int dtNavMesh::findConnectingPolys(const float* va, const float* vb,
const dtMeshTile* tile, int side,
dtPolyRef* con, float* conarea, int maxcon) const
{
if (!tile) return 0;
float amin[2], amax[2];
calcSlabEndPoints(va,vb, amin,amax, side);
const float apos = getSlabCoord(va, side);
// Remove links pointing to 'side' and compact the links array.
float bmin[2], bmax[2];
unsigned short m = DT_EXT_LINK | (unsigned short)side;
int n = 0;
dtPolyRef base = getPolyRefBase(tile);
for (int i = 0; i < tile->header->polyCount; ++i)
{
dtPoly* poly = &tile->polys[i];
const int nv = poly->vertCount;
for (int j = 0; j < nv; ++j)
{
// Skip edges which do not point to the right side.
if (poly->neis[j] != m) continue;
const float* vc = &tile->verts[poly->verts[j]*3];
const float* vd = &tile->verts[poly->verts[(j+1) % nv]*3];
const float bpos = getSlabCoord(vc, side);
// Segments are not close enough.
if (dtAbs(apos-bpos) > 0.01f)
continue;
// Check if the segments touch.
calcSlabEndPoints(vc,vd, bmin,bmax, side);
if (!overlapSlabs(amin,amax, bmin,bmax, 0.01f, tile->header->walkableClimb)) continue;
// Add return value.
if (n < maxcon)
{
conarea[n*2+0] = dtMax(amin[0], bmin[0]);
conarea[n*2+1] = dtMin(amax[0], bmax[0]);
con[n] = base | (dtPolyRef)i;
n++;
}
break;
}
}
return n;
}
bool dtNavMesh::init(const dtNavMeshParams* params)
{
memcpy(&m_params, params, sizeof(dtNavMeshParams));
dtVcopy(m_orig, params->orig);
m_tileWidth = params->tileWidth;
m_tileHeight = params->tileHeight;
// Init tiles
m_maxTiles = params->maxTiles;
m_tileLutSize = dtNextPow2(params->maxTiles/4);
if (!m_tileLutSize) m_tileLutSize = 1;
m_tileLutMask = m_tileLutSize-1;
m_tiles = (dtMeshTile*)dtAlloc(sizeof(dtMeshTile)*m_maxTiles, DT_ALLOC_PERM);
if (!m_tiles)
return false;
m_posLookup = (dtMeshTile**)dtAlloc(sizeof(dtMeshTile*)*m_tileLutSize, DT_ALLOC_PERM);
if (!m_posLookup)
return false;
memset(m_tiles, 0, sizeof(dtMeshTile)*m_maxTiles);
memset(m_posLookup, 0, sizeof(dtMeshTile*)*m_tileLutSize);
m_nextFree = 0;
for (int i = m_maxTiles-1; i >= 0; --i)
{
m_tiles[i].salt = 1;
m_tiles[i].next = m_nextFree;
m_nextFree = &m_tiles[i];
}
// Init ID generator values.
m_tileBits = dtMax((unsigned int)1, dtIlog2(dtNextPow2((unsigned int)params->maxTiles)));
m_polyBits = dtMax((unsigned int)1, dtIlog2(dtNextPow2((unsigned int)params->maxPolys)));
m_saltBits = 32 - m_tileBits - m_polyBits;
if (m_saltBits < 10)
return false;
return true;
}
static void normalizeArray(float* arr, const int n)
{
// Normalize penaly range.
float minPen = FLT_MAX;
float maxPen = -FLT_MAX;
for (int i = 0; i < n; ++i)
{
minPen = dtMin(minPen, arr[i]);
maxPen = dtMax(maxPen, arr[i]);
}
const float penRange = maxPen-minPen;
const float s = penRange > 0.001f ? (1.0f / penRange) : 1;
for (int i = 0; i < n; ++i)
arr[i] = dtClamp((arr[i]-minPen)*s, 0.0f, 1.0f);
}
int dtMergeCorridorStartShortcut(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 = furthestVisited;
if (req <= 0)
return npath;
const int orig = furthestPath;
int size = dtMax(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[i];
return req+size;
}
void SPARSE_SDF::hashTriangle(TRIANGLE& triangle, map<int, vector<TRIANGLE*> >& tempHash)
{
VEC3F mins, maxs;
triangle.boundingBox(mins, maxs);
MyVec3 dtMin(mins[0], mins[1], mins[2]);
MyVec3 dtMax(maxs[0], maxs[1], maxs[2]);
Index iMins[3];
Index iMaxs[3];
_grid->boundingBoxIndices(dtMin, dtMax, iMins, iMaxs);
for(Index z = iMins[2]; z <= iMaxs[2]; z++)
for (Index y = iMins[1]; y <= iMaxs[1]; y++)
for (Index x = iMins[0]; x <= iMaxs[0]; x++){
MyLocator loc;
bool gridExist = _grid->getLocator(x, y, z, &loc);
if(gridExist)
tempHash[loc.iv3D].push_back(&triangle);
}
}
// Returns a random point in a convex polygon.
