mirror of
https://github.com/mangosfour/server.git
synced 2025-12-16 13:37:00 +00:00
[11902] Import Recast Navigation
Import Recast Navigation as third party dependency Credits go to Mikko Mononen memon at inside dot org
This commit is contained in:
faramir118
Schmoozerd
parent
97cb838de1
commit
136c0ba618
399 changed files with 142994 additions and 1 deletions
391
dep/recastnavigation/RecastDemo/Source/Sample_Debug.cpp
Normal file
391
dep/recastnavigation/RecastDemo/Source/Sample_Debug.cpp
Normal file
|
|
@ -0,0 +1,391 @@
|
|||
//
|
||||
// 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_Debug.h"
|
||||
#include "InputGeom.h"
|
||||
#include "Recast.h"
|
||||
#include "DetourNavMesh.h"
|
||||
#include "RecastDebugDraw.h"
|
||||
#include "DetourDebugDraw.h"
|
||||
#include "RecastDump.h"
|
||||
#include "imgui.h"
|
||||
#include "SDL.h"
|
||||
#include "SDL_opengl.h"
|
||||
|
||||
#include "NavMeshTesterTool.h"
|
||||
#include "Debug.h"
|
||||
|
||||
#ifdef WIN32
|
||||
# define snprintf _snprintf
|
||||
#endif
|
||||
|
||||
Sample_Debug::Sample_Debug() : Sample_SoloMeshTiled(),
|
||||
m_hf(0), m_hfCount(0),
|
||||
m_chf(0), m_chfCount(0),
|
||||
m_cset(0), m_csetCount(0),
|
||||
m_pmeshes(0), m_pmeshCount(0),
|
||||
m_dmeshes(0), m_dmeshCount(0)
|
||||
{
|
||||
resetCommonSettings();
|
||||
|
||||
setTool(new NavMeshTesterTool);
|
||||
}
|
||||
|
||||
Sample_Debug::~Sample_Debug()
|
||||
{
|
||||
cleanup();
|
||||
}
|
||||
|
||||
void Sample_Debug::cleanup()
|
||||
{
|
||||
rcFreeHeightField(m_hf);
|
||||
m_hf = 0;
|
||||
|
||||
rcFreeCompactHeightfield(m_chf);
|
||||
m_chf = 0;
|
||||
|
||||
rcFreeContourSet(m_cset);
|
||||
m_cset = 0;
|
||||
|
||||
rcFreePolyMesh(m_pmeshes);
|
||||
m_pmeshes = 0;
|
||||
|
||||
rcFreePolyMeshDetail(m_dmeshes);
|
||||
m_dmeshes = 0;
|
||||
|
||||
dtFreeNavMesh(m_navMesh);
|
||||
m_navMesh = 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Sample_Debug::handleSettings()
|
||||
{
|
||||
}
|
||||
|
||||
void Sample_Debug::handleTools()
|
||||
{
|
||||
Sample_SoloMeshTiled::handleTools();
|
||||
}
|
||||
|
||||
void Sample_Debug::handleDebugMode()
|
||||
{
|
||||
// Check which modes are valid.
