- added finalizeSlicedFindPathPartial()

- added handleStep()/handleToggle() to samples
- changed how crowds are rendered
- added path topology optimization step

DebugUtils/Include/DebugDraw.h

@@ -140,6 +140,9 @@ void duDebugDrawCross(struct duDebugDraw* dd, const float x, const float y, cons
 void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz,
 					float maxx, float maxy, float maxz, const unsigned int* fcol);
 
+void duDebugDrawCylinder(struct duDebugDraw* dd, float minx, float miny, float minz,
+						 float maxx, float maxy, float maxz, unsigned int col);
+
 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);
@@ -172,6 +175,9 @@ void duAppendCross(struct duDebugDraw* dd, const float x, const float y, const f
 void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz,
 				 float maxx, float maxy, float maxz, const unsigned int* fcol);
 
+void duAppendCylinder(struct duDebugDraw* dd, float minx, float miny, float minz,
+					  float maxx, float maxy, float maxz, unsigned int col);
+
 
 class duDisplayList : public duDebugDraw
 {

DebugUtils/Source/DebugDraw.cpp

@@ -135,6 +135,16 @@ void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz,
 	dd->end();
 }
 
+void duDebugDrawCylinder(struct duDebugDraw* dd, float minx, float miny, float minz,
+						 float maxx, float maxy, float maxz, unsigned int col)
+{
+	if (!dd) return;
+	
+	dd->begin(DU_DRAW_TRIS);
+	duAppendCylinder(dd, minx,miny,minz, maxx,maxy,maxz, col);
+	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)
@@ -289,6 +299,58 @@ void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz,
 	}
 }
 
+void duAppendCylinder(struct duDebugDraw* dd, float minx, float miny, float minz,
+					  float maxx, float maxy, float maxz, unsigned int col)
+{
+	if (!dd) return;
+	
+	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*DU_PI*2;
+			dir[i*2] = cosf(a);
+			dir[i*2+1] = sinf(a);
+		}
+	}
+	
+	unsigned int col2 = duMultCol(col, 160);
+	
+	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 = 2; i < NUM_SEG; ++i)
+	{
+		const int a = 0, b = i-1, c = i;
+		dd->vertex(cx+dir[a*2+0]*rx, miny, cz+dir[a*2+1]*rz, col2);
+		dd->vertex(cx+dir[b*2+0]*rx, miny, cz+dir[b*2+1]*rz, col2);
+		dd->vertex(cx+dir[c*2+0]*rx, miny, cz+dir[c*2+1]*rz, col2);
+	}
+	for (int i = 2; i < NUM_SEG; ++i)
+	{
+		const int a = 0, b = i, c = i-1;
+		dd->vertex(cx+dir[a*2+0]*rx, maxy, cz+dir[a*2+1]*rz, col);
+		dd->vertex(cx+dir[b*2+0]*rx, maxy, cz+dir[b*2+1]*rz, col);
+		dd->vertex(cx+dir[c*2+0]*rx, maxy, cz+dir[c*2+1]*rz, col);
+	}
+	for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++)
+	{
+		dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col2);
+		dd->vertex(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz, col2);
+		dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col);
+
+		dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col2);
+		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);
+	}
+}
+
 
 inline void evalArc(const float x0, const float y0, const float z0,
 					const float dx, const float dy, const float dz,

DebugUtils/Source/DetourDebugDraw.cpp

@@ -72,9 +72,9 @@ static void drawPolyBoundaries(duDebugDraw* dd, const dtMeshTile* tile,
 						}
 					}
 					if (con)
-						c = duRGBA(255,255,255,64);
+						c = duRGBA(255,255,255,24);
 					else
-						c = duRGBA(0,0,0,128);
+						c = duRGBA(0,0,0,48);
 				}
 				else
 					c = duRGBA(0,48,64,32);

Detour/Include/DetourNavMeshQuery.h

@@ -173,12 +173,22 @@ public:
 	// Returns: Path query state.
 	dtStatus updateSlicedFindPath(const int maxIter);
 
-	// Finalizes sliced path find  query.
+	// Finalizes sliced path find query and returns found path.
 	//	path - (out) array holding the search result.
 	//  pathCount - (out) Number of polygons in search result array.
 	//	maxPath - (in) The max number of polygons the path array can hold.
 	dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
 	
+	// Finalizes partial sliced path find query and returns path to the furthest
+	// polygon on the existing path that was visited during the search.
+	//	existing - (out) Array of polygons in the existing path.
+	//  existingSize - (out) Number of polygons in existing path array.
+	//	path - (out) array holding the search result.
+	//  pathCount - (out) Number of polygons in search result array.
+	//	maxPath - (in) The max number of polygons the path array can hold.
+	dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
+										   dtPolyRef* path, int* pathCount, const int maxPath);
+	
 	// Finds a straight path from start to end locations within the corridor
 	// described by the path polygons.
 	// Start and end locations will be clamped on the corridor.

Detour/Include/DetourNode.h

@@ -47,7 +47,7 @@ public:
 	inline void operator=(const dtNodePool&) {}
 	void clear();
 	dtNode* getNode(dtPolyRef id);
-	const dtNode* findNode(dtPolyRef id) const;
+	dtNode* findNode(dtPolyRef id);
 
 	inline unsigned int getNodeIdx(const dtNode* node) const
 	{

Detour/Source/DetourNavMeshQuery.cpp

@@ -1015,6 +1015,75 @@ dtStatus dtNavMeshQuery::finalizeSlicedFindPath(dtPolyRef* path, int* pathCount,
 	return DT_SUCCESS;
 }
 
