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Cleaned up and simplified Detour obst. avoidance. Simplified path corridor, spinned off LocalBoundary to manage edge segs.

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This commit is contained in:
Mikko Mononen
2010-10-20 17:13:47 +00:00
parent 35df0bfdcb
commit 7f84699bfe
8 changed files with 686 additions and 377 deletions
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16
RecastDemo/Source/CrowdTool.cpp
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@@ -348,13 +348,13 @@ void CrowdTool::handleRender()
if (m_showCorners)
{
if (ag->corridor.getCornerCount())
if (ag->ncorners)
{
dd.begin(DU_DRAW_LINES, 2.0f);
for (int j = 0; j < ag->corridor.getCornerCount(); ++j)
for (int j = 0; j < ag->ncorners; ++j)
{
const float* va = j == 0 ? pos : ag->corridor.getCornerPos(j-1);
const float* vb = ag->corridor.getCornerPos(j);
const float* va = j == 0 ? pos : &ag->cornerVerts[(j-1)*3];
const float* vb = &ag->cornerVerts[j*3];
dd.vertex(va[0],va[1]+radius,va[2], duRGBA(128,0,0,64));
dd.vertex(vb[0],vb[1]+radius,vb[2], duRGBA(128,0,0,64));
}
@@ -387,15 +387,15 @@ void CrowdTool::handleRender()
if (m_showCollisionSegments)
{
const float* center = ag->corridor.getLocalCenter();
const float* center = ag->boundary.getCenter();
duDebugDrawCross(&dd, center[0],center[1]+radius,center[2], 0.2f, duRGBA(192,0,128,255), 2.0f);
duDebugDrawCircle(&dd, center[0],center[1]+radius,center[2], ag->collisionQueryRange,
duRGBA(192,0,128,128), 2.0f);
dd.begin(DU_DRAW_LINES, 3.0f);
for (int j = 0; j < ag->corridor.getLocalSegmentCount(); ++j)
for (int j = 0; j < ag->boundary.getSegmentCount(); ++j)
{
const float* s = ag->corridor.getLocalSegment(j);
const float* s = ag->boundary.getSegment(j);
unsigned int col = duRGBA(192,0,128,192);
if (dtTriArea2D(pos, s, s+3) < 0.0f)
col = duDarkenCol(col);
@@ -429,7 +429,7 @@ void CrowdTool::handleRender()
const float sr = debug->getSampleSize(i);
const float pen = debug->getSamplePenalty(i);
const float pen2 = debug->getSamplePreferredSidePenalty(i);
unsigned int col = duLerpCol(duRGBA(255,255,255,220), duRGBA(0,96,128,220), (int)(pen*255));
unsigned int col = duLerpCol(duRGBA(255,255,255,220), duRGBA(128,96,0,220), (int)(pen*255));
col = duLerpCol(col, duRGBA(128,0,0,220), (int)(pen2*128));
dd.vertex(dx+p[0]-sr, dy, dz+p[2]-sr, col);
dd.vertex(dx+p[0]-sr, dy, dz+p[2]+sr, col);