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- //
- // Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
- //
- // This software is provided 'as-is', without any express or implied
- // warranty. In no event will the authors be held liable for any damages
- // arising from the use of this software.
- // Permission is granted to anyone to use this software for any purpose,
- // including commercial applications, and to alter it and redistribute it
- // freely, subject to the following restrictions:
- // 1. The origin of this software must not be misrepresented; you must not
- // claim that you wrote the original software. If you use this software
- // in a product, an acknowledgment in the product documentation would be
- // appreciated but is not required.
- // 2. Altered source versions must be plainly marked as such, and must not be
- // misrepresented as being the original software.
- // 3. This notice may not be removed or altered from any source distribution.
- //
- #define _USE_MATH_DEFINES
- #include <math.h>
- #include <stdio.h>
- #include <string.h>
- #include <float.h>
- #include <new>
- #include "SDL.h"
- #include "SDL_opengl.h"
- #ifdef __APPLE__
- # include <OpenGL/glu.h>
- #else
- # include <GL/glu.h>
- #endif
- #include "imgui.h"
- #include "InputGeom.h"
- #include "Sample.h"
- #include "Sample_TempObstacles.h"
- #include "Recast.h"
- #include "RecastDebugDraw.h"
- #include "DetourAssert.h"
- #include "DetourNavMesh.h"
- #include "DetourNavMeshBuilder.h"
- #include "DetourDebugDraw.h"
- #include "DetourCommon.h"
- #include "DetourTileCache.h"
- #include "NavMeshTesterTool.h"
- #include "OffMeshConnectionTool.h"
- #include "ConvexVolumeTool.h"
- #include "CrowdTool.h"
- #include "RecastAlloc.h"
- #include "RecastAssert.h"
- #include "fastlz.h"
- #ifdef WIN32
- # define snprintf _snprintf
- #endif
- // This value specifies how many layers (or "floors") each navmesh tile is expected to have.
- static const int EXPECTED_LAYERS_PER_TILE = 4;
- static bool isectSegAABB(const float* sp, const float* sq,
- const float* amin, const float* amax,
- float& tmin, float& tmax)
- {
- static const float EPS = 1e-6f;
-
- float d[3];
- rcVsub(d, sq, sp);
- tmin = 0; // set to -FLT_MAX to get first hit on line
- tmax = FLT_MAX; // set to max distance ray can travel (for segment)
-
- // For all three slabs
- for (int i = 0; i < 3; i++)
- {
- if (fabsf(d[i]) < EPS)
- {
- // Ray is parallel to slab. No hit if origin not within slab
- if (sp[i] < amin[i] || sp[i] > amax[i])
- return false;
- }
- else
- {
- // Compute intersection t value of ray with near and far plane of slab
- const float ood = 1.0f / d[i];
- float t1 = (amin[i] - sp[i]) * ood;
- float t2 = (amax[i] - sp[i]) * ood;
- // Make t1 be intersection with near plane, t2 with far plane
- if (t1 > t2) rcSwap(t1, t2);
- // Compute the intersection of slab intersections intervals
- if (t1 > tmin) tmin = t1;
- if (t2 < tmax) tmax = t2;
- // Exit with no collision as soon as slab intersection becomes empty
- if (tmin > tmax) return false;
- }
- }
-
- return true;
- }
- static int calcLayerBufferSize(const int gridWidth, const int gridHeight)
- {
- const int headerSize = dtAlign4(sizeof(dtTileCacheLayerHeader));
- const int gridSize = gridWidth * gridHeight;
- return headerSize + gridSize*4;
- }
- struct FastLZCompressor : public dtTileCacheCompressor
- {
- virtual int maxCompressedSize(const int bufferSize)
- {
- return (int)(bufferSize* 1.05f);
- }
-
- virtual dtStatus compress(const unsigned char* buffer, const int bufferSize,
- unsigned char* compressed, const int /*maxCompressedSize*/, int* compressedSize)
- {
- *compressedSize = fastlz_compress((const void *const)buffer, bufferSize, compressed);
- return DT_SUCCESS;
- }
-
- virtual dtStatus decompress(const unsigned char* compressed, const int compressedSize,
- unsigned char* buffer, const int maxBufferSize, int* bufferSize)
- {
- *bufferSize = fastlz_decompress(compressed, compressedSize, buffer, maxBufferSize);
- return *bufferSize < 0 ? DT_FAILURE : DT_SUCCESS;
- }
- };
- struct LinearAllocator : public dtTileCacheAlloc
- {
- unsigned char* buffer;
- size_t capacity;
- size_t top;
- size_t high;
-
- LinearAllocator(const size_t cap) : buffer(0), capacity(0), top(0), high(0)
- {
- resize(cap);
- }
-
- ~LinearAllocator()
- {
- dtFree(buffer);
- }
- void resize(const size_t cap)
- {
- if (buffer) dtFree(buffer);
- buffer = (unsigned char*)dtAlloc(cap, DT_ALLOC_PERM);
- capacity = cap;
- }
-
- virtual void reset()
- {
- high = dtMax(high, top);
- top = 0;
- }
-
- virtual void* alloc(const size_t size)
- {
- if (!buffer)
- return 0;
- if (top+size > capacity)
- return 0;
- unsigned char* mem = &buffer[top];
- top += size;
- return mem;
- }
-
- virtual void free(void* /*ptr*/)
- {
- // Empty
- }
- };
- struct MeshProcess : public dtTileCacheMeshProcess
- {
- InputGeom* m_geom;
- inline MeshProcess() : m_geom(0)
- {
- }
- inline void init(InputGeom* geom)
- {
- m_geom = geom;
- }
-
- virtual void process(struct dtNavMeshCreateParams* params,
- unsigned char* polyAreas, unsigned short* polyFlags)
- {
- // Update poly flags from areas.
- for (int i = 0; i < params->polyCount; ++i)
- {
- if (polyAreas[i] == DT_TILECACHE_WALKABLE_AREA)
- polyAreas[i] = SAMPLE_POLYAREA_GROUND;
- if (polyAreas[i] == SAMPLE_POLYAREA_GROUND ||
- polyAreas[i] == SAMPLE_POLYAREA_GRASS ||
- polyAreas[i] == SAMPLE_POLYAREA_ROAD)
- {
- polyFlags[i] = SAMPLE_POLYFLAGS_WALK;
- }
- else if (polyAreas[i] == SAMPLE_POLYAREA_WATER)
- {
- polyFlags[i] = SAMPLE_POLYFLAGS_SWIM;
- }
- else if (polyAreas[i] == SAMPLE_POLYAREA_DOOR)
- {
- polyFlags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR;
- }
- }
- // Pass in off-mesh connections.
