620 lines
16 KiB
C++
620 lines
16 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 <stdio.h>
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#include <string.h>
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#include <float.h>
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#include "SDL.h"
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#include "SDL_opengl.h"
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#include "imgui.h"
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#include "CrowdTool.h"
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#include "InputGeom.h"
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#include "Sample.h"
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#include "DetourDebugDraw.h"
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#include "DetourObstacleAvoidance.h"
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#include "DetourCommon.h"
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#include "SampleInterfaces.h"
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#include "CrowdManager.h"
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#ifdef WIN32
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# define snprintf _snprintf
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#endif
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static bool isectSegAABB(const float* sp, const float* sq,
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const float* amin, const float* amax,
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float& tmin, float& tmax)
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{
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static const float EPS = 1e-6f;
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float d[3];
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dtVsub(d, sq, sp);
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tmin = 0; // set to -FLT_MAX to get first hit on line
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tmax = FLT_MAX; // set to max distance ray can travel (for segment)
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// For all three slabs
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for (int i = 0; i < 3; i++)
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{
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if (fabsf(d[i]) < EPS)
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{
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// Ray is parallel to slab. No hit if origin not within slab
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if (sp[i] < amin[i] || sp[i] > amax[i])
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return false;
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}
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else
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{
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// Compute intersection t value of ray with near and far plane of slab
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const float ood = 1.0f / d[i];
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float t1 = (amin[i] - sp[i]) * ood;
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float t2 = (amax[i] - sp[i]) * ood;
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// Make t1 be intersection with near plane, t2 with far plane
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if (t1 > t2) dtSwap(t1, t2);
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// Compute the intersection of slab intersections intervals
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if (t1 > tmin) tmin = t1;
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if (t2 < tmax) tmax = t2;
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// Exit with no collision as soon as slab intersection becomes empty
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if (tmin > tmax) return false;
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}
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}
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return true;
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}
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static void getAgentBounds(const Agent* ag, float* bmin, float* bmax)
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{
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const float* p = ag->npos;
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const float r = ag->radius;
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const float h = ag->height;
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bmin[0] = p[0] - r;
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bmin[1] = p[1];
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bmin[2] = p[2] - r;
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bmax[0] = p[0] + r;
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bmax[1] = p[1] + h;
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bmax[2] = p[2] + r;
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}
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CrowdTool::CrowdTool() :
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m_sample(0),
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m_oldFlags(0),
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m_targetRef(0),
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m_expandDebugDraw(false),
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m_showLabels(true),
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m_showCorners(false),
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m_showTargets(false),
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m_showCollisionSegments(false),
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m_showPath(false),
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m_showVO(false),
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m_showOpt(false),
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m_showGrid(false),
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m_expandOptions(true),
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m_anticipateTurns(true),
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m_useVO(true),
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m_drunkMove(false),
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m_run(true),
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m_mode(TOOLMODE_CREATE)
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{
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}
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CrowdTool::~CrowdTool()
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{
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if (m_sample)
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{
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m_sample->setNavMeshDrawFlags(m_oldFlags);
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}
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}
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void CrowdTool::init(Sample* sample)
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{
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m_sample = sample;
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if (m_sample)
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{
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m_oldFlags = m_sample->getNavMeshDrawFlags();
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m_sample->setNavMeshDrawFlags(m_oldFlags & ~DU_DRAWNAVMESH_CLOSEDLIST);
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}
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}
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void CrowdTool::reset()
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{
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m_targetRef = 0;
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}
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void CrowdTool::handleMenu()
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{
