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DETOUR API CHANGE!

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- 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
2011-03-25 09:16:38 +00:00
parent 838d0657bd
commit 1de5e2f119
29 changed files with 3246 additions and 3574 deletions
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189
RecastDemo/Source/Sample_TileMesh.cpp
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@@ -175,16 +175,12 @@ Sample_TileMesh::Sample_TileMesh() :
m_keepInterResults(false),
m_buildAll(true),
m_totalBuildTimeMs(0),
m_drawPortals(false),
m_triareas(0),
m_solid(0),
m_chf(0),
m_cset(0),
m_pmesh(0),
m_dmesh(0),
m_lset(0),
m_nlcsets(0),
m_nlmeshes(0),
m_drawMode(DRAWMODE_NAVMESH),
m_maxTiles(0),
m_maxPolysPerTile(0),
@@ -197,9 +193,6 @@ Sample_TileMesh::Sample_TileMesh() :
resetCommonSettings();
memset(m_tileBmin, 0, sizeof(m_tileBmin));
memset(m_tileBmax, 0, sizeof(m_tileBmax));
memset(m_lcsets, 0, sizeof(m_lcsets));
memset(m_lmeshes, 0, sizeof(m_lmeshes));
setTool(new NavMeshTileTool);
}
@@ -225,23 +218,6 @@ void Sample_TileMesh::cleanup()
m_pmesh = 0;
rcFreePolyMeshDetail(m_dmesh);
m_dmesh = 0;
rcFreeHeightfieldLayerSet(m_lset);
m_lset = 0;
for (int i = 0; i < MAX_LAYERS; ++i)
{
rcFreeLayerContourSet(m_lcsets[i]);
m_lcsets[i] = 0;
}
m_nlcsets = 0;
for (int i = 0; i < MAX_LAYERS; ++i)
{
rcFreeLayerPolyMesh(m_lmeshes[i]);
m_lmeshes[i] = 0;
}
m_nlmeshes = 0;
}
@@ -490,9 +466,6 @@ void Sample_TileMesh::handleDebugMode()
valid[DRAWMODE_CONTOURS] = m_cset != 0;
valid[DRAWMODE_POLYMESH] = m_pmesh != 0;
valid[DRAWMODE_POLYMESH_DETAIL] = m_dmesh != 0;
valid[DRAWMODE_HEIGHFIELD_LAYERS] = m_lset != 0;
valid[DRAWMODE_LAYER_CONTOURS] = m_nlcsets != 0;
valid[DRAWMODE_LAYER_MESHES] = m_nlmeshes != 0;
}
int unavail = 0;
@@ -539,16 +512,7 @@ void Sample_TileMesh::handleDebugMode()
m_drawMode = DRAWMODE_POLYMESH;
if (imguiCheck("Poly Mesh Detail", m_drawMode == DRAWMODE_POLYMESH_DETAIL, valid[DRAWMODE_POLYMESH_DETAIL]))
m_drawMode = DRAWMODE_POLYMESH_DETAIL;
imguiSeparatorLine();
if (imguiCheck("Heighfield Layers", m_drawMode == DRAWMODE_HEIGHFIELD_LAYERS, valid[DRAWMODE_HEIGHFIELD_LAYERS]))
m_drawMode = DRAWMODE_HEIGHFIELD_LAYERS;
if (imguiCheck("Layer Contours", m_drawMode == DRAWMODE_LAYER_CONTOURS, valid[DRAWMODE_LAYER_CONTOURS]))
m_drawMode = DRAWMODE_LAYER_CONTOURS;
if (imguiCheck("Layer Meshes", m_drawMode == DRAWMODE_LAYER_MESHES, valid[DRAWMODE_LAYER_MESHES]))
m_drawMode = DRAWMODE_LAYER_MESHES;
if (unavail)
{
imguiValue("Tick 'Keep Itermediate Results'");
@@ -575,13 +539,7 @@ void Sample_TileMesh::handleRender()
m_agentMaxSlope, texScale);
m_geom->drawOffMeshConnections(&dd);
}
/* duDebugDrawTriMesh(&dd, m_geom->getMesh()->getVerts(), m_geom->getMesh()->getVertCount(),
m_geom->getMesh()->getTris(), m_geom->getMesh()->getNormals(), m_geom->getMesh()->getTriCount(), 0);
m_geom->drawOffMeshConnections(&dd);*/
glDepthMask(GL_FALSE);
// Draw bounds
@@ -598,15 +556,9 @@ void Sample_TileMesh::handleRender()
