Moved common debugdraw code to DebugDraw.h/cpp, changed API to allow uint colors.

DebugUtils/Include/DebugDraw.h

@@ -70,4 +70,50 @@ inline unsigned int duRGBAf(float fr, float fg, float fb, float fa)
 unsigned int duIntToCol(int i, int a);
 void duIntToCol(int i, float* col);
 
+void duCalcBoxColors(unsigned int* colors, unsigned int colTop, unsigned int colSide);
+
+void duDebugDrawCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz,
+							 float maxx, float maxy, float maxz, unsigned int col, const float lineWidth);
+
+void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz,
+						float maxx, float maxy, float maxz, unsigned int col, const float lineWidth);
+
+void duDebugDrawArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
+					const float x1, const float y1, const float z1, const float h, unsigned int col, const float lineWidth);
+
+void duDebugDrawCircle(struct duDebugDraw* dd, const float x, const float y, const float z,
+					   const float r, unsigned int col, const float lineWidth);
+
+void duDebugDrawCross(struct duDebugDraw* dd, const float x, const float y, const float z,
+					  const float size, unsigned int col, const float lineWidth);
+
+void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz,
+					float maxx, float maxy, float maxz, const unsigned int* fcol);
+
+void duDebugDrawGridXZ(struct duDebugDraw* dd, const float ox, const float oy, const float oz,
+					   const int w, const int h, const float size,
+					   const unsigned int col, const float lineWidth);
+
+
+// Versions without begin/end, can be used to draw multiple primitives.
+void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz,
+						  float maxx, float maxy, float maxz, unsigned int col);
+
+void duAppendBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz,
+					 float maxx, float maxy, float maxz, unsigned int col);
+
+void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
+				 const float x1, const float y1, const float z1, const float h, unsigned int col);
+
+void duAppendCircle(struct duDebugDraw* dd, const float x, const float y, const float z,
+					const float r, unsigned int col);
+
+void duAppendCross(struct duDebugDraw* dd, const float x, const float y, const float z,
+				   const float size, unsigned int col);
+
+void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz,
+				 float maxx, float maxy, float maxz, const unsigned int* fcol);
+
+
+
 #endif // DEBUGDRAW_H

DebugUtils/Include/DetourDebugDraw.h

@@ -23,6 +23,6 @@
 
 void duDebugDrawNavMesh(struct duDebugDraw* dd, const dtNavMesh* mesh, bool drawClosedList = false);
 void duDebugDrawNavMeshBVTree(struct duDebugDraw* dd, const dtNavMesh* mesh);
-void duDebugDrawNavMeshPoly(struct duDebugDraw* dd, const dtNavMesh* mesh, dtPolyRef ref, const float* col);
+void duDebugDrawNavMeshPoly(struct duDebugDraw* dd, const dtNavMesh* mesh, dtPolyRef ref, const unsigned int col);
 
 #endif // DETOURDEBUGDRAW_H

DebugUtils/Include/RecastDebugDraw.h

@@ -35,12 +35,4 @@ void duDebugDrawContours(struct duDebugDraw* dd, const struct rcContourSet& cset
 void duDebugDrawPolyMesh(struct duDebugDraw* dd, const struct rcPolyMesh& mesh);
 void duDebugDrawPolyMeshDetail(struct duDebugDraw* dd, const struct rcPolyMeshDetail& dmesh);
 
-void duDebugDrawCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz,
-							 float maxx, float maxy, float maxz, const float* col);
-void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz,
-						float maxx, float maxy, float maxz, const float* col);
-void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz, float maxx, float maxy, float maxz,
-					const float* col1, const float* col2);
-void duDebugDrawArc(struct duDebugDraw* dd, const float* p0, const float* p1, const float* col, float lineWidth);
-
 #endif // RECAST_DEBUGDRAW_H

DebugUtils/Source/DebugDraw.cpp

@@ -16,6 +16,8 @@
 // 3. This notice may not be removed or altered from any source distribution.
 //
 
