mirror of
https://github.com/recastnavigation/recastnavigation.git
synced 2026-08-14 07:12:40 +00:00
Refactored sample code. Separated navmesh test code to a tool class.
This commit is contained in:
Mikko Mononen
@@ -61,9 +61,95 @@ inline unsigned int ilog2(unsigned int v)
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return r;
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}
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class NavMeshTileTool : public SampleTool
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{
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Sample_TileMesh* m_sample;
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float m_hitPos[3];
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bool m_hitPosSet;
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float m_agentRadius;
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public:
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NavMeshTileTool() :
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m_sample(0),
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m_hitPosSet(false),
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m_agentRadius(0)
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{
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}
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virtual ~NavMeshTileTool()
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{
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}
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virtual int type() { return TOOL_TILE_EDIT; }
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virtual void init(Sample* sample)
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{
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m_sample = (Sample_TileMesh*)sample;
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}
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virtual void reset() {}
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virtual void handleMenu()
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{
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imguiLabel("Create Tiles");
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if (imguiButton("Create All"))
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{
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if (m_sample)
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m_sample->buildAllTiles();
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}
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if (imguiButton("Remove All"))
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{
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if (m_sample)
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m_sample->removeAllTiles();
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}
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imguiValue("Click LMB to create a tile.");
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imguiValue("Shift+LMB to remove a tile.");
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}
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virtual void handleClick(const float* p, bool shift)
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{
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m_hitPosSet = true;
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vcopy(m_hitPos,p);
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if (m_sample)
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{
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if (shift)
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m_sample->removeTile(m_hitPos);
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else
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m_sample->buildTile(m_hitPos);
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}
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}
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virtual void handleRender()
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{
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if (m_hitPosSet)
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{
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const float s = m_sample->getAgentRadius();
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glColor4ub(0,0,0,128);
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glLineWidth(2.0f);
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glBegin(GL_LINES);
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glVertex3f(m_hitPos[0]-s,m_hitPos[1]+0.1f,m_hitPos[2]);
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glVertex3f(m_hitPos[0]+s,m_hitPos[1]+0.1f,m_hitPos[2]);
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glVertex3f(m_hitPos[0],m_hitPos[1]-s+0.1f,m_hitPos[2]);
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glVertex3f(m_hitPos[0],m_hitPos[1]+s+0.1f,m_hitPos[2]);
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glVertex3f(m_hitPos[0],m_hitPos[1]+0.1f,m_hitPos[2]-s);
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glVertex3f(m_hitPos[0],m_hitPos[1]+0.1f,m_hitPos[2]+s);
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glEnd();
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glLineWidth(1.0f);
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}
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}
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virtual void handleRenderOverlay(double* proj, double* model, int* view)
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{
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}
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};
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Sample_TileMesh::Sample_TileMesh() :
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m_keepInterResults(false),
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m_buildAll(true),
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m_navMesh(0),
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m_chunkyMesh(0),
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m_triflags(0),
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@@ -75,24 +161,15 @@ Sample_TileMesh::Sample_TileMesh() :
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m_maxTiles(0),
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m_maxPolysPerTile(0),
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m_tileSize(32),
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m_sposSet(false),
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m_eposSet(false),
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m_tileBuildTime(0),
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m_tileMemUsage(0),
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m_tileTriCount(0),
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m_startRef(0),
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m_endRef(0),
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m_npolys(0),
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m_nstraightPath(0),
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m_distanceToWall(0),
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m_toolMode(TOOLMODE_CREATE_TILES)
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m_tileTriCount(0)
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{
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resetCommonSettings();
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memset(m_tileBmin, 0, sizeof(m_tileBmin));
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memset(m_tileBmax, 0, sizeof(m_tileBmax));
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m_polyPickExt[0] = 2;
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m_polyPickExt[1] = 4;
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m_polyPickExt[2] = 2;
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setTool(new NavMeshTileTool);
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}
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Sample_TileMesh::~Sample_TileMesh()
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@@ -121,6 +198,12 @@ void Sample_TileMesh::cleanup()
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void Sample_TileMesh::handleSettings()
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{
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Sample::handleCommonSettings();
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if (imguiCheck("Keep Itermediate Results", m_keepInterResults))
