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Cleanup NavMeshTester tool a bit

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This commit is contained in:
Graham Pentheny
2025-08-21 21:45:06 -04:00
parent f9b39663c9
commit 0d95e05f74
2 changed files with 129 additions and 122 deletions
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233
RecastDemo/Source/Tool_NavMeshTester.cpp
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@@ -18,41 +18,35 @@
#include "Tool_NavMeshTester.h"
#include "SDL_opengl.h"
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#ifdef __APPLE__
# include <OpenGL/glu.h>
#else
# include <GL/glu.h>
#endif
#include "DetourCommon.h"
#include "DetourDebugDraw.h"
#include "DetourNavMesh.h"
#include "DetourPathCorridor.h"
#include "SDL_opengl.h"
#include "Sample.h"
#include "imguiHelpers.h"
#include <imgui.h>
#ifdef WIN32
# define snprintf _snprintf
#include <cstdlib>
#ifdef __APPLE__
# include <OpenGL/glu.h>
#else
# include <GL/glu.h>
#endif
// Uncomment this to dump all the requests in stdout.
#define DUMP_REQS
// Returns a random number [0..1]
static float frand()
namespace
{
return (float)rand() / (float)RAND_MAX;
// Returns a random number [0..1]
float frand()
{
return static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
}
inline bool inRange(const float* v1, const float* v2, const float r, const float h)
bool inRange(const float* v1, const float* v2, const float r, const float h)
{
const float dx = v2[0] - v1[0];
const float dy = v2[1] - v1[1];
@@ -71,7 +65,7 @@ inline bool inRange(const float* v1, const float* v2, const float r, const float
// +-S-+-T-+
// |:::| | <-- the step can end up in here, resulting U-turn path.
// +---+---+
static int fixupShortcuts(dtPolyRef* path, int npath, dtNavMeshQuery* navQuery)
int fixupShortcuts(dtPolyRef* path, int npath, dtNavMeshQuery* navQuery)
{
if (npath < 3) { return npath; }
@@ -124,7 +118,7 @@ static int fixupShortcuts(dtPolyRef* path, int npath, dtNavMeshQuery* navQuery)
return npath;
}
static bool getSteerTarget(dtNavMeshQuery* navQuery,
bool getSteerTarget(dtNavMeshQuery* navQuery,
const float* startPos,
const float* endPos,
const float minTargetDist,
@@ -184,6 +178,31 @@ static bool getSteerTarget(dtNavMeshQuery* navQuery,
return true;
}
void getPolyCenter(dtNavMesh* navMesh, dtPolyRef ref, float* center)
{
center[0] = 0;
center[1] = 0;
center[2] = 0;
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
dtStatus status = navMesh->getTileAndPolyByRef(ref, &tile, &poly);
if (dtStatusFailed(status)) { return; }
for (int i = 0; i < static_cast<int>(poly->vertCount); ++i)
{
const float* v = &tile->verts[poly->verts[i] * 3];
center[0] += v[0];
center[1] += v[1];
center[2] += v[2];
}
const float s = 1.0f / static_cast<float>(poly->vertCount);
center[0] *= s;
center[1] *= s;
center[2] *= s;
}
}
NavMeshTesterTool::NavMeshTesterTool()
{
filter.setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED);
@@ -1073,30 +1092,6 @@ void NavMeshTesterTool::recalc()
}
}
static void getPolyCenter(dtNavMesh* navMesh, dtPolyRef ref, float* center)
{
center[0] = 0;
center[1] = 0;
center[2] = 0;
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
