mirror of
https://github.com/recastnavigation/recastnavigation.git
synced 2026-08-13 08:59:25 +00:00
09080b5272
The demo relied on the build context returning accumulated times in microseconds. On Windows this was using QueryPerformanceCounter directly which has a higher resolution, thus returning wrong measured times. We now report the accumulated times in microseconds on all platforms.
1114 lines
30 KiB
C++
1114 lines
30 KiB
C++
//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#define _USE_MATH_DEFINES
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#include <math.h>
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#include <stdio.h>
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#include <string.h>
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#include <float.h>
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#include "SDL.h"
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#include "SDL_opengl.h"
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#ifdef __APPLE__
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# include <OpenGL/glu.h>
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#else
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# include <GL/glu.h>
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#endif
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#include "imgui.h"
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#include "CrowdTool.h"
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#include "InputGeom.h"
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#include "Sample.h"
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#include "DetourCrowd.h"
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#include "DetourDebugDraw.h"
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#include "DetourObstacleAvoidance.h"
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#include "DetourCommon.h"
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#include "DetourNode.h"
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#include "SampleInterfaces.h"
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#ifdef WIN32
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# define snprintf _snprintf
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#endif
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static bool isectSegAABB(const float* sp, const float* sq,
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const float* amin, const float* amax,
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float& tmin, float& tmax)
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{
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static const float EPS = 1e-6f;
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float d[3];
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dtVsub(d, sq, sp);
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tmin = 0; // set to -FLT_MAX to get first hit on line
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tmax = FLT_MAX; // set to max distance ray can travel (for segment)
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// For all three slabs
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for (int i = 0; i < 3; i++)
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{
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if (fabsf(d[i]) < EPS)
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{
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// Ray is parallel to slab. No hit if origin not within slab
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if (sp[i] < amin[i] || sp[i] > amax[i])
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return false;
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}
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else
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{
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// Compute intersection t value of ray with near and far plane of slab
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const float ood = 1.0f / d[i];
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float t1 = (amin[i] - sp[i]) * ood;
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float t2 = (amax[i] - sp[i]) * ood;
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// Make t1 be intersection with near plane, t2 with far plane
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if (t1 > t2) dtSwap(t1, t2);
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// Compute the intersection of slab intersections intervals
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if (t1 > tmin) tmin = t1;
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if (t2 < tmax) tmax = t2;
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// Exit with no collision as soon as slab intersection becomes empty
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if (tmin > tmax) return false;
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}
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}
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return true;
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}
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static void getAgentBounds(const dtCrowdAgent* ag, float* bmin, float* bmax)
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{
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const float* p = ag->npos;
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const float r = ag->params.radius;
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const float h = ag->params.height;
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bmin[0] = p[0] - r;
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bmin[1] = p[1];
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bmin[2] = p[2] - r;
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bmax[0] = p[0] + r;
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bmax[1] = p[1] + h;
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bmax[2] = p[2] + r;
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}
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CrowdToolState::CrowdToolState() :
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m_sample(0),
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m_nav(0),
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m_crowd(0),
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m_targetRef(0),
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m_run(true)
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{
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m_toolParams.m_expandSelectedDebugDraw = true;
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m_toolParams.m_showCorners = false;
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m_toolParams.m_showCollisionSegments = false;
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m_toolParams.m_showPath = false;
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m_toolParams.m_showVO = false;
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m_toolParams.m_showOpt = false;
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m_toolParams.m_showNeis = false;
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m_toolParams.m_expandDebugDraw = false;
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m_toolParams.m_showLabels = false;
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m_toolParams.m_showGrid = false;
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m_toolParams.m_showNodes = false;
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m_toolParams.m_showPerfGraph = false;
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m_toolParams.m_showDetailAll = false;
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m_toolParams.m_expandOptions = true;
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m_toolParams.m_anticipateTurns = true;
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m_toolParams.m_optimizeVis = true;
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m_toolParams.m_optimizeTopo = true;
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m_toolParams.m_obstacleAvoidance = true;
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m_toolParams.m_obstacleAvoidanceType = 3.0f;
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m_toolParams.m_separation = false;
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m_toolParams.m_separationWeight = 2.0f;
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memset(m_trails, 0, sizeof(m_trails));
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m_vod = dtAllocObstacleAvoidanceDebugData();
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m_vod->init(2048);
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memset(&m_agentDebug, 0, sizeof(m_agentDebug));
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m_agentDebug.idx = -1;
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m_agentDebug.vod = m_vod;
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}
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CrowdToolState::~CrowdToolState()
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{
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dtFreeObstacleAvoidanceDebugData(m_vod);
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}
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void CrowdToolState::init(class Sample* sample)
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{
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if (m_sample != sample)
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{
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m_sample = sample;
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// m_oldFlags = m_sample->getNavMeshDrawFlags();
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// m_sample->setNavMeshDrawFlags(m_oldFlags & ~DU_DRAWNAVMESH_CLOSEDLIST);
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}
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dtNavMesh* nav = m_sample->getNavMesh();
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dtCrowd* crowd = m_sample->getCrowd();
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if (nav && crowd && (m_nav != nav || m_crowd != crowd))
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{
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m_nav = nav;
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m_crowd = crowd;
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crowd->init(MAX_AGENTS, m_sample->getAgentRadius(), nav);
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// Make polygons with 'disabled' flag invalid.
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crowd->getEditableFilter(0)->setExcludeFlags(SAMPLE_POLYFLAGS_DISABLED);
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// Setup local avoidance params to different qualities.
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dtObstacleAvoidanceParams params;
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// Use mostly default settings, copy from dtCrowd.
