Added simple Detour navmesh flood fill and prune tool.

RecastDemo/Include/NavmeshPruneTool.h

@@ -0,0 +1,51 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#ifndef NAVMESHPRUNETOOL_H
+#define NAVMESHPRUNETOOL_H
+
+#include "Sample.h"
+
+// Prune navmesh to accessible locations from a point.
+
+class NavmeshPruneTool : public SampleTool
+{
+	Sample* m_sample;
+	
+	class NavmeshFlags* m_flags;
+
+	float m_hitPos[3];
+	bool m_hitPosSet;
+	
+public:
+	NavmeshPruneTool();
+	~NavmeshPruneTool();
+	
+	virtual int type() { return TOOL_NAVMESH_PRUNE; }
+	virtual void init(Sample* sample);
+	virtual void reset();
+	virtual void handleMenu();
+	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
+	virtual void handleStep();
+	virtual void handleUpdate(const float dt);
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+};
+
+#endif // NAVMESHPRUNETOOL_H

RecastDemo/Include/Sample.h

@@ -31,6 +31,7 @@ enum SampleToolType
 	TOOL_TILE_HIGHLIGHT,
 	TOOL_TEMP_OBSTACLE,
 	TOOL_NAVMESH_TESTER,
+	TOOL_NAVMESH_PRUNE,
 	TOOL_OFFMESH_CONNECTION,
 	TOOL_CONVEX_VOLUME,
 	TOOL_CROWD,

RecastDemo/Source/CrowdTool.cpp

@@ -561,8 +561,6 @@ void CrowdTool::handleRender()
 	if (!nav || !crowd)
 		return;
 
-	duDebugDrawNavMeshPolysWithFlags(&dd, *nav, SAMPLE_POLYFLAGS_DISABLED, duRGBA(220,0,0,128));
-
 	if (m_showNodes && crowd->getPathQueue())
 	{
 		const dtNavMeshQuery* navquery = crowd->getPathQueue()->getNavQuery();

RecastDemo/Source/NavMeshTesterTool.cpp

@@ -159,7 +159,7 @@ NavMeshTesterTool::NavMeshTesterTool() :
 	m_pathIterNum(0),
 	m_steerPointCount(0)
 {
-	m_filter.setIncludeFlags(SAMPLE_POLYFLAGS_ALL);
+	m_filter.setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED);
 	m_filter.setExcludeFlags(0);
 
 	m_polyPickExt[0] = 2;