- if (m_geom)
- {
- params->offMeshConVerts = m_geom->getOffMeshConnectionVerts();
- params->offMeshConRad = m_geom->getOffMeshConnectionRads();
- params->offMeshConDir = m_geom->getOffMeshConnectionDirs();
- params->offMeshConAreas = m_geom->getOffMeshConnectionAreas();
- params->offMeshConFlags = m_geom->getOffMeshConnectionFlags();
- params->offMeshConUserID = m_geom->getOffMeshConnectionId();
- params->offMeshConCount = m_geom->getOffMeshConnectionCount();
- }
- }
- };
- static const int MAX_LAYERS = 32;
- struct TileCacheData
- {
- unsigned char* data;
- int dataSize;
- };
- struct RasterizationContext
- {
- RasterizationContext() :
- solid(0),
- triareas(0),
- lset(0),
- chf(0),
- ntiles(0)
- {
- memset(tiles, 0, sizeof(TileCacheData)*MAX_LAYERS);
- }
-
- ~RasterizationContext()
- {
- rcFreeHeightField(solid);
- delete [] triareas;
- rcFreeHeightfieldLayerSet(lset);
- rcFreeCompactHeightfield(chf);
- for (int i = 0; i < MAX_LAYERS; ++i)
- {
- dtFree(tiles[i].data);
- tiles[i].data = 0;
- }
- }
-
- rcHeightfield* solid;
- unsigned char* triareas;
- rcHeightfieldLayerSet* lset;
- rcCompactHeightfield* chf;
- TileCacheData tiles[MAX_LAYERS];
- int ntiles;
- };
- int Sample_TempObstacles::rasterizeTileLayers(
- const int tx, const int ty,
- const rcConfig& cfg,
- TileCacheData* tiles,
- const int maxTiles)
- {
- if (!m_geom || !m_geom->getMesh() || !m_geom->getChunkyMesh())
- {
- m_ctx->log(RC_LOG_ERROR, "buildTile: Input mesh is not specified.");
- return 0;
- }
-
- FastLZCompressor comp;
- RasterizationContext rc;
-
- const float* verts = m_geom->getMesh()->getVerts();
- const int nverts = m_geom->getMesh()->getVertCount();
- const rcChunkyTriMesh* chunkyMesh = m_geom->getChunkyMesh();
-
- // Tile bounds.
- const float tcs = cfg.tileSize * cfg.cs;
-
- rcConfig tcfg;
- memcpy(&tcfg, &cfg, sizeof(tcfg));
- tcfg.bmin[0] = cfg.bmin[0] + tx*tcs;
- tcfg.bmin[1] = cfg.bmin[1];
- tcfg.bmin[2] = cfg.bmin[2] + ty*tcs;
- tcfg.bmax[0] = cfg.bmin[0] + (tx+1)*tcs;
- tcfg.bmax[1] = cfg.bmax[1];
- tcfg.bmax[2] = cfg.bmin[2] + (ty+1)*tcs;
- tcfg.bmin[0] -= tcfg.borderSize*tcfg.cs;
- tcfg.bmin[2] -= tcfg.borderSize*tcfg.cs;
- tcfg.bmax[0] += tcfg.borderSize*tcfg.cs;
- tcfg.bmax[2] += tcfg.borderSize*tcfg.cs;
-
- // Allocate voxel heightfield where we rasterize our input data to.
- rc.solid = rcAllocHeightfield();
- if (!rc.solid)
- {
- m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
- return 0;
- }
- if (!rcCreateHeightfield(m_ctx, *rc.solid, tcfg.width, tcfg.height, tcfg.bmin, tcfg.bmax, tcfg.cs, tcfg.ch))
- {
- m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");
- return 0;
- }
-
- // Allocate array that can hold triangle flags.
- // If you have multiple meshes you need to process, allocate
- // and array which can hold the max number of triangles you need to process.
- rc.triareas = new unsigned char[chunkyMesh->maxTrisPerChunk];
- if (!rc.triareas)
- {
- m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (%d).", chunkyMesh->maxTrisPerChunk);
- return 0;
- }
-
- float tbmin[2], tbmax[2];
- tbmin[0] = tcfg.bmin[0];
- tbmin[1] = tcfg.bmin[2];
- tbmax[0] = tcfg.bmax[0];
- tbmax[1] = tcfg.bmax[2];
- int cid[512];// TODO: Make grow when returning too many items.
- const int ncid = rcGetChunksOverlappingRect(chunkyMesh, tbmin, tbmax, cid, 512);
- if (!ncid)
- {
- return 0; // empty
- }
-
- for (int i = 0; i < ncid; ++i)
- {
- const rcChunkyTriMeshNode& node = chunkyMesh->nodes[cid[i]];
- const int* tris = &chunkyMesh->tris[node.i*3];
- const int ntris = node.n;
-
- memset(rc.triareas, 0, ntris*sizeof(unsigned char));
- rcMarkWalkableTriangles(m_ctx, tcfg.walkableSlopeAngle,
- verts, nverts, tris, ntris, rc.triareas);
-
- if (!rcRasterizeTriangles(m_ctx, verts, nverts, tris, rc.triareas, ntris, *rc.solid, tcfg.walkableClimb))
- return 0;
- }
-
- // Once all geometry is rasterized, we do initial pass of filtering to
- // remove unwanted overhangs caused by the conservative rasterization
- // as well as filter spans where the character cannot possibly stand.
