be very careful if you camp inside the forest, many fallen and decaying trees makes it unsafe for camping,the bottom part has a wall around it so you could pitch a tent by the wall which would give you some defence if the weather turns bad, there are some open patches inside the forest but the forest itself is quite boring, and tree cutting is a daily activity, there are a few places outside the wooded area where you have a bit of shelter, but be careful of sleeping in dips in the terrain which become easily waterlogged in the rain, the higher points in the terrain can be quite daunting if the weather turns chilly and windy, the best places to wild camp on dartmoor, (in my opinion) are on the tors themselves amongst the rocky outcrops, where you will find shelter even in the wind and rain, if you do wild camp in the forest make sure you pick a spot away from the danger of falling trees, because like most of our forests the trees are in a bad state..............you can park by the Warren House pub, then walk up over the hill to the forest..................good luck and have a nice camp.and watch out for the cattle and horses.