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[11902] Import Recast Navigation

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Import Recast Navigation as third party dependency
Credits go to Mikko Mononen memon at inside dot org
This commit is contained in:
faramir118 2012-01-29 21:35:05 +01:00 • committed by Schmoozerd
parent 97cb838de1
commit 136c0ba618
399 changed files with 142994 additions and 1 deletions
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599
dep/recastnavigation/DebugUtils/Source/DebugDraw.cpp Normal file
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//
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty. In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
// claim that you wrote the original software. If you use this software
// in a product, an acknowledgment in the product documentation would be
// appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
// misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
#define _USE_MATH_DEFINES
#include <math.h>
#include <string.h>
#include "DebugDraw.h"
duDebugDraw::~duDebugDraw()
{
// Empty
}
inline int bit(int a, int b)
{
return (a & (1 << b)) >> b;
}
unsigned int duIntToCol(int i, int a)
{
int r = bit(i, 1) + bit(i, 3) * 2 + 1;
int g = bit(i, 2) + bit(i, 4) * 2 + 1;
int b = bit(i, 0) + bit(i, 5) * 2 + 1;
return duRGBA(r*63,g*63,b*63,a);
}
void duIntToCol(int i, float* col)
{
int r = bit(i, 0) + bit(i, 3) * 2 + 1;
int g = bit(i, 1) + bit(i, 4) * 2 + 1;
int b = bit(i, 2) + bit(i, 5) * 2 + 1;
col[0] = 1 - r*63.0f/255.0f;
col[1] = 1 - g*63.0f/255.0f;
col[2] = 1 - b*63.0f/255.0f;
}
void duCalcBoxColors(unsigned int* colors, unsigned int colTop, unsigned int colSide)
{
if (!colors) return;
colors[0] = duMultCol(colTop, 250);
colors[1] = duMultCol(colSide, 140);
colors[2] = duMultCol(colSide, 165);
colors[3] = duMultCol(colSide, 217);
colors[4] = duMultCol(colSide, 165);
colors[5] = duMultCol(colSide, 217);
}
void duDebugDrawCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz,
float maxx, float maxy, float maxz, unsigned int col, const float lineWidth)
{
if (!dd) return;
dd->begin(DU_DRAW_LINES, lineWidth);
duAppendCylinderWire(dd, minx,miny,minz, maxx,maxy,maxz, col);
dd->end();
}
void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz,
float maxx, float maxy, float maxz, unsigned int col, const float lineWidth)
{
if (!dd) return;
dd->begin(DU_DRAW_LINES, lineWidth);
duAppendBoxWire(dd, minx,miny,minz, maxx,maxy,maxz, col);
dd->end();
}
void duDebugDrawArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
const float x1, const float y1, const float z1, const float h,
const float as0, const float as1, unsigned int col, const float lineWidth)
{
if (!dd) return;
dd->begin(DU_DRAW_LINES, lineWidth);
duAppendArc(dd, x0,y0,z0, x1,y1,z1, h, as0, as1, col);
dd->end();
}
void duDebugDrawArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
const float x1, const float y1, const float z1,
const float as0, const float as1, unsigned int col, const float lineWidth)
{
if (!dd) return;
dd->begin(DU_DRAW_LINES, lineWidth);
duAppendArrow(dd, x0,y0,z0, x1,y1,z1, as0, as1, col);
dd->end();
}
void duDebugDrawCircle(struct duDebugDraw* dd, const float x, const float y, const float z,
const float r, unsigned int col, const float lineWidth)
{
if (!dd) return;
dd->begin(DU_DRAW_LINES, lineWidth);
duAppendCircle(dd, x,y,z, r, col);
dd->end();
}
void duDebugDrawCross(struct duDebugDraw* dd, const float x, const float y, const float z,
const float size, unsigned int col, const float lineWidth)
{
if (!dd) return;
dd->begin(DU_DRAW_LINES, lineWidth);
duAppendCross(dd, x,y,z, size, col);
dd->end();
}
void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz,
float maxx, float maxy, float maxz, const unsigned int* fcol)
{
if (!dd) return;
dd->begin(DU_DRAW_TRIS);
duAppendBox(dd, minx,miny,minz, maxx,maxy,maxz, fcol);
dd->end();
}
void duDebugDrawCylinder(struct duDebugDraw* dd, float minx, float miny, float minz,
float maxx, float maxy, float maxz, unsigned int col)
{
if (!dd) return;
dd->begin(DU_DRAW_TRIS);
duAppendCylinder(dd, minx,miny,minz, maxx,maxy,maxz, col);
dd->end();
}
void duDebugDrawGridXZ(struct duDebugDraw* dd, const float ox, const float oy, const float oz,
const int w, const int h, const float size,
const unsigned int col, const float lineWidth)
{
if (!dd) return;
dd->begin(DU_DRAW_LINES, lineWidth);
for (int i = 0; i <= h; ++i)
{
dd->vertex(ox,oy,oz+i*size, col);
dd->vertex(ox+w*size,oy,oz+i*size, col);
}
for (int i = 0; i <= w; ++i)
{
dd->vertex(ox+i*size,oy,oz, col);
dd->vertex(ox+i*size,oy,oz+h*size, col);
}
dd->end();
}
void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz,
float maxx, float maxy, float maxz, unsigned int col)
{
if (!dd) return;
static const int NUM_SEG = 16;
static float dir[NUM_SEG*2];
static bool init = false;
if (!init)
{
init = true;
for (int i = 0; i < NUM_SEG; ++i)
{
const float a = (float)i/(float)NUM_SEG*DU_PI*2;
dir[i*2] = cosf(a);
dir[i*2+1] = sinf(a);
}
}
const float cx = (maxx + minx)/2;
const float cz = (maxz + minz)/2;
const float rx = (maxx - minx)/2;
const float rz = (maxz - minz)/2;
for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++)
{
dd->vertex(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz, col);
dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col);
dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col);
dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col);
}
for (int i = 0; i < NUM_SEG; i += NUM_SEG/4)
{
dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col);
dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col);
}
}
void duAppendBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz,
float maxx, float maxy, float maxz, unsigned int col)
{
if (!dd) return;
// Top
dd->vertex(minx, miny, minz, col);
dd->vertex(maxx, miny, minz, col);
dd->vertex(maxx, miny, minz, col);
dd->vertex(maxx, miny, maxz, col);
dd->vertex(maxx, miny, maxz, col);
dd->vertex(minx, miny, maxz, col);
dd->vertex(minx, miny, maxz, col);
dd->vertex(minx, miny, minz, col);
// bottom
dd->vertex(minx, maxy, minz, col);
dd->vertex(maxx, maxy, minz, col);
dd->vertex(maxx, maxy, minz, col);
dd->vertex(maxx, maxy, maxz, col);
dd->vertex(maxx, maxy, maxz, col);
dd->vertex(minx, maxy, maxz, col);
dd->vertex(minx, maxy, maxz, col);
dd->vertex(minx, maxy, minz, col);
// Sides
dd->vertex(minx, miny, minz, col);
dd->vertex(minx, maxy, minz, col);
dd->vertex(maxx, miny, minz, col);
dd->vertex(maxx, maxy, minz, col);
