void OffMeshConnectionTool::handleRender()
{
DebugDrawGL dd;
const float s = m_sample->getAgentRadius();
if (m_hitPosSet)
duDebugDrawCross(&dd, m_hitPos[0],m_hitPos[1]+0.1f,m_hitPos[2], s, duRGBA(0,0,0,128), 2.0f);
InputGeom* geom = m_sample->getInputGeom();
if (geom)
geom->drawOffMeshConnections(&dd, true);
}
void CrowdTool::handleRender()
{
DebugDrawGL dd;
const float s = m_sample->getAgentRadius();
dtNavMesh* nmesh = m_sample->getNavMesh();
if (!nmesh)
return;
dtNavMeshQuery* navquery = m_sample->getNavMeshQuery();
if (m_showNodes)
{
if (navquery)
duDebugDrawNavMeshNodes(&dd, *navquery);
}
dd.depthMask(false);
// Draw paths
if (m_showPath)
{
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const dtPolyRef* path = ag->corridor.getPath();
const int npath = ag->corridor.getPathCount();
for (int i = 0; i < npath; ++i)
duDebugDrawNavMeshPoly(&dd, *nmesh, path[i], duRGBA(0,0,0,32));
}
}
if (m_targetRef)
duDebugDrawCross(&dd, m_targetPos[0],m_targetPos[1]+0.1f,m_targetPos[2], s, duRGBA(255,255,255,192), 2.0f);
// Occupancy grid.
if (m_showGrid)
{
float gridy = -FLT_MAX;
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float* pos = ag->corridor.getPos();
gridy = dtMax(gridy, pos[1]);
}
gridy += 1.0f;
dd.begin(DU_DRAW_QUADS);
const ProximityGrid* grid = m_crowd.getGrid();
const int* bounds = grid->getBounds();
const float cs = grid->getCellSize();
for (int y = bounds[1]; y <= bounds[3]; ++y)
{
for (int x = bounds[0]; x <= bounds[2]; ++x)
{
const int count = grid->getItemCountAt(x,y);
if (!count) continue;
unsigned int col = duRGBA(128,0,0,dtMin(count*40,255));
dd.vertex(x*cs, gridy, y*cs, col);
dd.vertex(x*cs, gridy, y*cs+cs, col);
dd.vertex(x*cs+cs, gridy, y*cs+cs, col);
dd.vertex(x*cs+cs, gridy, y*cs, col);
}
}
dd.end();
}
// Trail
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float* pos = ag->npos;
dd.begin(DU_DRAW_LINES,3.0f);
float prev[3], preva = 1;
dtVcopy(prev, pos);
for (int j = 0; j < AGENT_MAX_TRAIL-1; ++j)
{
const int idx = (ag->htrail + AGENT_MAX_TRAIL-j) % AGENT_MAX_TRAIL;
const float* v = &ag->trail[idx*3];
float a = 1 - j/(float)AGENT_MAX_TRAIL;
dd.vertex(prev[0],prev[1]+0.1f,prev[2], duRGBA(0,0,0,(int)(128*preva)));
dd.vertex(v[0],v[1]+0.1f,v[2], duRGBA(0,0,0,(int)(128*a)));
preva = a;
dtVcopy(prev, v);
}
dd.end();
}
// Corners & co
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float radius = ag->radius;
const float* pos = ag->npos;
if (m_showCorners)
{
if (ag->ncorners)
{
dd.begin(DU_DRAW_LINES, 2.0f);
for (int j = 0; j < ag->ncorners; ++j)
{
const float* va = j == 0 ? pos : &ag->cornerVerts[(j-1)*3];
const float* vb = &ag->cornerVerts[j*3];
dd.vertex(va[0],va[1]+radius,va[2], duRGBA(128,0,0,192));
dd.vertex(vb[0],vb[1]+radius,vb[2], duRGBA(128,0,0,192));
}
dd.end();
if (m_anticipateTurns)
{
/* float dvel[3], pos[3];
calcSmoothSteerDirection(ag->pos, ag->cornerVerts, ag->ncorners, dvel);
pos[0] = ag->pos[0] + dvel[0];
