server_common/recastnavigation_v1.6.0
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Detour: Reduced tile navmesh link size by 6 bytes.

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Demo: Fixed some include file errors from previous renaming fest. 
Added license at top of some files.
This commit is contained in:
Mikko Mononen 2009-07-13 11:09:28 +00:00
parent 3149b86c4c
commit c2e4e01201
11 changed files with 1010 additions and 266 deletions
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18
Detour/Include/DetourCommon.h
View File

@ -1,3 +1,21 @@
//
// Copyright (c) 2009 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 DETOURCOMMON_H #ifndef DETOURCOMMON_H
#define DETOURCOMMON_H #define DETOURCOMMON_H

14
Detour/Include/DetourStatNavMesh.h
View File

@ -52,6 +52,9 @@ struct dtStatNavMeshHeader
int nnodes; int nnodes;
float cs; float cs;
float bmin[3], bmax[3]; float bmin[3], bmax[3];
dtStatPoly* polys;
float* verts;
dtStatBVNode* bvtree;
}; };
class dtStatNavMesh class dtStatNavMesh
@ -161,11 +164,11 @@ public:
// Returns number of navigation polygons. // Returns number of navigation polygons.
inline int getPolyCount() const { return m_header ? m_header->npolys : 0; } inline int getPolyCount() const { return m_header ? m_header->npolys : 0; }
// Rerturns pointer to specified navigation polygon. // Rerturns pointer to specified navigation polygon.
inline const dtStatPoly* getPoly(int i) const { return &m_polys[i]; } inline const dtStatPoly* getPoly(int i) const { return &m_header->polys[i]; }
// Returns number of vertices. // Returns number of vertices.
inline int getVertexCount() const { return m_header ? m_header->nverts : 0; } inline int getVertexCount() const { return m_header ? m_header->nverts : 0; }
// Returns pointer to specified vertex. // Returns pointer to specified vertex.
inline const float* getVertex(int i) const { return &m_verts[i*3]; } inline const float* getVertex(int i) const { return &m_header->verts[i*3]; }
bool isInOpenList(dtStatPolyRef ref) const; bool isInOpenList(dtStatPolyRef ref) const;
@ -173,8 +176,8 @@ public:
inline const dtStatNavMeshHeader* getHeader() const { return m_header; } inline const dtStatNavMeshHeader* getHeader() const { return m_header; }
inline const dtStatBVNode* getBvTreeNodes() const { return m_bvtree; } inline const dtStatBVNode* getBvTreeNodes() const { return m_header ? m_header->bvtree : 0; }
inline int getBvTreeNodeCount() const { return m_header->nnodes; } inline int getBvTreeNodeCount() const { return m_header ? m_header->nnodes : 0; }
private: private:
@ -190,9 +193,6 @@ private:
int m_dataSize; int m_dataSize;
dtStatNavMeshHeader* m_header; dtStatNavMeshHeader* m_header;
dtStatPoly* m_polys;
float* m_verts;
dtStatBVNode* m_bvtree;
class dtNodePool* m_nodePool; class dtNodePool* m_nodePool;
class dtNodeQueue* m_openList; class dtNodeQueue* m_openList;

17
Detour/Source/DetourCommon.cpp
View File

@ -1,3 +1,20 @@
//
// Copyright (c) 2009 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.
//
#include <math.h> #include <math.h>
#include "DetourCommon.h" #include "DetourCommon.h"

6
Detour/Source/DetourDebugDraw.cpp
View File

@ -190,12 +190,6 @@ void dtDebugDrawStatNavMesh(const dtStatNavMesh* mesh)
static void drawTile(const dtTileHeader* header) static void drawTile(const dtTileHeader* header)
{ {
const float col[4] = {0,0,0,0.25f};
/* glBegin(GL_LINES);
drawBoxWire(header->bmin[0],header->bmin[1],header->bmin[2],
header->bmax[0],header->bmax[1],header->bmax[2], col);
glEnd();*/
glBegin(GL_TRIANGLES); glBegin(GL_TRIANGLES);
for (int i = 0; i < header->npolys; ++i) for (int i = 0; i < header->npolys; ++i)
{ {

17
Detour/Source/DetourNode.cpp
View File

@ -1,3 +1,20 @@
//
// Copyright (c) 2009 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.
//
#include "DetourNode.h" #include "DetourNode.h"
#include <string.h> #include <string.h>