|
||||
bool valid[MAX_DRAWMODE];
|
||||
for (int i = 0; i < MAX_DRAWMODE; ++i)
|
||||
valid[i] = false;
|
||||
|
||||
bool hasChf = false;
|
||||
bool hasSolid = false;
|
||||
bool hasCset = false;
|
||||
bool hasPmesh = false;
|
||||
bool hasDmesh = false;
|
||||
|
||||
if (m_hf) hasSolid = true;
|
||||
if (m_chf) hasChf = true;
|
||||
if (m_cset) hasCset = true;
|
||||
if (m_pmeshes) hasPmesh = true;
|
||||
if (m_dmeshes) hasDmesh = true;
|
||||
|
||||
if (m_geom)
|
||||
{
|
||||
valid[DRAWMODE_NAVMESH] = m_navMesh != 0;
|
||||
valid[DRAWMODE_NAVMESH_TRANS] = m_navMesh != 0;
|
||||
valid[DRAWMODE_NAVMESH_BVTREE] = m_navMesh != 0;
|
||||
valid[DRAWMODE_NAVMESH_INVIS] = m_navMesh != 0;
|
||||
valid[DRAWMODE_MESH] = true;
|
||||
valid[DRAWMODE_VOXELS] = hasSolid;
|
||||
valid[DRAWMODE_VOXELS_WALKABLE] = hasSolid;
|
||||
valid[DRAWMODE_COMPACT] = hasChf;
|
||||
valid[DRAWMODE_COMPACT_DISTANCE] = hasChf;
|
||||
valid[DRAWMODE_COMPACT_REGIONS] = hasChf;
|
||||
valid[DRAWMODE_REGION_CONNECTIONS] = hasCset;
|
||||
valid[DRAWMODE_RAW_CONTOURS] = hasCset;
|
||||
valid[DRAWMODE_BOTH_CONTOURS] = hasCset;
|
||||
valid[DRAWMODE_CONTOURS] = hasCset;
|
||||
valid[DRAWMODE_POLYMESH] = hasPmesh;
|
||||
valid[DRAWMODE_POLYMESH_DETAIL] = hasDmesh;
|
||||
}
|
||||
|
||||
int unavail = 0;
|
||||
for (int i = 0; i < MAX_DRAWMODE; ++i)
|
||||
if (!valid[i]) unavail++;
|
||||
|
||||
if (unavail == MAX_DRAWMODE)
|
||||
return;
|
||||
|
||||
imguiLabel("Draw");
|
||||
if (imguiCheck("Input Mesh", m_drawMode == DRAWMODE_MESH, valid[DRAWMODE_MESH]))
|
||||
m_drawMode = DRAWMODE_MESH;
|
||||
if (imguiCheck("Navmesh", m_drawMode == DRAWMODE_NAVMESH, valid[DRAWMODE_NAVMESH]))
|
||||
m_drawMode = DRAWMODE_NAVMESH;
|
||||
if (imguiCheck("Navmesh Invis", m_drawMode == DRAWMODE_NAVMESH_INVIS, valid[DRAWMODE_NAVMESH_INVIS]))
|
||||
m_drawMode = DRAWMODE_NAVMESH_INVIS;
|
||||
if (imguiCheck("Navmesh Trans", m_drawMode == DRAWMODE_NAVMESH_TRANS, valid[DRAWMODE_NAVMESH_TRANS]))
|
||||
m_drawMode = DRAWMODE_NAVMESH_TRANS;
|
||||
if (imguiCheck("Navmesh BVTree", m_drawMode == DRAWMODE_NAVMESH_BVTREE, valid[DRAWMODE_NAVMESH_BVTREE]))
|
||||
m_drawMode = DRAWMODE_NAVMESH_BVTREE;
|
||||
if (imguiCheck("Voxels", m_drawMode == DRAWMODE_VOXELS, valid[DRAWMODE_VOXELS]))
|
||||
m_drawMode = DRAWMODE_VOXELS;
|
||||
if (imguiCheck("Walkable Voxels", m_drawMode == DRAWMODE_VOXELS_WALKABLE, valid[DRAWMODE_VOXELS_WALKABLE]))