+dtStatus dtNavMeshQuery::finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
+													   dtPolyRef* path, int* pathCount, const int maxPath)
+{
+	*pathCount = 0;
+	
+	if (existingSize == 0)
+	{
+		return DT_FAILURE;
+	}
+	
+	if (m_query.status != DT_SUCCESS && m_query.status != DT_IN_PROGRESS)
+	{
+		// Reset query.
+		memset(&m_query, 0, sizeof(dtQueryData));
+		return DT_FAILURE;
+	}
+	
+	int n = 0;
+	
+	if (m_query.startRef == m_query.endRef)
+	{
+		// Special case: the search starts and ends at same poly.
+		path[n++] = m_query.startRef;
+	}
+	else
+	{
+		// Find furthest existing node that was visited.
+		dtNode* prev = 0;
+		dtNode* node = 0;
+		for (int i = existingSize-1; i >= 0; --i)
+		{
+			node = m_nodePool->findNode(existing[i]);
+			if (node)
+				break;
+		}
+		
+		if (!node)
+		{
+			return DT_FAILURE;
+		}
+		
+		// Reverse the path.
+		do
+		{
+			dtNode* next = m_nodePool->getNodeAtIdx(node->pidx);
+			node->pidx = m_nodePool->getNodeIdx(prev);
+			prev = node;
+			node = next;
+		}
+		while (node);
+		
+		// Store path
+		node = prev;
+		do
+		{
+			path[n++] = node->id;
+			node = m_nodePool->getNodeAtIdx(node->pidx);
+		}
+		while (node && n < maxPath);
+	}
+	
+	// Reset query.
+	memset(&m_query, 0, sizeof(dtQueryData));
+	
+	*pathCount = n;
+	
+	return DT_SUCCESS;
+}
+
 
 dtStatus dtNavMeshQuery::findStraightPath(const float* startPos, const float* endPos,
 										  const dtPolyRef* path, const int pathSize,

Detour/Source/DetourNode.cpp

@@ -70,7 +70,7 @@ void dtNodePool::clear()
 	m_nodeCount = 0;
 }
 
-const dtNode* dtNodePool::findNode(dtPolyRef id) const
+dtNode* dtNodePool::findNode(dtPolyRef id)
 {
 	unsigned int bucket = dtHashRef(id) & (m_hashSize-1);
 	unsigned short i = m_first[bucket];

