690 lines
17 KiB
C++
690 lines
17 KiB
C++
//
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// Copyright (c) 2009-2010 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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#define _USE_MATH_DEFINES
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#include <math.h>
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#include "DebugDraw.h"
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#include "RecastDebugDraw.h"
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#include "Recast.h"
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void duDebugDrawTriMesh(duDebugDraw* dd, const float* verts, int /*nverts*/,
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const int* tris, const float* normals, int ntris,
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const unsigned char* flags)
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{
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if (!dd) return;
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if (!verts) return;
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if (!tris) return;
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if (!normals) return;
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dd->begin(DU_DRAW_TRIS);
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for (int i = 0; i < ntris*3; i += 3)
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{
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unsigned int color;
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unsigned char a = (unsigned char)(150*(2+normals[i+0]+normals[i+1])/4);
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if (flags && !flags[i/3])
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color = duRGBA(a,a/4,a/16,255);
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else
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color = duRGBA(a,a,a,255);
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dd->vertex(&verts[tris[i+0]*3], color);
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dd->vertex(&verts[tris[i+1]*3], color);
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dd->vertex(&verts[tris[i+2]*3], color);
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}
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dd->end();
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}
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void duDebugDrawTriMeshSlope(duDebugDraw* dd, const float* verts, int /*nverts*/,
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const int* tris, const float* normals, int ntris,
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const float walkableSlopeAngle)
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{
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if (!dd) return;
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if (!verts) return;
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if (!tris) return;
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if (!normals) return;
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const float walkableThr = cosf(walkableSlopeAngle/180.0f*(float)M_PI);
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dd->begin(DU_DRAW_TRIS);
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for (int i = 0; i < ntris*3; i += 3)
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{
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const float* norm = &normals[i];
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unsigned int color;
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unsigned char a = (unsigned char)(255*(2+normals[i+0]+normals[i+1])/4);
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if (norm[1] < walkableThr)
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color = duRGBA(a,a/4,a/16,255);
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else
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color = duRGBA(a,a,a,255);
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dd->vertex(&verts[tris[i+0]*3], color);
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dd->vertex(&verts[tris[i+1]*3], color);
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dd->vertex(&verts[tris[i+2]*3], color);
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}
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dd->end();
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}
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void duDebugDrawHeightfieldSolid(duDebugDraw* dd, const rcHeightfield& hf)
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{
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if (!dd) return;
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const float* orig = hf.bmin;
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const float cs = hf.cs;
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const float ch = hf.ch;
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const int w = hf.width;
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const int h = hf.height;
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unsigned int fcol[6];
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duCalcBoxColors(fcol, duRGBA(255,255,255,255), duRGBA(255,255,255,255));
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dd->begin(DU_DRAW_QUADS);
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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float fx = orig[0] + x*cs;
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float fz = orig[2] + y*cs;
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const rcSpan* s = hf.spans[x + y*w];
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while (s)
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{
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duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, fcol);
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s = s->next;
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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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void duDebugDrawHeightfieldWalkable(duDebugDraw* dd, const rcHeightfield& hf)
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{
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if (!dd) return;
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const float* orig = hf.bmin;
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const float cs = hf.cs;
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const float ch = hf.ch;
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const int w = hf.width;
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const int h = hf.height;
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unsigned int fcol[6];
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duCalcBoxColors(fcol, duRGBA(255,255,255,255), duRGBA(217,217,217,255));
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dd->begin(DU_DRAW_QUADS);
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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float fx = orig[0] + x*cs;
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float fz = orig[2] + y*cs;
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const rcSpan* s = hf.spans[x + y*w];
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while (s)
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{
