mirror of
https://github.com/recastnavigation/recastnavigation.git
synced 2026-09-26 20:16:15 +00:00
Removed stat and tile navmeshes. Fixed examples.
This commit is contained in:
Mikko Mononen
@@ -17,57 +17,10 @@
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//
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#include "DetourDebugDraw.h"
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#include "DetourStatNavMesh.h"
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#include "DetourTileNavMesh.h"
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#include "DetourNavMesh.h"
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#include "SDL.h"
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#include "SDL_opengl.h"
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void dtDebugDrawStatNavMeshPoly(const dtStatNavMesh* mesh, dtStatPolyRef ref, const float* col)
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{
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int idx = mesh->getPolyIndexByRef(ref);
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if (idx == -1) return;
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glColor4f(col[0],col[1],col[2],0.25f);
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if (mesh->getPolyDetailCount())
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{
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const dtStatPoly* p = mesh->getPoly(idx);
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const dtStatPolyDetail* pd = mesh->getPolyDetail(idx);
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glBegin(GL_TRIANGLES);
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for (int j = 0; j < pd->ntris; ++j)
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{
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const unsigned char* t = mesh->getDetailTri(pd->tbase+j);
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for (int k = 0; k < 3; ++k)
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{
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if (t[k] < p->nv)
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glVertex3fv(mesh->getVertex(p->v[t[k]]));
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else
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glVertex3fv(mesh->getDetailVertex(pd->vbase+(t[k]-p->nv)));
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}
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}
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glEnd();
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}
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else
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{
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const dtStatPoly* p = mesh->getPoly(idx);
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glBegin(GL_TRIANGLES);
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unsigned short vi[3];
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for (int j = 2; j < (int)p->nv; ++j)
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{
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vi[0] = p->v[0];
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vi[1] = p->v[j-1];
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vi[2] = p->v[j];
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for (int k = 0; k < 3; ++k)
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{
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const float* v = mesh->getVertex(vi[k]);
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glVertex3f(v[0], v[1]+0.2f, v[2]);
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}
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}
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glEnd();
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}
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}
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static void drawBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col)
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{
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glColor4fv(col);
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@@ -103,32 +56,6 @@ static void drawBoxWire(float minx, float miny, float minz, float maxx, float ma
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glVertex3f(minx, maxy, maxz);
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}
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void dtDebugDrawStatNavMeshBVTree(const dtStatNavMesh* mesh)
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{
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const float col[] = { 1,1,1,0.5f };
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const dtStatNavMeshHeader* hdr = mesh->getHeader();
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const dtStatBVNode* nodes = mesh->getBvTreeNodes();
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int nnodes = mesh->getBvTreeNodeCount();
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glBegin(GL_LINES);
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for (int i = 0; i < nnodes; ++i)
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{
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const dtStatBVNode* n = &nodes[i];
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if (n->i < 0) // Leaf indices are positive.
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continue;
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drawBoxWire(hdr->bmin[0] + n->bmin[0]*hdr->cs,
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hdr->bmin[1] + n->bmin[1]*hdr->cs,
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hdr->bmin[2] + n->bmin[2]*hdr->cs,
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hdr->bmin[0] + n->bmax[0]*hdr->cs,
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hdr->bmin[1] + n->bmax[1]*hdr->cs,
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hdr->bmin[2] + n->bmax[2]*hdr->cs, col);
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}
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glEnd();
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}
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static float distancePtLine2d(const float* pt, const float* p, const float* q)
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{
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float pqx = q[0] - p[0];
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@@ -143,363 +70,6 @@ static float distancePtLine2d(const float* pt, const float* p, const float* q)
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return dx*dx + dz*dz;
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}
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static void drawStatMeshPolyBoundaries(const dtStatNavMesh* mesh, bool inner)
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{
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static const float thr = 0.01f*0.01f;
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glBegin(GL_LINES);
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for (int i = 0; i < mesh->getPolyCount(); ++i)
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{
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const dtStatPoly* p = mesh->getPoly(i);
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const dtStatPolyDetail* pd = mesh->getPolyDetail(i);
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for (int j = 0, nj = (int)p->nv; j < nj; ++j)
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{
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if (inner)
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{
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// Skip non-connected edges.
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if (p->n[j] == 0) continue;
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}
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else
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{
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// Skip connected edges.
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if (p->n[j] != 0) continue;
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}
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const float* v0 = mesh->getVertex(p->v[j]);
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const float* v1 = mesh->getVertex(p->v[(j+1) % nj]);
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// Draw detail mesh edges which align with the actual poly edge.
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// This is really slow.
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for (int k = 0; k < pd->ntris; ++k)
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{
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const unsigned char* t = mesh->getDetailTri(pd->tbase+k);
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const float* tv[3];
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for (int m = 0; m < 3; ++m)
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{
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if (t[m] < p->nv)
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tv[m] = mesh->getVertex(p->v[t[m]]);
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else
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tv[m] = mesh->getDetailVertex(pd->vbase+(t[m]-p->nv));
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}
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for (int m = 0, n = 2; m < 3; n=m++)
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{
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if (((t[3] >> (n*2)) & 0x3) == 0) continue; // Skip inner edges.
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if (distancePtLine2d(tv[n],v0,v1) < thr &&
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distancePtLine2d(tv[m],v0,v1) < thr)
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{
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glVertex3fv(tv[n]);
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glVertex3fv(tv[m]);
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}
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}
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}
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}
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}
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glEnd();
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}
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void dtDebugDrawStatNavMesh(const dtStatNavMesh* mesh, bool drawClosedList)
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{
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glBegin(GL_TRIANGLES);
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for (int i = 0; i < mesh->getPolyDetailCount(); ++i)
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{
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const dtStatPoly* p = mesh->getPoly(i);
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const dtStatPolyDetail* pd = mesh->getPolyDetail(i);
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if (drawClosedList && mesh->isInClosedList(i+1))
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glColor4ub(255,196,0,64);
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else
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glColor4ub(0,196,255,64);
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for (int j = 0; j < pd->ntris; ++j)
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{
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const unsigned char* t = mesh->getDetailTri(pd->tbase+j);
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for (int k = 0; k < 3; ++k)
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{
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if (t[k] < p->nv)
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glVertex3fv(mesh->getVertex(p->v[t[k]]));
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else
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glVertex3fv(mesh->getDetailVertex(pd->vbase+(t[k]-p->nv)));
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}
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}
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}
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glEnd();
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// Draw inter poly boundaries
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glColor4ub(0,48,64,32);
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glLineWidth(1.5f);
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drawStatMeshPolyBoundaries(mesh, true);
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// Draw outer poly boundaries
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glLineWidth(2.5f);
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glColor4ub(0,48,64,220);
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drawStatMeshPolyBoundaries(mesh, false);
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glLineWidth(1.0f);
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glPointSize(3.0f);
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glColor4ub(0,0,0,196);
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glBegin(GL_POINTS);
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for (int i = 0; i < mesh->getVertexCount(); ++i)
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{
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const float* v = mesh->getVertex(i);
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glVertex3f(v[0], v[1], v[2]);
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}
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glEnd();
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glPointSize(1.0f);
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}
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static void drawTilePolyBoundaries(const dtTileHeader* header, bool inner)
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{
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static const float thr = 0.01f*0.01f;
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glBegin(GL_LINES);
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for (int i = 0; i < header->npolys; ++i)
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{
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const dtTilePoly* p = &header->polys[i];
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const dtTilePolyDetail* pd = &header->dmeshes[i];
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for (int j = 0, nj = (int)p->nv; j < nj; ++j)
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{
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if (inner)
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{
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if (p->n[j] == 0) continue;
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if (p->n[j] & 0x8000)
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{
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bool con = false;
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for (int k = 0; k < p->nlinks; ++k)
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{
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if (header->links[p->links+k].e == j)
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{
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con = true;
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break;
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}
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}
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if (con)
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glColor4ub(255,255,255,128);
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else
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glColor4ub(0,0,0,128);
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}
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else
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glColor4ub(0,48,64,32);
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}
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else
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{
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if (p->n[j] != 0) continue;
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}
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const float* v0 = &header->verts[p->v[j]*3];
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const float* v1 = &header->verts[p->v[(j+1)%nj]*3];
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// Draw detail mesh edges which align with the actual poly edge.
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// This is really slow.
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for (int k = 0; k < pd->ntris; ++k)
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{
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const unsigned char* t = &header->dtris[(pd->tbase+k)*4];
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const float* tv[3];
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for (int m = 0; m < 3; ++m)
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{
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if (t[m] < p->nv)
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tv[m] = &header->verts[p->v[t[m]]*3];
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else
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tv[m] = &header->dverts[(pd->vbase+(t[m]-p->nv))*3];
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}
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for (int m = 0, n = 2; m < 3; n=m++)
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{
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if (((t[3] >> (n*2)) & 0x3) == 0) continue; // Skip inner detail edges.
