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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 <stdlib.h>
#include <string.h>
#include "SDL.h"
#include "SDL_opengl.h"
#ifdef __APPLE__
# include <OpenGL/glu.h>
#else
# include <GL/glu.h>
#endif
#include "imgui.h"
#include "NavMeshTesterTool.h"
#include "Sample.h"
#include "Recast.h"
#include "RecastDebugDraw.h"
#include "DetourNavMesh.h"
#include "DetourNavMeshBuilder.h"
#include "DetourDebugDraw.h"
#include "DetourCommon.h"
#ifdef WIN32
# define snprintf _snprintf
#endif
// Uncomment this to dump all the requests in stdout.
#define DUMP_REQS
// Returns a random number [0..1]
static float frand()
{
// return ((float)(rand() & 0xffff)/(float)0xffff);
return (float)rand()/(float)RAND_MAX;
}
inline bool inRange(const float* v1, const float* v2, const float r, const float h)
{
const float dx = v2[0] - v1[0];
const float dy = v2[1] - v1[1];
const float dz = v2[2] - v1[2];
return (dx*dx + dz*dz) < r*r && fabsf(dy) < h;
}
static int fixupCorridor(dtPolyRef* path, const int npath, const int maxPath,
const dtPolyRef* visited, const int nvisited)
{
int furthestPath = -1;
int furthestVisited = -1;
// Find furthest common polygon.
for (int i = npath-1; i >= 0; --i)
{
bool found = false;
for (int j = nvisited-1; j >= 0; --j)
{
if (path[i] == visited[j])
{
furthestPath = i;
furthestVisited = j;
found = true;
}
}
if (found)
break;
}
// If no intersection found just return current path.
if (furthestPath == -1 || furthestVisited == -1)
return npath;
// Concatenate paths.
// Adjust beginning of the buffer to include the visited.
const int req = nvisited - furthestVisited;
const int orig = rcMin(furthestPath+1, npath);
int size = rcMax(0, npath-orig);
if (req+size > maxPath)
size = maxPath-req;
if (size)
memmove(path+req, path+orig, size*sizeof(dtPolyRef));
// Store visited
for (int i = 0; i < req; ++i)
path[i] = visited[(nvisited-1)-i];
return req+size;
}
// This function checks if the path has a small U-turn, that is,
// a polygon further in the path is adjacent to the first polygon
// in the path. If that happens, a shortcut is taken.
// This can happen if the target (T) location is at tile boundary,
// and we're (S) approaching it parallel to the tile edge.
// The choice at the vertex can be arbitrary,
// +---+---+
// |:::|:::|
// +-S-+-T-+
// |:::| | <-- the step can end up in here, resulting U-turn path.
// +---+---+
static int fixupShortcuts(dtPolyRef* path, int npath, dtNavMeshQuery* navQuery)
{
if (npath < 3)
return npath;
// Get connected polygons
static const int maxNeis = 16;
dtPolyRef neis[maxNeis];
int nneis = 0;
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
if (dtStatusFailed(navQuery->getAttachedNavMesh()->getTileAndPolyByRef(path[0], &tile, &poly)))
return npath;
for (unsigned int k = poly->firstLink; k != DT_NULL_LINK; k = tile->links[k].next)
{
const dtLink* link = &tile->links[k];
if (link->ref != 0)
{
if (nneis < maxNeis)
neis[nneis++] = link->ref;
}
}
// If any of the neighbour polygons is within the next few polygons
// in the path, short cut to that polygon directly.
static const int maxLookAhead = 6;
int cut = 0;
for (int i = dtMin(maxLookAhead, npath) - 1; i > 1 && cut == 0; i--) {
for (int j = 0; j < nneis; j++)
{
if (path[i] == neis[j]) {
cut = i;
break;
}
}
}
if (cut > 1)
{
int offset = cut-1;
npath -= offset;
for (int i = 1; i < npath; i++)
path[i] = path[i+offset];
}
return npath;
}
static bool getSteerTarget(dtNavMeshQuery* navQuery, const float* startPos, const float* endPos,
const float minTargetDist,
const dtPolyRef* path, const int pathSize,
float* steerPos, unsigned char& steerPosFlag, dtPolyRef& steerPosRef,
float* outPoints = 0, int* outPointCount = 0)
{
// Find steer target.
static const int MAX_STEER_POINTS = 3;
float steerPath[MAX_STEER_POINTS*3];
unsigned char steerPathFlags[MAX_STEER_POINTS];
dtPolyRef steerPathPolys[MAX_STEER_POINTS];
int nsteerPath = 0;
navQuery->findStraightPath(startPos, endPos, path, pathSize,
steerPath, steerPathFlags, steerPathPolys, &nsteerPath, MAX_STEER_POINTS);
if (!nsteerPath)
return false;
if (outPoints && outPointCount)
{
*outPointCount = nsteerPath;
for (int i = 0; i < nsteerPath; ++i)
dtVcopy(&outPoints[i*3], &steerPath[i*3]);
}
// Find vertex far enough to steer to.
int ns = 0;
while (ns < nsteerPath)
{
// Stop at Off-Mesh link or when point is further than slop away.
if ((steerPathFlags[ns] & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ||
!inRange(&steerPath[ns*3], startPos, minTargetDist, 1000.0f))
break;
ns++;
}
// Failed to find good point to steer to.