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if (s->area == RC_WALKABLE_AREA)
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fcol[0] = duRGBA(0,130,200,255);
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else if (s->area == RC_NULL_AREA)
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fcol[0] = duRGBA(64,64,64,255);
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else
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fcol[0] = duMultCol(duIntToCol(s->area, 255), 200);
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duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, fcol);
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s = s->next;
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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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void duDebugDrawCompactHeightfieldSolid(duDebugDraw* dd, const rcCompactHeightfield& chf)
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{
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if (!dd) return;
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const float cs = chf.cs;
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const float ch = chf.ch;
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dd->begin(DU_DRAW_QUADS);
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for (int y = 0; y < chf.height; ++y)
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{
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for (int x = 0; x < chf.width; ++x)
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{
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const float fx = chf.bmin[0] + x*cs;
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const float fz = chf.bmin[2] + y*cs;
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const rcCompactCell& c = chf.cells[x+y*chf.width];
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for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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unsigned int color;
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if (chf.areas[i] == RC_WALKABLE_AREA)
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color = duRGBA(0,192,255,64);
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else if (chf.areas[i] == RC_NULL_AREA)
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color = duRGBA(0,0,0,64);
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else
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color = duIntToCol(chf.areas[i], 255);
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const float fy = chf.bmin[1] + (s.y+1)*ch;
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dd->vertex(fx, fy, fz, color);
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dd->vertex(fx, fy, fz+cs, color);
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dd->vertex(fx+cs, fy, fz+cs, color);
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dd->vertex(fx+cs, fy, fz, color);
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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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void duDebugDrawCompactHeightfieldRegions(duDebugDraw* dd, const rcCompactHeightfield& chf)
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{
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if (!dd) return;
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const float cs = chf.cs;
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const float ch = chf.ch;
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dd->begin(DU_DRAW_QUADS);
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for (int y = 0; y < chf.height; ++y)
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{
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for (int x = 0; x < chf.width; ++x)
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{
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const float fx = chf.bmin[0] + x*cs;
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const float fz = chf.bmin[2] + y*cs;
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const rcCompactCell& c = chf.cells[x+y*chf.width];
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for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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const float fy = chf.bmin[1] + (s.y)*ch;
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unsigned int color;
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if (s.reg)
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color = duIntToCol(s.reg, 192);
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else
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color = duRGBA(0,0,0,64);
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dd->vertex(fx, fy, fz, color);
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dd->vertex(fx, fy, fz+cs, color);
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dd->vertex(fx+cs, fy, fz+cs, color);
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dd->vertex(fx+cs, fy, fz, color);
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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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void duDebugDrawCompactHeightfieldDistance(duDebugDraw* dd, const rcCompactHeightfield& chf)
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{
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if (!dd) return;
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if (!chf.dist) return;
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const float cs = chf.cs;
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const float ch = chf.ch;
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float maxd = chf.maxDistance;
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if (maxd < 1.0f) maxd = 1;
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const float dscale = 255.0f / maxd;
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dd->begin(DU_DRAW_QUADS);
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for (int y = 0; y < chf.height; ++y)
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{
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for (int x = 0; x < chf.width; ++x)
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{
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const float fx = chf.bmin[0] + x*cs;
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const float fz = chf.bmin[2] + y*cs;
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const rcCompactCell& c = chf.cells[x+y*chf.width];
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for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i)
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{
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const rcCompactSpan& s = chf.spans[i];
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const float fy = chf.bmin[1] + (s.y+1)*ch;
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const unsigned char cd = (unsigned char)(chf.dist[i] * dscale);
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const unsigned int color = duRGBA(cd,cd,cd,255);
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dd->vertex(fx, fy, fz, color);
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dd->vertex(fx, fy, fz+cs, color);
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dd->vertex(fx+cs, fy, fz+cs, color);
