server_common/recastnavigation_v1.6.0
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Tweaked debug draw to better fit the Paris conferene setup.

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Rewrote fixup contours, now should handle all cases.
Added few more debug draw modes for the demo.
Changed the vertex welding to cope with slight imprecision in y-direction.
This commit is contained in:
Mikko Mononen 2009-06-03 07:35:25 +00:00
parent c5d43c8029
commit ab372964ad
12 changed files with 1204 additions and 4205 deletions
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3
Detour/Include/DetourStatNavMesh.h
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@ -73,6 +73,7 @@ public:
// Params: // Params:
// center - (in) The center of the search box. // center - (in) The center of the search box.
// extents - (in) The extents of the search box. // extents - (in) The extents of the search box.
// Returns: Reference identifier for the polygon, or 0 if no polygons found.
dtPolyRef findNearestPoly(const float* center, const float* extents); dtPolyRef findNearestPoly(const float* center, const float* extents);
// Returns polygons which touch the query box. // Returns polygons which touch the query box.
@ -107,6 +108,7 @@ public:
// pathSize - (in) Number of polygons in path array. // pathSize - (in) Number of polygons in path array.
// straightPath - (out) Points describing the straight path. // straightPath - (out) Points describing the straight path.
// maxStraightPathSize - (in) The max number of points the straight path array can hold. // maxStraightPathSize - (in) The max number of points the straight path array can hold.
// Returns: Number of points in the path.
int findStraightPath(const float* startPos, const float* endPos, int findStraightPath(const float* startPos, const float* endPos,
const dtPolyRef* path, const int pathSize, const dtPolyRef* path, const int pathSize,
float* straightPath, const int maxStraightPathSize); float* straightPath, const int maxStraightPathSize);
@ -154,6 +156,7 @@ public:
// ref - (in) ref to the polygon. // ref - (in) ref to the polygon.
// pos - (in) the point to check. // pos - (in) the point to check.
// closest - (out) closest point. // closest - (out) closest point.
// Returns: true if closest point found.
bool closestPointToPoly(dtPolyRef ref, const float* pos, float* closest) const; bool closestPointToPoly(dtPolyRef ref, const float* pos, float* closest) const;
// Returns cost between two polygons. // Returns cost between two polygons.

8
Detour/Source/DetourDebugDraw.cpp
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@ -126,8 +126,8 @@ void dtDebugDrawStatNavMesh(const dtStatNavMesh* mesh)
glEnd(); glEnd();
// Draw tri boundaries // Draw tri boundaries
glColor4ub(0,0,0,64); glColor4ub(0,48,64,32);
glLineWidth(1.0f); glLineWidth(1.5f);
glBegin(GL_LINES); glBegin(GL_LINES);
for (int i = 0; i < mesh->getPolyCount(); ++i) for (int i = 0; i < mesh->getPolyCount(); ++i)
{ {
@ -148,8 +148,8 @@ void dtDebugDrawStatNavMesh(const dtStatNavMesh* mesh)
glEnd(); glEnd();
// Draw boundaries // Draw boundaries
glLineWidth(3.0f); glLineWidth(2.5f);
glColor4ub(0,0,0,128); glColor4ub(0,48,64,220);
glBegin(GL_LINES); glBegin(GL_LINES);
for (int i = 0; i < mesh->getPolyCount(); ++i) for (int i = 0; i < mesh->getPolyCount(); ++i)
{ {

22
Detour/Source/DetourStatNavMesh.cpp
View File

@ -121,6 +121,16 @@ inline float triArea2D(const float* a, const float* b, const float* c)
return ((b[0]*a[2] - a[0]*b[2]) + (c[0]*b[2] - b[0]*c[2]) + (a[0]*c[2] - c[0]*a[2])) * 0.5f; return ((b[0]*a[2] - a[0]*b[2]) + (c[0]*b[2] - b[0]*c[2]) + (a[0]*c[2] - c[0]*a[2])) * 0.5f;
} }
inline bool checkOverlapBox(const unsigned short amin[3], const unsigned short amax[3],
const unsigned short bmin[3], const unsigned short bmax[3])
{
bool overlap = true;
overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
return overlap;
}
static void closestPtPointTriangle(float* closest, const float* p, static void closestPtPointTriangle(float* closest, const float* p,
const float* a, const float* b, const float* c) const float* a, const float* b, const float* c)
{ {
@ -604,7 +614,7 @@ unsigned short dtStatNavMesh::getCost(dtPolyRef from, dtPolyRef to) const
float fromPc[3], toPc[3]; float fromPc[3], toPc[3];
calcPolyCenter(fromPc, fromPoly, m_verts); calcPolyCenter(fromPc, fromPoly, m_verts);
calcPolyCenter(toPc, toPoly, m_verts); calcPolyCenter(toPc, toPoly, m_verts);
int cost = (int)sqrtf(sqr(fromPc[0]-toPc[0]) + sqr(fromPc[2]-toPc[2])); int cost = (int)(sqrtf(sqr(fromPc[0]-toPc[0]) + sqr(fromPc[2]-toPc[2])) * 4.0f);
if (cost < 1) cost = 1; if (cost < 1) cost = 1;
if (cost > 0xffff) cost = 0xffff; if (cost > 0xffff) cost = 0xffff;
return cost; return cost;
@ -1188,16 +1198,6 @@ int dtStatNavMesh::findPolysAround(dtPolyRef centerRef, const float* centerPos,
return n; return n;
} }
inline bool checkOverlapBox(const unsigned short amin[3], const unsigned short amax[3],
const unsigned short bmin[3], const unsigned short bmax[3])
{
bool overlap = true;
overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
return overlap;
}
// Returns polygons which are withing certain radius from the query location. // Returns polygons which are withing certain radius from the query location.
int dtStatNavMesh::queryPolygons(const float* center, const float* extents, int dtStatNavMesh::queryPolygons(const float* center, const float* extents,
unsigned short* ids, const int maxIds) unsigned short* ids, const int maxIds)

2
Detour/Source/DetourStatNavMeshBuilder.cpp
View File

@ -213,6 +213,8 @@ bool dtCreateNavMeshData(const unsigned short* verts, const int nverts,
{ {
if (nvp != DT_VERTS_PER_POLYGON) if (nvp != DT_VERTS_PER_POLYGON)
return false; return false;
if (nverts >= 0xffff)
return false;
if (!nverts) if (!nverts)
return false; return false;

8
Recast/Include/Recast.h
View File

@ -379,13 +379,13 @@ bool rcBuildContours(rcCompactHeightfield& chf,
// Params: // Params:
// cseta - (in) contour set A. // cseta - (in) contour set A.
// csetb - (in) contour set B. // csetb - (in) contour set B.
// edge - (in) which edge to conform: 1) B is left of A 2) B is top of A // walkableHeight - (in) minimum height where the agent can still walk
// borderSize - (in) the border which was used when the contours were generated. // edgex, edgey - (in) defines the planes where the edges can be merged
// tileSize - (in) the tile size which was used when the contours were generated.
// orig - (in) origin of the contour set A. // orig - (in) origin of the contour set A.
// cs - (in) grid cell size // cs - (in) grid cell size
// ch - (in) grid cell height // ch - (in) grid cell height
bool rcFixupAdjacentContours(rcContourSet* cseta, rcContourSet* csetb, int edge, int edgePos); bool rcFixupAdjacentContours(rcContourSet* cseta, rcContourSet* csetb,
const int walkableClimb, const int edgex, const int edgez);
// Translates the cordinates of the contour set. // Translates the cordinates of the contour set.
// Params: // Params:

3
Recast/Include/RecastDebugDraw.h
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@ -47,7 +47,7 @@ void rcDebugDrawCompactHeightfieldSolid(const struct rcCompactHeightfield& chf);
void rcDebugDrawCompactHeightfieldRegions(const struct rcCompactHeightfield& chf); void rcDebugDrawCompactHeightfieldRegions(const struct rcCompactHeightfield& chf);
void rcDebugDrawCompactHeightfieldDistance(const struct rcCompactHeightfield& chf); void rcDebugDrawCompactHeightfieldDistance(const struct rcCompactHeightfield& chf);
void rcDebugDrawRawContours(const struct rcContourSet& cset, const float* orig, float cs, float ch); void rcDebugDrawRawContours(const struct rcContourSet& cset, const float* orig, float cs, float ch, const float alpha = 1.0f);
void rcDebugDrawContours(const struct rcContourSet& cset, const float* orig, float cs, float ch); void rcDebugDrawContours(const struct rcContourSet& cset, const float* orig, float cs, float ch);
void rcDebugDrawPolyMesh(const struct rcPolyMesh& mesh); void rcDebugDrawPolyMesh(const struct rcPolyMesh& mesh);
@ -56,5 +56,4 @@ void rcDebugDrawBoxWire(float minx, float miny, float minz, float maxx, float ma
void rcDebugDrawBox(float minx, float miny, float minz, float maxx, float maxy, float maxz, void rcDebugDrawBox(float minx, float miny, float minz, float maxx, float maxy, float maxz,
const float* col1, const float* col2); const float* col1, const float* col2);
#endif // RECAST_DEBUGDRAW_H #endif // RECAST_DEBUGDRAW_H