+#define _USE_MATH_DEFINES
+#include <math.h>
 #include "DebugDraw.h"
 
 inline int bit(int a, int b)
@@ -40,3 +42,253 @@ void duIntToCol(int i, float* col)
 	col[1] = 1 - g*63.0f/255.0f;
 	col[2] = 1 - b*63.0f/255.0f;
 }
+
+inline unsigned int multCol(const unsigned int col, const unsigned int d)
+{
+	const unsigned int r = col & 0xff;
+	const unsigned int g = (col >> 8) & 0xff;
+	const unsigned int b = (col >> 16) & 0xff;
+	const unsigned int a = (col >> 24) & 0xff;
+	return duRGBA((r*d) >> 8, (g*d) >> 8, (b*d) >> 8, a);
+}
+
+void duCalcBoxColors(unsigned int* colors, unsigned int colTop, unsigned int colSide)
+{
+	colors[0] = multCol(colTop, 250);
+	colors[1] = multCol(colSide, 140);
+	colors[2] = multCol(colSide, 165);
+	colors[3] = multCol(colSide, 217);
+	colors[4] = multCol(colSide, 165);
+	colors[5] = multCol(colSide, 217);
+}
+
+void duDebugDrawCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz,
+							 float maxx, float maxy, float maxz, unsigned int col, const float lineWidth)
+{
+	dd->begin(DU_DRAW_LINES, lineWidth);
+	duAppendCylinderWire(dd, minx,miny,minz, maxx,maxy,maxz, col);
+	dd->end();
+}
+
+void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz,
+						float maxx, float maxy, float maxz, unsigned int col, const float lineWidth)
+{
+	dd->begin(DU_DRAW_LINES, lineWidth);
+	duAppendBoxWire(dd, minx,miny,minz, maxx,maxy,maxz, col);
+	dd->end();
+}
+
+void duDebugDrawArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
+					const float x1, const float y1, const float z1, const float h, unsigned int col, const float lineWidth)
+{
+	dd->begin(DU_DRAW_LINES, lineWidth);
+	duAppendArc(dd, x0,y0,z0, x1,y1,z1, h, col);
+	dd->end();
+}
+
+void duDebugDrawCircle(struct duDebugDraw* dd, const float x, const float y, const float z,
+					   const float r, unsigned int col, const float lineWidth)
+{
+	dd->begin(DU_DRAW_LINES, lineWidth);
+	duAppendCircle(dd, x,y,z, r, col);
+	dd->end();
+}
+
+void duDebugDrawCross(struct duDebugDraw* dd, const float x, const float y, const float z,
+					  const float size, unsigned int col, const float lineWidth)
+{
+	dd->begin(DU_DRAW_LINES, lineWidth);
+	duAppendCross(dd, x,y,z, size, col);
+	dd->end();
+}
+
+void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz,
+					float maxx, float maxy, float maxz, const unsigned int* fcol)
+{
+	dd->begin(DU_DRAW_TRIS);
+	duAppendBox(dd, minx,miny,minz, maxx,maxy,maxz, fcol);
+	dd->end();
+}
+
+void duDebugDrawGridXZ(struct duDebugDraw* dd, const float ox, const float oy, const float oz,
+					   const int w, const int h, const float size,
+					   const unsigned int col, const float lineWidth)
+{
+	dd->begin(DU_DRAW_LINES, lineWidth);
+	for (int i = 0; i <= h; ++i)
+	{
+		dd->vertex(ox,oy,oz+i*size, col);
+		dd->vertex(ox+w*size,oy,oz+i*size, col);
+	}
+	for (int i = 0; i <= w; ++i)
+	{
+		dd->vertex(ox+i*size,oy,oz, col);
+		dd->vertex(ox+i*size,oy,oz+h*size, col);
+	}
+	dd->end();
+}
+		 
+
+void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz,
+						  float maxx, float maxy, float maxz, unsigned int col)
+{
+	static const int NUM_SEG = 16;
+	static float dir[NUM_SEG*2];
+	static bool init = false;
+	if (!init)
+	{
+		init = true;
+		for (int i = 0; i < NUM_SEG; ++i)
+		{
+			const float a = (float)i/(float)NUM_SEG*(float)M_PI*2;
+			dir[i*2] = cosf(a);
+			dir[i*2+1] = sinf(a);
+		}
+	}
+	
+	const float cx = (maxx + minx)/2;
+	const float cz = (maxz + minz)/2;
+	const float rx = (maxx - minx)/2;
+	const float rz = (maxz - minz)/2;
+	
+	for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++)
+	{
+		dd->vertex(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz, col);
+		dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col);
