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Off-Mesh link progress (not fully working).

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This commit is contained in:
Mikko Mononen
2010-01-10 17:21:01 +00:00
parent 5c4f1ed0bd
commit 4ad8dafa40
15 changed files with 5769 additions and 695 deletions
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136
RecastDemo/Source/NavMeshTesterTool.cpp
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@@ -148,11 +148,15 @@ void NavMeshTesterTool::recalc()
if (m_sposSet && m_eposSet && m_startRef && m_endRef)
{
m_npolys = m_navMesh->findPath(m_startRef, m_endRef, m_spos, m_epos, m_polys, MAX_POLYS);
m_nstraightPath = 0;
m_nsmoothPath = 0;
if (m_npolys)
{
m_nstraightPath = m_navMesh->findStraightPath(m_spos, m_epos, m_polys, m_npolys, m_straightPath, MAX_POLYS);
// Iterate over the path to find smooth path on the detail mesh surface.
/* // Iterate over the path to find smooth path on the detail mesh surface.
const dtPolyRef* polys = m_polys;
int npolys = m_npolys;
@@ -224,8 +228,7 @@ void NavMeshTesterTool::recalc()
vcopy(&m_smoothPath[m_nsmoothPath*3], iterPos);
m_nsmoothPath++;
}
}
}*/
}
}
else
@@ -302,9 +305,9 @@ void NavMeshTesterTool::handleRender()
DebugDrawGL dd;
static const float startCol[4] = { 0.5f, 0.1f, 0.0f, 0.75f };
static const float endCol[4] = { 0.2f, 0.4f, 0.0f, 0.75f };
static const float pathCol[4] = {0,0,0,0.25f};
static const unsigned int startCol = duRGBA(128,25,0,192);
static const unsigned int endCol = duRGBA(51,102,0,129);
static const unsigned int pathCol = duRGBA(0,0,0,64);
glDepthMask(GL_FALSE);
@@ -333,30 +336,26 @@ void NavMeshTesterTool::handleRender()
}
if (m_nstraightPath)
{
glColor4ub(64,16,0,64);
glLineWidth(2.0f);
glBegin(GL_LINE_STRIP);
const unsigned int pathCol = duRGBA(64,16,0,220);
dd.begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < m_nstraightPath-1; ++i)
{
dd.vertex(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2], pathCol);
dd.vertex(m_straightPath[(i+1)*3], m_straightPath[(i+1)*3+1]+0.4f, m_straightPath[(i+1)*3+2], pathCol);
}
dd.end();
dd.begin(DU_DRAW_POINTS, 4.0f);
for (int i = 0; i < m_nstraightPath; ++i)
glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
glEnd();
glLineWidth(1.0f);
glColor4ub(64,16,0,128);
glPointSize(3.0f);
glBegin(GL_POINTS);
for (int i = 0; i < m_nstraightPath; ++i)
glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
glEnd();
glPointSize(1.0f);
dd.vertex(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2], pathCol);
dd.end();
}
if (m_nsmoothPath)
{
glColor4ub(0,0,0,220);
glLineWidth(3.0f);
glBegin(GL_LINES);
const unsigned int pathCol = duRGBA(0,0,0,220);
dd.begin(DU_DRAW_LINES, 3.0f);
for (int i = 0; i < m_nsmoothPath; ++i)
glVertex3f(m_smoothPath[i*3], m_smoothPath[i*3+1]+0.1f, m_smoothPath[i*3+2]);
glEnd();
glLineWidth(1.0f);
dd.vertex(m_smoothPath[i*3], m_smoothPath[i*3+1]+0.1f, m_smoothPath[i*3+2], pathCol);
dd.end();
}
}
else if (m_toolMode == TOOLMODE_RAYCAST)
@@ -368,44 +367,39 @@ void NavMeshTesterTool::handleRender()
for (int i = 1; i < m_npolys; ++i)
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_polys[i], pathCol);
glColor4ub(64,16,0,220);
glLineWidth(3.0f);
glBegin(GL_LINE_STRIP);
const unsigned int pathCol = duRGBA(64,16,0,220);
dd.begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < m_nstraightPath-1; ++i)
{
dd.vertex(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2], pathCol);
dd.vertex(m_straightPath[(i+1)*3], m_straightPath[(i+1)*3+1]+0.4f, m_straightPath[(i+1)*3+2], pathCol);
}
dd.end();
dd.begin(DU_DRAW_POINTS, 4.0f);
for (int i = 0; i < m_nstraightPath; ++i)
glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
glEnd();
glLineWidth(1.0f);
glPointSize(4.0f);
glBegin(GL_POINTS);
for (int i = 0; i < m_nstraightPath; ++i)
glVertex3f(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2]);
glEnd();
glPointSize(1.0f);
glColor4ub(255,255,255,128);
glBegin(GL_LINES);
glVertex3f(m_hitPos[0], m_hitPos[1] + 0.4f, m_hitPos[2]);
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);
glEnd();
dd.vertex(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2], pathCol);
dd.end();
const unsigned int hitCol = duRGBA(0,0,0,128);
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(m_hitPos[0], m_hitPos[1] + 0.4f, m_hitPos[2], hitCol);
dd.vertex(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, hitCol);
dd.end();
}
}
else if (m_toolMode == TOOLMODE_DISTANCE_TO_WALL)
{
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_startRef, startCol);
const float col[4] = {1,1,1,0.5f};
duDebugDrawCylinderWire(&dd, m_spos[0]-m_distanceToWall, m_spos[1]+0.02f, m_spos[2]-m_distanceToWall,
m_spos[0]+m_distanceToWall, m_spos[1]+m_agentHeight, m_spos[2]+m_distanceToWall, col);
glLineWidth(3.0f);
glColor4fv(col);
glBegin(GL_LINES);
glVertex3f(m_hitPos[0], m_hitPos[1] + 0.02f, m_hitPos[2]);
glVertex3f(m_hitPos[0], m_hitPos[1] + m_agentHeight, m_hitPos[2]);
glEnd();
glLineWidth(1.0f);
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+m_agentHeight/2, m_spos[2], m_distanceToWall, duRGBA(64,16,0,220), 2.0f);
dd.begin(DU_DRAW_LINES, 3.0f);
dd.vertex(m_hitPos[0], m_hitPos[1] + 0.02f, m_hitPos[2], duRGBA(0,0,0,192));
dd.vertex(m_hitPos[0], m_hitPos[1] + m_agentHeight, m_hitPos[2], duRGBA(0,0,0,192));
dd.end();
}
else if (m_toolMode == TOOLMODE_FIND_POLYS_AROUND)
{
const float cola[4] = {0,0,0,0.5f};
for (int i = 0; i < m_npolys; ++i)
{
duDebugDrawNavMeshPoly(&dd, m_navMesh, m_polys[i], pathCol);
@@ -414,16 +408,14 @@ void NavMeshTesterTool::handleRender()
float p0[3], p1[3];
getPolyCenter(m_navMesh, m_polys[i], p0);
getPolyCenter(m_navMesh, m_parent[i], p1);
duDebugDrawArc(&dd, p0, p1, cola, 2.0f);
duDebugDrawArc(&dd, p0[0],p0[1],p0[2], p1[0],p1[1],p1[2], 0.25f, duRGBA(0,0,0,128), 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);
const float dist = sqrtf(dx*dx + dz*dz);
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+m_agentHeight/2, m_spos[2], dist, duRGBA(64,16,0,220), 2.0f);
}
}
@@ -447,26 +439,24 @@ void NavMeshTesterTool::handleRenderOverlay(double* proj, double* model, int* vi
}
}
void NavMeshTesterTool::drawAgent(const float* pos, float r, float h, float c, const float* col)
void NavMeshTesterTool::drawAgent(const float* pos, float r, float h, float c, const unsigned int col)
{
DebugDrawGL dd;
glDepthMask(GL_FALSE);
// Agent dimensions.
glLineWidth(2.0f);
duDebugDrawCylinderWire(&dd, pos[0]-r, pos[1]+0.02f, pos[2]-r, pos[0]+r, pos[1]+h, pos[2]+r, col);
glLineWidth(1.0f);
glColor4ub(0,0,0,196);
glBegin(GL_LINES);
glVertex3f(pos[0], pos[1]-c, pos[2]);
glVertex3f(pos[0], pos[1]+c, pos[2]);
glVertex3f(pos[0]-r/2, pos[1]+0.02f, pos[2]);
glVertex3f(pos[0]+r/2, pos[1]+0.02f, pos[2]);
glVertex3f(pos[0], pos[1]+0.02f, pos[2]-r/2);
glVertex3f(pos[0], pos[1]+0.02f, pos[2]+r/2);
glEnd();
duDebugDrawCylinderWire(&dd, pos[0]-r, pos[1]+0.02f, pos[2]-r, pos[0]+r, pos[1]+h, pos[2]+r, col, 2.0f);
unsigned int colb = duRGBA(0,0,0,196);
dd.begin(DU_DRAW_LINES);
dd.vertex(pos[0], pos[1]-c, pos[2], colb);
dd.vertex(pos[0], pos[1]+c, pos[2], colb);
dd.vertex(pos[0]-r/2, pos[1]+0.02f, pos[2], colb);
dd.vertex(pos[0]+r/2, pos[1]+0.02f, pos[2], colb);
dd.vertex(pos[0], pos[1]+0.02f, pos[2]-r/2, colb);
dd.vertex(pos[0], pos[1]+0.02f, pos[2]+r/2, colb);
dd.end();
glDepthMask(GL_TRUE);
}