284
Recast/Source/RecastContour.cpp
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@ -146,7 +146,7 @@ static float distancePtSeg(int x, int y, int z,
int px, int py, int pz, int px, int py, int pz,
int qx, int qy, int qz) int qx, int qy, int qz)
{ {
float pqx = (float)(qx - px); /* float pqx = (float)(qx - px);
float pqy = (float)(qy - py); float pqy = (float)(qy - py);
float pqz = (float)(qz - pz); float pqz = (float)(qz - pz);
float dx = (float)(x - px); float dx = (float)(x - px);
@ -165,7 +165,25 @@ static float distancePtSeg(int x, int y, int z,
dy = py + t*pqy - y; dy = py + t*pqy - y;
dz = pz + t*pqz - z; dz = pz + t*pqz - z;
return dx*dx + dy*dy + dz*dz; return dx*dx + dy*dy + dz*dz;*/
float pqx = (float)(qx - px);
float pqz = (float)(qz - pz);
float dx = (float)(x - px);
float dz = (float)(z - pz);
float d = pqx*pqx + pqz*pqz;
float t = pqx*dx + pqz*dz;
if (d > 0)
t /= d;
if (t < 0)
t = 0;
else if (t > 1)
t = 1;
dx = px + t*pqx - x;
dz = pz + t*pqz - z;
return dx*dx + dz*dz;
} }
static void simplifyContour(rcIntArray& points, rcIntArray& simplified, float maxError, int maxEdgeLen) static void simplifyContour(rcIntArray& points, rcIntArray& simplified, float maxError, int maxEdgeLen)
@ -672,84 +690,6 @@ bool rcBuildContours(rcCompactHeightfield& chf,
return true; return true;
} }
struct EdgeSegment
{
int i0, i1;
int v0[3], v1[3];
};
static int findEdgeSegments(rcContourSet* cset, int x, int z, EdgeSegment* segs, const int maxSegs)
{
int n = 0;
for (int i = 0; i < cset->nconts; ++i)
{
const rcContour* c = &cset->conts[i];
const int nc = n;
for (int j = 0, k = c->nverts-1; j < c->nverts; k=j++)
{
const int* v0 = &c->verts[k*4];
const int* v1 = &c->verts[j*4];
if ((v0[0] == x && v1[0] == x) || (v0[2] == z && v1[2] == z))
{
if (n && segs[n-1].i1 == k)
{
// Merge with previous
segs[n-1].i1 = j;
}
else
{
// Add new
if (n >= maxSegs)
return n;
segs[n].i0 = k;
segs[n].i1 = j;
n++;
}
}
}
// Check if first and last should be merged.
if (n && n && segs[n-1].v1 == segs[nc].v0)
{
segs[nc].i0 = segs[n-1].i0;
n--;
}
// Copy vertices
for (int j = nc; j < n; ++j)
{
segs[j].v0[0] = c->verts[segs[j].i0*4+0];
segs[j].v0[1] = c->verts[segs[j].i0*4+1];
segs[j].v0[2] = c->verts[segs[j].i0*4+2];
segs[j].v1[0] = c->verts[segs[j].i1*4+0];
segs[j].v1[1] = c->verts[segs[j].i1*4+1];
segs[j].v1[2] = c->verts[segs[j].i1*4+2];
}
}
return n;
}
static bool pointOnEdgeSegment(const int* v0, const int* v1, int x, int z)
{
const int dx = v1[0] - v0[0];
const int dz = v1[2] - v0[2];
if (rcAbs(dx) > rcAbs(dz))
{
const int d = x - v0[0];
if (dx < 0)
return d < 0 && d > dx;
else
return d > 0 && d < dx;
}
else
{
const int d = z - v0[2];
if (dz < 0)
return d < 0 && d > dz;
else
return d > 0 && d < dz;
}
}
static bool insertPoint(rcContour* c, int idx, const int* v) static bool insertPoint(rcContour* c, int idx, const int* v)
{ {
int* newVerts = new int[(c->nverts+1)*4]; int* newVerts = new int[(c->nverts+1)*4];
@ -779,143 +719,131 @@ static bool insertPoint(rcContour* c, int idx, const int* v)
return true; return true;
} }
inline bool ptsEqual(const int* a, const int* b) static void calcBox(const int* v0, const int* v1, int* bounds)
{ {
return a[0] == b[0] && a[1] == b[1] && a[2] == b[2]; bounds[0] = rcMin(v0[0], v1[0]);
bounds[1] = rcMin(v0[1], v1[1]);
bounds[2] = rcMin(v0[2], v1[2]);
bounds[3] = rcMax(v0[0], v1[0]);
bounds[4] = rcMax(v0[1], v1[1]);
bounds[5] = rcMax(v0[2], v1[2]);
} }
static bool conformEdge(rcContourSet* cset, int ex, int ez, const int* v0, const int* v1) /*inline bool checkOverlapBoxY(const int* a, const int* b)
{
bool overlap = true;
overlap = (a[0] >= b[3+0] || a[3+0] <= b[0]) ? false : overlap;
overlap = (a[1] >= b[3+1] || a[3+1] <= b[1]) ? false : overlap;
overlap = (a[2] >= b[3+2] || a[3+2] <= b[2]) ? false : overlap;
return overlap;
}*/
inline bool checkOverlapBoxY(const int* a, const int* b)
{
bool overlap = true;
overlap = (a[1] > b[3+1] || a[3+1] < b[1]) ? false : overlap;
return overlap;
}
static bool conformVertex(rcContourSet* cset, const int* v,
const int pminy, const int pmaxy,
const int nminy, const int nmaxy,
const int walkableClimb)
{ {
for (int i = 0; i < cset->nconts; ++i) for (int i = 0; i < cset->nconts; ++i)
{ {
rcContour* c = &cset->conts[i]; rcContour* c = &cset->conts[i];
const int nv = c->nverts; for (int j = 0; j < c->nverts; ++j)
for (int j = 0; j < nv; ++j)
{ {
const int* v = &c->verts[j*4]; const int k = (j+1) % c->nverts;
if (ptsEqual(v, v0)) const int* vj = &c->verts[j*4];
{ const int* vk = &c->verts[k*4];
const int jn = (j+1) % nv;
const int* vn = &c->verts[jn*4];
// Check if the segment is edge segment. const int miny = rcMin(vj[1], vk[1]); // - (walkableClimb-1);
if ((v[0] == ex && vn[0] == ex) || (v[2] == ez && vn[2] == ez)) const int maxy = rcMax(vj[1], vk[1]); // + (walkableClimb-1);
// Is edge within y-range.
if ((miny > pmaxy || maxy < pminy) &&
(miny > nmaxy || maxy < nminy))
continue;
if (vj[0] == vk[0] && vj[0] == v[0])
{
// The segment is x edge.
const int minz = rcMin(vj[2], vk[2]);
const int maxz = rcMax(vj[2], vk[2]);
if (v[2] > minz && v[2] < maxz)
{ {
if (ptsEqual(vn, v1)) return insertPoint(c, j+1, v);
{
// Valid!
return true;
}
else
{
// Add new vertex
if (pointOnEdgeSegment(v, vn, v1[0], v1[2]))
{
if (!insertPoint(c, jn, v1))
return false;
}
return true;
}
} }
} }
else if (ptsEqual(v, v1)) else if (vj[2] == vk[2] && vj[2] == v[2])
{ {
const int jp = (j+nv-1) % nv; // The segment is z edge.
const int* vp = &c->verts[jp*4]; const int minx = rcMin(vj[0], vk[0]);
// Check if the segment is edge segment. const int maxx = rcMax(vj[0], vk[0]);
if ((v[0] == ex && vp[0] == ex) || (v[2] == ez && vp[2] == ez)) if (v[0] > minx && v[0] < maxx)
{ {
if (ptsEqual(vp, v0)) return insertPoint(c, j+1, v);
{
// Valid!
return true;
}
else
{
// Add new vertex
if (pointOnEdgeSegment(vp, v, v0[0], v0[2]))
{
if (!insertPoint(c, j, v0))
return false;
}
return true;
}
} }
} }
} }
} }
return true; return true;
} }
bool rcFixupAdjacentContours(rcContourSet* cseta, rcContourSet* csetb, bool rcFixupAdjacentContours(rcContourSet* cseta, rcContourSet* csetb,
int edge, int edgePos) const int walkableClimb, const int edgex, const int edgez)
{ {
if (!cseta || !csetb) if (!cseta || !csetb)
return true; return true;
rcTimeVal startTime = rcGetPerformanceTimer(); rcTimeVal startTime = rcGetPerformanceTimer();
if (edge == 1) // int nbox[6], pbox[6];
for (int i = 0; i < cseta->nconts; ++i)
{ {
// x+1 const rcContour& c = cseta->conts[i];
// Find edge segment for (int j = 0; j < c.nverts; ++j)
static const int MAX_SEGS = 512; // TODO: Do not hardcode.
EdgeSegment sa[MAX_SEGS], sb[MAX_SEGS];
int nsa = findEdgeSegments(cseta, edgePos, -1, sa, MAX_SEGS);
int nsb = findEdgeSegments(csetb, edgePos, -1, sb, MAX_SEGS);
// Conform set A to set B
for (int i = 0; i < nsb; ++i)
{ {
const int* v0 = sb[i].v0; const int* v = &c.verts[j*4];
const int* v1 = sb[i].v1; const int* pv = &c.verts[((j+c.nverts-1)%c.nverts)*4];
if (!conformEdge(cseta, edgePos, -1, v1, v0)) const int* nv = &c.verts[((j+1)%c.nverts)*4];
{
return false;
}
}
// Conform set B to set A // if (v[0] == edgex || v[2] == edgez)
for (int i = 0; i < nsa; ++i)
{
const int* v0 = sa[i].v0;
const int* v1 = sa[i].v1;
if (!conformEdge(csetb, edgePos, -1, v1, v0))
{ {
return false; const int pminy = rcMin(v[1], pv[1]);
const int pmaxy = rcMax(v[1], pv[1]);
const int nminy = rcMin(v[1], nv[1]);
const int nmaxy = rcMax(v[1], nv[1]);
if (!conformVertex(csetb, v, pminy, pmaxy, nminy, nmaxy, walkableClimb))
return false;
} }
} }
} }
else if (edge == 2)
for (int i = 0; i < csetb->nconts; ++i)
{ {
// y+1 const rcContour& c = csetb->conts[i];
// Find edge segment for (int j = 0; j < c.nverts; ++j)
static const int MAX_SEGS = 512; // TODO: Do not hardcode.
EdgeSegment sa[MAX_SEGS], sb[MAX_SEGS];
int nsa = findEdgeSegments(cseta, -1, edgePos, sa, MAX_SEGS);
int nsb = findEdgeSegments(csetb, -1, edgePos, sb, MAX_SEGS);
// Conform set A to set B
for (int i = 0; i < nsb; ++i)
{ {
const int* v0 = sb[i].v0; const int* v = &c.verts[j*4];
const int* v1 = sb[i].v1; const int* pv = &c.verts[((j+c.nverts-1)%c.nverts)*4];
if (!conformEdge(cseta, -1, edgePos, v1, v0)) const int* nv = &c.verts[((j+1)%c.nverts)*4];
{
return false;
}
}
// Conform set B to set A // If the vertex is at the tile edge, make sure it also exists in
for (int i = 0; i < nsa; ++i) // the neighbour contour set.
{ // if (v[0] == edgex || v[2] == edgez)
const int* v0 = sa[i].v0;
const int* v1 = sa[i].v1;
if (!conformEdge(csetb, -1, edgePos, v1, v0))
{ {
return false; const int pminy = rcMin(v[1], pv[1]);
const int pmaxy = rcMax(v[1], pv[1]);
const int nminy = rcMin(v[1], nv[1]);
const int nmaxy = rcMax(v[1], nv[1]);
if (!conformVertex(cseta, v, pminy, pmaxy, nminy, nmaxy, walkableClimb))
return false;
} }
} }
} }