dd->vertex(maxx, miny, maxz, col);
dd->vertex(maxx, maxy, maxz, col);
dd->vertex(minx, miny, maxz, col);
dd->vertex(minx, maxy, maxz, col);
}
void duAppendBoxPoints(struct duDebugDraw* dd, float minx, float miny, float minz,
float maxx, float maxy, float maxz, unsigned int col)
{
if (!dd) return;
// Top
dd->vertex(minx, miny, minz, col);
dd->vertex(maxx, miny, minz, col);
dd->vertex(maxx, miny, minz, col);
dd->vertex(maxx, miny, maxz, col);
dd->vertex(maxx, miny, maxz, col);
dd->vertex(minx, miny, maxz, col);
dd->vertex(minx, miny, maxz, col);
dd->vertex(minx, miny, minz, col);
// bottom
dd->vertex(minx, maxy, minz, col);
dd->vertex(maxx, maxy, minz, col);
dd->vertex(maxx, maxy, minz, col);
dd->vertex(maxx, maxy, maxz, col);
dd->vertex(maxx, maxy, maxz, col);
dd->vertex(minx, maxy, maxz, col);
dd->vertex(minx, maxy, maxz, col);
dd->vertex(minx, maxy, minz, col);
}
void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz,
float maxx, float maxy, float maxz, const unsigned int* fcol)
{
if (!dd) return;
const 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[6*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 < 6; ++i)
{
dd->vertex(&verts[*in*3], fcol[i]); in++;
dd->vertex(&verts[*in*3], fcol[i]); in++;
dd->vertex(&verts[*in*3], fcol[i]); in++;
dd->vertex(&verts[*in*3], fcol[i]); in++;
}
}
void duAppendCylinder(struct duDebugDraw* dd, float minx, float miny, float minz,
float maxx, float maxy, float maxz, unsigned int col)
{
if (!dd) return;
static const int NUM_SEG = 16;
static float dir[NUM_SEG*2];
static bool init = false;
if (!init)
{
init = true;
for (int i = 0; i < NUM_SEG; ++i)
{
const float a = (float)i/(float)NUM_SEG*DU_PI*2;
dir[i*2] = cosf(a);
dir[i*2+1] = sinf(a);
}
}
unsigned int col2 = duMultCol(col, 160);
const float cx = (maxx + minx)/2;
const float cz = (maxz + minz)/2;
const float rx = (maxx - minx)/2;
const float rz = (maxz - minz)/2;
for (int i = 2; i < NUM_SEG; ++i)
{
const int a = 0, b = i-1, c = i;
dd->vertex(cx+dir[a*2+0]*rx, miny, cz+dir[a*2+1]*rz, col2);
dd->vertex(cx+dir[b*2+0]*rx, miny, cz+dir[b*2+1]*rz, col2);
dd->vertex(cx+dir[c*2+0]*rx, miny, cz+dir[c*2+1]*rz, col2);
}
for (int i = 2; i < NUM_SEG; ++i)
{
const int a = 0, b = i, c = i-1;
dd->vertex(cx+dir[a*2+0]*rx, maxy, cz+dir[a*2+1]*rz, col);
dd->vertex(cx+dir[b*2+0]*rx, maxy, cz+dir[b*2+1]*rz, col);
dd->vertex(cx+dir[c*2+0]*rx, maxy, cz+dir[c*2+1]*rz, col);
}
for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++)
{
dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col2);
dd->vertex(cx+dir[j*2+0]*rx, miny, cz+dir[j*2+1]*rz, col2);
dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col);
dd->vertex(cx+dir[i*2+0]*rx, miny, cz+dir[i*2+1]*rz, col2);
dd->vertex(cx+dir[j*2+0]*rx, maxy, cz+dir[j*2+1]*rz, col);
dd->vertex(cx+dir[i*2+0]*rx, maxy, cz+dir[i*2+1]*rz, col);
}
}
inline void evalArc(const float x0, const float y0, const float z0,
const float dx, const float dy, const float dz,
const float h, const float u, float* res)
{
res[0] = x0 + dx * u;
res[1] = y0 + dy * u + h * (1-(u*2-1)*(u*2-1));
res[2] = z0 + dz * u;
}
inline void vcross(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
dest[1] = v1[2]*v2[0] - v1[0]*v2[2];
dest[2] = v1[0]*v2[1] - v1[1]*v2[0];
}
inline void vnormalize(float* v)
{
float d = 1.0f / sqrtf(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
v[0] *= d;
v[1] *= d;
v[2] *= d;
}
inline void vsub(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]-v2[0];
dest[1] = v1[1]-v2[1];
dest[2] = v1[2]-v2[2];
}
inline float vdistSqr(const float* v1, const float* v2)
{
const float x = v1[0]-v2[0];
const float y = v1[1]-v2[1];
const float z = v1[2]-v2[2];
return x*x + y*y + z*z;
}
void appendArrowHead(struct duDebugDraw* dd, const float* p, const float* q,
const float s, unsigned int col)
{
const float eps = 0.001f;
if (!dd) return;
if (vdistSqr(p,q) < eps*eps) return;
float ax[3], ay[3] = {0,1,0}, az[3];
vsub(az, q, p);
vnormalize(az);
vcross(ax, ay, az);
vcross(ay, az, ax);
vnormalize(ay);
dd->vertex(p, col);
// dd->vertex(p[0]+az[0]*s+ay[0]*s/2, p[1]+az[1]*s+ay[1]*s/2, p[2]+az[2]*s+ay[2]*s/2, col);
dd->vertex(p[0]+az[0]*s+ax[0]*s/3, p[1]+az[1]*s+ax[1]*s/3, p[2]+az[2]*s+ax[2]*s/3, col);
dd->vertex(p, col);
// dd->vertex(p[0]+az[0]*s-ay[0]*s/2, p[1]+az[1]*s-ay[1]*s/2, p[2]+az[2]*s-ay[2]*s/2, col);
dd->vertex(p[0]+az[0]*s-ax[0]*s/3, p[1]+az[1]*s-ax[1]*s/3, p[2]+az[2]*s-ax[2]*s/3, col);
}
void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
const float x1, const float y1, const float z1, const float h,
const float as0, const float as1, unsigned int col)
{
if (!dd) return;
static const int NUM_ARC_PTS = 8;
static const float PAD = 0.05f;
static const float ARC_PTS_SCALE = (1.0f-PAD*2) / (float)NUM_ARC_PTS;
const float dx = x1 - x0;
const float dy = y1 - y0;
const float dz = z1 - z0;
const float len = sqrtf(dx*dx + dy*dy + dz*dz);
float prev[3];
evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD, prev);
for (int i = 1; i <= NUM_ARC_PTS; ++i)
{
const float u = PAD + i * ARC_PTS_SCALE;
float pt[3];
evalArc(x0,y0,z0, dx,dy,dz, len*h, u, pt);
dd->vertex(prev[0],prev[1],prev[2], col);
dd->vertex(pt[0],pt[1],pt[2], col);
prev[0] = pt[0]; prev[1] = pt[1]; prev[2] = pt[2];
}
// End arrows
if (as0 > 0.001f)
{
float p[3], q[3];
evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD, p);
evalArc(x0,y0,z0, dx,dy,dz, len*h, PAD+0.05f, q);
appendArrowHead(dd, p, q, as0, col);
}
if (as1 > 0.001f)
{
float p[3], q[3];
evalArc(x0,y0,z0, dx,dy,dz, len*h, 1-PAD, p);
evalArc(x0,y0,z0, dx,dy,dz, len*h, 1-(PAD+0.05f), q);
appendArrowHead(dd, p, q, as1, col);
}
}
void duAppendArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
const float x1, const float y1, const float z1,
const float as0, const float as1, unsigned int col)
{
if (!dd) return;
dd->vertex(x0,y0,z0, col);
dd->vertex(x1,y1,z1, col);
// End arrows
const float p[3] = {x0,y0,z0}, q[3] = {x1,y1,z1};
if (as0 > 0.001f)
appendArrowHead(dd, p, q, as0, col);
if (as1 > 0.001f)
appendArrowHead(dd, q, p, as1, col);
}
void duAppendCircle(struct duDebugDraw* dd, const float x, const float y, const float z,
const float r, unsigned int col)
{
if (!dd) return;
static const int NUM_SEG = 40;
static float dir[40*2];
static bool init = false;
if (!init)
{
init = true;
for (int i = 0; i < NUM_SEG; ++i)
{
const float a = (float)i/(float)NUM_SEG*DU_PI*2;
dir[i*2] = cosf(a);
dir[i*2+1] = sinf(a);
}
}
for (int i = 0, j = NUM_SEG-1; i < NUM_SEG; j = i++)
{
dd->vertex(x+dir[j*2+0]*r, y, z+dir[j*2+1]*r, col);