if (ns >= nsteerPath)
return false;
dtVcopy(steerPos, &steerPath[ns*3]);
steerPos[1] = startPos[1];
steerPosFlag = steerPathFlags[ns];
steerPosRef = steerPathPolys[ns];
return true;
}
NavMeshTesterTool::NavMeshTesterTool() :
m_sample(0),
m_navMesh(0),
m_navQuery(0),
m_pathFindStatus(DT_FAILURE),
m_toolMode(TOOLMODE_PATHFIND_FOLLOW),
m_straightPathOptions(0),
m_startRef(0),
m_endRef(0),
m_npolys(0),
m_nstraightPath(0),
m_nsmoothPath(0),
m_nrandPoints(0),
m_randPointsInCircle(false),
m_hitResult(false),
m_distanceToWall(0),
m_sposSet(false),
m_eposSet(false),
m_pathIterNum(0),
m_pathIterPolyCount(0),
m_steerPointCount(0)
{
m_filter.setIncludeFlags(SAMPLE_POLYFLAGS_ALL ^ SAMPLE_POLYFLAGS_DISABLED);
m_filter.setExcludeFlags(0);
m_polyPickExt[0] = 2;
m_polyPickExt[1] = 4;
m_polyPickExt[2] = 2;
m_neighbourhoodRadius = 2.5f;
m_randomRadius = 5.0f;
}
void NavMeshTesterTool::init(Sample* sample)
{
m_sample = sample;
m_navMesh = sample->getNavMesh();
m_navQuery = sample->getNavMeshQuery();
recalc();
if (m_navQuery)
{
// Change costs.
m_filter.setAreaCost(SAMPLE_POLYAREA_GROUND, 1.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_WATER, 10.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_ROAD, 1.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_DOOR, 1.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_GRASS, 2.0f);
m_filter.setAreaCost(SAMPLE_POLYAREA_JUMP, 1.5f);
}
m_neighbourhoodRadius = sample->getAgentRadius() * 20.0f;
m_randomRadius = sample->getAgentRadius() * 30.0f;
}
void NavMeshTesterTool::handleMenu()
{
if (imguiCheck("Pathfind Follow", m_toolMode == TOOLMODE_PATHFIND_FOLLOW))
{
m_toolMode = TOOLMODE_PATHFIND_FOLLOW;
recalc();
}
if (imguiCheck("Pathfind Straight", m_toolMode == TOOLMODE_PATHFIND_STRAIGHT))
{
m_toolMode = TOOLMODE_PATHFIND_STRAIGHT;
recalc();
}
if (m_toolMode == TOOLMODE_PATHFIND_STRAIGHT)
{
imguiIndent();
imguiLabel("Vertices at crossings");
if (imguiCheck("None", m_straightPathOptions == 0))
{
m_straightPathOptions = 0;
recalc();
}
if (imguiCheck("Area", m_straightPathOptions == DT_STRAIGHTPATH_AREA_CROSSINGS))
{
m_straightPathOptions = DT_STRAIGHTPATH_AREA_CROSSINGS;
recalc();
}
if (imguiCheck("All", m_straightPathOptions == DT_STRAIGHTPATH_ALL_CROSSINGS))
{
m_straightPathOptions = DT_STRAIGHTPATH_ALL_CROSSINGS;
recalc();
}
imguiUnindent();
}
if (imguiCheck("Pathfind Sliced", m_toolMode == TOOLMODE_PATHFIND_SLICED))
{
m_toolMode = TOOLMODE_PATHFIND_SLICED;
recalc();
}
imguiSeparator();
if (imguiCheck("Distance to Wall", m_toolMode == TOOLMODE_DISTANCE_TO_WALL))
{
m_toolMode = TOOLMODE_DISTANCE_TO_WALL;
recalc();
}
imguiSeparator();
if (imguiCheck("Raycast", m_toolMode == TOOLMODE_RAYCAST))
{
m_toolMode = TOOLMODE_RAYCAST;
recalc();
}
imguiSeparator();
if (imguiCheck("Find Polys in Circle", m_toolMode == TOOLMODE_FIND_POLYS_IN_CIRCLE))
{
m_toolMode = TOOLMODE_FIND_POLYS_IN_CIRCLE;
recalc();
}
if (imguiCheck("Find Polys in Shape", m_toolMode == TOOLMODE_FIND_POLYS_IN_SHAPE))
{
m_toolMode = TOOLMODE_FIND_POLYS_IN_SHAPE;
recalc();
}
imguiSeparator();
if (imguiCheck("Find Local Neighbourhood", m_toolMode == TOOLMODE_FIND_LOCAL_NEIGHBOURHOOD))
{
m_toolMode = TOOLMODE_FIND_LOCAL_NEIGHBOURHOOD;
recalc();
}
imguiSeparator();
if (imguiButton("Set Random Start"))
{
dtStatus status = m_navQuery->findRandomPoint(&m_filter, frand, &m_startRef, m_spos);
if (dtStatusSucceed(status))
{
m_sposSet = true;
recalc();
}
}
if (imguiButton("Set Random End", m_sposSet))
{
if (m_sposSet)
{
dtStatus status = m_navQuery->findRandomPointAroundCircle(m_startRef, m_spos, m_randomRadius, &m_filter, frand, &m_endRef, m_epos);
if (dtStatusSucceed(status))
{
m_eposSet = true;
recalc();
}
}
}
imguiSeparator();
if (imguiButton("Make Random Points"))
{
m_randPointsInCircle = false;
m_nrandPoints = 0;
for (int i = 0; i < MAX_RAND_POINTS; i++)
{
float pt[3];
dtPolyRef ref;
dtStatus status = m_navQuery->findRandomPoint(&m_filter, frand, &ref, pt);
if (dtStatusSucceed(status))
{
dtVcopy(&m_randPoints[m_nrandPoints*3], pt);
m_nrandPoints++;
}
}
}
if (imguiButton("Make Random Points Around", m_sposSet))
{
if (m_sposSet)
{
m_nrandPoints = 0;
m_randPointsInCircle = true;
for (int i = 0; i < MAX_RAND_POINTS; i++)
{
float pt[3];
dtPolyRef ref;
dtStatus status = m_navQuery->findRandomPointAroundCircle(m_startRef, m_spos, m_randomRadius, &m_filter, frand, &ref, pt);
if (dtStatusSucceed(status))
{
dtVcopy(&m_randPoints[m_nrandPoints*3], pt);
m_nrandPoints++;
}
}
}
}
imguiSeparator();
imguiLabel("Include Flags");
imguiIndent();