RecastDemo/Source/NavmeshPruneTool.cpp

@@ -0,0 +1,349 @@
+//
+// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
+//
+// This software is provided 'as-is', without any express or implied
+// warranty.  In no event will the authors be held liable for any damages
+// arising from the use of this software.
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+// 1. The origin of this software must not be misrepresented; you must not
+//    claim that you wrote the original software. If you use this software
+//    in a product, an acknowledgment in the product documentation would be
+//    appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//    misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+//
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+#include <float.h>
+#include "SDL.h"
+#include "SDL_opengl.h"
+#include "imgui.h"
+#include "NavmeshPruneTool.h"
+#include "InputGeom.h"
+#include "Sample.h"
+#include "DetourNavMesh.h"
+#include "DetourCommon.h"
+#include "DetourAssert.h"
+#include "DetourDebugDraw.h"
+
+#ifdef WIN32
+#	define snprintf _snprintf
+#endif
+
+
+
+// Copy/paste from Recast int array
+class PolyRefArray
+{
+	dtPolyRef* m_data;
+	int m_size, m_cap;
+	inline PolyRefArray(const PolyRefArray&);
+	inline PolyRefArray& operator=(const PolyRefArray&);
+public:
+	
+	inline PolyRefArray() : m_data(0), m_size(0), m_cap(0) {}
+	inline PolyRefArray(int n) : m_data(0), m_size(0), m_cap(0) { resize(n); }
+	inline ~PolyRefArray() { dtFree(m_data); }
+	void resize(int n)
+	{
+		if (n > m_cap)
+		{
+			if (!m_cap) m_cap = n;
+			while (m_cap < n) m_cap *= 2;
+			dtPolyRef* newData = (dtPolyRef*)dtAlloc(m_cap*sizeof(dtPolyRef), DT_ALLOC_TEMP);
+			if (m_size && newData) memcpy(newData, m_data, m_size*sizeof(dtPolyRef));
+			dtFree(m_data);
+			m_data = newData;
+		}
+		m_size = n;
+	}
+	inline void push(int item) { resize(m_size+1); m_data[m_size-1] = item; }
+	inline dtPolyRef pop() { if (m_size > 0) m_size--; return m_data[m_size]; }
+	inline const dtPolyRef& operator[](int i) const { return m_data[i]; }
+	inline dtPolyRef& operator[](int i) { return m_data[i]; }
+	inline int size() const { return m_size; }
+};
+
+
+
+
+class NavmeshFlags
+{
+	struct TileFlags
+	{
+		inline void purge() { dtFree(flags); }
+		unsigned char* flags;
+		int nflags;
+		dtPolyRef base;
+	};
+	
+	const dtNavMesh* m_nav;
+	TileFlags* m_tiles;
+	int m_ntiles;
+
+public:
+	NavmeshFlags() :
+		m_nav(0), m_tiles(0), m_ntiles(0)
+	{
+	}
+	
+	~NavmeshFlags()
+	{
+		for (int i = 0; i < m_ntiles; ++i)
+			m_tiles[i].purge();
+		dtFree(m_tiles);
+	}
+	
+	bool init(const dtNavMesh* nav)
+	{
+		m_ntiles = nav->getMaxTiles();
+		if (!m_ntiles)
+			return true;
+		m_tiles = (TileFlags*)dtAlloc(sizeof(TileFlags)*m_ntiles, DT_ALLOC_TEMP);
+		if (!m_tiles)
+		{
+			return false;
+		}
+		memset(m_tiles, 0, sizeof(TileFlags)*m_ntiles);
+		
+		// Alloc flags for each tile.
+		for (int i = 0; i < nav->getMaxTiles(); ++i)
+		{
+			const dtMeshTile* tile = nav->getTile(i);
+			if (!tile->header) continue;
+			TileFlags* tf = &m_tiles[i];
+			tf->nflags = tile->header->polyCount;
+			tf->base = nav->getPolyRefBase(tile);
+			if (tf->nflags)
+			{
+				tf->flags = (unsigned char*)dtAlloc(tf->nflags, DT_ALLOC_TEMP);
+				if (!tf->flags)
+					return false;
+				memset(tf->flags, 0, tf->nflags);
+			}
+		}
+		
+		m_nav = nav;
+		
+		return false;
+	}
+	
+	inline void clearAllFlags()
+	{
+		for (int i = 0; i < m_ntiles; ++i)
+		{
+			TileFlags* tf = &m_tiles[i];
+			if (tf->nflags)
+				memset(tf->flags, 0, tf->nflags);
+		}
+	}
+	
+	inline unsigned char getFlags(dtPolyRef ref)
+	{
+		dtAssert(m_nav);
+		dtAssert(m_ntiles);
+		// Assume the ref is valid, no bounds checks.
+		unsigned int salt, it, ip;
+		m_nav->decodePolyId(ref, salt, it, ip);
+		return m_tiles[it].flags[ip];
+	}
+
+	inline void setFlags(dtPolyRef ref, unsigned char flags)
+	{
+		dtAssert(m_nav);
+		dtAssert(m_ntiles);
+		// Assume the ref is valid, no bounds checks.
+		unsigned int salt, it, ip;
+		m_nav->decodePolyId(ref, salt, it, ip);
+		m_tiles[it].flags[ip] = flags;
+	}
+	
+};
+
+static void floodNavmesh(dtNavMesh* nav, NavmeshFlags* flags, dtPolyRef start, unsigned char flag)