45
Recast/Source/RecastDebugDraw.cpp
View File

@ -244,7 +244,7 @@ void rcDebugDrawHeightfieldWalkable(const rcHeightfield& hf,
const rcSpan* s = hf.spans[x + y*w]; const rcSpan* s = hf.spans[x + y*w];
while (s) while (s)
{ {
bool csel = (s->flags & 0x2) == 0; bool csel = (s->flags & 0x1) == 0;
drawBox(fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, col0, csel ? col0 : col1); drawBox(fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, col0, csel ? col0 : col1);
s = s->next; s = s->next;
} }
@ -355,10 +355,11 @@ void rcDebugDrawCompactHeightfieldDistance(const rcCompactHeightfield& chf)
glEnd(); glEnd();
} }
void rcDebugDrawRawContours(const rcContourSet& cset, const float* orig, float cs, float ch) void rcDebugDrawRawContours(const rcContourSet& cset, const float* orig, float cs, float ch, const float alpha)
{ {
float col[4] = { 1,1,1,1 }; float col[4] = { 1,1,1,alpha };
glLineWidth(3.0f); glLineWidth(2.0f);
glPointSize(2.0f);
for (int i = 0; i < cset.nconts; ++i) for (int i = 0; i < cset.nconts; ++i)
{ {
const rcContour& c = cset.conts[i]; const rcContour& c = cset.conts[i];
@ -374,15 +375,32 @@ void rcDebugDrawRawContours(const rcContourSet& cset, const float* orig, float c
glVertex3f(fx,fy,fz); glVertex3f(fx,fy,fz);
} }
glEnd(); glEnd();
col[0] *= 0.5f;
col[1] *= 0.5f;
col[2] *= 0.5f;
glColor4fv(col);
glBegin(GL_POINTS);
for (int j = 0; j < c.nrverts; ++j)
{
const int* v = &c.rverts[j*4];
float fx = orig[0] + v[0]*cs;
float fy = orig[1] + (v[1]+1+(i&1))*ch;
float fz = orig[2] + v[2]*cs;
glVertex3f(fx,fy,fz);
}
glEnd();
} }
glLineWidth(1.0f); glLineWidth(1.0f);
glPointSize(1.0f);
} }
void rcDebugDrawContours(const rcContourSet& cset, const float* orig, float cs, float ch) void rcDebugDrawContours(const rcContourSet& cset, const float* orig, float cs, float ch)
{ {
float col[4] = { 1,1,1,1 }; float col[4] = { 1,1,1,1 };
glLineWidth(3.0f); glLineWidth(2.5f);
glPointSize(4.0f); glPointSize(3.0f);
for (int i = 0; i < cset.nconts; ++i) for (int i = 0; i < cset.nconts; ++i)
{ {
const rcContour& c = cset.conts[i]; const rcContour& c = cset.conts[i];
@ -400,7 +418,10 @@ void rcDebugDrawContours(const rcContourSet& cset, const float* orig, float cs,
} }
glEnd(); glEnd();
glColor4ub(0,0,0,128); col[0] *= 0.5f;
col[1] *= 0.5f;
col[2] *= 0.5f;
glColor4fv(col);
glBegin(GL_POINTS); glBegin(GL_POINTS);
for (int j = 0; j < c.nverts; ++j) for (int j = 0; j < c.nverts; ++j)
{ {
@ -447,8 +468,8 @@ void rcDebugDrawPolyMesh(const struct rcPolyMesh& mesh)
glEnd(); glEnd();
// Draw tri boundaries // Draw tri boundaries
glColor4ub(0,0,0,64); glColor4ub(0,48,64,32);
glLineWidth(1.0f); glLineWidth(1.5f);
glBegin(GL_LINES); glBegin(GL_LINES);
for (int i = 0; i < mesh.npolys; ++i) for (int i = 0; i < mesh.npolys; ++i)
{ {
@ -476,8 +497,8 @@ void rcDebugDrawPolyMesh(const struct rcPolyMesh& mesh)
glEnd(); glEnd();
// Draw boundaries // Draw boundaries
glLineWidth(3.0f); glLineWidth(2.5f);
glColor4ub(0,0,0,128); glColor4ub(0,48,64,220);
glBegin(GL_LINES); glBegin(GL_LINES);
for (int i = 0; i < mesh.npolys; ++i) for (int i = 0; i < mesh.npolys; ++i)
{ {
@ -506,7 +527,7 @@ void rcDebugDrawPolyMesh(const struct rcPolyMesh& mesh)
glLineWidth(1.0f); glLineWidth(1.0f);
glPointSize(3.0f); glPointSize(3.0f);
glColor4ub(0,0,0,64); glColor4ub(0,0,0,220);
glBegin(GL_POINTS); glBegin(GL_POINTS);
for (int i = 0; i < mesh.nverts; ++i) for (int i = 0; i < mesh.nverts; ++i)
{ {