if (imguiCheck("Walk", (m_filter.getIncludeFlags() & SAMPLE_POLYFLAGS_WALK) != 0))
{
m_filter.setIncludeFlags(m_filter.getIncludeFlags() ^ SAMPLE_POLYFLAGS_WALK);
recalc();
}
if (imguiCheck("Swim", (m_filter.getIncludeFlags() & SAMPLE_POLYFLAGS_SWIM) != 0))
{
m_filter.setIncludeFlags(m_filter.getIncludeFlags() ^ SAMPLE_POLYFLAGS_SWIM);
recalc();
}
if (imguiCheck("Door", (m_filter.getIncludeFlags() & SAMPLE_POLYFLAGS_DOOR) != 0))
{
m_filter.setIncludeFlags(m_filter.getIncludeFlags() ^ SAMPLE_POLYFLAGS_DOOR);
recalc();
}
if (imguiCheck("Jump", (m_filter.getIncludeFlags() & SAMPLE_POLYFLAGS_JUMP) != 0))
{
m_filter.setIncludeFlags(m_filter.getIncludeFlags() ^ SAMPLE_POLYFLAGS_JUMP);
recalc();
}
imguiUnindent();
imguiSeparator();
imguiLabel("Exclude Flags");
imguiIndent();
if (imguiCheck("Walk", (m_filter.getExcludeFlags() & SAMPLE_POLYFLAGS_WALK) != 0))
{
m_filter.setExcludeFlags(m_filter.getExcludeFlags() ^ SAMPLE_POLYFLAGS_WALK);
recalc();
}
if (imguiCheck("Swim", (m_filter.getExcludeFlags() & SAMPLE_POLYFLAGS_SWIM) != 0))
{
m_filter.setExcludeFlags(m_filter.getExcludeFlags() ^ SAMPLE_POLYFLAGS_SWIM);
recalc();
}
if (imguiCheck("Door", (m_filter.getExcludeFlags() & SAMPLE_POLYFLAGS_DOOR) != 0))
{
m_filter.setExcludeFlags(m_filter.getExcludeFlags() ^ SAMPLE_POLYFLAGS_DOOR);
recalc();
}
if (imguiCheck("Jump", (m_filter.getExcludeFlags() & SAMPLE_POLYFLAGS_JUMP) != 0))
{
m_filter.setExcludeFlags(m_filter.getExcludeFlags() ^ SAMPLE_POLYFLAGS_JUMP);
recalc();
}
imguiUnindent();
imguiSeparator();
}
void NavMeshTesterTool::handleClick(const float* /*s*/, const float* p, bool shift)
{
if (shift)
{
m_sposSet = true;
dtVcopy(m_spos, p);
}
else
{
m_eposSet = true;
dtVcopy(m_epos, p);
}
recalc();
}
void NavMeshTesterTool::handleStep()
{
}
void NavMeshTesterTool::handleToggle()
{
// TODO: merge separate to a path iterator. Use same code in recalc() too.
if (m_toolMode != TOOLMODE_PATHFIND_FOLLOW)
return;
if (!m_sposSet || !m_eposSet || !m_startRef || !m_endRef)
return;
static const float STEP_SIZE = 0.5f;
static const float SLOP = 0.01f;
if (m_pathIterNum == 0)
{
m_navQuery->findPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, m_polys, &m_npolys, MAX_POLYS);
m_nsmoothPath = 0;
m_pathIterPolyCount = m_npolys;
if (m_pathIterPolyCount)
memcpy(m_pathIterPolys, m_polys, sizeof(dtPolyRef)*m_pathIterPolyCount);
if (m_pathIterPolyCount)
{
// Iterate over the path to find smooth path on the detail mesh surface.
m_navQuery->closestPointOnPoly(m_startRef, m_spos, m_iterPos, 0);
m_navQuery->closestPointOnPoly(m_pathIterPolys[m_pathIterPolyCount-1], m_epos, m_targetPos, 0);
m_nsmoothPath = 0;
dtVcopy(&m_smoothPath[m_nsmoothPath*3], m_iterPos);
m_nsmoothPath++;
}
}
dtVcopy(m_prevIterPos, m_iterPos);
m_pathIterNum++;
if (!m_pathIterPolyCount)
return;
if (m_nsmoothPath >= MAX_SMOOTH)
return;
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
// Find location to steer towards.
float steerPos[3];
unsigned char steerPosFlag;
dtPolyRef steerPosRef;
if (!getSteerTarget(m_navQuery, m_iterPos, m_targetPos, SLOP,
m_pathIterPolys, m_pathIterPolyCount, steerPos, steerPosFlag, steerPosRef,
m_steerPoints, &m_steerPointCount))
return;
dtVcopy(m_steerPos, steerPos);
bool endOfPath = (steerPosFlag & DT_STRAIGHTPATH_END) ? true : false;
bool offMeshConnection = (steerPosFlag & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ? true : false;
// Find movement delta.
float delta[3], len;
dtVsub(delta, steerPos, m_iterPos);
len = sqrtf(dtVdot(delta,delta));
// If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
len = 1;
else
len = STEP_SIZE / len;
float moveTgt[3];
dtVmad(moveTgt, m_iterPos, delta, len);
// Move
float result[3];
dtPolyRef visited[16];
int nvisited = 0;
m_navQuery->moveAlongSurface(m_pathIterPolys[0], m_iterPos, moveTgt, &m_filter,
result, visited, &nvisited, 16);
m_pathIterPolyCount = fixupCorridor(m_pathIterPolys, m_pathIterPolyCount, MAX_POLYS, visited, nvisited);
m_pathIterPolyCount = fixupShortcuts(m_pathIterPolys, m_pathIterPolyCount, m_navQuery);
float h = 0;
m_navQuery->getPolyHeight(m_pathIterPolys[0], result, &h);
result[1] = h;
dtVcopy(m_iterPos, result);
// Handle end of path and off-mesh links when close enough.
if (endOfPath && inRange(m_iterPos, steerPos, SLOP, 1.0f))
{
// Reached end of path.
dtVcopy(m_iterPos, m_targetPos);
if (m_nsmoothPath < MAX_SMOOTH)
{
dtVcopy(&m_smoothPath[m_nsmoothPath*3], m_iterPos);
m_nsmoothPath++;
}
return;
}
else if (offMeshConnection && inRange(m_iterPos, steerPos, SLOP, 1.0f))
{
// Reached off-mesh connection.