RecastDemo/Build/Xcode/Recast.xcodeproj/memon.perspectivev3

@@ -284,14 +284,14 @@
 							<key>PBXSmartGroupTreeModuleOutlineStateSelectionKey</key>
 							<array>
 								<array>
-									<integer>59</integer>
+									<integer>52</integer>
 									<integer>51</integer>
 									<integer>1</integer>
 									<integer>0</integer>
 								</array>
 							</array>
 							<key>PBXSmartGroupTreeModuleOutlineStateVisibleRectKey</key>
-							<string>{{0, 590}, {264, 660}}</string>
+							<string>{{0, 577}, {264, 622}}</string>
 						</dict>
 						<key>PBXTopSmartGroupGIDs</key>
 						<array/>
@@ -301,14 +301,14 @@
 					<key>GeometryConfiguration</key>
 					<dict>
 						<key>Frame</key>
-						<string>{{0, 0}, {281, 678}}</string>
+						<string>{{0, 0}, {281, 640}}</string>
 						<key>GroupTreeTableConfiguration</key>
 						<array>
 							<string>MainColumn</string>
 							<real>264</real>
 						</array>
 						<key>RubberWindowFrame</key>
-						<string>0 59 1278 719 0 0 1280 778 </string>
+						<string>47 97 1200 681 0 0 1280 778 </string>
 					</dict>
 					<key>Module</key>
 					<string>PBXSmartGroupTreeModule</string>
@@ -326,7 +326,7 @@
 								<key>PBXProjectModuleGUID</key>
 								<string>6B8632A30F78115100E2684A</string>
 								<key>PBXProjectModuleLabel</key>
-								<string>NavMeshTesterTool.cpp</string>
+								<string>CrowdTool.cpp</string>
 								<key>PBXSplitModuleInNavigatorKey</key>
 								<dict>
 									<key>Split0</key>
@@ -334,29 +334,46 @@
 										<key>PBXProjectModuleGUID</key>
 										<string>6B8632A40F78115100E2684A</string>
 										<key>PBXProjectModuleLabel</key>
-										<string>NavMeshTesterTool.cpp</string>
+										<string>CrowdTool.cpp</string>
 										<key>_historyCapacity</key>
 										<integer>0</integer>
 										<key>bookmark</key>
-										<string>6B8D56DA127AEC580077C699</string>
+										<string>6B74B7631286BB6900262888</string>
 										<key>history</key>
 										<array>
 											<string>6B8D565F127ADB0D0077C699</string>
-											<string>6B8D566D127ADB7D0077C699</string>
 											<string>6B8D566F127ADB7D0077C699</string>
 											<string>6B8D56C7127AEC100077C699</string>
-											<string>6B8D56C8127AEC100077C699</string>
-											<string>6B8D56C9127AEC100077C699</string>
-											<string>6B8D56CA127AEC100077C699</string>
-											<string>6B8D56CB127AEC100077C699</string>
-											<string>6B8D56CC127AEC100077C699</string>
-											<string>6B8D56CD127AEC100077C699</string>
-											<string>6B8D56CE127AEC100077C699</string>
-											<string>6B8D56CF127AEC100077C699</string>
-											<string>6B8D56D0127AEC100077C699</string>
 											<string>6B8D56D2127AEC100077C699</string>
-											<string>6B8D56D8127AEC580077C699</string>
+											<string>6B4DE62F12807542001CFDF4</string>
-											<string>6B8D56D9127AEC580077C699</string>
+											<string>6B4DE647128079E0001CFDF4</string>
+											<string>6B4DE649128079E0001CFDF4</string>
+											<string>6B4DE64A128079E0001CFDF4</string>
+											<string>6B74B5F3128312AC00262888</string>
+											<string>6B74B5F4128312AC00262888</string>
+											<string>6B74B60F128312E900262888</string>
+											<string>6B74B623128314A500262888</string>
+											<string>6B74B624128314A500262888</string>
+											<string>6B74B626128314A500262888</string>
+											<string>6B74B627128314A500262888</string>
+											<string>6B74B628128314A500262888</string>
+											<string>6B74B629128314A500262888</string>
+											<string>6B74B62A128314A500262888</string>
+											<string>6B74B62B128314A500262888</string>
+											<string>6B74B62C128314A500262888</string>
+											<string>6B74B66412869CE100262888</string>
+											<string>6B74B66712869CE100262888</string>
+											<string>6B74B66F12869E3000262888</string>
+											<string>6B74B6BF1286AA0C00262888</string>
+											<string>6B74B6D81286ABC000262888</string>
+											<string>6B74B6FC1286AE0B00262888</string>
+											<string>6B74B7061286AEBD00262888</string>
+											<string>6B74B7071286AEBD00262888</string>
+											<string>6B74B7401286B7C400262888</string>
+											<string>6B74B75F1286BB6900262888</string>
+											<string>6B74B7601286BB6900262888</string>
+											<string>6B74B7611286BB6900262888</string>
+											<string>6B74B7621286BB6900262888</string>
 										</array>
 									</dict>
 									<key>SplitCount</key>
@@ -370,18 +387,18 @@
 							<key>GeometryConfiguration</key>
 							<dict>
 								<key>Frame</key>
-								<string>{{0, 0}, {992, 434}}</string>
+								<string>{{0, 0}, {914, 472}}</string>
 								<key>RubberWindowFrame</key>
-								<string>0 59 1278 719 0 0 1280 778 </string>
+								<string>47 97 1200 681 0 0 1280 778 </string>
 							</dict>
 							<key>Module</key>
 							<string>PBXNavigatorGroup</string>
 							<key>Proportion</key>
-							<string>434pt</string>
+							<string>472pt</string>
 						</dict>
 						<dict>
 							<key>Proportion</key>
-							<string>239pt</string>
+							<string>164pt</string>
 							<key>Tabs</key>
 							<array>
 								<dict>
@@ -395,7 +412,7 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {992, -27}}</string>
+										<string>{{10, 27}, {992, 49}}</string>
 									</dict>
 									<key>Module</key>
 									<string>XCDetailModule</string>
@@ -411,7 +428,7 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {992, 212}}</string>
+										<string>{{10, 27}, {992, 169}}</string>
 									</dict>
 									<key>Module</key>
 									<string>PBXProjectFindModule</string>
@@ -449,9 +466,9 @@
 									<key>GeometryConfiguration</key>
 									<dict>
 										<key>Frame</key>
-										<string>{{10, 27}, {992, 212}}</string>
+										<string>{{10, 27}, {914, 137}}</string>
 										<key>RubberWindowFrame</key>
-										<string>0 59 1278 719 0 0 1280 778 </string>
+										<string>47 97 1200 681 0 0 1280 778 </string>
 									</dict>
 									<key>Module</key>
 									<string>PBXBuildResultsModule</string>
@@ -460,7 +477,7 @@
 						</dict>
 					</array>
 					<key>Proportion</key>
-					<string>992pt</string>
+					<string>914pt</string>
 				</dict>
 			</array>
 			<key>Name</key>
@@ -479,11 +496,11 @@
 			</array>
 			<key>TableOfContents</key>
 			<array>
-				<string>6B8D5625127AD44A0077C699</string>
+				<string>6B74B5DD1283104100262888</string>
 				<string>1CA23ED40692098700951B8B</string>
-				<string>6B8D5626127AD44A0077C699</string>
+				<string>6B74B5DE1283104100262888</string>
 				<string>6B8632A30F78115100E2684A</string>
-				<string>6B8D5627127AD44A0077C699</string>
+				<string>6B74B5DF1283104100262888</string>
 				<string>1CA23EDF0692099D00951B8B</string>
 				<string>1CA23EE00692099D00951B8B</string>
 				<string>1CA23EE10692099D00951B8B</string>
@@ -631,14 +648,14 @@
 			</array>
 			<key>TableOfContents</key>
 			<array>
-				<string>6B8D563A127AD6CA0077C699</string>
+				<string>6B74B5FD128312AC00262888</string>
 				<string>1CCC7628064C1048000F2A68</string>
 				<string>1CCC7629064C1048000F2A68</string>
-				<string>6B8D563B127AD6CA0077C699</string>
+				<string>6B74B5FE128312AC00262888</string>
-				<string>6B8D563C127AD6CA0077C699</string>
+				<string>6B74B5FF128312AC00262888</string>
-				<string>6B8D563D127AD6CA0077C699</string>
+				<string>6B74B600128312AC00262888</string>
-				<string>6B8D563E127AD6CA0077C699</string>
+				<string>6B74B601128312AC00262888</string>
-				<string>6B8D563F127AD6CA0077C699</string>
+				<string>6B74B602128312AC00262888</string>
 			</array>
 			<key>ToolbarConfigUserDefaultsMinorVersion</key>
 			<string>2</string>
@@ -670,13 +687,12 @@
 	<integer>5</integer>
 	<key>WindowOrderList</key>
 	<array>
-		<string>6B8D56D5127AEC100077C699</string>
+		<string>6B74B604128312AC00262888</string>
-		<string>6B8D56D6127AEC100077C699</string>
+		<string>6B74B605128312AC00262888</string>
-		<string>6B8D56D7127AEC100077C699</string>
 		<string>/Users/memon/Code/recastnavigation/RecastDemo/Build/Xcode/Recast.xcodeproj</string>
 	</array>
 	<key>WindowString</key>
-	<string>0 59 1278 719 0 0 1280 778 </string>
+	<string>47 97 1200 681 0 0 1280 778 </string>
 	<key>WindowToolsV3</key>
 	<array>
 		<dict>

RecastDemo/Include/ConvexVolumeTool.h

@@ -45,6 +45,7 @@ public:
 	virtual void reset();
 	virtual void handleMenu();
 	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
 	virtual void handleStep();
 	virtual void handleUpdate(const float dt);
 	virtual void handleRender();

RecastDemo/Include/CrowdManager.h

@@ -138,9 +138,11 @@ public:
 					dtPolyRef* cornerPolys, const int maxCorners,
 					dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 
-	void optimizePath(const float* next, const float pathOptimizationRange,
+	void optimizePathVisibility(const float* next, const float pathOptimizationRange,
 								dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 
+	bool optimizePathTopology(dtNavMeshQuery* navquery, const dtQueryFilter* filter);
+
 	void movePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 	void moveTargetPosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 	
@@ -216,6 +218,8 @@ struct Agent
 	float collisionQueryRange;
 	float pathOptimizationRange;
 
