Scarfski/recastnavigation
1
0
Fork 0
mirror of https://github.com/recastnavigation/recastnavigation.git synced 2026-09-30 22:15:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

- added finalizeSlicedFindPathPartial()

Browse Source 
- added handleStep()/handleToggle() to samples
- changed how crowds are rendered
- added path topology optimization step
This commit is contained in:
Mikko Mononen
2010-11-07 10:56:48 +00:00
parent e5d603ac92
commit ccf401d3da
26 changed files with 2619 additions and 1964 deletions
Download Patch File Download Diff File Expand all files Collapse all files

374
RecastDemo/Source/CrowdTool.cpp
View File

@@ -95,7 +95,7 @@ CrowdTool::CrowdTool() :
m_oldFlags(0),
m_targetRef(0),
m_expandDebugDraw(false),
m_showLabels(true),
m_showLabels(false),
m_showCorners(false),
m_showTargets(false),
m_showCollisionSegments(false),
@@ -103,8 +103,12 @@ CrowdTool::CrowdTool() :
m_showVO(false),
m_showOpt(false),
m_showGrid(false),
m_showNodes(false),
m_showPerfGraph(false),
m_expandOptions(true),
m_anticipateTurns(true),
m_optimizeVis(true),
m_optimizeTopo(true),
m_useVO(true),
m_drunkMove(false),
m_run(true),
@@ -168,6 +172,10 @@ void CrowdTool::handleMenu()
if (m_expandOptions)
{
imguiIndent();
if (imguiCheck("Optimize Visibility", m_optimizeVis))
m_optimizeVis = !m_optimizeVis;
if (imguiCheck("Optimize Topology", m_optimizeTopo))
m_optimizeTopo = !m_optimizeTopo;
if (imguiCheck("Anticipate Turns", m_anticipateTurns))
m_anticipateTurns = !m_anticipateTurns;
if (imguiCheck("Use VO", m_useVO))
@@ -199,6 +207,10 @@ void CrowdTool::handleMenu()
m_showOpt = !m_showOpt;
if (imguiCheck("Show Prox Grid", m_showGrid))
m_showGrid = !m_showGrid;
if (imguiCheck("Show Nodes", m_showNodes))
m_showNodes = !m_showNodes;
if (imguiCheck("Show Perf Graph", m_showPerfGraph))
m_showPerfGraph = !m_showPerfGraph;
imguiUnindent();
}
}
@@ -280,6 +292,10 @@ void CrowdTool::handleClick(const float* s, const float* p, bool shift)
}
void CrowdTool::handleStep()
{
}
void CrowdTool::handleToggle()
{
m_run = !m_run;
}
@@ -298,6 +314,10 @@ void CrowdTool::handleUpdate(const float dt)
flags |= CROWDMAN_USE_VO;
if (m_drunkMove)
flags |= CROWDMAN_DRUNK;
if (m_optimizeVis)
flags |= CROWDMAN_OPTIMIZE_VIS;
if (m_optimizeTopo)
flags |= CROWDMAN_OPTIMIZE_TOPO;
m_crowd.update(dt, flags, m_sample->getNavMeshQuery());
@@ -315,33 +335,76 @@ void CrowdTool::handleRender()
dtNavMesh* nmesh = m_sample->getNavMesh();
if (!nmesh)
return;
dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
if (m_showNodes)
{
if (navquery)
duDebugDrawNavMeshNodes(&dd, *navquery);
}
dd.depthMask(false);
// Draw paths
if (m_showPath)
{
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const dtPolyRef* path = ag->corridor.getPath();
const int npath = ag->corridor.getPathCount();
for (int i = 0; i < npath; ++i)
duDebugDrawNavMeshPoly(&dd, *nmesh, path[i], duRGBA(0,0,0,32));
}
}
if (m_targetRef)
duDebugDrawCross(&dd, m_targetPos[0],m_targetPos[1]+0.1f,m_targetPos[2], s, duRGBA(0,0,0,128), 2.0f);
duDebugDrawCross(&dd, m_targetPos[0],m_targetPos[1]+0.1f,m_targetPos[2], s, duRGBA(255,255,255,192), 2.0f);
// Occupancy grid.
