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Random polygon selection for Detour.

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This commit is contained in:
Mikko Mononen
2012-02-27 07:17:51 +00:00
parent 478d5c8605
commit cd3a68dd9b
7 changed files with 444 additions and 1 deletions
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93
RecastDemo/Source/NavMeshTesterTool.cpp
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@@ -19,6 +19,7 @@
#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "SDL.h"
#include "SDL_opengl.h"
@@ -39,6 +40,13 @@
// Uncomment this to dump all the requests in stdout.
#define DUMP_REQS
// Returns a random number [0..1)
static float frand()
{
// return ((float)(rand() & 0xffff)/(float)0xffff);
return (float)rand()/(float)RAND_MAX;
}
inline bool inRange(const float* v1, const float* v2, const float r, const float h)
{
const float dx = v2[0] - v1[0];
@@ -152,6 +160,8 @@ NavMeshTesterTool::NavMeshTesterTool() :
m_npolys(0),
m_nstraightPath(0),
m_nsmoothPath(0),
m_nrandPoints(0),
m_randPointsInCircle(false),
m_hitResult(false),
m_distanceToWall(0),
m_sposSet(false),
@@ -167,6 +177,7 @@ NavMeshTesterTool::NavMeshTesterTool() :
m_polyPickExt[2] = 2;
m_neighbourhoodRadius = 2.5f;
m_randomRadius = 5.0f;
}
NavMeshTesterTool::~NavMeshTesterTool()
@@ -192,6 +203,7 @@ void NavMeshTesterTool::init(Sample* sample)
}
m_neighbourhoodRadius = sample->getAgentRadius() * 20.0f;
m_randomRadius = sample->getAgentRadius() * 30.0f;
}
void NavMeshTesterTool::handleMenu()
@@ -248,6 +260,69 @@ void NavMeshTesterTool::handleMenu()
m_toolMode = TOOLMODE_FIND_LOCAL_NEIGHBOURHOOD;
recalc();
}
imguiSeparator();
if (imguiButton("Set Random Start"))
{
dtStatus status = m_navQuery->findRandomPoint(&m_filter, frand, &m_startRef, m_spos);
if (dtStatusSucceed(status))
{
m_sposSet = true;
recalc();
}
}
if (imguiButton("Set Random End", m_sposSet))
{
if (m_sposSet)
{
dtStatus status = m_navQuery->findRandomPointAroundCircle(m_startRef, m_spos, m_randomRadius, &m_filter, frand, &m_endRef, m_epos);
if (dtStatusSucceed(status))
{
m_eposSet = true;
recalc();
}
}
}
imguiSeparator();
if (imguiButton("Make Random Points"))
{
m_randPointsInCircle = false;
m_nrandPoints = 0;
for (int i = 0; i < MAX_RAND_POINTS; i++)
{
float pt[3];
dtPolyRef ref;
dtStatus status = m_navQuery->findRandomPoint(&m_filter, frand, &ref, pt);
if (dtStatusSucceed(status))
{
dtVcopy(&m_randPoints[m_nrandPoints*3], pt);
m_nrandPoints++;
}
}
}
if (imguiButton("Make Random Points Around", m_sposSet))
{
if (m_sposSet)
{
m_nrandPoints = 0;
m_randPointsInCircle = true;
for (int i = 0; i < MAX_RAND_POINTS; i++)
{
float pt[3];
dtPolyRef ref;
dtStatus status = m_navQuery->findRandomPointAroundCircle(m_startRef, m_spos, m_randomRadius, &m_filter, frand, &ref, pt);
if (dtStatusSucceed(status))
{
dtVcopy(&m_randPoints[m_nrandPoints*3], pt);
m_nrandPoints++;
}
}
}
}
imguiSeparator();
@@ -1184,7 +1259,23 @@ void NavMeshTesterTool::handleRender()
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+agentHeight/2, m_spos[2], m_neighbourhoodRadius, duRGBA(64,16,0,220), 2.0f);
dd.depthMask(true);
}
}
}
if (m_nrandPoints > 0)
{
dd.begin(DU_DRAW_POINTS, 6.0f);
for (int i = 0; i < m_nrandPoints; i++)
{
const float* p = &m_randPoints[i*3];
dd.vertex(p[0],p[1]+0.1,p[2], duRGBA(220,32,16,192));
}
dd.end();
if (m_randPointsInCircle && m_sposSet)
{
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+agentHeight/2, m_spos[2], m_randomRadius, duRGBA(64,16,0,220), 2.0f);
}
}
}
void NavMeshTesterTool::handleRenderOverlay(double* proj, double* model, int* view)