+	float topologyOptTime;
+	
 	Neighbour neis[AGENT_MAX_NEIGHBOURS];
 	int nneis;
 	
@@ -243,6 +247,8 @@ enum UpdateFlags
 	CROWDMAN_ANTICIPATE_TURNS = 1,
 	CROWDMAN_USE_VO = 2,
 	CROWDMAN_DRUNK = 4,
+	CROWDMAN_OPTIMIZE_VIS = 8,
+	CROWDMAN_OPTIMIZE_TOPO = 16,
 };
 
 
@@ -295,6 +301,9 @@ class CrowdManager
 	int getNeighbours(const float* pos, const float height, const float range,
 					  const Agent* skip, Neighbour* result, const int maxResult);
 
+	void updateTopologyOptimization(const float dt, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
+	void updateMoveRequest(const float dt, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
+
 public:
 	CrowdManager();
 	~CrowdManager();
@@ -309,7 +318,6 @@ public:
 	bool adjustMoveTarget(const int idx, dtPolyRef ref, const float* pos);
 
 	int getActiveAgents(Agent** agents, const int maxAgents);
-	void updateMoveRequest(const float dt, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 	void update(const float dt, unsigned int flags, dtNavMeshQuery* navquery);
 	
 	const dtQueryFilter* getFilter() const { return &m_filter; }

RecastDemo/Include/CrowdTool.h

@@ -44,9 +44,13 @@ class CrowdTool : public SampleTool
 	bool m_showVO;
 	bool m_showOpt;
 	bool m_showGrid;
+	bool m_showNodes;
+	bool m_showPerfGraph;
 	
 	bool m_expandOptions;
 	bool m_anticipateTurns;
+	bool m_optimizeVis;
+	bool m_optimizeTopo;
 	bool m_useVO;
 	bool m_drunkMove;
 	
@@ -74,6 +78,7 @@ public:
 	virtual void reset();
 	virtual void handleMenu();
 	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
 	virtual void handleStep();
 	virtual void handleUpdate(const float dt);
 	virtual void handleRender();

RecastDemo/Include/NavMeshTesterTool.h

@@ -93,6 +93,7 @@ public:
 	virtual void reset();
 	virtual void handleMenu();
 	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
 	virtual void handleStep();
 	virtual void handleUpdate(const float dt);
 	virtual void handleRender();

RecastDemo/Include/OffMeshConnectionTool.h

@@ -40,6 +40,7 @@ public:
 	virtual void reset();
 	virtual void handleMenu();
 	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
 	virtual void handleStep();
 	virtual void handleUpdate(const float dt);
 	virtual void handleRender();

RecastDemo/Include/Sample.h

@@ -65,6 +65,7 @@ struct SampleTool
 	virtual void handleClick(const float* s, const float* p, bool shift) = 0;
 	virtual void handleRender() = 0;
 	virtual void handleRenderOverlay(double* proj, double* model, int* view) = 0;
+	virtual void handleToggle() = 0;
 	virtual void handleStep() = 0;
 	virtual void handleUpdate(const float dt) = 0;
 };
@@ -108,6 +109,7 @@ public:
 	virtual void handleTools();
 	virtual void handleDebugMode();
 	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
 	virtual void handleStep();
 	virtual void handleRender();
 	virtual void handleRenderOverlay(double* proj, double* model, int* view);

RecastDemo/Include/Sample_Debug.h

@@ -44,7 +44,7 @@ public:
 	virtual void handleTools();
 	virtual void handleDebugMode();
 	virtual void handleClick(const float* s, const float* p, bool shift);
-	virtual void handleStep();
+	virtual void handleToggle();
 	virtual void handleRender();
 	virtual void handleRenderOverlay(double* proj, double* model, int* view);
 	virtual void handleMeshChanged(class InputGeom* geom);

RecastDemo/Source/ConvexVolumeTool.cpp

@@ -230,6 +230,10 @@ void ConvexVolumeTool::handleClick(const float* /*s*/, const float* p, bool shif
 	
 }
 
+void ConvexVolumeTool::handleToggle()
+{
+}
+
 void ConvexVolumeTool::handleStep()
 {
 }

RecastDemo/Source/CrowdManager.cpp

@@ -506,7 +506,7 @@ int PathCorridor::findCorners(float* cornerVerts, unsigned char* cornerFlags,
 	return ncorners;
 }
 
-void PathCorridor::optimizePath(const float* next, const float pathOptimizationRange,
+void PathCorridor::optimizePathVisibility(const float* next, const float pathOptimizationRange,
 										  dtNavMeshQuery* navquery, const dtQueryFilter* filter)
 {
 	dtAssert(m_path);
@@ -539,6 +539,31 @@ void PathCorridor::optimizePath(const float* next, const float pathOptimizationR
 	}
 }
 
+bool PathCorridor::optimizePathTopology(dtNavMeshQuery* navquery, const dtQueryFilter* filter)
+{
+	dtAssert(m_path);
+
+	if (m_npath < 3)
+		return false;
+	
+	static const int MAX_ITER = 32;
+	static const int MAX_RES = 32;
+
+	dtPolyRef res[MAX_RES];
+	int nres = 0;
+	navquery->initSlicedFindPath(m_path[0], m_path[m_npath-1], m_pos, m_target, filter);
+	navquery->updateSlicedFindPath(MAX_ITER);
+	dtStatus status = navquery->finalizeSlicedFindPathPartial(m_path, m_npath, res, &nres, MAX_RES);
+
+	if (status == DT_SUCCESS && nres > 0)
+	{
+		m_npath = mergeCorridor(m_path, m_npath, m_maxPath, res, nres);
+		return true;
+	}
+	
+	return false;
+}
+
 void PathCorridor::movePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter)
 {
 	dtAssert(m_path);
@@ -876,6 +901,7 @@ int CrowdManager::addAgent(const float* pos, const float radius, const float hei
 	ag->height = height;
 	ag->collisionQueryRange = radius * 8;
 	ag->pathOptimizationRange = radius * 30;
+	ag->topologyOptTime = 0;
 	ag->nneis = 0;
 	
 	dtVset(ag->dvel, 0,0,0);
@@ -901,7 +927,9 @@ int CrowdManager::addAgent(const float* pos, const float radius, const float hei
 void CrowdManager::removeAgent(const int idx)
 {
 	if (idx >= 0 && idx < MAX_AGENTS)
-		memset(&m_agents[idx], 0, sizeof(Agent));
+	{
+		m_agents[idx].active = 0;
+	}
 }
 
 bool CrowdManager::requestMoveTarget(const int idx, dtPolyRef ref, const float* pos)
@@ -1231,6 +1259,76 @@ void CrowdManager::updateMoveRequest(const float dt, dtNavMeshQuery* navquery, c
 	