if (m_showGrid)
{
float gridy = -FLT_MAX;
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float* pos = ag->corridor.getPos();
gridy = dtMax(gridy, pos[1]);
}
gridy += 1.0f;
dd.begin(DU_DRAW_QUADS);
const ProximityGrid* grid = m_crowd.getGrid();
const int* bounds = grid->getBounds();
const float cs = grid->getCellSize();
for (int y = bounds[1]; y <= bounds[3]; ++y)
{
for (int x = bounds[0]; x <= bounds[2]; ++x)
{
const int count = grid->getItemCountAt(x,y);
if (!count) continue;
unsigned int col = duRGBA(128,0,0,dtMin(count*40,255));
dd.vertex(x*cs, gridy, y*cs, col);
dd.vertex(x*cs, gridy, y*cs+cs, col);
dd.vertex(x*cs+cs, gridy, y*cs+cs, col);
dd.vertex(x*cs+cs, gridy, y*cs, col);
}
}
dd.end();
}
// Trail
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float height = ag->height;
const float radius = ag->radius;
const float* pos = ag->npos;
const float* target = ag->corridor.getTarget();
const float* vel = ag->vel;
const float* dvel = ag->dvel;
dd.depthMask(false);
if (m_showPath)
{
const dtPolyRef* path = ag->corridor.getPath();
const int npath = ag->corridor.getPathCount();
for (int i = 0; i < npath; ++i)
duDebugDrawNavMeshPoly(&dd, *nmesh, path[i], duRGBA(0,0,0,64));
}
dd.begin(DU_DRAW_LINES,3.0f);
float prev[3], preva = 1;
dtVcopy(prev, pos);
@@ -356,13 +419,18 @@ void CrowdTool::handleRender()
dtVcopy(prev, v);
}
dd.end();
if (m_showTargets)
{
duDebugDrawArc(&dd, pos[0], pos[1], pos[2], target[0], target[1], target[2],
0.25f, 0, 0.4f, duRGBA(0,0,0,128), 1.0f);
}
}
// Corners & co
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float radius = ag->radius;
const float* pos = ag->npos;
if (m_showCorners)
{
if (ag->ncorners)
@@ -372,32 +440,32 @@ void CrowdTool::handleRender()
{
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));
dd.vertex(va[0],va[1]+radius,va[2], duRGBA(128,0,0,192));
dd.vertex(vb[0],vb[1]+radius,vb[2], duRGBA(128,0,0,192));
}
dd.end();
if (m_anticipateTurns)
{
/* float dvel[3], pos[3];
calcSmoothSteerDirection(ag->pos, ag->cornerVerts, ag->ncorners, dvel);
pos[0] = ag->pos[0] + dvel[0];
pos[1] = ag->pos[1] + dvel[1];
pos[2] = ag->pos[2] + dvel[2];
const float off = ag->radius+0.1f;
const float* tgt = &ag->cornerVerts[0];
const float y = ag->pos[1]+off;
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(ag->pos[0],y,ag->pos[2], duRGBA(255,0,0,192));
dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
dd.vertex(tgt[0],y,tgt[2], duRGBA(255,0,0,192));
dd.end();*/
/* float dvel[3], pos[3];
calcSmoothSteerDirection(ag->pos, ag->cornerVerts, ag->ncorners, dvel);
pos[0] = ag->pos[0] + dvel[0];
pos[1] = ag->pos[1] + dvel[1];
pos[2] = ag->pos[2] + dvel[2];
const float off = ag->radius+0.1f;
const float* tgt = &ag->cornerVerts[0];
const float y = ag->pos[1]+off;
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(ag->pos[0],y,ag->pos[2], duRGBA(255,0,0,192));
dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
dd.vertex(tgt[0],y,tgt[2], duRGBA(255,0,0,192));
dd.end();*/
}
}
}
@@ -408,7 +476,7 @@ void CrowdTool::handleRender()
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->boundary.getSegmentCount(); ++j)
{
@@ -421,7 +489,7 @@ void CrowdTool::handleRender()
}
dd.end();
}
if (m_showOpt)
{
dd.begin(DU_DRAW_LINES, 2.0f);
@@ -429,6 +497,48 @@ void CrowdTool::handleRender()
dd.vertex(ag->opte[0],ag->opte[1]+0.3f,ag->opte[2], duRGBA(0,128,0,192));
dd.end();
}
}
// Agent cylinders.