dd->vertex(x+dir[i*2+0]*r, y, z+dir[i*2+1]*r, col);
}
}
void duAppendCross(struct duDebugDraw* dd, const float x, const float y, const float z,
const float s, unsigned int col)
{
if (!dd) return;
dd->vertex(x-s,y,z, col);
dd->vertex(x+s,y,z, col);
dd->vertex(x,y-s,z, col);
dd->vertex(x,y+s,z, col);
dd->vertex(x,y,z-s, col);
dd->vertex(x,y,z+s, col);
}
duDisplayList::duDisplayList(int cap) :
m_pos(0),
m_color(0),
m_size(0),
m_cap(0),
m_depthMask(true),
m_prim(DU_DRAW_LINES),
m_primSize(1.0f)
{
if (cap < 8)
cap = 8;
resize(cap);
}
duDisplayList::~duDisplayList()
{
delete [] m_pos;
delete [] m_color;
}
void duDisplayList::resize(int cap)
{
float* newPos = new float[cap*3];
if (m_size)
memcpy(newPos, m_pos, sizeof(float)*3*m_size);
delete [] m_pos;
m_pos = newPos;
unsigned int* newColor = new unsigned int[cap];
if (m_size)
memcpy(newColor, m_color, sizeof(unsigned int)*m_size);
delete [] m_color;
m_color = newColor;
m_cap = cap;
}
void duDisplayList::clear()
{
m_size = 0;
}
void duDisplayList::depthMask(bool state)
{
m_depthMask = state;
}
void duDisplayList::begin(duDebugDrawPrimitives prim, float size)
{
clear();
m_prim = prim;
m_primSize = size;
}
void duDisplayList::vertex(const float x, const float y, const float z, unsigned int color)
{
if (m_size+1 >= m_cap)
resize(m_cap*2);
float* p = &m_pos[m_size*3];
p[0] = x;
p[1] = y;
p[2] = z;
m_color[m_size] = color;
m_size++;
}
void duDisplayList::vertex(const float* pos, unsigned int color)
{
vertex(pos[0],pos[1],pos[2],color);
}
void duDisplayList::end()
{
}
void duDisplayList::draw(struct duDebugDraw* dd)
{
if (!dd) return;
if (!m_size) return;
dd->depthMask(m_depthMask);
dd->begin(m_prim, m_primSize);
for (int i = 0; i < m_size; ++i)
dd->vertex(&m_pos[i*3], m_color[i]);
dd->end();
}

484
dep/recastnavigation/DebugUtils/Source/DetourDebugDraw.cpp Normal file
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//
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty. In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
// claim that you wrote the original software. If you use this software
// in a product, an acknowledgment in the product documentation would be
// appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
// misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
#include <math.h>
#include "DebugDraw.h"
#include "DetourDebugDraw.h"
#include "DetourNavMesh.h"
#include "DetourCommon.h"
#include "DetourNode.h"
#include "../../RecastDemo/Include/Debug.h"
static float distancePtLine2d(const float* pt, const float* p, const float* q)
{
float pqx = q[0] - p[0];
float pqz = q[2] - p[2];
float dx = pt[0] - p[0];
float dz = pt[2] - p[2];
float d = pqx*pqx + pqz*pqz;
float t = pqx*dx + pqz*dz;
if (d != 0) t /= d;
dx = p[0] + t*pqx - pt[0];
dz = p[2] + t*pqz - pt[2];
return dx*dx + dz*dz;
}
static void drawPolyBoundaries(duDebugDraw* dd, const dtMeshTile* tile,
const unsigned int col, const float linew,
bool inner)
{
static const float thr = 0.01f*0.01f;
dd->begin(DU_DRAW_LINES, linew);
for (int i = 0; i < tile->header->polyCount; ++i)
{
const dtPoly* p = &tile->polys[i];
if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) continue;
const dtPolyDetail* pd = &tile->detailMeshes[i];
for (int j = 0, nj = (int)p->vertCount; j < nj; ++j)
{
unsigned int c = col;
if (inner)
{
if (p->neis[j] == 0) continue;
if (p->neis[j] & DT_EXT_LINK)
{
bool con = false;
for (unsigned int k = p->firstLink; k != DT_NULL_LINK; k = tile->links[k].next)
{
if (tile->links[k].edge == j)
{
con = true;
break;
}
}
if (con)
c = duRGBA(255,255,255,24);
else
c = duRGBA(0,0,0,48);
}
else
c = duRGBA(0,48,64,32);
}
else
{
if (p->neis[j] != 0) continue;
}
const float* v0 = &tile->verts[p->verts[j]*3];
const float* v1 = &tile->verts[p->verts[(j+1) % nj]*3];
// Draw detail mesh edges which align with the actual poly edge.
// This is really slow.
for (int k = 0; k < pd->triCount; ++k)
{
const unsigned char* t = &tile->detailTris[(pd->triBase+k)*4];
const float* tv[3];
for (int m = 0; m < 3; ++m)
{
if (t[m] < p->vertCount)
tv[m] = &tile->verts[p->verts[t[m]]*3];
else
tv[m] = &tile->detailVerts[(pd->vertBase+(t[m]-p->vertCount))*3];
}
for (int m = 0, n = 2; m < 3; n=m++)
{
if (((t[3] >> (n*2)) & 0x3) == 0) continue; // Skip inner detail edges.
if (distancePtLine2d(tv[n],v0,v1) < thr &&
distancePtLine2d(tv[m],v0,v1) < thr)
{
dd->vertex(tv[n], c);
dd->vertex(tv[m], c);
}
}
}
}
}
dd->end();
}
static void drawMeshTile(duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery* query,
const dtMeshTile* tile, unsigned char flags)
{
dtPolyRef base = mesh.getPolyRefBase(tile);
dd->depthMask(false);
dd->begin(DU_DRAW_TRIS);
for (int i = 0; i < tile->header->polyCount; ++i)
{
const dtPoly* p = &tile->polys[i];
if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) // Skip off-mesh links.
continue;
const dtPolyDetail* pd = &tile->detailMeshes[i];
unsigned int col;
if (query && query->isInClosedList(base | (dtPolyRef)i))
col = duRGBA(255,196,0,64);
else
{
if (p->getArea() == 0) // Treat zero area type as default.
col = duRGBA(0,192,255,64);
else
switch(p->getArea())
{
case NAV_GROUND:
col = duRGBA(160,128,40,64);
break;
case NAV_MAGMA:
col = duRGBA(240,95,50,64);
break;
case NAV_SLIME:
col = duRGBA(85,225,85,64);
break;
case NAV_WATER:
col = duRGBA(160,160,245,64);
break;
default:
col = duRGBA(0,192,255,64);
break;
}
}
for (int j = 0; j < pd->triCount; ++j)
{
const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
for (int k = 0; k < 3; ++k)
{
if (t[k] < p->vertCount)
dd->vertex(&tile->verts[p->verts[t[k]]*3], col);
else
dd->vertex(&tile->detailVerts[(pd->vertBase+t[k]-p->vertCount)*3], col);
}
}
}
dd->end();
// Draw inter poly boundaries
drawPolyBoundaries(dd, tile, duRGBA(0,48,64,32), 1.5f, true);
// Draw outer poly boundaries
drawPolyBoundaries(dd, tile, duRGBA(0,48,64,220), 2.5f, false);
if (flags & DU_DRAWNAVMESH_OFFMESHCONS)
{
dd->begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < tile->header->polyCount; ++i)
{
const dtPoly* p = &tile->polys[i];
if (p->getType() != DT_POLYTYPE_OFFMESH_CONNECTION) // Skip regular polys.
continue;
unsigned int col;
if (query && query->isInClosedList(base | (dtPolyRef)i))
col = duRGBA(255,196,0,220);
else
col = duDarkenCol(duIntToCol(p->getArea(), 220));
const dtOffMeshConnection* con = &tile->offMeshCons[i - tile->header->offMeshBase];
const float* va = &tile->verts[p->verts[0]*3];
const float* vb = &tile->verts[p->verts[1]*3];
// Check to see if start and end end-points have links.