 }
 
+
+
+static int addToOptQueue(Agent* newag, Agent** agents, const int nagents, const int maxAgents)
+{
+	// Insert neighbour based on greatest time.
+	int slot = 0;
+	if (!nagents)
+	{
+		slot = nagents;
+	}
+	else if (newag->topologyOptTime <= agents[nagents-1]->topologyOptTime)
+	{
+		if (nagents >= maxAgents)
+			return nagents;
+		slot = nagents;
+	}
+	else
+	{
+		int i;
+		for (i = 0; i < nagents; ++i)
+			if (newag->topologyOptTime >= agents[i]->topologyOptTime)
+				break;
+		
+		const int tgt = i+1;
+		const int n = dtMin(nagents-i, maxAgents-tgt);
+		
+		dtAssert(tgt+n <= maxAgents);
+		
+		if (n > 0)
+			memmove(&agents[tgt], &agents[i], sizeof(Agent*)*n);
+		slot = i;
+	}
+
+	agents[slot] = newag;
+	
+	return dtMin(nagents+1, maxAgents);
+}
+
+void CrowdManager::updateTopologyOptimization(const float dt, dtNavMeshQuery* navquery, const dtQueryFilter* filter)
+{
+	Agent* agents[MAX_AGENTS];
+	int nagents = getActiveAgents(agents, MAX_AGENTS);
+	if (!nagents)
+		return;
+	
+	const float OPT_TIME_THR = 0.5f; // seconds
+	const int OPT_MAX_AGENTS = 1;
+	
+	Agent* queue[OPT_MAX_AGENTS];
+	int nqueue = 0;
+	
+	for (int i = 0; i < nagents; ++i)
+	{
+		Agent* ag = agents[i];
+		ag->topologyOptTime += dt;
+		if (ag->topologyOptTime >= OPT_TIME_THR)
+		{
+			nqueue = addToOptQueue(ag, queue, nqueue, OPT_MAX_AGENTS);
+		}
+	}
+
+	for (int i = 0; i < nqueue; ++i)
+	{
+		Agent* ag = queue[i];
+		ag->corridor.optimizePathTopology(navquery, filter);
+		ag->topologyOptTime = 0;
+	}
+
+}
+
 void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* navquery)
 {
 	m_sampleCount = 0;
@@ -1251,6 +1349,10 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 	// Update async move request and path finder.
 	updateMoveRequest(dt, navquery, &m_filter);
 
+	// Optimize path topology.
+	if (flags & CROWDMAN_OPTIMIZE_TOPO)
+		updateTopologyOptimization(dt, navquery, &m_filter);
+	
 	// Register agents to proximity grid.
 	m_grid.clear();
 	for (int i = 0; i < nagents; ++i)
@@ -1283,12 +1385,12 @@ void CrowdManager::update(const float dt, unsigned int flags, dtNavMeshQuery* na
 		
 		// Check to see if the corner after the next corner is directly visible,
 		// and short cut to there.
-		if (ag->ncorners > 0)
+		if ((flags & CROWDMAN_OPTIMIZE_VIS) && ag->ncorners > 0)
 		{
 			const float* target = &ag->cornerVerts[dtMin(1,ag->ncorners-1)*3];
 			dtVcopy(ag->opts, ag->corridor.getPos());
 			dtVcopy(ag->opte, target);
-			ag->corridor.optimizePath(target, ag->pathOptimizationRange, navquery, &m_filter);
+			ag->corridor.optimizePathVisibility(target, ag->pathOptimizationRange, navquery, &m_filter);
 		}
 		else
 		{

RecastDemo/Source/CrowdTool.cpp

@@ -95,7 +95,7 @@ CrowdTool::CrowdTool() :
 	m_oldFlags(0),
 	m_targetRef(0),
 	m_expandDebugDraw(false),
-	m_showLabels(true),
+	m_showLabels(false),
 	m_showCorners(false),
 	m_showTargets(false),
 	m_showCollisionSegments(false),
@@ -103,8 +103,12 @@ CrowdTool::CrowdTool() :
 	m_showVO(false),
 	m_showOpt(false),
 	m_showGrid(false),
+	m_showNodes(false),
+	m_showPerfGraph(false),
 	m_expandOptions(true),
 	m_anticipateTurns(true),
+	m_optimizeVis(true),
+	m_optimizeTopo(true),
 	m_useVO(true),
 	m_drunkMove(false),
 	m_run(true),
@@ -168,6 +172,10 @@ void CrowdTool::handleMenu()
 	if (m_expandOptions)
 	{
 		imguiIndent();
+		if (imguiCheck("Optimize Visibility", m_optimizeVis))
+			m_optimizeVis = !m_optimizeVis;
+		if (imguiCheck("Optimize Topology", m_optimizeTopo))
+			m_optimizeTopo = !m_optimizeTopo;
 		if (imguiCheck("Anticipate Turns", m_anticipateTurns))
 			m_anticipateTurns = !m_anticipateTurns;
 		if (imguiCheck("Use VO", m_useVO))
@@ -199,6 +207,10 @@ void CrowdTool::handleMenu()
 			m_showOpt = !m_showOpt;
 		if (imguiCheck("Show Prox Grid", m_showGrid))
 			m_showGrid = !m_showGrid;
+		if (imguiCheck("Show Nodes", m_showNodes))
+			m_showNodes = !m_showNodes;
+		if (imguiCheck("Show Perf Graph", m_showPerfGraph))
+			m_showPerfGraph = !m_showPerfGraph;
 		imguiUnindent();
 	}
 }
@@ -280,6 +292,10 @@ void CrowdTool::handleClick(const float* s, const float* p, bool shift)
 }
 
