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recastnavigation_v1.6.0/Detour/Source/DetourDebugDraw.cpp
Mikko Mononen 4787a8d223 Added ugly, but functional version of TiledNavMesh and a builder for the same. 
Fixed a cost bug in the dtStatNavMesh::findPolysAround.
Added debug draw functions for tiled navmesh.
2009-07-09 08:32:30 +00:00

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//
// Copyright (c) 2009 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.
//
#include "DetourDebugDraw.h"
#include "DetourStatNavMesh.h"
#include "SDL.h"
#include "SDL_Opengl.h"
void dtDebugDrawStatNavMeshPoly(const dtStatNavMesh* mesh, dtPolyRef ref, const float* col)
{
const dtPoly* p = mesh->getPolyByRef(ref);
if (!p)
return;
glColor4f(col[0],col[1],col[2],0.25f);
glBegin(GL_TRIANGLES);
unsigned short vi[3];
for (int j = 2; j < (int)p->nv; ++j)
{
vi[0] = p->v[0];
vi[1] = p->v[j-1];
vi[2] = p->v[j];
for (int k = 0; k < 3; ++k)
{
const float* v = mesh->getVertex(vi[k]);
glVertex3f(v[0], v[1]+0.2f, v[2]);
}
}
glEnd();
}
static void drawBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col)
{
glColor4fv(col);
// Top
glVertex3f(minx, miny, minz);
glVertex3f(maxx, miny, minz);
glVertex3f(maxx, miny, minz);
glVertex3f(maxx, miny, maxz);
glVertex3f(maxx, miny, maxz);
glVertex3f(minx, miny, maxz);
glVertex3f(minx, miny, maxz);
glVertex3f(minx, miny, minz);
// bottom
glVertex3f(minx, maxy, minz);
glVertex3f(maxx, maxy, minz);
glVertex3f(maxx, maxy, minz);
glVertex3f(maxx, maxy, maxz);
glVertex3f(maxx, maxy, maxz);
glVertex3f(minx, maxy, maxz);
glVertex3f(minx, maxy, maxz);
glVertex3f(minx, maxy, minz);
// Sides
glVertex3f(minx, miny, minz);
glVertex3f(minx, maxy, minz);
glVertex3f(maxx, miny, minz);
glVertex3f(maxx, maxy, minz);
glVertex3f(maxx, miny, maxz);
glVertex3f(maxx, maxy, maxz);
glVertex3f(minx, miny, maxz);
glVertex3f(minx, maxy, maxz);
}
void dtDebugDrawStatNavMeshBVTree(const dtStatNavMesh* mesh)
{
const float col[] = { 1,1,1,0.5f };
const dtStatNavMeshHeader* hdr = mesh->getHeader();
const dtBVNode* nodes = mesh->getBvTreeNodes();
int nnodes = mesh->getBvTreeNodeCount();
glBegin(GL_LINES);
for (int i = 0; i < nnodes; ++i)
{
const dtBVNode* n = &nodes[i];
if (n->i < 0) // Leaf indices are positive.
continue;
drawBoxWire(hdr->bmin[0] + n->bmin[0]*hdr->cs,
hdr->bmin[1] + n->bmin[1]*hdr->cs,
hdr->bmin[2] + n->bmin[2]*hdr->cs,
hdr->bmin[0] + n->bmax[0]*hdr->cs,
hdr->bmin[1] + n->bmax[1]*hdr->cs,
hdr->bmin[2] + n->bmax[2]*hdr->cs, col);
}
glEnd();
}
void dtDebugDrawStatNavMesh(const dtStatNavMesh* mesh)
{
glBegin(GL_TRIANGLES);
for (int i = 0; i < mesh->getPolyCount(); ++i)
{
const dtPoly* p = mesh->getPoly(i);
if (mesh->isInOpenList(i+1))
glColor4ub(255,196,0,64);
else
glColor4ub(0,196,255,64);
unsigned short vi[3];
for (int j = 2; j < (int)p->nv; ++j)
{
vi[0] = p->v[0];
vi[1] = p->v[j-1];
vi[2] = p->v[j];
for (int k = 0; k < 3; ++k)
{
const float* v = mesh->getVertex(vi[k]);
glVertex3f(v[0], v[1]+0.2f, v[2]);
}
}
}
glEnd();
// Draw tri boundaries
glColor4ub(0,48,64,32);
glLineWidth(1.5f);
glBegin(GL_LINES);
for (int i = 0; i < mesh->getPolyCount(); ++i)
{
const dtPoly* p = mesh->getPoly(i);
for (int j = 0, nj = (int)p->nv; j < nj; ++j)
{
if (p->n[j] == 0) continue;
int vi[2];
vi[0] = p->v[j];
vi[1] = p->v[(j+1) % nj];
for (int k = 0; k < 2; ++k)
{
const float* v = mesh->getVertex(vi[k]);
glVertex3f(v[0], v[1]+0.21f, v[2]);
}
}
}
glEnd();
// Draw boundaries
glLineWidth(2.5f);
glColor4ub(0,48,64,220);
glBegin(GL_LINES);
for (int i = 0; i < mesh->getPolyCount(); ++i)
{
const dtPoly* p = mesh->getPoly(i);
for (int j = 0, nj = (int)p->nv; j < nj; ++j)
{
if (p->n[j] != 0) continue;
int vi[2];
vi[0] = p->v[j];
vi[1] = p->v[(j+1) % nj];
for (int k = 0; k < 2; ++k)
{
const float* v = mesh->getVertex(vi[k]);
glVertex3f(v[0], v[1]+0.21f, v[2]);
}
}
}
glEnd();
glLineWidth(1.0f);
glPointSize(3.0f);
glColor4ub(0,0,0,196);
glBegin(GL_POINTS);
for (int i = 0; i < mesh->getVertexCount(); ++i)
{