bool startSet = false;
bool endSet = false;
for (unsigned int k = p->firstLink; k != DT_NULL_LINK; k = tile->links[k].next)
{
if (tile->links[k].edge == 0)
startSet = true;
if (tile->links[k].edge == 1)
endSet = true;
}
// End points and their on-mesh locations.
if (startSet)
{
dd->vertex(va[0],va[1],va[2], col);
dd->vertex(con->pos[0],con->pos[1],con->pos[2], col);
duAppendCircle(dd, con->pos[0],con->pos[1]+0.1f,con->pos[2], con->rad, duRGBA(0,48,64,196));
}
if (endSet)
{
dd->vertex(vb[0],vb[1],vb[2], col);
dd->vertex(con->pos[3],con->pos[4],con->pos[5], col);
duAppendCircle(dd, con->pos[3],con->pos[4]+0.1f,con->pos[5], con->rad, duRGBA(0,48,64,196));
}
// End point vertices.
dd->vertex(con->pos[0],con->pos[1],con->pos[2], duRGBA(0,48,64,196));
dd->vertex(con->pos[0],con->pos[1]+0.2f,con->pos[2], duRGBA(0,48,64,196));
dd->vertex(con->pos[3],con->pos[4],con->pos[5], duRGBA(0,48,64,196));
dd->vertex(con->pos[3],con->pos[4]+0.2f,con->pos[5], duRGBA(0,48,64,196));
// Connection arc.
duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f,
(con->flags & 1) ? 0.6f : 0, 0.6f, col);
}
dd->end();
}
const unsigned int vcol = duRGBA(0,0,0,196);
dd->begin(DU_DRAW_POINTS, 3.0f);
for (int i = 0; i < tile->header->vertCount; ++i)
{
const float* v = &tile->verts[i*3];
dd->vertex(v[0], v[1], v[2], vcol);
}
dd->end();
dd->depthMask(true);
}
void duDebugDrawNavMesh(duDebugDraw* dd, const dtNavMesh& mesh, unsigned char flags)
{
if (!dd) return;
for (int i = 0; i < mesh.getMaxTiles(); ++i)
{
const dtMeshTile* tile = mesh.getTile(i);
if (!tile->header) continue;
drawMeshTile(dd, mesh, 0, tile, flags);
}
}
void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery& query, unsigned char flags)
{
if (!dd) return;
const dtNavMeshQuery* q = (flags & DU_DRAWNAVMESH_CLOSEDLIST) ? &query : 0;
for (int i = 0; i < mesh.getMaxTiles(); ++i)
{
const dtMeshTile* tile = mesh.getTile(i);
if (!tile->header) continue;
drawMeshTile(dd, mesh, q, tile, flags);
}
}
void duDebugDrawNavMeshNodes(struct duDebugDraw* dd, const dtNavMeshQuery& query)
{
if (!dd) return;
const dtNodePool* pool = query.getNodePool();
if (pool)
{
const float off = 0.5f;
dd->begin(DU_DRAW_POINTS, 4.0f);
for (int i = 0; i < pool->getHashSize(); ++i)
{
for (unsigned short j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j))
{
const dtNode* node = pool->getNodeAtIdx(j+1);
if (!node) continue;
dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,255));
}
}
dd->end();
dd->begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < pool->getHashSize(); ++i)
{
for (unsigned short j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j))
{
const dtNode* node = pool->getNodeAtIdx(j+1);
if (!node) continue;
if (!node->pidx) continue;
const dtNode* parent = pool->getNodeAtIdx(node->pidx);
if (!parent) continue;
dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,128));
dd->vertex(parent->pos[0],parent->pos[1]+off,parent->pos[2], duRGBA(255,192,0,128));
}
}
dd->end();
}
}
static void drawMeshTileBVTree(duDebugDraw* dd, const dtMeshTile* tile)
{
// Draw BV nodes.
const float cs = 1.0f / tile->header->bvQuantFactor;
dd->begin(DU_DRAW_LINES, 1.0f);
for (int i = 0; i < tile->header->bvNodeCount; ++i)
{
const dtBVNode* n = &tile->bvTree[i];
if (n->i < 0) // Leaf indices are positive.
continue;
duAppendBoxWire(dd, tile->header->bmin[0] + n->bmin[0]*cs,
tile->header->bmin[1] + n->bmin[1]*cs,
tile->header->bmin[2] + n->bmin[2]*cs,
tile->header->bmin[0] + n->bmax[0]*cs,
tile->header->bmin[1] + n->bmax[1]*cs,
tile->header->bmin[2] + n->bmax[2]*cs,
duRGBA(255,255,255,128));
}
dd->end();
}
void duDebugDrawNavMeshBVTree(duDebugDraw* dd, const dtNavMesh& mesh)
{
if (!dd) return;
for (int i = 0; i < mesh.getMaxTiles(); ++i)
{
const dtMeshTile* tile = mesh.getTile(i);
if (!tile->header) continue;
drawMeshTileBVTree(dd, tile);
}
}
static void drawMeshTilePortal(duDebugDraw* dd, const dtMeshTile* tile)
{
// Draw portals
const float padx = 0.02f;
const float pady = tile->header->walkableClimb;
dd->begin(DU_DRAW_LINES, 2.0f);
for (int side = 0; side < 8; ++side)
{
unsigned short m = DT_EXT_LINK | (unsigned short)side;
for (int i = 0; i < tile->header->polyCount; ++i)
{
dtPoly* poly = &tile->polys[i];
// Create new links.
const int nv = poly->vertCount;
for (int j = 0; j < nv; ++j)
{
// Skip edges which do not point to the right side.
if (poly->neis[j] != m)
continue;
// Create new links
const float* va = &tile->verts[poly->verts[j]*3];
const float* vb = &tile->verts[poly->verts[(j+1) % nv]*3];
if (side == 0 || side == 4)
{
unsigned int col = side == 0 ? duRGBA(128,0,0,128) : duRGBA(128,0,128,128);
const float x = va[0] + ((side == 0) ? -padx : padx);
dd->vertex(x,va[1]-pady,va[2], col);
dd->vertex(x,va[1]+pady,va[2], col);
dd->vertex(x,va[1]+pady,va[2], col);
dd->vertex(x,vb[1]+pady,vb[2], col);
dd->vertex(x,vb[1]+pady,vb[2], col);
dd->vertex(x,vb[1]-pady,vb[2], col);
dd->vertex(x,vb[1]-pady,vb[2], col);
dd->vertex(x,va[1]-pady,va[2], col);
}
else if (side == 2 || side == 6)
{
unsigned int col = side == 2 ? duRGBA(0,128,0,128) : duRGBA(0,128,128,128);
const float z = va[2] + ((side == 2) ? -padx : padx);
dd->vertex(va[0],va[1]-pady,z, col);
dd->vertex(va[0],va[1]+pady,z, col);
dd->vertex(va[0],va[1]+pady,z, col);
dd->vertex(vb[0],vb[1]+pady,z, col);
dd->vertex(vb[0],vb[1]+pady,z, col);
dd->vertex(vb[0],vb[1]-pady,z, col);
dd->vertex(vb[0],vb[1]-pady,z, col);
dd->vertex(va[0],va[1]-pady,z, col);
}
}
}
}
dd->end();
}
void duDebugDrawNavMeshPortals(duDebugDraw* dd, const dtNavMesh& mesh)
{
if (!dd) return;
for (int i = 0; i < mesh.getMaxTiles(); ++i)
{
const dtMeshTile* tile = mesh.getTile(i);
if (!tile->header) continue;
drawMeshTilePortal(dd, tile);
}
}
void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef ref, const unsigned int col)
{
if (!dd) return;
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (mesh.getTileAndPolyByRef(ref, &tile, &poly) != DT_SUCCESS)
return;
dd->depthMask(false);
const unsigned int c = (col & 0x00ffffff) | (64 << 24);
const unsigned int ip = (unsigned int)(poly - tile->polys);
if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
{
dtOffMeshConnection* con = &tile->offMeshCons[ip - tile->header->offMeshBase];
dd->begin(DU_DRAW_LINES, 2.0f);
// Connection arc.
duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f,
(con->flags & 1) ? 0.6f : 0, 0.6f, c);
dd->end();
}
else
{
const dtPolyDetail* pd = &tile->detailMeshes[ip];
dd->begin(DU_DRAW_TRIS);
for (int i = 0; i < pd->triCount; ++i)
{
const unsigned char* t = &tile->detailTris[(pd->triBase+i)*4];
for (int j = 0; j < 3; ++j)
{
if (t[j] < poly->vertCount)
dd->vertex(&tile->verts[poly->verts[t[j]]*3], c);
else
dd->vertex(&tile->detailVerts[(pd->vertBase+t[j]-poly->vertCount)*3], c);
}
}
dd->end();
}
dd->depthMask(true);
}

689
dep/recastnavigation/DebugUtils/Source/RecastDebugDraw.cpp Normal file
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//
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty. In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
// claim that you wrote the original software. If you use this software
// in a product, an acknowledgment in the product documentation would be
// appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
// misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
#define _USE_MATH_DEFINES
#include <math.h>
#include "DebugDraw.h"
#include "RecastDebugDraw.h"
#include "Recast.h"
void duDebugDrawTriMesh(duDebugDraw* dd, const float* verts, int /*nverts*/,
const int* tris, const float* normals, int ntris,
const unsigned char* flags)
{
if (!dd) return;
if (!verts) return;
if (!tris) return;
if (!normals) return;
dd->begin(DU_DRAW_TRIS);
for (int i = 0; i < ntris*3; i += 3)
{
unsigned int color;
unsigned char a = (unsigned char)(150*(2+normals[i+0]+normals[i+1])/4);
if (flags && !flags[i/3])
color = duRGBA(a,a/4,a/16,255);
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);
}
dd->end();
}
void duDebugDrawTriMeshSlope(duDebugDraw* dd, const float* verts, int /*nverts*/,
const int* tris, const float* normals, int ntris,
const float walkableSlopeAngle)
{
if (!dd) return;
if (!verts) return;
if (!tris) return;
if (!normals) return;
const float walkableThr = cosf(walkableSlopeAngle/180.0f*DU_PI);
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);
if (norm[1] < walkableThr)
color = duRGBA(a,a/4,a/16,255);
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);
}
dd->end();
}
void duDebugDrawHeightfieldSolid(duDebugDraw* dd, const rcHeightfield& hf)
{
if (!dd) return;
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;
unsigned int fcol[6];
duCalcBoxColors(fcol, duRGBA(255,255,255,255), duRGBA(255,255,255,255));
dd->begin(DU_DRAW_QUADS);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
float fx = orig[0] + x*cs;
float fz = orig[2] + y*cs;
const rcSpan* s = hf.spans[x + y*w];
while (s)
{
duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, fcol);
s = s->next;
}
}
}
dd->end();
}
void duDebugDrawHeightfieldWalkable(duDebugDraw* dd, const rcHeightfield& hf)
{
if (!dd) return;
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;
unsigned int fcol[6];
duCalcBoxColors(fcol, duRGBA(255,255,255,255), duRGBA(217,217,217,255));
dd->begin(DU_DRAW_QUADS);
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
float fx = orig[0] + x*cs;
float fz = orig[2] + y*cs;
const rcSpan* s = hf.spans[x + y*w];
while (s)
{
if (s->area == RC_WALKABLE_AREA)
fcol[0] = duRGBA(64,128,160,255);
else if (s->area == RC_NULL_AREA)
fcol[0] = duRGBA(64,64,64,255);
else
fcol[0] = duMultCol(duIntToCol(s->area, 255), 200);
duAppendBox(dd, fx, orig[1]+s->smin*ch, fz, fx+cs, orig[1] + s->smax*ch, fz+cs, fcol);
s = s->next;
}
}
}
dd->end();
}
void duDebugDrawCompactHeightfieldSolid(duDebugDraw* dd, const rcCompactHeightfield& chf)
{
if (!dd) return;
const float cs = chf.cs;
const float ch = chf.ch;
dd->begin(DU_DRAW_QUADS);
for (int y = 0; y < chf.height; ++y)
{
for (int x = 0; x < chf.width; ++x)
{
const float fx = chf.bmin[0] + x*cs;
const float fz = chf.bmin[2] + y*cs;
const rcCompactCell& c = chf.cells[x+y*chf.width];
for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
unsigned int color;
if (chf.areas[i] == RC_WALKABLE_AREA)
color = duRGBA(0,192,255,64);
else if (chf.areas[i] == RC_NULL_AREA)
color = duRGBA(0,0,0,64);
else
color = duIntToCol(chf.areas[i], 255);
const float fy = chf.bmin[1] + (s.y+1)*ch;
dd->vertex(fx, fy, fz, color);
dd->vertex(fx, fy, fz+cs, color);
dd->vertex(fx+cs, fy, fz+cs, color);
dd->vertex(fx+cs, fy, fz, color);
}
}
}
dd->end();
}
void duDebugDrawCompactHeightfieldRegions(duDebugDraw* dd, const rcCompactHeightfield& chf)
{
if (!dd) return;
const float cs = chf.cs;
const float ch = chf.ch;
dd->begin(DU_DRAW_QUADS);
for (int y = 0; y < chf.height; ++y)
{
for (int x = 0; x < chf.width; ++x)
{
const float fx = chf.bmin[0] + x*cs;
const float fz = chf.bmin[2] + y*cs;
const rcCompactCell& c = chf.cells[x+y*chf.width];
for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
const float fy = chf.bmin[1] + (s.y)*ch;
unsigned int color;
if (s.reg)
color = duIntToCol(s.reg, 192);
else
color = duRGBA(0,0,0,64);
dd->vertex(fx, fy, fz, color);
dd->vertex(fx, fy, fz+cs, color);
dd->vertex(fx+cs, fy, fz+cs, color);
dd->vertex(fx+cs, fy, fz, color);
}
}
}
dd->end();
}
void duDebugDrawCompactHeightfieldDistance(duDebugDraw* dd, const rcCompactHeightfield& chf)
{
if (!dd) return;
if (!chf.dist) return;
const float cs = chf.cs;
const float ch = chf.ch;
float maxd = chf.maxDistance;
if (maxd < 1.0f) maxd = 1;
const float dscale = 255.0f / maxd;
dd->begin(DU_DRAW_QUADS);
for (int y = 0; y < chf.height; ++y)
{
for (int x = 0; x < chf.width; ++x)
{
const float fx = chf.bmin[0] + x*cs;
const float fz = chf.bmin[2] + y*cs;
const rcCompactCell& c = chf.cells[x+y*chf.width];
for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
const float fy = chf.bmin[1] + (s.y+1)*ch;
const unsigned char cd = (unsigned char)(chf.dist[i] * dscale);
const unsigned int color = duRGBA(cd,cd,cd,255);
dd->vertex(fx, fy, fz, color);
dd->vertex(fx, fy, fz+cs, color);
dd->vertex(fx+cs, fy, fz+cs, color);
dd->vertex(fx+cs, fy, fz, color);
}
}
}
dd->end();
}
static void getContourCenter(const rcContour* cont, const float* orig, float cs, float ch, float* center)
{
center[0] = 0;
center[1] = 0;
center[2] = 0;
if (!cont->nverts)
return;
for (int i = 0; i < cont->nverts; ++i)
{
const int* v = &cont->verts[i*4];
center[0] += (float)v[0];
center[1] += (float)v[1];
center[2] += (float)v[2];
}
const float s = 1.0f / cont->nverts;
center[0] *= s * cs;
center[1] *= s * ch;
center[2] *= s * cs;
center[0] += orig[0];
center[1] += orig[1] + 4*ch;
center[2] += orig[2];
}
static const rcContour* findContourFromSet(const rcContourSet& cset, unsigned short reg)
{
for (int i = 0; i < cset.nconts; ++i)
{
if (cset.conts[i].reg == reg)
return &cset.conts[i];
}
return 0;
}
void duDebugDrawRegionConnections(duDebugDraw* dd, const rcContourSet& cset, const float alpha)
{
if (!dd) return;
const float* orig = cset.bmin;
const float cs = cset.cs;
const float ch = cset.ch;
// Draw centers
float pos[3], pos2[3];
unsigned int color = duRGBA(0,0,0,196);
dd->begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < cset.nconts; ++i)
{
const rcContour* cont = &cset.conts[i];
getContourCenter(cont, orig, cs, ch, pos);
for (int j = 0; j < cont->nverts; ++j)
{
const int* v = &cont->verts[j*4];
if (v[3] == 0 || (unsigned short)v[3] < cont->reg) continue;
const rcContour* cont2 = findContourFromSet(cset, (unsigned short)v[3]);
if (cont2)
{
getContourCenter(cont2, orig, cs, ch, pos2);
duAppendArc(dd, pos[0],pos[1],pos[2], pos2[0],pos2[1],pos2[2], 0.25f, 0.6f, 0.6f, color);
}
}
}
dd->end();
unsigned char a = (unsigned char)(alpha * 255.0f);
dd->begin(DU_DRAW_POINTS, 7.0f);
for (int i = 0; i < cset.nconts; ++i)
{
const rcContour* cont = &cset.conts[i];
unsigned int color = duDarkenCol(duIntToCol(cont->reg,a));
getContourCenter(cont, orig, cs, ch, pos);
dd->vertex(pos, color);
}
dd->end();
}
void duDebugDrawRawContours(duDebugDraw* dd, const rcContourSet& cset, const float alpha)
{
if (!dd) return;
const float* orig = cset.bmin;
const float cs = cset.cs;
const float ch = cset.ch;
const unsigned char a = (unsigned char)(alpha*255.0f);
dd->begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < cset.nconts; ++i)
{
const rcContour& c = cset.conts[i];
unsigned int color = duIntToCol(c.reg, a);
for (int j = 0; j < c.nrverts; ++j)
{
const int* v = &c.rverts[j*4];
float fx = orig[0] + v[0]*cs;
float fy = orig[1] + (v[1]+1+(i&1))*ch;
float fz = orig[2] + v[2]*cs;
dd->vertex(fx,fy,fz,color);
if (j > 0)
dd->vertex(fx,fy,fz,color);
}
// Loop last segment.