dtStatus status = navMesh->getTileAndPolyByRef(ref, &tile, &poly);
if (dtStatusFailed(status)) { return; }
for (int i = 0; i < (int)poly->vertCount; ++i)
{
const float* v = &tile->verts[poly->verts[i] * 3];
center[0] += v[0];
center[1] += v[1];
center[2] += v[2];
}
const float s = 1.0f / poly->vertCount;
center[0] *= s;
center[1] *= s;
center[2] *= s;
}
void NavMeshTesterTool::render()
{
duDebugDraw& dd = sample->debugDraw;
@@ -1110,13 +1105,24 @@ void NavMeshTesterTool::render()
const float agentClimb = sample->agentMaxClimb;
dd.depthMask(false);
if (sposSet) { drawAgent(spos, agentRadius, agentHeight, agentClimb, startCol); }
if (eposSet) { drawAgent(epos, agentRadius, agentHeight, agentClimb, endCol); }
if (sposSet)
{
drawAgent(spos, agentRadius, agentHeight, agentClimb, startCol);
}
if (eposSet)
{
drawAgent(epos, agentRadius, agentHeight, agentClimb, endCol);
}
dd.depthMask(true);
if (!sample->navMesh) { return; }
if (!sample->navMesh)
{
return;
}
if (toolMode == ToolMode::PATHFIND_FOLLOW)
switch (toolMode)
{
case ToolMode::PATHFIND_FOLLOW:
{
duDebugDrawNavMeshPoly(&dd, *sample->navMesh, startRef, startCol);
duDebugDrawNavMeshPoly(&dd, *sample->navMesh, endRef, endCol);
@@ -1125,7 +1131,10 @@ void NavMeshTesterTool::render()
{
for (int i = 0; i < npolys; ++i)
{
if (polys[i] == startRef || polys[i] == endRef) { continue; }
if (polys[i] == startRef || polys[i] == endRef)
{
continue;
}
duDebugDrawNavMeshPoly(&dd, *sample->navMesh, polys[i], pathCol);
}
}
@@ -1168,11 +1177,7 @@ void NavMeshTesterTool::render()
for (int i = 0; i < steerPointCount - 1; ++i)
{
dd.vertex(
steerPoints[i * 3 + 0],
steerPoints[i * 3 + 1] + 0.2f,
steerPoints[i * 3 + 2],
duDarkenCol(steerCol));
dd.vertex(steerPoints[i * 3 + 0], steerPoints[i * 3 + 1] + 0.2f, steerPoints[i * 3 + 2], duDarkenCol(steerCol));
dd.vertex(
steerPoints[(i + 1) * 3 + 0],
steerPoints[(i + 1) * 3 + 1] + 0.2f,
@@ -1184,7 +1189,9 @@ void NavMeshTesterTool::render()
dd.depthMask(true);
}
}
else if (toolMode == ToolMode::PATHFIND_STRAIGHT || toolMode == ToolMode::PATHFIND_SLICED)
break;
case ToolMode::PATHFIND_STRAIGHT:
case ToolMode::PATHFIND_SLICED:
{
duDebugDrawNavMeshPoly(&dd, *sample->navMesh, startRef, startCol);
duDebugDrawNavMeshPoly(&dd, *sample->navMesh, endRef, endCol);
@@ -1193,7 +1200,10 @@ void NavMeshTesterTool::render()
{
for (int i = 0; i < npolys; ++i)
{
if (polys[i] == startRef || polys[i] == endRef) { continue; }
if (polys[i] == startRef || polys[i] == endRef)
{
continue;
}
duDebugDrawNavMeshPoly(&dd, *sample->navMesh, polys[i], pathCol);
}
}
@@ -1216,33 +1226,38 @@ void NavMeshTesterTool::render()
col = spathCol;
}
dd.vertex(
straightPath[i * 3],
straightPath[i * 3 + 1] + 0.4f,
straightPath[i * 3 + 2],
col);
dd.vertex(
straightPath[(i + 1) * 3],
straightPath[(i + 1) * 3 + 1] + 0.4f,
straightPath[(i + 1) * 3 + 2],
col);
dd.vertex(straightPath[i * 3], straightPath[i * 3 + 1] + 0.4f, straightPath[i * 3 + 2], col);
dd.vertex(straightPath[(i + 1) * 3], straightPath[(i + 1) * 3 + 1] + 0.4f, straightPath[(i + 1) * 3 + 2], col);
}
dd.end();
dd.begin(DU_DRAW_POINTS, 6.0f);
for (int i = 0; i < nstraightPath; ++i)
{
unsigned int col;
if (straightPathFlags[i] & DT_STRAIGHTPATH_START) { col = startCol; }
