mirror of
https://github.com/recastnavigation/recastnavigation.git
synced 2026-07-19 12:39:20 +00:00
DETOUR API CHANGE!
- Detour Navmesh supports layers - Allow to disable Navmesh BV-tree - Added DetourTileCache - Cleaned up Recast layer code - Moved portal edge detection to Recast - Removed polymesh border offset - Removed lean heighfield
This commit is contained in:
Mikko Mononen
@@ -326,61 +326,6 @@ void duDebugDrawCompactHeightfieldDistance(duDebugDraw* dd, const rcCompactHeigh
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dd->end();
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}
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void duDebugDrawLeanHeightfieldSolid(duDebugDraw* dd, const rcLeanHeightfield& lhf)
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{
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if (!dd) return;
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const float cs = lhf.cs;
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const float ch = lhf.ch;
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const int headerSize = rcAlign4(sizeof(rcLeanHeightfield));
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const int countsSize = rcAlign4(sizeof(unsigned char)*lhf.width*lhf.height);
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const int floorsSize = rcAlign4(sizeof(unsigned short)*lhf.spanCount);
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const unsigned char* data = (const unsigned char*)&lhf;
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const unsigned char* counts = (const unsigned char*)&data[headerSize];
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const unsigned short* floors = (const unsigned short*)&data[headerSize+countsSize];
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const unsigned char* areas = (const unsigned char*)&data[headerSize+countsSize+floorsSize];
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dd->begin(DU_DRAW_QUADS);
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unsigned short mask = (1<<RC_SPAN_HEIGHT_BITS)-1;
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int idx = 0;
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for (int y = 0; y < lhf.height; ++y)
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{
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for (int x = 0; x < lhf.width; ++x)
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{
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const float fx = lhf.bmin[0] + x*cs;
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const float fz = lhf.bmin[2] + y*cs;
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const int count = counts[x+y*lhf.width];
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for (int i = idx, ni = idx+count; i < ni; ++i)
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{
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const int h = floors[i] & mask;
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unsigned char area = areas[i];
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unsigned int color;
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if (area == RC_WALKABLE_AREA)
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color = duRGBA(0,192,255,64);
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else if (area == RC_NULL_AREA)
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color = duRGBA(0,0,0,64);
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else
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color = duIntToCol(area, 255);
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const float fy = lhf.bmin[1] + (h+1)*ch;
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dd->vertex(fx, fy, fz, color);
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dd->vertex(fx, fy, fz+cs, color);
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dd->vertex(fx+cs, fy, fz+cs, color);
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dd->vertex(fx+cs, fy, fz, color);
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}
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idx += count;
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}
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}
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dd->end();
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}
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static void drawLayerPortals(duDebugDraw* dd, const rcHeightfieldLayer* layer, const unsigned int color)
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{
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const float cs = layer->cs;
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@@ -422,116 +367,68 @@ static void drawLayerPortals(duDebugDraw* dd, const rcHeightfieldLayer* layer, c
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dd->end();
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}
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void duDebugDrawHeightfieldLayer(duDebugDraw* dd, const struct rcHeightfieldLayer& layer, const int idx)
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{
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const float cs = layer.cs;
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const float ch = layer.ch;
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const int w = layer.width;
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const int h = layer.height;
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unsigned int color = duIntToCol(idx+1, 255);
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// Layer bounds
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float bmin[3], bmax[3];
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bmin[0] = layer.bmin[0] + layer.minx*cs;
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bmin[1] = layer.bmin[1];
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bmin[2] = layer.bmin[2] + layer.miny*cs;
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bmax[0] = layer.bmin[0] + (layer.maxx+1)*cs;
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bmax[1] = layer.bmax[1];
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bmax[2] = layer.bmin[2] + (layer.maxy+1)*cs;
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duDebugDrawBoxWire(dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duTransCol(color,128), 2.0f);
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// Layer height
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dd->begin(DU_DRAW_QUADS);
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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const int idx = x+y*w;
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const int h = (int)layer.heights[idx];
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if (h == 0xff) continue;
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const unsigned char area = layer.areas[idx];
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unsigned int col;
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if (area == RC_WALKABLE_AREA)
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col = duLerpCol(color, duRGBA(0,192,255,64), 32);
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else if (area == RC_NULL_AREA)
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col = duLerpCol(color, duRGBA(0,0,0,64), 32);
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else
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col = duLerpCol(color, duIntToCol(area, 255), 32);
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const float fx = layer.bmin[0] + x*cs;
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const float fy = layer.bmin[1] + (h+1)*ch;
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const float fz = layer.bmin[2] + y*cs;
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dd->vertex(fx, fy, fz, col);
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dd->vertex(fx, fy, fz+cs, col);
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dd->vertex(fx+cs, fy, fz+cs, col);
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dd->vertex(fx+cs, fy, fz, col);
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}
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}
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dd->end();
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// Portals
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drawLayerPortals(dd, &layer, color);
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}
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void duDebugDrawHeightfieldLayers(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset)
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{
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if (!dd) return;
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for (int i = 0; i < lset.nlayers; ++i)
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{
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const rcHeightfieldLayer* layer = &lset.layers[i];