// Adapted from Graphics Gems article.
void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
const float s, const float t, float* out)
{
// Calc triangle araes
float areasum = 0.0f;
for (int i = 2; i < npts; i++) {
areas[i] = dtTriArea2D(&pts[0], &pts[(i-1)*3], &pts[i*3]);
areasum += dtMax(0.001f, areas[i]);
}
// Find sub triangle weighted by area.
const float thr = s*areasum;
float acc = 0.0f;
float u = 0.0f;
int tri = 0;
for (int i = 2; i < npts; i++) {
const float dacc = areas[i];
if (thr >= acc && thr < (acc+dacc))
{
u = (thr - acc) / dacc;
tri = i;
break;
}
acc += dacc;
}
float v = dtMathSqrtf(t);
const float a = 1 - v;
const float b = (1 - u) * v;
const float c = u * v;
const float* pa = &pts[0];
const float* pb = &pts[(tri-1)*3];
const float* pc = &pts[tri*3];
out[0] = a*pa[0] + b*pb[0] + c*pc[0];
out[1] = a*pa[1] + b*pb[1] + c*pc[1];
out[2] = a*pa[2] + b*pb[2] + c*pc[2];
}
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);
}
virtual void reset()
{
high = dtMax(high, top);
top = 0;
}
/// @par
///
/// The output data array is allocated using the detour allocator (dtAlloc()). The method
/// used to free the memory will be determined by how the tile is added to the navigation
/// mesh.
///
/// @see dtNavMesh, dtNavMesh::addTile()
bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize)
{
if (params->nvp > DT_VERTS_PER_POLYGON)
return false;
if (params->vertCount >= 0xffff)
return false;
if (!params->vertCount || !params->verts)
return false;
if (!params->polyCount || !params->polys)
return false;
const int nvp = params->nvp;
// Classify off-mesh connection points. We store only the connections
// whose start point is inside the tile.
unsigned char* offMeshConClass = 0;
int storedOffMeshConCount = 0;
int offMeshConLinkCount = 0;
if (params->offMeshConCount > 0)
{
offMeshConClass = (unsigned char*)dtAlloc(sizeof(unsigned char)*params->offMeshConCount*2, DT_ALLOC_TEMP);
if (!offMeshConClass)
return false;
// Find tight heigh bounds, used for culling out off-mesh start locations.
float hmin = FLT_MAX;
float hmax = -FLT_MAX;
if (params->detailVerts && params->detailVertsCount)
{
for (int i = 0; i < params->detailVertsCount; ++i)
{
const float h = params->detailVerts[i*3+1];
hmin = dtMin(hmin,h);
hmax = dtMax(hmax,h);
}
}
else
{
for (int i = 0; i < params->vertCount; ++i)
{
const unsigned short* iv = ¶ms->verts[i*3];
const float h = params->bmin[1] + iv[1] * params->ch;
hmin = dtMin(hmin,h);
hmax = dtMax(hmax,h);
}
}
hmin -= params->walkableClimb;
hmax += params->walkableClimb;
float bmin[3], bmax[3];
dtVcopy(bmin, params->bmin);
dtVcopy(bmax, params->bmax);
bmin[1] = hmin;
bmax[1] = hmax;
for (int i = 0; i < params->offMeshConCount; ++i)
{
const float* p0 = ¶ms->offMeshConVerts[(i*2+0)*3];
const float* p1 = ¶ms->offMeshConVerts[(i*2+1)*3];
offMeshConClass[i*2+0] = classifyOffMeshPoint(p0, bmin, bmax);
offMeshConClass[i*2+1] = classifyOffMeshPoint(p1, bmin, bmax);
// Zero out off-mesh start positions which are not even potentially touching the mesh.
if (offMeshConClass[i*2+0] == 0xff)
{
if (p0[1] < bmin[1] || p0[1] > bmax[1])
offMeshConClass[i*2+0] = 0;
}
// Cound how many links should be allocated for off-mesh connections.
if (offMeshConClass[i*2+0] == 0xff)
offMeshConLinkCount++;
if (offMeshConClass[i*2+1] == 0xff)
offMeshConLinkCount++;
if (offMeshConClass[i*2+0] == 0xff)
storedOffMeshConCount++;
}
}
// Off-mesh connectionss are stored as polygons, adjust values.
const int totPolyCount = params->polyCount + storedOffMeshConCount;
const int totVertCount = params->vertCount + storedOffMeshConCount*2;
// Find portal edges which are at tile borders.
int edgeCount = 0;
int portalCount = 0;
for (int i = 0; i < params->polyCount; ++i)
{
const unsigned short* p = ¶ms->polys[i*2*nvp];
for (int j = 0; j < nvp; ++j)
{
if (p[j] == MESH_NULL_IDX) break;
edgeCount++;
if (p[nvp+j] & 0x8000)
{
unsigned short dir = p[nvp+j] & 0xf;
if (dir != 0xf)
portalCount++;
}
}
}
const int maxLinkCount = edgeCount + portalCount*2 + offMeshConLinkCount*2;
// Find unique detail vertices.
int uniqueDetailVertCount = 0;
int detailTriCount = 0;
if (params->detailMeshes)
{
// Has detail mesh, count unique detail vertex count and use input detail tri count.
detailTriCount = params->detailTriCount;
for (int i = 0; i < params->polyCount; ++i)
{
const unsigned short* p = ¶ms->polys[i*nvp*2];
int ndv = params->detailMeshes[i*4+1];
int nv = 0;
for (int j = 0; j < nvp; ++j)
{
if (p[j] == MESH_NULL_IDX) break;
nv++;
}
ndv -= nv;
uniqueDetailVertCount += ndv;
}
}
else
{
// No input detail mesh, build detail mesh from nav polys.
uniqueDetailVertCount = 0; // No extra detail verts.