 void CrowdTool::handleStep()
+{
+}
+
+void CrowdTool::handleToggle()
 {
 	m_run = !m_run;
 }
@@ -298,6 +314,10 @@ void CrowdTool::handleUpdate(const float dt)
 			flags |= CROWDMAN_USE_VO;
 		if (m_drunkMove)
 			flags |= CROWDMAN_DRUNK;
+		if (m_optimizeVis)
+			flags |= CROWDMAN_OPTIMIZE_VIS;
+		if (m_optimizeTopo)
+			flags |= CROWDMAN_OPTIMIZE_TOPO;
 			
 		m_crowd.update(dt, flags, m_sample->getNavMeshQuery());
 
@@ -316,31 +336,74 @@ void CrowdTool::handleRender()
 	if (!nmesh)
 		return;
 
-	if (m_targetRef)
+	dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
-		duDebugDrawCross(&dd, m_targetPos[0],m_targetPos[1]+0.1f,m_targetPos[2], s, duRGBA(0,0,0,128), 2.0f);
 	
+	if (m_showNodes)
+	{
+		if (navquery)
+			duDebugDrawNavMeshNodes(&dd, *navquery);
+	}
 	
+	dd.depthMask(false);
+	
+	// Draw paths
+	if (m_showPath)
+	{
 		for (int i = 0; i < m_crowd.getAgentCount(); ++i)
 		{
 			const Agent* ag = m_crowd.getAgent(i);
 			if (!ag->active) continue;
 			
-		const float height = ag->height;
-		const float radius = ag->radius;
-		const float* pos = ag->npos;
-		const float* target = ag->corridor.getTarget();
-		const float* vel = ag->vel;
-		const float* dvel = ag->dvel;
-		
-		dd.depthMask(false);
-		
-		if (m_showPath)
-		{
 			const dtPolyRef* path = ag->corridor.getPath();
 			const int npath = ag->corridor.getPathCount();			
 			for (int i = 0; i < npath; ++i)
-				duDebugDrawNavMeshPoly(&dd, *nmesh, path[i], duRGBA(0,0,0,64));
+				duDebugDrawNavMeshPoly(&dd, *nmesh, path[i], duRGBA(0,0,0,32));
 		}
+	}
+		
+	if (m_targetRef)
+		duDebugDrawCross(&dd, m_targetPos[0],m_targetPos[1]+0.1f,m_targetPos[2], s, duRGBA(255,255,255,192), 2.0f);
+	
+	// Occupancy grid.
+	if (m_showGrid)
+	{
+		float gridy = -FLT_MAX;
+		for (int i = 0; i < m_crowd.getAgentCount(); ++i)
+		{
+			const Agent* ag = m_crowd.getAgent(i);
+			if (!ag->active) continue;
+			const float* pos = ag->corridor.getPos();
+			gridy = dtMax(gridy, pos[1]);
+		}
+		gridy += 1.0f;
+		
+		dd.begin(DU_DRAW_QUADS);
+		const ProximityGrid* grid = m_crowd.getGrid();
+		const int* bounds = grid->getBounds();
+		const float cs = grid->getCellSize();
+		for (int y = bounds[1]; y <= bounds[3]; ++y)
+		{
+			for (int x = bounds[0]; x <= bounds[2]; ++x)
+			{
+				const int count = grid->getItemCountAt(x,y); 
+				if (!count) continue;
+				unsigned int col = duRGBA(128,0,0,dtMin(count*40,255));
+				dd.vertex(x*cs, gridy, y*cs, col);
+				dd.vertex(x*cs, gridy, y*cs+cs, col);
+				dd.vertex(x*cs+cs, gridy, y*cs+cs, col);
+				dd.vertex(x*cs+cs, gridy, y*cs, col);
+			}
+		}
+		dd.end();
+	}
+	
+	// Trail
+	for (int i = 0; i < m_crowd.getAgentCount(); ++i)
+	{
+		const Agent* ag = m_crowd.getAgent(i);
+		if (!ag->active) continue;
+
+		const float* pos = ag->npos;
 
 		dd.begin(DU_DRAW_LINES,3.0f);
 		float prev[3], preva = 1;
@@ -357,12 +420,17 @@ void CrowdTool::handleRender()
 		}
 		dd.end();
 
-		if (m_showTargets)
-		{
-			duDebugDrawArc(&dd, pos[0], pos[1], pos[2], target[0], target[1], target[2],
-						   0.25f, 0, 0.4f, duRGBA(0,0,0,128), 1.0f);
 	}
 
+	// Corners & co
+	for (int i = 0; i < m_crowd.getAgentCount(); ++i)
+	{
+		const Agent* ag = m_crowd.getAgent(i);
+		if (!ag->active) continue;
+		
+		const float radius = ag->radius;
+		const float* pos = ag->npos;
+		
 		if (m_showCorners)
 		{
 			if (ag->ncorners)
@@ -372,14 +440,14 @@ void CrowdTool::handleRender()
 				{
 					const float* va = j == 0 ? pos : &ag->cornerVerts[(j-1)*3];
 					const float* vb = &ag->cornerVerts[j*3];
-					dd.vertex(va[0],va[1]+radius,va[2], duRGBA(128,0,0,64));
+					dd.vertex(va[0],va[1]+radius,va[2], duRGBA(128,0,0,192));
-					dd.vertex(vb[0],vb[1]+radius,vb[2], duRGBA(128,0,0,64));
+					dd.vertex(vb[0],vb[1]+radius,vb[2], duRGBA(128,0,0,192));
 				}
 				dd.end();
 				