5
Recast/Source/RecastMesh.cpp
View File

@ -136,13 +136,14 @@ inline int computeVertexHash(int x, int y, int z)
static int addVertex(unsigned short x, unsigned short y, unsigned short z, static int addVertex(unsigned short x, unsigned short y, unsigned short z,
unsigned short* verts, int* firstVert, int* nextVert, int& nv) unsigned short* verts, int* firstVert, int* nextVert, int& nv)
{ {
int bucket = computeVertexHash(x, y, z); int bucket = computeVertexHash(x, 0/*y*/, z);
int i = firstVert[bucket]; int i = firstVert[bucket];
while (i != -1) while (i != -1)
{ {
const unsigned short* v = &verts[i*3]; const unsigned short* v = &verts[i*3];
if (v[0] == x && v[1] == y && v[2] == z) // if (v[0] == x && v[1] == y && v[2] == z)
if (v[0] == x && (rcAbs(v[1] - y) <= 2) && v[2] == z)
return i; return i;
i = nextVert[i]; // next i = nextVert[i]; // next
} }

4268
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
View File

File diff suppressed because it is too large Load Diff

205
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
View File

@ -284,7 +284,7 @@
</array> </array>
</array> </array>
<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key> <key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
<string>{{0, 13}, {228, 660}}</string> <string>{{0, 0}, {228, 660}}</string>
</dict> </dict>
<key>PBXTopSmartGroupGIDs</key> <key>PBXTopSmartGroupGIDs</key>
<array/> <array/>
@ -331,37 +331,38 @@
<key>_historyCapacity</key> <key>_historyCapacity</key>
<integer>0</integer> <integer>0</integer>
<key>bookmark</key> <key>bookmark</key>
<string>6BB788880FC05FB2003C24DB</string> <string>6B09CE770FD5BEC6005637D5</string>
<key>history</key> <key>history</key>
<array> <array>
<string>6B8633370F7813A600E2684A</string> <string>6B8633370F7813A600E2684A</string>
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<string>6BB788550FC05C2E003C24DB</string> <string>6B8AD2EA0FCDE25800016452</string>
<string>6BB7886F0FC05EB9003C24DB</string> <string>6BB85D1A0FCEA5BD00758966</string>
<string>6BB788820FC05FA5003C24DB</string> <string>6BB85D2F0FCEA8BE00758966</string>
<string>6BB788830FC05FA5003C24DB</string> <string>6BB85D3A0FCEAA6300758966</string>
<string>6B09CDFF0FD5563E005637D5</string>
<string>6B09CE5A0FD5BDE6005637D5</string>
<string>6B09CE5B0FD5BDE6005637D5</string>
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<string>6B09CE730FD5BEC3005637D5</string>
<string>6B09CE740FD5BEC3005637D5</string>
</array> </array>
<key>prevStack</key> <key>prevStack</key>
<array> <array>
@ -384,128 +385,45 @@
<string>6B7707F70FBD90F100D21BAE</string> <string>6B7707F70FBD90F100D21BAE</string>
<string>6B7707F90FBD90F100D21BAE</string> <string>6B7707F90FBD90F100D21BAE</string>
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<string>6BB788350FC0593E003C24DB</string> <string>6B09CE0D0FD5563E005637D5</string>
<string>6BB788360FC0593E003C24DB</string> <string>6B09CE100FD5563E005637D5</string>
<string>6BB788370FC0593E003C24DB</string> <string>6B09CE130FD5563E005637D5</string>
<string>6BB788380FC0593E003C24DB</string> <string>6B09CE1E0FD55805005637D5</string>
<string>6BB788390FC0593E003C24DB</string> <string>6B09CE2D0FD55B4D005637D5</string>
<string>6BB7883A0FC0593E003C24DB</string> <string>6B09CE360FD55B99005637D5</string>
<string>6BB7883B0FC0593E003C24DB</string> <string>6B09CE470FD55FA2005637D5</string>
<string>6BB7883C0FC0593E003C24DB</string> <string>6B09CE480FD55FA2005637D5</string>
<string>6BB788420FC05981003C24DB</string> <string>6B09CE490FD55FA2005637D5</string>
<string>6BB788710FC05EB9003C24DB</string> <string>6B09CE4A0FD55FA2005637D5</string>
<string>6BB788840FC05FA5003C24DB</string> <string>6B09CE620FD5BDE6005637D5</string>
<string>6B09CE630FD5BDE6005637D5</string>
<string>6B09CE640FD5BDE6005637D5</string>
<string>6B09CE650FD5BDE6005637D5</string>
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<string>6B09CE6A0FD5BDE6005637D5</string>
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<string>6B09CE750FD5BEC3005637D5</string>
</array> </array>
</dict> </dict>
<key>SplitCount</key> <key>SplitCount</key>
@ -544,7 +462,7 @@
<key>GeometryConfiguration</key> <key>GeometryConfiguration</key>
<dict> <dict>
<key>Frame</key> <key>Frame</key>
<string>{{10, 27}, {1030, 100}}</string> <string>{{10, 27}, {1030, 61}}</string>
</dict> </dict>
<key>Module</key> <key>Module</key>
<string>XCDetailModule</string> <string>XCDetailModule</string>
@ -628,11 +546,11 @@
</array> </array>
<key>TableOfContents</key> <key>TableOfContents</key>
<array> <array>
<string>6BB787E50FC03EB7003C24DB</string> <string>6B09CDD80FD52128005637D5</string>
<string>1CA23ED40692098700951B8B</string> <string>1CA23ED40692098700951B8B</string>
<string>6BB787E60FC03EB7003C24DB</string> <string>6B09CDD90FD52128005637D5</string>
<string>6B8632A30F78115100E2684A</string> <string>6B8632A30F78115100E2684A</string>
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<string>1CA23EE10692099D00951B8B</string> <string>1CA23EE10692099D00951B8B</string>
@ -779,14 +697,14 @@
</array> </array>
<key>TableOfContents</key> <key>TableOfContents</key>
<array> <array>
<string>6BB787E80FC03EB7003C24DB</string> <string>6B09CDDB0FD52128005637D5</string>
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<string>6BB786F40FC0091C003C24DB</string> <string>6B09CDE00FD52128005637D5</string>
</array> </array>
<key>ToolbarConfiguration</key> <key>ToolbarConfiguration</key>
<string>xcode.toolbar.config.debugV3</string> <string>xcode.toolbar.config.debugV3</string>
@ -816,9 +734,8 @@
<integer>5</integer> <integer>5</integer>
<key>WindowOrderList</key> <key>WindowOrderList</key>
<array> <array>
<string>6BB788570FC05C2E003C24DB</string> <string>6B09CE700FD5BDE6005637D5</string>
<string>6BB788580FC05C2E003C24DB</string> <string>6B09CE710FD5BDE6005637D5</string>
<string>6BB788730FC05EB9003C24DB</string>
<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string> <string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
</array> </array>
<key>WindowString</key> <key>WindowString</key>

