bool Detour::DistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts, float* ed, float* et)
{
// TODO: Replace pnpoly with triArea2D tests?
int i, j;
bool c = false;
for (i = 0, j = nverts - 1; i < nverts; j = i++)
{
const float* vi = &verts[i * 3];
const float* vj = &verts[j * 3];
if (((vi[2] > pt[2]) != (vj[2] > pt[2])) &&
(pt[0] < (vj[0] - vi[0]) * (pt[2] - vi[2]) / (vj[2] - vi[2]) + vi[0]))
c = !c;
ed[j] = dtDistancePtSegSqr2D(pt, vj, vi, et[j]);
}
return c;
}
void dtObstacleAvoidanceQuery::prepare(const float* pos, const float* dvel)
{
// Prepare obstacles
for (int i = 0; i < m_ncircles; ++i)
{
dtObstacleCircle* cir = &m_circles[i];
// Side
const float* pa = pos;
const float* pb = cir->p;
const float orig[3] = {0,0,0};
float dv[3];
dtVsub(cir->dp,pb,pa);
dtVnormalize(cir->dp);
dtVsub(dv, cir->dvel, dvel);
const float a = dtTriArea2D(orig, cir->dp,dv);
if (a < 0.01f)
{
cir->np[0] = -cir->dp[2];
cir->np[2] = cir->dp[0];
}
else
{
cir->np[0] = cir->dp[2];
cir->np[2] = -cir->dp[0];
}
}
for (int i = 0; i < m_nsegments; ++i)
{
dtObstacleSegment* seg = &m_segments[i];
// Precalc if the agent is really close to the segment.
const float r = 0.01f;
float t;
seg->touch = dtDistancePtSegSqr2D(pos, seg->p, seg->q, t) < dtSqr(r);
}
}
void dtLocalBoundary::update(dtPolyRef ref, const float* pos, const float collisionQueryRange,
dtNavMeshQuery* navquery, const dtQueryFilter* filter)
{
static const int MAX_SEGS_PER_POLY = DT_VERTS_PER_POLYGON*3;
if (!ref)
{
dtVset(m_center, FLT_MAX,FLT_MAX,FLT_MAX);
m_nsegs = 0;
m_npolys = 0;
return;
}
dtVcopy(m_center, pos);
// First query non-overlapping polygons.
navquery->findLocalNeighbourhood(ref, pos, collisionQueryRange,
filter, m_polys, 0, &m_npolys, MAX_LOCAL_POLYS);
// Secondly, store all polygon edges.
m_nsegs = 0;
float segs[MAX_SEGS_PER_POLY*6];
int nsegs = 0;
for (int j = 0; j < m_npolys; ++j)
{
navquery->getPolyWallSegments(m_polys[j], filter, segs, 0, &nsegs, MAX_SEGS_PER_POLY);
for (int k = 0; k < nsegs; ++k)
{
const float* s = &segs[k*6];
// Skip too distant segments.
float tseg;
const float distSqr = dtDistancePtSegSqr2D(pos, s, s+3, tseg);
if (distSqr > dtSqr(collisionQueryRange))
continue;
addSegment(distSqr, s);
}
}
}
void NavMeshTesterTool::handleRender()
{
DebugDrawGL dd;
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 = 1; i < m_npolys-1; ++i)
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_polys[i], pathCol);
}
if (m_nsmoothPath)
{
dd.depthMask(false);
const unsigned int pathCol = 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], pathCol);
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 = 1; i < m_npolys-1; ++i)
duDebugDrawNavMeshPoly(&dd, *m_navMesh, m_polys[i], pathCol);
}
if (m_nstraightPath)
{
dd.depthMask(false);
const unsigned int pathCol = 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 = 0;
if (m_straightPathFlags[i] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
col = offMeshCol;
else
col = pathCol;
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 = 0;
if (m_straightPathFlags[i] & DT_STRAIGHTPATH_START)
col = startCol;
else if (m_straightPathFlags[i] & DT_STRAIGHTPATH_START)
col = endCol;
else if (m_straightPathFlags[i] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
col = offMeshCol;
else
col = pathCol;
dd.vertex(m_straightPath[i*3], m_straightPath[i*3+1]+0.4f, m_straightPath[i*3+2], pathCol);
}
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 pathCol = 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], pathCol);
dd.vertex(m_straightPath[(i+1)*3], m_straightPath[(i+1)*3+1]+0.4f, m_straightPath[(i+1)*3+2], pathCol);
}
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], pathCol);
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*2;
float segs[MAX_SEGS*6];
int nsegs = 0;
m_navQuery->getPolyWallSegments(m_polys[i], &m_filter, segs, &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.
unsigned int col = duRGBA(255,255,255,192);
if (dtTriArea2D(m_spos, s, s+3) < 0.0f)
col = duRGBA(255,255,255,64);
dd.vertex(p0[0],p0[1]+agentClimb,p0[2],duRGBA(0,0,0,128));
dd.vertex(p1[0],p1[1]+agentClimb,p1[2],duRGBA(0,0,0,128));
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);
}
}
}