const int* v = &c.rverts[0];
float fx = orig[0] + v[0]*cs;
float fy = orig[1] + (v[1]+1+(i&1))*ch;
float fz = orig[2] + v[2]*cs;
dd->vertex(fx,fy,fz,color);
}
dd->end();
dd->begin(DU_DRAW_POINTS, 2.0f);
for (int i = 0; i < cset.nconts; ++i)
{
const rcContour& c = cset.conts[i];
unsigned int color = duDarkenCol(duIntToCol(c.reg, a));
for (int j = 0; j < c.nrverts; ++j)
{
const int* v = &c.rverts[j*4];
float off = 0;
unsigned int colv = color;
if (v[3] & RC_BORDER_VERTEX)
{
colv = duRGBA(255,255,255,a);
off = ch*2;
}
float fx = orig[0] + v[0]*cs;
float fy = orig[1] + (v[1]+1+(i&1))*ch + off;
float fz = orig[2] + v[2]*cs;
dd->vertex(fx,fy,fz, colv);
}
}
dd->end();
}
void duDebugDrawContours(duDebugDraw* dd, const rcContourSet& cset, const float alpha)
{
if (!dd) return;
const float* orig = cset.bmin;
const float cs = cset.cs;
const float ch = cset.ch;
const unsigned char a = (unsigned char)(alpha*255.0f);
dd->begin(DU_DRAW_LINES, 2.5f);
for (int i = 0; i < cset.nconts; ++i)
{
const rcContour& c = cset.conts[i];
if (!c.nverts)
continue;
unsigned int color = duIntToCol(c.reg, a);
for (int j = 0; j < c.nverts; ++j)
{
const int* v = &c.verts[j*4];
float fx = orig[0] + v[0]*cs;
float fy = orig[1] + (v[1]+1+(i&1))*ch;
float fz = orig[2] + v[2]*cs;
dd->vertex(fx,fy,fz, color);
if (j > 0)
dd->vertex(fx,fy,fz, color);
}
// Loop last segment
const int* v = &c.verts[0];
float fx = orig[0] + v[0]*cs;
float fy = orig[1] + (v[1]+1+(i&1))*ch;
float fz = orig[2] + v[2]*cs;
dd->vertex(fx,fy,fz, color);
}
dd->end();
dd->begin(DU_DRAW_POINTS, 3.0f);
for (int i = 0; i < cset.nconts; ++i)
{
const rcContour& c = cset.conts[i];
unsigned int color = duDarkenCol(duIntToCol(c.reg, a));
for (int j = 0; j < c.nverts; ++j)
{
const int* v = &c.verts[j*4];
float off = 0;
unsigned int colv = color;
if (v[3] & RC_BORDER_VERTEX)
{
colv = duRGBA(255,255,255,a);
off = ch*2;
}
float fx = orig[0] + v[0]*cs;
float fy = orig[1] + (v[1]+1+(i&1))*ch + off;
float fz = orig[2] + v[2]*cs;
dd->vertex(fx,fy,fz, colv);
}
}
dd->end();
}
void duDebugDrawPolyMesh(duDebugDraw* dd, const struct rcPolyMesh& mesh)
{
if (!dd) return;
const int nvp = mesh.nvp;
const float cs = mesh.cs;
const float ch = mesh.ch;
const float* orig = mesh.bmin;
dd->begin(DU_DRAW_TRIS);
for (int i = 0; i < mesh.npolys; ++i)
{
const unsigned short* p = &mesh.polys[i*nvp*2];
unsigned int color;
if (mesh.areas[i] == RC_WALKABLE_AREA)
color = duRGBA(0,192,255,64);
else if (mesh.areas[i] == RC_NULL_AREA)
color = duRGBA(0,0,0,64);
else
color = duIntToCol(mesh.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 = &mesh.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 < mesh.npolys; ++i)
{
const unsigned short* p = &mesh.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 = &mesh.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 < mesh.npolys; ++i)
{
const unsigned short* p = &mesh.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 = &mesh.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 < mesh.nverts; ++i)
{
const unsigned short* v = &mesh.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();
}
void duDebugDrawPolyMeshDetail(duDebugDraw* dd, const struct rcPolyMeshDetail& dmesh)
{
if (!dd) return;
dd->begin(DU_DRAW_TRIS);
for (int i = 0; i < dmesh.nmeshes; ++i)
{
const unsigned int* m = &dmesh.meshes[i*4];
const unsigned int bverts = m[0];
const unsigned int btris = m[2];
const int ntris = (int)m[3];
const float* verts = &dmesh.verts[bverts*3];
const unsigned char* tris = &dmesh.tris[btris*4];
unsigned int color = duIntToCol(i, 192);
for (int j = 0; j < ntris; ++j)
{
dd->vertex(&verts[tris[j*4+0]*3], color);
dd->vertex(&verts[tris[j*4+1]*3], color);
dd->vertex(&verts[tris[j*4+2]*3], color);
}
}
dd->end();
// Internal edges.
dd->begin(DU_DRAW_LINES, 1.0f);
const unsigned int coli = duRGBA(0,0,0,64);
for (int i = 0; i < dmesh.nmeshes; ++i)
{
const unsigned int* m = &dmesh.meshes[i*4];
const unsigned int bverts = m[0];
const unsigned int btris = m[2];
const int ntris = (int)m[3];
const float* verts = &dmesh.verts[bverts*3];
const unsigned char* tris = &dmesh.tris[btris*4];
for (int j = 0; j < ntris; ++j)
{
const unsigned char* t = &tris[j*4];
for (int k = 0, kp = 2; k < 3; kp=k++)
{
unsigned char ef = (t[3] >> (kp*2)) & 0x3;
if (ef == 0)
{
// Internal edge
if (t[kp] < t[k])
{
dd->vertex(&verts[t[kp]*3], coli);
dd->vertex(&verts[t[k]*3], coli);
}
}
}
}
}
dd->end();
// External edges.
