		int directDir;
		if (cx == pcx)
			directDir = rcGetDirForOffset(0, pcy > cy ? 1 : -1);
		else
			directDir = rcGetDirForOffset(pcx > cx ? 1 : -1, 0);

		// Push the direct dir last so we start with this on next iteration
		rcSwap(dirs[directDir], dirs[3]);

		const rcCompactSpan& cs = chf.spans[ci];
		for (int i = 0; i < 4; i++)
		{
			int dir = dirs[i];
			if (rcGetCon(cs, dir) == RC_NOT_CONNECTED)
				continue;
//.........这里部分代码省略.........

static void getHeightData(const rcCompactHeightfield& chf,
						  const unsigned short* poly, const int npoly,
						  const unsigned short* verts,
						  rcHeightPatch& hp, rcIntArray& stack)
{
	// Floodfill the heightfield to get 2D height data,
	// starting at vertex locations as seeds.

	memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);

	stack.resize(0);

	static const int offset[9*2] =
	{
		0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0,
	};

	// Use poly vertices as seed points for the flood fill.
	for (int j = 0; j < npoly; ++j)
	{
		int cx = 0, cz = 0, ci =-1;
		int dmin = RC_UNSET_HEIGHT;
		for (int k = 0; k < 9; ++k)
		{
			const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
			const int ay = (int)verts[poly[j]*3+1];
			const int az = (int)verts[poly[j]*3+2] + offset[k*2+1];
			if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
				az < hp.ymin || az >= hp.ymin+hp.height)
				continue;

			const rcCompactCell& c = chf.cells[ax+az*chf.width];
			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
			{
				const rcCompactSpan& s = chf.spans[i];
				int d = rcAbs(ay - (int)s.y);
				if (d < dmin)
				{
					cx = ax;
					cz = az;
					ci = i;
					dmin = d;
				}
			}
		}
		if (ci != -1)
		{
			stack.push(cx);
			stack.push(cz);
			stack.push(ci);
		}
	}

	// Find center of the polygon using flood fill.
	int pcx = 0, pcz = 0;
	for (int j = 0; j < npoly; ++j)
	{
		pcx += (int)verts[poly[j]*3+0];
		pcz += (int)verts[poly[j]*3+2];
	}
	pcx /= npoly;
	pcz /= npoly;

	for (int i = 0; i < stack.size(); i += 3)
	{
		int cx = stack[i+0];
		int cy = stack[i+1];
		int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
		hp.data[idx] = 1;
	}

	while (stack.size() > 0)
	{
		int ci = stack.pop();
		int cy = stack.pop();
		int cx = stack.pop();

		// Check if close to center of the polygon.
		if (rcAbs(cx-pcx) <= 1 && rcAbs(cy-pcz) <= 1)
		{
			stack.resize(0);
			stack.push(cx);
			stack.push(cy);
			stack.push(ci);
			break;
		}

		const rcCompactSpan& cs = chf.spans[ci];

		for (int dir = 0; dir < 4; ++dir)
		{
			if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;

			const int ax = cx + rcGetDirOffsetX(dir);
			const int ay = cy + rcGetDirOffsetY(dir);

			if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
				ay < hp.ymin || ay >= (hp.ymin+hp.height))
				continue;

//.........这里部分代码省略.........

// Based on Paul Bourke's triangulate.c
//  http://astronomy.swin.edu.au/~pbourke/terrain/triangulate/triangulate.c
static void delaunay(const int nv, float *verts, rcIntArray& idx, rcIntArray& tris, rcIntArray& edges)
{
	// Sort vertices
	idx.resize(nv);
	for (int i = 0; i < nv; ++i)
		idx[i] = i;
#ifdef WIN32
	qsort_s(&idx[0], idx.size(), sizeof(int), ptcmp, verts);
#else
	qsort_r(&idx[0], idx.size(), sizeof(int), verts, ptcmp);
#endif

