mirror of
https://github.com/recastnavigation/recastnavigation.git
synced 2026-08-19 17:49:59 +00:00
Added tool states, Crowd can be let run in the BG while changing mesh, Added off-mesh connection support for tile cache, Fixed tile cache area generation, Added debugdraw for tile cache build steps, Migrated to Xcode4.
This commit is contained in:
Mikko Mononen
@@ -493,7 +493,48 @@ void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef re
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}
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void duDebugDrawTileCacheLayer(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch)
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static void debugDrawTileCachePortals(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch)
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{
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const int w = (int)layer.header->width;
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const int h = (int)layer.header->height;
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const float* bmin = layer.header->bmin;
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// Portals
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unsigned int pcol = duRGBA(255,255,255,255);
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const int segs[4*4] = {0,0,0,1, 0,1,1,1, 1,1,1,0, 1,0,0,0};
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// Layer portals
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dd->begin(DU_DRAW_LINES, 2.0f);
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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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for (int dir = 0; dir < 4; ++dir)
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{
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if (layer.cons[idx] & (1<<(dir+4)))
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{
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const int* seg = &segs[dir*4];
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const float ax = bmin[0] + (x+seg[0])*cs;
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const float ay = bmin[1] + (h+2)*ch;
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const float az = bmin[2] + (y+seg[1])*cs;
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const float bx = bmin[0] + (x+seg[2])*cs;
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const float by = bmin[1] + (h+2)*ch;
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const float bz = bmin[2] + (y+seg[3])*cs;
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dd->vertex(ax, ay, az, pcol);
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dd->vertex(bx, by, bz, pcol);
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}
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}
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}
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}
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dd->end();
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}
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void duDebugDrawTileCacheLayerAreas(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch)
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{
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const int w = (int)layer.header->width;
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const int h = (int)layer.header->height;
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@@ -544,13 +585,31 @@ void duDebugDrawTileCacheLayer(struct duDebugDraw* dd, const dtTileCacheLayer& l
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}
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dd->end();
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// Portals
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unsigned int pcol = duRGBA(255,255,255,255);
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debugDrawTileCachePortals(dd, layer, cs, ch);
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}
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void duDebugDrawTileCacheLayerRegions(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch)
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{
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const int w = (int)layer.header->width;
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const int h = (int)layer.header->height;
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const float* bmin = layer.header->bmin;
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const float* bmax = layer.header->bmax;
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const int idx = layer.header->tlayer;
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const int segs[4*4] = {0,0,0,1, 0,1,1,1, 1,1,1,0, 1,0,0,0};
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unsigned int color = duIntToCol(idx+1, 255);
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// Layer portals
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dd->begin(DU_DRAW_LINES, 2.0f);
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// Layer bounds
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float lbmin[3], lbmax[3];
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lbmin[0] = bmin[0] + layer.header->minx*cs;
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lbmin[1] = bmin[1];
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lbmin[2] = bmin[2] + layer.header->miny*cs;
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lbmax[0] = bmin[0] + (layer.header->maxx+1)*cs;
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lbmax[1] = bmax[1];
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lbmax[2] = bmin[2] + (layer.header->maxy+1)*cs;
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duDebugDrawBoxWire(dd, lbmin[0],lbmin[1],lbmin[2], lbmax[0],lbmax[1],lbmax[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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@@ -558,23 +617,255 @@ void duDebugDrawTileCacheLayer(struct duDebugDraw* dd, const dtTileCacheLayer& l
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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 reg = layer.regs[idx];
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for (int dir = 0; dir < 4; ++dir)
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unsigned int col = duLerpCol(color, duIntToCol(reg, 255), 192);
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const float fx = bmin[0] + x*cs;
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const float fy = bmin[1] + (h+1)*ch;
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const float fz = 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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debugDrawTileCachePortals(dd, layer, cs, ch);
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}
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/*struct dtTileCacheContour
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{
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int nverts;
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unsigned char* verts;
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unsigned char reg;
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unsigned char area;
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};
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struct dtTileCacheContourSet
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{
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int nconts;
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dtTileCacheContour* conts;
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};*/
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void duDebugDrawTileCacheContours(duDebugDraw* dd, const struct dtTileCacheContourSet& lcset,
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const float* orig, const float cs, const float ch)
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{
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if (!dd) return;
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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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{
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const dtTileCacheContour& c = lcset.conts[i];
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unsigned int color = 0;
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color = duIntToCol(i, a);
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for (int j = 0; j < c.nverts; ++j)
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{
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const int k = (j+1) % c.nverts;
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const unsigned char* va = &c.verts[j*4];
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const unsigned char* vb = &c.verts[k*4];
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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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unsigned int col = color;