|
||||
m_drawMode = DRAWMODE_VOXELS_WALKABLE;
|
||||
if (imguiCheck("Compact", m_drawMode == DRAWMODE_COMPACT, valid[DRAWMODE_COMPACT]))
|
||||
m_drawMode = DRAWMODE_COMPACT;
|
||||
if (imguiCheck("Compact Distance", m_drawMode == DRAWMODE_COMPACT_DISTANCE, valid[DRAWMODE_COMPACT_DISTANCE]))
|
||||
m_drawMode = DRAWMODE_COMPACT_DISTANCE;
|
||||
if (imguiCheck("Compact Regions", m_drawMode == DRAWMODE_COMPACT_REGIONS, valid[DRAWMODE_COMPACT_REGIONS]))
|
||||
m_drawMode = DRAWMODE_COMPACT_REGIONS;
|
||||
if (imguiCheck("Region Connections", m_drawMode == DRAWMODE_REGION_CONNECTIONS, valid[DRAWMODE_REGION_CONNECTIONS]))
|
||||
m_drawMode = DRAWMODE_REGION_CONNECTIONS;
|
||||
if (imguiCheck("Raw Contours", m_drawMode == DRAWMODE_RAW_CONTOURS, valid[DRAWMODE_RAW_CONTOURS]))
|
||||
m_drawMode = DRAWMODE_RAW_CONTOURS;
|
||||
if (imguiCheck("Both Contours", m_drawMode == DRAWMODE_BOTH_CONTOURS, valid[DRAWMODE_BOTH_CONTOURS]))
|
||||
m_drawMode = DRAWMODE_BOTH_CONTOURS;
|
||||
if (imguiCheck("Contours", m_drawMode == DRAWMODE_CONTOURS, valid[DRAWMODE_CONTOURS]))
|
||||
m_drawMode = DRAWMODE_CONTOURS;
|
||||
if (imguiCheck("Poly Mesh", m_drawMode == DRAWMODE_POLYMESH, valid[DRAWMODE_POLYMESH]))
|
||||
m_drawMode = DRAWMODE_POLYMESH;
|
||||
if (imguiCheck("Poly Mesh Detail", m_drawMode == DRAWMODE_POLYMESH_DETAIL, valid[DRAWMODE_POLYMESH_DETAIL]))
|
||||
m_drawMode = DRAWMODE_POLYMESH_DETAIL;
|
||||
}
|
||||
|
||||
void Sample_Debug::handleRender()
|
||||
{
|
||||
if (!m_geom || !m_geom->getMesh())
|
||||
return;
|
||||
|
||||
DebugDrawGL dd;
|
||||
|
||||
glEnable(GL_FOG);
|
||||
glDepthMask(GL_TRUE);
|
||||
|
||||
if (m_drawMode == DRAWMODE_MESH)
|
||||
{
|
||||
// Draw mesh
|
||||
duDebugDrawTriMeshSlope(&dd, m_geom->getMesh()->getVerts(), m_geom->getMesh()->getVertCount(),
|
||||
m_geom->getMesh()->getTris(), m_geom->getMesh()->getNormals(), m_geom->getMesh()->getTriCount(),
|
||||
m_agentMaxSlope);
|
||||
m_geom->drawOffMeshConnections(&dd);
|
||||
}
|
||||
else if (m_drawMode != DRAWMODE_NAVMESH_TRANS)
|
||||
{
|
||||
// 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);
|
||||
m_geom->drawOffMeshConnections(&dd);
|
||||
}
|
||||
|
||||
glDisable(GL_FOG);
|
||||
glDepthMask(GL_FALSE);
|
||||
|
||||
// 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);
|
||||
|
||||
// Tiling grid.
