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Missing files from NavMeshTesterTool.

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This commit is contained in:
Mikko Mononen 2009-12-30 16:27:11 +00:00
parent 4934dc2065
commit 57c70704d8
5 changed files with 580 additions and 51 deletions
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BIN
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RecastDemo/Include/NavMeshTesterTool.h Normal file
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#ifndef NAVMESHTESTERTOOL_H
#define NAVMESHTESTERTOOL_H
#include "Sample.h"
#include "DetourNavMesh.h"
class NavMeshTesterTool : public SampleTool
{
Sample* m_sample;
dtNavMesh* m_navMesh;
float m_agentRadius;
float m_agentHeight;
enum ToolMode
{
TOOLMODE_PATHFIND,
TOOLMODE_RAYCAST,
TOOLMODE_DISTANCE_TO_WALL,
TOOLMODE_FIND_POLYS_AROUND,
};
ToolMode m_toolMode;
static const int MAX_POLYS = 256;
static const int MAX_SMOOTH = 2048;
dtPolyRef m_startRef;
dtPolyRef m_endRef;
dtPolyRef m_polys[MAX_POLYS];
dtPolyRef m_parent[MAX_POLYS];
int m_npolys;
float m_straightPath[MAX_POLYS*3];
int m_nstraightPath;
float m_polyPickExt[3];
float m_smoothPath[MAX_SMOOTH*3];
int m_nsmoothPath;
float m_spos[3];
float m_epos[3];
float m_hitPos[3];
float m_hitNormal[3];
float m_distanceToWall;
bool m_sposSet;
bool m_eposSet;
public:
NavMeshTesterTool();
~NavMeshTesterTool();
virtual int type() { return TOOL_NAVMESH_TESTER; }
virtual void init(Sample* sample);
virtual void reset();
virtual void handleMenu();
virtual void handleClick(const float* p, bool shift);
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
void recalc();
void drawAgent(const float* pos, float r, float h, float c, const float* col);
};
#endif // NAVMESHTESTERTOOL_H

454
RecastDemo/Source/NavMeshTesterTool.cpp Normal file
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@ -0,0 +1,454 @@
#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#include <string.h>
#include "SDL.h"
#include "SDL_opengl.h"
#include "imgui.h"
#include "NavMeshTesterTool.h"
#include "Sample.h"
#include "Recast.h"
#include "RecastDebugDraw.h"
#include "DetourNavMesh.h"
#include "DetourNavMeshBuilder.h"
#include "DetourDebugDraw.h"
#ifdef WIN32
# define snprintf _snprintf
#endif
inline bool inRange(const float* v1, const float* v2, const float r, const float h)
{
const float dx = v2[0] - v1[0];
const float dy = v2[1] - v1[1];
const float dz = v2[2] - v1[2];
return (dx*dx + dz*dz) < r*r && fabsf(dy) < h;
}
NavMeshTesterTool::NavMeshTesterTool() :
m_sample(0),
m_navMesh(0),
m_agentRadius(0),
m_agentHeight(0),
m_toolMode(TOOLMODE_PATHFIND),
m_startRef(0),
m_endRef(0),
m_npolys(0),
m_nstraightPath(0),
m_nsmoothPath(0),
m_distanceToWall(0),
m_sposSet(false),
m_eposSet(false)
{
m_polyPickExt[0] = 2;
m_polyPickExt[1] = 4;
m_polyPickExt[2] = 2;
}
NavMeshTesterTool::~NavMeshTesterTool()
{
}
void NavMeshTesterTool::init(Sample* sample)
{
m_sample = sample;
m_agentRadius = sample->getAgentRadius();
m_agentHeight = sample->getAgentHeight();
m_navMesh = sample->getNavMesh();
recalc();
}