detailTriCount = 0;
for (int i = 0; i < params->polyCount; ++i)
{
const unsigned short* p = ¶ms->polys[i*nvp*2];
int nv = 0;
for (int j = 0; j < nvp; ++j)
{
if (p[j] == MESH_NULL_IDX) break;
nv++;
}
detailTriCount += nv-2;
}
}
// Calculate data size
const int headerSize = dtAlign4(sizeof(dtMeshHeader));
const int vertsSize = dtAlign4(sizeof(float)*3*totVertCount);
const int polysSize = dtAlign4(sizeof(dtPoly)*totPolyCount);
const int linksSize = dtAlign4(sizeof(dtLink)*maxLinkCount);
const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*params->polyCount);
const int detailVertsSize = dtAlign4(sizeof(float)*3*uniqueDetailVertCount);
const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*detailTriCount);
const int bvTreeSize = params->buildBvTree ? dtAlign4(sizeof(dtBVNode)*params->polyCount*2) : 0;
const int offMeshConsSize = dtAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount);
const int dataSize = headerSize + vertsSize + polysSize + linksSize +
detailMeshesSize + detailVertsSize + detailTrisSize +
bvTreeSize + offMeshConsSize;
unsigned char* data = (unsigned char*)dtAlloc(sizeof(unsigned char)*dataSize, DT_ALLOC_PERM);
if (!data)
{
dtFree(offMeshConClass);
return false;
}
memset(data, 0, dataSize);
unsigned char* d = data;
dtMeshHeader* header = (dtMeshHeader*)d; d += headerSize;
float* navVerts = (float*)d; d += vertsSize;
dtPoly* navPolys = (dtPoly*)d; d += polysSize;
d += linksSize;
dtPolyDetail* navDMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
float* navDVerts = (float*)d; d += detailVertsSize;
unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
dtBVNode* navBvtree = (dtBVNode*)d; d += bvTreeSize;
dtOffMeshConnection* offMeshCons = (dtOffMeshConnection*)d; d += offMeshConsSize;
// Store header
header->magic = DT_NAVMESH_MAGIC;
header->version = DT_NAVMESH_VERSION;
header->x = params->tileX;
header->y = params->tileY;
header->layer = params->tileLayer;
header->userId = params->userId;
header->polyCount = totPolyCount;
header->vertCount = totVertCount;
header->maxLinkCount = maxLinkCount;
dtVcopy(header->bmin, params->bmin);
dtVcopy(header->bmax, params->bmax);
header->detailMeshCount = params->polyCount;
header->detailVertCount = uniqueDetailVertCount;
header->detailTriCount = detailTriCount;
header->bvQuantFactor = 1.0f / params->cs;
header->offMeshBase = params->polyCount;
header->walkableHeight = params->walkableHeight;
header->walkableRadius = params->walkableRadius;
header->walkableClimb = params->walkableClimb;
header->offMeshConCount = storedOffMeshConCount;
header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0;
const int offMeshVertsBase = params->vertCount;
const int offMeshPolyBase = params->polyCount;
// Store vertices
// Mesh vertices
for (int i = 0; i < params->vertCount; ++i)
{
const unsigned short* iv = ¶ms->verts[i*3];
float* v = &navVerts[i*3];
v[0] = params->bmin[0] + iv[0] * params->cs;
v[1] = params->bmin[1] + iv[1] * params->ch;
v[2] = params->bmin[2] + iv[2] * params->cs;
}
// Off-mesh link vertices.
int n = 0;
for (int i = 0; i < params->offMeshConCount; ++i)
{
// Only store connections which start from this tile.
if (offMeshConClass[i*2+0] == 0xff)
{
const float* linkv = ¶ms->offMeshConVerts[i*2*3];
float* v = &navVerts[(offMeshVertsBase + n*2)*3];
dtVcopy(&v[0], &linkv[0]);
dtVcopy(&v[3], &linkv[3]);
n++;
}
}
// Store polygons
// Mesh polys
const unsigned short* src = params->polys;
for (int i = 0; i < params->polyCount; ++i)
{
dtPoly* p = &navPolys[i];
p->vertCount = 0;
p->flags = params->polyFlags[i];
p->setArea(params->polyAreas[i]);
p->setType(DT_POLYTYPE_GROUND);
for (int j = 0; j < nvp; ++j)
{
if (src[j] == MESH_NULL_IDX) break;
p->verts[j] = src[j];
if (src[nvp+j] & 0x8000)
{
// Border or portal edge.
unsigned short dir = src[nvp+j] & 0xf;
if (dir == 0xf) // Border
p->neis[j] = 0;
else if (dir == 0) // Portal x-
p->neis[j] = DT_EXT_LINK | 4;
else if (dir == 1) // Portal z+
p->neis[j] = DT_EXT_LINK | 2;
else if (dir == 2) // Portal x+
p->neis[j] = DT_EXT_LINK | 0;
else if (dir == 3) // Portal z-
p->neis[j] = DT_EXT_LINK | 6;
}
else
{
// Normal connection
p->neis[j] = src[nvp+j]+1;
}
p->vertCount++;
}
src += nvp*2;
}
// Off-mesh connection vertices.
n = 0;
for (int i = 0; i < params->offMeshConCount; ++i)
{
// Only store connections which start from this tile.
if (offMeshConClass[i*2+0] == 0xff)
{
dtPoly* p = &navPolys[offMeshPolyBase+n];
p->vertCount = 2;
p->verts[0] = (unsigned short)(offMeshVertsBase + n*2+0);
p->verts[1] = (unsigned short)(offMeshVertsBase + n*2+1);
p->flags = params->offMeshConFlags[i];
p->setArea(params->offMeshConAreas[i]);
p->setType(DT_POLYTYPE_OFFMESH_CONNECTION);
n++;
}
}
// Store detail meshes and vertices.