532
RecastDemo/Source/demo.cpp
View File

@ -192,6 +192,7 @@ enum DrawMode
DRAWMODE_NAVMESH, DRAWMODE_NAVMESH,
DRAWMODE_NAVMESH_TRANS, DRAWMODE_NAVMESH_TRANS,
DRAWMODE_NAVMESH_BVTREE, DRAWMODE_NAVMESH_BVTREE,
DRAWMODE_NAVMESH_INVIS,
DRAWMODE_MESH, DRAWMODE_MESH,
DRAWMODE_VOXELS, DRAWMODE_VOXELS,
DRAWMODE_VOXELS_WALKABLE, DRAWMODE_VOXELS_WALKABLE,
@ -199,6 +200,7 @@ enum DrawMode
DRAWMODE_COMPACT_DISTANCE, DRAWMODE_COMPACT_DISTANCE,
DRAWMODE_COMPACT_REGIONS, DRAWMODE_COMPACT_REGIONS,
DRAWMODE_RAW_CONTOURS, DRAWMODE_RAW_CONTOURS,
DRAWMODE_BOTH_CONTOURS,
DRAWMODE_CONTOURS, DRAWMODE_CONTOURS,
DRAWMODE_POLYMESH, DRAWMODE_POLYMESH,
}; };
@ -255,6 +257,123 @@ rcLog g_log;
rcBuildTimes g_buildTimes; rcBuildTimes g_buildTimes;
struct Portal
{
float bmin[3], bmax[3];
};
static const int MAX_PORTALS = 2000;
Portal g_portals[MAX_PORTALS];
int g_portalCount = 0;
Portal g_cportals[MAX_PORTALS];
int g_cportalCount = 0;
void findContourPortals(const rcContour* cont, const int tx, const int tz, const int tileSize,
const int climb, const float* bmin, const float cs, const float ch)
{
if (!cont) return;
if (!cont->nverts) return;
for (int i = 0, j = cont->nverts-1; i < cont->nverts; j=i++)
{
const int* vj = &cont->verts[j*4];
const int* vi = &cont->verts[i*4];
int edge = 0;
if (vj[0] == tx && vi[0] == tx)
edge = 1;
else if (vj[0] == tx+tileSize && vi[0] == tx+tileSize)
edge = 2;
else if (vj[2] == tz && vi[2] == tz)
edge = 3;
else if (vj[2] == tz+tileSize && vi[2] == tz+tileSize)
edge = 4;
if (edge != 0)
{
if (g_portalCount >= MAX_PORTALS)
return;
Portal& p = g_portals[g_portalCount];
g_portalCount++;
float v0[3], v1[3];
v0[0] = bmin[0] + vj[0]*cs;
v0[1] = bmin[1] + vj[1]*ch;
v0[2] = bmin[2] + vj[2]*cs;
v1[0] = bmin[0] + vi[0]*cs;
v1[1] = bmin[1] + vi[1]*ch;
v1[2] = bmin[2] + vi[2]*cs;
vcopy(p.bmin, v0);
vcopy(p.bmax, v0);
vmin(p.bmin, v1);
vmax(p.bmax, v1);
if (edge == 1)
{
p.bmin[2] += cs/4;
p.bmax[2] -= cs/4;
p.bmax[1] += climb*ch;
p.bmin[0] -= cs/4;
p.bmax[0] += cs/4;
}
else if (edge == 2)
{
p.bmin[2] += cs/4;
p.bmax[2] -= cs/4;
p.bmax[1] += climb*ch;
p.bmin[0] -= cs/4;
p.bmax[0] += cs/4;
}
else if (edge == 3)
{
p.bmin[0] += cs/4;
p.bmax[0] -= cs/4;
p.bmax[1] += climb*ch;
p.bmin[2] -= cs/4;
p.bmax[2] += cs/4;
}
else if (edge == 4)
{
p.bmin[0] += cs/4;
p.bmax[0] -= cs/4;
p.bmax[1] += climb*ch;
p.bmin[2] -= cs/4;
p.bmax[2] += cs/4;
}
}
}
}
void findPortals(const rcContourSet* cset, const int tx, const int ty, const int tileSize,
const int climb, const float* bmin, const float cs, const float ch)
{
if (!cset) return;
if (!cset->nconts) return;
for (int i = 0; i < cset->nconts; ++i)
findContourPortals(&cset->conts[i], tx, ty, tileSize, climb, bmin, cs, ch);
}
void connectPortals()
{
for (int i = 0; i < g_portalCount-1; ++i)
{
for (int j = i+1; j < g_portalCount; ++j)
{
if (g_portalCount >= MAX_PORTALS)
return;
Portal& pi = g_portals[i];
Portal& pj = g_portals[j];
Portal& p = g_cportals[g_cportalCount];
vcopy(p.bmin, pi.bmin);
vcopy(p.bmax, pi.bmax);
vmax(p.bmin, pj.bmin);
vmin(p.bmax, pj.bmax);
if (p.bmin[0] >= p.bmax[0] || p.bmin[1] >= p.bmax[1] || p.bmin[2] >= p.bmax[2])
continue;
g_cportalCount++;
}
}
}
bool buildTiledNavigation(const rcConfig& cfg, bool buildTiledNavigation(const rcConfig& cfg,
const rcMeshLoaderObj* mesh, const rcMeshLoaderObj* mesh,
const rcChunkyTriMesh* chunkyMesh, const rcChunkyTriMesh* chunkyMesh,
@ -482,6 +601,19 @@ bool buildTiledNavigation(const rcConfig& cfg,
delete solid; delete solid;
delete chf; delete chf;
g_portalCount = 0;
g_cportalCount = 0;
/* for (int y = 0; y < tileSet->height; ++y)
{
for (int x = 0; x < tileSet->width; ++x)
{
findPortals(tileSet->tiles[x + y*tileSet->width].cset,
x*tileCfg.tileSize, y*tileCfg.tileSize, tileCfg.tileSize,
cfg.walkableClimb, cfg.bmin, cfg.cs, cfg.ch);
}
}
connectPortals();*/
for (int y = 0; y < tileSet->height; ++y) for (int y = 0; y < tileSet->height; ++y)
{ {
for (int x = 0; x < tileSet->width; ++x) for (int x = 0; x < tileSet->width; ++x)
@ -491,7 +623,7 @@ bool buildTiledNavigation(const rcConfig& cfg,
{ {
if (!rcFixupAdjacentContours(tileSet->tiles[x + y*tileSet->width].cset, if (!rcFixupAdjacentContours(tileSet->tiles[x + y*tileSet->width].cset,
tileSet->tiles[x+1 + y*tileSet->width].cset, tileSet->tiles[x+1 + y*tileSet->width].cset,
1, (x+1)*cfg.tileSize)) cfg.walkableClimb, (x+1)*cfg.tileSize, -1))
{ {
if (rcGetLog()) if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: [%d,%d] Could not fixup x+1.", x, y); rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: [%d,%d] Could not fixup x+1.", x, y);
@ -503,7 +635,7 @@ bool buildTiledNavigation(const rcConfig& cfg,
{ {
if (!rcFixupAdjacentContours(tileSet->tiles[x + y*tileSet->width].cset, if (!rcFixupAdjacentContours(tileSet->tiles[x + y*tileSet->width].cset,
tileSet->tiles[x + (y+1)*tileSet->width].cset, tileSet->tiles[x + (y+1)*tileSet->width].cset,
2, (y+1)*cfg.tileSize)) cfg.walkableClimb, -1, (y+1)*cfg.tileSize))
{ {
if (rcGetLog()) if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: [%d,%d] Could not fixup y+1.", x, y); rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: [%d,%d] Could not fixup y+1.", x, y);
@ -515,6 +647,7 @@ bool buildTiledNavigation(const rcConfig& cfg,
} }
} }
// Combine contours. // Combine contours.
rcContourSet combSet; rcContourSet combSet;
@ -569,22 +702,25 @@ bool buildTiledNavigation(const rcConfig& cfg,
} }
unsigned char* navData = 0; if (cfg.maxVertsPerPoly == DT_VERTS_PER_POLYGON)
int navDataSize = 0;
if (!dtCreateNavMeshData(polyMesh->verts, polyMesh->nverts,
polyMesh->polys, polyMesh->npolys, polyMesh->nvp,
cfg.bmin, cfg.bmax, cfg.cs, cfg.ch, &navData, &navDataSize))
{ {
if (rcGetLog()) unsigned char* navData = 0;
rcGetLog()->log(RC_LOG_ERROR, "Could not build Detour navmesh."); int navDataSize = 0;
return false; if (!dtCreateNavMeshData(polyMesh->verts, polyMesh->nverts,
} polyMesh->polys, polyMesh->npolys, polyMesh->nvp,
cfg.bmin, cfg.bmax, cfg.cs, cfg.ch, &navData, &navDataSize))
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
return false;
}
if (!navMesh->init(navData, navDataSize, true)) if (!navMesh->init(navData, navDataSize, true))