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if (imguiCheck("Create Agents", m_mode == TOOLMODE_CREATE))
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m_mode = TOOLMODE_CREATE;
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if (imguiCheck("Move Agents", m_mode == TOOLMODE_MOVE))
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m_mode = TOOLMODE_MOVE;
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imguiSeparator();
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if (m_mode == TOOLMODE_CREATE)
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{
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imguiValue("Click to add agents.");
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imguiValue("Shift+Click to remove.");
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}
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else if (m_mode == TOOLMODE_MOVE)
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{
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imguiValue("Click to set move target.");
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}
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imguiSeparator();
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imguiSeparator();
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if (imguiCollapse("Options", 0, m_expandOptions))
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m_expandOptions = !m_expandOptions;
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if (m_expandOptions)
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{
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imguiIndent();
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if (imguiCheck("Anticipate Turns", m_anticipateTurns))
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m_anticipateTurns = !m_anticipateTurns;
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if (imguiCheck("Use VO", m_useVO))
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m_useVO = !m_useVO;
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if (imguiCheck("Drunk Move", m_drunkMove))
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m_drunkMove = !m_drunkMove;
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imguiUnindent();
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}
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if (imguiCollapse("Debug Draw", 0, m_expandDebugDraw))
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m_expandDebugDraw = !m_expandDebugDraw;
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if (m_expandDebugDraw)
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{
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imguiIndent();
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if (imguiCheck("Show Labels", m_showLabels))
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m_showLabels = !m_showLabels;
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if (imguiCheck("Show Corners", m_showCorners))
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m_showCorners = !m_showCorners;
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if (imguiCheck("Show Targets", m_showTargets))
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m_showTargets = !m_showTargets;
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if (imguiCheck("Show Collision Segs", m_showCollisionSegments))
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m_showCollisionSegments = !m_showCollisionSegments;
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if (imguiCheck("Show Path", m_showPath))
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m_showPath = !m_showPath;
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if (imguiCheck("Show VO", m_showVO))
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m_showVO = !m_showVO;
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if (imguiCheck("Show Path Optimization", m_showOpt))
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m_showOpt = !m_showOpt;
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if (imguiCheck("Show Prox Grid", m_showGrid))
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m_showGrid = !m_showGrid;
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imguiUnindent();
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}
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}
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void CrowdTool::handleClick(const float* s, const float* p, bool shift)
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{
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if (!m_sample) return;
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InputGeom* geom = m_sample->getInputGeom();
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if (!geom) return;
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if (m_mode == TOOLMODE_CREATE)
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{
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if (shift)
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{
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// Delete
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int isel = -1;
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float tsel = FLT_MAX;
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for (int i = 0; i < m_crowd.getAgentCount(); ++i)
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{
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const Agent* ag = m_crowd.getAgent(i);
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if (!ag->active) continue;
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float bmin[3], bmax[3];
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getAgentBounds(ag, bmin, bmax);
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float tmin, tmax;
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if (isectSegAABB(s, p, bmin,bmax, tmin, tmax))
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{
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if (tmin > 0 && tmin < tsel)
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{
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isel = i;
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tsel = tmin;
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}
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}
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}
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if (isel != -1)
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{
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m_crowd.removeAgent(isel);
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}
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}
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else
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{
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// Add
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dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
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int idx = m_crowd.addAgent(p, m_sample->getAgentRadius(), m_sample->getAgentHeight(), navquery);
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if (idx != -1 && m_targetRef)
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m_crowd.requestMoveTarget(idx, m_targetRef, m_targetPos);
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}
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}
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else if (m_mode == TOOLMODE_MOVE)
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{
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// Find nearest point on navmesh and set move request to that location.
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dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
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const dtQueryFilter* filter = m_crowd.getFilter();
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const float* ext = m_crowd.getQueryExtents();
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m_targetRef = navquery->findNearestPoly(p, ext, filter, m_targetPos);
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if (m_targetRef)