// The nav polygon vertices are stored as the first vertices on each mesh.
// We compress the mesh data by skipping them and using the navmesh coordinates.
if (params->detailMeshes)
{
unsigned short vbase = 0;
for (int i = 0; i < params->polyCount; ++i)
{
dtPolyDetail& dtl = navDMeshes[i];
const int vb = (int)params->detailMeshes[i*4+0];
const int ndv = (int)params->detailMeshes[i*4+1];
const int nv = navPolys[i].vertCount;
dtl.vertBase = (unsigned int)vbase;
dtl.vertCount = (unsigned char)(ndv-nv);
dtl.triBase = (unsigned int)params->detailMeshes[i*4+2];
dtl.triCount = (unsigned char)params->detailMeshes[i*4+3];
// Copy vertices except the first 'nv' verts which are equal to nav poly verts.
if (ndv-nv)
{
memcpy(&navDVerts[vbase*3], ¶ms->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv));
vbase += (unsigned short)(ndv-nv);
}
}
// Store triangles.
memcpy(navDTris, params->detailTris, sizeof(unsigned char)*4*params->detailTriCount);
}
else
{
// Create dummy detail mesh by triangulating polys.
int tbase = 0;
for (int i = 0; i < params->polyCount; ++i)
{
dtPolyDetail& dtl = navDMeshes[i];
const int nv = navPolys[i].vertCount;
dtl.vertBase = 0;
dtl.vertCount = 0;
dtl.triBase = (unsigned int)tbase;
dtl.triCount = (unsigned char)(nv-2);
// Triangulate polygon (local indices).
for (int j = 2; j < nv; ++j)
{
unsigned char* t = &navDTris[tbase*4];
t[0] = 0;
t[1] = (unsigned char)(j-1);
t[2] = (unsigned char)j;
// Bit for each edge that belongs to poly boundary.
t[3] = (1<<2);
if (j == 2) t[3] |= (1<<0);
if (j == nv-1) t[3] |= (1<<4);
tbase++;
}
}
}
// Store and create BVtree.
// TODO: take detail mesh into account! use byte per bbox extent?
if (params->buildBvTree)
{
createBVTree(params->verts, params->vertCount, params->polys, params->polyCount,
nvp, params->cs, params->ch, params->polyCount*2, navBvtree);
}
// Store Off-Mesh connections.
n = 0;
for (int i = 0; i < params->offMeshConCount; ++i)
{
// Only store connections which start from this tile.
if (offMeshConClass[i*2+0] == 0xff)
{
dtOffMeshConnection* con = &offMeshCons[n];
con->poly = (unsigned short)(offMeshPolyBase + n);
// Copy connection end-points.
const float* endPts = ¶ms->offMeshConVerts[i*2*3];
dtVcopy(&con->pos[0], &endPts[0]);
dtVcopy(&con->pos[3], &endPts[3]);
con->rad = params->offMeshConRad[i];
con->flags = params->offMeshConDir[i] ? DT_OFFMESH_CON_BIDIR : 0;
con->side = offMeshConClass[i*2+1];
if (params->offMeshConUserID)
con->userId = params->offMeshConUserID[i];
n++;
}
}
dtFree(offMeshConClass);
*outData = data;
*outDataSize = dataSize;
return true;
}
/// @par
///
/// The output data array is allocated using the detour allocator (dtAlloc()). The method
/// used to free the memory will be determined by how the tile is added to the navigation
/// mesh.
///
/// @see dtNavMesh, dtNavMesh::addTile()
bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize)
{
if (params->nvp > DT_VERTS_PER_POLYGON)
return false;
if (params->vertCount >= 0xffff)
return false;
if (!params->vertCount || !params->verts)
return false;
if (!params->polyCount || !params->polys)
return false;
const int nvp = params->nvp;
// Classify off-mesh connection points. We store only the connections
// whose start point is inside the tile.
unsigned char* offMeshConClass = 0;
int storedOffMeshConCount = 0;
int offMeshConLinkCount = 0;
int storedOffMeshSegCount = 0;
if (params->offMeshConCount > 0)
{
offMeshConClass = (unsigned char*)dtAlloc(sizeof(unsigned char)*params->offMeshConCount*2, DT_ALLOC_TEMP);
if (!offMeshConClass)
return false;
memset(offMeshConClass, 0, sizeof(unsigned char)*params->offMeshConCount*2);
// Find tight heigh bounds, used for culling out off-mesh start locations.
float hmin = FLT_MAX;
float hmax = -FLT_MAX;
for (int i = 0; i < params->vertCount; ++i)
{
const unsigned short* iv = ¶ms->verts[i*3];
const float h = params->bmin[1] + iv[1] * params->ch;
hmin = dtMin(hmin,h);
hmax = dtMax(hmax,h);
}
if (params->detailVerts && params->detailVertsCount)
{
for (int i = 0; i < params->detailVertsCount; ++i)
{
const float h = params->detailVerts[i*3+1];
hmin = dtMin(hmin,h);
hmax = dtMax(hmax,h);
}
}
hmin -= params->walkableClimb;
hmax += params->walkableClimb;
float bmin[3], bmax[3];
dtVcopy(bmin, params->bmin);
dtVcopy(bmax, params->bmax);
bmin[1] = hmin;
bmax[1] = hmax;
float bverts[3*4];
bverts[ 0] = bmin[0]; bverts[ 2] = bmin[2];
bverts[ 3] = bmax[0]; bverts[ 5] = bmin[2];
bverts[ 6] = bmax[0]; bverts[ 8] = bmax[2];
bverts[ 9] = bmin[0]; bverts[11] = bmax[2];
for (int i = 0; i < params->offMeshConCount; ++i)
{
const dtOffMeshLinkCreateParams& offMeshCon = params->offMeshCons[i];
if (offMeshCon.type & DT_OFFMESH_CON_POINT)
{
offMeshConClass[i*2+0] = classifyOffMeshPoint(offMeshCon.vertsA0, bmin, bmax);
offMeshConClass[i*2+1] = classifyOffMeshPoint(offMeshCon.vertsB0, bmin, bmax);
// Zero out off-mesh start positions which are not even potentially touching the mesh.