+		dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col);
+		dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col);
+	}
+	for (int i = 0; i < NUM_SEG; i += NUM_SEG/4)
+	{
+		dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col);
+		dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col);
+	}
+}
+
+void duAppendBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz,
+					 float maxx, float maxy, float maxz, unsigned int col)
+{
+	// Top
+	dd->vertex(minx, miny, minz, col);
+	dd->vertex(maxx, miny, minz, col);
+	dd->vertex(maxx, miny, minz, col);
+	dd->vertex(maxx, miny, maxz, col);
+	dd->vertex(maxx, miny, maxz, col);
+	dd->vertex(minx, miny, maxz, col);
+	dd->vertex(minx, miny, maxz, col);
+	dd->vertex(minx, miny, minz, col);
+	
+	// bottom
+	dd->vertex(minx, maxy, minz, col);
+	dd->vertex(maxx, maxy, minz, col);
+	dd->vertex(maxx, maxy, minz, col);
+	dd->vertex(maxx, maxy, maxz, col);
+	dd->vertex(maxx, maxy, maxz, col);
+	dd->vertex(minx, maxy, maxz, col);
+	dd->vertex(minx, maxy, maxz, col);
+	dd->vertex(minx, maxy, minz, col);
+	
+	// Sides
+	dd->vertex(minx, miny, minz, col);
+	dd->vertex(minx, maxy, minz, col);
+	dd->vertex(maxx, miny, minz, col);
+	dd->vertex(maxx, maxy, minz, col);
+	dd->vertex(maxx, miny, maxz, col);
+	dd->vertex(maxx, maxy, maxz, col);
+	dd->vertex(minx, miny, maxz, col);
+	dd->vertex(minx, maxy, maxz, col);
+}
+
+
+void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz,
+				 float maxx, float maxy, float maxz, const unsigned int* fcol)
+{
+	const float verts[8*3] =
+	{
+		minx, miny, minz,
+		maxx, miny, minz,
+		maxx, miny, maxz,
+		minx, miny, maxz,
+		minx, maxy, minz,
+		maxx, maxy, minz,
+		maxx, maxy, maxz,
+		minx, maxy, maxz,
+	};
+	static const unsigned char inds[6*4] =
+	{
+		7, 6, 5, 4,
+		0, 1, 2, 3,
+		1, 5, 6, 2,
+		3, 7, 4, 0,
+		2, 6, 7, 3,
+		0, 4, 5, 1,
+	};
+	
+	const unsigned char* in = inds;
+	for (int i = 0; i < 6; ++i)
+	{
+		dd->vertex(&verts[*in*3], fcol[i]); in++;
+		dd->vertex(&verts[*in*3], fcol[i]); in++;
+		dd->vertex(&verts[*in*3], fcol[i]); in++;
+		dd->vertex(&verts[*in*3], fcol[i]); in++;
+	}
+}
+
+void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
+				 const float x1, const float y1, const float z1, const float h, unsigned int col)
+{
+	static const int NUM_ARC_PTS = 8;
+	static const float ARC_PTS_SCALE = 1.0f / (float)NUM_ARC_PTS;
+	const float dx = x1 - x0;
+	const float dy = y1 - y0;
+	const float dz = z1 - z0;
+	const float len = sqrtf(dx*dx + dy*dy + dz*dz);
+	float px = x0, py = y0, pz = z0;
+	for (int i = 1; i <= NUM_ARC_PTS; ++i)
+	{
+		const float u = i * ARC_PTS_SCALE;
+		const float x = x0 + dx * u;
+		const float y = y0 + dy * u + (len*h) * (1-(u*2-1)*(u*2-1));
+		const float z = z0 + dz * u;
+		dd->vertex(px,py,pz, col);
+		dd->vertex(x,y,z, col);
+		px = x; py = y; pz = z;
+	}
+}
+
+void duAppendCircle(struct duDebugDraw* dd, const float x, const float y, const float z,
+					const float r, unsigned int col)
+{
+	static const int NUM_SEG = 40;
+	static float dir[40*2];
+	static bool init = false;
+	if (!init)
+	{
+		init = true;
+		for (int i = 0; i < NUM_SEG; ++i)
+		{
+			const float a = (float)i/(float)NUM_SEG*(float)M_PI*2;
+			dir[i*2] = cosf(a);
+			dir[i*2+1] = sinf(a);
+		}
+	}
+	
+	for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++)
+	{
+		dd->vertex(x+dir[j*2+0]*r, y, z+dir[j*2+1]*r, col);
+		dd->vertex(x+dir[i*2+0]*r, y, z+dir[i*2+1]*r, col);
+	}
+}
+
+void duAppendCross(struct duDebugDraw* dd, const float x, const float y, const float z,
+				   const float s, unsigned int col)
+{
+	dd->vertex(x-s,y,z, col);
+	dd->vertex(x+s,y,z, col);
+	dd->vertex(x,y-s,z, col);
+	dd->vertex(x,y+s,z, col);
+	dd->vertex(x,y,z-s, col);
+	dd->vertex(x,y,z+s, col);
+}
+
+

