Scarfski/recastnavigation
1
0
Fork 0
mirror of https://github.com/recastnavigation/recastnavigation.git synced 2026-07-12 00:48:54 +00:00
Code Issues Packages Projects Releases Wiki Activity

Added boxmapped texturing to input mesh, helps visualize it better. Added polymesh generation for layered heighfields.

Browse Source
This commit is contained in:
Mikko Mononen
2011-03-06 15:40:33 +00:00
parent 6cb0413cc7
commit e84d563bfe
16 changed files with 1612 additions and 193 deletions
Download Patch File Download Diff File Expand all files Collapse all files

207
DebugUtils/Source/RecastDebugDraw.cpp
View File

@@ -24,33 +24,62 @@
void duDebugDrawTriMesh(duDebugDraw* dd, const float* verts, int /*nverts*/,
const int* tris, const float* normals, int ntris,
const unsigned char* flags)
const unsigned char* flags, const float texScale)
{
if (!dd) return;
if (!verts) return;
if (!tris) return;
if (!normals) return;
float uva[2];
float uvb[2];
float uvc[2];
const unsigned int unwalkable = duRGBA(192,128,0,255);
dd->texture(true);
dd->begin(DU_DRAW_TRIS);
for (int i = 0; i < ntris*3; i += 3)
{
const float* norm = &normals[i];
unsigned int color;
unsigned char a = (unsigned char)(150*(2+normals[i+0]+normals[i+1])/4);
unsigned char a = (unsigned char)(220*(2+norm[0]+norm[1])/4);
if (flags && !flags[i/3])
color = duRGBA(a,a/4,a/16,255);
color = duLerpCol(duRGBA(a,a,a,255), unwalkable, 64);
else
color = duRGBA(a,a,a,255);
dd->vertex(&verts[tris[i+0]*3], color);
dd->vertex(&verts[tris[i+1]*3], color);
dd->vertex(&verts[tris[i+2]*3], color);
const float* va = &verts[tris[i+0]*3];
const float* vb = &verts[tris[i+1]*3];
const float* vc = &verts[tris[i+2]*3];
int ax = 0, ay = 0;
if (rcAbs(norm[1]) > rcAbs(norm[ax]))
ax = 1;
if (rcAbs(norm[2]) > rcAbs(norm[ax]))
ax = 2;
ax = (1<<ax)&3; // +1 mod 3
ay = (1<<ax)&3; // +1 mod 3
uva[0] = va[ax]*texScale;
uva[1] = va[ay]*texScale;
uvb[0] = vb[ax]*texScale;
uvb[1] = vb[ay]*texScale;
uvc[0] = vc[ax]*texScale;
uvc[1] = vc[ay]*texScale;
dd->vertex(va, color, uva);
dd->vertex(vb, color, uvb);
dd->vertex(vc, color, uvc);
}
dd->end();
dd->texture(false);
}
void duDebugDrawTriMeshSlope(duDebugDraw* dd, const float* verts, int /*nverts*/,
const int* tris, const float* normals, int ntris,
const float walkableSlopeAngle)
const float walkableSlopeAngle, const float texScale)
{
if (!dd) return;
if (!verts) return;
@@ -58,23 +87,52 @@ void duDebugDrawTriMeshSlope(duDebugDraw* dd, const float* verts, int /*nverts*/
if (!normals) return;
const float walkableThr = cosf(walkableSlopeAngle/180.0f*DU_PI);
float uva[2];
float uvb[2];
float uvc[2];
dd->texture(true);
const unsigned int unwalkable = duRGBA(192,128,0,255);
dd->begin(DU_DRAW_TRIS);
for (int i = 0; i < ntris*3; i += 3)
{
const float* norm = &normals[i];
unsigned int color;
unsigned char a = (unsigned char)(255*(2+normals[i+0]+normals[i+1])/4);
unsigned char a = (unsigned char)(220*(2+norm[0]+norm[1])/4);
if (norm[1] < walkableThr)
color = duRGBA(a,a/4,a/16,255);
color = duLerpCol(duRGBA(a,a,a,255), unwalkable, 64);
else
color = duRGBA(a,a,a,255);
dd->vertex(&verts[tris[i+0]*3], color);
dd->vertex(&verts[tris[i+1]*3], color);
dd->vertex(&verts[tris[i+2]*3], color);
const float* va = &verts[tris[i+0]*3];
const float* vb = &verts[tris[i+1]*3];
const float* vc = &verts[tris[i+2]*3];
int ax = 0, ay = 0;
if (rcAbs(norm[1]) > rcAbs(norm[ax]))
ax = 1;
if (rcAbs(norm[2]) > rcAbs(norm[ax]))
ax = 2;
ax = (1<<ax)&3; // +1 mod 3
ay = (1<<ax)&3; // +1 mod 3
uva[0] = va[ax]*texScale;
uva[1] = va[ay]*texScale;
uvb[0] = vb[ax]*texScale;
uvb[1] = vb[ay]*texScale;
uvc[0] = vc[ax]*texScale;
uvc[1] = vc[ay]*texScale;
dd->vertex(va, color, uva);
dd->vertex(vb, color, uvb);
dd->vertex(vc, color, uvc);
}
dd->end();
dd->texture(false);
}
void duDebugDrawHeightfieldSolid(duDebugDraw* dd, const rcHeightfield& hf)
