void TestCase::handleRender()
{
glLineWidth(2.0f);
glBegin(GL_LINES);
for (Test* iter = m_tests; iter; iter = iter->next)
{
float dir[3];
dtVsub(dir, iter->epos, iter->spos);
dtVnormalize(dir);
glColor4ub(128,25,0,192);
glVertex3f(iter->spos[0],iter->spos[1]-0.3f,iter->spos[2]);
glVertex3f(iter->spos[0],iter->spos[1]+0.3f,iter->spos[2]);
glVertex3f(iter->spos[0],iter->spos[1]+0.3f,iter->spos[2]);
glVertex3f(iter->spos[0]+dir[0]*0.3f,iter->spos[1]+0.3f+dir[1]*0.3f,iter->spos[2]+dir[2]*0.3f);
glColor4ub(51,102,0,129);
glVertex3f(iter->epos[0],iter->epos[1]-0.3f,iter->epos[2]);
glVertex3f(iter->epos[0],iter->epos[1]+0.3f,iter->epos[2]);
if (iter->expand)
glColor4ub(255,192,0,255);
else
glColor4ub(0,0,0,64);
for (int i = 0; i < iter->nstraight-1; ++i)
{
glVertex3f(iter->straight[i*3+0],iter->straight[i*3+1]+0.3f,iter->straight[i*3+2]);
glVertex3f(iter->straight[(i+1)*3+0],iter->straight[(i+1)*3+1]+0.3f,iter->straight[(i+1)*3+2]);
}
}
glEnd();
glLineWidth(1.0f);
}
static void calcSmoothSteerDirection(const dtCrowdAgent* ag, float* dir)
{
if (!ag->ncorners)
{
dtVset(dir, 0,0,0);
return;
}
const int ip0 = 0;
const int ip1 = dtMin(1, ag->ncorners-1);
const float* p0 = &ag->cornerVerts[ip0*3];
const float* p1 = &ag->cornerVerts[ip1*3];
float dir0[3], dir1[3];
dtVsub(dir0, p0, ag->npos);
dtVsub(dir1, p1, ag->npos);
dir0[1] = 0;
dir1[1] = 0;
float len0 = dtVlen(dir0);
float len1 = dtVlen(dir1);
if (len1 > 0.001f)
dtVscale(dir1,dir1,1.0f/len1);
dir[0] = dir0[0] - dir1[0]*len0*0.5f;
dir[1] = 0;
dir[2] = dir0[2] - dir1[2]*len0*0.5f;
dtVnormalize(dir);
}
static void calcVel(float* vel, const float* pos, const float* tgt, const float speed)
{
dtVsub(vel, tgt, pos);
vel[1] = 0.0;
dtVnormalize(vel);
dtVscale(vel, vel, speed);
}
void OgreDetourCrowd::calcVel(float* velocity, const float* position, const float* target, const float speed)
{
dtVsub(velocity, target, position);
velocity[1] = 0.0;
dtVnormalize(velocity);
dtVscale(velocity, velocity, speed);
}
static void calcStraightSteerDirection(const dtCrowdAgent* ag, float* dir)
{
if (!ag->ncorners)
{
dtVset(dir, 0,0,0);
return;
}
dtVsub(dir, &ag->cornerVerts[0], ag->npos);
dir[1] = 0;
dtVnormalize(dir);
}
void Agent::Force(const float* p)
{
float vel[3];
if (m_CrowdAgent && m_CrowdAgent->active)
{
// calculate velocity
dtVsub(vel, p, m_CrowdAgent->npos);
vel[1] = 0.0;
dtVnormalize(vel);
dtVscale(vel, vel, m_CrowdAgent->params.maxSpeed);
m_NavMesh->Crowd()->requestMoveVelocity(m_AgentID, vel);
}
}
void dtCrowd::updateStepOffMeshVelocity(const float dt, dtCrowdAgentDebugInfo*)
{
// UE4 version of offmesh anims, updates velocity and checks distance instead of fixed time
for (int i = 0; i < m_numActiveAgents; ++i)
{
dtCrowdAgent* ag = m_activeAgents[i];
const int agentIndex = getAgentIndex(ag);
dtCrowdAgentAnimation* anim = &m_agentAnims[agentIndex];
if (!anim->active)
continue;
anim->t += dt;
const float dist = dtVdistSqr(ag->npos, anim->endPos);
const float distThres = dtSqr(5.0f);
if (dist < distThres)
{
// Reset animation
anim->active = 0;
// Prepare agent for walking.