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float radius = ag->radius;
const float* pos = ag->npos;
duDebugDrawCircle(&dd, pos[0], pos[1], pos[2], radius, duRGBA(0,0,0,32), 2.0f);
}
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float height = ag->height;
const float radius = ag->radius;
const float* pos = ag->npos;
duDebugDrawCylinder(&dd, pos[0]-radius, pos[1]+radius*0.1f, pos[2]-radius,
pos[0]+radius, pos[1]+height, pos[2]+radius,
duRGBA(220,220,220,128));
}
// Velocity stuff.
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float radius = ag->radius;
const float height = ag->height;
const float* pos = ag->npos;
const float* vel = ag->vel;
const float* dvel = ag->dvel;
duDebugDrawCircle(&dd, pos[0], pos[1]+height, pos[2], radius, duRGBA(220,220,220,192), 2.0f);
if (m_showVO)
{
@@ -458,138 +568,31 @@ void CrowdTool::handleRender()
}
duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
pos[0]+vel[0],pos[1]+height+vel[1],pos[2]+vel[2],
0.0f, 0.4f, duRGBA(0,0,0,192), 2.0f);
duDebugDrawArrow(&dd, pos[0],pos[1]+height-0.1f,pos[2],
pos[0]+dvel[0],pos[1]+height-0.1f+dvel[1],pos[2]+dvel[2],
pos[0]+dvel[0],pos[1]+height+dvel[1],pos[2]+dvel[2],
0.0f, 0.4f, duRGBA(0,192,255,192), 1.0f);
duDebugDrawCylinderWire(&dd, pos[0]-radius, pos[1]+radius*0.1f, pos[2]-radius,
pos[0]+radius, pos[1]+height, pos[2]+radius,
duRGBA(0,192,255,255), 3.0f);
duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
pos[0]+vel[0],pos[1]+height+vel[1],pos[2]+vel[2],
0.0f, 0.4f, duRGBA(0,0,0,192), 2.0f);
}
// Targets
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
dd.depthMask(true);
}
if (m_showGrid)
{
float gridy = -FLT_MAX;
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
const float* pos = ag->npos;
const float* target = ag->corridor.getTarget();
if (m_showTargets)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float* pos = ag->corridor.getPos();
gridy = dtMax(gridy, pos[1]);
duDebugDrawArc(&dd, pos[0], pos[1], pos[2], target[0], target[1], target[2],
0.25f, 0, 0.4f, duRGBA(0,0,0,128), 1.0f);
}
gridy += 1.0f;
dd.depthMask(false);
dd.begin(DU_DRAW_QUADS);
const ProximityGrid* grid = m_crowd.getGrid();
const int* bounds = grid->getBounds();
const float cs = grid->getCellSize();
for (int y = bounds[1]; y <= bounds[3]; ++y)
{
for (int x = bounds[0]; x <= bounds[2]; ++x)
{
const int count = grid->getItemCountAt(x,y);
if (!count) continue;
unsigned int col = duRGBA(128,0,0,dtMin(count*40,255));
dd.vertex(x*cs, gridy, y*cs, col);
dd.vertex(x*cs, gridy, y*cs+cs, col);
dd.vertex(x*cs+cs, gridy, y*cs+cs, col);
dd.vertex(x*cs+cs, gridy, y*cs, col);
}
}
dd.end();
dd.depthMask(true);
}
/*
for (int i = 0; i < m_form.npolys; ++i)
{
duDebugDrawNavMeshPoly(&dd, *nmesh, m_form.polys[i], duRGBA(255,255,255,32));
}
dd.depthMask(false);
dd.begin(DU_DRAW_POINTS, 4.0f);
