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Changed Detour header var names more to verbose. Pass params as a struct to dtCreateNavMeshData. Named Off-mesh links to Off-mesh connections. Cleaned up Off-mesh connection code and samples. Added connection radius and direction to Off-mesh connections. Agent dimensions passed store in navmesh header.

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This commit is contained in:
Mikko Mononen
2010-01-19 14:22:48 +00:00
parent da9dec1eef
commit 3abbfe006d
24 changed files with 7358 additions and 3099 deletions
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98
DebugUtils/Source/DebugDraw.cpp
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@@ -79,10 +79,11 @@ void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float mi
}
void duDebugDrawArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
const float x1, const float y1, const float z1, const float h, unsigned int col, const float lineWidth)
const float x1, const float y1, const float z1, const float h,
const float as0, const float as1, unsigned int col, const float lineWidth)
{
dd->begin(DU_DRAW_LINES, lineWidth);
duAppendArc(dd, x0,y0,z0, x1,y1,z1, h, col);
duAppendArc(dd, x0,y0,z0, x1,y1,z1, h, as0, as1, col);
dd->end();
}
@@ -234,25 +235,98 @@ void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz,
}
}
inline void evalArc(const float x0, const float y0, const float z0,
const float dx, const float dy, const float dz,
const float h, const float u, float* res)
{
res[0] = x0 + dx * u;
res[1] = y0 + dy * u + h * (1-(u*2-1)*(u*2-1));
res[2] = z0 + dz * u;
}
inline void vcross(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
dest[1] = v1[2]*v2[0] - v1[0]*v2[2];
dest[2] = v1[0]*v2[1] - v1[1]*v2[0];
}
inline void vnormalize(float* v)
{
float d = 1.0f / sqrtf(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
v[0] *= d;
v[1] *= d;
v[2] *= d;
}
inline void vsub(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]-v2[0];
dest[1] = v1[1]-v2[1];
dest[2] = v1[2]-v2[2];
}
void appendArrowHead(struct duDebugDraw* dd, const float* p, const float* q,
const float s, unsigned int col)
{
float ax[3], ay[3] = {0,1,0}, az[3];
vsub(az, q, p);
vnormalize(az);
vcross(ax, ay, az);
vcross(ay, az, ax);
vnormalize(ay);
dd->vertex(p, col);
// dd->vertex(p[0]+az[0]*s+ay[0]*s/2, p[1]+az[1]*s+ay[1]*s/2, p[2]+az[2]*s+ay[2]*s/2, col);
dd->vertex(p[0]+az[0]*s+ax[0]*s/3, p[1]+az[1]*s+ax[1]*s/3, p[2]+az[2]*s+ax[2]*s/3, col);
dd->vertex(p, col);
// dd->vertex(p[0]+az[0]*s-ay[0]*s/2, p[1]+az[1]*s-ay[1]*s/2, p[2]+az[2]*s-ay[2]*s/2, col);
dd->vertex(p[0]+az[0]*s-ax[0]*s/3, p[1]+az[1]*s-ax[1]*s/3, p[2]+az[2]*s-ax[2]*s/3, col);
}
void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
const float x1, const float y1, const float z1, const float h, unsigned int col)
const float x1, const float y1, const float z1, const float h,
const float as0, const float as1, unsigned int col)
{
static const int NUM_ARC_PTS = 8;
static const float ARC_PTS_SCALE = 1.0f / (float)NUM_ARC_PTS;
static const float PAD = 0.05f;
static const float ARC_PTS_SCALE = (1.0f-PAD*2) / (float)NUM_ARC_PTS;
const float dx = x1 - x0;
const float dy = y1 - y0;
const float dz = z1 - z0;
const float len = sqrtf(dx*dx + dy*dy + dz*dz);
float px = x0, py = y0, pz = z0;
float prev[3];
evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD, prev);
for (int i = 1; i <= NUM_ARC_PTS; ++i)
{
const float u = i * ARC_PTS_SCALE;
const float x = x0 + dx * u;
const float y = y0 + dy * u + (len*h) * (1-(u*2-1)*(u*2-1));
const float z = z0 + dz * u;
dd->vertex(px,py,pz, col);
dd->vertex(x,y,z, col);
px = x; py = y; pz = z;
const float u = PAD + i * ARC_PTS_SCALE;
float pt[3];
evalArc(x0,y0,z0, dx,dy,dz, len*h, u, pt);
dd->vertex(prev[0],prev[1],prev[2], col);
dd->vertex(pt[0],pt[1],pt[2], col);
prev[0] = pt[0]; prev[1] = pt[1]; prev[2] = pt[2];
}
// End arrows
if (as0 > 0.001f)
{
float p[3], q[3];
evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD, p);
evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD+0.05f, q);
appendArrowHead(dd, p, q, as0, col);
}
if (as1 > 0.001f)
{
float p[3], q[3];
evalArc(x0,y0,z0, dx,dy,dz, len*h, 1-PAD, p);
evalArc(x0,y0,z0, dx,dy,dz, len*h, 1-(PAD+0.05f), q);
appendArrowHead(dd, p, q, as1, col);
}
}