if (offMeshConClass[i*2+0] == 0xff)
{
if ((offMeshCon.vertsA0[1] - offMeshCon.snapHeight) < bmin[1] &&
(offMeshCon.vertsA0[1] + offMeshCon.snapHeight) > bmax[1])
{
offMeshConClass[i * 2 + 0] = 0;
}
}
// Count how many links should be allocated for off-mesh connections.
if (offMeshConClass[i*2+0] == 0xff)
offMeshConLinkCount++;
if (offMeshConClass[i*2+1] == 0xff)
offMeshConLinkCount++;
if (offMeshConClass[i*2+0] == 0xff)
storedOffMeshConCount++;
}
else if (offMeshCon.type & DT_OFFMESH_CON_SEGMENT)
{
int smin, smax;
float tmin, tmax;
if ((offMeshCon.vertsA0[1] >= bmin[1] && offMeshCon.vertsA0[1] <= bmax[1] && classifyOffMeshPoint(offMeshCon.vertsA0, bmin, bmax) == 0xff) ||
(offMeshCon.vertsA1[1] >= bmin[1] && offMeshCon.vertsA1[1] <= bmax[1] && classifyOffMeshPoint(offMeshCon.vertsA1, bmin, bmax) == 0xff) ||
(offMeshCon.vertsB0[1] >= bmin[1] && offMeshCon.vertsB0[1] <= bmax[1] && classifyOffMeshPoint(offMeshCon.vertsB0, bmin, bmax) == 0xff) ||
(offMeshCon.vertsB1[1] >= bmin[1] && offMeshCon.vertsB1[1] <= bmax[1] && classifyOffMeshPoint(offMeshCon.vertsB1, bmin, bmax) == 0xff) ||
dtIntersectSegmentPoly2D(offMeshCon.vertsA0, offMeshCon.vertsA1, bverts, 4, tmin, tmax, smin, smax) ||
dtIntersectSegmentPoly2D(offMeshCon.vertsB0, offMeshCon.vertsB1, bverts, 4, tmin, tmax, smin, smax))
{
offMeshConClass[i*2] = 0xff;
storedOffMeshSegCount++;
}
}
}
}
// Off-mesh connections are stored as polygons, adjust values.
const int firstSegVert = params->vertCount + storedOffMeshConCount*2;
const int firstSegPoly = params->polyCount + storedOffMeshConCount;
const int totPolyCount = firstSegPoly + storedOffMeshSegCount*DT_MAX_OFFMESH_SEGMENT_PARTS;
const int totVertCount = firstSegVert + storedOffMeshSegCount*DT_MAX_OFFMESH_SEGMENT_PARTS*4;
// Find portal edges which are at tile borders.
int edgeCount = 0;
int portalCount = 0;
for (int i = 0; i < params->polyCount; ++i)
{
const unsigned short* p = ¶ms->polys[i*2*nvp];
for (int j = 0; j < nvp; ++j)
{
if (p[j] == MESH_NULL_IDX) break;
edgeCount++;
if (p[nvp+j] & 0x8000)
{
unsigned short dir = p[nvp+j] & 0xf;
if (dir != 0xf)
portalCount++;
}
}
}
// offmesh links will be added in dynamic array
const int maxLinkCount = edgeCount + portalCount*2;
// Find unique detail vertices.
int uniqueDetailVertCount = 0;
int detailTriCount = 0;
if (params->detailMeshes)
{
// Has detail mesh, count unique detail vertex count and use input detail tri count.
detailTriCount = params->detailTriCount;
for (int i = 0; i < params->polyCount; ++i)
{
const unsigned short* p = ¶ms->polys[i*nvp*2];
int ndv = params->detailMeshes[i*4+1];
int nv = 0;
for (int j = 0; j < nvp; ++j)
{
if (p[j] == MESH_NULL_IDX) break;
nv++;
}
ndv -= nv;
uniqueDetailVertCount += ndv;
}
}
else
{
// No input detail mesh, build detail mesh from nav polys.
uniqueDetailVertCount = 0; // No extra detail verts.