- if (m_filterLowHangingObstacles)
- rcFilterLowHangingWalkableObstacles(m_ctx, tcfg.walkableClimb, *rc.solid);
- if (m_filterLedgeSpans)
- rcFilterLedgeSpans(m_ctx, tcfg.walkableHeight, tcfg.walkableClimb, *rc.solid);
- if (m_filterWalkableLowHeightSpans)
- rcFilterWalkableLowHeightSpans(m_ctx, tcfg.walkableHeight, *rc.solid);
-
-
- rc.chf = rcAllocCompactHeightfield();
- if (!rc.chf)
- {
- m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
- return 0;
- }
- if (!rcBuildCompactHeightfield(m_ctx, tcfg.walkableHeight, tcfg.walkableClimb, *rc.solid, *rc.chf))
- {
- m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
- return 0;
- }
-
- // Erode the walkable area by agent radius.
- if (!rcErodeWalkableArea(m_ctx, tcfg.walkableRadius, *rc.chf))
- {
- m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
- return 0;
- }
-
- // (Optional) Mark areas.
- const ConvexVolume* vols = m_geom->getConvexVolumes();
- for (int i = 0; i < m_geom->getConvexVolumeCount(); ++i)
- {
- rcMarkConvexPolyArea(m_ctx, vols[i].verts, vols[i].nverts,
- vols[i].hmin, vols[i].hmax,
- (unsigned char)vols[i].area, *rc.chf);
- }
-
- rc.lset = rcAllocHeightfieldLayerSet();
- if (!rc.lset)
- {
- m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'lset'.");
- return 0;
- }
- if (!rcBuildHeightfieldLayers(m_ctx, *rc.chf, tcfg.borderSize, tcfg.walkableHeight, *rc.lset))
- {
- m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build heighfield layers.");
- return 0;
- }
-
- rc.ntiles = 0;
- for (int i = 0; i < rcMin(rc.lset->nlayers, MAX_LAYERS); ++i)
- {
- TileCacheData* tile = &rc.tiles[rc.ntiles++];
- const rcHeightfieldLayer* layer = &rc.lset->layers[i];
-
- // Store header
- dtTileCacheLayerHeader header;
- header.magic = DT_TILECACHE_MAGIC;
- header.version = DT_TILECACHE_VERSION;
-
- // Tile layer location in the navmesh.
- header.tx = tx;
- header.ty = ty;
- header.tlayer = i;
- dtVcopy(header.bmin, layer->bmin);
- dtVcopy(header.bmax, layer->bmax);
-
- // Tile info.
- header.width = (unsigned char)layer->width;
- header.height = (unsigned char)layer->height;
- header.minx = (unsigned char)layer->minx;
- header.maxx = (unsigned char)layer->maxx;
- header.miny = (unsigned char)layer->miny;
- header.maxy = (unsigned char)layer->maxy;
- header.hmin = (unsigned short)layer->hmin;
- header.hmax = (unsigned short)layer->hmax;
- dtStatus status = dtBuildTileCacheLayer(&comp, &header, layer->heights, layer->areas, layer->cons,
- &tile->data, &tile->dataSize);
- if (dtStatusFailed(status))
- {
- return 0;
- }
- }
- // Transfer ownsership of tile data from build context to the caller.
- int n = 0;
- for (int i = 0; i < rcMin(rc.ntiles, maxTiles); ++i)
- {
- tiles[n++] = rc.tiles[i];
- rc.tiles[i].data = 0;
- rc.tiles[i].dataSize = 0;
- }
-
- return n;
- }
- void drawTiles(duDebugDraw* dd, dtTileCache* tc)
- {
- unsigned int fcol[6];
- float bmin[3], bmax[3];
- for (int i = 0; i < tc->getTileCount(); ++i)
- {
- const dtCompressedTile* tile = tc->getTile(i);
- if (!tile->header) continue;
-
- tc->calcTightTileBounds(tile->header, bmin, bmax);
-
- const unsigned int col = duIntToCol(i,64);
- duCalcBoxColors(fcol, col, col);
- duDebugDrawBox(dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], fcol);
- }
-
- for (int i = 0; i < tc->getTileCount(); ++i)
- {
- const dtCompressedTile* tile = tc->getTile(i);
- if (!tile->header) continue;
-
- tc->calcTightTileBounds(tile->header, bmin, bmax);
-
- const unsigned int col = duIntToCol(i,255);
- const float pad = tc->getParams()->cs * 0.1f;
- duDebugDrawBoxWire(dd, bmin[0]-pad,bmin[1]-pad,bmin[2]-pad,
- bmax[0]+pad,bmax[1]+pad,bmax[2]+pad, col, 2.0f);
- }
- }
- enum DrawDetailType
- {
- DRAWDETAIL_AREAS,
- DRAWDETAIL_REGIONS,
- DRAWDETAIL_CONTOURS,
- DRAWDETAIL_MESH,
- };
- void drawDetail(duDebugDraw* dd, dtTileCache* tc, const int tx, const int ty, int type)
- {
- struct TileCacheBuildContext
- {
- inline TileCacheBuildContext(struct dtTileCacheAlloc* a) : layer(0), lcset(0), lmesh(0), alloc(a) {}
- inline ~TileCacheBuildContext() { purge(); }
- void purge()
- {
- dtFreeTileCacheLayer(alloc, layer);
- layer = 0;
- dtFreeTileCacheContourSet(alloc, lcset);
- lcset = 0;
- dtFreeTileCachePolyMesh(alloc, lmesh);
- lmesh = 0;
- }
- struct dtTileCacheLayer* layer;
- struct dtTileCacheContourSet* lcset;
- struct dtTileCachePolyMesh* lmesh;
- struct dtTileCacheAlloc* alloc;
- };
- dtCompressedTileRef tiles[MAX_LAYERS];
- const int ntiles = tc->getTilesAt(tx,ty,tiles,MAX_LAYERS);
- dtTileCacheAlloc* talloc = tc->getAlloc();
- dtTileCacheCompressor* tcomp = tc->getCompressor();
- const dtTileCacheParams* params = tc->getParams();
- for (int i = 0; i < ntiles; ++i)
- {
- const dtCompressedTile* tile = tc->getTileByRef(tiles[i]);
- talloc->reset();
- TileCacheBuildContext bc(talloc);
- const int walkableClimbVx = (int)(params->walkableClimb / params->ch);
- dtStatus status;
-
- // Decompress tile layer data.