ag->state = DT_CROWDAGENT_STATE_WALKING;
// UE4: m_keepOffmeshConnections support
if (m_keepOffmeshConnections)
{
ag->corridor.pruneOffmeshConenction(anim->polyRef);
}
}
if (ag->state == DT_CROWDAGENT_STATE_OFFMESH)
{
float dir[3] = { 0 };
dtVsub(dir, anim->endPos, anim->initPos);
dir[1] = 0.0f;
dtVnormalize(dir);
dtVscale(ag->nvel, dir, ag->params.maxSpeed);
dtVcopy(ag->vel, ag->nvel);
dtVset(ag->dvel, 0, 0, 0);
}
}
}
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);
}
}
bool TestCase::handleRenderOverlay(double* proj, double* model, int* view)
{
GLdouble x, y, z;
char text[64], subtext[64];
int n = 0;
static const float LABEL_DIST = 1.0f;
for (Test* iter = m_tests; iter; iter = iter->next)
{
float pt[3], dir[3];
if (iter->nstraight)
{
dtVcopy(pt, &iter->straight[3]);
if (dtVdist(pt, iter->spos) > LABEL_DIST)
{
dtVsub(dir, pt, iter->spos);
dtVnormalize(dir);
dtVmad(pt, iter->spos, dir, LABEL_DIST);
}
pt[1]+=0.5f;
}
else
{
dtVsub(dir, iter->epos, iter->spos);
dtVnormalize(dir);
dtVmad(pt, iter->spos, dir, LABEL_DIST);
pt[1]+=0.5f;
}
if (gluProject((GLdouble)pt[0], (GLdouble)pt[1], (GLdouble)pt[2],
model, proj, view, &x, &y, &z))
{
snprintf(text, 64, "Path %d\n", n);
unsigned int col = imguiRGBA(0,0,0,128);
if (iter->expand)
col = imguiRGBA(255,192,0,220);
imguiDrawText((int)x, (int)(y-25), IMGUI_ALIGN_CENTER, text, col);
}
n++;
}
static int resScroll = 0;
bool mouseOverMenu = imguiBeginScrollArea("Test Results", 10, view[3] - 10 - 350, 200, 350, &resScroll);
// mouseOverMenu = true;
n = 0;
for (Test* iter = m_tests; iter; iter = iter->next)
{
const int total = iter->findNearestPolyTime + iter->findPathTime + iter->findStraightPathTime;
snprintf(subtext, 64, "%.4f ms", (float)total/1000.0f);
snprintf(text, 64, "Path %d", n);
if (imguiCollapse(text, subtext, iter->expand))
iter->expand = !iter->expand;
if (iter->expand)
{
snprintf(text, 64, "Poly: %.4f ms", (float)iter->findNearestPolyTime/1000.0f);
imguiValue(text);
snprintf(text, 64, "Path: %.4f ms", (float)iter->findPathTime/1000.0f);
imguiValue(text);
snprintf(text, 64, "Straight: %.4f ms", (float)iter->findStraightPathTime/1000.0f);
imguiValue(text);
imguiSeparator();
}
n++;
}
imguiEndScrollArea();
return mouseOverMenu;
}
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);
}
}
}
void dtCrowd::updateStepProximityData(const float dt, dtCrowdAgentDebugInfo*)
{
// Register agents to proximity grid.
m_grid->clear();
for (int i = 0; i < m_numActiveAgents; ++i)
{
dtCrowdAgent* ag = m_activeAgents[i];
const float* p = ag->npos;
const float r = ag->params.radius;
m_grid->addItem((unsigned short)i, p[0] - r, p[2] - r, p[0] + r, p[2] + r);
}
// Get nearby navmesh segments and agents to collide with.
for (int i = 0; i < m_numActiveAgents; ++i)
{
dtCrowdAgent* ag = m_activeAgents[i];
if (ag->state != DT_CROWDAGENT_STATE_WALKING)
continue;
m_navquery->updateLinkFilter(ag->params.linkFilter);
// Update the collision boundary after certain distance has been passed or
// if it has become invalid.