{ {
if (rcGetLog()) if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "Could not init Detour navmesh"); rcGetLog()->log(RC_LOG_ERROR, "Could not init Detour navmesh");
return false; return false;
}
} }
rcTimeVal totEndTime = rcGetPerformanceTimer(); rcTimeVal totEndTime = rcGetPerformanceTimer();
@ -802,22 +938,25 @@ bool buildNavigation(const rcConfig& cfg,
return false; return false;
} }
unsigned char* navData = 0; if (cfg.maxVertsPerPoly == DT_VERTS_PER_POLYGON)
int navDataSize = 0;
if (!dtCreateNavMeshData(polyMesh->verts, polyMesh->nverts,
polyMesh->polys, polyMesh->npolys, polyMesh->nvp,
cfg.bmin, cfg.bmax, cfg.cs, cfg.ch, &navData, &navDataSize))
{ {
if (rcGetLog()) unsigned char* navData = 0;
rcGetLog()->log(RC_LOG_ERROR, "Could not build Detour navmesh."); int navDataSize = 0;
return false; if (!dtCreateNavMeshData(polyMesh->verts, polyMesh->nverts,
} polyMesh->polys, polyMesh->npolys, polyMesh->nvp,
cfg.bmin, cfg.bmax, cfg.cs, cfg.ch, &navData, &navDataSize))
{
if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
return false;
}
if (!navMesh->init(navData, navDataSize, true)) if (!navMesh->init(navData, navDataSize, true))
{ {
if (rcGetLog()) if (rcGetLog())
rcGetLog()->log(RC_LOG_ERROR, "Could not init Detour navmesh"); rcGetLog()->log(RC_LOG_ERROR, "Could not init Detour navmesh");
return false; return false;
}
} }
rcTimeVal totEndTime = rcGetPerformanceTimer(); rcTimeVal totEndTime = rcGetPerformanceTimer();
@ -874,9 +1013,9 @@ int main(int argc, char *argv[])
SDL_GL_SetAttribute(SDL_GL_BLUE_SIZE, 8); SDL_GL_SetAttribute(SDL_GL_BLUE_SIZE, 8);
SDL_GL_SetAttribute(SDL_GL_ALPHA_SIZE, 8); SDL_GL_SetAttribute(SDL_GL_ALPHA_SIZE, 8);
int width = 1200; int width = 1024; //1200;
int height = 700; int height = 768; //700;
SDL_Surface* screen = SDL_SetVideoMode(width, height, 0, SDL_OPENGL); SDL_Surface* screen = SDL_SetVideoMode(width, height, 0, SDL_OPENGL /*| SDL_FULLSCREEN*/);
if (!screen) if (!screen)
{ {
printf("Could not initialise SDL opengl\n"); printf("Could not initialise SDL opengl\n");
@ -901,13 +1040,14 @@ int main(int argc, char *argv[])
float regionMinSize = 50; float regionMinSize = 50;
float regionMergeSize = 20; float regionMergeSize = 20;
float edgeMaxLen = 12.0f; float edgeMaxLen = 12.0f;
float edgeMaxError = 1.5f; float edgeMaxError = 1.3f;
float vertsPerPoly = 6.0f; float vertsPerPoly = 6.0f;
float tileSize = 0.0f; float tileSize = 0.0f;
int drawMode = DRAWMODE_CONTOURS; int drawMode = DRAWMODE_NAVMESH;
int toolMode = TOOLMODE_PATHFIND; int toolMode = TOOLMODE_PATHFIND;
bool showLevels = false; bool showLevels = false;
bool showLog = false; bool showLog = false;
bool showTools = true;
char curLevel[256] = "Choose Level..."; char curLevel[256] = "Choose Level...";
bool mouseOverMenu = false; bool mouseOverMenu = false;
bool keepInterResults = false; bool keepInterResults = false;
@ -936,23 +1076,29 @@ int main(int argc, char *argv[])
float rays[3], raye[3]; float rays[3], raye[3];
float spos[3] = {0,0,0}; float spos[3] = {0,0,0};
float epos[3] = {0,0,0}; float epos[3] = {0,0,0};
float mpos[3] = {0,0,0};
float hitPos[3] = {0,0,0}; float hitPos[3] = {0,0,0};
float hitNormal[3] = {0,0,0}; float hitNormal[3] = {0,0,0};
float distanceToWall = 0; float distanceToWall = 0;
bool sposSet = false, eposSet = false; bool sposSet = false, eposSet = false;
bool mposSet = false;
static const float startCol[4] = { 0.6f, 0.1f, 0.1f, 0.75f }; static const float startCol[4] = { 0.6f, 0.1f, 0.1f, 0.75f };
static const float endCol[4] = { 0.1f, 0.6f, 0.1f, 0.75f }; static const float endCol[4] = { 0.1f, 0.6f, 0.1f, 0.75f };
bool recalcTool = false; bool recalcTool = false;
glEnable(GL_CULL_FACE); glEnable(GL_CULL_FACE);
float fogCol[4] = { 0.1f,0.12f,0.14f,1 }; // float fogCol[4] = { 0.1f,0.12f,0.14f,1 };
float fogCol[4] = { 0.32f,0.25f,0.07f,1 };
glEnable(GL_FOG); glEnable(GL_FOG);
glFogi(GL_FOG_MODE, GL_LINEAR); glFogi(GL_FOG_MODE, GL_LINEAR);
glFogf(GL_FOG_START, 0); glFogf(GL_FOG_START, 0);
glFogf(GL_FOG_END, 10); glFogf(GL_FOG_END, 10);
glFogfv(GL_FOG_COLOR, fogCol); glFogfv(GL_FOG_COLOR, fogCol);
glEnable(GL_POINT_SMOOTH);
glEnable(GL_LINE_SMOOTH);
bool done = false; bool done = false;
while(!done) while(!done)
{ {
@ -991,7 +1137,14 @@ int main(int argc, char *argv[])
float t; float t;
if (raycast(*g_mesh, rays, raye, t)) if (raycast(*g_mesh, rays, raye, t))
{ {
if (SDL_GetModState() & KMOD_SHIFT) if (SDL_GetModState() & KMOD_CTRL)
{
mposSet = true;
mpos[0] = rays[0] + (raye[0] - rays[0])*t;
mpos[1] = rays[1] + (raye[1] - rays[1])*t;
mpos[2] = rays[2] + (raye[2] - rays[2])*t;
}
else if (SDL_GetModState() & KMOD_SHIFT)
{ {
sposSet = true; sposSet = true;
spos[0] = rays[0] + (raye[0] - rays[0])*t; spos[0] = rays[0] + (raye[0] - rays[0])*t;
@ -1012,6 +1165,13 @@ int main(int argc, char *argv[])
recalcTool = true; recalcTool = true;
} }
} }
else
{
if (SDL_GetModState() & KMOD_CTRL)
{
mposSet = false;
}
}
} }
} }
} }
@ -1120,106 +1280,19 @@ int main(int argc, char *argv[])
rcDebugDrawMesh(*g_mesh, 0); rcDebugDrawMesh(*g_mesh, 0);
} }
glDisable(GL_FOG);
if (g_mesh)
{
glDepthMask(GL_FALSE);
// Agent dimensions.
const float r = agentRadius;
const float h = agentHeight;
float col[4];
for (int i = 0; i < 2; ++i)
{
const float* pos = 0;
const float* c = 0;
if (i == 0 && sposSet)
{
pos = spos;
c = startCol;
}
else if (i == 1 && eposSet)
{
pos = epos;
c = endCol;
}
if (!pos)
continue;
glLineWidth(2.0f);
rcDebugDrawCylinderWire(pos[0]-r, pos[1]+0.02f, pos[2]-r, pos[0]+r, pos[1]+h, pos[2]+r, c);
glLineWidth(1.0f);
glColor4ub(0,0,0,196);
glBegin(GL_LINES);
glVertex3f(pos[0], pos[1]-agentMaxClimb, pos[2]);
glVertex3f(pos[0], pos[1]+agentMaxClimb, 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();
}
// Tile bboxes
if ((int)tileSize > 0)
{
const int ts = (int)tileSize;
col[0] = 0.5f; col[1] = 0.1f; col[2] = 0.1f; col[3] = 0.15f;
int gw = 0, gh = 0;
rcCalcGridSize(g_meshBMin, g_meshBMax, cellSize, &gw, &gh);
int tx = (gw + ts-1) / ts;
int ty = (gh + ts-1) / ts;
const float s = ts*cellSize;
glBegin(GL_LINES);
glColor4ub(0,0,0,64);
for (int y = 0; y < ty; ++y)
{
for (int x = 0; x < tx; ++x)