- status = dtDecompressTileCacheLayer(talloc, tcomp, tile->data, tile->dataSize, &bc.layer);
- if (dtStatusFailed(status))
- return;
- if (type == DRAWDETAIL_AREAS)
- {
- duDebugDrawTileCacheLayerAreas(dd, *bc.layer, params->cs, params->ch);
- continue;
- }
- // Build navmesh
- status = dtBuildTileCacheRegions(talloc, *bc.layer, walkableClimbVx);
- if (dtStatusFailed(status))
- return;
- if (type == DRAWDETAIL_REGIONS)
- {
- duDebugDrawTileCacheLayerRegions(dd, *bc.layer, params->cs, params->ch);
- continue;
- }
-
- bc.lcset = dtAllocTileCacheContourSet(talloc);
- if (!bc.lcset)
- return;
- status = dtBuildTileCacheContours(talloc, *bc.layer, walkableClimbVx,
- params->maxSimplificationError, *bc.lcset);
- if (dtStatusFailed(status))
- return;
- if (type == DRAWDETAIL_CONTOURS)
- {
- duDebugDrawTileCacheContours(dd, *bc.lcset, tile->header->bmin, params->cs, params->ch);
- continue;
- }
-
- bc.lmesh = dtAllocTileCachePolyMesh(talloc);
- if (!bc.lmesh)
- return;
- status = dtBuildTileCachePolyMesh(talloc, *bc.lcset, *bc.lmesh);
- if (dtStatusFailed(status))
- return;
- if (type == DRAWDETAIL_MESH)
- {
- duDebugDrawTileCachePolyMesh(dd, *bc.lmesh, tile->header->bmin, params->cs, params->ch);
- continue;
- }
- }
- }
- void drawDetailOverlay(const dtTileCache* tc, const int tx, const int ty, double* proj, double* model, int* view)
- {
- dtCompressedTileRef tiles[MAX_LAYERS];
- const int ntiles = tc->getTilesAt(tx,ty,tiles,MAX_LAYERS);
- if (!ntiles)
- return;
-
- const int rawSize = calcLayerBufferSize(tc->getParams()->width, tc->getParams()->height);
-
- char text[128];
- for (int i = 0; i < ntiles; ++i)
- {
- const dtCompressedTile* tile = tc->getTileByRef(tiles[i]);
-
- float pos[3];
- pos[0] = (tile->header->bmin[0]+tile->header->bmax[0])/2.0f;
- pos[1] = tile->header->bmin[1];
- pos[2] = (tile->header->bmin[2]+tile->header->bmax[2])/2.0f;
-
- GLdouble x, y, z;
- if (gluProject((GLdouble)pos[0], (GLdouble)pos[1], (GLdouble)pos[2],
- model, proj, view, &x, &y, &z))
- {
- snprintf(text,128,"(%d,%d)/%d", tile->header->tx,tile->header->ty,tile->header->tlayer);
- imguiDrawText((int)x, (int)y-25, IMGUI_ALIGN_CENTER, text, imguiRGBA(0,0,0,220));
- snprintf(text,128,"Compressed: %.1f kB", tile->dataSize/1024.0f);
- imguiDrawText((int)x, (int)y-45, IMGUI_ALIGN_CENTER, text, imguiRGBA(0,0,0,128));
- snprintf(text,128,"Raw:%.1fkB", rawSize/1024.0f);
- imguiDrawText((int)x, (int)y-65, IMGUI_ALIGN_CENTER, text, imguiRGBA(0,0,0,128));
- }
- }
- }
-
- dtObstacleRef hitTestObstacle(const dtTileCache* tc, const float* sp, const float* sq)
- {
- float tmin = FLT_MAX;
- const dtTileCacheObstacle* obmin = 0;
- for (int i = 0; i < tc->getObstacleCount(); ++i)
- {
- const dtTileCacheObstacle* ob = tc->getObstacle(i);
- if (ob->state == DT_OBSTACLE_EMPTY)
- continue;
-
- float bmin[3], bmax[3], t0,t1;
- tc->getObstacleBounds(ob, bmin,bmax);
-
- if (isectSegAABB(sp,sq, bmin,bmax, t0,t1))
- {
- if (t0 < tmin)
- {
- tmin = t0;
- obmin = ob;
- }
- }
- }
- return tc->getObstacleRef(obmin);
- }
-
- void drawObstacles(duDebugDraw* dd, const dtTileCache* tc)
- {
- // Draw obstacles
- for (int i = 0; i < tc->getObstacleCount(); ++i)
- {
- const dtTileCacheObstacle* ob = tc->getObstacle(i);
- if (ob->state == DT_OBSTACLE_EMPTY) continue;
- float bmin[3], bmax[3];
- tc->getObstacleBounds(ob, bmin,bmax);
- unsigned int col = 0;
- if (ob->state == DT_OBSTACLE_PROCESSING)
- col = duRGBA(255,255,0,128);
- else if (ob->state == DT_OBSTACLE_PROCESSED)
- col = duRGBA(255,192,0,192);
- else if (ob->state == DT_OBSTACLE_REMOVING)
- col = duRGBA(220,0,0,128);
- duDebugDrawCylinder(dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], col);
- duDebugDrawCylinderWire(dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duDarkenCol(col), 2);
- }
- }
- class TempObstacleHilightTool : public SampleTool
- {
- Sample_TempObstacles* m_sample;
- float m_hitPos[3];
- bool m_hitPosSet;
- int m_drawType;
-
- public:
- TempObstacleHilightTool() :
- m_sample(0),
- m_hitPosSet(false),
- m_drawType(DRAWDETAIL_AREAS)
- {
- m_hitPos[0] = m_hitPos[1] = m_hitPos[2] = 0;
- }
- virtual ~TempObstacleHilightTool()
- {
- }
- virtual int type() { return TOOL_TILE_HIGHLIGHT; }
- virtual void init(Sample* sample)
- {
- m_sample = (Sample_TempObstacles*)sample;
- }
-
