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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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162
DebugUtils/Source/DetourDebugDraw.cpp
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@@ -16,9 +16,11 @@
// 3. This notice may not be removed or altered from any source distribution.
//
#include <math.h>
#include "DebugDraw.h"
#include "DetourDebugDraw.h"
#include "DetourNavMesh.h"
#include "DetourCommon.h"
static float distancePtLine2d(const float* pt, const float* p, const float* q)
@@ -43,26 +45,26 @@ static void drawPolyBoundaries(duDebugDraw* dd, const dtMeshHeader* header,
dd->begin(DU_DRAW_LINES, linew);
for (int i = 0; i < header->npolys; ++i)
for (int i = 0; i < header->polyCount; ++i)
{
const dtPoly* p = &header->polys[i];
if (p->flags & DT_POLY_OFFMESH_LINK) continue;
if (p->flags & DT_POLY_OFFMESH_CONNECTION) continue;
const dtPolyDetail* pd = &header->dmeshes[i];
const dtPolyDetail* pd = &header->detailMeshes[i];
for (int j = 0, nj = (int)p->nv; j < nj; ++j)
for (int j = 0, nj = (int)p->vertCount; j < nj; ++j)
{
unsigned int c = col;
if (inner)
{
if (p->n[j] == 0) continue;
if (p->n[j] & 0x8000)
if (p->neis[j] == 0) continue;
if (p->neis[j] & DT_EXT_LINK)
{
bool con = false;
for (int k = 0; k < p->nlinks; ++k)
for (int k = 0; k < p->linkCount; ++k)
{
if (header->links[p->links+k].e == j)
if (header->links[p->linkBase+k].edge == j)
{
con = true;
break;
@@ -78,24 +80,24 @@ static void drawPolyBoundaries(duDebugDraw* dd, const dtMeshHeader* header,
}
else
{
if (p->n[j] != 0) continue;
if (p->neis[j] != 0) continue;
}
const float* v0 = &header->verts[p->v[j]*3];
const float* v1 = &header->verts[p->v[(j+1)%nj]*3];
const float* v0 = &header->verts[p->verts[j]*3];
const float* v1 = &header->verts[p->verts[(j+1) % nj]*3];
// Draw detail mesh edges which align with the actual poly edge.
// This is really slow.
for (int k = 0; k < pd->ntris; ++k)
for (int k = 0; k < pd->triCount; ++k)
{
const unsigned char* t = &header->dtris[(pd->tbase+k)*4];
const unsigned char* t = &header->detailTris[(pd->triBase+k)*4];
const float* tv[3];
for (int m = 0; m < 3; ++m)
{
if (t[m] < p->nv)
tv[m] = &header->verts[p->v[t[m]]*3];
if (t[m] < p->vertCount)
tv[m] = &header->verts[p->verts[t[m]]*3];
else
tv[m] = &header->dverts[(pd->vbase+(t[m]-p->nv))*3];
tv[m] = &header->detailVerts[(pd->vertBase+(t[m]-p->vertCount))*3];
}
for (int m = 0, n = 2; m < 3; n=m++)
{
@@ -113,59 +115,88 @@ static void drawPolyBoundaries(duDebugDraw* dd, const dtMeshHeader* header,
dd->end();
}
static void drawMeshTile(duDebugDraw* dd, const dtNavMesh* mesh, const dtMeshTile* tile, bool drawClosedList)
static void drawMeshTile(duDebugDraw* dd, const dtNavMesh* mesh, const dtMeshTile* tile, unsigned char flags)
{
const dtMeshHeader* header = tile->header;
dtPolyRef base = mesh->getTileId(tile);
dd->depthMask(false);
dd->begin(DU_DRAW_TRIS);
for (int i = 0; i < header->npolys; ++i)
for (int i = 0; i < header->polyCount; ++i)
{
const dtPoly* p = &header->polys[i];
if (p->flags & DT_POLY_OFFMESH_LINK) // Skip off-mesh links.
if (p->flags & DT_POLY_OFFMESH_CONNECTION) // Skip off-mesh links.