void NavMeshTesterTool::handleMenu()
{
if (imguiCheck("Pathfind", m_toolMode == TOOLMODE_PATHFIND))
{
m_toolMode = TOOLMODE_PATHFIND;
recalc();
}
if (imguiCheck("Distance to Wall", m_toolMode == TOOLMODE_DISTANCE_TO_WALL))
{
m_toolMode = TOOLMODE_DISTANCE_TO_WALL;
recalc();
}
if (imguiCheck("Raycast", m_toolMode == TOOLMODE_RAYCAST))
{
m_toolMode = TOOLMODE_RAYCAST;
recalc();
}
if (imguiCheck("Find Polys Around", m_toolMode == TOOLMODE_FIND_POLYS_AROUND))
{
m_toolMode = TOOLMODE_FIND_POLYS_AROUND;
recalc();
}
}
void NavMeshTesterTool::handleClick(const float* p, bool shift)
{
if (shift)
{
m_sposSet = true;
vcopy(m_spos, p);
}
else
{
m_eposSet = true;
vcopy(m_epos, p);
}
recalc();
}
void NavMeshTesterTool::reset()
{
m_startRef = 0;
m_endRef = 0;
m_npolys = 0;
m_nstraightPath = 0;
m_nsmoothPath = 0;
memset(m_hitPos, 0, sizeof(m_hitPos));
memset(m_hitNormal, 0, sizeof(m_hitNormal));
m_distanceToWall = 0;
}
void NavMeshTesterTool::recalc()
{
if (!m_navMesh)
return;
if (m_sposSet)
m_startRef = m_navMesh->findNearestPoly(m_spos, m_polyPickExt);
else
m_startRef = 0;
if (m_eposSet)
m_endRef = m_navMesh->findNearestPoly(m_epos, m_polyPickExt);
else
m_endRef = 0;
if (m_toolMode == TOOLMODE_PATHFIND)
{
if (m_sposSet && m_eposSet && m_startRef && m_endRef)
{
m_npolys = m_navMesh->findPath(m_startRef, m_endRef, m_spos, m_epos, m_polys, MAX_POLYS);
if (m_npolys)
{
m_nstraightPath = m_navMesh->findStraightPath(m_spos, m_epos, m_polys, m_npolys, m_straightPath, MAX_POLYS);
// Iterate over the path to find smooth path on the detail mesh surface.
const dtPolyRef* polys = m_polys;
int npolys = m_npolys;
float iterPos[3], targetPos[3];
m_navMesh->closestPointOnPolyBoundary(m_startRef, m_spos, iterPos);
m_navMesh->closestPointOnPolyBoundary(polys[npolys-1], m_epos, targetPos);
static const float STEP_SIZE = 0.5f;
static const float SLOP = 0.01f;
m_nsmoothPath = 0;
vcopy(&m_smoothPath[m_nsmoothPath*3], iterPos);
m_nsmoothPath++;
while (npolys && m_nsmoothPath < MAX_SMOOTH)
{
// Find steer target.
static const int MAX_STEER = 3;
float steerPath[MAX_STEER*3];
int nsteerPath = m_navMesh->findStraightPath(iterPos, m_epos, polys, npolys, steerPath, MAX_STEER);
if (!nsteerPath)
break;
// Find vertex far enough to steer to.
int ns = 0;
while (ns < nsteerPath)
{
if (!inRange(&steerPath[ns*3], iterPos, SLOP, 1000.0f))
break;
ns++;
}
if (ns >= nsteerPath)
break;
bool endOfPath = inRange(&steerPath[ns*3], targetPos, SLOP*SLOP, 1.0f);
// Find movement delta.
float delta[3], len;
vsub(delta, &steerPath[ns*3], iterPos);
len = sqrtf(vdot(delta,delta));
if (endOfPath && len < STEP_SIZE)
len = 1;
else
len = STEP_SIZE / len;
float moveTgt[3];
vmad(moveTgt, iterPos, delta, len);
// Move
float result[3];
int n = m_navMesh->moveAlongPathCorridor(iterPos, moveTgt, result, polys, npolys);
float h = 0;
m_navMesh->getPolyHeight(polys[n], result, &h);
result[1] = h;
// Shrink path corridor of possible.
polys += n;
npolys -= n;
vcopy(iterPos, result);
// Close enough to the target.
if (inRange(iterPos, targetPos, SLOP, 1.0f))
{
vcopy(iterPos, targetPos);
npolys = 0;
}
// Store results.
