433 lines
12 KiB
C++
Executable File
433 lines
12 KiB
C++
Executable File
//
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// Copyright (c) 2009 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#include "DebugDraw.h"
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#include "DetourDebugDraw.h"
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#include "DetourNavMesh.h"
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static float distancePtLine2d(const float* pt, const float* p, const float* q)
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{
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float pqx = q[0] - p[0];
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float pqz = q[2] - p[2];
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float dx = pt[0] - p[0];
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float dz = pt[2] - p[2];
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float d = pqx*pqx + pqz*pqz;
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float t = pqx*dx + pqz*dz;
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if (d != 0) t /= d;
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dx = p[0] + t*pqx - pt[0];
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dz = p[2] + t*pqz - pt[2];
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return dx*dx + dz*dz;
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}
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static void drawPolyBoundaries(duDebugDraw* dd, const dtMeshHeader* header,
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const unsigned int col, const float linew,
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bool inner)
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{
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static const float thr = 0.01f*0.01f;
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dd->begin(DU_DRAW_LINES, linew);
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for (int i = 0; i < header->npolys; ++i)
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{
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const dtPoly* p = &header->polys[i];
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if (p->flags & DT_POLY_OFFMESH_LINK) continue;
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const dtPolyDetail* pd = &header->dmeshes[i];
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for (int j = 0, nj = (int)p->nv; j < nj; ++j)
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{
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unsigned int c = col;
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if (inner)
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{
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if (p->n[j] == 0) continue;
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if (p->n[j] & 0x8000)
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{
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bool con = false;
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for (int k = 0; k < p->nlinks; ++k)
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{
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if (header->links[p->links+k].e == j)
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{
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con = true;
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break;
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}
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}
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if (con)
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c = duRGBA(255,255,255,64);
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else
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c = duRGBA(0,0,0,128);
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}
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else
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c = duRGBA(0,48,64,32);
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}
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else
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{
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if (p->n[j] != 0) continue;
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}
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const float* v0 = &header->verts[p->v[j]*3];
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const float* v1 = &header->verts[p->v[(j+1)%nj]*3];
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// Draw detail mesh edges which align with the actual poly edge.
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// This is really slow.
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for (int k = 0; k < pd->ntris; ++k)
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{
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const unsigned char* t = &header->dtris[(pd->tbase+k)*4];
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const float* tv[3];
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for (int m = 0; m < 3; ++m)
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{
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if (t[m] < p->nv)
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tv[m] = &header->verts[p->v[t[m]]*3];
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else
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tv[m] = &header->dverts[(pd->vbase+(t[m]-p->nv))*3];
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}
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for (int m = 0, n = 2; m < 3; n=m++)
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{
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if (((t[3] >> (n*2)) & 0x3) == 0) continue; // Skip inner detail edges.
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if (distancePtLine2d(tv[n],v0,v1) < thr &&
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distancePtLine2d(tv[m],v0,v1) < thr)
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{
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dd->vertex(tv[n], c);
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dd->vertex(tv[m], c);
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}
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}
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}
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}
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}
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dd->end();
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}
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static void drawMeshTile(duDebugDraw* dd, const dtNavMesh* mesh, const dtMeshTile* tile, bool drawClosedList)
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{
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const dtMeshHeader* header = tile->header;
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dtPolyRef base = mesh->getTileId(tile);
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dd->begin(DU_DRAW_TRIS);
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for (int i = 0; i < header->npolys; ++i)
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{
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const dtPoly* p = &header->polys[i];
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if (p->flags & DT_POLY_OFFMESH_LINK) // Skip off-mesh links.
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continue;
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const dtPolyDetail* pd = &header->dmeshes[i];
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unsigned int col;
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if (drawClosedList && mesh->isInClosedList(base | (dtPolyRef)i))
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col = duRGBA(255,196,0,64);
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else
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col = duRGBA(0,196,255,64);
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for (int j = 0; j < pd->ntris; ++j)
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{
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const unsigned char* t = &header->dtris[(pd->tbase+j)*4];
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for (int k = 0; k < 3; ++k)
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{
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if (t[k] < p->nv)
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dd->vertex(&header->verts[p->v[t[k]]*3], col);
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else
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dd->vertex(&header->dverts[(pd->vbase+t[k]-p->nv)*3], col);
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}
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}
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}
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dd->end();
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dd->begin(DU_DRAW_LINES, 2.0f);
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for (int i = 0; i < header->npolys; ++i)
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{
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const dtPoly* p = &header->polys[i];
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if ((p->flags & DT_POLY_OFFMESH_LINK) == 0) // Skip regular polys.