duDebugDrawGridXZ(&dd, bmin[0],bmin[1],bmin[2], tw,th, s, duRGBA(0,0,0,64), 1.0f);
// Draw active tile
duDebugDrawBoxWire(&dd, m_tileBmin[0],m_tileBmin[1],m_tileBmin[2], m_tileBmax[0],m_tileBmax[1],m_tileBmax[2], m_tileCol, 1.0f);
/* if (m_navMesh)
{
duDebugDrawNavMeshWithClosedList(&dd, *m_navMesh, *m_navQuery, m_navMeshDrawFlags);
if (m_drawPortals)
duDebugDrawNavMeshPortals(&dd, *m_navMesh);
}*/
duDebugDrawBoxWire(&dd, m_tileBmin[0],m_tileBmin[1],m_tileBmin[2],
m_tileBmax[0],m_tileBmax[1],m_tileBmax[2], m_tileCol, 1.0f);
if (m_navMesh && m_navQuery &&
(m_drawMode == DRAWMODE_NAVMESH ||
m_drawMode == DRAWMODE_NAVMESH_TRANS ||
@@ -688,30 +640,7 @@ void Sample_TileMesh::handleRender()
duDebugDrawPolyMeshDetail(&dd, *m_dmesh);
glDepthMask(GL_TRUE);
}
if (m_lset && m_drawMode == DRAWMODE_HEIGHFIELD_LAYERS)
{
glDepthMask(GL_FALSE);
duDebugDrawHeightfieldLayersRegions(&dd, *m_lset);
glDepthMask(GL_TRUE);
}
if (m_nlcsets && m_drawMode == DRAWMODE_LAYER_CONTOURS)
{
glDepthMask(GL_FALSE);
for (int i = 0; i < m_nlcsets; ++i)
duDebugDrawLayerContours(&dd, *m_lcsets[i]);
glDepthMask(GL_TRUE);
}
if (m_nlmeshes && m_drawMode == DRAWMODE_LAYER_MESHES)
{
glDepthMask(GL_FALSE);
for (int i = 0; i < m_nlmeshes; ++i)
duDebugDrawLayerPolyMesh(&dd, *m_lmeshes[i]);
glDepthMask(GL_TRUE);
}
m_geom->drawConvexVolumes(&dd);
if (m_tool)
@@ -725,32 +654,12 @@ void Sample_TileMesh::handleRenderOverlay(double* proj, double* model, int* view
GLdouble x, y, z;
// Draw start and end point labels
/* if (m_tileBuildTime > 0.0f && gluProject((GLdouble)(m_tileBmin[0]+m_tileBmax[0])/2, (GLdouble)(m_tileBmin[1]+m_tileBmax[1])/2, (GLdouble)(m_tileBmin[2]+m_tileBmax[2])/2,
if (m_tileBuildTime > 0.0f && gluProject((GLdouble)(m_tileBmin[0]+m_tileBmax[0])/2, (GLdouble)(m_tileBmin[1]+m_tileBmax[1])/2, (GLdouble)(m_tileBmin[2]+m_tileBmax[2])/2,
model, proj, view, &x, &y, &z))
{
char text[32];
snprintf(text,32,"%.3fms / %dTris / %.1fkB", m_tileBuildTime, m_tileTriCount, m_tileMemUsage);
imguiDrawText((int)x, (int)y-25, IMGUI_ALIGN_CENTER, text, imguiRGBA(0,0,0,220));
}*/
if (m_lset && m_drawMode == DRAWMODE_HEIGHFIELD_LAYERS)
{
for (int i = 0; i < m_lset->nlayers; ++i)
{
const rcHeightfieldLayer* layer = &m_lset->layers[i];
unsigned int color = duIntToCol(i+1, 255);
float pos[3];
rcVcopy(pos, layer->bmin);
pos[1] = (layer->bmin[1] + layer->bmax[1])*0.5f;
if (gluProject((GLdouble)pos[0], (GLdouble)pos[1], (GLdouble)pos[2], model, proj, view, &x, &y, &z))
{
char text[32];
snprintf(text,32,"Layer %d", i+1);
imguiDrawRoundedRect(x+10-6,y-6,100,20, 4, duTransCol(color,128));
imguiDrawText((int)x+10, (int)y, IMGUI_ALIGN_LEFT, text, imguiRGBA(255,255,255,255));
}
}
}
if (m_tool)
@@ -852,7 +761,7 @@ void Sample_TileMesh::buildTile(const float* pos)
if (data)
{
// Remove any previous data (navmesh owns and deletes the data).
m_navMesh->removeTile(m_navMesh->getTileRefAt(tx,ty),0,0);
m_navMesh->removeTile(m_navMesh->getTileRefAt(tx,ty,0),0,0);
// Let the navmesh own the data.