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m_keepInterResults = !m_keepInterResults;
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if (imguiCheck("Build All Tiles", m_buildAll))
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m_buildAll = !m_buildAll;
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imguiLabel("Tiling");
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imguiSlider("TileSize", &m_tileSize, 16.0f, 1024.0f, 16.0f);
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@@ -147,141 +230,23 @@ void Sample_TileMesh::handleSettings()
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imguiValue(text);
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}
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void Sample_TileMesh::toolRecalc()
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{
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m_startRef = 0;
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if (m_sposSet)
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m_startRef = m_navMesh->findNearestPoly(m_spos, m_polyPickExt);
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m_endRef = 0;
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if (m_eposSet)
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m_endRef = m_navMesh->findNearestPoly(m_epos, m_polyPickExt);
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if (m_toolMode == TOOLMODE_PATHFIND)
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{
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if (m_sposSet && m_eposSet && m_startRef && m_endRef)
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{
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m_npolys = m_navMesh->findPath(m_startRef, m_endRef, m_spos, m_epos, m_polys, MAX_POLYS);
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if (m_npolys)
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m_nstraightPath = m_navMesh->findStraightPath(m_spos, m_epos, m_polys, m_npolys, m_straightPath, MAX_POLYS);
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}
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else
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{
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m_npolys = 0;
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m_nstraightPath = 0;
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}
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}
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else if (m_toolMode == TOOLMODE_RAYCAST)
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{
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m_nstraightPath = 0;
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if (m_sposSet && m_eposSet && m_startRef)
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{
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float t = 0;
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m_npolys = 0;
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m_nstraightPath = 2;
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m_straightPath[0] = m_spos[0];
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m_straightPath[1] = m_spos[1];
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m_straightPath[2] = m_spos[2];
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vcopy(m_hitPos, m_epos);
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m_npolys = m_navMesh->raycast(m_startRef, m_spos, m_epos, t, m_hitNormal, m_polys, MAX_POLYS);
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if (m_npolys && t < 1)
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{
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m_hitPos[0] = m_spos[0] + (m_epos[0] - m_spos[0]) * t;
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m_hitPos[1] = m_spos[1] + (m_epos[1] - m_spos[1]) * t;
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m_hitPos[2] = m_spos[2] + (m_epos[2] - m_spos[2]) * t;
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}
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vcopy(&m_straightPath[3], m_hitPos);
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}
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}
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else if (m_toolMode == TOOLMODE_DISTANCE_TO_WALL)
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{
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m_distanceToWall = 0;
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if (m_sposSet && m_startRef)
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m_distanceToWall = m_navMesh->findDistanceToWall(m_startRef, m_spos, 100.0f, m_hitPos, m_hitNormal);
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}
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else if (m_toolMode == TOOLMODE_FIND_POLYS_AROUND)
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{
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if (m_sposSet && m_startRef && m_eposSet)
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{
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const float dx = m_epos[0] - m_spos[0];
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const float dz = m_epos[2] - m_spos[2];
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float dist = sqrtf(dx*dx + dz*dz);
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m_npolys = m_navMesh->findPolysAround(m_startRef, m_spos, dist, m_polys, m_parent, 0, MAX_POLYS);
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}
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}
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}
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void Sample_TileMesh::handleTools()
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{
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if (imguiCheck("Create Tiles", m_toolMode == TOOLMODE_CREATE_TILES))
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{
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m_toolMode = TOOLMODE_CREATE_TILES;
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toolRecalc();
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}
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int type = !m_tool ? TOOL_NONE : m_tool->type();
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imguiIndent();
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if (imguiButton("Create All"))
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if (imguiCheck("Create Tiles", type == TOOL_TILE_EDIT))
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{
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int gw = 0, gh = 0;
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rcCalcGridSize(m_bmin, m_bmax, m_cellSize, &gw, &gh);
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const int ts = (int)m_tileSize;
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const int tw = (gw + ts-1) / ts;
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const int th = (gh + ts-1) / ts;
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const float tcs = m_tileSize*m_cellSize;
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for (int y = 0; y < th; ++y)
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{
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for (int x = 0; x < tw; ++x)
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{
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m_tileBmin[0] = m_bmin[0] + x*tcs;
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m_tileBmin[1] = m_bmin[1];
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m_tileBmin[2] = m_bmin[2] + y*tcs;
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m_tileBmax[0] = m_bmin[0] + (x+1)*tcs;
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m_tileBmax[1] = m_bmax[1];
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m_tileBmax[2] = m_bmin[2] + (y+1)*tcs;
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int dataSize = 0;
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unsigned char* data = buildTileMesh(m_tileBmin, m_tileBmax, dataSize);
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if (data)
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{
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// Remove any previous data (navmesh owns and deletes the data).
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m_navMesh->removeTileAt(x,y,0,0);
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// Let the navmesh own the data.