pos[1] = ag->pos[1] + dvel[1];
pos[2] = ag->pos[2] + dvel[2];
const float off = ag->radius+0.1f;
const float* tgt = &ag->cornerVerts[0];
const float y = ag->pos[1]+off;
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(ag->pos[0],y,ag->pos[2], duRGBA(255,0,0,192));
dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
dd.vertex(tgt[0],y,tgt[2], duRGBA(255,0,0,192));
dd.end();*/
}
}
}
if (m_showCollisionSegments)
{
const float* center = ag->boundary.getCenter();
duDebugDrawCross(&dd, center[0],center[1]+radius,center[2], 0.2f, duRGBA(192,0,128,255), 2.0f);
duDebugDrawCircle(&dd, center[0],center[1]+radius,center[2], ag->collisionQueryRange,
duRGBA(192,0,128,128), 2.0f);
dd.begin(DU_DRAW_LINES, 3.0f);
for (int j = 0; j < ag->boundary.getSegmentCount(); ++j)
{
const float* s = ag->boundary.getSegment(j);
unsigned int col = duRGBA(192,0,128,192);
if (dtTriArea2D(pos, s, s+3) < 0.0f)
col = duDarkenCol(col);
duAppendArrow(&dd, s[0],s[1]+0.2f,s[2], s[3],s[4]+0.2f,s[5], 0.0f, 0.3f, col);
}
dd.end();
}
if (m_showOpt)
{
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(ag->opts[0],ag->opts[1]+0.3f,ag->opts[2], duRGBA(0,128,0,192));
dd.vertex(ag->opte[0],ag->opte[1]+0.3f,ag->opte[2], duRGBA(0,128,0,192));
dd.end();
}
}
// Agent cylinders.
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float radius = ag->radius;
const float* pos = ag->npos;
duDebugDrawCircle(&dd, pos[0], pos[1], pos[2], radius, duRGBA(0,0,0,32), 2.0f);
}
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float height = ag->height;
const float radius = ag->radius;
const float* pos = ag->npos;
duDebugDrawCylinder(&dd, pos[0]-radius, pos[1]+radius*0.1f, pos[2]-radius,
pos[0]+radius, pos[1]+height, pos[2]+radius,
duRGBA(220,220,220,128));
}
// Velocity stuff.
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float radius = ag->radius;
const float height = ag->height;
const float* pos = ag->npos;
const float* vel = ag->vel;
const float* dvel = ag->dvel;
duDebugDrawCircle(&dd, pos[0], pos[1]+height, pos[2], radius, duRGBA(220,220,220,192), 2.0f);
if (m_showVO)
{
// Draw detail about agent sela
const dtObstacleAvoidanceDebugData* debug = m_crowd.getVODebugData(i);
const float dx = pos[0];
const float dy = pos[1]+height;
const float dz = pos[2];
dd.begin(DU_DRAW_QUADS);
for (int i = 0; i < debug->getSampleCount(); ++i)
{
const float* p = debug->getSampleVelocity(i);
const float sr = debug->getSampleSize(i);
const float pen = debug->getSamplePenalty(i);
const float pen2 = debug->getSamplePreferredSidePenalty(i);
unsigned int col = duLerpCol(duRGBA(255,255,255,220), duRGBA(128,96,0,220), (int)(pen*255));
col = duLerpCol(col, duRGBA(128,0,0,220), (int)(pen2*128));
dd.vertex(dx+p[0]-sr, dy, dz+p[2]-sr, col);
dd.vertex(dx+p[0]-sr, dy, dz+p[2]+sr, col);
dd.vertex(dx+p[0]+sr, dy, dz+p[2]+sr, col);
dd.vertex(dx+p[0]+sr, dy, dz+p[2]-sr, col);
}
dd.end();
}
duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