- virtual void reset() {}
- virtual void handleMenu()
- {
- imguiLabel("Highlight Tile Cache");
- imguiValue("Click LMB to highlight a tile.");
- imguiSeparator();
- if (imguiCheck("Draw Areas", m_drawType == DRAWDETAIL_AREAS))
- m_drawType = DRAWDETAIL_AREAS;
- if (imguiCheck("Draw Regions", m_drawType == DRAWDETAIL_REGIONS))
- m_drawType = DRAWDETAIL_REGIONS;
- if (imguiCheck("Draw Contours", m_drawType == DRAWDETAIL_CONTOURS))
- m_drawType = DRAWDETAIL_CONTOURS;
- if (imguiCheck("Draw Mesh", m_drawType == DRAWDETAIL_MESH))
- m_drawType = DRAWDETAIL_MESH;
- }
- virtual void handleClick(const float* /*s*/, const float* p, bool /*shift*/)
- {
- m_hitPosSet = true;
- rcVcopy(m_hitPos,p);
- }
- virtual void handleToggle() {}
- virtual void handleStep() {}
- virtual void handleUpdate(const float /*dt*/) {}
-
- virtual void handleRender()
- {
- if (m_hitPosSet && m_sample)
- {
- const float s = m_sample->getAgentRadius();
- glColor4ub(0,0,0,128);
- glLineWidth(2.0f);
- glBegin(GL_LINES);
- glVertex3f(m_hitPos[0]-s,m_hitPos[1]+0.1f,m_hitPos[2]);
- glVertex3f(m_hitPos[0]+s,m_hitPos[1]+0.1f,m_hitPos[2]);
- glVertex3f(m_hitPos[0],m_hitPos[1]-s+0.1f,m_hitPos[2]);
- glVertex3f(m_hitPos[0],m_hitPos[1]+s+0.1f,m_hitPos[2]);
- glVertex3f(m_hitPos[0],m_hitPos[1]+0.1f,m_hitPos[2]-s);
- glVertex3f(m_hitPos[0],m_hitPos[1]+0.1f,m_hitPos[2]+s);
- glEnd();
- glLineWidth(1.0f);
- int tx=0, ty=0;
- m_sample->getTilePos(m_hitPos, tx, ty);
- m_sample->renderCachedTile(tx,ty,m_drawType);
- }
- }
-
- virtual void handleRenderOverlay(double* proj, double* model, int* view)
- {
- if (m_hitPosSet)
- {
- if (m_sample)
- {
- int tx=0, ty=0;
- m_sample->getTilePos(m_hitPos, tx, ty);
- m_sample->renderCachedTileOverlay(tx,ty,proj,model,view);
- }
- }
- }
- };
- class TempObstacleCreateTool : public SampleTool
- {
- Sample_TempObstacles* m_sample;
-
- public:
-
- TempObstacleCreateTool() : m_sample(0)
- {
- }
-
- virtual ~TempObstacleCreateTool()
- {
- }
-
- virtual int type() { return TOOL_TEMP_OBSTACLE; }
-
- virtual void init(Sample* sample)
- {
- m_sample = (Sample_TempObstacles*)sample;
- }
-
- virtual void reset() {}
-
- virtual void handleMenu()
- {
- imguiLabel("Create Temp Obstacles");
-
- if (imguiButton("Remove All"))
- m_sample->clearAllTempObstacles();
-
- imguiSeparator();
- imguiValue("Click LMB to create an obstacle.");
- imguiValue("Shift+LMB to remove an obstacle.");
- }
-
- virtual void handleClick(const float* s, const float* p, bool shift)
- {
- if (m_sample)
- {
- if (shift)
- m_sample->removeTempObstacle(s,p);
- else
- m_sample->addTempObstacle(p);
- }
- }
-
- virtual void handleToggle() {}
- virtual void handleStep() {}
- virtual void handleUpdate(const float /*dt*/) {}
- virtual void handleRender() {}
- virtual void handleRenderOverlay(double* /*proj*/, double* /*model*/, int* /*view*/) { }
- };
- Sample_TempObstacles::Sample_TempObstacles() :
- m_keepInterResults(false),
- m_tileCache(0),
- m_cacheBuildTimeMs(0),
- m_cacheCompressedSize(0),
- m_cacheRawSize(0),
- m_cacheLayerCount(0),
- m_cacheBuildMemUsage(0),
- m_drawMode(DRAWMODE_NAVMESH),
- m_maxTiles(0),
- m_maxPolysPerTile(0),
- m_tileSize(48)
- {
- resetCommonSettings();
-
- m_talloc = new LinearAllocator(32000);
- m_tcomp = new FastLZCompressor;
- m_tmproc = new MeshProcess;
-
- setTool(new TempObstacleCreateTool);
- }
- Sample_TempObstacles::~Sample_TempObstacles()
- {
- dtFreeNavMesh(m_navMesh);
- m_navMesh = 0;
- dtFreeTileCache(m_tileCache);
- }
- void Sample_TempObstacles::handleSettings()
- {
- Sample::handleCommonSettings();
- if (imguiCheck("Keep Itermediate Results", m_keepInterResults))
- m_keepInterResults = !m_keepInterResults;
- imguiLabel("Tiling");
- imguiSlider("TileSize", &m_tileSize, 16.0f, 128.0f, 8.0f);
-
- int gridSize = 1;
- if (m_geom)
- {
- const float* bmin = m_geom->getNavMeshBoundsMin();
- const float* bmax = m_geom->getNavMeshBoundsMax();
- char text[64];
- int gw = 0, gh = 0;
- rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
- const int ts = (int)m_tileSize;
- const int tw = (gw + ts-1) / ts;
- const int th = (gh + ts-1) / ts;
- snprintf(text, 64, "Tiles %d x %d", tw, th);
- imguiValue(text);
- // Max tiles and max polys affect how the tile IDs are caculated.
- // There are 22 bits available for identifying a tile and a polygon.