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{
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for (int i = 0; i < m_crowd.getAgentCount(); ++i)
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{
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const Agent* ag = m_crowd.getAgent(i);
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if (!ag->active) continue;
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m_crowd.requestMoveTarget(i, m_targetRef, m_targetPos);
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}
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}
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}
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}
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void CrowdTool::handleStep()
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{
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m_run = !m_run;
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}
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void CrowdTool::handleUpdate(const float dt)
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{
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if (!m_sample) return;
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if (!m_sample->getNavMesh()) return;
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if (m_run)
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{
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unsigned int flags = 0;
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if (m_anticipateTurns)
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flags |= CROWDMAN_ANTICIPATE_TURNS;
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if (m_useVO)
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flags |= CROWDMAN_USE_VO;
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if (m_drunkMove)
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flags |= CROWDMAN_DRUNK;
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m_crowd.update(dt, flags, m_sample->getNavMeshQuery());
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m_crowdSampleCount.addSample((float)m_crowd.getSampleCount());
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m_crowdTotalTime.addSample(m_crowd.getTotalTime() / 1000.0f);
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m_crowdRvoTime.addSample(m_crowd.getRVOTime() / 1000.0f);
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}
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}
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void CrowdTool::handleRender()
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{
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DebugDrawGL dd;
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const float s = m_sample->getAgentRadius();
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dtNavMesh* nmesh = m_sample->getNavMesh();
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if (!nmesh)
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return;
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if (m_targetRef)
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duDebugDrawCross(&dd, m_targetPos[0],m_targetPos[1]+0.1f,m_targetPos[2], s, duRGBA(0,0,0,128), 2.0f);
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for (int i = 0; i < m_crowd.getAgentCount(); ++i)
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{
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const Agent* ag = m_crowd.getAgent(i);
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if (!ag->active) continue;
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const float height = ag->height;
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const float radius = ag->radius;
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const float* pos = ag->npos;
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const float* target = ag->corridor.getTarget();
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const float* vel = ag->vel;
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const float* dvel = ag->dvel;
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dd.depthMask(false);
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if (m_showPath)
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{
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const dtPolyRef* path = ag->corridor.getPath();
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const int npath = ag->corridor.getPathCount();
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for (int i = 0; i < npath; ++i)
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duDebugDrawNavMeshPoly(&dd, *nmesh, path[i], duRGBA(0,0,0,64));
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}
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dd.begin(DU_DRAW_LINES,3.0f);
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float prev[3], preva = 1;
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dtVcopy(prev, pos);
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for (int j = 0; j < AGENT_MAX_TRAIL-1; ++j)
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{
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const int idx = (ag->htrail + AGENT_MAX_TRAIL-j) % AGENT_MAX_TRAIL;
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const float* v = &ag->trail[idx*3];
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float a = 1 - j/(float)AGENT_MAX_TRAIL;
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dd.vertex(prev[0],prev[1]+0.1f,prev[2], duRGBA(0,0,0,(int)(128*preva)));
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dd.vertex(v[0],v[1]+0.1f,v[2], duRGBA(0,0,0,(int)(128*a)));
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preva = a;
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dtVcopy(prev, v);
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}
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dd.end();
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if (m_showTargets)
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{
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duDebugDrawArc(&dd, pos[0], pos[1], pos[2], target[0], target[1], target[2],
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0.25f, 0, 0.4f, duRGBA(0,0,0,128), 1.0f);
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}
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if (m_showCorners)
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{
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if (ag->ncorners)
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{
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dd.begin(DU_DRAW_LINES, 2.0f);
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for (int j = 0; j < ag->ncorners; ++j)
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{
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const float* va = j == 0 ? pos : &ag->cornerVerts[(j-1)*3];
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const float* vb = &ag->cornerVerts[j*3];
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dd.vertex(va[0],va[1]+radius,va[2], duRGBA(128,0,0,64));
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dd.vertex(vb[0],vb[1]+radius,vb[2], duRGBA(128,0,0,64));
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}
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dd.end();
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if (m_anticipateTurns)
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{
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/* float dvel[3], pos[3];
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calcSmoothSteerDirection(ag->pos, ag->cornerVerts, ag->ncorners, dvel);
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pos[0] = ag->pos[0] + dvel[0];
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pos[1] = ag->pos[1] + dvel[1];
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pos[2] = ag->pos[2] + dvel[2];
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const float off = ag->radius+0.1f;
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const float* tgt = &ag->cornerVerts[0];