pos[0]+dvel[0],pos[1]+height+dvel[1],pos[2]+dvel[2],
0.0f, 0.4f, duRGBA(0,192,255,192), 1.0f);
duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
pos[0]+vel[0],pos[1]+height+vel[1],pos[2]+vel[2],
0.0f, 0.4f, duRGBA(0,0,0,192), 2.0f);
}
// Targets
for (int i = 0; i < m_crowd.getAgentCount(); ++i)
{
const Agent* ag = m_crowd.getAgent(i);
if (!ag->active) continue;
const float* pos = ag->npos;
const float* target = ag->corridor.getTarget();
if (m_showTargets)
{
duDebugDrawArc(&dd, pos[0], pos[1], pos[2], target[0], target[1], target[2],
0.25f, 0, 0.4f, duRGBA(0,0,0,128), 1.0f);
}
}
dd.depthMask(true);
}
void NavigationPath::UpdatePath(bool force)
{
if (m_navMesh == nullptr)
return;
if (m_query == nullptr)
{
m_query.reset(new dtNavMeshQuery);
m_query->init(m_navMesh, 10000 /* MAX_NODES */);
}
PSPAWNINFO me = GetCharInfo()->pSpawn;
if (me == nullptr)
return;
float startOffset[3] = { me->X, me->Feet, me->Y };
float endOffset[3] = { m_destination.x, m_destination.z, m_destination.y };
float spos[3];
float epos[3];
glm::vec3 thisPos(startOffset[0], startOffset[1], startOffset[2]);
if (thisPos == m_lastPos && !force)
return;
m_lastPos = thisPos;
m_currentPathCursor = 0;
m_currentPathSize = 0;
dtPolyRef startRef, endRef;
m_query->findNearestPoly(startOffset, m_extents, &m_filter, &startRef, spos);
if (!startRef)
{
WriteChatf(PLUGIN_MSG "No start reference");
return;
}
dtPolyRef polys[MAX_POLYS];
int numPolys = 0;
if (!m_corridor)
{
if (m_useCorridor)
{
// initialize planning
m_corridor.reset(new dtPathCorridor);
m_corridor->init(MAX_PATH_SIZE);
m_corridor->reset(startRef, startOffset);
}
m_query->findNearestPoly(endOffset, m_extents, &m_filter, &endRef, epos);
if (!endRef)
{
WriteChatf(PLUGIN_MSG "No end reference");
return;
}
dtStatus status = m_query->findPath(startRef, endRef, spos, epos, &m_filter, polys, &numPolys, MAX_POLYS);
if (status & DT_OUT_OF_NODES)
DebugSpewAlways("findPath from %.2f,%.2f,%.2f to %.2f,%.2f,%.2f failed: out of nodes",
startOffset[0], startOffset[1], startOffset[2],
endOffset[0], endOffset[1], endOffset[2]);
if (status & DT_PARTIAL_RESULT)
DebugSpewAlways("findPath from %.2f,%.2f,%.2f to %.2f,%.2f,%.2f returned a partial result.",
startOffset[0], startOffset[1], startOffset[2],
endOffset[0], endOffset[1], endOffset[2]);
if (m_corridor)
{
m_corridor->setCorridor(endOffset, polys, numPolys);
}
}
else
{
// this is an update
m_corridor->movePosition(startOffset, m_query.get(), &m_filter);
}
if (m_corridor)
{
m_corridor->optimizePathTopology(m_query.get(), &m_filter);
m_currentPathSize = m_corridor->findCorners(m_currentPath,
m_cornerFlags, polys, 10, m_query.get(), &m_filter);
}
if (m_debugDrawGrp)
m_debugDrawGrp->Reset();
if (numPolys > 0)
{
m_query->findStraightPath(spos, epos, polys, numPolys, m_currentPath,
0, 0, &m_currentPathSize, MAX_POLYS, 0);
// The 0th index is the starting point. Begin by trying to reach the
// 2nd point...