 				if (m_anticipateTurns)
 				{
-/*					float dvel[3], pos[3];
+					/*					float dvel[3], pos[3];
 					 calcSmoothSteerDirection(ag->pos, ag->cornerVerts, ag->ncorners, dvel);
 					 pos[0] = ag->pos[0] + dvel[0];
 					 pos[1] = ag->pos[1] + dvel[1];
@@ -429,6 +497,48 @@ void CrowdTool::handleRender()
 			dd.vertex(ag->opte[0],ag->opte[1]+0.3f,ag->opte[2], duRGBA(0,128,0,192));
 			dd.end();
 		}
+	}
+	
+	// Agent cylinders.
+	for (int i = 0; i < m_crowd.getAgentCount(); ++i)
+	{
+		const Agent* ag = m_crowd.getAgent(i);
+		if (!ag->active) continue;
+		
+		const float radius = ag->radius;
+		const float* pos = ag->npos;
+		
+		duDebugDrawCircle(&dd, pos[0], pos[1], pos[2], radius, duRGBA(0,0,0,32), 2.0f);
+	}
+
+	for (int i = 0; i < m_crowd.getAgentCount(); ++i)
+	{
+		const Agent* ag = m_crowd.getAgent(i);
+		if (!ag->active) continue;
+		
+		const float height = ag->height;
+		const float radius = ag->radius;
+		const float* pos = ag->npos;
+		
+		duDebugDrawCylinder(&dd, pos[0]-radius, pos[1]+radius*0.1f, pos[2]-radius,
+							pos[0]+radius, pos[1]+height, pos[2]+radius,
+							duRGBA(220,220,220,128));
+	}
+	
+	
+	// Velocity stuff.
+	for (int i = 0; i < m_crowd.getAgentCount(); ++i)
+	{
+		const Agent* ag = m_crowd.getAgent(i);
+		if (!ag->active) continue;
+		
+		const float radius = ag->radius;
+		const float height = ag->height;
+		const float* pos = ag->npos;
+		const float* vel = ag->vel;
+		const float* dvel = ag->dvel;
+
+		duDebugDrawCircle(&dd, pos[0], pos[1]+height, pos[2], radius, duRGBA(220,220,220,192), 2.0f);
 
 		if (m_showVO)
 		{
@@ -458,138 +568,31 @@ void CrowdTool::handleRender()
 		}
 
 		duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
-							  pos[0]+vel[0],pos[1]+height+vel[1],pos[2]+vel[2],
+						 pos[0]+dvel[0],pos[1]+height+dvel[1],pos[2]+dvel[2],
-							  0.0f, 0.4f, duRGBA(0,0,0,192), 2.0f);
-
-		duDebugDrawArrow(&dd, pos[0],pos[1]+height-0.1f,pos[2],
-						 pos[0]+dvel[0],pos[1]+height-0.1f+dvel[1],pos[2]+dvel[2],
 						 0.0f, 0.4f, duRGBA(0,192,255,192), 1.0f);
 		
-		duDebugDrawCylinderWire(&dd, pos[0]-radius, pos[1]+radius*0.1f, pos[2]-radius,
+		duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
-								pos[0]+radius, pos[1]+height, pos[2]+radius,
+							  pos[0]+vel[0],pos[1]+height+vel[1],pos[2]+vel[2],
-								duRGBA(0,192,255,255), 3.0f);
+							  0.0f, 0.4f, duRGBA(0,0,0,192), 2.0f);
-		
-		dd.depthMask(true);
 	}
 
-	if (m_showGrid)
+	// Targets
-	{
-		float gridy = -FLT_MAX;
 	for (int i = 0; i < m_crowd.getAgentCount(); ++i)
 	{
 		const Agent* ag = m_crowd.getAgent(i);
 		if (!ag->active) continue;
-			const float* pos = ag->corridor.getPos();
-			gridy = dtMax(gridy, pos[1]);
-		}
-		gridy += 1.0f;
 		
-		dd.depthMask(false);
+		const float* pos = ag->npos;
-		dd.begin(DU_DRAW_QUADS);
+		const float* target = ag->corridor.getTarget();
-		const ProximityGrid* grid = m_crowd.getGrid();
-		const int* bounds = grid->getBounds();
-		const float cs = grid->getCellSize();
-		for (int y = bounds[1]; y <= bounds[3]; ++y)
-		{
-			for (int x = bounds[0]; x <= bounds[2]; ++x)
-			{
-				const int count = grid->getItemCountAt(x,y); 
-				if (!count) continue;
-				unsigned int col = duRGBA(128,0,0,dtMin(count*40,255));
-				dd.vertex(x*cs, gridy, y*cs, col);
-				dd.vertex(x*cs, gridy, y*cs+cs, col);
-				dd.vertex(x*cs+cs, gridy, y*cs+cs, col);
-				dd.vertex(x*cs+cs, gridy, y*cs, col);
-			}
-		}
-		dd.end();
-		dd.depthMask(true);
-	}
 		