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memcpy(¶ms, crowd->getObstacleAvoidanceParams(0), sizeof(dtObstacleAvoidanceParams));
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// Low (11)
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params.velBias = 0.5f;
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params.adaptiveDivs = 5;
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params.adaptiveRings = 2;
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params.adaptiveDepth = 1;
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crowd->setObstacleAvoidanceParams(0, ¶ms);
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// Medium (22)
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params.velBias = 0.5f;
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params.adaptiveDivs = 5;
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params.adaptiveRings = 2;
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params.adaptiveDepth = 2;
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crowd->setObstacleAvoidanceParams(1, ¶ms);
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// Good (45)
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params.velBias = 0.5f;
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params.adaptiveDivs = 7;
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params.adaptiveRings = 2;
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params.adaptiveDepth = 3;
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crowd->setObstacleAvoidanceParams(2, ¶ms);
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// High (66)
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params.velBias = 0.5f;
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params.adaptiveDivs = 7;
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params.adaptiveRings = 3;
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params.adaptiveDepth = 3;
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crowd->setObstacleAvoidanceParams(3, ¶ms);
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}
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}
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void CrowdToolState::reset()
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{
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}
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void CrowdToolState::handleRender()
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{
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DebugDrawGL dd;
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const float rad = m_sample->getAgentRadius();
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dtNavMesh* nav = m_sample->getNavMesh();
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dtCrowd* crowd = m_sample->getCrowd();
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if (!nav || !crowd)
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return;
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if (m_toolParams.m_showNodes && crowd->getPathQueue())
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{
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const dtNavMeshQuery* navquery = crowd->getPathQueue()->getNavQuery();
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if (navquery)
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duDebugDrawNavMeshNodes(&dd, *navquery);
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}
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dd.depthMask(false);
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// Draw paths
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if (m_toolParams.m_showPath)
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{
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for (int i = 0; i < crowd->getAgentCount(); i++)
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{
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if (m_toolParams.m_showDetailAll == false && i != m_agentDebug.idx)
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continue;
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const dtCrowdAgent* ag =crowd->getAgent(i);
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if (!ag->active)
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continue;
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const dtPolyRef* path = ag->corridor.getPath();
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const int npath = ag->corridor.getPathCount();
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for (int j = 0; j < npath; ++j)
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duDebugDrawNavMeshPoly(&dd, *nav, path[j], duRGBA(255,255,255,24));
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}
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}
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if (m_targetRef)
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duDebugDrawCross(&dd, m_targetPos[0],m_targetPos[1]+0.1f,m_targetPos[2], rad, duRGBA(255,255,255,192), 2.0f);
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// Occupancy grid.
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if (m_toolParams.m_showGrid)
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{
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float gridy = -FLT_MAX;
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for (int i = 0; i < crowd->getAgentCount(); ++i)
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{
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const dtCrowdAgent* ag = crowd->getAgent(i);
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if (!ag->active) continue;
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const float* pos = ag->corridor.getPos();
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gridy = dtMax(gridy, pos[1]);
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}
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gridy += 1.0f;
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dd.begin(DU_DRAW_QUADS);
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const dtProximityGrid* grid = crowd->getGrid();
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const int* bounds = grid->getBounds();
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const float cs = grid->getCellSize();
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for (int y = bounds[1]; y <= bounds[3]; ++y)
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{
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for (int x = bounds[0]; x <= bounds[2]; ++x)
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{
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const int count = grid->getItemCountAt(x,y);
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if (!count) continue;
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unsigned int col = duRGBA(128,0,0,dtMin(count*40,255));
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dd.vertex(x*cs, gridy, y*cs, col);