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const float y = ag->pos[1]+off;
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dd.begin(DU_DRAW_LINES, 2.0f);
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dd.vertex(ag->pos[0],y,ag->pos[2], duRGBA(255,0,0,192));
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dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
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dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
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dd.vertex(tgt[0],y,tgt[2], duRGBA(255,0,0,192));
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dd.end();*/
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}
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}
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}
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if (m_showCollisionSegments)
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{
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const float* center = ag->boundary.getCenter();
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duDebugDrawCross(&dd, center[0],center[1]+radius,center[2], 0.2f, duRGBA(192,0,128,255), 2.0f);
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duDebugDrawCircle(&dd, center[0],center[1]+radius,center[2], ag->collisionQueryRange,
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duRGBA(192,0,128,128), 2.0f);
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dd.begin(DU_DRAW_LINES, 3.0f);
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for (int j = 0; j < ag->boundary.getSegmentCount(); ++j)
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{
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const float* s = ag->boundary.getSegment(j);
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unsigned int col = duRGBA(192,0,128,192);
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if (dtTriArea2D(pos, s, s+3) < 0.0f)
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col = duDarkenCol(col);
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duAppendArrow(&dd, s[0],s[1]+0.2f,s[2], s[3],s[4]+0.2f,s[5], 0.0f, 0.3f, col);
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}
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dd.end();
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}
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if (m_showOpt)
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{
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dd.begin(DU_DRAW_LINES, 2.0f);
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dd.vertex(ag->opts[0],ag->opts[1]+0.3f,ag->opts[2], duRGBA(0,128,0,192));
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dd.vertex(ag->opte[0],ag->opte[1]+0.3f,ag->opte[2], duRGBA(0,128,0,192));
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dd.end();
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}
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if (m_showVO)
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{
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// Draw detail about agent sela
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const dtObstacleAvoidanceDebugData* debug = m_crowd.getVODebugData(i);
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const float dx = pos[0];
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const float dy = pos[1]+height;
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const float dz = pos[2];
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dd.begin(DU_DRAW_QUADS);
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for (int i = 0; i < debug->getSampleCount(); ++i)
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{
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const float* p = debug->getSampleVelocity(i);
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const float sr = debug->getSampleSize(i);
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const float pen = debug->getSamplePenalty(i);
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const float pen2 = debug->getSamplePreferredSidePenalty(i);
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unsigned int col = duLerpCol(duRGBA(255,255,255,220), duRGBA(128,96,0,220), (int)(pen*255));
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col = duLerpCol(col, duRGBA(128,0,0,220), (int)(pen2*128));
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dd.vertex(dx+p[0]-sr, dy, dz+p[2]-sr, col);
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dd.vertex(dx+p[0]-sr, dy, dz+p[2]+sr, col);
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dd.vertex(dx+p[0]+sr, dy, dz+p[2]+sr, col);
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dd.vertex(dx+p[0]+sr, dy, dz+p[2]-sr, col);
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}
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dd.end();
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}
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duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
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pos[0]+vel[0],pos[1]+height+vel[1],pos[2]+vel[2],
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0.0f, 0.4f, duRGBA(0,0,0,192), 2.0f);
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duDebugDrawArrow(&dd, pos[0],pos[1]+height-0.1f,pos[2],
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pos[0]+dvel[0],pos[1]+height-0.1f+dvel[1],pos[2]+dvel[2],
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0.0f, 0.4f, duRGBA(0,192,255,192), 1.0f);
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duDebugDrawCylinderWire(&dd, pos[0]-radius, pos[1]+radius*0.1f, pos[2]-radius,
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pos[0]+radius, pos[1]+height, pos[2]+radius,
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duRGBA(0,192,255,255), 3.0f);
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dd.depthMask(true);
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}
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if (m_showGrid)
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{
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float gridy = -FLT_MAX;
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for (int i = 0; i < m_crowd.getAgentCount(); ++i)
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{
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const Agent* ag = m_crowd.getAgent(i);
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if (!ag->active) continue;
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const float* pos = ag->corridor.getPos();
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gridy = dtMax(gridy, pos[1]);
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}
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gridy += 1.0f;
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dd.depthMask(false);
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dd.begin(DU_DRAW_QUADS);
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const ProximityGrid* grid = m_crowd.getGrid();
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const int* bounds = grid->getBounds();
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const float cs = grid->getCellSize();
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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);
|
|
}
|
|
|
|
|
|
/*
|
|
for (int i = 0; i < m_form.npolys; ++i)
|
|
{
|
|
duDebugDrawNavMeshPoly(&dd, *nmesh, m_form.polys[i], duRGBA(255,255,255,32));
|
|
}
|
|
|
|
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)
|
|
{
|
|
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 Agent* 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));
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
GraphParams gp;
|
|
gp.setRect(300, 10, 500, 200, 8);
|
|
gp.setValueRange(0.0f, 2.0f, 4, "ms");
|
|
|
|
drawGraphBackground(&gp);
|
|
drawGraph(&gp, &m_crowdRvoTime, 0, "RVO Sampling", duRGBA(255,0,128,255));
|
|
drawGraph(&gp, &m_crowdTotalTime, 1, "Total", duRGBA(128,255,0,255));
|
|
|
|
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));
|
|
}
|