+{
+	// If already visited, skip.
+	if (flags->getFlags(start))
+		return;
+		
+	PolyRefArray openList;
+	openList.push(start);
+
+	while (openList.size())
+	{
+		const dtPolyRef ref = openList.pop();
+		// Get current poly and tile.
+		// The API input has been cheked already, skip checking internal data.
+		const dtMeshTile* tile = 0;
+		const dtPoly* poly = 0;
+		nav->getTileAndPolyByRefUnsafe(ref, &tile, &poly);
+
+		// Visit linked polygons.
+		for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next)
+		{
+			const dtPolyRef neiRef = tile->links[i].ref;
+			// Skip invalid and already visited.
+			if (!neiRef || flags->getFlags(neiRef))
+				continue;
+			// Mark as visited
+			flags->setFlags(neiRef, flag);
+			// Visit neighbours
+			openList.push(neiRef);
+		}
+	}
+}
+
+static void disableUnvisitedPolys(dtNavMesh* nav, NavmeshFlags* flags)
+{
+	for (int i = 0; i < nav->getMaxTiles(); ++i)
+	{
+		const dtMeshTile* tile = ((const dtNavMesh*)nav)->getTile(i);
+		if (!tile->header) continue;
+		const dtPolyRef base = nav->getPolyRefBase(tile);
+		for (int j = 0; j < tile->header->polyCount; ++j)
+		{
+			const dtPolyRef ref = base | (unsigned int)j;
+			if (!flags->getFlags(ref))
+			{
+				unsigned short f = 0;
+				nav->getPolyFlags(ref, &f);
+				nav->setPolyFlags(ref, f | SAMPLE_POLYFLAGS_DISABLED);
+			}
+		}
+	}
+}
+
+NavmeshPruneTool::NavmeshPruneTool() :
+	m_flags(0),
+	m_hitPosSet(false)
+{
+}
+
+NavmeshPruneTool::~NavmeshPruneTool()
+{
+	delete m_flags;
+}
+
+void NavmeshPruneTool::init(Sample* sample)
+{
+	m_sample = sample;
+}
+
+void NavmeshPruneTool::reset()
+{
+	m_hitPosSet = false;
+	delete m_flags;
+	m_flags = 0;
+}
+
+void NavmeshPruneTool::handleMenu()
+{
+	dtNavMesh* nav = m_sample->getNavMesh();
+	if (!nav) return;
+	if (!m_flags) return;
+
+	if (imguiButton("Clear Selection"))
+	{
+		m_flags->clearAllFlags();
+	}
+	
+	if (imguiButton("Prune Unselected"))
+	{
+		disableUnvisitedPolys(nav, m_flags);
+		delete m_flags;
+		m_flags = 0;
+	}
+}
+
+void NavmeshPruneTool::handleClick(const float* /*s*/, const float* p, bool shift)
+{
+	if (!m_sample) return;
+	InputGeom* geom = m_sample->getInputGeom();
+	if (!geom) return;
+	dtNavMesh* nav = m_sample->getNavMesh();
+	if (!nav) return;
+	dtNavMeshQuery* query = m_sample->getNavMeshQuery();
+	if (!query) return;
+	
+	dtVcopy(m_hitPos, p);
+	m_hitPosSet = true;
+	
+	if (!m_flags)
+	{
+		m_flags = new NavmeshFlags;
+		m_flags->init(nav);
+	}
+	
+	const float ext[3] = {2,4,2};
+	dtQueryFilter filter;
+	dtPolyRef ref = 0;
+	query->findNearestPoly(p, ext, &filter, &ref, 0);
+
+	floodNavmesh(nav, m_flags, ref, 1);
+}
+
+void NavmeshPruneTool::handleToggle()
+{
+}
+
+void NavmeshPruneTool::handleStep()
+{
+}
+
+void NavmeshPruneTool::handleUpdate(const float /*dt*/)
+{
+}
+
+void NavmeshPruneTool::handleRender()
+{
+	DebugDrawGL dd;
+
+	if (m_hitPosSet)
+	{
+		const float s = m_sample->getAgentRadius();
+		const unsigned int col = duRGBA(255,255,255,255);
+		dd.begin(DU_DRAW_LINES);
+		dd.vertex(m_hitPos[0]-s,m_hitPos[1],m_hitPos[2], col);
+		dd.vertex(m_hitPos[0]+s,m_hitPos[1],m_hitPos[2], col);
+		dd.vertex(m_hitPos[0],m_hitPos[1]-s,m_hitPos[2], col);
+		dd.vertex(m_hitPos[0],m_hitPos[1]+s,m_hitPos[2], col);
+		dd.vertex(m_hitPos[0],m_hitPos[1],m_hitPos[2]-s, col);
+		dd.vertex(m_hitPos[0],m_hitPos[1],m_hitPos[2]+s, col);
+		dd.end();
+	}
+
+	const dtNavMesh* nav = m_sample->getNavMesh();
+	if (m_flags && nav)
+	{
+		for (int i = 0; i < nav->getMaxTiles(); ++i)
+		{
+			const dtMeshTile* tile = nav->getTile(i);
+			if (!tile->header) continue;
+			const dtPolyRef base = nav->getPolyRefBase(tile);
+			for (int j = 0; j < tile->header->polyCount; ++j)
+			{
+				const dtPolyRef ref = base | (unsigned int)j;
+				if (m_flags->getFlags(ref))
+				{
+					duDebugDrawNavMeshPoly(&dd, *nav, ref, duRGBA(255,255,255,128));
+				}
+			}
+		}
+	}
+
+}
+
+void NavmeshPruneTool::handleRenderOverlay(double* proj, double* model, int* view)
+{
+	// Tool help
+	const int h = view[3];
+
+	imguiDrawText(280, h-40, IMGUI_ALIGN_LEFT, "LMB: Click fill area.", imguiRGBA(255,255,255,192));	
+	
+}

