Scarfski/recastnavigation
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Version 1.2

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Removed paris demo code.
Cleaned up the API and added missing comments.
This commit is contained in:
Mikko Mononen
2009-06-16 09:57:55 +00:00
parent b1114cb5cd
commit e638624828
14 changed files with 966 additions and 2260 deletions
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77
Recast/Source/RecastDebugDraw.cpp
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@@ -24,20 +24,17 @@
#include "MeshLoaderObj.h"
#include "Recast.h"
void rcDebugDrawMesh(const rcMeshLoaderObj& mesh, const unsigned char* flags, const float miny, const float maxy)
void rcDebugDrawMesh(const rcMeshLoaderObj& mesh, const unsigned char* flags)
{
int nt = mesh.getTriCount();
const float* verts = mesh.getVerts();
const float* normals = mesh.getNormals();
const int* tris = mesh.getTris();
const float s = 0.5f / (maxy - miny);
glBegin(GL_TRIANGLES);
for (int i = 0; i < nt*3; i += 3)
{
float a = (2+normals[i+0]+normals[i+1])/4;
a *= 0.5f + (verts[tris[i]*3+1]-miny)*s;
if (flags && !flags[i/3])
glColor3f(a,a*0.3f,a*0.1f);
else
@@ -49,7 +46,7 @@ void rcDebugDrawMesh(const rcMeshLoaderObj& mesh, const unsigned char* flags, co
glEnd();
}
void rcDebugDrawMeshSlope(const rcMeshLoaderObj& mesh, const float walkableSlopeAngle, const float miny, const float maxy)
void rcDebugDrawMeshSlope(const rcMeshLoaderObj& mesh, const float walkableSlopeAngle)
{
const float walkableThr = cosf(walkableSlopeAngle/180.0f*(float)M_PI);
@@ -58,14 +55,11 @@ void rcDebugDrawMeshSlope(const rcMeshLoaderObj& mesh, const float walkableSlope
const float* normals = mesh.getNormals();
const int* tris = mesh.getTris();
const float s = 0.5f / (maxy - miny);
glBegin(GL_TRIANGLES);
for (int i = 0; i < nt*3; i += 3)
{
const float* norm = &normals[i];
float a = (2+norm[0]+norm[1])/4;
a *= 0.5f+(verts[tris[i]*3+1]-miny)*s;
if (norm[1] > walkableThr)
glColor3f(a,a,a);
else
@@ -155,41 +149,6 @@ void drawBox(float minx, float miny, float minz, float maxx, float maxy, float m
}
}
void drawBox2(float minx, float miny, float minz, float maxx, float maxy, float maxz)
{
float verts[8*3] =
{
minx, miny, minz,
maxx, miny, minz,
maxx, miny, maxz,
minx, miny, maxz,
minx, maxy, minz,
maxx, maxy, minz,
maxx, maxy, maxz,
minx, maxy, maxz,
};
static const unsigned char inds[5*4] =
{
7, 6, 5, 4,
// 0, 1, 2, 3,
1, 5, 6, 2,
3, 7, 4, 0,
2, 6, 7, 3,
0, 4, 5, 1,
};
const unsigned char* in = inds;
for (int i = 0; i < 5; ++i)
{
glVertex3fv(&verts[*in*3]); in++;
glVertex3fv(&verts[*in*3]); in++;
glVertex3fv(&verts[*in*3]); in++;
glVertex3fv(&verts[*in*3]); in++;
}
}
void rcDebugDrawCylinderWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col)
{
static const int NUM_SEG = 16;
@@ -239,11 +198,14 @@ void rcDebugDrawBox(float minx, float miny, float minz, float maxx, float maxy,
}
void rcDebugDrawHeightfieldSolid(const rcHeightfield& hf,
const float* orig, float cs, float ch)
void rcDebugDrawHeightfieldSolid(const rcHeightfield& hf)
{
static const float col0[4] = { 1,1,1,1 };
const float* orig = hf.bmin;
const float cs = hf.cs;
const float ch = hf.ch;
const int w = hf.width;
const int h = hf.height;
@@ -266,12 +228,15 @@ void rcDebugDrawHeightfieldSolid(const rcHeightfield& hf,
glEnd();
}
void rcDebugDrawHeightfieldWalkable(const rcHeightfield& hf,
const float* orig, float cs, float ch)
void rcDebugDrawHeightfieldWalkable(const rcHeightfield& hf)
{
static const float col0[4] = { 1,1,1,1 };
static const float col1[4] = { 0.25f,0.44f,0.5f,1 };
const float* orig = hf.bmin;
const float cs = hf.cs;
const float ch = hf.ch;
const int w = hf.width;
const int h = hf.height;
@@ -315,11 +280,10 @@ void rcDebugDrawCompactHeightfieldSolid(const rcCompactHeightfield& chf)
{
const rcCompactSpan& s = chf.spans[i];
const float fy = chf.bmin[1] + (s.y+1)*ch;
drawBox2(fx, fy-ch*2, fz, fx+cs, fy, fz+cs);
/* glVertex3f(fx, fy, fz);
glVertex3f(fx, fy, fz);
glVertex3f(fx, fy, fz+cs);
glVertex3f(fx+cs, fy, fz+cs);
glVertex3f(fx+cs, fy, fz);*/
glVertex3f(fx+cs, fy, fz);
}
}
}
@@ -352,15 +316,13 @@ void rcDebugDrawCompactHeightfieldRegions(const rcCompactHeightfield& chf)
}
else
{
// glColor4ub(0,0,0,128);
glColor3ub(128,128,128);
glColor4ub(0,0,0,128);
}
const float fy = chf.bmin[1] + (s.y+1)*ch;
drawBox2(fx, fy-ch*2, fz, fx+cs, fy, fz+cs);
/* glVertex3f(fx, fy, fz);
glVertex3f(fx, fy, fz);
glVertex3f(fx, fy, fz+cs);
glVertex3f(fx+cs, fy, fz+cs);
glVertex3f(fx+cs, fy, fz);*/
glVertex3f(fx+cs, fy, fz);
}
}
}
@@ -392,11 +354,10 @@ void rcDebugDrawCompactHeightfieldDistance(const rcCompactHeightfield& chf)
const float fy = chf.bmin[1] + (s.y+1)*ch;
float cd = (float)s.dist * dscale;
glColor3f(cd, cd, cd);
drawBox2(fx, fy-ch*2, fz, fx+cs, fy, fz+cs);
/* glVertex3f(fx, fy, fz);
glVertex3f(fx, fy, fz);
glVertex3f(fx, fy, fz+cs);
glVertex3f(fx+cs, fy, fz+cs);
glVertex3f(fx+cs, fy, fz);*/
glVertex3f(fx+cs, fy, fz);
}
}
}