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dd.vertex(x*cs, gridy, y*cs+cs, col);
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dd.vertex(x*cs+cs, gridy, y*cs+cs, col);
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dd.vertex(x*cs+cs, gridy, y*cs, col);
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}
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}
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dd.end();
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}
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// Trail
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for (int i = 0; i < crowd->getAgentCount(); ++i)
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{
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const dtCrowdAgent* ag = crowd->getAgent(i);
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if (!ag->active) continue;
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const AgentTrail* trail = &m_trails[i];
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const float* pos = ag->npos;
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dd.begin(DU_DRAW_LINES,3.0f);
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float prev[3], preva = 1;
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dtVcopy(prev, pos);
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for (int j = 0; j < AGENT_MAX_TRAIL-1; ++j)
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{
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const int idx = (trail->htrail + AGENT_MAX_TRAIL-j) % AGENT_MAX_TRAIL;
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const float* v = &trail->trail[idx*3];
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float a = 1 - j/(float)AGENT_MAX_TRAIL;
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dd.vertex(prev[0],prev[1]+0.1f,prev[2], duRGBA(0,0,0,(int)(128*preva)));
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dd.vertex(v[0],v[1]+0.1f,v[2], duRGBA(0,0,0,(int)(128*a)));
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preva = a;
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dtVcopy(prev, v);
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}
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dd.end();
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}
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// Corners & co
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for (int i = 0; i < crowd->getAgentCount(); i++)
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{
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if (m_toolParams.m_showDetailAll == false && i != m_agentDebug.idx)
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continue;
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const dtCrowdAgent* ag =crowd->getAgent(i);
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if (!ag->active)
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continue;
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const float radius = ag->params.radius;
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const float* pos = ag->npos;
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if (m_toolParams.m_showCorners)
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{
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if (ag->ncorners)
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{
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dd.begin(DU_DRAW_LINES, 2.0f);
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for (int j = 0; j < ag->ncorners; ++j)
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{
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const float* va = j == 0 ? pos : &ag->cornerVerts[(j-1)*3];
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const float* vb = &ag->cornerVerts[j*3];
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dd.vertex(va[0],va[1]+radius,va[2], duRGBA(128,0,0,192));
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dd.vertex(vb[0],vb[1]+radius,vb[2], duRGBA(128,0,0,192));
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}
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if (ag->ncorners && ag->cornerFlags[ag->ncorners-1] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
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{
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const float* v = &ag->cornerVerts[(ag->ncorners-1)*3];
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dd.vertex(v[0],v[1],v[2], duRGBA(192,0,0,192));
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dd.vertex(v[0],v[1]+radius*2,v[2], duRGBA(192,0,0,192));
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}
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dd.end();
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if (m_toolParams.m_anticipateTurns)
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{
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/* float dvel[3], pos[3];
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calcSmoothSteerDirection(ag->pos, ag->cornerVerts, ag->ncorners, dvel);
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pos[0] = ag->pos[0] + dvel[0];
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pos[1] = ag->pos[1] + dvel[1];
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pos[2] = ag->pos[2] + dvel[2];
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const float off = ag->radius+0.1f;
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const float* tgt = &ag->cornerVerts[0];
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const float y = ag->pos[1]+off;
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dd.begin(DU_DRAW_LINES, 2.0f);
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dd.vertex(ag->pos[0],y,ag->pos[2], duRGBA(255,0,0,192));
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dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
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dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
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dd.vertex(tgt[0],y,tgt[2], duRGBA(255,0,0,192));
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dd.end();*/
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}
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}
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}
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if (m_toolParams.m_showCollisionSegments)
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{
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const float* center = ag->boundary.getCenter();
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duDebugDrawCross(&dd, center[0],center[1]+radius,center[2], 0.2f, duRGBA(192,0,128,255), 2.0f);
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duDebugDrawCircle(&dd, center[0],center[1]+radius,center[2], ag->params.collisionQueryRange,
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duRGBA(192,0,128,128), 2.0f);
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dd.begin(DU_DRAW_LINES, 3.0f);