dd->begin(DU_DRAW_LINES, 2.0f);
const unsigned int cole = duRGBA(0,0,0,64);
for (int i = 0; i < dmesh.nmeshes; ++i)
{
const unsigned int* m = &dmesh.meshes[i*4];
const unsigned int bverts = m[0];
const unsigned int btris = m[2];
const int ntris = (int)m[3];
const float* verts = &dmesh.verts[bverts*3];
const unsigned char* tris = &dmesh.tris[btris*4];
for (int j = 0; j < ntris; ++j)
{
const unsigned char* t = &tris[j*4];
for (int k = 0, kp = 2; k < 3; kp=k++)
{
unsigned char ef = (t[3] >> (kp*2)) & 0x3;
if (ef != 0)
{
// Ext edge
dd->vertex(&verts[t[kp]*3], cole);
dd->vertex(&verts[t[k]*3], cole);
}
}
}
}
dd->end();
dd->begin(DU_DRAW_POINTS, 3.0f);
const unsigned int colv = duRGBA(0,0,0,64);
for (int i = 0; i < dmesh.nmeshes; ++i)
{
const unsigned int* m = &dmesh.meshes[i*4];
const unsigned int bverts = m[0];
const int nverts = (int)m[1];
const float* verts = &dmesh.verts[bverts*3];
for (int j = 0; j < nverts; ++j)
dd->vertex(&verts[j*3], colv);
}
dd->end();
}

439
dep/recastnavigation/DebugUtils/Source/RecastDump.cpp Normal file
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//
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty. In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
// claim that you wrote the original software. If you use this software
// in a product, an acknowledgment in the product documentation would be
// appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
// misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#include <stdarg.h>
#include <string.h>
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastDump.h"
duFileIO::~duFileIO()
{
// Empty
}
static void ioprintf(duFileIO* io, const char* format, ...)
{
char line[256];
va_list ap;
va_start(ap, format);
const int n = vsnprintf(line, sizeof(line), format, ap);
va_end(ap);
if (n > 0)
io->write(line, sizeof(char)*n);
}
bool duDumpPolyMeshToObj(rcPolyMesh& pmesh, duFileIO* io)
{
if (!io)
{
printf("duDumpPolyMeshToObj: input IO is null.\n");
return false;
}
if (!io->isWriting())
{
printf("duDumpPolyMeshToObj: input IO not writing.\n");
return false;
}
const int nvp = pmesh.nvp;
const float cs = pmesh.cs;
const float ch = pmesh.ch;
const float* orig = pmesh.bmin;
ioprintf(io, "# Recast Navmesh\n");
ioprintf(io, "o NavMesh\n");
ioprintf(io, "\n");
for (int i = 0; i < pmesh.nverts; ++i)
{
const unsigned short* v = &pmesh.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;
ioprintf(io, "v %f %f %f\n", x,y,z);
}
ioprintf(io, "\n");
for (int i = 0; i < pmesh.npolys; ++i)
{
const unsigned short* p = &pmesh.polys[i*nvp*2];
for (int j = 2; j < nvp; ++j)
{
if (p[j] == RC_MESH_NULL_IDX) break;
ioprintf(io, "f %d %d %d\n", p[0]+1, p[j-1]+1, p[j]+1);
}
}
return true;
}
bool duDumpPolyMeshDetailToObj(rcPolyMeshDetail& dmesh, duFileIO* io)
{
if (!io)
{
printf("duDumpPolyMeshDetailToObj: input IO is null.\n");
return false;
}
if (!io->isWriting())
{
printf("duDumpPolyMeshDetailToObj: input IO not writing.\n");
return false;
}
ioprintf(io, "# Recast Navmesh\n");
ioprintf(io, "o NavMesh\n");
ioprintf(io, "\n");
for (int i = 0; i < dmesh.nverts; ++i)
{
const float* v = &dmesh.verts[i*3];
ioprintf(io, "v %f %f %f\n", v[0],v[1],v[2]);
}
ioprintf(io, "\n");
for (int i = 0; i < dmesh.nmeshes; ++i)
{
const unsigned int* m = &dmesh.meshes[i*4];
const unsigned int bverts = m[0];
const unsigned int btris = m[2];
const unsigned int ntris = m[3];
const unsigned char* tris = &dmesh.tris[btris*4];
for (unsigned int j = 0; j < ntris; ++j)
{
ioprintf(io, "f %d %d %d\n",
(int)(bverts+tris[j*4+0])+1,
(int)(bverts+tris[j*4+1])+1,
(int)(bverts+tris[j*4+2])+1);
}
}
return true;
}
static const int CSET_MAGIC = ('c' << 24) | ('s' << 16) | ('e' << 8) | 't';
static const int CSET_VERSION = 1;
bool duDumpContourSet(struct rcContourSet& cset, duFileIO* io)
{
if (!io)
{
printf("duDumpContourSet: input IO is null.\n");
return false;
}
if (!io->isWriting())
{
printf("duDumpContourSet: input IO not writing.\n");
return false;
}
io->write(&CSET_MAGIC, sizeof(CSET_MAGIC));
io->write(&CSET_VERSION, sizeof(CSET_VERSION));
io->write(&cset.nconts, sizeof(cset.nconts));
io->write(cset.bmin, sizeof(cset.bmin));
io->write(cset.bmax, sizeof(cset.bmax));
io->write(&cset.cs, sizeof(cset.cs));
io->write(&cset.ch, sizeof(cset.ch));
for (int i = 0; i < cset.nconts; ++i)
{
const rcContour& cont = cset.conts[i];
io->write(&cont.nverts, sizeof(cont.nverts));
io->write(&cont.nrverts, sizeof(cont.nrverts));
io->write(&cont.reg, sizeof(cont.reg));
io->write(&cont.area, sizeof(cont.area));
io->write(cont.verts, sizeof(int)*4*cont.nverts);
io->write(cont.rverts, sizeof(int)*4*cont.nrverts);
}
return true;
}
bool duReadContourSet(struct rcContourSet& cset, duFileIO* io)
{
if (!io)
{
printf("duReadContourSet: input IO is null.\n");
return false;
}
if (!io->isReading())
{
printf("duReadContourSet: input IO not reading.\n");
return false;
}
int magic = 0;
int version = 0;
io->read(&magic, sizeof(magic));
io->read(&version, sizeof(version));
if (magic != CSET_MAGIC)
{
printf("duReadContourSet: Bad voodoo.\n");
return false;
}
if (version != CSET_VERSION)
{
printf("duReadContourSet: Bad version.\n");
return false;
}
io->read(&cset.nconts, sizeof(cset.nconts));
cset.conts = (rcContour*)rcAlloc(sizeof(rcContour)*cset.nconts, RC_ALLOC_PERM);
if (!cset.conts)
{
printf("duReadContourSet: Could not alloc contours (%d)\n", cset.nconts);
return false;
}
memset(cset.conts, 0, sizeof(rcContour)*cset.nconts);
io->read(cset.bmin, sizeof(cset.bmin));
io->read(cset.bmax, sizeof(cset.bmax));
io->read(&cset.cs, sizeof(cset.cs));
io->read(&cset.ch, sizeof(cset.ch));
for (int i = 0; i < cset.nconts; ++i)
{
rcContour& cont = cset.conts[i];
io->read(&cont.nverts, sizeof(cont.nverts));
io->read(&cont.nrverts, sizeof(cont.nrverts));
io->read(&cont.reg, sizeof(cont.reg));
io->read(&cont.area, sizeof(cont.area));
cont.verts = (int*)rcAlloc(sizeof(int)*4*cont.nverts, RC_ALLOC_PERM);
if (!cont.verts)
{
printf("duReadContourSet: Could not alloc contour verts (%d)\n", cont.nverts);