for (int i = 0; i < m_form.nsegs; ++i)
{
const FormationSeg* seg = &m_form.segs[i];
for (int j = 0; j < seg->nints-1; ++j)
{
if (seg->ints[j].inside == 0) continue;
const float u0 = seg->ints[j].u;
const float u1 = seg->ints[j+1].u;
float ia[3], ib[3];
dtVlerp(ia, seg->p,seg->q, u0);
dtVlerp(ib, seg->p,seg->q, u1);
dd.vertex(ia,duRGBA(128,0,0,192));
dd.vertex(ib,duRGBA(128,0,0,192));
}
}
dd.end();
dd.begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < m_form.nsegs; ++i)
{
const FormationSeg* seg = &m_form.segs[i];
dd.vertex(seg->p,duRGBA(255,255,255,128));
dd.vertex(seg->q,duRGBA(255,255,255,128));
for (int j = 0; j < seg->nints-1; ++j)
{
if (seg->ints[j].inside == 0) continue;
const float u0 = seg->ints[j].u;
const float u1 = seg->ints[j+1].u;
float ia[3], ib[3];
dtVlerp(ia, seg->p,seg->q, u0);
dtVlerp(ib, seg->p,seg->q, u1);
dd.vertex(ia,duRGBA(128,0,0,192));
dd.vertex(ib,duRGBA(128,0,0,192));
}
}
dd.end();
{
const float r = m_sample->getAgentRadius();
dd.begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < m_form.nsegs; ++i)
{
const FormationSeg* seg = &m_form.segs[i];
dd.vertex(seg->p,duRGBA(255,255,255,128));
dd.vertex(seg->q,duRGBA(255,255,255,128));
for (int j = 0; j < seg->nints-1; ++j)
{
if (seg->ints[j].inside == 0) continue;
const float u0 = seg->ints[j].u;
const float u1 = seg->ints[j+1].u;
float ia[3], ib[3];
dtVlerp(ia, seg->p,seg->q, u0);
dtVlerp(ib, seg->p,seg->q, u1);
const float spacing = r*2.5f;
float delta[3];
dtVsub(delta, ib,ia);
float d = dtVlen(delta);
int np = (int)floorf(d/spacing);
for (int k = 0; k < np; ++k)
{
float pos[3];
dtVmad(pos, ia, delta, (float)(k+0.5f)/(float)np);
dd.vertex(pos[0],pos[1]-1,pos[2],duRGBA(128,0,0,192));
dd.vertex(pos[0],pos[1]+2,pos[2],duRGBA(128,0,0,192));
}
}
}
dd.end();
}
dd.depthMask(true);
*/
}
void CrowdTool::handleRenderOverlay(double* proj, double* model, int* view)
@@ -622,15 +625,18 @@ void CrowdTool::handleRenderOverlay(double* proj, double* model, int* view)
}
}
GraphParams gp;
gp.setRect(300, 10, 500, 200, 8);
gp.setValueRange(0.0f, 2.0f, 4, "ms");
if (m_showPerfGraph)
{
GraphParams gp;
gp.setRect(300, 10, 500, 200, 8);
gp.setValueRange(0.0f, 2.0f, 4, "ms");
drawGraphBackground(&gp);
drawGraph(&gp, &m_crowdRvoTime, 0, "RVO Sampling", duRGBA(255,0,128,255));
drawGraph(&gp, &m_crowdTotalTime, 1, "Total", duRGBA(128,255,0,255));
gp.setRect(300, 10, 500, 50, 8);
gp.setValueRange(0.0f, 2000.0f, 1, "0");
drawGraph(&gp, &m_crowdSampleCount, 0, "Sample Count", duRGBA(255,255,255,255));
drawGraphBackground(&gp);
drawGraph(&gp, &m_crowdRvoTime, 0, "RVO Sampling", duRGBA(255,0,128,255));
drawGraph(&gp, &m_crowdTotalTime, 1, "Total", duRGBA(128,255,0,255));
gp.setRect(300, 10, 500, 50, 8);
gp.setValueRange(0.0f, 2000.0f, 1, "0");
drawGraph(&gp, &m_crowdSampleCount, 0, "Sample Count", duRGBA(255,255,255,255));
}
}