if (m_nsmoothPath < MAX_SMOOTH)
{
vcopy(&m_smoothPath[m_nsmoothPath*3], iterPos);
m_nsmoothPath++;
}
}
}
}
else
{
m_npolys = 0;
m_nstraightPath = 0;
}
}
else if (m_toolMode == TOOLMODE_RAYCAST)
{
m_nstraightPath = 0;
if (m_sposSet && m_eposSet && m_startRef)
{
float t = 0;
m_npolys = 0;
m_nstraightPath = 2;
m_straightPath[0] = m_spos[0];
m_straightPath[1] = m_spos[1];
m_straightPath[2] = m_spos[2];
vcopy(m_hitPos, m_epos);
m_npolys = m_navMesh->raycast(m_startRef, m_spos, m_epos, t, m_hitNormal, m_polys, MAX_POLYS);
if (m_npolys && t < 1)
{
m_hitPos[0] = m_spos[0] + (m_epos[0] - m_spos[0]) * t;
m_hitPos[1] = m_spos[1] + (m_epos[1] - m_spos[1]) * t;
m_hitPos[2] = m_spos[2] + (m_epos[2] - m_spos[2]) * t;
}
vcopy(&m_straightPath[3], m_hitPos);
}
}
else if (m_toolMode == TOOLMODE_DISTANCE_TO_WALL)
{
m_distanceToWall = 0;
if (m_sposSet && m_startRef)
m_distanceToWall = m_navMesh->findDistanceToWall(m_startRef, m_spos, 100.0f, m_hitPos, m_hitNormal);
}
else if (m_toolMode == TOOLMODE_FIND_POLYS_AROUND)
{
if (m_sposSet && m_startRef && m_eposSet)
{
const float dx = m_epos[0] - m_spos[0];
const float dz = m_epos[2] - m_spos[2];
float dist = sqrtf(dx*dx + dz*dz);
m_npolys = m_navMesh->findPolysAround(m_startRef, m_spos, dist, m_polys, m_parent, 0, MAX_POLYS);
}
}
}
static void getPolyCenter(dtNavMesh* navMesh, dtPolyRef ref, float* center)
{
const dtPoly* p = navMesh->getPolyByRef(ref);
if (!p) return;
const float* verts = navMesh->getPolyVertsByRef(ref);
center[0] = 0;
center[1] = 0;
center[2] = 0;
for (int i = 0; i < (int)p->nv; ++i)
{
const float* v = &verts[p->v[i]*3];
center[0] += v[0];
center[1] += v[1];
center[2] += v[2];
}
const float s = 1.0f / p->nv;
center[0] *= s;
center[1] *= s;
center[2] *= s;
}
void NavMeshTesterTool::handleRender()
{
if (!m_navMesh)
return;
DebugDrawGL dd;
static const float startCol[4] = { 0.5f, 0.1f, 0.0f, 0.75f };
static const float endCol[4] = { 0.2f, 0.4f, 0.0f, 0.75f };
static const float pathCol[4] = {0,0,0,0.25f};
glDepthMask(GL_FALSE);
if (m_sposSet)
drawAgent(m_spos, m_agentRadius, m_agentHeight, 0/*m_agentMaxClimb*/, startCol);
if (m_eposSet)
drawAgent(m_epos, m_agentRadius, m_agentHeight, 0/*m_agentMaxClimb*/, endCol);
/* if (flags & NAVMESH_POLYS)
duDebugDrawNavMesh(&dd, m_navMesh, m_toolMode == TOOLMODE_PATHFIND);
if (flags & NAVMESH_BVTREE)
duDebugDrawNavMeshBVTree(&dd, m_navMesh);
if (flags & NAVMESH_TOOLS)*/
{
if (m_toolMode == TOOLMODE_PATHFIND)
{
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_startRef, startCol);
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_endRef, endCol);
if (m_npolys)
{
for (int i = 1; i < m_npolys-1; ++i)
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_polys[i], pathCol);
}
if (m_nstraightPath)
{
glColor4ub(64,16,0,64);
glLineWidth(2.0f);
glBegin(GL_LINE_STRIP);
for (int i = 0; i < m_nstraightPath; ++i)
glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
glEnd();
glLineWidth(1.0f);
glColor4ub(64,16,0,128);
glPointSize(3.0f);
glBegin(GL_POINTS);
for (int i = 0; i < m_nstraightPath; ++i)
glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
glEnd();
glPointSize(1.0f);
}
if (m_nsmoothPath)
{
glColor4ub(0,0,0,220);
glLineWidth(3.0f);
glBegin(GL_LINES);
for (int i = 0; i < m_nsmoothPath; ++i)
glVertex3f(m_smoothPath[i*3], m_smoothPath[i*3+1]+0.1f, m_smoothPath[i*3+2]);
glEnd();
glLineWidth(1.0f);