detailTriCount = 0;
for (int i = 0; i < params->polyCount; ++i)
{
const unsigned short* p = ¶ms->polys[i*nvp*2];
int nv = 0;
for (int j = 0; j < nvp; ++j)
{
if (p[j] == MESH_NULL_IDX) break;
nv++;
}
detailTriCount += nv-2;
}
}
// Calculate data size
const int headerSize = dtAlign4(sizeof(dtMeshHeader));
const int vertsSize = dtAlign4(sizeof(float)*3*totVertCount);
const int polysSize = dtAlign4(sizeof(dtPoly)*totPolyCount);
const int linksSize = dtAlign4(sizeof(dtLink)*maxLinkCount);
const int detailMeshesSize = dtAlign4(sizeof(dtPolyDetail)*params->polyCount);
const int detailVertsSize = dtAlign4(sizeof(float)*3*uniqueDetailVertCount);
const int detailTrisSize = dtAlign4(sizeof(unsigned char)*4*detailTriCount);
const int bvTreeSize = params->buildBvTree ? dtAlign4(sizeof(dtBVNode)*params->polyCount*2) : 0;
const int offMeshConsSize = dtAlign4(sizeof(dtOffMeshConnection)*storedOffMeshConCount);
const int offMeshSegSize = dtAlign4(sizeof(dtOffMeshSegmentConnection)*storedOffMeshSegCount);
const int clustersSize = dtAlign4(sizeof(dtCluster)*params->clusterCount);
const int polyClustersSize = dtAlign4(sizeof(unsigned short)*params->polyCount);
const int dataSize = headerSize + vertsSize + polysSize + linksSize +
detailMeshesSize + detailVertsSize + detailTrisSize +
bvTreeSize + offMeshConsSize + offMeshSegSize +
clustersSize + polyClustersSize;
unsigned char* data = (unsigned char*)dtAlloc(sizeof(unsigned char)*dataSize, DT_ALLOC_PERM);
if (!data)
{
dtFree(offMeshConClass);
return false;
}
memset(data, 0, dataSize);
unsigned char* d = data;
dtMeshHeader* header = (dtMeshHeader*)d; d += headerSize;
float* navVerts = (float*)d; d += vertsSize;
dtPoly* navPolys = (dtPoly*)d; d += polysSize;
d += linksSize;
dtPolyDetail* navDMeshes = (dtPolyDetail*)d; d += detailMeshesSize;
float* navDVerts = (float*)d; d += detailVertsSize;
unsigned char* navDTris = (unsigned char*)d; d += detailTrisSize;
dtBVNode* navBvtree = (dtBVNode*)d; d += bvTreeSize;
dtOffMeshConnection* offMeshCons = (dtOffMeshConnection*)d; d += offMeshConsSize;
dtOffMeshSegmentConnection* offMeshSegs = (dtOffMeshSegmentConnection*)d; d += offMeshSegSize;
dtCluster* clusters = (dtCluster*)d; d += clustersSize;
unsigned short* polyClusters = (unsigned short*)d; d += polyClustersSize;
// Store header
header->magic = DT_NAVMESH_MAGIC;
header->version = DT_NAVMESH_VERSION;
header->x = params->tileX;
header->y = params->tileY;
header->layer = params->tileLayer;
header->userId = params->userId;
header->polyCount = totPolyCount;
header->vertCount = totVertCount;
header->maxLinkCount = maxLinkCount;
dtVcopy(header->bmin, params->bmin);
dtVcopy(header->bmax, params->bmax);
header->detailMeshCount = params->polyCount;
header->detailVertCount = uniqueDetailVertCount;
header->detailTriCount = detailTriCount;
header->bvQuantFactor = 1.0f / params->cs;
header->offMeshBase = params->polyCount;
header->offMeshSegPolyBase = firstSegPoly;
header->offMeshSegVertBase = firstSegVert;
header->walkableHeight = params->walkableHeight;
header->walkableRadius = params->walkableRadius;
header->walkableClimb = params->walkableClimb;
header->offMeshConCount = storedOffMeshConCount;
header->offMeshSegConCount = storedOffMeshSegCount;
header->bvNodeCount = params->buildBvTree ? params->polyCount*2 : 0;
header->clusterCount = params->clusterCount;
const int offMeshVertsBase = params->vertCount;
const int offMeshPolyBase = params->polyCount;
// Store vertices
// Mesh vertices
for (int i = 0; i < params->vertCount; ++i)
{
const unsigned short* iv = ¶ms->verts[i*3];
float* v = &navVerts[i*3];
v[0] = params->bmin[0] + iv[0] * params->cs;
v[1] = params->bmin[1] + iv[1] * params->ch;
v[2] = params->bmin[2] + iv[2] * params->cs;
}
// Off-mesh point link vertices.
int n = 0;
for (int i = 0; i < params->offMeshConCount; ++i)
{
const dtOffMeshLinkCreateParams& offMeshCon = params->offMeshCons[i];
// Only store connections which start from this tile.
if ((offMeshConClass[i*2+0] == 0xff) && (offMeshCon.type & DT_OFFMESH_CON_POINT))
{
float* v = &navVerts[(offMeshVertsBase + n*2)*3];
dtVcopy(&v[0], &offMeshCon.vertsA0[0]);
dtVcopy(&v[3], &offMeshCon.vertsB0[0]);
n++;
}
}
// Store polygons
// Mesh polys
const unsigned short* src = params->polys;
for (int i = 0; i < params->polyCount; ++i)
{
dtPoly* p = &navPolys[i];
p->vertCount = 0;
p->flags = params->polyFlags[i];
p->setArea(params->polyAreas[i]);
p->setType(DT_POLYTYPE_GROUND);
for (int j = 0; j < nvp; ++j)
{
if (src[j] == MESH_NULL_IDX) break;
p->verts[j] = src[j];
if (src[nvp+j] & 0x8000)
{
// Border or portal edge.
unsigned short dir = src[nvp+j] & 0xf;
if (dir == 0xf) // Border
p->neis[j] = 0;
else if (dir == 0) // Portal x-
p->neis[j] = DT_EXT_LINK | 4;
else if (dir == 1) // Portal z+
p->neis[j] = DT_EXT_LINK | 2;
else if (dir == 2) // Portal x+
p->neis[j] = DT_EXT_LINK | 0;
else if (dir == 3) // Portal z-
p->neis[j] = DT_EXT_LINK | 6;
}
else
{
// Normal connection
p->neis[j] = src[nvp+j]+1;
}
p->vertCount++;
}
src += nvp*2;
}
// Off-mesh point connection polygons.