const float updateThr = ag->params.collisionQueryRange*0.25f;
if (dtVdist2DSqr(ag->npos, ag->boundary.getCenter()) > dtSqr(updateThr) ||
!ag->boundary.isValid(m_navquery, &m_filters[ag->params.filter]))
{
// UE4: force removing segments too close to offmesh links
const bool useForcedRemove = m_linkRemovalRadius > 0.0f && ag->ncorners &&
(ag->cornerFlags[ag->ncorners - 1] & DT_STRAIGHTPATH_OFFMESH_CONNECTION);
const float* removePos = useForcedRemove ? &ag->cornerVerts[(ag->ncorners - 1) * 3] : 0;
const float removeRadius = m_linkRemovalRadius;
// UE4: prepare filter containing only current area
// boundary update will take all corner polys and include them in local neighborhood
unsigned char allowedArea = DT_WALKABLE_AREA;
if (m_raycastSingleArea)
{
m_navquery->getAttachedNavMesh()->getPolyArea(ag->corridor.getFirstPoly(), &allowedArea);
m_raycastFilter.setAreaCost(allowedArea, 1.0f);
}
// UE4: move dir for segment scoring
float moveDir[3] = { 0.0f };
if (ag->ncorners)
{
dtVsub(moveDir, &ag->cornerVerts[2], &ag->cornerVerts[0]);
}
else
{
dtVcopy(moveDir, ag->vel);
}
dtVnormalize(moveDir);
ag->boundary.update(ag->corridor.getFirstPoly(), ag->npos, ag->params.collisionQueryRange,
removePos, removeRadius, useForcedRemove,
ag->corridor.getPath(), ag->corridor.getPathCount(),
moveDir,
m_navquery, m_raycastSingleArea ? &m_raycastFilter : &m_filters[ag->params.filter]);
m_raycastFilter.setAreaCost(allowedArea, DT_UNWALKABLE_POLY_COST);
}
// Query neighbour agents
ag->nneis = getNeighbours(ag->npos, ag->params.height, ag->params.collisionQueryRange,
ag, ag->neis, DT_CROWDAGENT_MAX_NEIGHBOURS,
m_activeAgents, m_numActiveAgents, m_grid);
for (int j = 0; j < ag->nneis; j++)
ag->neis[j].idx = getAgentIndex(m_activeAgents[ag->neis[j].idx]);
}
}
bool Visualization::update()
{
if (!m_initialized)
{
printf("Visualization has not been yet initialized.");
return false;
}
// Compute the time since last update (in seconds).
Uint32 time = SDL_GetTicks();
float dt = (time - m_lastTickCount) / 1000.0f;
m_lastTickCount = time;
bool singleSimulationStep = false;
bool scrollForward = false;
bool scrollBackward = false;
int mscroll = 0;
SDL_Event event;
while (SDL_PollEvent(&event))
{
switch (event.type)
{
case SDL_KEYDOWN:
// Handle any key presses here.
if (event.key.keysym.sym == SDLK_ESCAPE) //Escape.
{
m_stopRequested = true;
}
else if (event.key.keysym.sym == SDLK_SPACE)
{
m_paused = !m_paused;
}
else if (event.key.keysym.sym == SDLK_TAB)
{
singleSimulationStep = true;
}
else if (event.key.keysym.sym == SDLK_r)
{
float pos[3] = {-15, 0, 15};
m_crowd->pushAgentPosition(0, pos);
}
else if (event.key.keysym.sym == SDLK_KP7)
{
float pos[3] = {-19, 0, -19};
dtVnormalize(pos);
dtVscale(pos, pos, 2.f);
dtCrowdAgent ag;
m_crowd->fetchAgent(ag, 0);
dtVcopy(ag.velocity, pos);
m_crowd->pushAgent(ag);
}
else if (event.key.keysym.sym == SDLK_KP9)
{
float pos[] = {19, 0, -19};
dtVnormalize(pos);
dtVscale(pos, pos, 2.f);
dtCrowdAgent ag;
m_crowd->fetchAgent(ag, 0);
dtVcopy(ag.velocity, pos);
m_crowd->pushAgent(ag);
}
else if (event.key.keysym.sym == SDLK_KP3)
{
float pos[3] = {19, 0, 19};
dtVnormalize(pos);
dtVscale(pos, pos, 2.f);
dtCrowdAgent ag;
m_crowd->fetchAgent(ag, 0);
dtVcopy(ag.velocity, pos);
m_crowd->pushAgent(ag);
}
else if (event.key.keysym.sym == SDLK_KP1)
{
float pos[3] = {-19, 0, 19};
dtVnormalize(pos);
dtVscale(pos, pos, 2.f);
dtCrowdAgent ag;
m_crowd->fetchAgent(ag, 0);
dtVcopy(ag.velocity, pos);
m_crowd->pushAgent(ag);
}
else if (event.key.keysym.sym == SDLK_KP5)
{
float pos[3] = {0, 0, 0};
dtVnormalize(pos);
dtVscale(pos, pos, 2.f);
dtCrowdAgent ag;