continue;
const dtPolyDetail* pd = &header->dmeshes[i];
const dtPolyDetail* pd = &header->detailMeshes[i];
unsigned int col;
if (drawClosedList && mesh->isInClosedList(base | (dtPolyRef)i))
if ((flags & DU_DRAWNAVMESH_CLOSEDLIST) && mesh->isInClosedList(base | (dtPolyRef)i))
col = duRGBA(255,196,0,64);
else
col = duRGBA(0,196,255,64);
for (int j = 0; j < pd->ntris; ++j)
for (int j = 0; j < pd->triCount; ++j)
{
const unsigned char* t = &header->dtris[(pd->tbase+j)*4];
const unsigned char* t = &header->detailTris[(pd->triBase+j)*4];
for (int k = 0; k < 3; ++k)
{
if (t[k] < p->nv)
dd->vertex(&header->verts[p->v[t[k]]*3], col);
if (t[k] < p->vertCount)
dd->vertex(&header->verts[p->verts[t[k]]*3], col);
else
dd->vertex(&header->dverts[(pd->vbase+t[k]-p->nv)*3], col);
dd->vertex(&header->detailVerts[(pd->vertBase+t[k]-p->vertCount)*3], col);
}
}
}
dd->end();
dd->begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < header->npolys; ++i)
if (flags & DU_DRAWNAVMESH_OFFMESHCONS)
{
const dtPoly* p = &header->polys[i];
if ((p->flags & DT_POLY_OFFMESH_LINK) == 0) // Skip regular polys.
continue;
dd->begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < header->polyCount; ++i)
{
const dtPoly* p = &header->polys[i];
if ((p->flags & DT_POLY_OFFMESH_CONNECTION) == 0) // Skip regular polys.
continue;
unsigned int col;
if ((flags & DU_DRAWNAVMESH_CLOSEDLIST) && mesh->isInClosedList(base | (dtPolyRef)i))
col = duRGBA(255,196,0,220);
else
col = duRGBA(255,255,255,220);
unsigned int col;
if (drawClosedList && mesh->isInClosedList(base | (dtPolyRef)i))
col = duRGBA(255,196,0,220);
else
col = duRGBA(0,196,255,220);
const float* va = &header->verts[p->v[0]*3];
const float* vb = &header->verts[p->v[1]*3];
duDebugDrawArc(dd, va[0],va[1]+0.1f,va[2], vb[0],vb[1]+0.1f,vb[2], 0.25f, col, 2.0f);
const dtOffMeshConnection* con = &header->offMeshCons[i - header->offMeshBase];
const float* va = &header->verts[p->verts[0]*3];
const float* vb = &header->verts[p->verts[1]*3];
// End points and their on-mesh locations.
if (con->ref[0])
{
dd->vertex(va[0],va[1],va[2], col);
dd->vertex(con->pos[0],con->pos[1],con->pos[2], col);
duAppendCircle(dd, con->pos[0],con->pos[1]+0.1f,con->pos[2], con->rad, duRGBA(0,48,64,196));
}
if (con->ref[1])
{
dd->vertex(vb[0],vb[1],vb[2], col);
dd->vertex(con->pos[3],con->pos[4],con->pos[5], col);
duAppendCircle(dd, con->pos[3],con->pos[4]+0.1f,con->pos[5], con->rad, duRGBA(0,48,64,196));
}
// End point vertices.
dd->vertex(con->pos[0],con->pos[1],con->pos[2], duRGBA(0,48,64,196));
dd->vertex(con->pos[0],con->pos[1]+0.2f,con->pos[2], duRGBA(0,48,64,196));
dd->vertex(con->pos[3],con->pos[4],con->pos[5], duRGBA(0,48,64,196));
dd->vertex(con->pos[3],con->pos[4]+0.2f,con->pos[5], duRGBA(0,48,64,196));
// Connection arc.
duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f,
(con->flags & 1) ? 0.6f : 0, 0.6f, col);
}
dd->end();
}
dd->end();
// Draw inter poly boundaries
drawPolyBoundaries(dd, header, duRGBA(0,48,64,32), 1.5f, true);
@@ -175,7 +206,7 @@ static void drawMeshTile(duDebugDraw* dd, const dtNavMesh* mesh, const dtMeshTil
const unsigned int vcol = duRGBA(0,0,0,196);
dd->begin(DU_DRAW_POINTS, 3.0f);
for (int i = 0; i < header->nverts; ++i)
for (int i = 0; i < header->vertCount; ++i)
{
const float* v = &header->verts[i*3];
dd->vertex(v[0], v[1], v[2], vcol);
@@ -262,9 +293,12 @@ static void drawMeshTile(duDebugDraw* dd, const dtNavMesh* mesh, const dtMeshTil
glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
}
glEnd();*/
dd->depthMask(true);
}
void duDebugDrawNavMesh(duDebugDraw* dd, const dtNavMesh* mesh, bool drawClosedList)
void duDebugDrawNavMesh(duDebugDraw* dd, const dtNavMesh* mesh, unsigned char flags)
{
if (!mesh) return;
@@ -272,7 +306,7 @@ void duDebugDrawNavMesh(duDebugDraw* dd, const dtNavMesh* mesh, bool drawClosedL
{
const dtMeshTile* tile = mesh->getTile(i);
if (!tile->header) continue;
drawMeshTile(dd, mesh, tile, drawClosedList);
drawMeshTile(dd, mesh, tile, flags);
}
}
@@ -282,11 +316,11 @@ static void drawMeshTileBVTree(duDebugDraw* dd, const dtNavMesh* mesh, const dtM
const dtMeshHeader* header = tile->header;
// Draw BV nodes.
const float cs = 1.0f / header->bvquant;
const float cs = 1.0f / header->bvQuantFactor;
dd->begin(DU_DRAW_LINES, 1.0f);
for (int i = 0; i < header->nbvtree; ++i)
for (int i = 0; i < header->bvNodeCount; ++i)
{
const dtBVNode* n = &header->bvtree[i];
const dtBVNode* n = &header->bvTree[i];
if (n->i < 0) // Leaf indices are positive.
continue;
duAppendBoxWire(dd, header->bmin[0] + n->bmin[0]*cs,
@@ -402,31 +436,43 @@ void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh* mesh, dtPolyRef re
const dtMeshHeader* header = tile->header;
const dtPoly* p = &header->polys[ip];
dd->depthMask(false);
const unsigned int c = (col & 0x00ffffff) | (64 << 24);
if (p->flags & DT_POLY_OFFMESH_LINK)
if (p->flags & DT_POLY_OFFMESH_CONNECTION)
{
const float* va = &header->verts[p->v[0]*3];
const float* vb = &header->verts[p->v[1]*3];
duDebugDrawArc(dd, va[0],va[1]+0.1f,va[2], vb[0],vb[1]+0.1f,vb[2], 0.25f, c, 2.0f);
dtOffMeshConnection* con = &header->offMeshCons[ip - header->offMeshBase];
dd->begin(DU_DRAW_LINES, 2.0f);
// Connection arc.
duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f,
(con->flags & 1) ? 0.6f : 0, 0.6f, c);
dd->end();
}
else
{
const dtPolyDetail* pd = &header->dmeshes[ip];
const dtPolyDetail* pd = &header->detailMeshes[ip];
dd->begin(DU_DRAW_TRIS);
for (int i = 0; i < pd->ntris; ++i)
for (int i = 0; i < pd->triCount; ++i)
{
const unsigned char* t = &header->dtris[(pd->tbase+i)*4];
const unsigned char* t = &header->detailTris[(pd->triBase+i)*4];
for (int j = 0; j < 3; ++j)
{
if (t[j] < p->nv)
dd->vertex(&header->verts[p->v[t[j]]*3], c);
if (t[j] < p->vertCount)
dd->vertex(&header->verts[p->verts[t[j]]*3], c);
else
dd->vertex(&header->dverts[(pd->vbase+t[j]-p->nv)*3], c);
dd->vertex(&header->detailVerts[(pd->vertBase+t[j]-p->vertCount)*3], c);
}
}
dd->end();
}
dd->depthMask(true);
}