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dd->vertex(fx+cs, fy, fz, color);
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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 getContourCenter(const rcContour* cont, const float* orig, float cs, float ch, float* center)
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{
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center[0] = 0;
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center[1] = 0;
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center[2] = 0;
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if (!cont->nverts)
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return;
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for (int i = 0; i < cont->nverts; ++i)
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{
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const int* v = &cont->verts[i*4];
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center[0] += (float)v[0];
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center[1] += (float)v[1];
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center[2] += (float)v[2];
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}
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const float s = 1.0f / cont->nverts;
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center[0] *= s * cs;
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center[1] *= s * ch;
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center[2] *= s * cs;
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center[0] += orig[0];
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center[1] += orig[1] + 4*ch;
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center[2] += orig[2];
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}
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static const rcContour* findContourFromSet(const rcContourSet& cset, unsigned short reg)
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{
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for (int i = 0; i < cset.nconts; ++i)
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{
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if (cset.conts[i].reg == reg)
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return &cset.conts[i];
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}
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return 0;
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}
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void duDebugDrawRegionConnections(duDebugDraw* dd, const rcContourSet& cset, const float alpha)
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{
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if (!dd) return;
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const float* orig = cset.bmin;
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const float cs = cset.cs;
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const float ch = cset.ch;
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// Draw centers
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float pos[3], pos2[3];
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unsigned int color = duRGBA(0,0,0,196);
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dd->begin(DU_DRAW_LINES, 2.0f);
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for (int i = 0; i < cset.nconts; ++i)
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{
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const rcContour* cont = &cset.conts[i];
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getContourCenter(cont, orig, cs, ch, pos);
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for (int j = 0; j < cont->nverts; ++j)
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{
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const int* v = &cont->verts[j*4];
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if (v[3] == 0 || (unsigned short)v[3] < cont->reg) continue;
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const rcContour* cont2 = findContourFromSet(cset, (unsigned short)v[3]);
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if (cont2)
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{
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getContourCenter(cont2, orig, cs, ch, pos2);
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duAppendArc(dd, pos[0],pos[1],pos[2], pos2[0],pos2[1],pos2[2], 0.25f, 0.6f, 0.6f, color);
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}
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}
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}
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dd->end();
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unsigned char a = (unsigned char)(alpha * 255.0f);
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dd->begin(DU_DRAW_POINTS, 7.0f);
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for (int i = 0; i < cset.nconts; ++i)
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{
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const rcContour* cont = &cset.conts[i];
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unsigned int color = duDarkenCol(duIntToCol(cont->reg,a));
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getContourCenter(cont, orig, cs, ch, pos);
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dd->vertex(pos, color);
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}
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dd->end();
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}
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void duDebugDrawRawContours(duDebugDraw* dd, const rcContourSet& cset, const float alpha)
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{
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if (!dd) return;
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const float* orig = cset.bmin;
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const float cs = cset.cs;
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const float ch = cset.ch;
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const unsigned char a = (unsigned char)(alpha*255.0f);
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dd->begin(DU_DRAW_LINES, 2.0f);
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for (int i = 0; i < cset.nconts; ++i)
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{
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const rcContour& c = cset.conts[i];
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unsigned int color = duIntToCol(c.reg, a);
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for (int j = 0; j < c.nrverts; ++j)
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{
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const int* v = &c.rverts[j*4];
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float fx = orig[0] + v[0]*cs;
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float fy = orig[1] + (v[1]+1+(i&1))*ch;
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float fz = orig[2] + v[2]*cs;
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dd->vertex(fx,fy,fz,color);
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if (j > 0)
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dd->vertex(fx,fy,fz,color);
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}
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// Loop last segment.