	// Find the maximum and minimum vertex bounds.
	// This is to allow calculation of the bounding triangle
	float xmin = verts[0];
	float ymin = verts[2];
	float xmax = xmin;
	float ymax = ymin;
	for (int i = 1; i < nv; ++i)
	{
		xmin = rcMin(xmin, verts[i*3+0]);
		xmax = rcMax(xmax, verts[i*3+0]);
		ymin = rcMin(ymin, verts[i*3+2]);
		ymax = rcMax(ymax, verts[i*3+2]);
	}
	float dx = xmax - xmin;
	float dy = ymax - ymin;
	float dmax = (dx > dy) ? dx : dy;
	float xmid = (xmax + xmin) / 2.0f;
	float ymid = (ymax + ymin) / 2.0f;
	
	// Set up the supertriangle
	// This is a triangle which encompasses all the sample points.
	// The supertriangle coordinates are added to the end of the
	// vertex list. The supertriangle is the first triangle in
	// the triangle list.
	float sv[3*3];
	
	sv[0] = xmid - 20 * dmax;
	sv[1] = 0;
	sv[2] = ymid - dmax;
	
	sv[3] = xmid;
	sv[4] = 0;
	sv[5] = ymid + 20 * dmax;
	
	sv[6] = xmid + 20 * dmax;
	sv[7] = 0;
	sv[8] = ymid - dmax;
	
	tris.push(-3);
	tris.push(-2);
	tris.push(-1);
	tris.push(0); // not completed
	
	for (int i = 0; i < nv; ++i)
	{
		const float xp = verts[idx[i]*3+0];
		const float yp = verts[idx[i]*3+2];
		
		edges.resize(0);
		
		// Set up the edge buffer.
		// If the point (xp,yp) lies inside the circumcircle then the
		// three edges of that triangle are added to the edge buffer
		// and that triangle is removed.
		for (int j = 0; j < tris.size()/4; ++j)
		{
			int* t = &tris[j*4];
			if (t[3]) // completed?
				continue;
			const float* v1 = t[0] < 0 ? &sv[(t[0]+3)*3] : &verts[idx[t[0]]*3];
			const float* v2 = t[1] < 0 ? &sv[(t[1]+3)*3] : &verts[idx[t[1]]*3];
			const float* v3 = t[2] < 0 ? &sv[(t[2]+3)*3] : &verts[idx[t[2]]*3];
			float xc,yc,rsqr;
			int inside = circumCircle(xp,yp, v1[0],v1[2], v2[0],v2[2], v3[0],v3[2], xc,yc,rsqr);
			if (xc < xp && rcSqr(xp-xc) > rsqr)
				t[3] = 1;
			if (inside)
			{
				// Collect triangle edges.
				edges.push(t[0]);
				edges.push(t[1]);
				edges.push(t[1]);
				edges.push(t[2]);
				edges.push(t[2]);
				edges.push(t[0]);
				// Remove triangle j.
				t[0] = tris[tris.size()-4];
				t[1] = tris[tris.size()-3];
				t[2] = tris[tris.size()-2];
				t[3] = tris[tris.size()-1];
				tris.resize(tris.size()-4);
				j--;
			}
		}
		
		// Remove duplicate edges.
//.........这里部分代码省略.........

static bool floodRegion(int x, int y, int i,
                        unsigned short level, unsigned short r,
                        rcCompactHeightfield& chf,
                        unsigned short* srcReg, unsigned short* srcDist,
                        rcIntArray& stack)
{
    const int w = chf.width;
    
    const unsigned char area = chf.areas[i];
    
    // Flood fill mark region.
    stack.resize(0);
    stack.push((int)x);
    stack.push((int)y);
    stack.push((int)i);
    srcReg[i] = r;
    srcDist[i] = 0;
    
    unsigned short lev = level >= 2 ? level-2 : 0;
    int count = 0;
    
    while (stack.size() > 0)
    {
        int ci = stack.pop();
        int cy = stack.pop();
        int cx = stack.pop();
        
        const rcCompactSpan& cs = chf.spans[ci];
        