const float* v = mesh->getVertex(i);
glVertex3f(v[0], v[1]+0.21f, v[2]);
}
glEnd();
glPointSize(1.0f);
}
static void drawTile(const dtTileHeader* header)
{
const float col[4] = {0,0,0,0.25f};
glBegin(GL_LINES);
drawBoxWire(header->bmin[0],header->bmin[1],header->bmin[2],
header->bmax[0],header->bmax[1],header->bmax[2], col);
glEnd();
glBegin(GL_TRIANGLES);
for (int i = 0; i < header->npolys; ++i)
{
const dtTilePoly* p = &header->polys[i];
glColor4ub(0,196,255,64);
unsigned short vi[3];
for (int j = 2; j < (int)p->nv; ++j)
{
vi[0] = p->v[0];
vi[1] = p->v[j-1];
vi[2] = p->v[j];
for (int k = 0; k < 3; ++k)
{
const float* v = &header->verts[vi[k]*3];
glVertex3f(v[0], v[1]+0.2f, v[2]);
}
}
}
glEnd();
// Draw tri boundaries
glLineWidth(1.5f);
glBegin(GL_LINES);
for (int i = 0; i < header->npolys; ++i)
{
const dtTilePoly* p = &header->polys[i];
for (int j = 0, nj = (int)p->nv; j < nj; ++j)
{
if (p->n[j] == 0) continue;
if (p->n[j] & 0x8000)
{
bool con = false;
for (int k = 0; k < p->nlinks; ++k)
{
if (header->links[p->links+k].e == j)
{
con = true;
break;
}
}
if (con)
glColor4ub(255,255,255,128);
else
glColor4ub(0,0,0,128);
}
else
glColor4ub(0,48,64,32);
/*
{
// Portal
int side = (p->n[j] >> 13) & 3;
int i = p->n[j] & 0x1fff;
if (!header->portals[side][i].ncon) continue;
}*/
int vi[2];
vi[0] = p->v[j];
vi[1] = p->v[(j+1) % nj];
for (int k = 0; k < 2; ++k)
{
const float* v = &header->verts[vi[k]*3];
glVertex3f(v[0], v[1]+0.21f, v[2]);
}
}
}
glEnd();
// Draw boundaries
glLineWidth(2.5f);
glColor4ub(0,48,64,220);
glBegin(GL_LINES);
for (int i = 0; i < header->npolys; ++i)
{
const dtTilePoly* p = &header->polys[i];
for (int j = 0, nj = (int)p->nv; j < nj; ++j)
{
if (p->n[j] != 0)
{
/* if (p->n[j] & 0x8000)
{
// Portal
int side = (p->n[j] >> 13) & 3;
int i = p->n[j] & 0x1fff;
if (header->portals[side][i].ncon) continue;
}
else*/
continue;
}
int vi[2];
vi[0] = p->v[j];
vi[1] = p->v[(j+1) % nj];
for (int k = 0; k < 2; ++k)
{
const float* v = &header->verts[vi[k]*3];
glVertex3f(v[0], v[1]+0.21f, v[2]);
}
}
}
glEnd();
glLineWidth(1.0f);
glPointSize(3.0f);
glColor4ub(0,0,0,196);
glBegin(GL_POINTS);
for (int i = 0; i < header->nverts; ++i)
{
const float* v = &header->verts[i*3];
glVertex3f(v[0], v[1]+0.21f, v[2]);
}
glEnd();
glPointSize(1.0f);
// Draw portals
/* glBegin(GL_LINES);
for (int i = 0; i < header->nportals[0]; ++i)
{
const dtTilePortal* p = &header->portals[0][i];
if (p->ncon)
glColor4ub(255,255,255,192);
else
glColor4ub(255,0,0,64);
glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
}
for (int i = 0; i < header->nportals[1]; ++i)
{
const dtTilePortal* p = &header->portals[1][i];
if (p->ncon)
glColor4ub(255,255,255,192);
else
glColor4ub(255,0,0,64);
glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
}
for (int i = 0; i < header->nportals[2]; ++i)
{
const dtTilePortal* p = &header->portals[2][i];
if (p->ncon)
glColor4ub(255,255,255,192);
else
glColor4ub(255,0,0,64);
glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
}
for (int i = 0; i < header->nportals[3]; ++i)
{
const dtTilePortal* p = &header->portals[3][i];
if (p->ncon)
glColor4ub(255,255,255,192);
else
glColor4ub(255,0,0,64);
glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
}
glEnd();*/
}
void dtDebugDrawTiledNavMesh(const dtTiledNavMesh* mesh)
{
if (!mesh) return;
for (int i = 0; i < DT_MAX_TILES; ++i)
{
const dtTile* tile = mesh->getTile(i);
if (!tile->header) continue;
drawTile(tile->header);
}
}
void dtDebugDrawTiledNavMeshPoly(const dtTiledNavMesh* mesh, dtTilePolyRef ref, const float* col)
{
const dtTilePoly* p = mesh->getPolyByRef(ref);
if (!p) return;
const float* verts = mesh->getPolyVertsByRef(ref);
glColor4f(col[0],col[1],col[2],0.25f);
glBegin(GL_TRIANGLES);
unsigned short vi[3];
for (int j = 2; j < (int)p->nv; ++j)
{
vi[0] = p->v[0];
vi[1] = p->v[j-1];
vi[2] = p->v[j];
for (int k = 0; k < 3; ++k)
{
const float* v = &verts[vi[k]*3];
glVertex3f(v[0], v[1]+0.2f, v[2]);
}
}
glEnd();
}
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