dtStatus status = m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,0);
@@ -896,7 +805,7 @@ void Sample_TileMesh::removeTile(const float* pos)
m_tileCol = duRGBA(128,32,16,64);
m_navMesh->removeTile(m_navMesh->getTileRefAt(tx,ty),0,0);
m_navMesh->removeTile(m_navMesh->getTileRefAt(tx,ty,0),0,0);
}
void Sample_TileMesh::buildAllTiles()
@@ -934,7 +843,7 @@ void Sample_TileMesh::buildAllTiles()
if (data)
{
// Remove any previous data (navmesh owns and deletes the data).
m_navMesh->removeTile(m_navMesh->getTileRefAt(x,y),0,0);
m_navMesh->removeTile(m_navMesh->getTileRefAt(x,y,0),0,0);
// Let the navmesh own the data.
dtStatus status = m_navMesh->addTile(data,dataSize,DT_TILE_FREE_DATA,0,0);
if (dtStatusFailed(status))
@@ -962,7 +871,7 @@ void Sample_TileMesh::removeAllTiles()
for (int y = 0; y < th; ++y)
for (int x = 0; x < tw; ++x)
m_navMesh->removeTile(m_navMesh->getTileRefAt(x,y),0,0);
m_navMesh->removeTile(m_navMesh->getTileRefAt(x,y,0),0,0);
}
@@ -1109,7 +1018,7 @@ unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const
if (!rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, *m_chf))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
return false;
return 0;
}
// (Optional) Mark areas.
@@ -1142,53 +1051,7 @@ unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const
return 0;
}
}
// TODO: Remove
// NOTE! This is for heighfield layer testing only, not needed for general build process!
{
m_lset = rcAllocHeightfieldLayerSet();
if (!m_lset)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'lset'.");
return 0;
}
if (!rcBuildHeightfieldLayers(m_ctx, *m_chf, m_cfg.borderSize, m_cfg.walkableHeight, *m_lset))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build heighfield layers.");
return 0;
}
m_nlcsets = 0;
m_nlmeshes = 0;
for (int i = 0; i < m_lset->nlayers; ++i)
{
rcBuildLayerRegions(m_ctx, m_lset->layers[i], m_cfg.walkableClimb);
m_lcsets[m_nlcsets] = rcAllocLayerContourSet();
if (!rcBuildLayerContours(m_ctx, m_lset->layers[i],
m_cfg.walkableClimb, m_cfg.maxSimplificationError,
*m_lcsets[m_nlcsets]))
{
break;
}
m_lmeshes[m_nlmeshes] = rcAllocLayerPolyMesh();
if (!rcBuildLayerPolyMesh(m_ctx, *m_lcsets[m_nlcsets],
m_cfg.maxVertsPerPoly,
*m_lmeshes[m_nlmeshes]))
{
break;
}
m_nlcsets++;
m_nlmeshes++;
}
}
// Create contours.
m_cset = rcAllocContourSet();
if (!m_cset)
@@ -1248,14 +1111,6 @@ unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const
int navDataSize = 0;
if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
{
// Remove padding from the polymesh data. TODO: Remove this odditity.
for (int i = 0; i < m_pmesh->nverts; ++i)
{
unsigned short* v = &m_pmesh->verts[i*3];
v[0] -= (unsigned short)m_cfg.borderSize;
v[2] -= (unsigned short)m_cfg.borderSize;
}
if (m_pmesh->nverts >= 0xffff)
{
// The vertex indices are ushorts, and cannot point to more than 0xffff vertices.
@@ -1311,26 +1166,18 @@ unsigned char* Sample_TileMesh::buildTileMesh(const int tx, const int ty, const
params.walkableClimb = m_agentMaxClimb;
params.tileX = tx;
params.tileY = ty;
rcVcopy(params.bmin, bmin);
rcVcopy(params.bmax, bmax);
params.tileLayer = 0;
rcVcopy(params.bmin, m_pmesh->bmin);
rcVcopy(params.bmax, m_pmesh->bmax);
params.cs = m_cfg.cs;
params.ch = m_cfg.ch;
params.tileSize = m_cfg.tileSize;
params.buildBvTree = true;
if (!dtCreateNavMeshData(&params, &navData, &navDataSize))
{
m_ctx->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
return 0;
}
// Restore padding so that the debug visualization is correct.
for (int i = 0; i < m_pmesh->nverts; ++i)
{
unsigned short* v = &m_pmesh->verts[i*3];
v[0] += (unsigned short)m_cfg.borderSize;
v[2] += (unsigned short)m_cfg.borderSize;
}
}
}
m_tileMemUsage = navDataSize/1024.0f;