        // Check if any of the neighbours already have a valid region set.
        unsigned short ar = 0;
        for (int dir = 0; dir < 4; ++dir)
        {
            // 8 connected
            if (rcGetCon(cs, dir) != RC_NOT_CONNECTED)
            {
                const int ax = cx + rcGetDirOffsetX(dir);
                const int ay = cy + rcGetDirOffsetY(dir);
                const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir);
                if (chf.areas[ai] != area)
                    continue;
                unsigned short nr = srcReg[ai];
                if (nr & RC_BORDER_REG) // Do not take borders into account.
                    continue;
                if (nr != 0 && nr != r)
                    ar = nr;
                
                const rcCompactSpan& as = chf.spans[ai];
                
                const int dir2 = (dir+1) & 0x3;
                if (rcGetCon(as, dir2) != RC_NOT_CONNECTED)
                {
                    const int ax2 = ax + rcGetDirOffsetX(dir2);
                    const int ay2 = ay + rcGetDirOffsetY(dir2);
                    const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
                    if (chf.areas[ai2] != area)
                        continue;
                    unsigned short nr2 = srcReg[ai2];
                    if (nr2 != 0 && nr2 != r)
                        ar = nr2;
                }                
            }
        }
        if (ar != 0)
        {
            srcReg[ci] = 0;
            continue;
        }
        count++;
        
        // Expand neighbours.
        for (int dir = 0; dir < 4; ++dir)
        {
            if (rcGetCon(cs, dir) != RC_NOT_CONNECTED)
            {
                const int ax = cx + rcGetDirOffsetX(dir);
                const int ay = cy + rcGetDirOffsetY(dir);
                const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir);
                if (chf.areas[ai] != area)
                    continue;
                if (chf.dist[ai] >= lev && srcReg[ai] == 0)
                {
                    srcReg[ai] = r;
                    srcDist[ai] = 0;
                    stack.push(ax);
                    stack.push(ay);
                    stack.push(ai);
                }
            }
        }
    }
    
    return count > 0;
}

static void walkContour(int x, int y, int i,
						rcCompactHeightfield& chf,
						unsigned char* flags, rcIntArray& points)
{
	// Choose the first non-connected edge
	unsigned char dir = 0;
	while ((flags[i] & (1 << dir)) == 0)
		dir++;
	
	unsigned char startDir = dir;
	int starti = i;
	
	const navAreaMask area = chf.areaMasks[ i ];
	
	int iter = 0;
	while (++iter < 40000)
	{
		if (flags[i] & (1 << dir))
		{
			// Choose the edge corner
			bool isBorderVertex = false;
			bool isAreaBorder = false;
			int px = x;
			int py = getCornerHeight(x, y, i, dir, chf, isBorderVertex);
			int pz = y;
			switch(dir)
			{
				case 0: pz++; break;
				case 1: px++; pz++; break;
				case 2: px++; break;
			}
			int r = 0;
			const rcCompactSpan& s = chf.spans[i];
			if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
			{
				const int ax = x + rcGetDirOffsetX(dir);
				const int ay = y + rcGetDirOffsetY(dir);
				const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(s, dir);
				r = (int)chf.spans[ai].regionID;
				if (area != chf.areaMasks[ai])
					isAreaBorder = true;
			}
			if (isBorderVertex)
				r |= RC_BORDER_VERTEX;
			if (isAreaBorder)
				r |= RC_AREA_BORDER;
			points.push(px);
			points.push(py);
			points.push(pz);
			points.push(r);
			
			flags[i] &= ~(1 << dir); // Remove visited edges
			dir = (dir+1) & 0x3;  // Rotate CW
		}
		else
		{
			int ni = -1;
			const int nx = x + rcGetDirOffsetX(dir);
			const int ny = y + rcGetDirOffsetY(dir);
			const rcCompactSpan& s = chf.spans[i];
			if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
			{
				const rcCompactCell& nc = chf.cells[nx+ny*chf.width];
				ni = (int)nc.index + rcGetCon(s, dir);
			}
			if (ni == -1)
			{
				// Should not happen.
				return;
			}
			x = nx;
			y = ny;
			i = ni;
			dir = (dir+3) & 0x3;	// Rotate CCW
		}
		