if (m_currentPathSize > 1)
m_currentPathCursor = 1;
if (m_debugDrawGrp && mq2nav::GetSettings().debug_render_pathing)
{
DebugDrawDX dd(m_debugDrawGrp.get());
// draw current position
duDebugDrawCross(&dd, me->X, me->Feet, me->Y, 0.5, DXColor(51, 255, 255), 1);
// Draw the waypoints. Green is next point
for (int i = 0; i < m_currentPathSize; ++i)
{
int color = DXColor(255, 255, 255);
if (i < m_currentPathCursor)
color = DXColor(0, 102, 204);
if (i == m_currentPathCursor)
color = DXColor(0, 255, 0);
if (i == m_currentPathSize - 1)
color = DXColor(255, 0, 0);
duDebugDrawCross(&dd, m_currentPath[i * 3],
m_currentPath[i * 3 + 1],
m_currentPath[i * 3 + 2],
0.5, color, 1);
}
}
}
if (m_line && mq2nav::GetSettings().show_nav_path)
{
m_line->Update();
}
}
void CrowdToolState::handleRender()
{
DebugDrawGL dd;
const float rad = m_sample->getAgentRadius();
dtNavMesh* nav = m_sample->getNavMesh();
dtCrowd* crowd = m_sample->getCrowd();
if (!nav || !crowd)
return;
if (m_toolParams.m_showNodes && crowd->getPathQueue())
{
const dtNavMeshQuery* navquery = crowd->getPathQueue()->getNavQuery();
if (navquery)
duDebugDrawNavMeshNodes(&dd, *navquery);
}
dd.depthMask(false);
// Draw paths
if (m_toolParams.m_showPath)
{
for (int i = 0; i < crowd->getAgentCount(); i++)
{
if (m_toolParams.m_showDetailAll == false && i != m_agentDebug.idx)
continue;
const dtCrowdAgent* ag =crowd->getAgent(i);
if (!ag->active)
continue;
const dtPolyRef* path = ag->corridor.getPath();
const int npath = ag->corridor.getPathCount();
for (int j = 0; j < npath; ++j)
duDebugDrawNavMeshPoly(&dd, *nav, path[j], duRGBA(255,255,255,24));
}
}
if (m_targetRef)
duDebugDrawCross(&dd, m_targetPos[0],m_targetPos[1]+0.1f,m_targetPos[2], rad, duRGBA(255,255,255,192), 2.0f);
// Occupancy grid.
if (m_toolParams.m_showGrid)
{
float gridy = -FLT_MAX;
for (int i = 0; i < crowd->getAgentCount(); ++i)
{
const dtCrowdAgent* ag = crowd->getAgent(i);
if (!ag->active) continue;
const float* pos = ag->corridor.getPos();
gridy = dtMax(gridy, pos[1]);
}
gridy += 1.0f;
dd.begin(DU_DRAW_QUADS);
const dtProximityGrid* grid = crowd->getGrid();
const int* bounds = grid->getBounds();
const float cs = grid->getCellSize();
for (int y = bounds[1]; y <= bounds[3]; ++y)
{
for (int x = bounds[0]; x <= bounds[2]; ++x)
{
const int count = grid->getItemCountAt(x,y);
if (!count) continue;
unsigned int col = duRGBA(128,0,0,dtMin(count*40,255));
dd.vertex(x*cs, gridy, y*cs, col);
dd.vertex(x*cs, gridy, y*cs+cs, col);
dd.vertex(x*cs+cs, gridy, y*cs+cs, col);
dd.vertex(x*cs+cs, gridy, y*cs, col);
}
}
dd.end();
}
// Trail
for (int i = 0; i < crowd->getAgentCount(); ++i)
{
const dtCrowdAgent* ag = crowd->getAgent(i);
if (!ag->active) continue;
const AgentTrail* trail = &m_trails[i];
const float* pos = ag->npos;
dd.begin(DU_DRAW_LINES,3.0f);
float prev[3], preva = 1;
dtVcopy(prev, pos);
for (int j = 0; j < AGENT_MAX_TRAIL-1; ++j)
{
const int idx = (trail->htrail + AGENT_MAX_TRAIL-j) % AGENT_MAX_TRAIL;
const float* v = &trail->trail[idx*3];
float a = 1 - j/(float)AGENT_MAX_TRAIL;
dd.vertex(prev[0],prev[1]+0.1f,prev[2], duRGBA(0,0,0,(int)(128*preva)));