{
float fx, fy, fz;
fx = g_meshBMin[0] + x*s;
fy = g_meshBMin[1];
fz = g_meshBMin[2] + y*s;
glVertex3f(fx,fy,fz);
glVertex3f(fx+s,fy,fz);
glVertex3f(fx,fy,fz);
glVertex3f(fx,fy,fz+s);
if (x+1 >= tx)
{
glVertex3f(fx+s,fy,fz);
glVertex3f(fx+s,fy,fz+s);
}
if (y+1 >= ty)
{
glVertex3f(fx,fy,fz+s);
glVertex3f(fx+s,fy,fz+s);
}
}
}
glEnd();
}
// Mesh bbox.
col[0] = 1.0f; col[1] = 1.0f; col[2] = 1.0f; col[3] = 0.25f;
rcDebugDrawBoxWire(g_meshBMin[0], g_meshBMin[1], g_meshBMin[2],
g_meshBMax[0], g_meshBMax[1], g_meshBMax[2], col);
glDepthMask(GL_TRUE);
}
glDepthMask(GL_FALSE); glDepthMask(GL_FALSE);
if (drawMode == DRAWMODE_NAVMESH || drawMode == DRAWMODE_NAVMESH_TRANS || drawMode == DRAWMODE_NAVMESH_BVTREE) if (drawMode == DRAWMODE_NAVMESH ||
drawMode == DRAWMODE_NAVMESH_TRANS ||
drawMode == DRAWMODE_NAVMESH_BVTREE ||
drawMode == DRAWMODE_NAVMESH_INVIS)
{ {
if (g_navMesh) if (g_navMesh)
{ {
dtDebugDrawStatNavMesh(g_navMesh); if (drawMode != DRAWMODE_NAVMESH_INVIS)
dtDebugDrawStatNavMesh(g_navMesh);
if (toolMode == TOOLMODE_PATHFIND) if (toolMode == TOOLMODE_PATHFIND)
{ {
@ -1345,6 +1418,7 @@ int main(int argc, char *argv[])
} }
if (drawMode == DRAWMODE_VOXELS) if (drawMode == DRAWMODE_VOXELS)
{ {
glEnable(GL_FOG);
if (g_tileSet) if (g_tileSet)
{ {
for (int i = 0; i < g_tileSet->width*g_tileSet->height; ++i) for (int i = 0; i < g_tileSet->width*g_tileSet->height; ++i)
@ -1353,9 +1427,11 @@ int main(int argc, char *argv[])
rcDebugDrawHeightfieldSolid(*g_tileSet->tiles[i].solid, g_tileSet->bmin, g_tileSet->cs, g_tileSet->ch); rcDebugDrawHeightfieldSolid(*g_tileSet->tiles[i].solid, g_tileSet->bmin, g_tileSet->cs, g_tileSet->ch);
} }
} }
glDisable(GL_FOG);
} }
if (drawMode == DRAWMODE_VOXELS_WALKABLE) if (drawMode == DRAWMODE_VOXELS_WALKABLE)
{ {
glEnable(GL_FOG);
if (g_tileSet) if (g_tileSet)
{ {
for (int i = 0; i < g_tileSet->width*g_tileSet->height; ++i) for (int i = 0; i < g_tileSet->width*g_tileSet->height; ++i)
@ -1364,9 +1440,11 @@ int main(int argc, char *argv[])
rcDebugDrawHeightfieldWalkable(*g_tileSet->tiles[i].solid, g_tileSet->bmin, g_tileSet->cs, g_tileSet->ch); rcDebugDrawHeightfieldWalkable(*g_tileSet->tiles[i].solid, g_tileSet->bmin, g_tileSet->cs, g_tileSet->ch);
} }
} }
glDisable(GL_FOG);
} }
if (drawMode == DRAWMODE_RAW_CONTOURS) if (drawMode == DRAWMODE_RAW_CONTOURS)
{ {
glDepthMask(GL_FALSE);
if (g_tileSet) if (g_tileSet)
{ {
for (int i = 0; i < g_tileSet->width*g_tileSet->height; ++i) for (int i = 0; i < g_tileSet->width*g_tileSet->height; ++i)
@ -1375,9 +1453,27 @@ int main(int argc, char *argv[])
rcDebugDrawRawContours(*(g_tileSet->tiles[i].cset), g_tileSet->bmin, g_tileSet->cs, g_tileSet->ch); rcDebugDrawRawContours(*(g_tileSet->tiles[i].cset), g_tileSet->bmin, g_tileSet->cs, g_tileSet->ch);
} }
} }
glDepthMask(GL_TRUE);
}
if (drawMode == DRAWMODE_BOTH_CONTOURS)
{
glDepthMask(GL_FALSE);
if (g_tileSet)
{
for (int i = 0; i < g_tileSet->width*g_tileSet->height; ++i)
{
if (g_tileSet->tiles[i].cset)
{
rcDebugDrawRawContours(*(g_tileSet->tiles[i].cset), g_tileSet->bmin, g_tileSet->cs, g_tileSet->ch, 0.5f);
rcDebugDrawContours(*(g_tileSet->tiles[i].cset), g_tileSet->bmin, g_tileSet->cs, g_tileSet->ch);
}
}
}
glDepthMask(GL_TRUE);
} }
if (drawMode == DRAWMODE_CONTOURS) if (drawMode == DRAWMODE_CONTOURS)
{ {
glDepthMask(GL_FALSE);
if (g_tileSet) if (g_tileSet)
{ {
for (int i = 0; i < g_tileSet->width*g_tileSet->height; ++i) for (int i = 0; i < g_tileSet->width*g_tileSet->height; ++i)
@ -1386,16 +1482,120 @@ int main(int argc, char *argv[])
rcDebugDrawContours(*(g_tileSet->tiles[i].cset), g_tileSet->bmin, g_tileSet->cs, g_tileSet->ch); rcDebugDrawContours(*(g_tileSet->tiles[i].cset), g_tileSet->bmin, g_tileSet->cs, g_tileSet->ch);
} }
} }
glDepthMask(GL_TRUE);
} }
if (drawMode == DRAWMODE_POLYMESH) if (drawMode == DRAWMODE_POLYMESH)
{ {
glDepthMask(GL_FALSE);
if (g_polyMesh) if (g_polyMesh)
rcDebugDrawPolyMesh(*g_polyMesh); rcDebugDrawPolyMesh(*g_polyMesh);
glDepthMask(GL_TRUE);
} }
if (g_mesh)
{
glDepthMask(GL_FALSE);
glDisable(GL_FOG); // Agent dimensions.
const float r = agentRadius;
const float h = agentHeight;
float col[4];
for (int i = 0; i < 2; ++i)
{
const float* pos = 0;
const float* c = 0;
if (i == 0 && sposSet)
{
pos = spos;
c = startCol;
}
else if (i == 1 && eposSet)
{
pos = epos;
c = endCol;
}
if (!pos)
continue;
glLineWidth(2.0f);
rcDebugDrawCylinderWire(pos[0]-r, pos[1]+0.02f, pos[2]-r, pos[0]+r, pos[1]+h, pos[2]+r, c);
glLineWidth(1.0f);
glColor4ub(0,0,0,196);
glBegin(GL_LINES);
glVertex3f(pos[0], pos[1]-agentMaxClimb, pos[2]);
glVertex3f(pos[0], pos[1]+agentMaxClimb, 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();
}
// Tile bboxes
if ((int)tileSize > 0)
{
const int ts = (int)tileSize;
col[0] = 0.5f; col[1] = 0.1f; col[2] = 0.1f; col[3] = 0.15f;
int gw = 0, gh = 0;
rcCalcGridSize(g_meshBMin, g_meshBMax, cellSize, &gw, &gh);
int tx = (gw + ts-1) / ts;
int ty = (gh + ts-1) / ts;
const float s = ts*cellSize;
glBegin(GL_LINES);
glColor4ub(0,0,0,64);
for (int y = 0; y < ty; ++y)
{
for (int x = 0; x < tx; ++x)
{
float fx, fy, fz;
fx = g_meshBMin[0] + x*s;
fy = g_meshBMin[1];
fz = g_meshBMin[2] + y*s;
glVertex3f(fx,fy,fz);
glVertex3f(fx+s,fy,fz);
glVertex3f(fx,fy,fz);
glVertex3f(fx,fy,fz+s);
if (x+1 >= tx)
{
glVertex3f(fx+s,fy,fz);
glVertex3f(fx+s,fy,fz+s);
}
if (y+1 >= ty)
{
glVertex3f(fx,fy,fz+s);
glVertex3f(fx+s,fy,fz+s);
}
}
}
glEnd();
}
// Mesh bbox.
col[0] = 1.0f; col[1] = 1.0f; col[2] = 1.0f; col[3] = 0.25f;
rcDebugDrawBoxWire(g_meshBMin[0], g_meshBMin[1], g_meshBMin[2],
g_meshBMax[0], g_meshBMax[1], g_meshBMax[2], col);
col[0] = 0.1f; col[1] = 0.5f; col[2] = 0.75f; col[3] = 0.5f;
/* for (int i = 0; i < g_portalCount; ++i)
{
rcDebugDrawBoxWire(g_portals[i].bmin[0], g_portals[i].bmin[1], g_portals[i].bmin[2],
g_portals[i].bmax[0], g_portals[i].bmax[1], g_portals[i].bmax[2], col);
}*/
for (int i = 0; i < g_cportalCount; ++i)
{
rcDebugDrawBoxWire(g_cportals[i].bmin[0], g_cportals[i].bmin[1], g_cportals[i].bmin[2],
g_cportals[i].bmax[0], g_cportals[i].bmax[1], g_cportals[i].bmax[2], col);
}
glDepthMask(GL_TRUE);
}
// Render GUI // Render GUI
