/**
 * 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();
   }

//.........这里部分代码省略.........
   {
       // Try modifying the parameters. I experienced this error when setting agentMaxClimb too high.
      m_pLog->logMessage("ERROR: buildNavigation: Could not triangulate contours.");
      return false;
   }
   








   //
   // Step 7. Create detail mesh which allows to access approximate height on each polygon.
   //
   
   m_dmesh = rcAllocPolyMeshDetail();
   if (!m_dmesh)
   {
      m_pLog->logMessage("ERROR: buildNavigation: Out of memory 'pmdtl'.");
      return false;
   }

   if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, *m_dmesh))
   {
      m_pLog->logMessage("ERROR: buildNavigation: Could not build detail mesh.");
      return false;
   }

   if (!m_keepInterResults)
   {
      rcFreeCompactHeightfield(m_chf);
      m_chf = 0;
      rcFreeContourSet(m_cset);
      m_cset = 0;
   }

   // At this point the navigation mesh data is ready, you can access it from m_pmesh.
   // See duDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.
   







   //
   // (Optional) Step 8. Create Detour data from Recast poly mesh.
   //
   
   // The GUI may allow more max points per polygon than Detour can handle.
   // Only build the detour navmesh if we do not exceed the limit.


   if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
   {
      m_pLog->logMessage("Detour 1000");

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

      
      // Update poly flags from areas.

//.........这里部分代码省略.........
	}
	
	// Build polygon navmesh from the contours.
	m_pmesh = rcAllocPolyMesh();
	if (!m_pmesh)
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
		return 0;
	}
	if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
		return 0;
	}
	
	// Build detail mesh.
	m_dmesh = rcAllocPolyMeshDetail();
	if (!m_dmesh)
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'dmesh'.");
		return 0;
	}
	
	if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf,
							   m_cfg.detailSampleDist, m_cfg.detailSampleMaxError,
							   *m_dmesh))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could build polymesh detail.");
		return 0;
	}
	
	if (!m_keepInterResults)
	{
		rcFreeCompactHeightfield(m_chf);
		m_chf = 0;
		rcFreeContourSet(m_cset);
		m_cset = 0;
	}
	
	unsigned char* navData = 0;
	int navDataSize = 0;
	if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
	{
		// Remove padding from the polymesh data. TODO: Remove this odditity.
		for (int i = 0; i < m_pmesh->nverts; ++i)
		{
			unsigned short* v = &m_pmesh->verts[i*3];
			v[0] -= (unsigned short)m_cfg.borderSize;
			v[2] -= (unsigned short)m_cfg.borderSize;
		}
		
		if (m_pmesh->nverts >= 0xffff)
		{
			// The vertex indices are ushorts, and cannot point to more than 0xffff vertices.
			m_ctx->log(RC_LOG_ERROR, "Too many vertices per tile %d (max: %d).", m_pmesh->nverts, 0xffff);
			return false;
		}
		
		// Update poly flags from areas.
		for (int i = 0; i < m_pmesh->npolys; ++i)
		{
			if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
				m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;
			
			if (m_pmesh->areas[i] == SAMPLE_POLYAREA_GROUND ||
				m_pmesh->areas[i] == SAMPLE_POLYAREA_GRASS ||

void recast_destroyCompactHeightfield(struct recast_compactHeightfield *compactHeightfield)
{
	rcFreeCompactHeightfield( (rcCompactHeightfield *) compactHeightfield);
}

//.........这里部分代码省略.........
	
	// Build polygon navmesh from the contours.
	m_pmesh = rcAllocPolyMesh();
	if (!m_pmesh)
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
		return false;
	}
	if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
		return false;
	}
	
	//
	// Step 7. Create detail mesh which allows to access approximate height on each polygon.
	//
	
	m_dmesh = rcAllocPolyMeshDetail();
	if (!m_dmesh)
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmdtl'.");
		return false;
	}

	if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, *m_dmesh))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build detail mesh.");
		return false;
	}

	if (!m_keepInterResults)
	{
		rcFreeCompactHeightfield(m_chf);
		m_chf = 0;
		rcFreeContourSet(m_cset);
		m_cset = 0;
	}

	// At this point the navigation mesh data is ready, you can access it from m_pmesh.
	// See duDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.
	
	//
	// (Optional) Step 8. Create Detour data from Recast poly mesh.
	//
	
	// The GUI may allow more max points per polygon than Detour can handle.
	// Only build the detour navmesh if we do not exceed the limit.
	if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
	{
		unsigned char* navData = 0;
		int navDataSize = 0;

		// Update poly flags from areas.
		for (int i = 0; i < m_pmesh->npolys; ++i)
		{
			if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
				m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;
				
			if (m_pmesh->areas[i] == SAMPLE_POLYAREA_GROUND ||
				m_pmesh->areas[i] == SAMPLE_POLYAREA_GRASS ||
				m_pmesh->areas[i] == SAMPLE_POLYAREA_ROAD)
			{
				m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK;
			}
			else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_WATER)

//.........这里部分代码省略.........
            // 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);

    rcPolyMeshDetail* dmesh = rcAllocPolyMeshDetail();
    rcMergePolyMeshDetails(Context, dmmerge, nmerge, *dmesh);

    delete[] pmmerge;
    delete[] dmmerge;

    printf("[%02i,%02i] Meshes merged!\n", X, Y);

    // Remove padding from the polymesh data. (Remove this odditity)
    for (int i = 0; i < pmesh->nverts; ++i)
    {
        unsigned short* v = &pmesh->verts[i * 3];
        v[0] -= (unsigned short)Config.borderSize;
        v[2] -= (unsigned short)Config.borderSize;
    }

    // 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;

//.........这里部分代码省略.........
	