dd.vertex(v[0],v[1]+0.1f,v[2], duRGBA(0,0,0,(int)(128*a)));
preva = a;
dtVcopy(prev, v);
}
dd.end();
}
// Corners & co
for (int i = 0; i < crowd->getAgentCount(); i++)
{
if (m_toolParams.m_showDetailAll == false && i != m_agentDebug.idx)
continue;
const dtCrowdAgent* ag =crowd->getAgent(i);
if (!ag->active)
continue;
const float radius = ag->params.radius;
const float* pos = ag->npos;
if (m_toolParams.m_showCorners)
{
if (ag->ncorners)
{
dd.begin(DU_DRAW_LINES, 2.0f);
for (int j = 0; j < ag->ncorners; ++j)
{
const float* va = j == 0 ? pos : &ag->cornerVerts[(j-1)*3];
const float* vb = &ag->cornerVerts[j*3];
dd.vertex(va[0],va[1]+radius,va[2], duRGBA(128,0,0,192));
dd.vertex(vb[0],vb[1]+radius,vb[2], duRGBA(128,0,0,192));
}
if (ag->ncorners && ag->cornerFlags[ag->ncorners-1] & DT_STRAIGHTPATH_OFFMESH_CONNECTION)
{
const float* v = &ag->cornerVerts[(ag->ncorners-1)*3];
dd.vertex(v[0],v[1],v[2], duRGBA(192,0,0,192));
dd.vertex(v[0],v[1]+radius*2,v[2], duRGBA(192,0,0,192));
}
dd.end();
if (m_toolParams.m_anticipateTurns)
{
/* float dvel[3], pos[3];
calcSmoothSteerDirection(ag->pos, ag->cornerVerts, ag->ncorners, dvel);
pos[0] = ag->pos[0] + dvel[0];
pos[1] = ag->pos[1] + dvel[1];
pos[2] = ag->pos[2] + dvel[2];
const float off = ag->radius+0.1f;
const float* tgt = &ag->cornerVerts[0];
const float y = ag->pos[1]+off;
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(ag->pos[0],y,ag->pos[2], duRGBA(255,0,0,192));
dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
dd.vertex(pos[0],y,pos[2], duRGBA(255,0,0,192));
dd.vertex(tgt[0],y,tgt[2], duRGBA(255,0,0,192));
dd.end();*/
}
}
}
if (m_toolParams.m_showCollisionSegments)
{
const float* center = ag->boundary.getCenter();
duDebugDrawCross(&dd, center[0],center[1]+radius,center[2], 0.2f, duRGBA(192,0,128,255), 2.0f);
duDebugDrawCircle(&dd, center[0],center[1]+radius,center[2], ag->params.collisionQueryRange,
duRGBA(192,0,128,128), 2.0f);
dd.begin(DU_DRAW_LINES, 3.0f);
for (int j = 0; j < ag->boundary.getSegmentCount(); ++j)
{
const float* s = ag->boundary.getSegment(j);
unsigned int col = duRGBA(192,0,128,192);
if (dtTriArea2D(pos, s, s+3) < 0.0f)
col = duDarkenCol(col);
duAppendArrow(&dd, s[0],s[1]+0.2f,s[2], s[3],s[4]+0.2f,s[5], 0.0f, 0.3f, col);
}
dd.end();
}
if (m_toolParams.m_showNeis)
{
duDebugDrawCircle(&dd, pos[0],pos[1]+radius,pos[2], ag->params.collisionQueryRange,
duRGBA(0,192,128,128), 2.0f);
dd.begin(DU_DRAW_LINES, 2.0f);
for (int j = 0; j < ag->nneis; ++j)
{
// Get 'n'th active agent.
// TODO: fix this properly.
const dtCrowdAgent* nei = crowd->getAgent(ag->neis[j].idx);
if (nei)
{
dd.vertex(pos[0],pos[1]+radius,pos[2], duRGBA(0,192,128,128));
dd.vertex(nei->npos[0],nei->npos[1]+radius,nei->npos[2], duRGBA(0,192,128,128));
}
}
dd.end();
}
if (m_toolParams.m_showOpt)
{
dd.begin(DU_DRAW_LINES, 2.0f);
dd.vertex(m_agentDebug.optStart[0],m_agentDebug.optStart[1]+0.3f,m_agentDebug.optStart[2], duRGBA(0,128,0,192));
dd.vertex(m_agentDebug.optEnd[0],m_agentDebug.optEnd[1]+0.3f,m_agentDebug.optEnd[2], duRGBA(0,128,0,192));
dd.end();
}
}
// Agent cylinders.