float startPos[3], endPos[3];
// Advance the path up to and over the off-mesh connection.
dtPolyRef prevRef = 0, polyRef = m_pathIterPolys[0];
int npos = 0;
while (npos < m_pathIterPolyCount && polyRef != steerPosRef)
{
prevRef = polyRef;
polyRef = m_pathIterPolys[npos];
npos++;
}
for (int i = npos; i < m_pathIterPolyCount; ++i)
m_pathIterPolys[i-npos] = m_pathIterPolys[i];
m_pathIterPolyCount -= npos;
// Handle the connection.
dtStatus status = m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos);
if (dtStatusSucceed(status))
{
if (m_nsmoothPath < MAX_SMOOTH)
{
dtVcopy(&m_smoothPath[m_nsmoothPath*3], startPos);
m_nsmoothPath++;
// Hack to make the dotted path not visible during off-mesh connection.
if (m_nsmoothPath & 1)
{
dtVcopy(&m_smoothPath[m_nsmoothPath*3], startPos);
m_nsmoothPath++;
}
}
// Move position at the other side of the off-mesh link.
dtVcopy(m_iterPos, endPos);
float eh = 0.0f;
m_navQuery->getPolyHeight(m_pathIterPolys[0], m_iterPos, &eh);
m_iterPos[1] = eh;
}
}
// Store results.
if (m_nsmoothPath < MAX_SMOOTH)
{
dtVcopy(&m_smoothPath[m_nsmoothPath*3], m_iterPos);
m_nsmoothPath++;
}
}
void NavMeshTesterTool::handleUpdate(const float /*dt*/)
{
if (m_toolMode == TOOLMODE_PATHFIND_SLICED)
{
if (dtStatusInProgress(m_pathFindStatus))
{
m_pathFindStatus = m_navQuery->updateSlicedFindPath(1,0);
}
if (dtStatusSucceed(m_pathFindStatus))
{
m_navQuery->finalizeSlicedFindPath(m_polys, &m_npolys, MAX_POLYS);
m_nstraightPath = 0;
if (m_npolys)
{
// In case of partial path, make sure the end point is clamped to the last polygon.
float epos[3];
dtVcopy(epos, m_epos);
if (m_polys[m_npolys-1] != m_endRef)
m_navQuery->closestPointOnPoly(m_polys[m_npolys-1], m_epos, epos, 0);
m_navQuery->findStraightPath(m_spos, epos, m_polys, m_npolys,
m_straightPath, m_straightPathFlags,
m_straightPathPolys, &m_nstraightPath, MAX_POLYS, DT_STRAIGHTPATH_ALL_CROSSINGS);
}
m_pathFindStatus = DT_FAILURE;
}
}
}
void NavMeshTesterTool::reset()
{
m_startRef = 0;
m_endRef = 0;
m_npolys = 0;
m_nstraightPath = 0;
m_nsmoothPath = 0;
memset(m_hitPos, 0, sizeof(m_hitPos));
memset(m_hitNormal, 0, sizeof(m_hitNormal));
m_distanceToWall = 0;
}
void NavMeshTesterTool::recalc()
{
if (!m_navMesh)
return;
if (m_sposSet)
m_navQuery->findNearestPoly(m_spos, m_polyPickExt, &m_filter, &m_startRef, 0);
else
m_startRef = 0;
if (m_eposSet)
m_navQuery->findNearestPoly(m_epos, m_polyPickExt, &m_filter, &m_endRef, 0);
else
m_endRef = 0;
m_pathFindStatus = DT_FAILURE;
if (m_toolMode == TOOLMODE_PATHFIND_FOLLOW)
{
m_pathIterNum = 0;
if (m_sposSet && m_eposSet && m_startRef && m_endRef)
{
#ifdef DUMP_REQS
printf("pi %f %f %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], m_epos[0],m_epos[1],m_epos[2],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_navQuery->findPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, m_polys, &m_npolys, MAX_POLYS);
m_nsmoothPath = 0;
if (m_npolys)
{
// Iterate over the path to find smooth path on the detail mesh surface.
dtPolyRef polys[MAX_POLYS];
memcpy(polys, m_polys, sizeof(dtPolyRef)*m_npolys);
int npolys = m_npolys;
float iterPos[3], targetPos[3];
m_navQuery->closestPointOnPoly(m_startRef, m_spos, iterPos, 0);
m_navQuery->closestPointOnPoly(polys[npolys-1], m_epos, targetPos, 0);
static const float STEP_SIZE = 0.5f;
static const float SLOP = 0.01f;
m_nsmoothPath = 0;
dtVcopy(&m_smoothPath[m_nsmoothPath*3], iterPos);
m_nsmoothPath++;
// Move towards target a small advancement at a time until target reached or
// when ran out of memory to store the path.
while (npolys && m_nsmoothPath < MAX_SMOOTH)
{
// Find location to steer towards.
float steerPos[3];
unsigned char steerPosFlag;
dtPolyRef steerPosRef;
if (!getSteerTarget(m_navQuery, iterPos, targetPos, SLOP,
polys, npolys, steerPos, steerPosFlag, steerPosRef))
break;
bool endOfPath = (steerPosFlag & DT_STRAIGHTPATH_END) ? true : false;
bool offMeshConnection = (steerPosFlag & DT_STRAIGHTPATH_OFFMESH_CONNECTION) ? true : false;
// Find movement delta.
float delta[3], len;
dtVsub(delta, steerPos, iterPos);
len = dtMathSqrtf(dtVdot(delta, delta));
// If the steer target is end of path or off-mesh link, do not move past the location.
if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
len = 1;
else
len = STEP_SIZE / len;
float moveTgt[3];
dtVmad(moveTgt, iterPos, delta, len);
// Move
float result[3];
dtPolyRef visited[16];
int nvisited = 0;
m_navQuery->moveAlongSurface(polys[0], iterPos, moveTgt, &m_filter,
result, visited, &nvisited, 16);
npolys = fixupCorridor(polys, npolys, MAX_POLYS, visited, nvisited);
npolys = fixupShortcuts(polys, npolys, m_navQuery);
float h = 0;
m_navQuery->getPolyHeight(polys[0], result, &h);
result[1] = h;
dtVcopy(iterPos, result);
// Handle end of path and off-mesh links when close enough.