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const float cs = layer->cs;
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const float ch = layer->ch;
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const int w = layer->width;
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const int h = layer->height;
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unsigned int color = duIntToCol(i+1, 255);
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// Layer bounds
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float bmin[3], bmax[3];
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rcVcopy(bmin, layer->bmin);
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rcVcopy(bmax, layer->bmax);
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duDebugDrawBoxWire(dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duTransCol(color,128), 2.0f);
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// Layer height
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dd->begin(DU_DRAW_QUADS);
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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const int idx = x+y*w;
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const int h = (int)layer->heights[idx];
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if (h == 0xff) continue;
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const unsigned char area = layer->areas[idx];
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unsigned int col;
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if (area == RC_WALKABLE_AREA)
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col = duLerpCol(color, duRGBA(0,192,255,64), 32);
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else if (area == RC_NULL_AREA)
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col = duLerpCol(color, duRGBA(0,0,0,64), 32);
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else
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col = duLerpCol(color, duIntToCol(area, 255), 32);
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const float fx = layer->bmin[0] + x*cs;
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const float fy = layer->bmin[1] + (h+1)*ch;
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const float fz = layer->bmin[2] + y*cs;
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dd->vertex(fx, fy, fz, col);
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dd->vertex(fx, fy, fz+cs, col);
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dd->vertex(fx+cs, fy, fz+cs, col);
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dd->vertex(fx+cs, fy, fz, col);
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}
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}
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dd->end();
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// Portals
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drawLayerPortals(dd, layer, color);
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}
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}
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void duDebugDrawHeightfieldLayersRegions(duDebugDraw* dd, const struct rcHeightfieldLayerSet& lset)
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{
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if (!dd) return;
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for (int i = 0; i < lset.nlayers; ++i)
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{
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const rcHeightfieldLayer* layer = &lset.layers[i];
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const float cs = layer->cs;
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const float ch = layer->ch;
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const int w = layer->width;
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const int h = layer->height;
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unsigned int color = duIntToCol(i+1, 255);
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// Layer bounds
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float bmin[3], bmax[3];
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rcVcopy(bmin, layer->bmin);
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rcVcopy(bmax, layer->bmax);
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duDebugDrawBoxWire(dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duTransCol(color,128), 2.0f);
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// Layer height
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dd->begin(DU_DRAW_QUADS);
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for (int y = 0; y < h; ++y)
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{
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for (int x = 0; x < w; ++x)
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{
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const int idx = x+y*w;
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const int h = (int)layer->heights[idx];
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if (h == 0xff) continue;
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const unsigned char area = layer->regs ? layer->regs[idx]+1 : 1;
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unsigned int col = duLerpCol(color, duIntToCol(area, 255), 32);
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const float fx = layer->bmin[0] + x*cs;
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const float fy = layer->bmin[1] + (h+1)*ch;
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const float fz = layer->bmin[2] + y*cs;
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dd->vertex(fx, fy, fz, col);
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dd->vertex(fx, fy, fz+cs, col);
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dd->vertex(fx+cs, fy, fz+cs, col);
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dd->vertex(fx+cs, fy, fz, col);
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}
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}
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dd->end();
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// Portals
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drawLayerPortals(dd, layer, color);
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}
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duDebugDrawHeightfieldLayer(dd, lset.layers[i], i);
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}
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/*
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void duDebugDrawLayerContours(duDebugDraw* dd, const struct rcLayerContourSet& lcset)
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{
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if (!dd) return;
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@@ -542,6 +439,8 @@ void duDebugDrawLayerContours(duDebugDraw* dd, const struct rcLayerContourSet& l
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const unsigned char a = 255;// (unsigned char)(alpha*255.0f);
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const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1};
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dd->begin(DU_DRAW_LINES, 2.0f);
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for (int i = 0; i < lcset.nconts; ++i)
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@@ -564,7 +463,21 @@ void duDebugDrawLayerContours(duDebugDraw* dd, const struct rcLayerContourSet& l
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const float bz = orig[2] + vb[2]*cs;
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unsigned int col = color;
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if ((va[3] & 0xf) != 0xf)
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{
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col = duRGBA(255,255,255,128);
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int d = va[3] & 0xf;
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const float cx = (ax+bx)*0.5f;
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const float cy = (ay+by)*0.5f;
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const float cz = (az+bz)*0.5f;
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const float dx = cx + offs[d*2+0]*2*cs;
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const float dy = cy;
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const float dz = cz + offs[d*2+1]*2*cs;
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dd->vertex(cx,cy,cz,duRGBA(255,0,0,255));
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dd->vertex(dx,dy,dz,duRGBA(255,0,0,255));
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}
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duAppendArrow(dd, ax,ay,az, bx,by,bz, 0.0f, cs*0.5f, col);
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}
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@@ -604,6 +517,8 @@ void duDebugDrawLayerPolyMesh(duDebugDraw* dd, const struct rcLayerPolyMesh& lme