}
}
else if (m_toolMode == TOOLMODE_RAYCAST)
{
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_startRef, startCol);
if (m_nstraightPath)
{
for (int i = 1; i < m_npolys; ++i)
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_polys[i], pathCol);
glColor4ub(64,16,0,220);
glLineWidth(3.0f);
glBegin(GL_LINE_STRIP);
for (int i = 0; i < m_nstraightPath; ++i)
glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
glEnd();
glLineWidth(1.0f);
glPointSize(4.0f);
glBegin(GL_POINTS);
for (int i = 0; i < m_nstraightPath; ++i)
glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
glEnd();
glPointSize(1.0f);
glColor4ub(255,255,255,128);
glBegin(GL_LINES);
glVertex3f(m_hitPos[0], m_hitPos[1] + 0.4f, m_hitPos[2]);
glVertex3f(m_hitPos[0] + m_hitNormal[0]*m_agentRadius, m_hitPos[1] + 0.4f + m_hitNormal[1]*m_agentRadius, m_hitPos[2] + m_hitNormal[2]*m_agentRadius);
glEnd();
}
}
else if (m_toolMode == TOOLMODE_DISTANCE_TO_WALL)
{
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_startRef, startCol);
const float col[4] = {1,1,1,0.5f};
duDebugDrawCylinderWire(&dd, m_spos[0]-m_distanceToWall, m_spos[1]+0.02f, m_spos[2]-m_distanceToWall,
m_spos[0]+m_distanceToWall, m_spos[1]+m_agentHeight, m_spos[2]+m_distanceToWall, col);
glLineWidth(3.0f);
glColor4fv(col);
glBegin(GL_LINES);
glVertex3f(m_hitPos[0], m_hitPos[1] + 0.02f, m_hitPos[2]);
glVertex3f(m_hitPos[0], m_hitPos[1] + m_agentHeight, m_hitPos[2]);
glEnd();
glLineWidth(1.0f);
}
else if (m_toolMode == TOOLMODE_FIND_POLYS_AROUND)
{
const float cola[4] = {0,0,0,0.5f};
for (int i = 0; i < m_npolys; ++i)
{
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_polys[i], pathCol);
if (m_parent[i])
{
float p0[3], p1[3];
getPolyCenter(m_navMesh, m_polys[i], p0);
getPolyCenter(m_navMesh, m_parent[i], p1);
duDebugDrawArc(&dd, p0, p1, cola, 2.0f);
}
}
const float dx = m_epos[0] - m_spos[0];
const float dz = m_epos[2] - m_spos[2];
float dist = sqrtf(dx*dx + dz*dz);
const float col[4] = {1,1,1,0.5f};
duDebugDrawCylinderWire(&dd, m_spos[0]-dist, m_spos[1]+0.02f, m_spos[2]-dist,
m_spos[0]+dist, m_spos[1]+m_agentHeight, m_spos[2]+dist, col);
}
}
glDepthMask(GL_TRUE);
}
void NavMeshTesterTool::handleRenderOverlay(double* proj, double* model, int* view)
{
GLdouble x, y, z;
// Draw start and end point labels
if (m_sposSet && gluProject((GLdouble)m_spos[0], (GLdouble)m_spos[1], (GLdouble)m_spos[2],
model, proj, view, &x, &y, &z))
{
imguiDrawText((int)x, (int)(y-25), IMGUI_ALIGN_CENTER, "Start", imguiRGBA(0,0,0,220));
}
if (m_eposSet && gluProject((GLdouble)m_epos[0], (GLdouble)m_epos[1], (GLdouble)m_epos[2],
model, proj, view, &x, &y, &z))
{
imguiDrawText((int)x, (int)(y-25), IMGUI_ALIGN_CENTER, "End", imguiRGBA(0,0,0,220));
}
}
void NavMeshTesterTool::drawAgent(const float* pos, float r, float h, float c, const float* col)
{
DebugDrawGL dd;
glDepthMask(GL_FALSE);
// Agent dimensions.
glLineWidth(2.0f);
duDebugDrawCylinderWire(&dd, pos[0]-r, pos[1]+0.02f, pos[2]-r, pos[0]+r, pos[1]+h, pos[2]+r, col);
glLineWidth(1.0f);
glColor4ub(0,0,0,196);
glBegin(GL_LINES);
glVertex3f(pos[0], pos[1]-c, pos[2]);
glVertex3f(pos[0], pos[1]+c, pos[2]);
glVertex3f(pos[0]-r/2, pos[1]+0.02f, pos[2]);
glVertex3f(pos[0]+r/2, pos[1]+0.02f, pos[2]);
glVertex3f(pos[0], pos[1]+0.02f, pos[2]-r/2);
glVertex3f(pos[0], pos[1]+0.02f, pos[2]+r/2);
glEnd();
glDepthMask(GL_TRUE);
}