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for (int j = 0; j < ag->boundary.getSegmentCount(); ++j)
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{
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const float* s = ag->boundary.getSegment(j);
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unsigned int col = duRGBA(192,0,128,192);
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if (dtTriArea2D(pos, s, s+3) < 0.0f)
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col = duDarkenCol(col);
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duAppendArrow(&dd, s[0],s[1]+0.2f,s[2], s[3],s[4]+0.2f,s[5], 0.0f, 0.3f, col);
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}
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dd.end();
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}
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if (m_toolParams.m_showNeis)
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{
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duDebugDrawCircle(&dd, pos[0],pos[1]+radius,pos[2], ag->params.collisionQueryRange,
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duRGBA(0,192,128,128), 2.0f);
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dd.begin(DU_DRAW_LINES, 2.0f);
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for (int j = 0; j < ag->nneis; ++j)
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{
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// Get 'n'th active agent.
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// TODO: fix this properly.
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const dtCrowdAgent* nei = crowd->getAgent(ag->neis[j].idx);
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if (nei)
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{
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dd.vertex(pos[0],pos[1]+radius,pos[2], duRGBA(0,192,128,128));
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dd.vertex(nei->npos[0],nei->npos[1]+radius,nei->npos[2], duRGBA(0,192,128,128));
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}
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}
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dd.end();
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}
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if (m_toolParams.m_showOpt)
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{
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dd.begin(DU_DRAW_LINES, 2.0f);
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dd.vertex(m_agentDebug.optStart[0],m_agentDebug.optStart[1]+0.3f,m_agentDebug.optStart[2], duRGBA(0,128,0,192));
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dd.vertex(m_agentDebug.optEnd[0],m_agentDebug.optEnd[1]+0.3f,m_agentDebug.optEnd[2], duRGBA(0,128,0,192));
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dd.end();
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}
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}
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// Agent cylinders.
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for (int i = 0; i < crowd->getAgentCount(); ++i)
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{
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const dtCrowdAgent* ag = crowd->getAgent(i);
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if (!ag->active) continue;
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const float radius = ag->params.radius;
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const float* pos = ag->npos;
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unsigned int col = duRGBA(0,0,0,32);
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if (m_agentDebug.idx == i)
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col = duRGBA(255,0,0,128);
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duDebugDrawCircle(&dd, pos[0], pos[1], pos[2], radius, col, 2.0f);
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}
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for (int i = 0; i < crowd->getAgentCount(); ++i)
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{
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const dtCrowdAgent* ag = crowd->getAgent(i);
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if (!ag->active) continue;
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const float height = ag->params.height;
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const float radius = ag->params.radius;
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const float* pos = ag->npos;
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unsigned int col = duRGBA(220,220,220,128);
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if (ag->targetState == DT_CROWDAGENT_TARGET_REQUESTING || ag->targetState == DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE)
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col = duLerpCol(col, duRGBA(128,0,255,128), 32);
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else if (ag->targetState == DT_CROWDAGENT_TARGET_WAITING_FOR_PATH)
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col = duLerpCol(col, duRGBA(128,0,255,128), 128);
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else if (ag->targetState == DT_CROWDAGENT_TARGET_FAILED)
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col = duRGBA(255,32,16,128);
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else if (ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
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col = duLerpCol(col, duRGBA(64,255,0,128), 128);
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duDebugDrawCylinder(&dd, pos[0]-radius, pos[1]+radius*0.1f, pos[2]-radius,
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pos[0]+radius, pos[1]+height, pos[2]+radius, col);
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}
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if (m_toolParams.m_showVO)
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{
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for (int i = 0; i < crowd->getAgentCount(); i++)
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{
|
|
if (m_toolParams.m_showDetailAll == false && i != m_agentDebug.idx)
|
|
continue;
|
|
const dtCrowdAgent* ag =crowd->getAgent(i);
|
|
if (!ag->active)
|
|
continue;
|
|
|
|
// Draw detail about agent sela
|
|
const dtObstacleAvoidanceDebugData* vod = m_agentDebug.vod;
|
|
|
|
const float dx = ag->npos[0];
|
|
const float dy = ag->npos[1]+ag->params.height;
|
|
const float dz = ag->npos[2];
|
|
|
|
duDebugDrawCircle(&dd, dx,dy,dz, ag->params.maxSpeed, duRGBA(255,255,255,64), 2.0f);
|
|
|
|
dd.begin(DU_DRAW_QUADS);
|
|
for (int j = 0; j < vod->getSampleCount(); ++j)
|
|
{
|
|
const float* p = vod->getSampleVelocity(j);
|
|
const float sr = vod->getSampleSize(j);
|
|
const float pen = vod->getSamplePenalty(j);
|
|
const float pen2 = vod->getSamplePreferredSidePenalty(j);
|
|
unsigned int col = duLerpCol(duRGBA(255,255,255,220), duRGBA(128,96,0,220), (int)(pen*255));
|
|