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const float ch = lmesh.ch;
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const float* orig = lmesh.bmin;
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const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1};
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dd->begin(DU_DRAW_TRIS);
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for (int i = 0; i < lmesh.npolys; ++i)
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@@ -647,13 +562,8 @@ void duDebugDrawLayerPolyMesh(duDebugDraw* dd, const struct rcLayerPolyMesh& lme
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{
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if (p[j] == RC_MESH_NULL_IDX) break;
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if (p[nvp+j] & 0x8000) continue;
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int vi[2];
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vi[0] = p[j];
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if (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX)
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vi[1] = p[0];
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else
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vi[1] = p[j+1];
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const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1;
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int vi[2] = {p[j], p[nj]};
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for (int k = 0; k < 2; ++k)
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{
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@@ -677,16 +587,37 @@ void duDebugDrawLayerPolyMesh(duDebugDraw* dd, const struct rcLayerPolyMesh& lme
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{
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if (p[j] == RC_MESH_NULL_IDX) break;
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if ((p[nvp+j] & 0x8000) == 0) continue;
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int vi[2];
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vi[0] = p[j];
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if (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX)
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vi[1] = p[0];
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else
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vi[1] = p[j+1];
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const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1;
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int vi[2] = {p[j], p[nj]};
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unsigned int col = colb;
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if ((p[nvp+j] & 0xff) != 0xff)
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if ((p[nvp+j] & 0xf) != 0xf)
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{
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const unsigned short* va = &lmesh.verts[vi[0]*3];
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const unsigned short* vb = &lmesh.verts[vi[1]*3];
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const float ax = orig[0] + va[0]*cs;
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const float ay = orig[1] + (va[1]+1+(i&1))*ch;
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const float az = orig[2] + va[2]*cs;
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const float bx = orig[0] + vb[0]*cs;
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const float by = orig[1] + (vb[1]+1+(i&1))*ch;
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const float bz = orig[2] + vb[2]*cs;
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const float cx = (ax+bx)*0.5f;
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const float cy = (ay+by)*0.5f;
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const float cz = (az+bz)*0.5f;
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int d = p[nvp+j] & 0xf;
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const float dx = cx + offs[d*2+0]*2*cs;
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const float dy = cy;
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const float dz = cz + offs[d*2+1]*2*cs;
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dd->vertex(cx,cy,cz,duRGBA(255,0,0,255));
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dd->vertex(dx,dy,dz,duRGBA(255,0,0,255));
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col = duRGBA(255,255,255,128);
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}
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for (int k = 0; k < 2; ++k)
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{
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@@ -712,7 +643,7 @@ void duDebugDrawLayerPolyMesh(duDebugDraw* dd, const struct rcLayerPolyMesh& lme
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}
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dd->end();
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}
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*/
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static void getContourCenter(const rcContour* cont, const float* orig, float cs, float ch, float* center)
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{
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@@ -973,13 +904,10 @@ void duDebugDrawPolyMesh(duDebugDraw* dd, const struct rcPolyMesh& mesh)
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for (int j = 0; j < nvp; ++j)
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{
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if (p[j] == RC_MESH_NULL_IDX) break;
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if (p[nvp+j] == RC_MESH_NULL_IDX) continue;
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int vi[2];
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vi[0] = p[j];
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if (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX)
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vi[1] = p[0];
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else
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vi[1] = p[j+1];
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if (p[nvp+j] & 0x8000) continue;
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const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1;
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const int vi[2] = {p[j], p[nj]};
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for (int k = 0; k < 2; ++k)
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{
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const unsigned short* v = &mesh.verts[vi[k]*3];
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@@ -1001,20 +929,20 @@ void duDebugDrawPolyMesh(duDebugDraw* dd, const struct rcPolyMesh& mesh)
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for (int j = 0; j < nvp; ++j)
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{
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if (p[j] == RC_MESH_NULL_IDX) break;
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if (p[nvp+j] != RC_MESH_NULL_IDX) continue;
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int vi[2];
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vi[0] = p[j];
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if (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX)
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vi[1] = p[0];
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else
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vi[1] = p[j+1];
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if ((p[nvp+j] & 0x8000) == 0) continue;
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const int nj = (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX) ? 0 : j+1;
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const int vi[2] = {p[j], p[nj]};
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unsigned int col = colb;
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if ((p[nvp+j] & 0xf) != 0xf)
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col = duRGBA(255,255,255,128);
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for (int k = 0; k < 2; ++k)
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{
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const unsigned short* v = &mesh.verts[vi[k]*3];
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const float x = orig[0] + v[0]*cs;
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const float y = orig[1] + (v[1]+1)*ch + 0.1f;
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const float z = orig[2] + v[2]*cs;
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dd->vertex(x, y, z, colb);
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dd->vertex(x, y, z, col);
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}
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}
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}
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