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if ((va[3] & 0xf) != 0xf)
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{
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if (layer.cons[idx] & (1<<(dir+4)))
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{
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const int* seg = &segs[dir*4];
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const float ax = bmin[0] + (x+seg[0])*cs;
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const float ay = bmin[1] + (h+2)*ch;
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const float az = bmin[2] + (y+seg[1])*cs;
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const float bx = bmin[0] + (x+seg[2])*cs;
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const float by = bmin[1] + (h+2)*ch;
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const float bz = bmin[2] + (y+seg[3])*cs;
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dd->vertex(ax, ay, az, pcol);
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dd->vertex(bx, by, bz, pcol);
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}
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// Portal segment
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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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}
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dd->end();
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dd->begin(DU_DRAW_POINTS, 4.0f);
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for (int i = 0; i < lcset.nconts; ++i)
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{
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const dtTileCacheContour& c = lcset.conts[i];
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unsigned int color = 0;
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for (int j = 0; j < c.nverts; ++j)
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{
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const unsigned char* va = &c.verts[j*4];
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color = duDarkenCol(duIntToCol(i, a));
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if (va[3] & 0x80)
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{
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// Border vertex
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color = duRGBA(255,0,0,255);
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}
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float fx = orig[0] + va[0]*cs;
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float fy = orig[1] + (va[1]+1+(i&1))*ch;
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float fz = orig[2] + va[2]*cs;
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dd->vertex(fx,fy,fz, color);
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}
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}
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dd->end();
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}
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void duDebugDrawTileCachePolyMesh(duDebugDraw* dd, const struct dtTileCachePolyMesh& lmesh,
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const float* orig, const float cs, const float ch)
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{
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if (!dd) return;
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const int nvp = lmesh.nvp;
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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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{
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const unsigned short* p = &lmesh.polys[i*nvp*2];
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unsigned int color;
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if (lmesh.areas[i] == DT_TILECACHE_WALKABLE_AREA)
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color = duRGBA(0,192,255,64);
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else if (lmesh.areas[i] == DT_TILECACHE_NULL_AREA)
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color = duRGBA(0,0,0,64);
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else
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color = duIntToCol(lmesh.areas[i], 255);
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unsigned short vi[3];
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for (int j = 2; j < nvp; ++j)
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{
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if (p[j] == DT_TILECACHE_NULL_IDX) break;
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vi[0] = p[0];
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vi[1] = p[j-1];
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vi[2] = p[j];
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for (int k = 0; k < 3; ++k)
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{
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const unsigned short* v = &lmesh.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;
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const float z = orig[2] + v[2]*cs;
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dd->vertex(x,y,z, color);
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}
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}
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}
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dd->end();
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// Draw neighbours edges
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const unsigned int coln = duRGBA(0,48,64,32);
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dd->begin(DU_DRAW_LINES, 1.5f);
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for (int i = 0; i < lmesh.npolys; ++i)
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{
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const unsigned short* p = &lmesh.polys[i*nvp*2];
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for (int j = 0; j < nvp; ++j)
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{
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if (p[j] == DT_TILECACHE_NULL_IDX) break;
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if (p[nvp+j] & 0x8000) continue;
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const int nj = (j+1 >= nvp || p[j+1] == DT_TILECACHE_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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const unsigned short* v = &lmesh.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, coln);
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}
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}
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}
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dd->end();
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// Draw boundary edges
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const unsigned int colb = duRGBA(0,48,64,220);
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dd->begin(DU_DRAW_LINES, 2.5f);
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for (int i = 0; i < lmesh.npolys; ++i)
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{
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const unsigned short* p = &lmesh.polys[i*nvp*2];
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for (int j = 0; j < nvp; ++j)
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{
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if (p[j] == DT_TILECACHE_NULL_IDX) break;
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if ((p[nvp+j] & 0x8000) == 0) continue;
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const int nj = (j+1 >= nvp || p[j+1] == DT_TILECACHE_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] & 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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const unsigned short* v = &lmesh.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, col);
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}
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}
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}
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dd->end();
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dd->begin(DU_DRAW_POINTS, 3.0f);
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const unsigned int colv = duRGBA(0,0,0,220);
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for (int i = 0; i < lmesh.nverts; ++i)
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{
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const unsigned short* v = &lmesh.verts[i*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, colv);
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}
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dd->end();
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}
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