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if (!m_navMesh->addTileAt(x,y,data,dataSize,true))
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delete [] data;
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}
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}
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}
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toolRecalc();
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setTool(new NavMeshTileTool);
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}
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if (imguiCheck("Test Navmesh", type == TOOL_NAVMESH_TESTER))
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{
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setTool(new NavMeshTesterTool);
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}
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imguiUnindent();
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imguiSeparator();
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if (imguiCheck("Pathfind", m_toolMode == TOOLMODE_PATHFIND))
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{
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m_toolMode = TOOLMODE_PATHFIND;
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toolRecalc();
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}
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if (imguiCheck("Distance to Wall", m_toolMode == TOOLMODE_DISTANCE_TO_WALL))
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{
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m_toolMode = TOOLMODE_DISTANCE_TO_WALL;
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toolRecalc();
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}
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if (imguiCheck("Raycast", m_toolMode == TOOLMODE_RAYCAST))
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{
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m_toolMode = TOOLMODE_RAYCAST;
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toolRecalc();
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}
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if (imguiCheck("Find Polys Around", m_toolMode == TOOLMODE_FIND_POLYS_AROUND))
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{
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m_toolMode = TOOLMODE_FIND_POLYS_AROUND;
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toolRecalc();
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}
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if (m_tool)
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m_tool->handleMenu();
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}
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void Sample_TileMesh::handleDebugMode()
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@@ -329,10 +294,7 @@ void Sample_TileMesh::handleRender()
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DebugDrawGL dd;
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// Draw mesh
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if (m_navMesh)
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duDebugDrawTriMesh(&dd, m_verts, m_nverts, m_tris, m_trinorms, m_ntris, 0);
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else
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duDebugDrawTriMeshSlope(&dd, m_verts, m_nverts, m_tris, m_trinorms, m_ntris, m_agentMaxSlope);
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duDebugDrawTriMesh(&dd, m_verts, m_nverts, m_tris, m_trinorms, m_ntris, 0);
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glDepthMask(GL_FALSE);
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@@ -383,138 +345,10 @@ void Sample_TileMesh::handleRender()
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if (m_navMesh)
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duDebugDrawNavMesh(&dd, m_navMesh);
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if (m_sposSet)
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{
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const float s = 0.5f;
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glColor4ub(64,16,0,255);
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glLineWidth(3.0f);
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glBegin(GL_LINES);
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glVertex3f(m_spos[0]-s,m_spos[1]+m_cellHeight,m_spos[2]);
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glVertex3f(m_spos[0]+s,m_spos[1]+m_cellHeight,m_spos[2]);
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glVertex3f(m_spos[0],m_spos[1]-s+m_cellHeight,m_spos[2]);
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glVertex3f(m_spos[0],m_spos[1]+s+m_cellHeight,m_spos[2]);
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glVertex3f(m_spos[0],m_spos[1]+m_cellHeight,m_spos[2]-s);
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glVertex3f(m_spos[0],m_spos[1]+m_cellHeight,m_spos[2]+s);
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glEnd();
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glLineWidth(1.0f);
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}
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if (m_eposSet)
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{
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const float s = 0.5f;
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glColor4ub(16,64,0,255);
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glLineWidth(3.0f);
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glBegin(GL_LINES);
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glVertex3f(m_epos[0]-s,m_epos[1]+m_cellHeight,m_epos[2]);