else if (straightPathFlags[i] & DT_STRAIGHTPATH_END) { col = endCol; }
else if (straightPathFlags[i] & DT_STRAIGHTPATH_OFFMESH_CONNECTION) { col = offMeshCol; }
else { col = spathCol; }
if (straightPathFlags[i] & DT_STRAIGHTPATH_START)
{
col = startCol;
}
else if (straightPathFlags[i] & DT_STRAIGHTPATH_END)
{
col = endCol;
}
else if (straightPathFlags[i] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
{
col = offMeshCol;
}
else
{
col = spathCol;
}
dd.vertex(straightPath[i * 3], straightPath[i * 3 + 1] + 0.4f, straightPath[i * 3 + 2], col);
}
dd.end();
dd.depthMask(true);
}
}
else if (toolMode == ToolMode::RAYCAST)
break;
case ToolMode::RAYCAST:
{
duDebugDrawNavMeshPoly(&dd, *sample->navMesh, startRef, startCol);
@@ -1258,11 +1273,7 @@ void NavMeshTesterTool::render()
dd.begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < nstraightPath - 1; ++i)
{
dd.vertex(
straightPath[i * 3],
straightPath[i * 3 + 1] + 0.4f,
straightPath[i * 3 + 2],
spathCol);
dd.vertex(straightPath[i * 3], straightPath[i * 3 + 1] + 0.4f, straightPath[i * 3 + 2], spathCol);
dd.vertex(
straightPath[(i + 1) * 3],
straightPath[(i + 1) * 3 + 1] + 0.4f,
@@ -1273,11 +1284,7 @@ void NavMeshTesterTool::render()
dd.begin(DU_DRAW_POINTS, 4.0f);
for (int i = 0; i < nstraightPath; ++i)
{
dd.vertex(
straightPath[i * 3],
straightPath[i * 3 + 1] + 0.4f,
straightPath[i * 3 + 2],
spathCol);
dd.vertex(straightPath[i * 3], straightPath[i * 3 + 1] + 0.4f, straightPath[i * 3 + 2], spathCol);
}
dd.end();
@@ -1285,11 +1292,7 @@ void NavMeshTesterTool::render()
{
const unsigned int hitCol = duRGBA(0, 0, 0, 128);
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(
hitPos[0],
hitPos[1] + 0.4f,
hitPos[2],
hitCol);
dd.vertex(hitPos[0], hitPos[1] + 0.4f, hitPos[2], hitCol);
dd.vertex(
hitPos[0] + hitNormal[0] * agentRadius,
hitPos[1] + 0.4f + hitNormal[1] * agentRadius,
@@ -1300,25 +1303,20 @@ void NavMeshTesterTool::render()
dd.depthMask(true);
}
}
else if (toolMode == ToolMode::DISTANCE_TO_WALL)
break;
case ToolMode::DISTANCE_TO_WALL:
{
duDebugDrawNavMeshPoly(&dd, *sample->navMesh, startRef, startCol);
dd.depthMask(false);
duDebugDrawCircle(
&dd,
spos[0],
spos[1] + agentHeight / 2,
spos[2],
distanceToWall,
duRGBA(64, 16, 0, 220),
2.0f);
duDebugDrawCircle(&dd, spos[0], spos[1] + agentHeight / 2, spos[2], distanceToWall, duRGBA(64, 16, 0, 220), 2.0f);
dd.begin(DU_DRAW_LINES, 3.0f);
dd.vertex(hitPos[0], hitPos[1] + 0.02f, hitPos[2], duRGBA(0, 0, 0, 192));
dd.vertex(hitPos[0], hitPos[1] + agentHeight, hitPos[2], duRGBA(0, 0, 0, 192));
dd.end();
dd.depthMask(true);
}
else if (toolMode == ToolMode::FIND_POLYS_IN_CIRCLE)
break;
case ToolMode::FIND_POLYS_IN_CIRCLE:
{
for (int i = 0; i < npolys; ++i)
{
@@ -1346,7 +1344,8 @@ void NavMeshTesterTool::render()
dd.depthMask(true);
}
}
else if (toolMode == ToolMode::FIND_POLYS_IN_SHAPE)
break;
case ToolMode::FIND_POLYS_IN_SHAPE:
{
for (int i = 0; i < npolys; ++i)
{
@@ -1380,7 +1379,8 @@ void NavMeshTesterTool::render()
dd.depthMask(true);
}
}
else if (toolMode == ToolMode::FIND_LOCAL_NEIGHBOURHOOD)
break;
case ToolMode::FIND_LOCAL_NEIGHBOURHOOD:
{
for (int i = 0; i < npolys; ++i)
{
@@ -1410,7 +1410,10 @@ void NavMeshTesterTool::render()
// Skip too distant segments.