col = duLerpCol(col, duRGBA(128,0,0,220), (int)(pen2*128));
|
|
dd.vertex(dx+p[0]-sr, dy, dz+p[2]-sr, col);
|
|
dd.vertex(dx+p[0]-sr, dy, dz+p[2]+sr, col);
|
|
dd.vertex(dx+p[0]+sr, dy, dz+p[2]+sr, col);
|
|
dd.vertex(dx+p[0]+sr, dy, dz+p[2]-sr, col);
|
|
}
|
|
dd.end();
|
|
}
|
|
}
|
|
|
|
// Velocity stuff.
|
|
for (int i = 0; i < crowd->getAgentCount(); ++i)
|
|
{
|
|
const dtCrowdAgent* ag = crowd->getAgent(i);
|
|
if (!ag->active) continue;
|
|
|
|
const float radius = ag->params.radius;
|
|
const float height = ag->params.height;
|
|
const float* pos = ag->npos;
|
|
const float* vel = ag->vel;
|
|
const float* dvel = ag->dvel;
|
|
|
|
unsigned int col = duRGBA(220,220,220,192);
|
|
if (ag->targetState == DT_CROWDAGENT_TARGET_REQUESTING || ag->targetState == DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE)
|
|
col = duLerpCol(col, duRGBA(128,0,255,192), 32);
|
|
else if (ag->targetState == DT_CROWDAGENT_TARGET_WAITING_FOR_PATH)
|
|
col = duLerpCol(col, duRGBA(128,0,255,192), 128);
|
|
else if (ag->targetState == DT_CROWDAGENT_TARGET_FAILED)
|
|
col = duRGBA(255,32,16,192);
|
|
else if (ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
|
|
col = duLerpCol(col, duRGBA(64,255,0,192), 128);
|
|
|
|
duDebugDrawCircle(&dd, pos[0], pos[1]+height, pos[2], radius, col, 2.0f);
|
|
|
|
duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
|
|
pos[0]+dvel[0],pos[1]+height+dvel[1],pos[2]+dvel[2],
|
|
0.0f, 0.4f, duRGBA(0,192,255,192), (m_agentDebug.idx == i) ? 2.0f : 1.0f);
|
|
|
|
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(0,0,0,160), 2.0f);
|
|
}
|
|
|
|
dd.depthMask(true);
|
|
}
|
|
|
|
|
|
void CrowdToolState::handleRenderOverlay(double* proj, double* model, int* view)
|
|
{
|
|
GLdouble x, y, z;
|
|
|
|
// Draw start and end point labels
|
|
if (m_targetRef && gluProject((GLdouble)m_targetPos[0], (GLdouble)m_targetPos[1], (GLdouble)m_targetPos[2],
|
|
model, proj, view, &x, &y, &z))
|
|
{
|
|
imguiDrawText((int)x, (int)(y+25), IMGUI_ALIGN_CENTER, "TARGET", imguiRGBA(0,0,0,220));
|
|
}
|
|
|
|
char label[32];
|
|
|
|
if (m_toolParams.m_showNodes)
|
|
{
|
|
dtCrowd* crowd = m_sample->getCrowd();
|
|
if (crowd && crowd->getPathQueue())
|
|
{
|
|
const dtNavMeshQuery* navquery = crowd->getPathQueue()->getNavQuery();
|
|
const dtNodePool* pool = navquery->getNodePool();
|
|
if (pool)
|
|
{
|
|
const float off = 0.5f;
|
|
for (int i = 0; i < pool->getHashSize(); ++i)
|
|
{
|
|
for (dtNodeIndex j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j))
|
|
{
|
|
const dtNode* node = pool->getNodeAtIdx(j+1);
|
|
if (!node) continue;
|
|
|
|
if (gluProject((GLdouble)node->pos[0],(GLdouble)node->pos[1]+off,(GLdouble)node->pos[2],
|
|
model, proj, view, &x, &y, &z))
|
|
{
|
|
const float heuristic = node->total;// - node->cost;
|
|
snprintf(label, 32, "%.2f", heuristic);
|
|
imguiDrawText((int)x, (int)y+15, IMGUI_ALIGN_CENTER, label, imguiRGBA(0,0,0,220));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (m_toolParams.m_showLabels)
|
|
{
|
|
dtCrowd* crowd = m_sample->getCrowd();
|
|
if (crowd)
|
|
{
|
|
for (int i = 0; i < crowd->getAgentCount(); ++i)
|
|
{
|
|
const dtCrowdAgent* ag = crowd->getAgent(i);
|
|
if (!ag->active) continue;
|
|
const float* pos = ag->npos;
|
|
const float h = ag->params.height;
|
|
if (gluProject((GLdouble)pos[0], (GLdouble)pos[1]+h, (GLdouble)pos[2],
|
|
model, proj, view, &x, &y, &z))
|
|
{
|
|
snprintf(label, 32, "%d", i);
|
|
imguiDrawText((int)x, (int)y+15, IMGUI_ALIGN_CENTER, label, imguiRGBA(0,0,0,220));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (m_agentDebug.idx != -1)
|
|
{
|
|
dtCrowd* crowd = m_sample->getCrowd();
|
|
if (crowd)
|
|
{
|
|
for (int i = 0; i < crowd->getAgentCount(); i++)
|
|
{
|
|
if (m_toolParams.m_showDetailAll == false && i != m_agentDebug.idx)
|
|
continue;
|
|
const dtCrowdAgent* ag =crowd->getAgent(i);
|
|
if (!ag->active)
|
|
continue;
|
|
const float radius = ag->params.radius;
|
|
if (m_toolParams.m_showNeis)
|
|
{
|
|
for (int j = 0; j < ag->nneis; ++j)
|
|
{
|
|
const dtCrowdAgent* nei = crowd->getAgent(ag->neis[j].idx);
|
|
if (!nei->active) continue;
|
|
|
|
if (gluProject((GLdouble)nei->npos[0], (GLdouble)nei->npos[1]+radius, (GLdouble)nei->npos[2],
|
|
model, proj, view, &x, &y, &z))
|
|
{
|
|
snprintf(label, 32, "%.3f", ag->neis[j].dist);
|
|
imguiDrawText((int)x, (int)y+15, IMGUI_ALIGN_CENTER, label, imguiRGBA(255,255,255,220));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
if (m_toolParams.m_showPerfGraph)
|
|
{
|
|
GraphParams gp;
|
|
gp.setRect(300, 10, 500, 200, 8);
|
|
gp.setValueRange(0.0f, 2.0f, 4, "ms");
|
|
|
|
drawGraphBackground(&gp);
|
|
drawGraph(&gp, &m_crowdTotalTime, 1, "Total", duRGBA(255,128,0,255));
|
|
|
|
gp.setRect(300, 10, 500, 50, 8);
|
|
gp.setValueRange(0.0f, 2000.0f, 1, "");
|
|
drawGraph(&gp, &m_crowdSampleCount, 0, "Sample Count", duRGBA(96,96,96,128));
|
|
}
|
|
|
|
}
|
|
|
|
void CrowdToolState::handleUpdate(const float dt)
|
|
{
|
|
if (m_run)
|
|
updateTick(dt);
|
|
}
|
|
|
|
void CrowdToolState::addAgent(const float* p)
|
|
{
|
|
if (!m_sample) return;
|
|
dtCrowd* crowd = m_sample->getCrowd();
|
|
|
|
dtCrowdAgentParams ap;
|
|
memset(&ap, 0, sizeof(ap));
|
|
ap.radius = m_sample->getAgentRadius();
|
|
ap.height = m_sample->getAgentHeight();
|
|
ap.maxAcceleration = 8.0f;
|
|
ap.maxSpeed = 3.5f;
|
|
ap.collisionQueryRange = ap.radius * 12.0f;
|
|
ap.pathOptimizationRange = ap.radius * 30.0f;
|
|
ap.updateFlags = 0;
|
|
if (m_toolParams.m_anticipateTurns)
|
|
ap.updateFlags |= DT_CROWD_ANTICIPATE_TURNS;
|
|
if (m_toolParams.m_optimizeVis)
|
|
ap.updateFlags |= DT_CROWD_OPTIMIZE_VIS;
|
|
if (m_toolParams.m_optimizeTopo)
|
|
ap.updateFlags |= DT_CROWD_OPTIMIZE_TOPO;
|
|
if (m_toolParams.m_obstacleAvoidance)
|
|
ap.updateFlags |= DT_CROWD_OBSTACLE_AVOIDANCE;
|
|
if (m_toolParams.m_separation)
|
|
ap.updateFlags |= DT_CROWD_SEPARATION;
|
|
ap.obstacleAvoidanceType = (unsigned char)m_toolParams.m_obstacleAvoidanceType;
|
|
ap.separationWeight = m_toolParams.m_separationWeight;
|
|
|
|
int idx = crowd->addAgent(p, &ap);
|
|
if (idx != -1)
|
|
{
|
|
if (m_targetRef)
|
|
crowd->requestMoveTarget(idx, m_targetRef, m_targetPos);
|
|
|
|
// Init trail
|
|
AgentTrail* trail = &m_trails[idx];
|
|
for (int i = 0; i < AGENT_MAX_TRAIL; ++i)
|
|
dtVcopy(&trail->trail[i*3], p);
|
|
trail->htrail = 0;
|
|
}
|
|
}
|
|
|
|
void CrowdToolState::removeAgent(const int idx)
|
|
{
|
|
if (!m_sample) return;
|
|
dtCrowd* crowd = m_sample->getCrowd();
|
|
|
|
crowd->removeAgent(idx);
|
|
|
|
if (idx == m_agentDebug.idx)
|
|
m_agentDebug.idx = -1;
|
|
}
|
|
|
|
void CrowdToolState::hilightAgent(const int idx)
|
|
{
|
|
m_agentDebug.idx = idx;
|
|
}
|
|
|
|
static void calcVel(float* vel, const float* pos, const float* tgt, const float speed)
|
|
{
|
|
dtVsub(vel, tgt, pos);
|
|
vel[1] = 0.0;
|
|
dtVnormalize(vel);
|
|
dtVscale(vel, vel, speed);
|
|
}
|
|
|
|
void CrowdToolState::setMoveTarget(const float* p, bool adjust)
|
|
{
|
|
if (!m_sample) return;
|
|
|
|
// Find nearest point on navmesh and set move request to that location.