if (endOfPath && inRange(iterPos, steerPos, SLOP, 1.0f))
{
// Reached end of path.
dtVcopy(iterPos, targetPos);
if (m_nsmoothPath < MAX_SMOOTH)
{
dtVcopy(&m_smoothPath[m_nsmoothPath*3], iterPos);
m_nsmoothPath++;
}
break;
}
else if (offMeshConnection && inRange(iterPos, steerPos, SLOP, 1.0f))
{
// Reached off-mesh connection.
float startPos[3], endPos[3];
// Advance the path up to and over the off-mesh connection.
dtPolyRef prevRef = 0, polyRef = polys[0];
int npos = 0;
while (npos < npolys && polyRef != steerPosRef)
{
prevRef = polyRef;
polyRef = polys[npos];
npos++;
}
for (int i = npos; i < npolys; ++i)
polys[i-npos] = polys[i];
npolys -= npos;
// Handle the connection.
dtStatus status = m_navMesh->getOffMeshConnectionPolyEndPoints(prevRef, polyRef, startPos, endPos);
if (dtStatusSucceed(status))
{
if (m_nsmoothPath < MAX_SMOOTH)
{
dtVcopy(&m_smoothPath[m_nsmoothPath*3], startPos);
m_nsmoothPath++;
// Hack to make the dotted path not visible during off-mesh connection.
if (m_nsmoothPath & 1)
{
dtVcopy(&m_smoothPath[m_nsmoothPath*3], startPos);
m_nsmoothPath++;
}
}
// Move position at the other side of the off-mesh link.
dtVcopy(iterPos, endPos);
float eh = 0.0f;
m_navQuery->getPolyHeight(polys[0], iterPos, &eh);
iterPos[1] = eh;
}
}
// Store results.
if (m_nsmoothPath < MAX_SMOOTH)
{
dtVcopy(&m_smoothPath[m_nsmoothPath*3], iterPos);
m_nsmoothPath++;
}
}
}
}
else
{
m_npolys = 0;
m_nsmoothPath = 0;
}
}
else if (m_toolMode == TOOLMODE_PATHFIND_STRAIGHT)
{
if (m_sposSet && m_eposSet && m_startRef && m_endRef)
{
#ifdef DUMP_REQS
printf("ps %f %f %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], m_epos[0],m_epos[1],m_epos[2],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_navQuery->findPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, m_polys, &m_npolys, MAX_POLYS);
m_nstraightPath = 0;
if (m_npolys)
{
// In case of partial path, make sure the end point is clamped to the last polygon.
float epos[3];
dtVcopy(epos, m_epos);
if (m_polys[m_npolys-1] != m_endRef)
m_navQuery->closestPointOnPoly(m_polys[m_npolys-1], m_epos, epos, 0);
m_navQuery->findStraightPath(m_spos, epos, m_polys, m_npolys,
m_straightPath, m_straightPathFlags,
m_straightPathPolys, &m_nstraightPath, MAX_POLYS, m_straightPathOptions);
}
}
else
{
m_npolys = 0;
m_nstraightPath = 0;
}
}
else if (m_toolMode == TOOLMODE_PATHFIND_SLICED)
{
if (m_sposSet && m_eposSet && m_startRef && m_endRef)
{
#ifdef DUMP_REQS
printf("ps %f %f %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], m_epos[0],m_epos[1],m_epos[2],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_npolys = 0;
m_nstraightPath = 0;
m_pathFindStatus = m_navQuery->initSlicedFindPath(m_startRef, m_endRef, m_spos, m_epos, &m_filter, DT_FINDPATH_ANY_ANGLE);
}
else
{
m_npolys = 0;
m_nstraightPath = 0;
}
}
else if (m_toolMode == TOOLMODE_RAYCAST)
{
m_nstraightPath = 0;
if (m_sposSet && m_eposSet && m_startRef)
{
#ifdef DUMP_REQS
printf("rc %f %f %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], m_epos[0],m_epos[1],m_epos[2],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
float t = 0;
m_npolys = 0;
m_nstraightPath = 2;
m_straightPath[0] = m_spos[0];
m_straightPath[1] = m_spos[1];
m_straightPath[2] = m_spos[2];
m_navQuery->raycast(m_startRef, m_spos, m_epos, &m_filter, &t, m_hitNormal, m_polys, &m_npolys, MAX_POLYS);
if (t > 1)
{
// No hit
dtVcopy(m_hitPos, m_epos);
m_hitResult = false;
}
else
{
// Hit
dtVlerp(m_hitPos, m_spos, m_epos, t);
m_hitResult = true;
}
// Adjust height.