n = 0;
int nseg = 0;
for (int i = 0; i < params->offMeshConCount; ++i)
{
const dtOffMeshLinkCreateParams& offMeshCon = params->offMeshCons[i];
// Only store connections which start from this tile.
if (offMeshConClass[i*2+0] == 0xff)
{
if (offMeshCon.type & DT_OFFMESH_CON_POINT)
{
dtPoly* p = &navPolys[offMeshPolyBase+n];
p->vertCount = 2;
p->verts[0] = (unsigned short)(offMeshVertsBase + n*2+0);
p->verts[1] = (unsigned short)(offMeshVertsBase + n*2+1);
p->flags = offMeshCon.polyFlag;
p->setArea(offMeshCon.area);
p->setType(DT_POLYTYPE_OFFMESH_POINT);
n++;
}
else
{
for (int j = 0; j < DT_MAX_OFFMESH_SEGMENT_PARTS; j++)
{
dtPoly* p = &navPolys[firstSegPoly+nseg];
p->vertCount = 0;
p->flags = offMeshCon.polyFlag;
p->setArea(offMeshCon.area);
p->setType(DT_POLYTYPE_OFFMESH_SEGMENT);
nseg++;
}
}
}
}
// Store detail meshes and vertices.
// The nav polygon vertices are stored as the first vertices on each mesh.
// We compress the mesh data by skipping them and using the navmesh coordinates.
if (params->detailMeshes)
{
unsigned short vbase = 0;
for (int i = 0; i < params->polyCount; ++i)
{
dtPolyDetail& dtl = navDMeshes[i];
const int vb = (int)params->detailMeshes[i*4+0];
const int ndv = (int)params->detailMeshes[i*4+1];
const int nv = navPolys[i].vertCount;
dtl.vertBase = (unsigned int)vbase;
dtl.vertCount = (unsigned char)(ndv-nv);
dtl.triBase = (unsigned int)params->detailMeshes[i*4+2];
dtl.triCount = (unsigned char)params->detailMeshes[i*4+3];
// Copy vertices except the first 'nv' verts which are equal to nav poly verts.
if (ndv-nv)
{
memcpy(&navDVerts[vbase*3], ¶ms->detailVerts[(vb+nv)*3], sizeof(float)*3*(ndv-nv));
vbase += (unsigned short)(ndv-nv);
}
}
// Store triangles.
memcpy(navDTris, params->detailTris, sizeof(unsigned char)*4*params->detailTriCount);
}
else
{
// Create dummy detail mesh by triangulating polys.
int tbase = 0;
for (int i = 0; i < params->polyCount; ++i)
{
dtPolyDetail& dtl = navDMeshes[i];
const int nv = navPolys[i].vertCount;
dtl.vertBase = 0;
dtl.vertCount = 0;
dtl.triBase = (unsigned int)tbase;
dtl.triCount = (unsigned char)(nv-2);
// Triangulate polygon (local indices).
for (int j = 2; j < nv; ++j)
{
unsigned char* t = &navDTris[tbase*4];
t[0] = 0;
t[1] = (unsigned char)(j-1);
t[2] = (unsigned char)j;
// Bit for each edge that belongs to poly boundary.
t[3] = (1<<2);
if (j == 2) t[3] |= (1<<0);
if (j == nv-1) t[3] |= (1<<4);
tbase++;
}
}
}
// Store and create BVtree.
if (params->buildBvTree)
{
createBVTree(params->verts, params->vertCount, params->polys, params->polyCount, nvp,
navDMeshes, navDVerts, navDTris, params->bmin,
params->cs, params->ch, params->polyCount*2, navBvtree);
}
// Store Off-Mesh connections.
n = 0;
nseg = 0;
for (int i = 0; i < params->offMeshConCount; ++i)
{
const dtOffMeshLinkCreateParams& offMeshCon = params->offMeshCons[i];
// Only store connections which start from this tile.
if (offMeshConClass[i*2+0] == 0xff)
{
if (offMeshCon.type & DT_OFFMESH_CON_POINT)
{
dtOffMeshConnection* con = &offMeshCons[n];
con->poly = (unsigned short)(offMeshPolyBase + n);
// Copy connection end-points.