|
|
dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
|
|
dtCrowd* crowd = m_sample->getCrowd();
|
|
const dtQueryFilter* filter = crowd->getFilter(0);
|
|
const float* ext = crowd->getQueryExtents();
|
|
|
|
if (adjust)
|
|
{
|
|
float vel[3];
|
|
// Request velocity
|
|
if (m_agentDebug.idx != -1)
|
|
{
|
|
const dtCrowdAgent* ag = crowd->getAgent(m_agentDebug.idx);
|
|
if (ag && ag->active)
|
|
{
|
|
calcVel(vel, ag->npos, p, ag->params.maxSpeed);
|
|
crowd->requestMoveVelocity(m_agentDebug.idx, vel);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
for (int i = 0; i < crowd->getAgentCount(); ++i)
|
|
{
|
|
const dtCrowdAgent* ag = crowd->getAgent(i);
|
|
if (!ag->active) continue;
|
|
calcVel(vel, ag->npos, p, ag->params.maxSpeed);
|
|
crowd->requestMoveVelocity(i, vel);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
navquery->findNearestPoly(p, ext, filter, &m_targetRef, m_targetPos);
|
|
|
|
if (m_agentDebug.idx != -1)
|
|
{
|
|
const dtCrowdAgent* ag = crowd->getAgent(m_agentDebug.idx);
|
|
if (ag && ag->active)
|
|
crowd->requestMoveTarget(m_agentDebug.idx, m_targetRef, m_targetPos);
|
|
}
|
|
else
|
|
{
|
|
for (int i = 0; i < crowd->getAgentCount(); ++i)
|
|
{
|
|
const dtCrowdAgent* ag = crowd->getAgent(i);
|
|
if (!ag->active) continue;
|
|
crowd->requestMoveTarget(i, m_targetRef, m_targetPos);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
int CrowdToolState::hitTestAgents(const float* s, const float* p)
|
|
{
|
|
if (!m_sample) return -1;
|
|
dtCrowd* crowd = m_sample->getCrowd();
|
|
|
|
int isel = -1;
|
|
float tsel = FLT_MAX;
|
|
|
|
for (int i = 0; i < crowd->getAgentCount(); ++i)
|
|
{
|
|
const dtCrowdAgent* ag = crowd->getAgent(i);
|
|
if (!ag->active) continue;
|
|
float bmin[3], bmax[3];
|
|
getAgentBounds(ag, bmin, bmax);
|
|
float tmin, tmax;
|
|
if (isectSegAABB(s, p, bmin,bmax, tmin, tmax))
|
|
{
|
|
if (tmin > 0 && tmin < tsel)
|
|
{
|
|
isel = i;
|
|
tsel = tmin;
|
|
}
|
|
}
|
|
}
|
|
|
|
return isel;
|
|
}
|
|
|
|
void CrowdToolState::updateAgentParams()
|
|
{
|
|
if (!m_sample) return;
|
|
dtCrowd* crowd = m_sample->getCrowd();
|
|
if (!crowd) return;
|
|
|
|
unsigned char updateFlags = 0;
|
|
unsigned char obstacleAvoidanceType = 0;
|
|
|
|
if (m_toolParams.m_anticipateTurns)
|
|
updateFlags |= DT_CROWD_ANTICIPATE_TURNS;
|
|
if (m_toolParams.m_optimizeVis)
|
|
updateFlags |= DT_CROWD_OPTIMIZE_VIS;
|
|
if (m_toolParams.m_optimizeTopo)
|
|
updateFlags |= DT_CROWD_OPTIMIZE_TOPO;
|
|
if (m_toolParams.m_obstacleAvoidance)
|
|
updateFlags |= DT_CROWD_OBSTACLE_AVOIDANCE;
|
|
if (m_toolParams.m_obstacleAvoidance)
|
|
updateFlags |= DT_CROWD_OBSTACLE_AVOIDANCE;
|
|
if (m_toolParams.m_separation)
|
|
updateFlags |= DT_CROWD_SEPARATION;
|
|
|
|
obstacleAvoidanceType = (unsigned char)m_toolParams.m_obstacleAvoidanceType;
|
|
|
|
dtCrowdAgentParams params;
|
|
|
|
for (int i = 0; i < crowd->getAgentCount(); ++i)
|
|
{
|
|
const dtCrowdAgent* ag = crowd->getAgent(i);
|
|
if (!ag->active) continue;
|
|
memcpy(¶ms, &ag->params, sizeof(dtCrowdAgentParams));
|
|
params.updateFlags = updateFlags;
|
|
params.obstacleAvoidanceType = obstacleAvoidanceType;
|
|
params.separationWeight = m_toolParams.m_separationWeight;
|
|
crowd->updateAgentParameters(i, ¶ms);
|
|
}
|
|
}
|
|
|
|
void CrowdToolState::updateTick(const float dt)
|
|
{
|
|
if (!m_sample) return;
|
|
dtNavMesh* nav = m_sample->getNavMesh();
|
|
dtCrowd* crowd = m_sample->getCrowd();
|
|
if (!nav || !crowd) return;
|
|
|
|
TimeVal startTime = getPerfTime();
|
|
|
|
crowd->update(dt, &m_agentDebug);
|
|
|
|
TimeVal endTime = getPerfTime();
|
|
|
|
// Update agent trails
|
|
for (int i = 0; i < crowd->getAgentCount(); ++i)
|
|
{
|
|
const dtCrowdAgent* ag = crowd->getAgent(i);
|
|
AgentTrail* trail = &m_trails[i];
|
|
if (!ag->active)
|
|
continue;
|
|
// Update agent movement trail.