@ -1417,8 +1617,15 @@ int main(int argc, char *argv[])
if (imguiButton(GENID, curLevel)) if (imguiButton(GENID, curLevel))
{ {
showLevels = true; if (showLevels)
scanDirectory("meshes", ".obj", fileList); {
showLevels = false;
}
else
{
showLevels = true;
scanDirectory("meshes", ".obj", fileList);
}
} }
imguiSeparator(); imguiSeparator();
@ -1427,6 +1634,14 @@ int main(int argc, char *argv[])
{ {
if (imguiButton(GENID, "Build")) if (imguiButton(GENID, "Build"))
{ {
npolys = 0;
nstraightPath = 0;
sposSet = false;
eposSet = false;
startRef = 0;
endRef = 0;
distanceToWall = 0;
rcConfig cfg; rcConfig cfg;
memset(&cfg, 0, sizeof(cfg)); memset(&cfg, 0, sizeof(cfg));
cfg.cs = cellSize; cfg.cs = cellSize;
@ -1439,7 +1654,7 @@ int main(int argc, char *argv[])
cfg.maxSimplificationError = edgeMaxError; cfg.maxSimplificationError = edgeMaxError;
cfg.minRegionSize = (int)rcSqr(regionMinSize); cfg.minRegionSize = (int)rcSqr(regionMinSize);
cfg.mergeRegionSize = (int)rcSqr(regionMergeSize); cfg.mergeRegionSize = (int)rcSqr(regionMergeSize);
cfg.maxVertsPerPoly = DT_VERTS_PER_POLYGON; // TODO: Handle better. (int)vertsPerPoly; cfg.maxVertsPerPoly = /*DT_VERTS_PER_POLYGON; // TODO: Handle better.*/ (int)vertsPerPoly;
rcCalcBounds(g_mesh->getVerts(), g_mesh->getVertCount(), cfg.bmin, cfg.bmax); rcCalcBounds(g_mesh->getVerts(), g_mesh->getVertCount(), cfg.bmin, cfg.bmax);
rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height); rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
@ -1483,6 +1698,9 @@ int main(int argc, char *argv[])
if (imguiCheck(GENID, "Show Log", showLog)) if (imguiCheck(GENID, "Show Log", showLog))
showLog = !showLog; showLog = !showLog;
if (imguiCheck(GENID, "Show Tools", showTools))
showTools = !showTools;
if (imguiCheck(GENID, "Keep Itermediate Results", keepInterResults)) if (imguiCheck(GENID, "Keep Itermediate Results", keepInterResults))
keepInterResults = !keepInterResults; keepInterResults = !keepInterResults;
@ -1527,6 +1745,8 @@ int main(int argc, char *argv[])
drawMode = DRAWMODE_NAVMESH; drawMode = DRAWMODE_NAVMESH;
if (imguiCheck(GENID, "Navmesh BVTree", drawMode == DRAWMODE_NAVMESH_BVTREE)) if (imguiCheck(GENID, "Navmesh BVTree", drawMode == DRAWMODE_NAVMESH_BVTREE))
drawMode = DRAWMODE_NAVMESH_BVTREE; drawMode = DRAWMODE_NAVMESH_BVTREE;
if (imguiCheck(GENID, "Navmesh Invis", drawMode == DRAWMODE_NAVMESH_INVIS))
drawMode = DRAWMODE_NAVMESH_INVIS;
if (imguiCheck(GENID, "Navmesh Trans", drawMode == DRAWMODE_NAVMESH_TRANS)) if (imguiCheck(GENID, "Navmesh Trans", drawMode == DRAWMODE_NAVMESH_TRANS))
drawMode = DRAWMODE_NAVMESH_TRANS; drawMode = DRAWMODE_NAVMESH_TRANS;
if (imguiCheck(GENID, "Voxels", drawMode == DRAWMODE_VOXELS)) if (imguiCheck(GENID, "Voxels", drawMode == DRAWMODE_VOXELS))
@ -1541,6 +1761,8 @@ int main(int argc, char *argv[])
drawMode = DRAWMODE_COMPACT_REGIONS; drawMode = DRAWMODE_COMPACT_REGIONS;
if (imguiCheck(GENID, "Raw Contours", drawMode == DRAWMODE_RAW_CONTOURS)) if (imguiCheck(GENID, "Raw Contours", drawMode == DRAWMODE_RAW_CONTOURS))
drawMode = DRAWMODE_RAW_CONTOURS; drawMode = DRAWMODE_RAW_CONTOURS;
if (imguiCheck(GENID, "Both Contours", drawMode == DRAWMODE_BOTH_CONTOURS))
drawMode = DRAWMODE_BOTH_CONTOURS;
if (imguiCheck(GENID, "Contours", drawMode == DRAWMODE_CONTOURS)) if (imguiCheck(GENID, "Contours", drawMode == DRAWMODE_CONTOURS))
drawMode = DRAWMODE_CONTOURS; drawMode = DRAWMODE_CONTOURS;
if (imguiCheck(GENID, "Poly Mesh", drawMode == DRAWMODE_POLYMESH)) if (imguiCheck(GENID, "Poly Mesh", drawMode == DRAWMODE_POLYMESH))
@ -1549,7 +1771,6 @@ int main(int argc, char *argv[])
imguiEndScrollArea(); imguiEndScrollArea();
// Tools // Tools
bool showTools = true;
if (showTools) if (showTools)
{ {
static int toolsScroll = 0; static int toolsScroll = 0;
@ -1728,8 +1949,8 @@ int main(int argc, char *argv[])
rx = 45; rx = 45;
ry = -45; ry = -45;
glFogf(GL_FOG_START, camr*0.5f); glFogf(GL_FOG_START, camr*0.2f);
glFogf(GL_FOG_END, camr*2.5f); glFogf(GL_FOG_END, camr*1.25f);
} }
} }
@ -1738,25 +1959,48 @@ int main(int argc, char *argv[])
} }
imguiEndFrame();
imguiRender(&drawText);
g_font.drawText(10.0f, (float)height-20.0f, "W/S/A/D: Move RMB: Rotate LMB: Place Start LMB+SHIFT: Place End", GLFont::RGBA(255,255,255,128)); g_font.drawText(10.0f, (float)height-20.0f, "W/S/A/D: Move RMB: Rotate LMB: Place Start LMB+SHIFT: Place End", GLFont::RGBA(255,255,255,128));
// Draw start and end point labels // Draw start and end point labels
if (sposSet && gluProject((GLdouble)spos[0], (GLdouble)spos[1], (GLdouble)spos[2], if (sposSet && gluProject((GLdouble)spos[0], (GLdouble)spos[1], (GLdouble)spos[2],
model, proj, view, &x, &y, &z)) model, proj, view, &x, &y, &z))
{ {
const float len = g_font.getTextLength("Start"); const float len = g_font.getTextLength("Start");
g_font.drawText((float)x - len/2, (float)y-g_font.getLineHeight(), "Start", GLFont::RGBA(0,0,0,220)); g_font.drawText((float)x - len/2, (float)y-g_font.getLineHeight(), "Start", GLFont::RGBA(0,0,0,220));
} }
if (eposSet && gluProject((GLdouble)epos[0], (GLdouble)epos[1], (GLdouble)epos[2], if (eposSet && gluProject((GLdouble)epos[0], (GLdouble)epos[1], (GLdouble)epos[2],
model, proj, view, &x, &y, &z)) model, proj, view, &x, &y, &z))
{ {
const float len = g_font.getTextLength("End"); const float len = g_font.getTextLength("End");
g_font.drawText((float)x-len/2, (float)y-g_font.getLineHeight(), "End", GLFont::RGBA(0,0,0,220)); g_font.drawText((float)x-len/2, (float)y-g_font.getLineHeight(), "End", GLFont::RGBA(0,0,0,220));
} }
glDisable(GL_TEXTURE_2D);
// Marker
if (mposSet && gluProject((GLdouble)mpos[0], (GLdouble)mpos[1], (GLdouble)mpos[2],
model, proj, view, &x, &y, &z))
{
// Draw marker circle
glLineWidth(5.0f);
glColor4ub(240,16,0,196);
glBegin(GL_LINE_LOOP);
const float r = 25.0f;
for (int i = 0; i < 20; ++i)
{
const float a = (float)i / 20.0f * M_PI*2;
const float fx = (float)x + cosf(a)*r;
const float fy = (float)y + sinf(a)*r;
glVertex2f(fx,fy);
}
glEnd();
glLineWidth(1.0f);
}
imguiEndFrame();
imguiRender(&drawText);
glEnable(GL_DEPTH_TEST); glEnable(GL_DEPTH_TEST);
SDL_GL_SwapBuffers(); SDL_GL_SwapBuffers();
} }