|
||||
int gw = 0, gh = 0;
|
||||
rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
|
||||
const int tw = (gw + (int)m_tileSize-1) / (int)m_tileSize;
|
||||
const int th = (gh + (int)m_tileSize-1) / (int)m_tileSize;
|
||||
duDebugDrawGridXZ(&dd, bmin[0],bmin[1],bmin[2], tw,th, m_tileSize, duRGBA(0,0,0,64), 1.0f);
|
||||
|
||||
if (m_navMesh &&
|
||||
(m_drawMode == DRAWMODE_NAVMESH ||
|
||||
m_drawMode == DRAWMODE_NAVMESH_TRANS ||
|
||||
m_drawMode == DRAWMODE_NAVMESH_BVTREE ||
|
||||
m_drawMode == DRAWMODE_NAVMESH_INVIS))
|
||||
{
|
||||
if (m_drawMode != DRAWMODE_NAVMESH_INVIS)
|
||||
duDebugDrawNavMesh(&dd, *m_navMesh, m_navMeshDrawFlags);
|
||||
if (m_drawMode == DRAWMODE_NAVMESH_BVTREE)
|
||||
duDebugDrawNavMeshBVTree(&dd, *m_navMesh);
|
||||
}
|
||||
|
||||
glDepthMask(GL_TRUE);
|
||||
|
||||
if (m_drawMode == DRAWMODE_COMPACT)
|
||||
duDebugDrawCompactHeightfieldSolid(&dd, *m_chf);
|
||||
|
||||
if (m_drawMode == DRAWMODE_COMPACT_DISTANCE)
|
||||
duDebugDrawCompactHeightfieldDistance(&dd, *m_chf);
|
||||
|
||||
if (m_drawMode == DRAWMODE_COMPACT_REGIONS)
|
||||
duDebugDrawCompactHeightfieldRegions(&dd, *m_chf);
|
||||
|
||||
if (m_drawMode == DRAWMODE_VOXELS)
|
||||
{
|
||||
glEnable(GL_FOG);
|
||||
duDebugDrawHeightfieldSolid(&dd, *m_hf);
|
||||
glDisable(GL_FOG);
|
||||
}
|
||||
|
||||
if (m_drawMode == DRAWMODE_VOXELS_WALKABLE)
|
||||
{
|
||||
glEnable(GL_FOG);
|
||||
duDebugDrawHeightfieldWalkable(&dd, *m_hf);
|
||||
glDisable(GL_FOG);
|
||||
}
|
||||
|
||||
if (m_drawMode == DRAWMODE_RAW_CONTOURS)
|
||||
{
|
||||
glDepthMask(GL_FALSE);
|
||||
duDebugDrawRawContours(&dd, *m_cset);
|
||||
glDepthMask(GL_TRUE);
|
||||
}
|
||||
|
||||
if (m_drawMode == DRAWMODE_BOTH_CONTOURS)
|
||||
{
|
||||
glDepthMask(GL_FALSE);
|
||||
duDebugDrawRawContours(&dd, *m_cset, 0.5f);
|
||||
duDebugDrawContours(&dd, *m_cset);
|
||||
glDepthMask(GL_TRUE);
|
||||
}
|
||||
|
||||
if (m_drawMode == DRAWMODE_CONTOURS)
|
||||
{
|
||||
glDepthMask(GL_FALSE);
|
||||
duDebugDrawContours(&dd, *m_cset);
|
||||
glDepthMask(GL_TRUE);
|
||||
}
|
||||
|
||||
if (m_drawMode == DRAWMODE_REGION_CONNECTIONS)
|
||||
{
|
||||
duDebugDrawCompactHeightfieldRegions(&dd, *m_chf);
|
||||
|
||||
glDepthMask(GL_FALSE);
|
||||
duDebugDrawRegionConnections(&dd, *m_cset);
|
||||
glDepthMask(GL_TRUE);
|
||||
}
|
||||
|
||||
if (/*m_pmesh &&*/ m_drawMode == DRAWMODE_POLYMESH)
|
||||
{
|
||||
glDepthMask(GL_FALSE);
|
||||
duDebugDrawPolyMesh(&dd, *m_pmeshes);
|
||||
glDepthMask(GL_TRUE);
|
||||
}
|
||||
|
||||
if (/*m_dmesh &&*/ m_drawMode == DRAWMODE_POLYMESH_DETAIL)
|
||||
{
|
||||
glDepthMask(GL_FALSE);
|
||||
duDebugDrawPolyMeshDetail(&dd, *m_dmeshes);
|
||||
glDepthMask(GL_TRUE);
|
||||
}
|
||||
|
||||
m_geom->drawConvexVolumes(&dd);