|
|
trail->htrail = (trail->htrail + 1) % AGENT_MAX_TRAIL;
|
|
dtVcopy(&trail->trail[trail->htrail*3], ag->npos);
|
|
}
|
|
|
|
m_agentDebug.vod->normalizeSamples();
|
|
|
|
m_crowdSampleCount.addSample((float)crowd->getVelocitySampleCount());
|
|
m_crowdTotalTime.addSample(getPerfTimeUsec(endTime - startTime) / 1000.0f);
|
|
}
|
|
|
|
|
|
|
|
|
|
CrowdTool::CrowdTool() :
|
|
m_sample(0),
|
|
m_state(0),
|
|
m_mode(TOOLMODE_CREATE)
|
|
{
|
|
}
|
|
|
|
CrowdTool::~CrowdTool()
|
|
{
|
|
}
|
|
|
|
void CrowdTool::init(Sample* sample)
|
|
{
|
|
if (m_sample != sample)
|
|
{
|
|
m_sample = sample;
|
|
}
|
|
|
|
if (!sample)
|
|
return;
|
|
|
|
m_state = (CrowdToolState*)sample->getToolState(type());
|
|
if (!m_state)
|
|
{
|
|
m_state = new CrowdToolState();
|
|
sample->setToolState(type(), m_state);
|
|
}
|
|
m_state->init(sample);
|
|
}
|
|
|
|
void CrowdTool::reset()
|
|
{
|
|
}
|
|
|
|
void CrowdTool::handleMenu()
|
|
{
|
|
if (!m_state)
|
|
return;
|
|
CrowdToolParams* params = m_state->getToolParams();
|
|
|
|
if (imguiCheck("Create Agents", m_mode == TOOLMODE_CREATE))
|
|
m_mode = TOOLMODE_CREATE;
|
|
if (imguiCheck("Move Target", m_mode == TOOLMODE_MOVE_TARGET))
|
|
m_mode = TOOLMODE_MOVE_TARGET;
|
|
if (imguiCheck("Select Agent", m_mode == TOOLMODE_SELECT))
|
|
m_mode = TOOLMODE_SELECT;
|
|
if (imguiCheck("Toggle Polys", m_mode == TOOLMODE_TOGGLE_POLYS))
|
|
m_mode = TOOLMODE_TOGGLE_POLYS;
|
|
|
|
imguiSeparatorLine();
|
|
|
|
if (imguiCollapse("Options", 0, params->m_expandOptions))
|
|
params->m_expandOptions = !params->m_expandOptions;
|
|
|
|
if (params->m_expandOptions)
|
|
{
|
|
imguiIndent();
|
|
if (imguiCheck("Optimize Visibility", params->m_optimizeVis))
|
|
{
|
|
params->m_optimizeVis = !params->m_optimizeVis;
|
|
m_state->updateAgentParams();
|
|
}
|
|
if (imguiCheck("Optimize Topology", params->m_optimizeTopo))
|
|
{
|
|
params->m_optimizeTopo = !params->m_optimizeTopo;
|
|
m_state->updateAgentParams();
|
|
}
|
|
if (imguiCheck("Anticipate Turns", params->m_anticipateTurns))
|
|
{
|
|
params->m_anticipateTurns = !params->m_anticipateTurns;
|
|
m_state->updateAgentParams();
|
|
}
|
|
if (imguiCheck("Obstacle Avoidance", params->m_obstacleAvoidance))
|
|
{
|
|
params->m_obstacleAvoidance = !params->m_obstacleAvoidance;
|
|
m_state->updateAgentParams();
|
|
}
|
|
if (imguiSlider("Avoidance Quality", ¶ms->m_obstacleAvoidanceType, 0.0f, 3.0f, 1.0f))
|
|
{
|
|
m_state->updateAgentParams();
|
|
}
|
|
if (imguiCheck("Separation", params->m_separation))
|
|
{
|
|
params->m_separation = !params->m_separation;
|
|
m_state->updateAgentParams();
|
|
}
|
|
if (imguiSlider("Separation Weight", ¶ms->m_separationWeight, 0.0f, 20.0f, 0.01f))
|
|
{
|
|
m_state->updateAgentParams();
|
|
}
|
|
|
|
imguiUnindent();
|
|
}
|
|
|
|
if (imguiCollapse("Selected Debug Draw", 0, params->m_expandSelectedDebugDraw))
|
|
params->m_expandSelectedDebugDraw = !params->m_expandSelectedDebugDraw;
|
|
|
|
if (params->m_expandSelectedDebugDraw)
|
|
{
|
|
imguiIndent();
|
|
if (imguiCheck("Show Corners", params->m_showCorners))
|
|
params->m_showCorners = !params->m_showCorners;
|
|
if (imguiCheck("Show Collision Segs", params->m_showCollisionSegments))
|
|
params->m_showCollisionSegments = !params->m_showCollisionSegments;
|
|
if (imguiCheck("Show Path", params->m_showPath))
|
|
params->m_showPath = !params->m_showPath;
|
|
if (imguiCheck("Show VO", params->m_showVO))
|
|
params->m_showVO = !params->m_showVO;
|
|
if (imguiCheck("Show Path Optimization", params->m_showOpt))
|
|
params->m_showOpt = !params->m_showOpt;
|
|
if (imguiCheck("Show Neighbours", params->m_showNeis))
|
|
params->m_showNeis = !params->m_showNeis;
|
|
imguiUnindent();
|
|
}
|
|
|
|
if (imguiCollapse("Debug Draw", 0, params->m_expandDebugDraw))
|
|
params->m_expandDebugDraw = !params->m_expandDebugDraw;