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const int* v = &c.rverts[0];
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float fx = orig[0] + v[0]*cs;
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float fy = orig[1] + (v[1]+1+(i&1))*ch;
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float fz = orig[2] + v[2]*cs;
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dd->vertex(fx,fy,fz,color);
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}
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dd->end();
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dd->begin(DU_DRAW_POINTS, 2.0f);
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for (int i = 0; i < cset.nconts; ++i)
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{
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const rcContour& c = cset.conts[i];
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unsigned int color = duDarkenCol(duIntToCol(c.reg, a));
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for (int j = 0; j < c.nrverts; ++j)
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{
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const int* v = &c.rverts[j*4];
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float off = 0;
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unsigned int colv = color;
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if (v[3] & RC_BORDER_VERTEX)
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{
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colv = duRGBA(255,255,255,a);
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off = ch*2;
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}
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float fx = orig[0] + v[0]*cs;
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float fy = orig[1] + (v[1]+1+(i&1))*ch + off;
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float fz = orig[2] + v[2]*cs;
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dd->vertex(fx,fy,fz, colv);
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}
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}
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dd->end();
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}
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void duDebugDrawContours(duDebugDraw* dd, const rcContourSet& cset, const float alpha)
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{
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if (!dd) return;
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const float* orig = cset.bmin;
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const float cs = cset.cs;
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const float ch = cset.ch;
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const unsigned char a = (unsigned char)(alpha*255.0f);
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dd->begin(DU_DRAW_LINES, 2.5f);
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for (int i = 0; i < cset.nconts; ++i)
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{
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const rcContour& c = cset.conts[i];
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if (!c.nverts)
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continue;
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unsigned int color = duIntToCol(c.reg, a);
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for (int j = 0; j < c.nverts; ++j)
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{
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const int* v = &c.verts[j*4];
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float fx = orig[0] + v[0]*cs;
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float fy = orig[1] + (v[1]+1+(i&1))*ch;
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float fz = orig[2] + v[2]*cs;
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dd->vertex(fx,fy,fz, color);
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if (j > 0)
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dd->vertex(fx,fy,fz, color);
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}
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// Loop last segment
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const int* v = &c.verts[0];
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float fx = orig[0] + v[0]*cs;
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float fy = orig[1] + (v[1]+1+(i&1))*ch;
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float fz = orig[2] + v[2]*cs;
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dd->vertex(fx,fy,fz, color);
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}
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dd->end();
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dd->begin(DU_DRAW_POINTS, 3.0f);
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for (int i = 0; i < cset.nconts; ++i)
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{
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const rcContour& c = cset.conts[i];
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unsigned int color = duDarkenCol(duIntToCol(c.reg, a));
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for (int j = 0; j < c.nverts; ++j)