DebugUtils/Source/DetourDebugDraw.cpp

@@ -20,40 +20,6 @@
 #include "DetourDebugDraw.h"
 #include "DetourNavMesh.h"
 
-static void drawBoxWire(duDebugDraw* dd, float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col)
-{
-	unsigned int c = duRGBAf(col[0],col[1],col[2],col[3]);
-	
-	// Top
-	dd->vertex(minx, miny, minz, c);
-	dd->vertex(maxx, miny, minz, c);
-	dd->vertex(maxx, miny, minz, c);
-	dd->vertex(maxx, miny, maxz, c);
-	dd->vertex(maxx, miny, maxz, c);
-	dd->vertex(minx, miny, maxz, c);
-	dd->vertex(minx, miny, maxz, c);
-	dd->vertex(minx, miny, minz, c);
-	
-	// bottom
-	dd->vertex(minx, maxy, minz, c);
-	dd->vertex(maxx, maxy, minz, c);
-	dd->vertex(maxx, maxy, minz, c);
-	dd->vertex(maxx, maxy, maxz, c);
-	dd->vertex(maxx, maxy, maxz, c);
-	dd->vertex(minx, maxy, maxz, c);
-	dd->vertex(minx, maxy, maxz, c);
-	dd->vertex(minx, maxy, minz, c);
-	
-	// Sides
-	dd->vertex(minx, miny, minz, c);
-	dd->vertex(minx, maxy, minz, c);
-	dd->vertex(maxx, miny, minz, c);
-	dd->vertex(maxx, maxy, minz, c);
-	dd->vertex(maxx, miny, maxz, c);
-	dd->vertex(maxx, maxy, maxz, c);
-	dd->vertex(minx, miny, maxz, c);
-	dd->vertex(minx, maxy, maxz, c);
-}
 
 static float distancePtLine2d(const float* pt, const float* p, const float* q)
 {
@@ -80,6 +46,9 @@ static void drawPolyBoundaries(duDebugDraw* dd, const dtMeshHeader* header,
 	for (int i = 0; i < header->npolys; ++i)
 	{
 		const dtPoly* p = &header->polys[i];
+		
+		if (p->flags & DT_POLY_OFFMESH_LINK) continue;
+		
 		const dtPolyDetail* pd = &header->dmeshes[i];
 		
 		for (int j = 0, nj = (int)p->nv; j < nj; ++j)
@@ -153,6 +122,9 @@ static void drawMeshTile(duDebugDraw* dd, const dtNavMesh* mesh, const dtMeshTil
 	for (int i = 0; i < header->npolys; ++i)
 	{
 		const dtPoly* p = &header->polys[i];
+		if (p->flags & DT_POLY_OFFMESH_LINK)	// Skip off-mesh links.
+			continue;
+			
 		const dtPolyDetail* pd = &header->dmeshes[i];
 
 		unsigned int col;
@@ -175,6 +147,26 @@ static void drawMeshTile(duDebugDraw* dd, const dtNavMesh* mesh, const dtMeshTil
 	}
 	dd->end();
 	
+	dd->begin(DU_DRAW_LINES, 2.0f);
+	for (int i = 0; i < header->npolys; ++i)
+	{
+		const dtPoly* p = &header->polys[i];
+		if ((p->flags & DT_POLY_OFFMESH_LINK) == 0)	// Skip regular polys.
+			continue;
+			
+		unsigned int col;
+		if (drawClosedList && mesh->isInClosedList(base | (dtPolyRef)i))
+			col = duRGBA(255,196,0,220);
+		else
+			col = duRGBA(0,196,255,220);
+		
+		const float* va = &header->verts[p->v[0]*3];
+		const float* vb = &header->verts[p->v[1]*3];
+		
+		duDebugDrawArc(dd, va[0],va[1]+0.1f,va[2], vb[0],vb[1]+0.1f,vb[2], 0.25f, col, 2.0f);
+	}
+	dd->end();
+	
 	// Draw inter poly boundaries
 	drawPolyBoundaries(dd, header, duRGBA(0,48,64,32), 1.5f, true);
 	
@@ -290,7 +282,6 @@ static void drawMeshTileBVTree(duDebugDraw* dd, const dtNavMesh* mesh, const dtM
 	const dtMeshHeader* header = tile->header;
 	