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if (distancePtLine2d(tv[n],v0,v1) < thr &&
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distancePtLine2d(tv[m],v0,v1) < thr)
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{
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glVertex3fv(tv[n]);
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glVertex3fv(tv[m]);
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}
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}
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}
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}
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}
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glEnd();
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}
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static void drawTile(const dtTileHeader* header)
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{
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glBegin(GL_TRIANGLES);
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for (int i = 0; i < header->npolys; ++i)
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{
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const dtTilePoly* p = &header->polys[i];
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const dtTilePolyDetail* pd = &header->dmeshes[i];
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glColor4ub(0,196,255,64);
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for (int j = 0; j < pd->ntris; ++j)
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{
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const unsigned char* t = &header->dtris[(pd->tbase+j)*4];
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for (int k = 0; k < 3; ++k)
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{
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if (t[k] < p->nv)
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glVertex3fv(&header->verts[p->v[t[k]]*3]);
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else
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glVertex3fv(&header->dverts[(pd->vbase+t[k]-p->nv)*3]);
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}
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}
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}
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glEnd();
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// Draw inter poly boundaries
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glColor4ub(0,48,64,32);
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glLineWidth(1.5f);
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drawTilePolyBoundaries(header, true);
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// Draw outer poly boundaries
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glLineWidth(2.5f);
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glColor4ub(0,48,64,220);
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drawTilePolyBoundaries(header, false);
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glLineWidth(1.0f);
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glPointSize(3.0f);
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glColor4ub(0,0,0,196);
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glBegin(GL_POINTS);
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for (int i = 0; i < header->nverts; ++i)
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{
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const float* v = &header->verts[i*3];
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glVertex3f(v[0], v[1], v[2]);
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}
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glEnd();
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glPointSize(1.0f);
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// Draw portals
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/* glBegin(GL_LINES);
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for (int i = 0; i < header->nportals[0]; ++i)
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{
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const dtTilePortal* p = &header->portals[0][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
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}
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for (int i = 0; i < header->nportals[1]; ++i)
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{
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const dtTilePortal* p = &header->portals[1][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
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}
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for (int i = 0; i < header->nportals[2]; ++i)
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{
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const dtTilePortal* p = &header->portals[2][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
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glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
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}
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for (int i = 0; i < header->nportals[3]; ++i)
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{
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const dtTilePortal* p = &header->portals[3][i];
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if (p->ncon)
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glColor4ub(255,255,255,192);
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else
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glColor4ub(255,0,0,64);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
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glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
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}
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glEnd();*/
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}
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void dtDebugDrawTiledNavMesh(const dtTiledNavMesh* mesh)
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{
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if (!mesh) return;
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for (int i = 0; i < DT_MAX_TILES; ++i)
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{
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const dtTile* tile = mesh->getTile(i);
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if (!tile->header) continue;
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drawTile(tile->header);
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}
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}
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void dtDebugDrawTiledNavMeshPoly(const dtTiledNavMesh* mesh, dtTilePolyRef ref, const float* col)
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{
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unsigned int salt, it, ip;
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dtDecodeTileId(ref, salt, it, ip);
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if (it >= DT_MAX_TILES) return;
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const dtTile* tile = mesh->getTile(it);
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if (tile->salt != salt || tile->header == 0) return;
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const dtTileHeader* header = tile->header;
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if (ip >= (unsigned int)header->npolys) return;
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glColor4f(col[0],col[1],col[2],0.25f);
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const dtTilePoly* p = &header->polys[ip];
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const dtTilePolyDetail* pd = &header->dmeshes[ip];
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glBegin(GL_TRIANGLES);
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for (int i = 0; i < pd->ntris; ++i)
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{
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||||
const unsigned char* t = &header->dtris[(pd->tbase+i)*4];
|
||||
for (int j = 0; j < 3; ++j)
|
||||
{
|
||||
if (t[j] < p->nv)
|
||||
glVertex3fv(&header->verts[p->v[t[j]]*3]);
|
||||
else
|
||||
glVertex3fv(&header->dverts[(pd->vbase+t[j]-p->nv)*3]);
|
||||
}
|
||||
}
|
||||
glEnd();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
static void drawPolyBoundaries(const dtMeshHeader* header, bool inner)
|
||||
{
|
||||
static const float thr = 0.01f*0.01f;
|
||||
@@ -626,26 +196,6 @@ static void drawMeshTile(const dtNavMesh* mesh, const dtMeshTile* tile, bool dra
|
||||
glEnd();
|
||||
glPointSize(1.0f);
|
||||
|
||||
/*
|
||||
// Draw BV nodes.
|
||||
const float col[] = { 1,1,1,0.5f };
|
||||
const float cs = 1.0f / header->bvquant;
|
||||
glBegin(GL_LINES);
|
||||
for (int i = 0; i < header->nbvtree; ++i)
|
||||
{
|
||||
const dtBVNode* n = &header->bvtree[i];
|
||||
if (n->i < 0) // Leaf indices are positive.
