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Changed dtQueryFilter to contain the flags check and cost calculation, can customized. Fix for issue 47 and issue 103.

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This commit is contained in:
Mikko Mononen
2010-08-20 09:30:37 +00:00
parent 8215cd48d1
commit 0e4aa30e85
19 changed files with 2458 additions and 13396 deletions
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101
DebugUtils/Source/DetourDebugDraw.cpp
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@@ -21,6 +21,7 @@
#include "DetourDebugDraw.h"
#include "DetourNavMesh.h"
#include "DetourCommon.h"
#include "DetourNode.h"
static float distancePtLine2d(const float* pt, const float* p, const float* q)
@@ -220,7 +221,6 @@ static void drawMeshTile(duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMesh
dd->end();
}
const unsigned int vcol = duRGBA(0,0,0,196);
dd->begin(DU_DRAW_POINTS, 3.0f);
for (int i = 0; i < tile->header->vertCount; ++i)
@@ -229,7 +229,7 @@ static void drawMeshTile(duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMesh
dd->vertex(v[0], v[1], v[2], vcol);
}
dd->end();
dd->depthMask(true);
}
@@ -257,6 +257,44 @@ void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& m
}
}
void duDebugDrawNavMeshNodes(struct duDebugDraw* dd, const dtNavMeshQuery& query)
{
if (!dd) return;
const dtNodePool* pool = query.getNodePool();
if (pool)
{
const float off = 0.5f;
dd->begin(DU_DRAW_POINTS, 4.0f);
for (int i = 0; i < pool->getHashSize(); ++i)
{
for (unsigned short j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j))
{
const dtNode* node = pool->getNodeAtIdx(j+1);
if (!node) continue;
dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,255));
}
}
dd->end();
dd->begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < pool->getHashSize(); ++i)
{
for (unsigned short j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j))
{
const dtNode* node = pool->getNodeAtIdx(j+1);
if (!node) continue;
if (!node->pidx) continue;
const dtNode* parent = pool->getNodeAtIdx(node->pidx);
if (!parent) continue;
dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,128));
dd->vertex(parent->pos[0],parent->pos[1]+off,parent->pos[2], duRGBA(255,192,0,128));
}
}
dd->end();
}
}
static void drawMeshTileBVTree(duDebugDraw* dd, const dtMeshTile* tile)
{
@@ -291,28 +329,6 @@ void duDebugDrawNavMeshBVTree(duDebugDraw* dd, const dtNavMesh& mesh)
}
}
/*
static void calcRect(const float* va, const float* vb,
float* bmin, float* bmax,
int side, float padx, float pady)
{
if (side == 0 || side == 4)
{
bmin[0] = dtMin(va[2],vb[2]) + padx;
bmin[1] = dtMin(va[1],vb[1]) - pady;
bmax[0] = dtMax(va[2],vb[2]) - padx;
bmax[1] = dtMax(va[1],vb[1]) + pady;
}
else if (side == 2 || side == 6)
{
bmin[0] = dtMin(va[0],vb[0]) + padx;
bmin[1] = dtMin(va[1],vb[1]) - pady;
bmax[0] = dtMax(va[0],vb[0]) - padx;
bmax[1] = dtMax(va[1],vb[1]) + pady;
}
}
*/
static void drawMeshTilePortal(duDebugDraw* dd, const dtMeshTile* tile)
{
// Draw portals
@@ -358,24 +374,6 @@ static void drawMeshTilePortal(duDebugDraw* dd, const dtMeshTile* tile)
dd->vertex(x,vb[1]-pady,vb[2], col);
dd->vertex(x,va[1]-pady,va[2], col);
/* const float zmin = dtMin(va[2], vb[2]) - padx;
const float zmax = dtMax(va[2], vb[2]) + padx;
const float ymin = dtMin(va[1], vb[1]) - pady;
const float ymax = dtMax(va[1], vb[1]) + pady;
const float x = va[0] + ((side == 0) ? -0.02f : 0.02f);
dd->vertex(x,ymin,zmin, col);
dd->vertex(x,ymin,zmax, col);
dd->vertex(x,ymin,zmax, col);
dd->vertex(x,ymax,zmax, col);
dd->vertex(x,ymax,zmax, col);
dd->vertex(x,ymax,zmin, col);
dd->vertex(x,ymax,zmin, col);
dd->vertex(x,ymin,zmin, col);*/
}
else if (side == 2 || side == 6)
{
@@ -394,25 +392,6 @@ static void drawMeshTilePortal(duDebugDraw* dd, const dtMeshTile* tile)
dd->vertex(vb[0],vb[1]-pady,z, col);
dd->vertex(va[0],va[1]-pady,z, col);
/* const float xmin = dtMin(va[0], vb[0]) - padx;
const float xmax = dtMax(va[0], vb[0]) + padx;
const float ymin = dtMin(va[1], vb[1]) - pady;
const float ymax = dtMax(va[1], vb[1]) + pady;
const float z = va[2] + ((side == 2) ? -0.02f : 0.02f);
dd->vertex(xmin,ymin,z, col);
dd->vertex(xmax,ymin,z, col);
dd->vertex(xmax,ymin,z, col);
dd->vertex(xmax,ymax,z, col);
dd->vertex(xmax,ymax,z, col);
dd->vertex(xmin,ymax,z, col);
dd->vertex(xmin,ymax,z, col);
dd->vertex(xmin,ymin,z, col);*/
}
}