return false;
}
cont.rverts = (int*)rcAlloc(sizeof(int)*4*cont.nrverts, RC_ALLOC_PERM);
if (!cont.rverts)
{
printf("duReadContourSet: Could not alloc contour rverts (%d)\n", cont.nrverts);
return false;
}
io->read(cont.verts, sizeof(int)*4*cont.nverts);
io->read(cont.rverts, sizeof(int)*4*cont.nrverts);
}
return true;
}
static const int CHF_MAGIC = ('r' << 24) | ('c' << 16) | ('h' << 8) | 'f';
static const int CHF_VERSION = 2;
bool duDumpCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io)
{
if (!io)
{
printf("duDumpCompactHeightfield: input IO is null.\n");
return false;
}
if (!io->isWriting())
{
printf("duDumpCompactHeightfield: input IO not writing.\n");
return false;
}
io->write(&CHF_MAGIC, sizeof(CHF_MAGIC));
io->write(&CHF_VERSION, sizeof(CHF_VERSION));
io->write(&chf.width, sizeof(chf.width));
io->write(&chf.height, sizeof(chf.height));
io->write(&chf.spanCount, sizeof(chf.spanCount));
io->write(&chf.walkableHeight, sizeof(chf.walkableHeight));
io->write(&chf.walkableClimb, sizeof(chf.walkableClimb));
io->write(&chf.maxDistance, sizeof(chf.maxDistance));
io->write(&chf.maxRegions, sizeof(chf.maxRegions));
io->write(chf.bmin, sizeof(chf.bmin));
io->write(chf.bmax, sizeof(chf.bmax));
io->write(&chf.cs, sizeof(chf.cs));
io->write(&chf.ch, sizeof(chf.ch));
int tmp = 0;
if (chf.cells) tmp |= 1;
if (chf.spans) tmp |= 2;
if (chf.dist) tmp |= 4;
if (chf.areas) tmp |= 8;
io->write(&tmp, sizeof(tmp));
if (chf.cells)
io->write(chf.cells, sizeof(rcCompactCell)*chf.width*chf.height);
if (chf.spans)
io->write(chf.spans, sizeof(rcCompactSpan)*chf.spanCount);
if (chf.dist)
io->write(chf.dist, sizeof(unsigned short)*chf.spanCount);
if (chf.areas)
io->write(chf.areas, sizeof(unsigned char)*chf.spanCount);
return true;
}
bool duReadCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io)
{
if (!io)
{
printf("duReadCompactHeightfield: input IO is null.\n");
return false;
}
if (!io->isReading())
{
printf("duReadCompactHeightfield: input IO not reading.\n");
return false;
}
int magic = 0;
int version = 0;
io->read(&magic, sizeof(magic));
io->read(&version, sizeof(version));
if (magic != CHF_MAGIC)
{
printf("duReadCompactHeightfield: Bad voodoo.\n");
return false;
}
if (version != CHF_VERSION)
{
printf("duReadCompactHeightfield: Bad version.\n");
return false;
}
io->read(&chf.width, sizeof(chf.width));
io->read(&chf.height, sizeof(chf.height));
io->read(&chf.spanCount, sizeof(chf.spanCount));
io->read(&chf.walkableHeight, sizeof(chf.walkableHeight));
io->read(&chf.walkableClimb, sizeof(chf.walkableClimb));
io->read(&chf.maxDistance, sizeof(chf.maxDistance));
io->read(&chf.maxRegions, sizeof(chf.maxRegions));
io->read(chf.bmin, sizeof(chf.bmin));
io->read(chf.bmax, sizeof(chf.bmax));
io->read(&chf.cs, sizeof(chf.cs));
io->read(&chf.ch, sizeof(chf.ch));
int tmp = 0;
io->read(&tmp, sizeof(tmp));
if (tmp & 1)
{
chf.cells = (rcCompactCell*)rcAlloc(sizeof(rcCompactCell)*chf.width*chf.height, RC_ALLOC_PERM);
if (!chf.cells)
{
printf("duReadCompactHeightfield: Could not alloc cells (%d)\n", chf.width*chf.height);
return false;
}
io->read(chf.cells, sizeof(rcCompactCell)*chf.width*chf.height);
}
if (tmp & 2)
{
chf.spans = (rcCompactSpan*)rcAlloc(sizeof(rcCompactSpan)*chf.spanCount, RC_ALLOC_PERM);
if (!chf.spans)
{
printf("duReadCompactHeightfield: Could not alloc spans (%d)\n", chf.spanCount);
return false;
}
io->read(chf.spans, sizeof(rcCompactSpan)*chf.spanCount);
}
if (tmp & 4)
{
chf.dist = (unsigned short*)rcAlloc(sizeof(unsigned short)*chf.spanCount, RC_ALLOC_PERM);
if (!chf.dist)
{
printf("duReadCompactHeightfield: Could not alloc dist (%d)\n", chf.spanCount);
return false;
}
io->read(chf.dist, sizeof(unsigned short)*chf.spanCount);
}
if (tmp & 8)
{
chf.areas = (unsigned char*)rcAlloc(sizeof(unsigned char)*chf.spanCount, RC_ALLOC_PERM);
if (!chf.areas)
{
printf("duReadCompactHeightfield: Could not alloc areas (%d)\n", chf.spanCount);
return false;
}
io->read(chf.areas, sizeof(unsigned char)*chf.spanCount);
}
return true;
}
static void logLine(rcContext& ctx, rcTimerLabel label, const char* name, const float pc)
{
const int t = ctx.getAccumulatedTime(label);
if (t < 0) return;
ctx.log(RC_LOG_PROGRESS, "%s:\t%.2fms\t(%.1f%%)", name, t/1000.0f, t*pc);
}
void duLogBuildTimes(rcContext& ctx, const int totalTimeUsec)
{
const float pc = 100.0f / totalTimeUsec;
ctx.log(RC_LOG_PROGRESS, "Build Times");
logLine(ctx, RC_TIMER_RASTERIZE_TRIANGLES, "- Rasterize", pc);
logLine(ctx, RC_TIMER_BUILD_COMPACTHEIGHTFIELD, "- Build Compact", pc);
logLine(ctx, RC_TIMER_FILTER_BORDER, "- Filter Border", pc);
logLine(ctx, RC_TIMER_FILTER_WALKABLE, "- Filter Walkable", pc);
logLine(ctx, RC_TIMER_ERODE_AREA, "- Erode Area", pc);
logLine(ctx, RC_TIMER_MEDIAN_AREA, "- Median Area", pc);
logLine(ctx, RC_TIMER_MARK_BOX_AREA, "- Mark Box Area", pc);
logLine(ctx, RC_TIMER_MARK_CONVEXPOLY_AREA, "- Mark Convex Area", pc);
logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD, "- Build Disntace Field", pc);
logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD_DIST, " - Distance", pc);
logLine(ctx, RC_TIMER_BUILD_DISTANCEFIELD_BLUR, " - Blur", pc);
logLine(ctx, RC_TIMER_BUILD_REGIONS, "- Build Regions", pc);
logLine(ctx, RC_TIMER_BUILD_REGIONS_WATERSHED, " - Watershed", pc);
logLine(ctx, RC_TIMER_BUILD_REGIONS_EXPAND, " - Expand", pc);
logLine(ctx, RC_TIMER_BUILD_REGIONS_FLOOD, " - Find Basins", pc);
logLine(ctx, RC_TIMER_BUILD_REGIONS_FILTER, " - Filter", pc);
logLine(ctx, RC_TIMER_BUILD_CONTOURS, "- Build Contours", pc);
logLine(ctx, RC_TIMER_BUILD_CONTOURS_TRACE, " - Trace", pc);
logLine(ctx, RC_TIMER_BUILD_CONTOURS_SIMPLIFY, " - Simplify", pc);
logLine(ctx, RC_TIMER_BUILD_POLYMESH, "- Build Polymesh", pc);
logLine(ctx, RC_TIMER_BUILD_POLYMESHDETAIL, "- Build Polymesh Detail", pc);
logLine(ctx, RC_TIMER_MERGE_POLYMESH, "- Merge Polymeshes", pc);
logLine(ctx, RC_TIMER_MERGE_POLYMESHDETAIL, "- Merge Polymesh Details", pc);
ctx.log(RC_LOG_PROGRESS, "=== TOTAL:\t%.2fms", totalTimeUsec/1000.0f);
}