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glVertex3f(m_epos[0]+s,m_epos[1]+m_cellHeight,m_epos[2]);
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glVertex3f(m_epos[0],m_epos[1]-s+m_cellHeight,m_epos[2]);
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glVertex3f(m_epos[0],m_epos[1]+s+m_cellHeight,m_epos[2]);
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glVertex3f(m_epos[0],m_epos[1]+m_cellHeight,m_epos[2]-s);
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glVertex3f(m_epos[0],m_epos[1]+m_cellHeight,m_epos[2]+s);
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glEnd();
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glLineWidth(1.0f);
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}
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static const float startCol[4] = { 0.5f, 0.1f, 0.0f, 0.75f };
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static const float endCol[4] = { 0.2f, 0.4f, 0.0f, 0.75f };
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static const float pathCol[4] = {0,0,0,0.25f};
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if (m_toolMode == TOOLMODE_PATHFIND)
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{
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duDebugDrawNavMeshPoly(&dd, m_navMesh, m_startRef, startCol);
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duDebugDrawNavMeshPoly(&dd, m_navMesh, m_endRef, endCol);
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if (m_npolys)
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{
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for (int i = 1; i < m_npolys-1; ++i)
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duDebugDrawNavMeshPoly(&dd, m_navMesh, m_polys[i], pathCol);
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}
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if (m_nstraightPath)
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{
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glColor4ub(64,16,0,220);
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glLineWidth(3.0f);
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glBegin(GL_LINE_STRIP);
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for (int i = 0; i < m_nstraightPath; ++i)
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glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
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glEnd();
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glLineWidth(1.0f);
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glPointSize(4.0f);
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glBegin(GL_POINTS);
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for (int i = 0; i < m_nstraightPath; ++i)
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glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
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glEnd();
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glPointSize(1.0f);
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}
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}
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else if (m_toolMode == TOOLMODE_RAYCAST)
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{
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duDebugDrawNavMeshPoly(&dd, m_navMesh, m_startRef, startCol);
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if (m_nstraightPath)
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{
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for (int i = 1; i < m_npolys; ++i)
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duDebugDrawNavMeshPoly(&dd, m_navMesh, m_polys[i], pathCol);
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glColor4ub(64,16,0,220);
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glLineWidth(3.0f);
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glBegin(GL_LINE_STRIP);
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for (int i = 0; i < m_nstraightPath; ++i)
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glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
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glEnd();
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glLineWidth(1.0f);
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glPointSize(4.0f);
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glBegin(GL_POINTS);
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for (int i = 0; i < m_nstraightPath; ++i)
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glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
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glEnd();
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glPointSize(1.0f);
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glColor4ub(255,255,255,128);
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glBegin(GL_LINES);
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glVertex3f(m_hitPos[0], m_hitPos[1] + 0.4f, m_hitPos[2]);
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glVertex3f(m_hitPos[0] + m_hitNormal[0]*m_agentRadius, m_hitPos[1] + 0.4f + m_hitNormal[1]*m_agentRadius, m_hitPos[2] + m_hitNormal[2]*m_agentRadius);
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glEnd();
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}
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}
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else if (m_toolMode == TOOLMODE_DISTANCE_TO_WALL)
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{
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duDebugDrawNavMeshPoly(&dd, m_navMesh, m_startRef, startCol);