for (int i = 0; i < crowd->getAgentCount(); ++i)
{
const dtCrowdAgent* ag = crowd->getAgent(i);
if (!ag->active) continue;
const float radius = ag->params.radius;
const float* pos = ag->npos;
unsigned int col = duRGBA(0,0,0,32);
if (m_agentDebug.idx == i)
col = duRGBA(255,0,0,128);
duDebugDrawCircle(&dd, pos[0], pos[1], pos[2], radius, col, 2.0f);
}
for (int i = 0; i < crowd->getAgentCount(); ++i)
{
const dtCrowdAgent* ag = crowd->getAgent(i);
if (!ag->active) continue;
const float height = ag->params.height;
const float radius = ag->params.radius;
const float* pos = ag->npos;
unsigned int col = duRGBA(220,220,220,128);
if (ag->targetState == DT_CROWDAGENT_TARGET_REQUESTING || ag->targetState == DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE)
col = duLerpCol(col, duRGBA(128,0,255,128), 32);
else if (ag->targetState == DT_CROWDAGENT_TARGET_WAITING_FOR_PATH)
col = duLerpCol(col, duRGBA(128,0,255,128), 128);
else if (ag->targetState == DT_CROWDAGENT_TARGET_FAILED)
col = duRGBA(255,32,16,128);
else if (ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
col = duLerpCol(col, duRGBA(64,255,0,128), 128);
duDebugDrawCylinder(&dd, pos[0]-radius, pos[1]+radius*0.1f, pos[2]-radius,
pos[0]+radius, pos[1]+height, pos[2]+radius, col);
}
if (m_toolParams.m_showVO)
{
for (int i = 0; i < crowd->getAgentCount(); i++)
{
if (m_toolParams.m_showDetailAll == false && i != m_agentDebug.idx)
continue;
const dtCrowdAgent* ag =crowd->getAgent(i);
if (!ag->active)
continue;
// Draw detail about agent sela
const dtObstacleAvoidanceDebugData* vod = m_agentDebug.vod;
const float dx = ag->npos[0];
const float dy = ag->npos[1]+ag->params.height;
const float dz = ag->npos[2];
duDebugDrawCircle(&dd, dx,dy,dz, ag->params.maxSpeed, duRGBA(255,255,255,64), 2.0f);
dd.begin(DU_DRAW_QUADS);
for (int j = 0; j < vod->getSampleCount(); ++j)
{
const float* p = vod->getSampleVelocity(j);
const float sr = vod->getSampleSize(j);
const float pen = vod->getSamplePenalty(j);
const float pen2 = vod->getSamplePreferredSidePenalty(j);
unsigned int col = duLerpCol(duRGBA(255,255,255,220), duRGBA(128,96,0,220), (int)(pen*255));
col = duLerpCol(col, duRGBA(128,0,0,220), (int)(pen2*128));
dd.vertex(dx+p[0]-sr, dy, dz+p[2]-sr, col);
dd.vertex(dx+p[0]-sr, dy, dz+p[2]+sr, col);
dd.vertex(dx+p[0]+sr, dy, dz+p[2]+sr, col);
dd.vertex(dx+p[0]+sr, dy, dz+p[2]-sr, col);
}
dd.end();
}
}
// Velocity stuff.
for (int i = 0; i < crowd->getAgentCount(); ++i)
{
const dtCrowdAgent* ag = crowd->getAgent(i);
if (!ag->active) continue;
const float radius = ag->params.radius;
const float height = ag->params.height;
const float* pos = ag->npos;
const float* vel = ag->vel;
const float* dvel = ag->dvel;
unsigned int col = duRGBA(220,220,220,192);
if (ag->targetState == DT_CROWDAGENT_TARGET_REQUESTING || ag->targetState == DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE)
col = duLerpCol(col, duRGBA(128,0,255,192), 32);
else if (ag->targetState == DT_CROWDAGENT_TARGET_WAITING_FOR_PATH)
col = duLerpCol(col, duRGBA(128,0,255,192), 128);
else if (ag->targetState == DT_CROWDAGENT_TARGET_FAILED)
col = duRGBA(255,32,16,192);
else if (ag->targetState == DT_CROWDAGENT_TARGET_VELOCITY)
col = duLerpCol(col, duRGBA(64,255,0,192), 128);
duDebugDrawCircle(&dd, pos[0], pos[1]+height, pos[2], radius, col, 2.0f);
duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
pos[0]+dvel[0],pos[1]+height+dvel[1],pos[2]+dvel[2],
0.0f, 0.4f, duRGBA(0,192,255,192), (m_agentDebug.idx == i) ? 2.0f : 1.0f);
duDebugDrawArrow(&dd, pos[0],pos[1]+height,pos[2],
pos[0]+vel[0],pos[1]+height+vel[1],pos[2]+vel[2],
0.0f, 0.4f, duRGBA(0,0,0,160), 2.0f);
}
dd.depthMask(true);
}