if (m_npolys > 0)
{
float h = 0;
m_navQuery->getPolyHeight(m_polys[m_npolys-1], m_hitPos, &h);
m_hitPos[1] = h;
}
dtVcopy(&m_straightPath[3], m_hitPos);
}
}
else if (m_toolMode == TOOLMODE_DISTANCE_TO_WALL)
{
m_distanceToWall = 0;
if (m_sposSet && m_startRef)
{
#ifdef DUMP_REQS
printf("dw %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], 100.0f,
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_distanceToWall = 0.0f;
m_navQuery->findDistanceToWall(m_startRef, m_spos, 100.0f, &m_filter, &m_distanceToWall, m_hitPos, m_hitNormal);
}
}
else if (m_toolMode == TOOLMODE_FIND_POLYS_IN_CIRCLE)
{
if (m_sposSet && m_startRef && m_eposSet)
{
const float dx = m_epos[0] - m_spos[0];
const float dz = m_epos[2] - m_spos[2];
float dist = sqrtf(dx*dx + dz*dz);
#ifdef DUMP_REQS
printf("fpc %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], dist,
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_navQuery->findPolysAroundCircle(m_startRef, m_spos, dist, &m_filter,
m_polys, m_parent, 0, &m_npolys, MAX_POLYS);
}
}
else if (m_toolMode == TOOLMODE_FIND_POLYS_IN_SHAPE)
{
if (m_sposSet && m_startRef && m_eposSet)
{
const float nx = (m_epos[2] - m_spos[2])*0.25f;
const float nz = -(m_epos[0] - m_spos[0])*0.25f;
const float agentHeight = m_sample ? m_sample->getAgentHeight() : 0;
m_queryPoly[0] = m_spos[0] + nx*1.2f;
m_queryPoly[1] = m_spos[1] + agentHeight/2;
m_queryPoly[2] = m_spos[2] + nz*1.2f;
m_queryPoly[3] = m_spos[0] - nx*1.3f;
m_queryPoly[4] = m_spos[1] + agentHeight/2;
m_queryPoly[5] = m_spos[2] - nz*1.3f;
m_queryPoly[6] = m_epos[0] - nx*0.8f;
m_queryPoly[7] = m_epos[1] + agentHeight/2;
m_queryPoly[8] = m_epos[2] - nz*0.8f;
m_queryPoly[9] = m_epos[0] + nx;
m_queryPoly[10] = m_epos[1] + agentHeight/2;
m_queryPoly[11] = m_epos[2] + nz;
#ifdef DUMP_REQS
printf("fpp %f %f %f %f %f %f %f %f %f %f %f %f 0x%x 0x%x\n",
m_queryPoly[0],m_queryPoly[1],m_queryPoly[2],
m_queryPoly[3],m_queryPoly[4],m_queryPoly[5],
m_queryPoly[6],m_queryPoly[7],m_queryPoly[8],
m_queryPoly[9],m_queryPoly[10],m_queryPoly[11],
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_navQuery->findPolysAroundShape(m_startRef, m_queryPoly, 4, &m_filter,
m_polys, m_parent, 0, &m_npolys, MAX_POLYS);
}
}
else if (m_toolMode == TOOLMODE_FIND_LOCAL_NEIGHBOURHOOD)
{
if (m_sposSet && m_startRef)
{
#ifdef DUMP_REQS
printf("fln %f %f %f %f 0x%x 0x%x\n",
m_spos[0],m_spos[1],m_spos[2], m_neighbourhoodRadius,
m_filter.getIncludeFlags(), m_filter.getExcludeFlags());
#endif
m_navQuery->findLocalNeighbourhood(m_startRef, m_spos, m_neighbourhoodRadius, &m_filter,
m_polys, m_parent, &m_npolys, MAX_POLYS);
}
}
}
static void getPolyCenter(dtNavMesh* navMesh, dtPolyRef ref, float* center)
{
center[0] = 0;
center[1] = 0;
center[2] = 0;
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
dtStatus status = navMesh->getTileAndPolyByRef(ref, &tile, &poly);
if (dtStatusFailed(status))
return;
for (int i = 0; i < (int)poly->vertCount; ++i)
{
const float* v = &tile->verts[poly->verts[i]*3];
center[0] += v[0];
center[1] += v[1];
center[2] += v[2];
}
const float s = 1.0f / poly->vertCount;
center[0] *= s;
center[1] *= s;
center[2] *= s;
}
void NavMeshTesterTool::handleRender()
{
duDebugDraw& dd = m_sample->getDebugDraw();
static const unsigned int startCol = duRGBA(128,25,0,192);
static const unsigned int endCol = duRGBA(51,102,0,129);
static const unsigned int pathCol = duRGBA(0,0,0,64);
const float agentRadius = m_sample->getAgentRadius();
const float agentHeight = m_sample->getAgentHeight();
const float agentClimb = m_sample->getAgentClimb();
dd.depthMask(false);
if (m_sposSet)
drawAgent(m_spos, agentRadius, agentHeight, agentClimb, startCol);
if (m_eposSet)
drawAgent(m_epos, agentRadius, agentHeight, agentClimb, endCol);
dd.depthMask(true);
if (!m_navMesh)
{
return;
}
if (m_toolMode == TOOLMODE_PATHFIND_FOLLOW)
{
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_startRef, startCol);
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_endRef, endCol);
if (m_npolys)
{
for (int i = 0; i < m_npolys; ++i)
{
if (m_polys[i] == m_startRef || m_polys[i] == m_endRef)
continue;
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_polys[i], pathCol);
}
}
if (m_nsmoothPath)
{
dd.depthMask(false);
const unsigned int spathCol = duRGBA(0,0,0,220);
dd.begin(DU_DRAW_LINES, 3.0f);
for (int i = 0; i < m_nsmoothPath; ++i)
dd.vertex(m_smoothPath[i*3], m_smoothPath[i*3+1]+0.1f, m_smoothPath[i*3+2], spathCol);
dd.end();
dd.depthMask(true);
}
if (m_pathIterNum)
{
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_pathIterPolys[0], duRGBA(255,255,255,128));
dd.depthMask(false);
dd.begin(DU_DRAW_LINES, 1.0f);
const unsigned int prevCol = duRGBA(255,192,0,220);
const unsigned int curCol = duRGBA(255,255,255,220);
const unsigned int steerCol = duRGBA(0,192,255,220);
dd.vertex(m_prevIterPos[0],m_prevIterPos[1]-0.3f,m_prevIterPos[2], prevCol);
dd.vertex(m_prevIterPos[0],m_prevIterPos[1]+0.3f,m_prevIterPos[2], prevCol);
dd.vertex(m_iterPos[0],m_iterPos[1]-0.3f,m_iterPos[2], curCol);
dd.vertex(m_iterPos[0],m_iterPos[1]+0.3f,m_iterPos[2], curCol);
dd.vertex(m_prevIterPos[0],m_prevIterPos[1]+0.3f,m_prevIterPos[2], prevCol);
dd.vertex(m_iterPos[0],m_iterPos[1]+0.3f,m_iterPos[2], prevCol);
dd.vertex(m_prevIterPos[0],m_prevIterPos[1]+0.3f,m_prevIterPos[2], steerCol);
dd.vertex(m_steerPos[0],m_steerPos[1]+0.3f,m_steerPos[2], steerCol);
for (int i = 0; i < m_steerPointCount-1; ++i)
{
dd.vertex(m_steerPoints[i*3+0],m_steerPoints[i*3+1]+0.2f,m_steerPoints[i*3+2], duDarkenCol(steerCol));
dd.vertex(m_steerPoints[(i+1)*3+0],m_steerPoints[(i+1)*3+1]+0.2f,m_steerPoints[(i+1)*3+2], duDarkenCol(steerCol));