- int tileBits = rcMin((int)dtIlog2(dtNextPow2(tw*th*EXPECTED_LAYERS_PER_TILE)), 14);
- if (tileBits > 14) tileBits = 14;
- int polyBits = 22 - tileBits;
- m_maxTiles = 1 << tileBits;
- m_maxPolysPerTile = 1 << polyBits;
- snprintf(text, 64, "Max Tiles %d", m_maxTiles);
- imguiValue(text);
- snprintf(text, 64, "Max Polys %d", m_maxPolysPerTile);
- imguiValue(text);
- gridSize = tw*th;
- }
- else
- {
- m_maxTiles = 0;
- m_maxPolysPerTile = 0;
- }
-
- imguiSeparator();
-
- imguiLabel("Tile Cache");
- char msg[64];
- const float compressionRatio = (float)m_cacheCompressedSize / (float)(m_cacheRawSize+1);
-
- snprintf(msg, 64, "Layers %d", m_cacheLayerCount);
- imguiValue(msg);
- snprintf(msg, 64, "Layers (per tile) %.1f", (float)m_cacheLayerCount/(float)gridSize);
- imguiValue(msg);
-
- snprintf(msg, 64, "Memory %.1f kB / %.1f kB (%.1f%%)", m_cacheCompressedSize/1024.0f, m_cacheRawSize/1024.0f, compressionRatio*100.0f);
- imguiValue(msg);
- snprintf(msg, 64, "Navmesh Build Time %.1f ms", m_cacheBuildTimeMs);
- imguiValue(msg);
- snprintf(msg, 64, "Build Peak Mem Usage %.1f kB", m_cacheBuildMemUsage/1024.0f);
- imguiValue(msg);
- imguiSeparator();
- imguiIndent();
- imguiIndent();
- if (imguiButton("Save"))
- {
- saveAll("all_tiles_tilecache.bin");
- }
- if (imguiButton("Load"))
- {
- dtFreeNavMesh(m_navMesh);
- dtFreeTileCache(m_tileCache);
- loadAll("all_tiles_tilecache.bin");
- m_navQuery->init(m_navMesh, 2048);
- }
- imguiUnindent();
- imguiUnindent();
-
- imguiSeparator();
- }
- void Sample_TempObstacles::handleTools()
- {
- int type = !m_tool ? TOOL_NONE : m_tool->type();
- if (imguiCheck("Test Navmesh", type == TOOL_NAVMESH_TESTER))
- {
- setTool(new NavMeshTesterTool);
- }
- if (imguiCheck("Highlight Tile Cache", type == TOOL_TILE_HIGHLIGHT))
- {
- setTool(new TempObstacleHilightTool);
- }
- if (imguiCheck("Create Temp Obstacles", type == TOOL_TEMP_OBSTACLE))
- {
- setTool(new TempObstacleCreateTool);
- }
- if (imguiCheck("Create Off-Mesh Links", type == TOOL_OFFMESH_CONNECTION))
- {
- setTool(new OffMeshConnectionTool);
- }
- if (imguiCheck("Create Convex Volumes", type == TOOL_CONVEX_VOLUME))
- {
- setTool(new ConvexVolumeTool);
- }
- if (imguiCheck("Create Crowds", type == TOOL_CROWD))
- {
- setTool(new CrowdTool);
- }
-
- imguiSeparatorLine();
- imguiIndent();
- if (m_tool)
- m_tool->handleMenu();
- imguiUnindent();
- }
- void Sample_TempObstacles::handleDebugMode()
- {
- // Check which modes are valid.
- bool valid[MAX_DRAWMODE];
- for (int i = 0; i < MAX_DRAWMODE; ++i)
- valid[i] = false;
-
- if (m_geom)
- {
- valid[DRAWMODE_NAVMESH] = m_navMesh != 0;
- valid[DRAWMODE_NAVMESH_TRANS] = m_navMesh != 0;
- valid[DRAWMODE_NAVMESH_BVTREE] = m_navMesh != 0;
- valid[DRAWMODE_NAVMESH_NODES] = m_navQuery != 0;
- valid[DRAWMODE_NAVMESH_PORTALS] = m_navMesh != 0;
- valid[DRAWMODE_NAVMESH_INVIS] = m_navMesh != 0;
- valid[DRAWMODE_MESH] = true;
- valid[DRAWMODE_CACHE_BOUNDS] = true;
- }
-
- int unavail = 0;
- for (int i = 0; i < MAX_DRAWMODE; ++i)
- if (!valid[i]) unavail++;
-
- if (unavail == MAX_DRAWMODE)
- return;
-
- imguiLabel("Draw");
- if (imguiCheck("Input Mesh", m_drawMode == DRAWMODE_MESH, valid[DRAWMODE_MESH]))
- m_drawMode = DRAWMODE_MESH;
- if (imguiCheck("Navmesh", m_drawMode == DRAWMODE_NAVMESH, valid[DRAWMODE_NAVMESH]))
- m_drawMode = DRAWMODE_NAVMESH;
- if (imguiCheck("Navmesh Invis", m_drawMode == DRAWMODE_NAVMESH_INVIS, valid[DRAWMODE_NAVMESH_INVIS]))
- m_drawMode = DRAWMODE_NAVMESH_INVIS;
- if (imguiCheck("Navmesh Trans", m_drawMode == DRAWMODE_NAVMESH_TRANS, valid[DRAWMODE_NAVMESH_TRANS]))
- m_drawMode = DRAWMODE_NAVMESH_TRANS;
- if (imguiCheck("Navmesh BVTree", m_drawMode == DRAWMODE_NAVMESH_BVTREE, valid[DRAWMODE_NAVMESH_BVTREE]))
- m_drawMode = DRAWMODE_NAVMESH_BVTREE;
- if (imguiCheck("Navmesh Nodes", m_drawMode == DRAWMODE_NAVMESH_NODES, valid[DRAWMODE_NAVMESH_NODES]))
- m_drawMode = DRAWMODE_NAVMESH_NODES;
- if (imguiCheck("Navmesh Portals", m_drawMode == DRAWMODE_NAVMESH_PORTALS, valid[DRAWMODE_NAVMESH_PORTALS]))
- m_drawMode = DRAWMODE_NAVMESH_PORTALS;
- if (imguiCheck("Cache Bounds", m_drawMode == DRAWMODE_CACHE_BOUNDS, valid[DRAWMODE_CACHE_BOUNDS]))
- m_drawMode = DRAWMODE_CACHE_BOUNDS;
-
- if (unavail)
- {
- imguiValue("Tick 'Keep Itermediate Results'");
- imguiValue("rebuild some tiles to see");
- imguiValue("more debug mode options.");
- }
- }
- void Sample_TempObstacles::handleRender()
- {
- if (!m_geom || !m_geom->getMesh())
- return;
-
- const float texScale = 1.0f / (m_cellSize * 10.0f);
-
- // Draw mesh
- if (m_drawMode != DRAWMODE_NAVMESH_TRANS)
- {
- // Draw mesh
- duDebugDrawTriMeshSlope(&m_dd, m_geom->getMesh()->getVerts(), m_geom->getMesh()->getVertCount(),
- m_geom->getMesh()->getTris(), m_geom->getMesh()->getNormals(), m_geom->getMesh()->getTriCount(),
- m_agentMaxSlope, texScale);
- m_geom->drawOffMeshConnections(&m_dd);
- }
-
- if (m_tileCache && m_drawMode == DRAWMODE_CACHE_BOUNDS)
- drawTiles(&m_dd, m_tileCache);
-
- if (m_tileCache)
- drawObstacles(&m_dd, m_tileCache);
-
-
- glDepthMask(GL_FALSE);
-
- // Draw bounds
- const float* bmin = m_geom->getNavMeshBoundsMin();
- const float* bmax = m_geom->getNavMeshBoundsMax();
- duDebugDrawBoxWire(&m_dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duRGBA(255,255,255,128), 1.0f);
-
- // Tiling grid.