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{
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const int* v = &c.verts[j*4];
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float off = 0;
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unsigned int colv = color;
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if (v[3] & RC_BORDER_VERTEX)
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{
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colv = duRGBA(255,255,255,a);
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off = ch*2;
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}
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float fx = orig[0] + v[0]*cs;
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float fy = orig[1] + (v[1]+1+(i&1))*ch + off;
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float fz = orig[2] + v[2]*cs;
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dd->vertex(fx,fy,fz, colv);
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}
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}
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dd->end();
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}
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void duDebugDrawPolyMesh(duDebugDraw* dd, const struct rcPolyMesh& mesh)
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{
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if (!dd) return;
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const int nvp = mesh.nvp;
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const float cs = mesh.cs;
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const float ch = mesh.ch;
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const float* orig = mesh.bmin;
|
|
|
|
dd->begin(DU_DRAW_TRIS);
|
|
|
|
for (int i = 0; i < mesh.npolys; ++i)
|
|
{
|
|
const unsigned short* p = &mesh.polys[i*nvp*2];
|
|
|
|
unsigned int color;
|
|
if (mesh.areas[i] == RC_WALKABLE_AREA)
|
|
color = duRGBA(0,192,255,64);
|
|
else if (mesh.areas[i] == RC_NULL_AREA)
|
|
color = duRGBA(0,0,0,64);
|
|
else
|
|
color = duIntToCol(mesh.areas[i], 255);
|
|
|
|
unsigned short vi[3];
|
|
for (int j = 2; j < nvp; ++j)
|
|
{
|
|
if (p[j] == RC_MESH_NULL_IDX) break;
|
|
vi[0] = p[0];
|
|
vi[1] = p[j-1];
|
|
vi[2] = p[j];
|
|
for (int k = 0; k < 3; ++k)
|
|
{
|
|
const unsigned short* v = &mesh.verts[vi[k]*3];
|
|
const float x = orig[0] + v[0]*cs;
|
|
const float y = orig[1] + (v[1]+1)*ch;
|
|
const float z = orig[2] + v[2]*cs;
|
|
dd->vertex(x,y,z, color);
|
|
}
|
|
}
|
|
}
|
|
dd->end();
|
|
|
|
// Draw neighbours edges
|
|
const unsigned int coln = duRGBA(0,48,64,32);
|
|
dd->begin(DU_DRAW_LINES, 1.5f);
|
|
for (int i = 0; i < mesh.npolys; ++i)
|
|
{
|
|
const unsigned short* p = &mesh.polys[i*nvp*2];
|
|
for (int j = 0; j < nvp; ++j)
|
|
{
|
|
if (p[j] == RC_MESH_NULL_IDX) break;
|
|
if (p[nvp+j] == RC_MESH_NULL_IDX) continue;
|
|
int vi[2];
|
|
vi[0] = p[j];
|
|
if (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX)
|
|
vi[1] = p[0];
|
|
else
|
|
vi[1] = p[j+1];
|
|
for (int k = 0; k < 2; ++k)
|
|
{
|
|
const unsigned short* v = &mesh.verts[vi[k]*3];
|
|
const float x = orig[0] + v[0]*cs;
|
|
const float y = orig[1] + (v[1]+1)*ch + 0.1f;
|
|
const float z = orig[2] + v[2]*cs;
|
|
dd->vertex(x, y, z, coln);
|
|
}
|
|
}
|
|
}
|
|
dd->end();
|
|
|
|
// Draw boundary edges
|
|
const unsigned int colb = duRGBA(0,48,64,220);
|
|
dd->begin(DU_DRAW_LINES, 2.5f);
|
|
for (int i = 0; i < mesh.npolys; ++i)
|
|
{
|
|
const unsigned short* p = &mesh.polys[i*nvp*2];
|
|
for (int j = 0; j < nvp; ++j)
|
|
{
|
|
if (p[j] == RC_MESH_NULL_IDX) break;
|
|
if (p[nvp+j] != RC_MESH_NULL_IDX) continue;
|
|
int vi[2];
|
|
vi[0] = p[j];
|
|
if (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX)
|
|
vi[1] = p[0];
|
|
else
|
|
vi[1] = p[j+1];
|
|
for (int k = 0; k < 2; ++k)
|
|
{
|
|
const unsigned short* v = &mesh.verts[vi[k]*3];
|
|
const float x = orig[0] + v[0]*cs;
|
|
const float y = orig[1] + (v[1]+1)*ch + 0.1f;
|
|
const float z = orig[2] + v[2]*cs;
|
|
dd->vertex(x, y, z, colb);
|
|
}
|
|
}
|
|
}
|
|
dd->end();
|
|
|
|
dd->begin(DU_DRAW_POINTS, 3.0f);
|
|
const unsigned int colv = duRGBA(0,0,0,220);
|
|
for (int i = 0; i < mesh.nverts; ++i)
|
|
{
|
|
const unsigned short* v = &mesh.verts[i*3];
|
|
const float x = orig[0] + v[0]*cs;
|
|
const float y = orig[1] + (v[1]+1)*ch + 0.1f;
|
|
const float z = orig[2] + v[2]*cs;
|
|
dd->vertex(x,y,z, colv);
|
|
}
|
|
dd->end();
|
|
}
|
|
|
|
void duDebugDrawPolyMeshDetail(duDebugDraw* dd, const struct rcPolyMeshDetail& dmesh)
|
|
{
|
|
if (!dd) return;
|
|
|
|
dd->begin(DU_DRAW_TRIS);
|
|
|
|
for (int i = 0; i < dmesh.nmeshes; ++i)
|
|
{
|
|
const unsigned short* m = &dmesh.meshes[i*4];
|
|
const unsigned short bverts = m[0];
|
|
const unsigned short btris = m[2];
|
|
const unsigned short ntris = m[3];
|
|
const float* verts = &dmesh.verts[bverts*3];
|
|
const unsigned char* tris = &dmesh.tris[btris*4];
|
|
|
|
unsigned int color = duIntToCol(i, 192);
|
|
|
|
for (int j = 0; j < ntris; ++j)
|
|
{
|
|
dd->vertex(&verts[tris[j*4+0]*3], color);
|
|
dd->vertex(&verts[tris[j*4+1]*3], color);
|
|
dd->vertex(&verts[tris[j*4+2]*3], color);
|
|
}
|
|
}
|
|
dd->end();
|
|
|
|
// Internal edges.
