[11902] Import Recast Navigation

Import Recast Navigation as third party dependency Credits go to Mikko Mononen memon at inside dot org
2025-12-16 13:37:00 +00:00 · 2012-01-29 21:35:05 +01:00 · 2012-01-29 21:35:05 +01:00 · 136c0ba618
commit 136c0ba618
parent 97cb838de1
399 changed files with 142994 additions and 1 deletions
--- a/dep/recastnavigation/RecastDemo/Source/Sample.cpp
+++ b/dep/recastnavigation/RecastDemo/Source/Sample.cpp
@ -0,0 +1,201 @@
+//
+// 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 "Sample.h"
+#include "InputGeom.h"
+#include "Recast.h"
+#include "RecastDebugDraw.h"
+#include "DetourDebugDraw.h"
+#include "DetourNavMesh.h"
+#include "DetourNavMeshQuery.h"
+#include "imgui.h"
+#include "SDL.h"
+#include "SDL_opengl.h"
+
+#ifdef WIN32
+#	define snprintf _snprintf
+#endif
+
+Sample::Sample() :
+	m_geom(0),
+	m_navMesh(0),
+	m_navQuery(0),
+	m_navMeshDrawFlags(DU_DRAWNAVMESH_OFFMESHCONS|DU_DRAWNAVMESH_CLOSEDLIST),
+	m_tool(0),
+	m_ctx(0)
+{
+	resetCommonSettings();
+	m_navQuery = dtAllocNavMeshQuery();
+}
+
+Sample::~Sample()
+{
+	dtFreeNavMeshQuery(m_navQuery);
+	dtFreeNavMesh(m_navMesh);
+	delete m_tool;
+}
+
+void Sample::setTool(SampleTool* tool)
+{
+	delete m_tool;
+	m_tool = tool;
+	if (tool)
+		m_tool->init(this);
+}
+
+void Sample::handleSettings()
+{
+}
+
+void Sample::handleTools()
+{
+}
+
+void Sample::handleDebugMode()
+{
+}
+
+void Sample::handleRender()
+{
+	if (!m_geom)
+		return;
+	
+	DebugDrawGL dd;
+		
+	// Draw mesh
+	duDebugDrawTriMesh(&dd, m_geom->getMesh()->getVerts(), m_geom->getMesh()->getVertCount(),
+					   m_geom->getMesh()->getTris(), m_geom->getMesh()->getNormals(), m_geom->getMesh()->getTriCount(), 0);
+	// Draw bounds
+	const float* bmin = m_geom->getMeshBoundsMin();
+	const float* bmax = m_geom->getMeshBoundsMax();
+	duDebugDrawBoxWire(&dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duRGBA(255,255,255,128), 1.0f);
+}
+
+void Sample::handleRenderOverlay(double* /*proj*/, double* /*model*/, int* /*view*/)
+{
+}
+
+void Sample::handleMeshChanged(InputGeom* geom)
+{
+	m_geom = geom;
+}
+
+const float* Sample::getBoundsMin()
+{
+	if (!m_geom) return 0;
+	return m_geom->getMeshBoundsMin();
+}
+
+const float* Sample::getBoundsMax()
+{
+	if (!m_geom) return 0;
+	return m_geom->getMeshBoundsMax();
+}
+
+void Sample::resetCommonSettings()
+{
+	m_cellSize = 0.3f;
+	m_cellHeight = 0.2f;
+	m_agentHeight = 2.0f;
+	m_agentRadius = 0.6f;
+	m_agentMaxClimb = 0.9f;
+	m_agentMaxSlope = 45.0f;
+	m_regionMinSize = 8;
+	m_regionMergeSize = 20;
+	m_edgeMaxLen = 12.0f;
+	m_edgeMaxError = 1.3f;
+	m_vertsPerPoly = 6.0f;
+	m_detailSampleDist = 6.0f;
+	m_detailSampleMaxError = 1.0f;
+}
+
+void Sample::handleCommonSettings()
+{
+	imguiLabel("Rasterization");
+	imguiSlider("Cell Size", &m_cellSize, 0.1f, 1.0f, 0.01f);
+	imguiSlider("Cell Height", &m_cellHeight, 0.1f, 1.0f, 0.01f);
+	
+	if (m_geom)
+	{
+		const float* bmin = m_geom->getMeshBoundsMin();
+		const float* bmax = m_geom->getMeshBoundsMax();
+		int gw = 0, gh = 0;
+		rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
+		char text[64];
+		snprintf(text, 64, "Voxels  %d x %d", gw, gh);
+		imguiValue(text);
+	}
+	
+	imguiSeparator();
+	imguiLabel("Agent");
+	imguiSlider("Height", &m_agentHeight, 0.1f, 5.0f, 0.1f);
+	imguiSlider("Radius", &m_agentRadius, 0.0f, 5.0f, 0.1f);
+	imguiSlider("Max Climb", &m_agentMaxClimb, 0.1f, 5.0f, 0.1f);
+	imguiSlider("Max Slope", &m_agentMaxSlope, 0.0f, 90.0f, 1.0f);
+	
+	imguiSeparator();
+	imguiLabel("Region");
+	imguiSlider("Min Region Size", &m_regionMinSize, 0.0f, 150.0f, 1.0f);
+	imguiSlider("Merged Region Size", &m_regionMergeSize, 0.0f, 150.0f, 1.0f);
+	
+	imguiSeparator();
+	imguiLabel("Polygonization");
+	imguiSlider("Max Edge Length", &m_edgeMaxLen, 0.0f, 50.0f, 1.0f);
+	imguiSlider("Max Edge Error", &m_edgeMaxError, 0.1f, 4.0f, 0.1f);
+	imguiSlider("Verts Per Poly", &m_vertsPerPoly, 3.0f, 12.0f, 1.0f);		
+
+	imguiSeparator();
+	imguiLabel("Detail Mesh");
+	imguiSlider("Sample Distance", &m_detailSampleDist, 0.0f, 32.0f, 1.0f);
+	imguiSlider("Max Sample Error", &m_detailSampleMaxError, 0.0f, 16.0f, 1.0f);
+	
+	imguiSeparator();
+}
+
+void Sample::handleClick(const float* s, const float* p, bool shift)
+{
+	if (m_tool)
+		m_tool->handleClick(s, p, shift);
+}
+
+void Sample::handleToggle()
+{
+	if (m_tool)
+		m_tool->handleToggle();
+}
+
+void Sample::handleStep()
+{
+	if (m_tool)
+		m_tool->handleStep();
+}
+
+bool Sample::handleBuild()
+{
+	return true;
+}
+
+void Sample::handleUpdate(const float dt)
+{
+	if (m_tool)
+		m_tool->handleUpdate(dt);
+}
+