		if (starti == i && startDir == dir)
		{
			break;
		}
	}
}

static void simplifyContour(rcIntArray& points, rcIntArray& simplified,
							const float maxError, const int maxEdgeLen, const int buildFlags)
{
	// Add initial points.
	bool hasConnections = false;
	for (int i = 0; i < points.size(); i += 4)
	{
		if ((points[i+3] & RC_CONTOUR_REG_MASK) != 0)
		{
			hasConnections = true;
			break;
		}
	}
	
	if (hasConnections)
	{
		// The contour has some portals to other regions.
		// Add a new point to every location where the region changes.
		for (int i = 0, ni = points.size()/4; i < ni; ++i)
		{
			int ii = (i+1) % ni;
			const bool differentRegs = (points[i*4+3] & RC_CONTOUR_REG_MASK) != (points[ii*4+3] & RC_CONTOUR_REG_MASK);
			const bool areaBorders = (points[i*4+3] & RC_AREA_BORDER) != (points[ii*4+3] & RC_AREA_BORDER);
			if (differentRegs || areaBorders)
			{
				simplified.push(points[i*4+0]);
				simplified.push(points[i*4+1]);
				simplified.push(points[i*4+2]);
				simplified.push(i);
			}
		}
	}
	
	if (simplified.size() == 0)
	{
		// If there is no connections at all,
		// create some initial points for the simplification process.
		// Find lower-left and upper-right vertices of the contour.
		int llx = points[0];
		int lly = points[1];
		int llz = points[2];
		int lli = 0;
		int urx = points[0];
		int ury = points[1];
		int urz = points[2];
		int uri = 0;
		for (int i = 0; i < points.size(); i += 4)
		{
			int x = points[i+0];
			int y = points[i+1];
			int z = points[i+2];
			if (x < llx || (x == llx && z < llz))
			{
				llx = x;
				lly = y;
				llz = z;
				lli = i/4;
			}
			if (x > urx || (x == urx && z > urz))
			{
				urx = x;
				ury = y;
				urz = z;
				uri = i/4;
			}
		}
		simplified.push(llx);
		simplified.push(lly);
		simplified.push(llz);
		simplified.push(lli);
		
		simplified.push(urx);
		simplified.push(ury);
		simplified.push(urz);
		simplified.push(uri);
	}
	
	// Add points until all raw points are within
	// error tolerance to the simplified shape.
	const int pn = points.size()/4;
	for (int i = 0; i < simplified.size()/4; )
	{
		int ii = (i+1) % (simplified.size()/4);
		
		int ax = simplified[i*4+0];
		int az = simplified[i*4+2];
		int ai = simplified[i*4+3];

		int bx = simplified[ii*4+0];
		int bz = simplified[ii*4+2];
		int bi = simplified[ii*4+3];

		// Find maximum deviation from the segment.
		float maxd = 0;
		int maxi = -1;
		int ci, cinc, endi;

		// Traverse the segment in lexilogical order so that the
		// max deviation is calculated similarly when traversing
		// opposite segments.
//.........这里部分代码省略.........

static bool floodRegion(int x, int y, int i,
						unsigned short level, unsigned short minLevel, unsigned short r,
						rcCompactHeightfield& chf,
						unsigned short* src,
						rcIntArray& stack)
{
	const int w = chf.width;
	
	// Flood fill mark region.
	stack.resize(0);
	stack.push((int)x);
	stack.push((int)y);
	stack.push((int)i);
	src[i*2] = r;
	src[i*2+1] = 0;
	
	unsigned short lev = level >= minLevel+2 ? level-2 : minLevel;
	int count = 0;
	
	while (stack.size() > 0)
	{
		int ci = stack.pop();
		int cy = stack.pop();
		int cx = stack.pop();
		
		const rcCompactSpan& cs = chf.spans[ci];
		