|
|
dd->begin(DU_DRAW_LINES, 1.0f);
|
|
const unsigned int coli = duRGBA(0,0,0,64);
|
|
for (int i = 0; i < dmesh.nmeshes; ++i)
|
|
{
|
|
const unsigned short* m = &dmesh.meshes[i*4];
|
|
const unsigned short bverts = m[0];
|
|
const unsigned short btris = m[2];
|
|
const unsigned short ntris = m[3];
|
|
const float* verts = &dmesh.verts[bverts*3];
|
|
const unsigned char* tris = &dmesh.tris[btris*4];
|
|
|
|
for (int j = 0; j < ntris; ++j)
|
|
{
|
|
const unsigned char* t = &tris[j*4];
|
|
for (int k = 0, kp = 2; k < 3; kp=k++)
|
|
{
|
|
unsigned char ef = (t[3] >> (kp*2)) & 0x3;
|
|
if (ef == 0)
|
|
{
|
|
// Internal edge
|
|
if (t[kp] < t[k])
|
|
{
|
|
dd->vertex(&verts[t[kp]*3], coli);
|
|
dd->vertex(&verts[t[k]*3], coli);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
dd->end();
|
|
|
|
// External edges.
|
|
dd->begin(DU_DRAW_LINES, 2.0f);
|
|
const unsigned int cole = duRGBA(0,0,0,64);
|
|
for (int i = 0; i < dmesh.nmeshes; ++i)
|
|
{
|
|
const unsigned short* m = &dmesh.meshes[i*4];
|
|
const unsigned short bverts = m[0];
|
|
const unsigned short btris = m[2];
|
|
const unsigned short ntris = m[3];
|
|
const float* verts = &dmesh.verts[bverts*3];
|
|
const unsigned char* tris = &dmesh.tris[btris*4];
|
|
|
|
for (int j = 0; j < ntris; ++j)
|
|
{
|
|
const unsigned char* t = &tris[j*4];
|
|
for (int k = 0, kp = 2; k < 3; kp=k++)
|
|
{
|
|
unsigned char ef = (t[3] >> (kp*2)) & 0x3;
|
|
if (ef != 0)
|
|
{
|
|
// Ext edge
|
|
dd->vertex(&verts[t[kp]*3], cole);
|
|
dd->vertex(&verts[t[k]*3], cole);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
dd->end();
|
|
|
|
dd->begin(DU_DRAW_POINTS, 3.0f);
|
|
const unsigned int colv = duRGBA(0,0,0,64);
|
|
for (int i = 0; i < dmesh.nmeshes; ++i)
|
|
{
|
|
const unsigned short* m = &dmesh.meshes[i*4];
|
|
const unsigned short bverts = m[0];
|
|
const unsigned short nverts = m[1];
|
|
const float* verts = &dmesh.verts[bverts*3];
|
|
for (int j = 0; j < nverts; ++j)
|
|
dd->vertex(&verts[j*3], colv);
|
|
}
|
|
dd->end();
|
|
}
|