|
|
|
|
if (params->m_expandDebugDraw)
|
|
{
|
|
imguiIndent();
|
|
if (imguiCheck("Show Labels", params->m_showLabels))
|
|
params->m_showLabels = !params->m_showLabels;
|
|
if (imguiCheck("Show Prox Grid", params->m_showGrid))
|
|
params->m_showGrid = !params->m_showGrid;
|
|
if (imguiCheck("Show Nodes", params->m_showNodes))
|
|
params->m_showNodes = !params->m_showNodes;
|
|
if (imguiCheck("Show Perf Graph", params->m_showPerfGraph))
|
|
params->m_showPerfGraph = !params->m_showPerfGraph;
|
|
if (imguiCheck("Show Detail All", params->m_showDetailAll))
|
|
params->m_showDetailAll = !params->m_showDetailAll;
|
|
imguiUnindent();
|
|
}
|
|
}
|
|
|
|
void CrowdTool::handleClick(const float* s, const float* p, bool shift)
|
|
{
|
|
if (!m_sample) return;
|
|
if (!m_state) return;
|
|
InputGeom* geom = m_sample->getInputGeom();
|
|
if (!geom) return;
|
|
dtCrowd* crowd = m_sample->getCrowd();
|
|
if (!crowd) return;
|
|
|
|
if (m_mode == TOOLMODE_CREATE)
|
|
{
|
|
if (shift)
|
|
{
|
|
// Delete
|
|
int ahit = m_state->hitTestAgents(s,p);
|
|
if (ahit != -1)
|
|
m_state->removeAgent(ahit);
|
|
}
|
|
else
|
|
{
|
|
// Add
|
|
m_state->addAgent(p);
|
|
}
|
|
}
|
|
else if (m_mode == TOOLMODE_MOVE_TARGET)
|
|
{
|
|
m_state->setMoveTarget(p, shift);
|
|
}
|
|
else if (m_mode == TOOLMODE_SELECT)
|
|
{
|
|
// Highlight
|
|
int ahit = m_state->hitTestAgents(s,p);
|
|
m_state->hilightAgent(ahit);
|
|
}
|
|
else if (m_mode == TOOLMODE_TOGGLE_POLYS)
|
|
{
|
|
dtNavMesh* nav = m_sample->getNavMesh();
|
|
dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
|
|
if (nav && navquery)
|
|
{
|
|
dtQueryFilter filter;
|
|
const float* ext = crowd->getQueryExtents();
|
|
float tgt[3];
|
|
dtPolyRef ref;
|
|
navquery->findNearestPoly(p, ext, &filter, &ref, tgt);
|
|
if (ref)
|
|
{
|
|
unsigned short flags = 0;
|
|
if (dtStatusSucceed(nav->getPolyFlags(ref, &flags)))
|
|
{
|
|
flags ^= SAMPLE_POLYFLAGS_DISABLED;
|
|
nav->setPolyFlags(ref, flags);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
void CrowdTool::handleStep()
|
|
{
|
|
if (!m_state) return;
|
|
|
|
const float dt = 1.0f/20.0f;
|
|
m_state->updateTick(dt);
|
|
|
|
m_state->setRunning(false);
|
|
}
|
|
|
|
void CrowdTool::handleToggle()
|
|
{
|
|
if (!m_state) return;
|
|
m_state->setRunning(!m_state->isRunning());
|
|
}
|
|
|
|
void CrowdTool::handleUpdate(const float dt)
|
|
{
|
|
rcIgnoreUnused(dt);
|
|
}
|
|
|
|
void CrowdTool::handleRender()
|
|
{
|
|
}
|
|
|
|
void CrowdTool::handleRenderOverlay(double* proj, double* model, int* view)
|
|
{
|
|
rcIgnoreUnused(model);
|
|
rcIgnoreUnused(proj);
|
|
|
|
// Tool help
|
|
const int h = view[3];
|
|
int ty = h-40;
|
|
|
|
if (m_mode == TOOLMODE_CREATE)
|
|
{
|
|
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "LMB: add agent. Shift+LMB: remove agent.", imguiRGBA(255,255,255,192));
|
|
}
|
|
else if (m_mode == TOOLMODE_MOVE_TARGET)
|
|
{
|
|
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "LMB: set move target. Shift+LMB: adjust set velocity.", imguiRGBA(255,255,255,192));
|
|
ty -= 20;
|
|
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "Setting velocity will move the agents without pathfinder.", imguiRGBA(255,255,255,192));
|
|
}
|
|
else if (m_mode == TOOLMODE_SELECT)
|
|
{
|
|
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "LMB: select agent.", imguiRGBA(255,255,255,192));
|
|
}
|
|
ty -= 20;
|
|
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "SPACE: Run/Pause simulation. 1: Step simulation.", imguiRGBA(255,255,255,192));
|
|
ty -= 20;
|
|
|
|
if (m_state && m_state->isRunning())
|
|
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "- RUNNING -", imguiRGBA(255,32,16,255));
|
|
else
|
|
imguiDrawText(280, ty, IMGUI_ALIGN_LEFT, "- PAUSED -", imguiRGBA(255,255,255,128));
|
|
}
|