- int gw = 0, gh = 0;
- rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
- const int tw = (gw + (int)m_tileSize-1) / (int)m_tileSize;
- const int th = (gh + (int)m_tileSize-1) / (int)m_tileSize;
- const float s = m_tileSize*m_cellSize;
- duDebugDrawGridXZ(&m_dd, bmin[0],bmin[1],bmin[2], tw,th, s, duRGBA(0,0,0,64), 1.0f);
-
- if (m_navMesh && m_navQuery &&
- (m_drawMode == DRAWMODE_NAVMESH ||
- m_drawMode == DRAWMODE_NAVMESH_TRANS ||
- m_drawMode == DRAWMODE_NAVMESH_BVTREE ||
- m_drawMode == DRAWMODE_NAVMESH_NODES ||
- m_drawMode == DRAWMODE_NAVMESH_PORTALS ||
- m_drawMode == DRAWMODE_NAVMESH_INVIS))
- {
- if (m_drawMode != DRAWMODE_NAVMESH_INVIS)
- duDebugDrawNavMeshWithClosedList(&m_dd, *m_navMesh, *m_navQuery, m_navMeshDrawFlags/*|DU_DRAWNAVMESH_COLOR_TILES*/);
- if (m_drawMode == DRAWMODE_NAVMESH_BVTREE)
- duDebugDrawNavMeshBVTree(&m_dd, *m_navMesh);
- if (m_drawMode == DRAWMODE_NAVMESH_PORTALS)
- duDebugDrawNavMeshPortals(&m_dd, *m_navMesh);
- if (m_drawMode == DRAWMODE_NAVMESH_NODES)
- duDebugDrawNavMeshNodes(&m_dd, *m_navQuery);
- duDebugDrawNavMeshPolysWithFlags(&m_dd, *m_navMesh, SAMPLE_POLYFLAGS_DISABLED, duRGBA(0,0,0,128));
- }
-
-
- glDepthMask(GL_TRUE);
-
- m_geom->drawConvexVolumes(&m_dd);
-
- if (m_tool)
- m_tool->handleRender();
- renderToolStates();
-
- glDepthMask(GL_TRUE);
- }
- void Sample_TempObstacles::renderCachedTile(const int tx, const int ty, const int type)
- {
- if (m_tileCache)
- drawDetail(&m_dd,m_tileCache,tx,ty,type);
- }
- void Sample_TempObstacles::renderCachedTileOverlay(const int tx, const int ty, double* proj, double* model, int* view)
- {
- if (m_tileCache)
- drawDetailOverlay(m_tileCache, tx, ty, proj, model, view);
- }
- void Sample_TempObstacles::handleRenderOverlay(double* proj, double* model, int* view)
- {
- if (m_tool)
- m_tool->handleRenderOverlay(proj, model, view);
- renderOverlayToolStates(proj, model, view);
- // Stats
- /* imguiDrawRect(280,10,300,100,imguiRGBA(0,0,0,64));
-
- char text[64];
- int y = 110-30;
-
- snprintf(text,64,"Lean Data: %.1fkB", m_tileCache->getRawSize()/1024.0f);
- imguiDrawText(300, y, IMGUI_ALIGN_LEFT, text, imguiRGBA(255,255,255,255));
- y -= 20;
-
- snprintf(text,64,"Compressed: %.1fkB (%.1f%%)", m_tileCache->getCompressedSize()/1024.0f,
- m_tileCache->getRawSize() > 0 ? 100.0f*(float)m_tileCache->getCompressedSize()/(float)m_tileCache->getRawSize() : 0);
- imguiDrawText(300, y, IMGUI_ALIGN_LEFT, text, imguiRGBA(255,255,255,255));
- y -= 20;
- if (m_rebuildTileCount > 0 && m_rebuildTime > 0.0f)
- {
- snprintf(text,64,"Changed obstacles, rebuild %d tiles: %.3f ms", m_rebuildTileCount, m_rebuildTime);
- imguiDrawText(300, y, IMGUI_ALIGN_LEFT, text, imguiRGBA(255,192,0,255));
- y -= 20;
- }
- */
- }
- void Sample_TempObstacles::handleMeshChanged(class InputGeom* geom)
- {
- Sample::handleMeshChanged(geom);
- dtFreeTileCache(m_tileCache);
- m_tileCache = 0;
-
- dtFreeNavMesh(m_navMesh);
- m_navMesh = 0;
- if (m_tool)
- {
- m_tool->reset();
- m_tool->init(this);
- m_tmproc->init(m_geom);
- }
- resetToolStates();
- initToolStates(this);
- }
- void Sample_TempObstacles::addTempObstacle(const float* pos)
- {
- if (!m_tileCache)
- return;
- float p[3];
- dtVcopy(p, pos);
- p[1] -= 0.5f;
- m_tileCache->addObstacle(p, 1.0f, 2.0f, 0);
- }
- void Sample_TempObstacles::removeTempObstacle(const float* sp, const float* sq)
- {
- if (!m_tileCache)
- return;
- dtObstacleRef ref = hitTestObstacle(m_tileCache, sp, sq);
- m_tileCache->removeObstacle(ref);
- }
- void Sample_TempObstacles::clearAllTempObstacles()
- {
- if (!m_tileCache)
- return;
- for (int i = 0; i < m_tileCache->getObstacleCount(); ++i)
- {
- const dtTileCacheObstacle* ob = m_tileCache->getObstacle(i);
- if (ob->state == DT_OBSTACLE_EMPTY) continue;
- m_tileCache->removeObstacle(m_tileCache->getObstacleRef(ob));
- }
- }
- bool Sample_TempObstacles::handleBuild()
- {
- dtStatus status;
-
- if (!m_geom || !m_geom->getMesh())
- {
- m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: No vertices and triangles.");
- return false;
- }
- m_tmproc->init(m_geom);
-
- // Init cache
- const float* bmin = m_geom->getNavMeshBoundsMin();
- const float* bmax = m_geom->getNavMeshBoundsMax();
- int gw = 0, gh = 0;
- rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
- const int ts = (int)m_tileSize;
- const int tw = (gw + ts-1) / ts;
- const int th = (gh + ts-1) / ts;
- // Generation params.