 	// Draw BV nodes.
-	const float col[] = { 1,1,1,0.5f };
 	const float cs = 1.0f / header->bvquant;
 	dd->begin(DU_DRAW_LINES, 1.0f);
 	for (int i = 0; i < header->nbvtree; ++i)
@@ -298,12 +289,13 @@ static void drawMeshTileBVTree(duDebugDraw* dd, const dtNavMesh* mesh, const dtM
 		const dtBVNode* n = &header->bvtree[i];
 		if (n->i < 0) // Leaf indices are positive.
 			continue;
-		drawBoxWire(dd, header->bmin[0] + n->bmin[0]*cs,
+		duAppendBoxWire(dd, header->bmin[0] + n->bmin[0]*cs,
 						header->bmin[1] + n->bmin[1]*cs,
 						header->bmin[2] + n->bmin[2]*cs,
 						header->bmin[0] + n->bmax[0]*cs,
 						header->bmin[1] + n->bmax[1]*cs,
-					header->bmin[2] + n->bmax[2]*cs, col);
+						header->bmin[2] + n->bmax[2]*cs,
+						duRGBA(255,255,255,128));
 	}
 	dd->end();
 	
@@ -401,7 +393,7 @@ void duDebugDrawNavMeshBVTree(duDebugDraw* dd, const dtNavMesh* mesh)
 	}
 }
 
-void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh* mesh, dtPolyRef ref, const float* col)
+void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh* mesh, dtPolyRef ref, const unsigned int col)
 {
 	int ip = 0;
 	const dtMeshTile* tile = mesh->getTileByRef(ref, &ip);
@@ -409,9 +401,19 @@ void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh* mesh, dtPolyRef re
 		return;
 	const dtMeshHeader* header = tile->header;
 	const dtPoly* p = &header->polys[ip];
+	
+	const unsigned int c = (col & 0x00ffffff) | (64 << 24);
+	
+	if (p->flags & DT_POLY_OFFMESH_LINK)
+	{
+		const float* va = &header->verts[p->v[0]*3];
+		const float* vb = &header->verts[p->v[1]*3];
+		duDebugDrawArc(dd, va[0],va[1]+0.1f,va[2], vb[0],vb[1]+0.1f,vb[2], 0.25f, c, 2.0f);
+	}
+	else
+	{
 		const dtPolyDetail* pd = &header->dmeshes[ip];
 
-	unsigned int c = duRGBAf(col[0],col[1],col[2],0.25f);
 		dd->begin(DU_DRAW_TRIS);
 		for (int i = 0; i < pd->ntris; ++i)
 		{
@@ -426,4 +428,5 @@ void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh* mesh, dtPolyRef re
 		}
 		dd->end();
 	}
+}
 

DebugUtils/Source/RecastDebugDraw.cpp

@@ -72,6 +72,7 @@ void duDebugDrawTriMeshSlope(duDebugDraw* dd, const float* verts, int nverts,
 	dd->end();
 }
 
+/*
 static void drawBoxWire(duDebugDraw* dd,
 						float minx, float miny, float minz,
 						float maxx, float maxy, float maxz,
@@ -111,8 +112,8 @@ static void drawBoxWire(duDebugDraw* dd,
 	dd->vertex(minx, miny, maxz, color);
 	dd->vertex(minx, maxy, maxz, color);
 }
-
+*/
-static void drawBox(duDebugDraw* dd,
+/*static void drawBox(duDebugDraw* dd,
 					float minx, float miny, float minz,
 					float maxx, float maxy, float maxz,
 					const float* col1, const float* col2)
@@ -211,7 +212,7 @@ void duDebugDrawBox(duDebugDraw* dd, float minx, float miny, float minz, float m
 	dd->begin(DU_DRAW_QUADS,24);
 	drawBox(dd, minx, miny, minz, maxx, maxy, maxz, col1, col2);
 	dd->end();
-}
+}*/
 
 static int getSpanCount(const rcHeightfield& hf)
 {
@@ -227,7 +228,6 @@ static int getSpanCount(const rcHeightfield& hf)
 
 void duDebugDrawHeightfieldSolid(duDebugDraw* dd, const rcHeightfield& hf)
 {
-	static const float col0[4] = { 1,1,1,1 };
 	
 	const float* orig = hf.bmin;
 	const float cs = hf.cs;
@@ -236,6 +236,9 @@ void duDebugDrawHeightfieldSolid(duDebugDraw* dd, const rcHeightfield& hf)
 	const int w = hf.width;
 	const int h = hf.height;
 		