-	
+		if (m_showTargets)
-/*
-	for (int i = 0; i < m_form.npolys; ++i)
 		{
-		duDebugDrawNavMeshPoly(&dd, *nmesh, m_form.polys[i], duRGBA(255,255,255,32));
+			duDebugDrawArc(&dd, pos[0], pos[1], pos[2], target[0], target[1], target[2],
+						   0.25f, 0, 0.4f, duRGBA(0,0,0,128), 1.0f);
 		}
-	
-	dd.depthMask(false);
-
-	dd.begin(DU_DRAW_POINTS, 4.0f);
-	for (int i = 0; i < m_form.nsegs; ++i)
-	{
-		const FormationSeg* seg = &m_form.segs[i];
-		for (int j = 0; j < seg->nints-1; ++j)
-		{
-			if (seg->ints[j].inside == 0) continue;
-			const float u0 = seg->ints[j].u;
-			const float u1 = seg->ints[j+1].u;
-			float ia[3], ib[3];
-			dtVlerp(ia, seg->p,seg->q, u0);
-			dtVlerp(ib, seg->p,seg->q, u1);
-			dd.vertex(ia,duRGBA(128,0,0,192));
-			dd.vertex(ib,duRGBA(128,0,0,192));
-		}
-	}
-	dd.end();
-	
-	dd.begin(DU_DRAW_LINES, 2.0f);
-	for (int i = 0; i < m_form.nsegs; ++i)
-	{
-		const FormationSeg* seg = &m_form.segs[i];
-		dd.vertex(seg->p,duRGBA(255,255,255,128));
-		dd.vertex(seg->q,duRGBA(255,255,255,128));
-		for (int j = 0; j < seg->nints-1; ++j)
-		{
-			if (seg->ints[j].inside == 0) continue;
-			const float u0 = seg->ints[j].u;
-			const float u1 = seg->ints[j+1].u;
-			float ia[3], ib[3];
-			dtVlerp(ia, seg->p,seg->q, u0);
-			dtVlerp(ib, seg->p,seg->q, u1);
-			dd.vertex(ia,duRGBA(128,0,0,192));
-			dd.vertex(ib,duRGBA(128,0,0,192));
-		}
-	}
-	dd.end();
-
-	{
-		const float r = m_sample->getAgentRadius();
-		dd.begin(DU_DRAW_LINES, 2.0f);
-		for (int i = 0; i < m_form.nsegs; ++i)
-		{
-			const FormationSeg* seg = &m_form.segs[i];
-			dd.vertex(seg->p,duRGBA(255,255,255,128));
-			dd.vertex(seg->q,duRGBA(255,255,255,128));
-			for (int j = 0; j < seg->nints-1; ++j)
-			{
-				if (seg->ints[j].inside == 0) continue;
-				const float u0 = seg->ints[j].u;
-				const float u1 = seg->ints[j+1].u;
-				float ia[3], ib[3];
-				dtVlerp(ia, seg->p,seg->q, u0);
-				dtVlerp(ib, seg->p,seg->q, u1);
-
-				const float spacing = r*2.5f;
-				float delta[3];
-				dtVsub(delta, ib,ia);
-				float d = dtVlen(delta);
-				int np = (int)floorf(d/spacing);
-				for (int k = 0; k < np; ++k)
-				{
-					float pos[3];
-					dtVmad(pos, ia, delta, (float)(k+0.5f)/(float)np);
-					dd.vertex(pos[0],pos[1]-1,pos[2],duRGBA(128,0,0,192));
-					dd.vertex(pos[0],pos[1]+2,pos[2],duRGBA(128,0,0,192));
-				}
-			}
-		}
-		dd.end();
 	}
 	
 	dd.depthMask(true);
-*/
-	
 }
 
 void CrowdTool::handleRenderOverlay(double* proj, double* model, int* view)
@@ -622,6 +625,8 @@ void CrowdTool::handleRenderOverlay(double* proj, double* model, int* view)
 		}
 	}
 	
+	if (m_showPerfGraph)
+	{
 		GraphParams gp;
 		gp.setRect(300, 10, 500, 200, 8);
 		gp.setValueRange(0.0f, 2.0f, 4, "ms");
@@ -633,4 +638,5 @@ void CrowdTool::handleRenderOverlay(double* proj, double* model, int* view)
 		gp.setRect(300, 10, 500, 50, 8);
 		gp.setValueRange(0.0f, 2000.0f, 1, "0");
 		drawGraph(&gp, &m_crowdSampleCount, 0, "Sample Count", duRGBA(255,255,255,255));
+	}
 }

RecastDemo/Source/NavMeshTesterTool.cpp

@@ -321,6 +321,10 @@ void NavMeshTesterTool::handleClick(const float* /*s*/, const float* p, bool shi
 }
 
 void NavMeshTesterTool::handleStep()
+{
+}
+
+void NavMeshTesterTool::handleToggle()
 {
 	// TODO: merge separate to a path iterator. Use same code in recalc() too.
 	if (m_toolMode != TOOLMODE_PATHFIND_FOLLOW)

RecastDemo/Source/OffMeshConnectionTool.cpp

@@ -132,6 +132,10 @@ void OffMeshConnectionTool::handleClick(const float* /*s*/, const float* p, bool
 	
 }
 
+void OffMeshConnectionTool::handleToggle()
+{
+}
+
 void OffMeshConnectionTool::handleStep()
 {
 }

RecastDemo/Source/Sample.cpp

@@ -176,6 +176,12 @@ void Sample::handleClick(const float* s, const float* p, bool shift)
 		m_tool->handleClick(s, p, shift);
 }
 
+void Sample::handleToggle()
+{
+	if (m_tool)
+		m_tool->handleToggle();
+}
+
 void Sample::handleStep()
 {
 	if (m_tool)

RecastDemo/Source/Sample_Debug.cpp

@@ -357,10 +357,10 @@ void Sample_Debug::handleClick(const float* s, const float* p, bool shift)
 		m_tool->handleClick(s, p, shift);
 }
 
-void Sample_Debug::handleStep()
+void Sample_Debug::handleToggle()
 {
 	if (m_tool)
-		m_tool->handleStep();
+		m_tool->handleToggle();
 }
 
 bool Sample_Debug::handleBuild()

RecastDemo/Source/Sample_SoloMeshTiled.cpp

@@ -86,6 +86,8 @@ public:
 			m_sample->setHighlightedTile(m_hitPos);
 	}
 	
+	virtual void handleToggle() {}
+
 	virtual void handleStep() {}
 
 	virtual void handleUpdate(const float /*dt*/) {}

RecastDemo/Source/Sample_TileMesh.cpp

@@ -125,6 +125,8 @@ public:
 		}
 	}
 
+	virtual void handleToggle() {}
+
 	virtual void handleStep() {}
 
 	virtual void handleUpdate(const float /*dt*/) {}

RecastDemo/Source/main.cpp

@@ -204,14 +204,19 @@ int main(int /*argc*/, char** /*argv*/)
 					else if (event.key.keysym.sym == SDLK_SPACE)
 					{
 						if (sample)
-							sample->handleStep();
+							sample->handleToggle();
 					}
 					else if (event.key.keysym.sym == SDLK_1)
+					{
+						if (sample)
+							sample->handleStep();
+					}
+					else if (event.key.keysym.sym == SDLK_9)
 					{
 						if (geom)
 							geom->save("geomset.txt");
 					}
-					else if (event.key.keysym.sym == SDLK_2)
+					else if (event.key.keysym.sym == SDLK_0)
 					{
 						delete geom;
 						geom = new InputGeom;