@@ -498,7 +556,9 @@ void duDebugDrawLayerContours(duDebugDraw* dd, const struct rcLayerContourSet& l
{
const rcLayerContour& c = lcset.conts[i];
unsigned int color = 0;
color = duIntToCol(i, a);
for (int j = 0; j < c.nverts; ++j)
{
const int k = (j+1) % c.nverts;
@@ -510,7 +570,6 @@ void duDebugDrawLayerContours(duDebugDraw* dd, const struct rcLayerContourSet& l
const float bx = orig[0] + vb[0]*cs;
const float by = orig[1] + (vb[1]+1+(i&1))*ch;
const float bz = orig[2] + vb[2]*cs;
color = duIntToCol(vb[3], a);
dd->vertex(ax,ay,az,color);
dd->vertex(bx,by,bz,duDarkenCol(color));
}
@@ -526,12 +585,10 @@ void duDebugDrawLayerContours(duDebugDraw* dd, const struct rcLayerContourSet& l
for (int j = 0; j < c.nverts; ++j)
{
const int k = (j+1) % c.nverts;
const unsigned char* va = &c.verts[j*4];
const unsigned char* vb = &c.verts[k*4];
color = duDarkenCol(duIntToCol(va[3], a));
if (va[3] != vb[3])
color = duDarkenCol(duIntToCol(i, a));
if (va[3])
color = duRGBA(255,255,255,a);
float fx = orig[0] + va[0]*cs;
@@ -543,6 +600,118 @@ void duDebugDrawLayerContours(duDebugDraw* dd, const struct rcLayerContourSet& l
dd->end();
}
void duDebugDrawLayerPolyMesh(duDebugDraw* dd, const struct rcLayerPolyMesh& lmesh)
{
if (!dd) return;
const int nvp = lmesh.nvp;
const float cs = lmesh.cs;
const float ch = lmesh.ch;
const float* orig = lmesh.bmin;
dd->begin(DU_DRAW_TRIS);
for (int i = 0; i < lmesh.npolys; ++i)
{
const unsigned short* p = &lmesh.polys[i*nvp*2];
unsigned int color;
if (lmesh.areas[i] == RC_WALKABLE_AREA)
color = duRGBA(0,192,255,64);
else if (lmesh.areas[i] == RC_NULL_AREA)
color = duRGBA(0,0,0,64);
else
color = duIntToCol(lmesh.areas[i], 255);
unsigned short vi[3];
for (int j = 2; j < nvp; ++j)
{
if (p[j] == RC_MESH_NULL_IDX) break;
vi[0] = p[0];
vi[1] = p[j-1];
vi[2] = p[j];
for (int k = 0; k < 3; ++k)
{
const unsigned short* v = &lmesh.verts[vi[k]*3];
const float x = orig[0] + v[0]*cs;
const float y = orig[1] + (v[1]+1)*ch;
const float z = orig[2] + v[2]*cs;
dd->vertex(x,y,z, color);
}
}
}
dd->end();
// Draw neighbours edges
const unsigned int coln = duRGBA(0,48,64,32);
dd->begin(DU_DRAW_LINES, 1.5f);
for (int i = 0; i < lmesh.npolys; ++i)
{
const unsigned short* p = &lmesh.polys[i*nvp*2];
for (int j = 0; j < nvp; ++j)
{
if (p[j] == RC_MESH_NULL_IDX) break;
if (p[nvp+j] == RC_MESH_NULL_IDX) continue;
int vi[2];
vi[0] = p[j];
if (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX)
vi[1] = p[0];
else
vi[1] = p[j+1];
for (int k = 0; k < 2; ++k)
{
const unsigned short* v = &lmesh.verts[vi[k]*3];
const float x = orig[0] + v[0]*cs;
const float y = orig[1] + (v[1]+1)*ch + 0.1f;
const float z = orig[2] + v[2]*cs;
dd->vertex(x, y, z, coln);
}
}
}
dd->end();
// Draw boundary edges
const unsigned int colb = duRGBA(0,48,64,220);
dd->begin(DU_DRAW_LINES, 2.5f);
for (int i = 0; i < lmesh.npolys; ++i)
{
const unsigned short* p = &lmesh.polys[i*nvp*2];
for (int j = 0; j < nvp; ++j)
{
if (p[j] == RC_MESH_NULL_IDX) break;
if (p[nvp+j] != RC_MESH_NULL_IDX) continue;
int vi[2];
vi[0] = p[j];
if (j+1 >= nvp || p[j+1] == RC_MESH_NULL_IDX)
vi[1] = p[0];
else
vi[1] = p[j+1];
for (int k = 0; k < 2; ++k)
{
const unsigned short* v = &lmesh.verts[vi[k]*3];
const float x = orig[0] + v[0]*cs;
const float y = orig[1] + (v[1]+1)*ch + 0.1f;
const float z = orig[2] + v[2]*cs;
dd->vertex(x, y, z, colb);
}
}
}
dd->end();
dd->begin(DU_DRAW_POINTS, 3.0f);
const unsigned int colv = duRGBA(0,0,0,220);
for (int i = 0; i < lmesh.nverts; ++i)
{
const unsigned short* v = &lmesh.verts[i*3];
const float x = orig[0] + v[0]*cs;
const float y = orig[1] + (v[1]+1)*ch + 0.1f;
const float z = orig[2] + v[2]*cs;
dd->vertex(x,y,z, colv);
}
dd->end();
}
static void getContourCenter(const rcContour* cont, const float* orig, float cs, float ch, float* center)
{
center[0] = 0;