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const float col[4] = {1,1,1,0.5f};
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duDebugDrawCylinderWire(&dd, m_spos[0]-m_distanceToWall, m_spos[1]+0.02f, m_spos[2]-m_distanceToWall,
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m_spos[0]+m_distanceToWall, m_spos[1]+m_agentHeight, m_spos[2]+m_distanceToWall, col);
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glLineWidth(3.0f);
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glColor4fv(col);
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glBegin(GL_LINES);
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glVertex3f(m_hitPos[0], m_hitPos[1] + 0.02f, m_hitPos[2]);
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glVertex3f(m_hitPos[0], m_hitPos[1] + m_agentHeight, m_hitPos[2]);
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glEnd();
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glLineWidth(1.0f);
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}
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else if (m_toolMode == TOOLMODE_FIND_POLYS_AROUND)
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{
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const float cola[4] = {0,0,0,0.5f};
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for (int i = 0; i < m_npolys; ++i)
|
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{
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duDebugDrawNavMeshPoly(&dd, m_navMesh, m_polys[i], pathCol);
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||||
if (m_parent[i])
|
||||
{
|
||||
float p0[3], p1[3];
|
||||
getPolyCenter(m_navMesh, m_polys[i], p0);
|
||||
getPolyCenter(m_navMesh, m_parent[i], p1);
|
||||
glColor4ub(0,0,0,128);
|
||||
duDebugDrawArc(&dd, p0, p1, cola, 2.0f);
|
||||
}
|
||||
}
|
||||
|
||||
const float dx = m_epos[0] - m_spos[0];
|
||||
const float dz = m_epos[2] - m_spos[2];
|
||||
float dist = sqrtf(dx*dx + dz*dz);
|
||||
const float col[4] = {1,1,1,0.5f};
|
||||
duDebugDrawCylinderWire(&dd, m_spos[0]-dist, m_spos[1]+0.02f, m_spos[2]-dist,
|
||||
m_spos[0]+dist, m_spos[1]+m_agentHeight, m_spos[2]+dist, col);
|
||||
}
|
||||
|
||||
glDepthMask(GL_TRUE);
|
||||
if (m_tool)
|
||||
m_tool->handleRender();
|
||||
|
||||
glDepthMask(GL_TRUE);
|
||||
}
|
||||
|
||||
void Sample_TileMesh::handleRenderOverlay(double* proj, double* model, int* view)
|
||||
@@ -529,6 +363,9 @@ void Sample_TileMesh::handleRenderOverlay(double* proj, double* model, int* view
|
||||
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_tool)
|
||||
m_tool->handleRenderOverlay(proj, model, view);
|
||||
}
|
||||
|
||||
void Sample_TileMesh::handleMeshChanged(const float* verts, int nverts,
|
||||
@@ -548,31 +385,12 @@ void Sample_TileMesh::handleMeshChanged(const float* verts, int nverts,
|
||||
delete m_navMesh;
|
||||
m_navMesh = 0;
|
||||
cleanup();
|
||||
}
|
||||
|
||||
void Sample_TileMesh::setToolStartPos(const float* p)
|
||||
{
|
||||
m_sposSet = true;
|
||||
vcopy(m_spos, p);
|
||||
|
||||
if (m_toolMode == TOOLMODE_CREATE_TILES)
|
||||
removeTile(m_spos);
|
||||
else
|
||||
toolRecalc();
|
||||
}
|
||||
|
||||
void Sample_TileMesh::setToolEndPos(const float* p)
|
||||
{
|
||||
if (!m_navMesh)
|
||||
return;
|
||||
|
||||
m_eposSet = true;
|
||||
vcopy(m_epos, p);
|
||||
|
||||
if (m_toolMode == TOOLMODE_CREATE_TILES)
|
||||
buildTile(m_epos);
|
||||
else
|
||||
toolRecalc();
|
||||
if (m_tool)
|
||||
{
|
||||
m_tool->reset();
|
||||
m_tool->init(this);
|
||||
}
|
||||
}
|
||||
|
||||
bool Sample_TileMesh::handleBuild()
|
||||
@@ -614,7 +432,13 @@ bool Sample_TileMesh::handleBuild()
|
||||
rcGetLog()->log(RC_LOG_ERROR, "buildTiledNavigation: Could not build chunky mesh.");
|
||||
return false;
|
||||
}
|
||||
|
||||
if (m_buildAll)
|
||||
buildAllTiles();
|
||||
|
||||
if (m_tool)
|
||||
m_tool->init(this);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
@@ -678,6 +502,54 @@ void Sample_TileMesh::removeTile(const float* pos)
|
||||
delete [] rdata;
|
||||
}
|
||||
|
||||
void Sample_TileMesh::buildAllTiles()
|
||||
{
|
||||
int gw = 0, gh = 0;
|
||||
rcCalcGridSize(m_bmin, m_bmax, m_cellSize, &gw, &gh);
|
||||
const int ts = (int)m_tileSize;
|
||||
const int tw = (gw + ts-1) / ts;
|
||||
const int th = (gh + ts-1) / ts;
|
||||
const float tcs = m_tileSize*m_cellSize;
|
||||
|
||||
for (int y = 0; y < th; ++y)
|
||||
{
|
||||
for (int x = 0; x < tw; ++x)
|
||||
{
|
||||
m_tileBmin[0] = m_bmin[0] + x*tcs;
|
||||
m_tileBmin[1] = m_bmin[1];
|
||||
m_tileBmin[2] = m_bmin[2] + y*tcs;
|
||||
|
||||
m_tileBmax[0] = m_bmin[0] + (x+1)*tcs;
|
||||
m_tileBmax[1] = m_bmax[1];
|
||||
m_tileBmax[2] = m_bmin[2] + (y+1)*tcs;
|
||||
|
||||
int dataSize = 0;
|
||||
unsigned char* data = buildTileMesh(m_tileBmin, m_tileBmax, dataSize);
|
||||
if (data)
|
||||
{
|
||||
// Remove any previous data (navmesh owns and deletes the data).
|
||||
m_navMesh->removeTileAt(x,y,0,0);
|
||||
// Let the navmesh own the data.
|
||||
if (!m_navMesh->addTileAt(x,y,data,dataSize,true))
|
||||
delete [] data;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Sample_TileMesh::removeAllTiles()
|
||||
{
|
||||
int gw = 0, gh = 0;
|
||||
rcCalcGridSize(m_bmin, m_bmax, m_cellSize, &gw, &gh);
|
||||
const int ts = (int)m_tileSize;
|
||||
const int tw = (gw + ts-1) / ts;
|
||||
const int th = (gh + ts-1) / ts;
|
||||
|
||||
for (int y = 0; y < th; ++y)
|
||||
for (int x = 0; x < tw; ++x)
|
||||
m_navMesh->removeTileAt(x,y,0,0);
|
||||
}
|
||||
|
||||
unsigned char* Sample_TileMesh::buildTileMesh(const float* bmin, const float* bmax, int& dataSize)
|
||||
{
|
||||
if (!m_verts || ! m_tris)
|
||||
|
||||
Reference in New Issue
Block a user