}
dd.end();
dd.depthMask(true);
}
}
else if (m_toolMode == TOOLMODE_PATHFIND_STRAIGHT ||
m_toolMode == TOOLMODE_PATHFIND_SLICED)
{
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_startRef, startCol);
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_endRef, endCol);
if (m_npolys)
{
for (int i = 0; i < m_npolys; ++i)
{
if (m_polys[i] == m_startRef || m_polys[i] == m_endRef)
continue;
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_polys[i], pathCol);
}
}
if (m_nstraightPath)
{
dd.depthMask(false);
const unsigned int spathCol = duRGBA(64,16,0,220);
const unsigned int offMeshCol = duRGBA(128,96,0,220);
dd.begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < m_nstraightPath-1; ++i)
{
unsigned int col;
if (m_straightPathFlags[i] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
col = offMeshCol;
else
col = spathCol;
dd.vertex(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2], col);
dd.vertex(m_straightPath[(i+1)*3], m_straightPath[(i+1)*3+1]+0.4f, m_straightPath[(i+1)*3+2], col);
}
dd.end();
dd.begin(DU_DRAW_POINTS, 6.0f);
for (int i = 0; i < m_nstraightPath; ++i)
{
unsigned int col;
if (m_straightPathFlags[i] & DT_STRAIGHTPATH_START)
col = startCol;
else if (m_straightPathFlags[i] & DT_STRAIGHTPATH_END)
col = endCol;
else if (m_straightPathFlags[i] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
col = offMeshCol;
else
col = spathCol;
dd.vertex(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2], col);
}
dd.end();
dd.depthMask(true);
}
}
else if (m_toolMode == TOOLMODE_RAYCAST)
{
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_startRef, startCol);
if (m_nstraightPath)
{
for (int i = 1; i < m_npolys; ++i)
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_polys[i], pathCol);
dd.depthMask(false);
const unsigned int spathCol = m_hitResult ? duRGBA(64,16,0,220) : duRGBA(240,240,240,220);
dd.begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < m_nstraightPath-1; ++i)
{
dd.vertex(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2], spathCol);
dd.vertex(m_straightPath[(i+1)*3], m_straightPath[(i+1)*3+1]+0.4f, m_straightPath[(i+1)*3+2], spathCol);
}
dd.end();
dd.begin(DU_DRAW_POINTS, 4.0f);
for (int i = 0; i < m_nstraightPath; ++i)
dd.vertex(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2], spathCol);
dd.end();
if (m_hitResult)
{
const unsigned int hitCol = duRGBA(0,0,0,128);
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(m_hitPos[0], m_hitPos[1] + 0.4f, m_hitPos[2], hitCol);
dd.vertex(m_hitPos[0] + m_hitNormal[0]*agentRadius,
m_hitPos[1] + 0.4f + m_hitNormal[1]*agentRadius,
m_hitPos[2] + m_hitNormal[2]*agentRadius, hitCol);
dd.end();
}
dd.depthMask(true);
}
}
else if (m_toolMode == TOOLMODE_DISTANCE_TO_WALL)
{
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_startRef, startCol);
dd.depthMask(false);
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+agentHeight/2, m_spos[2], m_distanceToWall, duRGBA(64,16,0,220), 2.0f);
dd.begin(DU_DRAW_LINES, 3.0f);
dd.vertex(m_hitPos[0], m_hitPos[1] + 0.02f, m_hitPos[2], duRGBA(0,0,0,192));
dd.vertex(m_hitPos[0], m_hitPos[1] + agentHeight, m_hitPos[2], duRGBA(0,0,0,192));
dd.end();
dd.depthMask(true);
}
else if (m_toolMode == TOOLMODE_FIND_POLYS_IN_CIRCLE)
{
for (int i = 0; i < m_npolys; ++i)
{
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_polys[i], pathCol);
dd.depthMask(false);
if (m_parent[i])
{
float p0[3], p1[3];
dd.depthMask(false);
getPolyCenter(m_navMesh, m_parent[i], p0);
getPolyCenter(m_navMesh, m_polys[i], p1);
duDebugDrawArc(&dd, p0[0],p0[1],p0[2], p1[0],p1[1],p1[2], 0.25f, 0.0f, 0.4f, duRGBA(0,0,0,128), 2.0f);
dd.depthMask(true);
}
dd.depthMask(true);
}
if (m_sposSet && m_eposSet)
{
dd.depthMask(false);
const float dx = m_epos[0] - m_spos[0];
const float dz = m_epos[2] - m_spos[2];
const float dist = sqrtf(dx*dx + dz*dz);
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+agentHeight/2, m_spos[2], dist, duRGBA(64,16,0,220), 2.0f);
dd.depthMask(true);
}
}
else if (m_toolMode == TOOLMODE_FIND_POLYS_IN_SHAPE)
{
for (int i = 0; i < m_npolys; ++i)
{
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_polys[i], pathCol);
dd.depthMask(false);
if (m_parent[i])
{
float p0[3], p1[3];
dd.depthMask(false);
getPolyCenter(m_navMesh, m_parent[i], p0);
getPolyCenter(m_navMesh, m_polys[i], p1);
duDebugDrawArc(&dd, p0[0],p0[1],p0[2], p1[0],p1[1],p1[2], 0.25f, 0.0f, 0.4f, duRGBA(0,0,0,128), 2.0f);
dd.depthMask(true);
}
dd.depthMask(true);
}
if (m_sposSet && m_eposSet)
{
dd.depthMask(false);
const unsigned int col = duRGBA(64,16,0,220);
dd.begin(DU_DRAW_LINES, 2.0f);
for (int i = 0, j = 3; i < 4; j=i++)
{
const float* p0 = &m_queryPoly[j*3];
const float* p1 = &m_queryPoly[i*3];
dd.vertex(p0, col);
dd.vertex(p1, col);
}
dd.end();
dd.depthMask(true);
}
}
else if (m_toolMode == TOOLMODE_FIND_LOCAL_NEIGHBOURHOOD)
{
for (int i = 0; i < m_npolys; ++i)
{
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_polys[i], pathCol);
dd.depthMask(false);
if (m_parent[i])
{
float p0[3], p1[3];
dd.depthMask(false);
getPolyCenter(m_navMesh, m_parent[i], p0);
getPolyCenter(m_navMesh, m_polys[i], p1);
duDebugDrawArc(&dd, p0[0],p0[1],p0[2], p1[0],p1[1],p1[2], 0.25f, 0.0f, 0.4f, duRGBA(0,0,0,128), 2.0f);
dd.depthMask(true);
}
static const int MAX_SEGS = DT_VERTS_PER_POLYGON*4;
float segs[MAX_SEGS*6];
dtPolyRef refs[MAX_SEGS];
memset(refs, 0, sizeof(dtPolyRef)*MAX_SEGS);
int nsegs = 0;
m_navQuery->getPolyWallSegments(m_polys[i], &m_filter, segs, refs, &nsegs, MAX_SEGS);
dd.begin(DU_DRAW_LINES, 2.0f);
for (int j = 0; j < nsegs; ++j)
{
const float* s = &segs[j*6];
// Skip too distant segments.