float tseg;
float distSqr = dtDistancePtSegSqr2D(spos, s, s + 3, tseg);
if (distSqr > dtSqr(neighbourhoodRadius)) { continue; }
if (distSqr > dtSqr(neighbourhoodRadius))
{
continue;
}
float delta[3];
float norm[3];
@@ -1465,6 +1468,8 @@ void NavMeshTesterTool::render()
dd.depthMask(true);
}
}
break;
}
if (nrandPoints > 0)
{
@@ -1508,26 +1513,26 @@ void NavMeshTesterTool::renderOverlay(double* proj, double* model, int* view)
DrawScreenspaceText( 280, 40, IM_COL32(255, 255, 255, 192), "LMB+SHIFT: Set start location LMB: Set end location");
}
void NavMeshTesterTool::drawAgent(const float* pos, float r, float h, float c, const unsigned int col)
void NavMeshTesterTool::drawAgent(const float* pos, float r, float h, float c, const unsigned int col) const
{
duDebugDraw& dd = sample->debugDraw;
duDebugDraw& draw = sample->debugDraw;
dd.depthMask(false);
draw.depthMask(false);
// Agent dimensions.
duDebugDrawCylinderWire(&dd, pos[0] - r, pos[1] + 0.02f, pos[2] - r, pos[0] + r, pos[1] + h, pos[2] + r, col, 2.0f);
duDebugDrawCylinderWire(&draw, pos[0] - r, pos[1] + 0.02f, pos[2] - r, pos[0] + r, pos[1] + h, pos[2] + r, col, 2.0f);
duDebugDrawCircle(&dd, pos[0], pos[1] + c, pos[2], r, duRGBA(0, 0, 0, 64), 1.0f);
duDebugDrawCircle(&draw, pos[0], pos[1] + c, pos[2], r, duRGBA(0, 0, 0, 64), 1.0f);
unsigned int colb = duRGBA(0, 0, 0, 196);
dd.begin(DU_DRAW_LINES);
dd.vertex(pos[0], pos[1] - c, pos[2], colb);
dd.vertex(pos[0], pos[1] + c, pos[2], colb);
dd.vertex(pos[0] - r / 2, pos[1] + 0.02f, pos[2], colb);
dd.vertex(pos[0] + r / 2, pos[1] + 0.02f, pos[2], colb);
dd.vertex(pos[0], pos[1] + 0.02f, pos[2] - r / 2, colb);
dd.vertex(pos[0], pos[1] + 0.02f, pos[2] + r / 2, colb);
dd.end();
const unsigned int color = duRGBA(0, 0, 0, 196);
draw.begin(DU_DRAW_LINES);
draw.vertex(pos[0], pos[1] - c, pos[2], color);
draw.vertex(pos[0], pos[1] + c, pos[2], color);
draw.vertex(pos[0] - r / 2, pos[1] + 0.02f, pos[2], color);
draw.vertex(pos[0] + r / 2, pos[1] + 0.02f, pos[2], color);
draw.vertex(pos[0], pos[1] + 0.02f, pos[2] - r / 2, color);
draw.vertex(pos[0], pos[1] + 0.02f, pos[2] + r / 2, color);
draw.end();
dd.depthMask(true);
draw.depthMask(true);
}