25
Detour/Source/DetourStatNavMesh.cpp
View File

@ -28,9 +28,6 @@
////////////////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////////////////
dtStatNavMesh::dtStatNavMesh() : dtStatNavMesh::dtStatNavMesh() :
m_header(0), m_header(0),
m_polys(0),
m_verts(0),
m_bvtree(0),
m_nodePool(0), m_nodePool(0),
m_openList(0), m_openList(0),
m_data(0), m_data(0),
@ -59,9 +56,9 @@ bool dtStatNavMesh::init(unsigned char* data, int dataSize, bool ownsData)
const int vertsSize = sizeof(float)*3*header->nverts; const int vertsSize = sizeof(float)*3*header->nverts;
const int polysSize = sizeof(dtStatPoly)*header->npolys; const int polysSize = sizeof(dtStatPoly)*header->npolys;
m_verts = (float*)(data + headerSize); header->verts = (float*)(data + headerSize);
m_polys = (dtStatPoly*)(data + headerSize + vertsSize); header->polys = (dtStatPoly*)(data + headerSize + vertsSize);
m_bvtree = (dtStatBVNode*)(data + headerSize + vertsSize + polysSize); header->bvtree = (dtStatBVNode*)(data + headerSize + vertsSize + polysSize);
m_nodePool = new dtNodePool(2048, 256); m_nodePool = new dtNodePool(2048, 256);
if (!m_nodePool) if (!m_nodePool)
@ -87,8 +84,8 @@ float dtStatNavMesh::getCost(dtStatPolyRef prev, dtStatPolyRef from, dtStatPolyR
const dtStatPoly* fromPoly = getPoly(prev ? prev-1 : from-1); const dtStatPoly* fromPoly = getPoly(prev ? prev-1 : from-1);
const dtStatPoly* toPoly = getPoly(to-1); const dtStatPoly* toPoly = getPoly(to-1);
float fromPc[3], toPc[3]; float fromPc[3], toPc[3];
calcPolyCenter(fromPc, fromPoly->v, fromPoly->nv, m_verts); calcPolyCenter(fromPc, fromPoly->v, fromPoly->nv, m_header->verts);
calcPolyCenter(toPc, toPoly->v, toPoly->nv, m_verts); calcPolyCenter(toPc, toPoly->v, toPoly->nv, m_header->verts);
float dx = fromPc[0]-toPc[0]; float dx = fromPc[0]-toPc[0];
float dy = fromPc[1]-toPc[1]; float dy = fromPc[1]-toPc[1];
@ -102,8 +99,8 @@ float dtStatNavMesh::getHeuristic(dtStatPolyRef from, dtStatPolyRef to) const
const dtStatPoly* fromPoly = getPoly(from-1); const dtStatPoly* fromPoly = getPoly(from-1);
const dtStatPoly* toPoly = getPoly(to-1); const dtStatPoly* toPoly = getPoly(to-1);
float fromPc[3], toPc[3]; float fromPc[3], toPc[3];
calcPolyCenter(fromPc, fromPoly->v, fromPoly->nv, m_verts); calcPolyCenter(fromPc, fromPoly->v, fromPoly->nv, m_header->verts);
calcPolyCenter(toPc, toPoly->v, toPoly->nv, m_verts); calcPolyCenter(toPc, toPoly->v, toPoly->nv, m_header->verts);
float dx = fromPc[0]-toPc[0]; float dx = fromPc[0]-toPc[0];
float dy = fromPc[1]-toPc[1]; float dy = fromPc[1]-toPc[1];
@ -115,7 +112,7 @@ float dtStatNavMesh::getHeuristic(dtStatPolyRef from, dtStatPolyRef to) const
const dtStatPoly* dtStatNavMesh::getPolyByRef(dtStatPolyRef ref) const const dtStatPoly* dtStatNavMesh::getPolyByRef(dtStatPolyRef ref) const
{ {
if (!m_header || ref == 0 || (int)ref > m_header->npolys) return 0; if (!m_header || ref == 0 || (int)ref > m_header->npolys) return 0;
return &m_polys[ref-1]; return &m_header->polys[ref-1];
} }
int dtStatNavMesh::findPath(dtStatPolyRef startRef, dtStatPolyRef endRef, int dtStatNavMesh::findPath(dtStatPolyRef startRef, dtStatPolyRef endRef,
@ -415,7 +412,7 @@ int dtStatNavMesh::getPolyVerts(dtStatPolyRef ref, float* verts) const
float* v = verts; float* v = verts;
for (int i = 0; i < (int)poly->nv; ++i) for (int i = 0; i < (int)poly->nv; ++i)
{ {
const float* cv = &m_verts[poly->v[i]*3]; const float* cv = &m_header->verts[poly->v[i]*3];
*v++ = cv[0]; *v++ = cv[0];
*v++ = cv[1]; *v++ = cv[1];
*v++ = cv[2]; *v++ = cv[2];
@ -702,8 +699,8 @@ int dtStatNavMesh::queryPolygons(const float* center, const float* extents,
{ {
if (!m_header) return 0; if (!m_header) return 0;
const dtStatBVNode* node = &m_bvtree[0]; const dtStatBVNode* node = &m_header->bvtree[0];
const dtStatBVNode* end = &m_bvtree[m_header->nnodes]; const dtStatBVNode* end = &m_header->bvtree[m_header->nnodes];
// Calculate quantized box // Calculate quantized box
const float ics = 1.0f / m_header->cs; const float ics = 1.0f / m_header->cs;