|
||||
continue;
|
||||
drawBoxWire(header->bmin[0] + n->bmin[0]*cs,
|
||||
header->bmin[1] + n->bmin[1]*cs,
|
||||
header->bmin[2] + n->bmin[2]*cs,
|
||||
header->bmin[0] + n->bmax[0]*cs,
|
||||
header->bmin[1] + n->bmax[1]*cs,
|
||||
header->bmin[2] + n->bmax[2]*cs, col);
|
||||
}
|
||||
glEnd();
|
||||
*/
|
||||
|
||||
// Draw portals
|
||||
/* glBegin(GL_LINES);
|
||||
|
||||
@@ -741,6 +291,121 @@ void dtDebugDrawNavMesh(const dtNavMesh* mesh, bool drawClosedList)
|
||||
}
|
||||
|
||||
|
||||
static void drawMeshTileBVTree(const dtNavMesh* mesh, const dtMeshTile* tile)
|
||||
{
|
||||
const dtMeshHeader* header = tile->header;
|
||||
|
||||
// Draw BV nodes.
|
||||
const float col[] = { 1,1,1,0.5f };
|
||||
const float cs = 1.0f / header->bvquant;
|
||||
glBegin(GL_LINES);
|
||||
for (int i = 0; i < header->nbvtree; ++i)
|
||||
{
|
||||
const dtBVNode* n = &header->bvtree[i];
|
||||
if (n->i < 0) // Leaf indices are positive.
|
||||
continue;
|
||||
drawBoxWire(header->bmin[0] + n->bmin[0]*cs,
|
||||
header->bmin[1] + n->bmin[1]*cs,
|
||||
header->bmin[2] + n->bmin[2]*cs,
|
||||
header->bmin[0] + n->bmax[0]*cs,
|
||||
header->bmin[1] + n->bmax[1]*cs,
|
||||
header->bmin[2] + n->bmax[2]*cs, col);
|
||||
}
|
||||
glEnd();
|
||||
|
||||
// Draw portals
|
||||
/* glBegin(GL_LINES);
|
||||
|
||||
for (int i = 0; i < header->nportals[0]; ++i)
|
||||
{
|
||||
const dtTilePortal* p = &header->portals[0][i];
|
||||
if (p->ncon)
|
||||
glColor4ub(255,255,255,192);
|
||||
else
|
||||
glColor4ub(255,0,0,64);
|
||||
glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
|
||||
glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
|
||||
|
||||
glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
|
||||
glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
|
||||
|
||||
glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
|
||||
glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
|
||||
|
||||
glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
|
||||
glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
|
||||
}
|
||||
for (int i = 0; i < header->nportals[1]; ++i)
|
||||
{
|
||||
const dtTilePortal* p = &header->portals[1][i];
|
||||
if (p->ncon)
|
||||
glColor4ub(255,255,255,192);
|
||||
else
|
||||
glColor4ub(255,0,0,64);
|
||||
glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
|
||||
glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
|
||||
|
||||
glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
|
||||
glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
|
||||
|
||||
glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
|
||||
glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
|
||||
|
||||
glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
|
||||
glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
|
||||
}
|
||||
for (int i = 0; i < header->nportals[2]; ++i)
|
||||
{
|
||||
const dtTilePortal* p = &header->portals[2][i];
|
||||
if (p->ncon)
|
||||
glColor4ub(255,255,255,192);
|
||||
else
|
||||
glColor4ub(255,0,0,64);
|
||||
glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
|
||||
glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
|
||||
|
||||
glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
|
||||
glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
|
||||
|
||||
glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
|
||||
glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
|
||||
|
||||
glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
|
||||
glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
|
||||
}
|
||||
for (int i = 0; i < header->nportals[3]; ++i)
|
||||
{
|
||||
const dtTilePortal* p = &header->portals[3][i];
|
||||
if (p->ncon)
|
||||
glColor4ub(255,255,255,192);
|
||||
else
|
||||
glColor4ub(255,0,0,64);
|
||||
glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
|
||||
glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
|
||||
|
||||
glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
|
||||
glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
|
||||
|
||||
glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
|
||||
glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
|
||||
|
||||
glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
|
||||
glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
|
||||
}
|
||||
glEnd();*/
|
||||
}
|
||||
|
||||
void dtDebugDrawNavMeshBVTree(const dtNavMesh* mesh)
|
||||
{
|
||||
if (!mesh) return;
|
||||
|
||||
for (int i = 0; i < mesh->getMaxTiles(); ++i)
|
||||
{
|
||||
const dtMeshTile* tile = mesh->getTile(i);
|
||||
if (!tile->header) continue;
|
||||
drawMeshTileBVTree(mesh, tile);
|
||||
}
|
||||
}
|
||||
|
||||
void dtDebugDrawNavMeshPoly(const dtNavMesh* mesh, dtPolyRef ref, const float* col)
|
||||
{
|
||||
|
||||
Reference in New Issue
Block a user