RecastDemo/Source/Sample_SoloMesh.cpp

@@ -33,6 +33,7 @@
 #include "DetourNavMeshBuilder.h"
 #include "DetourDebugDraw.h"
 #include "NavMeshTesterTool.h"
+#include "NavmeshPruneTool.h"
 #include "OffMeshConnectionTool.h"
 #include "ConvexVolumeTool.h"
 #include "CrowdTool.h"
@@ -103,6 +104,10 @@ void Sample_SoloMesh::handleTools()
 	{
 		setTool(new NavMeshTesterTool);
 	}
+	if (imguiCheck("Prune Navmesh", type == TOOL_NAVMESH_PRUNE))
+	{
+		setTool(new NavmeshPruneTool);
+	}
 	if (imguiCheck("Create Off-Mesh Connections", type == TOOL_OFFMESH_CONNECTION))
 	{
 		setTool(new OffMeshConnectionTool);
@@ -247,6 +252,7 @@ void Sample_SoloMesh::handleRender()
 			duDebugDrawNavMeshBVTree(&dd, *m_navMesh);
 		if (m_drawMode == DRAWMODE_NAVMESH_NODES)
 			duDebugDrawNavMeshNodes(&dd, *m_navQuery);
+		duDebugDrawNavMeshPolysWithFlags(&dd, *m_navMesh, SAMPLE_POLYFLAGS_DISABLED, duRGBA(0,0,0,128));
 	}
 		
 	glDepthMask(GL_TRUE);

RecastDemo/Source/Sample_TempObstacles.cpp

@@ -914,6 +914,7 @@ void Sample_TempObstacles::handleRender()
 			duDebugDrawNavMeshPortals(&dd, *m_navMesh);
 		if (m_drawMode == DRAWMODE_NAVMESH_NODES)
 			duDebugDrawNavMeshNodes(&dd, *m_navQuery);
+		duDebugDrawNavMeshPolysWithFlags(&dd, *m_navMesh, SAMPLE_POLYFLAGS_DISABLED, duRGBA(0,0,0,128));
 	}
 	
 	

RecastDemo/Source/Sample_TileMesh.cpp

@@ -32,6 +32,7 @@
 #include "DetourNavMeshBuilder.h"
 #include "DetourDebugDraw.h"
 #include "NavMeshTesterTool.h"
+#include "NavMeshPruneTool.h"
 #include "OffMeshConnectionTool.h"
 #include "ConvexVolumeTool.h"
 #include "CrowdTool.h"
@@ -412,6 +413,10 @@ void Sample_TileMesh::handleTools()
 	{
 		setTool(new NavMeshTesterTool);
 	}
+	if (imguiCheck("Prune Navmesh", type == TOOL_NAVMESH_PRUNE))
+	{
+		setTool(new NavmeshPruneTool);
+	}
 	if (imguiCheck("Create Tiles", type == TOOL_TILE_EDIT))
 	{
 		setTool(new NavMeshTileTool);
@@ -575,6 +580,7 @@ void Sample_TileMesh::handleRender()
 			duDebugDrawNavMeshPortals(&dd, *m_navMesh);
 		if (m_drawMode == DRAWMODE_NAVMESH_NODES)
 			duDebugDrawNavMeshNodes(&dd, *m_navQuery);
+		duDebugDrawNavMeshPolysWithFlags(&dd, *m_navMesh, SAMPLE_POLYFLAGS_DISABLED, duRGBA(0,0,0,128));
 	}