	// Build polygon navmesh from the contours.
	m_pmesh = rcAllocPolyMesh();
	if (!m_pmesh)
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
		return false;
	}
	if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
		return false;
	}
	
	//
	// Step 7. Create detail mesh which allows to access approximate height on each polygon.
	//
	
	m_dmesh = rcAllocPolyMeshDetail();
	if (!m_dmesh)
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmdtl'.");
		return false;
	}

	if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, *m_dmesh))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build detail mesh.");
		return false;
	}

	if (!m_keepInterResults)
	{
		rcFreeCompactHeightfield(m_chf);
		m_chf = 0;
		rcFreeContourSet(m_cset);
		m_cset = 0;
	}

	// At this point the navigation mesh data is ready, you can access it from m_pmesh.
	// See duDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.
	
	//
	// (Optional) Step 8. Create Detour data from Recast poly mesh.
	//
	
	// The GUI may allow more max points per polygon than Detour can handle.
	// Only build the detour navmesh if we do not exceed the limit.
	if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
	{
		unsigned char* navData = 0;
		int navDataSize = 0;

		// Update poly flags from areas.
		for (int i = 0; i < m_pmesh->npolys; ++i)
		{
			//if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
			//	m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;
				
			if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
			{
				m_pmesh->flags[i] = 1;
			}
			else {
				m_pmesh->flags[i] = 0;
			}

Sample_Debug::~Sample_Debug()
{
	rcFreeCompactHeightfield(m_chf);
	rcFreeContourSet(m_cset);
	rcFreePolyMesh(m_pmesh);
}

//.........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.........
	}
	
	// Build polygon navmesh from the contours.
	m_pmesh = rcAllocPolyMesh();
	if (!m_pmesh)
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
		return 0;
	}
	if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
		return 0;
	}
	
	// Build detail mesh.
	m_dmesh = rcAllocPolyMeshDetail();
	if (!m_dmesh)
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'dmesh'.");
		return 0;
	}
	
	if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf,
							   m_cfg.detailSampleDist, m_cfg.detailSampleMaxError,
							   *m_dmesh))
	{
		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could build polymesh detail.");
		return 0;
	}
	
	if (!m_keepInterResults)
	{
		rcFreeCompactHeightfield(m_chf);
		m_chf = 0;
		rcFreeContourSet(m_cset);
		m_cset = 0;
	}
	
	unsigned char* navData = 0;
	int navDataSize = 0;
	if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
	{
		if (m_pmesh->nverts >= 0xffff)
		{
			// The vertex indices are ushorts, and cannot point to more than 0xffff vertices.
			m_ctx->log(RC_LOG_ERROR, "Too many vertices per tile %d (max: %d).", m_pmesh->nverts, 0xffff);
			return 0;
		}
		
		// Update poly flags from areas.
		for (int i = 0; i < m_pmesh->npolys; ++i)
		{
			if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
				m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;
			
			if (m_pmesh->areas[i] == SAMPLE_POLYAREA_GROUND ||
				m_pmesh->areas[i] == SAMPLE_POLYAREA_GRASS ||
				m_pmesh->areas[i] == SAMPLE_POLYAREA_ROAD)
			{
				m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK;
			}
			else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_WATER)
			{
				m_pmesh->flags[i] = SAMPLE_POLYFLAGS_SWIM;
			}

//.........这里部分代码省略.........
	rcBuildDistanceField( *rccompactheightfield );


	rcBuildRegions( *rccompactheightfield,
					 rcconfig.borderSize,
					 rcconfig.minRegionSize,
					 rcconfig.mergeRegionSize );


	rccontourset = rcAllocContourSet();

	rcBuildContours( *rccompactheightfield,
					  rcconfig.maxSimplificationError,
					  rcconfig.maxEdgeLen,
					 *rccontourset );


	rcpolymesh = rcAllocPolyMesh();
	
	rcBuildPolyMesh( *rccontourset,
					  rcconfig.maxVertsPerPoly,
					 *rcpolymesh );


	rcpolymeshdetail = rcAllocPolyMeshDetail();

	rcBuildPolyMeshDetail( *rcpolymesh,
						   *rccompactheightfield,
							rcconfig.detailSampleDist,
							rcconfig.detailSampleMaxError,
						   *rcpolymeshdetail );


	rcFreeCompactHeightfield( rccompactheightfield );
	rccompactheightfield = NULL;
	
	rcFreeContourSet( rccontourset );
	rccontourset = NULL;


	if( rcconfig.maxVertsPerPoly <= DT_VERTS_PER_POLYGON )
	{
		dtNavMeshCreateParams dtnavmeshcreateparams;
		
		unsigned char *nav_data = NULL;
		
		int nav_data_size = 0;
	
		i = 0;
		while( i != rcpolymesh->npolys )
		{
			if( rcpolymesh->areas[ i ] == RC_WALKABLE_AREA )
			{
				rcpolymesh->areas[ i ] = 0;
				rcpolymesh->flags[ i ] = 0x01;
			}
							
			++i;
		}


		memset( &dtnavmeshcreateparams, 0, sizeof( dtNavMeshCreateParams ) );
		
		dtnavmeshcreateparams.verts			   = rcpolymesh->verts;
		dtnavmeshcreateparams.vertCount		   = rcpolymesh->nverts;
		dtnavmeshcreateparams.polys			   = rcpolymesh->polys;