		// Check if any of the neighbours already have a valid region set.
		unsigned short ar = 0;
		for (int dir = 0; dir < 4; ++dir)
		{
			// 8 connected
			if (rcGetCon(cs, dir) != 0xf)
			{
				const int ax = cx + rcGetDirOffsetX(dir);
				const int ay = cy + rcGetDirOffsetY(dir);
				const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir);
				unsigned short nr = src[ai*2];
				if (nr != 0 && nr != r)
					ar = nr;
				
				const rcCompactSpan& as = chf.spans[ai];
				
				const int dir2 = (dir+1) & 0x3;
				if (rcGetCon(as, dir2) != 0xf)
				{
					const int ax2 = ax + rcGetDirOffsetX(dir2);
					const int ay2 = ay + rcGetDirOffsetY(dir2);
					const int ai2 = (int)chf.cells[ax2+ay2*w].index + rcGetCon(as, dir2);
					
					unsigned short nr = src[ai2*2];
					if (nr != 0 && nr != r)
						ar = nr;
				}				
			}
		}
		if (ar != 0)
		{
			src[ci*2] = 0;
			continue;
		}
		count++;
		
		// Expand neighbours.
		for (int dir = 0; dir < 4; ++dir)
		{
			if (rcGetCon(cs, dir) != 0xf)
			{
				const int ax = cx + rcGetDirOffsetX(dir);
				const int ay = cy + rcGetDirOffsetY(dir);
				const int ai = (int)chf.cells[ax+ay*w].index + rcGetCon(cs, dir);
				if (chf.spans[ai].dist >= lev)
				{
					if (src[ai*2] == 0)
					{
						src[ai*2] = r;
						src[ai*2+1] = 0;
						stack.push(ax);
						stack.push(ay);
						stack.push(ai);
					}
				}
			}
		}
	}
	
	return count > 0;
}

static void getHeightData(const rcCompactHeightfield& chf,
						  const unsigned short* poly, const int npoly,
						  const unsigned short* verts,
						  rcHeightPatch& hp, rcIntArray& stack)
{
	// Floodfill the heightfield to get 2D height data,
	// starting at vertex locations as seeds.
	
	memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);

	stack.resize(0);
	
	// Use poly vertices as seed points for the flood fill.
	for (int j = 0; j < npoly; ++j)
	{
		const int ax = (int)verts[poly[j]*3+0];
		const int ay = (int)verts[poly[j]*3+1];
		const int az = (int)verts[poly[j]*3+2];
		if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
			az < hp.ymin || az >= hp.ymin+hp.height)
			continue;
			
		const rcCompactCell& c = chf.cells[ax+az*chf.width];
		int dmin = 0xffff;
		int ai = -1;
		for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
		{
			const rcCompactSpan& s = chf.spans[i];
			int d = rcAbs(ay - (int)s.y);
			if (d < dmin)
			{
				ai = i;
				dmin = d;
			}
		}
		if (ai != -1)
		{
			stack.push(ax);
			stack.push(az);
			stack.push(ai);
		}
	}

	while (stack.size() > 0)
	{
		int ci = stack.pop();
		int cy = stack.pop();
		int cx = stack.pop();

		// Skip already visited locations.
		int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
		if (hp.data[idx] != 0xffff)
			continue;
		
		const rcCompactSpan& cs = chf.spans[ci];
		hp.data[idx] = cs.y;
		
		for (int dir = 0; dir < 4; ++dir)
		{
			if (rcGetCon(cs, dir) == 0xf) continue;
			
			const int ax = cx + rcGetDirOffsetX(dir);
			const int ay = cy + rcGetDirOffsetY(dir);
		
			if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
				ay < hp.ymin || ay >= (hp.ymin+hp.height))
				continue;

			if (hp.data[ax-hp.xmin+(ay-hp.ymin)*hp.width] != 0xffff)
				continue;