m_crowd->fetchAgent(ag, 0);
dtVcopy(ag.velocity, pos);
m_crowd->pushAgent(ag);
}
break;
case SDL_MOUSEBUTTONDOWN:
if (event.button.button == SDL_BUTTON_RIGHT)
{
// Rotate view
m_rotating = true;
m_initialMousePosition[0] = m_mousePosition[0];
m_initialMousePosition[1] = m_mousePosition[1];
m_intialCameraOrientation[0] = m_cameraOrientation[0];
m_intialCameraOrientation[1] = m_cameraOrientation[1];
m_intialCameraOrientation[2] = m_cameraOrientation[2];
}
else if (event.button.button == SDL_BUTTON_WHEELUP)
{
scrollForward = true;
}
else if (event.button.button == SDL_BUTTON_WHEELDOWN)
{
scrollBackward = true;
}
break;
case SDL_MOUSEBUTTONUP:
if (event.button.button == SDL_BUTTON_RIGHT)
{
m_rotating = false;
}
else if (event.button.button == SDL_BUTTON_LEFT)
{
float pickedPosition[3];
int index = 0;
pick(pickedPosition, &index);
}
break;
case SDL_MOUSEMOTION:
m_mousePosition[0] = event.motion.x;
m_mousePosition[1] = m_winHeight-1 - event.motion.y;
if (m_rotating)
{
int dx = m_mousePosition[0] - m_initialMousePosition[0];
int dy = m_mousePosition[1] - m_initialMousePosition[1];
m_cameraOrientation[0] = m_intialCameraOrientation[0] - dy*0.25f;
m_cameraOrientation[1] = m_intialCameraOrientation[1] + dx*0.25f;
}
break;
case SDL_QUIT:
m_stopRequested = true;
break;
default:
break;
}
}
unsigned char mbut = 0;
if (SDL_GetMouseState(0,0) & SDL_BUTTON_LMASK)
mbut |= IMGUI_MBUT_LEFT;
if (SDL_GetMouseState(0,0) & SDL_BUTTON_RMASK)
mbut |= IMGUI_MBUT_RIGHT;
// Update the camera velocity from keyboard state.
Uint8* keystate = SDL_GetKeyState(NULL);
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable:4800)
#endif
updateCameraVelocity(
dt,
keystate[SDLK_w] || keystate[SDLK_UP] || scrollForward,
keystate[SDLK_s] || keystate[SDLK_DOWN] || scrollBackward,
keystate[SDLK_a] || keystate[SDLK_LEFT],
keystate[SDLK_d] || keystate[SDLK_RIGHT],
SDL_GetModState() & KMOD_SHIFT);
#ifdef _MSC_VER
#pragma warning(pop)
#endif
//Update the camera position
updateCameraPosition(dt);
//Update the crowd
if (m_crowd)
{
if (singleSimulationStep)
{
m_paused = true;
m_debugInfo->startUpdate();
m_crowd->update(m_crowdDt);
m_debugInfo->endUpdate(m_crowdDt);
m_crowdAvailableDt = 0.f;
}
else if (!m_paused)
{
m_crowdAvailableDt += dt;
while(m_crowdAvailableDt > m_crowdDt)
{
m_debugInfo->startUpdate();
m_crowd->update(m_crowdDt);
m_debugInfo->endUpdate(m_crowdDt);
m_crowdAvailableDt -= m_crowdDt;
}
}
else
{
m_crowdAvailableDt = 0.f;
}
}
// Set rendering context
glViewport(0, 0, m_winWidth, m_winHeight);
glClearColor(0.3f, 0.3f, 0.32f, 1.0f);
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glDisable(GL_TEXTURE_2D);
// Render 3D
glEnable(GL_DEPTH_TEST);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(50.0f, (float)m_winWidth/(float)m_winHeight, m_zNear, m_zFar);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glRotatef(m_cameraOrientation[0],1,0,0);
glRotatef(m_cameraOrientation[1],0,1,0);
glRotatef(m_cameraOrientation[2],0,0,1);
glTranslatef(-m_cameraPosition[0], -m_cameraPosition[1], -m_cameraPosition[2]);
// Extract OpenGL view properties
glGetDoublev(GL_PROJECTION_MATRIX, m_projection);
glGetDoublev(GL_MODELVIEW_MATRIX, m_modelView);
glGetIntegerv(GL_VIEWPORT, m_viewport);
renderScene();
renderCrowd();
// Render 2D Overlay
glDisable(GL_DEPTH_TEST);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0, m_winWidth, 0, m_winHeight);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
imguiBeginFrame(m_mousePosition[0], m_mousePosition[1], mbut,mscroll);
renderDebugInfoOverlay();
imguiEndFrame();
imguiRenderGLDraw();
glEnable(GL_DEPTH_TEST);
SDL_GL_SwapBuffers();
return true;
}