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continue;
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unsigned int col;
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if (drawClosedList && mesh->isInClosedList(base | (dtPolyRef)i))
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col = duRGBA(255,196,0,220);
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else
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col = duRGBA(0,196,255,220);
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const float* va = &header->verts[p->v[0]*3];
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const float* vb = &header->verts[p->v[1]*3];
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duDebugDrawArc(dd, va[0],va[1]+0.1f,va[2], vb[0],vb[1]+0.1f,vb[2], 0.25f, col, 2.0f);
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}
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dd->end();
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// Draw inter poly boundaries
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drawPolyBoundaries(dd, header, duRGBA(0,48,64,32), 1.5f, true);
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// Draw outer poly boundaries
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drawPolyBoundaries(dd, header, duRGBA(0,48,64,220), 2.5f, false);
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const unsigned int vcol = duRGBA(0,0,0,196);
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dd->begin(DU_DRAW_POINTS, 3.0f);
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for (int i = 0; i < header->nverts; ++i)
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{
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const float* v = &header->verts[i*3];
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dd->vertex(v[0], v[1], v[2], vcol);
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}
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dd->end();
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// Draw portals
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/* glBegin(GL_LINES);
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for (int i = 0; i < header->nportals[0]; ++i)
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{
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const dtTilePortal* p = &header->portals[0][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
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}
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for (int i = 0; i < header->nportals[1]; ++i)
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{
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const dtTilePortal* p = &header->portals[1][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
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}
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for (int i = 0; i < header->nportals[2]; ++i)
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{
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const dtTilePortal* p = &header->portals[2][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
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}
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for (int i = 0; i < header->nportals[3]; ++i)
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{
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const dtTilePortal* p = &header->portals[3][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
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}
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glEnd();*/
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}
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void duDebugDrawNavMesh(duDebugDraw* dd, const dtNavMesh* mesh, bool drawClosedList)
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{
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if (!mesh) return;
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for (int i = 0; i < mesh->getMaxTiles(); ++i)
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{
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const dtMeshTile* tile = mesh->getTile(i);
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if (!tile->header) continue;
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drawMeshTile(dd, mesh, tile, drawClosedList);
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}
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}
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static void drawMeshTileBVTree(duDebugDraw* dd, const dtNavMesh* mesh, const dtMeshTile* tile)
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{
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const dtMeshHeader* header = tile->header;
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// Draw BV nodes.
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const float cs = 1.0f / header->bvquant;
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dd->begin(DU_DRAW_LINES, 1.0f);
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for (int i = 0; i < header->nbvtree; ++i)
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{
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const dtBVNode* n = &header->bvtree[i];
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if (n->i < 0) // Leaf indices are positive.
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continue;
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duAppendBoxWire(dd, header->bmin[0] + n->bmin[0]*cs,
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header->bmin[1] + n->bmin[1]*cs,
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header->bmin[2] + n->bmin[2]*cs,
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header->bmin[0] + n->bmax[0]*cs,
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header->bmin[1] + n->bmax[1]*cs,
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header->bmin[2] + n->bmax[2]*cs,
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duRGBA(255,255,255,128));
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}
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dd->end();
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// Draw portals
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/* glBegin(GL_LINES);
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for (int i = 0; i < header->nportals[0]; ++i)
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{
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const dtTilePortal* p = &header->portals[0][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
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}
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for (int i = 0; i < header->nportals[1]; ++i)
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{
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const dtTilePortal* p = &header->portals[1][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
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}
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for (int i = 0; i < header->nportals[2]; ++i)
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{
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const dtTilePortal* p = &header->portals[2][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
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}
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for (int i = 0; i < header->nportals[3]; ++i)
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{
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const dtTilePortal* p = &header->portals[3][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
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}
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glEnd();*/
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}
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void duDebugDrawNavMeshBVTree(duDebugDraw* dd, const dtNavMesh* mesh)
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{
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if (!mesh) return;
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for (int i = 0; i < mesh->getMaxTiles(); ++i)
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{
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const dtMeshTile* tile = mesh->getTile(i);
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if (!tile->header) continue;
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drawMeshTileBVTree(dd, mesh, tile);
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}
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}
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void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh* mesh, dtPolyRef ref, const unsigned int col)
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{
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int ip = 0;
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const dtMeshTile* tile = mesh->getTileByRef(ref, &ip);
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if (!tile)
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return;
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const dtMeshHeader* header = tile->header;
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const dtPoly* p = &header->polys[ip];
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const unsigned int c = (col & 0x00ffffff) | (64 << 24);
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if (p->flags & DT_POLY_OFFMESH_LINK)
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{
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const float* va = &header->verts[p->v[0]*3];
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const float* vb = &header->verts[p->v[1]*3];
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duDebugDrawArc(dd, va[0],va[1]+0.1f,va[2], vb[0],vb[1]+0.1f,vb[2], 0.25f, c, 2.0f);
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}
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else
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{
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const dtPolyDetail* pd = &header->dmeshes[ip];
|
|
|
|
dd->begin(DU_DRAW_TRIS);
|
|
for (int i = 0; i < pd->ntris; ++i)
|
|
{
|
|
const unsigned char* t = &header->dtris[(pd->tbase+i)*4];
|
|
for (int j = 0; j < 3; ++j)
|
|
{
|
|
if (t[j] < p->nv)
|
|
dd->vertex(&header->verts[p->v[t[j]]*3], c);
|
|
else
|
|
dd->vertex(&header->dverts[(pd->vbase+t[j]-p->nv)*3], c);
|
|
}
|
|
}
|
|
dd->end();
|
|
}
|
|
}
|
|
|