|
||||
|
||||
if (m_tool)
|
||||
m_tool->handleRender();
|
||||
|
||||
glDepthMask(GL_TRUE);
|
||||
}
|
||||
|
||||
void Sample_Debug::handleRenderOverlay(double* proj, double* model, int* view)
|
||||
{
|
||||
Sample_SoloMeshTiled::handleRenderOverlay(proj, model, view);
|
||||
}
|
||||
|
||||
void Sample_Debug::handleMeshChanged(InputGeom* geom)
|
||||
{
|
||||
Sample_SoloMeshTiled::handleMeshChanged(geom);
|
||||
}
|
||||
|
||||
const float* Sample_Debug::getBoundsMin()
|
||||
{
|
||||
return Sample_SoloMeshTiled::getBoundsMin();
|
||||
}
|
||||
|
||||
const float* Sample_Debug::getBoundsMax()
|
||||
{
|
||||
return Sample_SoloMeshTiled::getBoundsMax();
|
||||
}
|
||||
|
||||
void Sample_Debug::handleClick(const float* p, bool shift)
|
||||
{
|
||||
Sample_SoloMeshTiled::handleClick(NULL, p, shift);
|
||||
}
|
||||
|
||||
void Sample_Debug::handleToggle()
|
||||
{
|
||||
Sample_SoloMeshTiled::handleStep();
|
||||
}
|
||||
|
||||
bool Sample_Debug::handleBuild()
|
||||
{
|
||||
cleanup();
|
||||
|
||||
duReadNavMesh(m_meshName, m_navMesh);
|
||||
m_pmeshCount = duReadPolyMesh(m_meshName, m_pmeshes);
|
||||
m_hfCount = duReadHeightfield(m_meshName, m_hf);
|
||||
m_chfCount = duReadCompactHeightfield(m_meshName, m_chf);
|
||||
m_dmeshCount = duReadDetailMesh(m_meshName, m_dmeshes);
|
||||
m_csetCount = duReadContourSet(m_meshName, m_cset);
|
||||
|
||||
if(m_navMesh)
|
||||
{
|
||||
m_drawMode = DRAWMODE_NAVMESH_TRANS;
|
||||
m_tileSize = m_navMesh->getParams()->tileHeight;
|
||||
|
||||
m_navQuery = dtAllocNavMeshQuery();
|
||||
m_navQuery->init(m_navMesh, 2048);
|
||||
}
|
||||
|
||||
if(m_tool)
|
||||
m_tool->init(this);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void Sample_Debug::setHighlightedTile(const float* pos)
|
||||
{
|
||||
|
||||
if (!pos || !m_navMesh)
|
||||
{
|
||||
m_highLightedTileX = -1;
|
||||
m_highLightedTileY = -1;
|
||||
return;
|
||||
}
|
||||
|
||||
dtNavMeshQuery* query = dtAllocNavMeshQuery();
|
||||
query->init(m_navMesh, 2048);
|
||||
|
||||
float extents[3] = {2.f, 4.f, 2.f};
|
||||
dtPolyRef polyRef = 0;
|
||||
dtQueryFilter filter;
|
||||
query->findNearestPoly(pos, extents, &filter, &polyRef, NULL);
|
||||
unsigned char area = 0;
|
||||
m_navMesh->getPolyArea(polyRef, &area);
|
||||
unsigned short flags = 0;
|
||||
m_navMesh->getPolyFlags(polyRef, &flags);
|
||||
|
||||
const dtMeshTile* tile;
|
||||
const dtPoly* poly;
|
||||
m_navMesh->getTileAndPolyByRef(polyRef, &tile, &poly);
|
||||
|
||||
if(!tile)
|
||||
{
|
||||
m_highLightedTileX = -1;
|
||||
m_highLightedTileY = -1;
|
||||
return;
|
||||
}
|
||||
m_highLightedTileX = tile->header->x;
|
||||
m_highLightedTileY = tile->header->y;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue