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recastnavigation_v1.6.0/RecastDemo/Source/CrowdTool.cpp

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//
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty. In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
// claim that you wrote the original software. If you use this software
// in a product, an acknowledgment in the product documentation would be
// appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
// misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <float.h>
#include "SDL.h"
#include "SDL_opengl.h"
#include "imgui.h"
#include "CrowdTool.h"
#include "InputGeom.h"
#include "Sample.h"
#include "DetourCrowd.h"
#include "DetourDebugDraw.h"
#include "DetourObstacleAvoidance.h"
#include "DetourCommon.h"
#include "SampleInterfaces.h"
#ifdef WIN32
# define snprintf _snprintf
#endif
static bool isectSegAABB(const float* sp, const float* sq,
const float* amin, const float* amax,
float& tmin, float& tmax)
{
static const float EPS = 1e-6f;
float d[3];
dtVsub(d, sq, sp);
tmin = 0; // set to -FLT_MAX to get first hit on line
tmax = FLT_MAX; // set to max distance ray can travel (for segment)
// For all three slabs
for (int i = 0; i < 3; i++)
{
if (fabsf(d[i]) < EPS)
{
// Ray is parallel to slab. No hit if origin not within slab
if (sp[i] < amin[i] || sp[i] > amax[i])
return false;
}
else
{
// Compute intersection t value of ray with near and far plane of slab
const float ood = 1.0f / d[i];
float t1 = (amin[i] - sp[i]) * ood;
float t2 = (amax[i] - sp[i]) * ood;
// Make t1 be intersection with near plane, t2 with far plane
if (t1 > t2) dtSwap(t1, t2);
// Compute the intersection of slab intersections intervals
if (t1 > tmin) tmin = t1;
if (t2 < tmax) tmax = t2;
// Exit with no collision as soon as slab intersection becomes empty
if (tmin > tmax) return false;
}
}
return true;
}
static void getAgentBounds(const dtCrowdAgent* ag, float* bmin, float* bmax)
{
const float* p = ag->npos;
const float r = ag->radius;
const float h = ag->height;
bmin[0] = p[0] - r;
bmin[1] = p[1];
bmin[2] = p[2] - r;
bmax[0] = p[0] + r;
bmax[1] = p[1] + h;
bmax[2] = p[2] + r;
}
CrowdTool::CrowdTool() :
m_sample(0),
m_oldFlags(0),
m_targetRef(0),
m_expandSelectedDebugDraw(true),
m_showCorners(false),
m_showCollisionSegments(false),
m_showPath(false),
m_showVO(false),
m_showOpt(false),
m_expandDebugDraw(false),
m_showLabels(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_run(true),
m_mode(TOOLMODE_CREATE)
{
memset(m_trails, 0, sizeof(m_trails));
m_vod = dtAllocObstacleAvoidanceDebugData();
m_vod->init(2048);
memset(&m_agentDebug, 0, sizeof(m_agentDebug));
m_agentDebug.idx = -1;
m_agentDebug.vod = m_vod;
}
CrowdTool::~CrowdTool()
{
if (m_sample)
{
m_sample->setNavMeshDrawFlags(m_oldFlags);
}
dtFreeObstacleAvoidanceDebugData(m_vod);
}
void CrowdTool::init(Sample* sample)
{
if (m_sample != sample)
{
m_sample = sample;
m_oldFlags = m_sample->getNavMeshDrawFlags();
m_sample->setNavMeshDrawFlags(m_oldFlags & ~DU_DRAWNAVMESH_CLOSEDLIST);
}
dtNavMesh* nav = m_sample->getNavMesh();
if (nav)
m_crowd.init(MAX_AGENTS, m_sample->getAgentRadius(), nav);
}
void CrowdTool::reset()
{
m_targetRef = 0;
}
void CrowdTool::handleMenu()
{
if (imguiCheck("Create Agents", m_mode == TOOLMODE_CREATE))
m_mode = TOOLMODE_CREATE;
if (imguiCheck("Move Target", m_mode == TOOLMODE_MOVE_TARGET))
m_mode = TOOLMODE_MOVE_TARGET;
if (imguiCheck("Select Agent", m_mode == TOOLMODE_SELECT))
m_mode = TOOLMODE_SELECT;
imguiSeparatorLine();
if (imguiCollapse("Options", 0, m_expandOptions))
m_expandOptions = !m_expandOptions;
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))
m_useVO = !m_useVO;
imguiUnindent();
}
if (imguiCollapse("Selected Debug Draw", 0, m_expandSelectedDebugDraw))
m_expandSelectedDebugDraw = !m_expandSelectedDebugDraw;
if (m_expandSelectedDebugDraw)
{
imguiIndent();
if (imguiCheck("Show Corners", m_showCorners))
m_showCorners = !m_showCorners;
if (imguiCheck("Show Collision Segs", m_showCollisionSegments))
m_showCollisionSegments = !m_showCollisionSegments;
if (imguiCheck("Show Path", m_showPath))
m_showPath = !m_showPath;
if (imguiCheck("Show VO", m_showVO))
m_showVO = !m_showVO;
if (imguiCheck("Show Path Optimization", m_showOpt))
m_showOpt = !m_showOpt;
imguiUnindent();
}
if (imguiCollapse("Debug Draw", 0, m_expandDebugDraw))
m_expandDebugDraw = !m_expandDebugDraw;
if (m_expandDebugDraw)
{
imguiIndent();
if (imguiCheck("Show Labels", m_showLabels))
m_showLabels = !m_showLabels;
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();
}
}
void CrowdTool::handleClick(const float* s, const float* p, bool shift)
{
if (!m_sample) return;
InputGeom* geom = m_sample->getInputGeom();
if (!geom) return;
if (m_mode == TOOLMODE_CREATE)
{
if (shift)
{
// Delete
int isel = -1;
float tsel = FLT_MAX;
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const dtCrowdAgent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
float bmin[3], bmax[3];
getAgentBounds(ag, bmin, bmax);
float tmin, tmax;
if (isectSegAABB(s, p, bmin,bmax, tmin, tmax))
{
if (tmin > 0 && tmin < tsel)
{
isel = i;
tsel = tmin;
}
}
}
if (isel != -1)
{
m_crowd.removeAgent(isel);
}
}
else
{
// Add
dtCrowdAgentParams ap;
ap.radius = m_sample->getAgentRadius();
ap.height = m_sample->getAgentHeight();
ap.maxAcceleration = 8.0f;
ap.maxSpeed = 3.5f;
ap.collisionQueryRange = ap.radius * 8.0f;
ap.pathOptimizationRange = ap.radius * 30.0f;
int idx = m_crowd.addAgent(p, &ap);
if (idx != -1)
{
if (m_targetRef)
m_crowd.requestMoveTarget(idx, m_targetRef, m_targetPos);
// Init trail
AgentTrail* trail = &m_trails[idx];
for (int i = 0; i < AGENT_MAX_TRAIL; ++i)
dtVcopy(&trail->trail[i*3], p);
trail->htrail = 0;
}
}
}
else if (m_mode == TOOLMODE_MOVE_TARGET)
{
// Find nearest point on navmesh and set move request to that location.
dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
const dtQueryFilter* filter = m_crowd.getFilter();
const float* ext = m_crowd.getQueryExtents();
navquery->findNearestPoly(p, ext, filter, &m_targetRef, m_targetPos);
if (shift)
{
// Adjust target using tiny local search.
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const dtCrowdAgent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
m_crowd.adjustMoveTarget(i, m_targetRef, m_targetPos);
}
}
else
{
// Move target using paht finder
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const dtCrowdAgent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
m_crowd.requestMoveTarget(i, m_targetRef, m_targetPos);
}
}
}
else if (m_mode == TOOLMODE_SELECT)
{
// Highlight
m_agentDebug.idx = -1;
float tsel = FLT_MAX;
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const dtCrowdAgent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
float bmin[3], bmax[3];
getAgentBounds(ag, bmin, bmax);
float tmin, tmax;
if (isectSegAABB(s, p, bmin,bmax, tmin, tmax))
{
if (tmin > 0 && tmin < tsel)
{
m_agentDebug.idx = i;
tsel = tmin;
}
}
}
}
}
void CrowdTool::updateTick(const float dt)
{
dtNavMesh* nav = m_sample->getNavMesh();
if (!nav)
return;
unsigned int flags = 0;
if (m_anticipateTurns)
flags |= DT_CROWD_ANTICIPATE_TURNS;
if (m_useVO)
flags |= DT_CROWD_USE_VO;
if (m_optimizeVis)
flags |= DT_CROWD_OPTIMIZE_VIS;
if (m_optimizeTopo)
flags |= DT_CROWD_OPTIMIZE_TOPO;
TimeVal startTime = getPerfTime();
m_crowd.update(dt, flags, &m_agentDebug);
TimeVal endTime = getPerfTime();
// Update agent trails
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const dtCrowdAgent* ag = m_crowd.getAgent(i);
AgentTrail* trail = &m_trails[i];
if (!ag->active)
continue;
// Update agent movement trail.
trail->htrail = (trail->htrail + 1) % AGENT_MAX_TRAIL;
dtVcopy(&trail->trail[trail->htrail*3], ag->npos);
}
m_agentDebug.vod->normalizeSamples();
m_crowdSampleCount.addSample((float)m_crowd.getVelocitySampleCount());
m_crowdTotalTime.addSample(getPerfDeltaTimeUsec(startTime, endTime) / 1000.0f);
}
void CrowdTool::handleStep()
{
const float dt = 1.0f/20.0f;
updateTick(dt);
m_run = false;
}
void CrowdTool::handleToggle()
{
m_run = !m_run;
}
void CrowdTool::handleUpdate(const float dt)
{
if (!m_sample) return;
if (m_run)
updateTick(dt);
}
void CrowdTool::handleRender()
{
DebugDrawGL dd;
const float s = m_sample->getAgentRadius();
dtNavMesh* nmesh = m_sample->getNavMesh();
if (!nmesh)
return;
if (m_showNodes && m_crowd.getPathQueue())
{
const dtNavMeshQuery* navquery = m_crowd.getPathQueue()->getNavQuery();
if (navquery)
duDebugDrawNavMeshNodes(&dd, *navquery);
}
dd.depthMask(false);
// Draw paths
if (m_showPath)
{
if (m_agentDebug.idx != -1)
{
const dtCrowdAgent* ag = m_crowd.getAgent(m_agentDebug.idx);
if (ag->active)
{
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(0,0,0,16));
}
}
}
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 dtCrowdAgent* 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 dtProximityGrid* 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 dtCrowdAgent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const AgentTrail* trail = &m_trails[i];
const float* pos = ag->npos;
dd.begin(DU_DRAW_LINES,3.0f);
float prev[3], preva = 1;
dtVcopy(prev, pos);
for (int j = 0; j < AGENT_MAX_TRAIL-1; ++j)
{
const int idx = (trail->htrail + AGENT_MAX_TRAIL-j) % AGENT_MAX_TRAIL;
const float* v = &trail->trail[idx*3];
float a = 1 - j/(float)AGENT_MAX_TRAIL;
dd.vertex(prev[0],prev[1]+0.1f,prev[2], duRGBA(0,0,0,(int)(128*preva)));
dd.vertex(v[0],v[1]+0.1f,v[2], duRGBA(0,0,0,(int)(128*a)));
preva = a;
dtVcopy(prev, v);
}
dd.end();
}
// Corners & co
if (m_agentDebug.idx != -1)
{
const dtCrowdAgent* ag = m_crowd.getAgent(m_agentDebug.idx);
if (ag->active)
{
const float radius = ag->radius;
const float* pos = ag->npos;
if (m_showCorners)
{
if (ag->ncorners)
{
dd.begin(DU_DRAW_LINES, 2.0f);
for (int j = 0; j < ag->ncorners; ++j)
{
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(128,0,0,192));
dd.vertex(vb[0],vb[1]+radius,vb[2], duRGBA(128,0,0,192));
}
if (ag->ncorners && ag->cornerFlags[ag->ncorners-1] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
{
const float* v = &ag->cornerVerts[(ag->ncorners-1)*3];
dd.vertex(v[0],v[1],v[2], duRGBA(192,0,0,192));
dd.vertex(v[0],v[1]+radius*2,v[2], duRGBA(192,0,0,192));
}
dd.end();
if (m_anticipateTurns)
{
/* 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];
pos[2] = ag->pos[2] + dvel[2];
const float off = ag->radius+0.1f;
const float* tgt = &ag->cornerVerts[0];
const float y = ag->pos[1]+off;
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(ag->pos[0],y,ag->pos[2], duRGBA(255,0,0,192));
dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
dd.vertex(tgt[0],y,tgt[2], duRGBA(255,0,0,192));
dd.end();*/
}
}
}
if (m_showCollisionSegments)
{
const float* center = ag->boundary.getCenter();
duDebugDrawCross(&dd, center[0],center[1]+radius,center[2], 0.2f, duRGBA(192,0,128,255), 2.0f);
duDebugDrawCircle(&dd, center[0],center[1]+radius,center[2], ag->collisionQueryRange,
duRGBA(192,0,128,128), 2.0f);
dd.begin(DU_DRAW_LINES, 3.0f);
for (int j = 0; j < ag->boundary.getSegmentCount(); ++j)
{
const float* s = ag->boundary.getSegment(j);
unsigned int col = duRGBA(192,0,128,192);
if (dtTriArea2D(pos, s, s+3) < 0.0f)
col = duDarkenCol(col);
duAppendArrow(&dd, s[0],s[1]+0.2f,s[2], s[3],s[4]+0.2f,s[5], 0.0f, 0.3f, col);
}
dd.end();
}
if (m_showOpt)
{
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(m_agentDebug.optStart[0],m_agentDebug.optStart[1]+0.3f,m_agentDebug.optStart[2], duRGBA(0,128,0,192));
dd.vertex(m_agentDebug.optEnd[0],m_agentDebug.optEnd[1]+0.3f,m_agentDebug.optEnd[2], duRGBA(0,128,0,192));
dd.end();
}
}
}
// Agent cylinders.
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const dtCrowdAgent* 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 dtCrowdAgent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float height = ag->height;
const float radius = ag->radius;
const float* pos = ag->npos;
unsigned int col = duRGBA(220,220,220,128);
if (m_agentDebug.idx == i)
col = duRGBA(255,192,0,128);
duDebugDrawCylinder(&dd, pos[0]-radius, pos[1]+radius*0.1f, pos[2]-radius,
pos[0]+radius, pos[1]+height, pos[2]+radius, col);
}
// Velocity stuff.
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const dtCrowdAgent* 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;
unsigned int col = duRGBA(220,220,220,192);
if (m_agentDebug.idx == i)
col = duRGBA(255,192,0,192);
duDebugDrawCircle(&dd, pos[0], pos[1]+height, pos[2], radius, col, 2.0f);
duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
pos[0]+dvel[0],pos[1]+height+dvel[1],pos[2]+dvel[2],
0.0f, 0.4f, duRGBA(0,192,255,192), 1.0f);
duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
pos[0]+vel[0],pos[1]+height+vel[1],pos[2]+vel[2],
0.0f, 0.4f, duRGBA(0,0,0,192), 2.0f);
}
if (m_agentDebug.idx != -1)
{
const dtCrowdAgent* ag = m_crowd.getAgent(m_agentDebug.idx);
if (ag->active)
{
if (m_showVO)
{
// Draw detail about agent sela
const dtObstacleAvoidanceDebugData* vod = m_agentDebug.vod;
const float dx = ag->npos[0];
const float dy = ag->npos[1]+ag->height;
const float dz = ag->npos[2];
dd.begin(DU_DRAW_QUADS);
for (int i = 0; i < vod->getSampleCount(); ++i)
{
const float* p = vod->getSampleVelocity(i);
const float sr = vod->getSampleSize(i);
const float pen = vod->getSamplePenalty(i);
const float pen2 = vod->getSamplePreferredSidePenalty(i);
unsigned int col = duLerpCol(duRGBA(255,255,255,220), duRGBA(128,96,0,220), (int)(pen*255));
col = duLerpCol(col, duRGBA(128,0,0,220), (int)(pen2*128));
dd.vertex(dx+p[0]-sr, dy, dz+p[2]-sr, col);
dd.vertex(dx+p[0]-sr, dy, dz+p[2]+sr, col);
dd.vertex(dx+p[0]+sr, dy, dz+p[2]+sr, col);
dd.vertex(dx+p[0]+sr, dy, dz+p[2]-sr, col);
}
dd.end();
}
}
}
dd.depthMask(true);
}
void CrowdTool::handleRenderOverlay(double* proj, double* model, int* view)
{
GLdouble x, y, z;
// Draw start and end point labels
if (m_targetRef && gluProject((GLdouble)m_targetPos[0], (GLdouble)m_targetPos[1], (GLdouble)m_targetPos[2],
model, proj, view, &x, &y, &z))
{
imguiDrawText((int)x, (int)(y+25), IMGUI_ALIGN_CENTER, "TARGET", imguiRGBA(0,0,0,220));
}
if (m_showLabels)
{
char label[32];
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const dtCrowdAgent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float* pos = ag->npos;
const float h = ag->height;
if (gluProject((GLdouble)pos[0], (GLdouble)pos[1]+h, (GLdouble)pos[2],
model, proj, view, &x, &y, &z))
{
snprintf(label, 32, "%d", i);
imguiDrawText((int)x, (int)y+15, IMGUI_ALIGN_CENTER, label, imguiRGBA(0,0,0,220));
}
}
}
if (m_showPerfGraph)
{
GraphParams gp;
gp.setRect(300, 10, 500, 200, 8);
gp.setValueRange(0.0f, 2.0f, 4, "ms");
drawGraphBackground(&gp);
drawGraph(&gp, &m_crowdTotalTime, 1, "Total", duRGBA(255,128,0,255));
gp.setRect(300, 10, 500, 50, 8);
gp.setValueRange(0.0f, 2000.0f, 1, "");
drawGraph(&gp, &m_crowdSampleCount, 0, "Sample Count", duRGBA(96,96,96,128));
}
// Tool help
const int h = view[3];
int ty = h-40;
if (m_mode == TOOLMODE_CREATE)
{
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "LMB: add agent. Shift+LMB: remove agent.", imguiRGBA(255,255,255,192));
}
else if (m_mode == TOOLMODE_MOVE_TARGET)
{
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "LMB: set move target. Shift+LMB: adjust target.", imguiRGBA(255,255,255,192));
ty -= 20;
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "Adjusting allows to change the target location in short range without pathfinder.", imguiRGBA(255,255,255,192));
}
else if (m_mode == TOOLMODE_SELECT)
{
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "LMB: select agent.", imguiRGBA(255,255,255,192));
}
ty -= 20;
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "SPACE: Run/Pause simulation. 1: Step simulation.", imguiRGBA(255,255,255,192));
}
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