dtVcopy(&con->pos[0], &offMeshCon.vertsA0[0]);
dtVcopy(&con->pos[3], &offMeshCon.vertsB0[0]);
con->rad = offMeshCon.snapRadius;
con->height = offMeshCon.snapHeight;
con->setFlags(offMeshCon.type);
con->side = offMeshConClass[i*2+1] == 0xff ? DT_CONNECTION_INTERNAL : offMeshConClass[i*2+1];
if (offMeshCon.userID)
con->userId = offMeshCon.userID;
n++;
}
else
{
dtOffMeshSegmentConnection* con = &offMeshSegs[nseg];
dtVcopy(con->startA, &offMeshCon.vertsA0[0]);
dtVcopy(con->endA, &offMeshCon.vertsA1[0]);
dtVcopy(con->startB, &offMeshCon.vertsB0[0]);
dtVcopy(con->endB, &offMeshCon.vertsB1[0]);
con->rad = offMeshCon.snapRadius;
con->height = offMeshCon.snapHeight;
con->setFlags(offMeshCon.type);
if (offMeshCon.userID)
con->userId = offMeshCon.userID;
nseg++;
}
}
}
dtFree(offMeshConClass);
// Store clusters
if (params->polyClusters)
{
memcpy(polyClusters, params->polyClusters, sizeof(unsigned short)*params->polyCount);
}
for (int i = 0; i < params->clusterCount; i++)
{
dtCluster& cluster = clusters[i];
cluster.firstLink = DT_NULL_LINK;
cluster.numLinks = 0;
dtVset(cluster.center, 0.f, 0.f, 0.f);
// calculate center point: take from first poly
for (int j = 0; j < params->polyCount; j++)
{
if (polyClusters[j] != i)
{
continue;
}
const dtPoly* poly = &navPolys[j];
float c[3] = { 0.0f, 0.0f, 0.0f };
for (int iv = 0; iv < poly->vertCount; iv++)
{
dtVadd(c, c, &navVerts[poly->verts[iv] * 3]);
}
dtVmad(cluster.center, cluster.center, c, 1.0f / poly->vertCount);
break;
}
}
*outData = data;
*outDataSize = dataSize;
return true;
}
static void calculateDistanceField(const dtTileCacheLayer& layer, unsigned short* src, unsigned short& maxDist)
{
const int w = (int)layer.header->width;
const int h = (int)layer.header->height;
// Init distance and points.
memset(src, 0xff, w*h*sizeof(unsigned short));
// Mark boundary cells.
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const int i = x+y*w;
const unsigned char area = layer.areas[i];
if (area == DT_TILECACHE_NULL_AREA)
{
src[i] = 0;
continue;
}
int nc = 0;
for (int dir = 0; dir < 4; ++dir)
{
const int ax = x + getDirOffsetX(dir);
const int ay = y + getDirOffsetY(dir);
const int ai = ax+ay*w;
if (ax >= 0 && ax < w && ay >= 0 && ay < h && isConnected(layer, i, dir))
{
if (area == layer.areas[ai])
{
nc++;
}
}
}
if (nc != 4)
{
src[i] = 0;
}
}
}
// Pass 1
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
const int i = x+y*w;
if (layer.areas[i] == DT_TILECACHE_NULL_AREA)
continue;
const int ax = x + getDirOffsetX(0);
const int ay = y + getDirOffsetY(0);
const int ai = ax+ay*w;
if (ax >= 0 && ax < w && ay >= 0 && ay < h && isConnected(layer, i, 0))
{
// (-1,0)
if (src[ai]+2 < src[i])
src[i] = src[ai]+2;
const int aax = ax + getDirOffsetX(3);
const int aay = ay + getDirOffsetY(3);
const int aai = aax+aay*w;
if (aax >= 0 && aax < w && aay >= 0 && aay < h && isConnected(layer, ai, 3))
{
// (-1,-1)
if (src[aai]+3 < src[i])
src[i] = src[aai]+3;
}
}
const int ax2 = x + getDirOffsetX(3);
const int ay2 = y + getDirOffsetY(3);
const int ai2 = ax2+ay2*w;
if (ax2 >= 0 && ax2 < w && ay2 >= 0 && ay2 < h && isConnected(layer, i, 3))
{
// (0,-1)
if (src[ai2]+2 < src[i])
src[i] = src[ai2]+2;
const int aax2 = ax2 + getDirOffsetX(2);
const int aay2 = ay2 + getDirOffsetY(2);
const int aai2 = aax2+aay2*w;
if (aax2 >= 0 && aax2 < w && aay2 >= 0 && aay2 < h && isConnected(layer, ai2, 2))
{
// (1,-1)
if (src[aai2]+3 < src[i])
src[i] = src[aai2]+3;
}
}
}
}
// Pass 2
for (int y = h-1; y >= 0; --y)
{
for (int x = w-1; x >= 0; --x)
{
const int i = x+y*w;
if (layer.areas[i] == DT_TILECACHE_NULL_AREA)
continue;
const int ax = x + getDirOffsetX(2);
const int ay = y + getDirOffsetY(2);
const int ai = ax+ay*w;
if (ax >= 0 && ax < w && ay >= 0 && ay < h && isConnected(layer, i, 2))
{
// (1,0)
if (src[ai]+2 < src[i])
src[i] = src[ai]+2;
const int aax = ax + getDirOffsetX(1);
const int aay = ay + getDirOffsetY(1);
const int aai = aax+aay*w;
if (aax >= 0 && aax < w && aay >= 0 && aay < h && isConnected(layer, ai, 1))
{
// (1,1)
if (src[aai]+3 < src[i])
src[i] = src[aai]+3;
}
}
const int ax2 = x + getDirOffsetX(1);
const int ay2 = y + getDirOffsetY(1);
const int ai2 = ax2+ay2*w;
if (ax2 >= 0 && ax2 < w && ay2 >= 0 && ay2 < h && isConnected(layer, i, 1))
{
// (0,1)
if (src[ai2]+2 < src[i])
src[i] = src[ai2]+2;
const int aax2 = ax2 + getDirOffsetX(0);
const int aay2 = ay2 + getDirOffsetY(0);
const int aai2 = aax2+aay2*w;
if (aax2 >= 0 && aax2 < w && aay2 >= 0 && aay2 < h && isConnected(layer, ai2, 0))
{
// (-1,1)
if (src[aai2]+3 < src[i])
src[i] = src[aai2]+3;
}
}
}
}
// calc max distance
maxDist = 0;
for (int i = w*h -1; i >= 0; i--)
{
maxDist = dtMax(src[i], maxDist);
}
}
void LinearAllocator::reset()
{
high = dtMax(high, top);
top = 0;
}
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);
}