BIN
RecastDemo/Bin/Recast.app/Contents/MacOS/Recast
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1062
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.pbxuser
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81
RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3
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@ -268,7 +268,8 @@
<array> <array>
<string>29B97314FDCFA39411CA2CEA</string> <string>29B97314FDCFA39411CA2CEA</string>
<string>080E96DDFE201D6D7F000001</string> <string>080E96DDFE201D6D7F000001</string>
<string>6B555DF5100B25FC00247EA3</string> <string>6BDD9E030F91110C00904EEF</string>
<string>6B137C7D0F7FCBE800459200</string>
<string>29B97315FDCFA39411CA2CEA</string> <string>29B97315FDCFA39411CA2CEA</string>
<string>29B97317FDCFA39411CA2CEA</string> <string>29B97317FDCFA39411CA2CEA</string>
<string>1C37FBAC04509CD000000102</string> <string>1C37FBAC04509CD000000102</string>
@ -277,7 +278,8 @@
<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key> <key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
<array> <array>
<array> <array>
<integer>16</integer> <integer>11</integer>
<integer>3</integer>
<integer>1</integer> <integer>1</integer>
<integer>0</integer> <integer>0</integer>
</array> </array>
@ -318,7 +320,7 @@
<key>PBXProjectModuleGUID</key> <key>PBXProjectModuleGUID</key>
<string>6B8632A30F78115100E2684A</string> <string>6B8632A30F78115100E2684A</string>
<key>PBXProjectModuleLabel</key> <key>PBXProjectModuleLabel</key>
<string>main.cpp</string> <string>DetourTileNavMesh.cpp</string>
<key>PBXSplitModuleInNavigatorKey</key> <key>PBXSplitModuleInNavigatorKey</key>
<dict> <dict>
<key>Split0</key> <key>Split0</key>
@ -326,11 +328,11 @@
<key>PBXProjectModuleGUID</key> <key>PBXProjectModuleGUID</key>
<string>6B8632A40F78115100E2684A</string> <string>6B8632A40F78115100E2684A</string>
<key>PBXProjectModuleLabel</key> <key>PBXProjectModuleLabel</key>
<string>main.cpp</string> <string>DetourTileNavMesh.cpp</string>
<key>_historyCapacity</key> <key>_historyCapacity</key>
<integer>0</integer> <integer>0</integer>
<key>bookmark</key> <key>bookmark</key>
<string>6B555F02100B431000247EA3</string> <string>6B555F52100B4CE300247EA3</string>
<key>history</key> <key>history</key>
<array> <array>
<string>6BB87E0B0F9DE8A300E33F12</string> <string>6BB87E0B0F9DE8A300E33F12</string>
@ -357,22 +359,12 @@
<string>6B024C011006098300CF7107</string> <string>6B024C011006098300CF7107</string>
<string>6B024C1110060C7600CF7107</string> <string>6B024C1110060C7600CF7107</string>
<string>6B1186211006945C0018F96F</string> <string>6B1186211006945C0018F96F</string>
<string>6B1186231006945C0018F96F</string>
<string>6B1186241006945C0018F96F</string>
<string>6B1186251006945C0018F96F</string>
<string>6B1186A1100698B70018F96F</string>
<string>6B1186CD100699A00018F96F</string>
<string>6B1186CE100699A00018F96F</string>
<string>6B1186CF100699A00018F96F</string> <string>6B1186CF100699A00018F96F</string>
<string>6B1186D0100699A00018F96F</string>
<string>6B1186D1100699A00018F96F</string> <string>6B1186D1100699A00018F96F</string>
<string>6B1186D2100699A00018F96F</string>
<string>6B1186E610069E200018F96F</string> <string>6B1186E610069E200018F96F</string>
<string>6B7EBB69100721310066EF8C</string> <string>6B7EBB69100721310066EF8C</string>
<string>6B8EF40C1007653C003F8851</string>
<string>6B555D23100B136A00247EA3</string> <string>6B555D23100B136A00247EA3</string>
<string>6B555D24100B136A00247EA3</string> <string>6B555D24100B136A00247EA3</string>
<string>6B555D2F100B143200247EA3</string>