float tseg;
float distSqr = dtDistancePtSegSqr2D(m_spos, s, s+3, tseg);
if (distSqr > dtSqr(m_neighbourhoodRadius))
continue;
float delta[3], norm[3], p0[3], p1[3];
dtVsub(delta, s+3,s);
dtVmad(p0, s, delta, 0.5f);
norm[0] = delta[2];
norm[1] = 0;
norm[2] = -delta[0];
dtVnormalize(norm);
dtVmad(p1, p0, norm, agentRadius*0.5f);
// Skip backfacing segments.
if (refs[j])
{
unsigned int col = duRGBA(255,255,255,32);
dd.vertex(s[0],s[1]+agentClimb,s[2],col);
dd.vertex(s[3],s[4]+agentClimb,s[5],col);
}
else
{
unsigned int col = duRGBA(192,32,16,192);
if (dtTriArea2D(m_spos, s, s+3) < 0.0f)
col = duRGBA(96,32,16,192);
dd.vertex(p0[0],p0[1]+agentClimb,p0[2],col);
dd.vertex(p1[0],p1[1]+agentClimb,p1[2],col);
dd.vertex(s[0],s[1]+agentClimb,s[2],col);
dd.vertex(s[3],s[4]+agentClimb,s[5],col);
}
}
dd.end();
dd.depthMask(true);
}
if (m_sposSet)
{
dd.depthMask(false);
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+agentHeight/2, m_spos[2], m_neighbourhoodRadius, duRGBA(64,16,0,220), 2.0f);
dd.depthMask(true);
}
}
if (m_nrandPoints > 0)
{
dd.begin(DU_DRAW_POINTS, 6.0f);
for (int i = 0; i < m_nrandPoints; i++)
{
const float* p = &m_randPoints[i*3];
dd.vertex(p[0],p[1]+0.1f,p[2], duRGBA(220,32,16,192));
}
dd.end();
if (m_randPointsInCircle && m_sposSet)
{
duDebugDrawCircle(&dd, m_spos[0], m_spos[1]+agentHeight/2, m_spos[2], m_randomRadius, duRGBA(64,16,0,220), 2.0f);
}
}
}
void NavMeshTesterTool::handleRenderOverlay(double* proj, double* model, int* view)
{
GLdouble x, y, z;
// Draw start and end point labels
if (m_sposSet && gluProject((GLdouble)m_spos[0], (GLdouble)m_spos[1], (GLdouble)m_spos[2],
model, proj, view, &x, &y, &z))
{
imguiDrawText((int)x, (int)(y-25), IMGUI_ALIGN_CENTER, "Start", imguiRGBA(0,0,0,220));
}
if (m_eposSet && gluProject((GLdouble)m_epos[0], (GLdouble)m_epos[1], (GLdouble)m_epos[2],
model, proj, view, &x, &y, &z))
{
imguiDrawText((int)x, (int)(y-25), IMGUI_ALIGN_CENTER, "End", imguiRGBA(0,0,0,220));
}
// Tool help
const int h = view[3];
imguiDrawText(280, h-40, IMGUI_ALIGN_LEFT, "LMB+SHIFT: Set start location LMB: Set end location", imguiRGBA(255,255,255,192));
}
void NavMeshTesterTool::drawAgent(const float* pos, float r, float h, float c, const unsigned int col)
{
duDebugDraw& dd = m_sample->getDebugDraw();
dd.depthMask(false);
// Agent dimensions.
duDebugDrawCylinderWire(&dd, pos[0]-r, pos[1]+0.02f, pos[2]-r, pos[0]+r, pos[1]+h, pos[2]+r, col, 2.0f);
duDebugDrawCircle(&dd, pos[0],pos[1]+c,pos[2],r,duRGBA(0,0,0,64),1.0f);
unsigned int colb = duRGBA(0,0,0,196);
dd.begin(DU_DRAW_LINES);
dd.vertex(pos[0], pos[1]-c, pos[2], colb);
dd.vertex(pos[0], pos[1]+c, pos[2], colb);
dd.vertex(pos[0]-r/2, pos[1]+0.02f, pos[2], colb);
dd.vertex(pos[0]+r/2, pos[1]+0.02f, pos[2], colb);
dd.vertex(pos[0], pos[1]+0.02f, pos[2]-r/2, colb);
dd.vertex(pos[0], pos[1]+0.02f, pos[2]+r/2, colb);
dd.end();
dd.depthMask(true);
}