			const int ai = (int)chf.cells[ax+ay*chf.width].index + rcGetCon(cs, dir);
			
			stack.push(ax);
			stack.push(ay);
			stack.push(ai);
		}
	}	
}

static bool buildPolyDetail(const float* in, const int nin, unsigned short reg,
							const float sampleDist, const float sampleMaxError,
							const rcCompactHeightfield& chf, const rcHeightPatch& hp,
							float* verts, int& nverts, rcIntArray& tris,
							rcIntArray& edges, rcIntArray& idx, rcIntArray& samples)
{
	static const int MAX_VERTS = 256;
	static const int MAX_EDGE = 64;
	float edge[(MAX_EDGE+1)*3];

	nverts = 0;

	for (int i = 0; i < nin; ++i)
		vcopy(&verts[i*3], &in[i*3]);
	nverts = nin;
	
	const float ics = 1.0f/chf.cs;
	
	// Tesselate outlines.
	// This is done in separate pass in order to ensure
	// seamless height values across the ply boundaries.
	if (sampleDist > 0)
	{
		for (int i = 0, j = nin-1; i < nin; j=i++)
		{
			const float* vj = &in[j*3];
			const float* vi = &in[i*3];
			// Make sure the segments are always handled in same order
			// using lexological sort or else there will be seams.
			if (fabsf(vj[0]-vi[0]) < 1e-6f)
			{
				if (vj[2] > vi[2])
					rcSwap(vj,vi);
			}
			else
			{
				if (vj[0] > vi[0])
					rcSwap(vj,vi);
			}
			// Create samples along the edge.
			float dx = vi[0] - vj[0];
			float dy = vi[1] - vj[1];
			float dz = vi[2] - vj[2];
			float d = sqrtf(dx*dx + dz*dz);
			int nn = 1 + (int)floorf(d/sampleDist);
			if (nn > MAX_EDGE) nn = MAX_EDGE;
			if (nverts+nn >= MAX_VERTS)
				nn = MAX_VERTS-1-nverts;
			for (int k = 0; k <= nn; ++k)
			{
				float u = (float)k/(float)nn;
				float* pos = &edge[k*3];
				pos[0] = vj[0] + dx*u;
				pos[1] = vj[1] + dy*u;
				pos[2] = vj[2] + dz*u;
				pos[1] = chf.bmin[1] + getHeight(pos, chf.bmin, ics, hp)*chf.ch;
			}
			// Simplify samples.
			int idx[MAX_EDGE] = {0,nn};
			int nidx = 2;
			for (int k = 0; k < nidx-1; )
			{
				const int a = idx[k];
				const int b = idx[k+1];
				const float* va = &edge[a*3];
				const float* vb = &edge[b*3];
				// Find maximum deviation along the segment.
				float maxd = 0;
				int maxi = -1;
				for (int m = a+1; m < b; ++m)
				{
					float d = distancePtSeg(&edge[m*3],va,vb);
					if (d > maxd)
					{
						maxd = d;
						maxi = m;
					}
				}
				// If the max deviation is larger than accepted error,
				// add new point, else continue to next segment.
				if (maxi != -1 && maxd > rcSqr(sampleMaxError))
				{
					for (int m = nidx; m > k; --m)
						idx[m] = idx[m-1];
					idx[k+1] = maxi;
					nidx++;
				}
				else
				{
					++k;
				}
			}
			// Add new vertices.
			for (int k = 1; k < nidx-1; ++k)
			{
				vcopy(&verts[nverts*3], &edge[idx[k]*3]);
				nverts++;
			}
		}
	}
//.........这里部分代码省略.........

static void getHeightDataSeedsFromVertices(const rcCompactHeightfield& chf,
										   const unsigned short* poly, const int npoly,
										   const unsigned short* verts, const int bs,
										   rcHeightPatch& hp, rcIntArray& stack)
{
	// Floodfill the heightfield to get 2D height data,
	// starting at vertex locations as seeds.
	
	// Note: Reads to the compact heightfield are offset by border size (bs)
	// since border size offset is already removed from the polymesh vertices.
	
	memset(hp.data, 0, sizeof(unsigned short)*hp.width*hp.height);
	
	stack.resize(0);
	
	static const int offset[9*2] =
	{
		0,0, -1,-1, 0,-1, 1,-1, 1,0, 1,1, 0,1, -1,1, -1,0,
	};
	
	// Use poly vertices as seed points for the flood fill.
	for (int j = 0; j < npoly; ++j)
	{
		int cx = 0, cz = 0, ci =-1;
		int dmin = RC_UNSET_HEIGHT;
		for (int k = 0; k < 9; ++k)
		{
			const int ax = (int)verts[poly[j]*3+0] + offset[k*2+0];
			const int ay = (int)verts[poly[j]*3+1];
			const int az = (int)verts[poly[j]*3+2] + offset[k*2+1];
			if (ax < hp.xmin || ax >= hp.xmin+hp.width ||
				az < hp.ymin || az >= hp.ymin+hp.height)
				continue;
			
			const rcCompactCell& c = chf.cells[(ax+bs)+(az+bs)*chf.width];
			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
			{
				const rcCompactSpan& s = chf.spans[i];
				int d = rcAbs(ay - (int)s.y);
				if (d < dmin)
				{
					cx = ax;
					cz = az;
					ci = i;
					dmin = d;
				}
			}
		}
		if (ci != -1)
		{
			stack.push(cx);
			stack.push(cz);
			stack.push(ci);
		}
	}
	
	// Find center of the polygon using flood fill.
	int pcx = 0, pcz = 0;
	for (int j = 0; j < npoly; ++j)
	{
		pcx += (int)verts[poly[j]*3+0];
		pcz += (int)verts[poly[j]*3+2];
	}
	pcx /= npoly;
	pcz /= npoly;
	
	for (int i = 0; i < stack.size(); i += 3)
	{
		int cx = stack[i+0];
		int cy = stack[i+1];
		int idx = cx-hp.xmin+(cy-hp.ymin)*hp.width;
		hp.data[idx] = 1;
	}
	
	while (stack.size() > 0)
	{
		int ci = stack.pop();
		int cy = stack.pop();
		int cx = stack.pop();
		
		// Check if close to center of the polygon.
		if (rcAbs(cx-pcx) <= 1 && rcAbs(cy-pcz) <= 1)
		{
			stack.resize(0);
			stack.push(cx);
			stack.push(cy);
			stack.push(ci);
			break;
		}
		
		const rcCompactSpan& cs = chf.spans[ci];
		
		for (int dir = 0; dir < 4; ++dir)
		{
			if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
			
			const int ax = cx + rcGetDirOffsetX(dir);
			const int ay = cy + rcGetDirOffsetY(dir);
			
			if (ax < hp.xmin || ax >= (hp.xmin+hp.width) ||
//.........这里部分代码省略.........

static void getHeightData(rcContext* ctx, const rcCompactHeightfield& chf,
						  const unsigned short* poly, const int npoly,
						  const unsigned short* verts, const int bs,
						  rcHeightPatch& hp, rcIntArray& queue,
						  int region)
{
	// Note: Reads to the compact heightfield are offset by border size (bs)
	// since border size offset is already removed from the polymesh vertices.
	
	queue.resize(0);
	// Set all heights to RC_UNSET_HEIGHT.
	memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);

	bool empty = true;
	
	// We cannot sample from this poly if it was created from polys
	// of different regions. If it was then it could potentially be overlapping
	// with polys of that region and the heights sampled here could be wrong.
	if (region != RC_MULTIPLE_REGS)
	{
		// Copy the height from the same region, and mark region borders
		// as seed points to fill the rest.
		for (int hy = 0; hy < hp.height; hy++)
		{
			int y = hp.ymin + hy + bs;
			for (int hx = 0; hx < hp.width; hx++)
			{
				int x = hp.xmin + hx + bs;
				const rcCompactCell& c = chf.cells[x + y*chf.width];
				for (int i = (int)c.index, ni = (int)(c.index + c.count); i < ni; ++i)
				{
					const rcCompactSpan& s = chf.spans[i];
					if (s.reg == region)
					{
						// Store height
						hp.data[hx + hy*hp.width] = s.y;
						empty = false;

						// If any of the neighbours is not in same region,
						// add the current location as flood fill start
						bool border = false;
						for (int dir = 0; dir < 4; ++dir)
						{
							if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
							{
								const int ax = x + rcGetDirOffsetX(dir);
								const int ay = y + rcGetDirOffsetY(dir);
								const int ai = (int)chf.cells[ax + ay*chf.width].index + rcGetCon(s, dir);
								const rcCompactSpan& as = chf.spans[ai];
								if (as.reg != region)
								{
									border = true;
									break;
								}
							}
						}
						if (border)
							push3(queue, x, y, i);
						break;
					}
				}
			}
		}
	}
	
	// if the polygon does not contain any points from the current region (rare, but happens)
	// or if it could potentially be overlapping polygons of the same region,
	// then use the center as the seed point.
	if (empty)
		seedArrayWithPolyCenter(ctx, chf, poly, npoly, verts, bs, hp, queue);
	
	static const int RETRACT_SIZE = 256;
	int head = 0;
	
	// We assume the seed is centered in the polygon, so a BFS to collect
	// height data will ensure we do not move onto overlapping polygons and
	// sample wrong heights.
	while (head*3 < queue.size())
	{
		int cx = queue[head*3+0];
		int cy = queue[head*3+1];
		int ci = queue[head*3+2];
		head++;
		if (head >= RETRACT_SIZE)
		{
			head = 0;
			if (queue.size() > RETRACT_SIZE*3)
				memmove(&queue[0], &queue[RETRACT_SIZE*3], sizeof(int)*(queue.size()-RETRACT_SIZE*3));
			queue.resize(queue.size()-RETRACT_SIZE*3);
		}
		
		const rcCompactSpan& cs = chf.spans[ci];
		for (int dir = 0; dir < 4; ++dir)
		{
			if (rcGetCon(cs, dir) == RC_NOT_CONNECTED) continue;
			
			const int ax = cx + rcGetDirOffsetX(dir);
			const int ay = cy + rcGetDirOffsetY(dir);
			const int hx = ax - hp.xmin - bs;
			const int hy = ay - hp.ymin - bs;
//.........这里部分代码省略.........

static void getHeightData(const rcCompactHeightfield& chf,
						  const unsigned short* poly, const int npoly,
						  const unsigned short* verts, const int bs,
						  rcHeightPatch& hp, rcIntArray& stack,
						  int region)
{
	// Note: Reads to the compact heightfield are offset by border size (bs)
	// since border size offset is already removed from the polymesh vertices.
	
	stack.resize(0);
	memset(hp.data, 0xff, sizeof(unsigned short)*hp.width*hp.height);
	
	bool empty = true;
	
	// Copy the height from the same region, and mark region borders
	// as seed points to fill the rest.
	for (int hy = 0; hy < hp.height; hy++)
	{
		int y = hp.ymin + hy + bs;
		for (int hx = 0; hx < hp.width; hx++)
		{
			int x = hp.xmin + hx + bs;
			const rcCompactCell& c = chf.cells[x+y*chf.width];
			for (int i = (int)c.index, ni = (int)(c.index+c.count); i < ni; ++i)
			{
				const rcCompactSpan& s = chf.spans[i];
				if (s.reg == region)
				{
					// Store height
					hp.data[hx + hy*hp.width] = s.y;
					empty = false;
					
					// If any of the neighbours is not in same region,
					// add the current location as flood fill start
					bool border = false;
					for (int dir = 0; dir < 4; ++dir)
					{
						if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
						{
							const int ax = x + rcGetDirOffsetX(dir);
							const int ay = y + rcGetDirOffsetY(d