<string>6B555D30100B143200247EA3</string> <string>6B555D30100B143200247EA3</string>
<string>6B555E01100B285300247EA3</string> <string>6B555E01100B285300247EA3</string>
<string>6B555E04100B285300247EA3</string> <string>6B555E04100B285300247EA3</string>
@ -381,18 +373,28 @@
<string>6B555E79100B350E00247EA3</string> <string>6B555E79100B350E00247EA3</string>
<string>6B555E7B100B350E00247EA3</string> <string>6B555E7B100B350E00247EA3</string>
<string>6B555E7C100B350E00247EA3</string> <string>6B555E7C100B350E00247EA3</string>
<string>6B555E8A100B35E000247EA3</string>
<string>6B555E9D100B37AB00247EA3</string> <string>6B555E9D100B37AB00247EA3</string>
<string>6B555E9E100B37AB00247EA3</string>
<string>6B555E9F100B37AB00247EA3</string>
<string>6B555EA1100B37AB00247EA3</string> <string>6B555EA1100B37AB00247EA3</string>
<string>6B555EA2100B37AB00247EA3</string> <string>6B555EA2100B37AB00247EA3</string>
<string>6B555EA3100B37AB00247EA3</string>
<string>6B555EA4100B37AB00247EA3</string>
<string>6B555EDE100B39A600247EA3</string> <string>6B555EDE100B39A600247EA3</string>
<string>6B555EF6100B42E600247EA3</string> <string>6B555F0C100B473F00247EA3</string>
<string>6B555EF7100B42E600247EA3</string> <string>6B555F0D100B473F00247EA3</string>
<string>6B555EF8100B42E600247EA3</string> <string>6B555F0E100B473F00247EA3</string>
<string>6B555F0F100B473F00247EA3</string>
<string>6B555F10100B473F00247EA3</string>
<string>6B555F11100B473F00247EA3</string>
<string>6B555F12100B473F00247EA3</string>
<string>6B555F13100B473F00247EA3</string>
<string>6B555F15100B473F00247EA3</string>
<string>6B555F2A100B499000247EA3</string>
<string>6B555F2B100B499000247EA3</string>
<string>6B555F2C100B499000247EA3</string>
<string>6B555F2D100B499000247EA3</string>
<string>6B555F40100B4C5800247EA3</string>
<string>6B555F41100B4C5800247EA3</string>
<string>6B555F42100B4C5800247EA3</string>
<string>6B555F43100B4C5800247EA3</string>
<string>6B555F44100B4C5800247EA3</string>
</array> </array>
<key>prevStack</key> <key>prevStack</key>
<array> <array>
@ -433,7 +435,6 @@
<string>6B0249051001EABD00CF7107</string> <string>6B0249051001EABD00CF7107</string>
<string>6B02498D1003751300CF7107</string> <string>6B02498D1003751300CF7107</string>
<string>6B024A721004A2FE00CF7107</string> <string>6B024A721004A2FE00CF7107</string>
<string>6B024B1B1004C7E200CF7107</string>
<string>6B024BBB1005DF5700CF7107</string> <string>6B024BBB1005DF5700CF7107</string>
<string>6B024BCF1005DFAB00CF7107</string> <string>6B024BCF1005DFAB00CF7107</string>
<string>6B024C041006098300CF7107</string> <string>6B024C041006098300CF7107</string>
@ -590,6 +591,38 @@
<string>6B555EF9100B42E600247EA3</string> <string>6B555EF9100B42E600247EA3</string>
<string>6B555EFA100B42E600247EA3</string> <string>6B555EFA100B42E600247EA3</string>
<string>6B555EFB100B42E600247EA3</string> <string>6B555EFB100B42E600247EA3</string>
<string>6B555F17100B473F00247EA3</string>
<string>6B555F18100B473F00247EA3</string>
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<string>6B555F4E100B4C5800247EA3</string>
</array> </array>
</dict> </dict>
<key>SplitCount</key> <key>SplitCount</key>

18
RecastDemo/Include/imguiRenderGL.h
View File

@ -1,3 +1,21 @@
//
// Copyright (c) 2009 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 IMGUI_RENDER_GL_H #ifndef IMGUI_RENDER_GL_H
#define IMGUI_RENDER_GL_H #define IMGUI_RENDER_GL_H

18
RecastDemo/Source/imguiRenderGL.cpp
View File

@ -1,3 +1,21 @@
//
// Copyright (c) 2009 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.
//
#include <math.h> #include <math.h>
#include "imgui.h" #include "imgui.h"
#include "SDL.h" #include "SDL.h"