+	unsigned int fcol[6];
+	duCalcBoxColors(fcol, duRGBA(255,255,255,255), duRGBA(255,255,255,255));
+	
 	dd->begin(DU_DRAW_QUADS);
 	
 	for (int y = 0; y < h; ++y)
@@ -247,7 +250,7 @@ void duDebugDrawHeightfieldSolid(duDebugDraw* dd, const rcHeightfield& hf)
 			const rcSpan* s = hf.spans[x + y*w];
 			while (s)
 			{
-				drawBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, col0, col0);
+				duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, fcol);
 				s = s->next;
 			}
 		}
@@ -257,11 +260,6 @@ void duDebugDrawHeightfieldSolid(duDebugDraw* dd, const rcHeightfield& hf)
 
 void duDebugDrawHeightfieldWalkable(duDebugDraw* dd, const rcHeightfield& hf)
 {
-	static const float colb[4] = {0.85f,0.85f,0.85f,1 }; // Base
-	static const float col0[4] = {0.5f, 0.75f, 0.85f,1}; // Culled
-	static const float col1[4] = {0.3f, 0.55f, 0.65f, 1}; // Walkable
-	static const float col2[4] = {0.15f, 0.4f, 0.5f,1}; // Ledge
-	
 	const float* orig = hf.bmin;
 	const float cs = hf.cs;
 	const float ch = hf.ch;
@@ -269,6 +267,11 @@ void duDebugDrawHeightfieldWalkable(duDebugDraw* dd, const rcHeightfield& hf)
 	const int w = hf.width;
 	const int h = hf.height;
 	
+	unsigned int fcol0[6], fcol1[6], fcol2[6];
+	duCalcBoxColors(fcol0, duRGBA(128,192,217,255), duRGBA(217,217,217,255)); // Culled
+	duCalcBoxColors(fcol1, duRGBA(77,140,165,255), duRGBA(217,217,217,255)); // Walkable
+	duCalcBoxColors(fcol2, duRGBA(38,102,128,255), duRGBA(217,217,217,255)); // Ledge
+
 	dd->begin(DU_DRAW_QUADS);
 	
 	for (int y = 0; y < h; ++y)
@@ -280,12 +283,12 @@ void duDebugDrawHeightfieldWalkable(duDebugDraw* dd, const rcHeightfield& hf)
 			const rcSpan* s = hf.spans[x + y*w];
 			while (s)
 			{
-				const float* c = col0;
+				const unsigned int* c = fcol0;
 				if (s->flags & RC_LEDGE)
-					c = col2;
+					c = fcol2;
 				else if (s->flags & RC_WALKABLE)
-					c = col1;
+					c = fcol1;
-				drawBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, colb, c);
+				duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, c);
 				s = s->next;
 			}
 		}
@@ -432,7 +435,7 @@ static const rcContour* findContourFromSet(const rcContourSet& cset, unsigned sh
 
 static const int NUM_ADU_PTS = 8;
 
-static void drawArc(duDebugDraw* dd, const float* p0, const float* p1, unsigned int color)
+void drawArc(duDebugDraw* dd, const float* p0, const float* p1, unsigned int color)
 {
 	// Submits NPTS*2 vertices.
 	float pts[NUM_ADU_PTS*3];
@@ -462,6 +465,19 @@ void duDebugDrawArc(duDebugDraw* dd, const float* p0, const float* p1, const flo
 	dd->end();
 }
 
+void duDebugDrawCross(struct duDebugDraw* dd, const float* p, const float s, const float dy, const float* col, float lineWidth)
+{
+	const unsigned int color = duRGBAf(col[0],col[1],col[2],col[3]);
+	dd->begin(DU_DRAW_LINES, lineWidth);
+	dd->vertex(p[0]-s,p[1]+dy,p[2], color);
+	dd->vertex(p[0]+s,p[1]+dy,p[2], color);
+	dd->vertex(p[0],p[1]-s+dy,p[2], color);
+	dd->vertex(p[0],p[1]+s+dy,p[2], color);
+	dd->vertex(p[0],p[1]+dy,p[2]-s, color);
+	dd->vertex(p[0],p[1]+dy,p[2]+s, color);
+	dd->end();
+}
+
 void duDebugDrawRegionConnections(duDebugDraw* dd, const rcContourSet& cset, const float alpha)
 {
 	const float* orig = cset.bmin;