- rcConfig cfg;
- memset(&cfg, 0, sizeof(cfg));
- cfg.cs = m_cellSize;
- cfg.ch = m_cellHeight;
- cfg.walkableSlopeAngle = m_agentMaxSlope;
- cfg.walkableHeight = (int)ceilf(m_agentHeight / cfg.ch);
- cfg.walkableClimb = (int)floorf(m_agentMaxClimb / cfg.ch);
- cfg.walkableRadius = (int)ceilf(m_agentRadius / cfg.cs);
- cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
- cfg.maxSimplificationError = m_edgeMaxError;
- cfg.minRegionArea = (int)rcSqr(m_regionMinSize); // Note: area = size*size
- cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize); // Note: area = size*size
- cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
- cfg.tileSize = (int)m_tileSize;
- cfg.borderSize = cfg.walkableRadius + 3; // Reserve enough padding.
- cfg.width = cfg.tileSize + cfg.borderSize*2;
- cfg.height = cfg.tileSize + cfg.borderSize*2;
- cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
- cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
- rcVcopy(cfg.bmin, bmin);
- rcVcopy(cfg.bmax, bmax);
-
- // Tile cache params.
- dtTileCacheParams tcparams;
- memset(&tcparams, 0, sizeof(tcparams));
- rcVcopy(tcparams.orig, bmin);
- tcparams.cs = m_cellSize;
- tcparams.ch = m_cellHeight;
- tcparams.width = (int)m_tileSize;
- tcparams.height = (int)m_tileSize;
- tcparams.walkableHeight = m_agentHeight;
- tcparams.walkableRadius = m_agentRadius;
- tcparams.walkableClimb = m_agentMaxClimb;
- tcparams.maxSimplificationError = m_edgeMaxError;
- tcparams.maxTiles = tw*th*EXPECTED_LAYERS_PER_TILE;
- tcparams.maxObstacles = 128;
- dtFreeTileCache(m_tileCache);
-
- m_tileCache = dtAllocTileCache();
- if (!m_tileCache)
- {
- m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate tile cache.");
- return false;
- }
- status = m_tileCache->init(&tcparams, m_talloc, m_tcomp, m_tmproc);
- if (dtStatusFailed(status))
- {
- m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init tile cache.");
- return false;
- }
-
- dtFreeNavMesh(m_navMesh);
-
- m_navMesh = dtAllocNavMesh();
- if (!m_navMesh)
- {
- m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not allocate navmesh.");
- return false;
- }
- dtNavMeshParams params;
- memset(¶ms, 0, sizeof(params));
- rcVcopy(params.orig, bmin);
- params.tileWidth = m_tileSize*m_cellSize;
- params.tileHeight = m_tileSize*m_cellSize;
- params.maxTiles = m_maxTiles;
- params.maxPolys = m_maxPolysPerTile;
-
- status = m_navMesh->init(¶ms);
- if (dtStatusFailed(status))
- {
- m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init navmesh.");
- return false;
- }
-
- status = m_navQuery->init(m_navMesh, 2048);
- if (dtStatusFailed(status))
- {
- m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init Detour navmesh query");
- return false;
- }
-
- // Preprocess tiles.
-
- m_ctx->resetTimers();
-
- m_cacheLayerCount = 0;
- m_cacheCompressedSize = 0;
- m_cacheRawSize = 0;
-
- for (int y = 0; y < th; ++y)
- {
- for (int x = 0; x < tw; ++x)
- {
- TileCacheData tiles[MAX_LAYERS];
- memset(tiles, 0, sizeof(tiles));
- int ntiles = rasterizeTileLayers(x, y, cfg, tiles, MAX_LAYERS);
- for (int i = 0; i < ntiles; ++i)
- {
- TileCacheData* tile = &tiles[i];
- status = m_tileCache->addTile(tile->data, tile->dataSize, DT_COMPRESSEDTILE_FREE_DATA, 0);
- if (dtStatusFailed(status))
- {
- dtFree(tile->data);
- tile->data = 0;
- continue;
- }
-
- m_cacheLayerCount++;
- m_cacheCompressedSize += tile->dataSize;
- m_cacheRawSize += calcLayerBufferSize(tcparams.width, tcparams.height);
- }
- }
- }
- // Build initial meshes
- m_ctx->startTimer(RC_TIMER_TOTAL);
- for (int y = 0; y < th; ++y)
- for (int x = 0; x < tw; ++x)
- m_tileCache->buildNavMeshTilesAt(x,y, m_navMesh);
- m_ctx->stopTimer(RC_TIMER_TOTAL);
-
- m_cacheBuildTimeMs = m_ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;
- m_cacheBuildMemUsage = static_cast<unsigned int>(m_talloc->high);
-
- const dtNavMesh* nav = m_navMesh;
- int navmeshMemUsage = 0;
- for (int i = 0; i < nav->getMaxTiles(); ++i)
- {
- const dtMeshTile* tile = nav->getTile(i);
- if (tile->header)
- navmeshMemUsage += tile->dataSize;
- }
- printf("navmeshMemUsage = %.1f kB", navmeshMemUsage/1024.0f);
-
-
- if (m_tool)
- m_tool->init(this);
- initToolStates(this);
- return true;
- }
- void Sample_TempObstacles::handleUpdate(const float dt)
- {
- Sample::handleUpdate(dt);
-
- if (!m_navMesh)
- return;
- if (!m_tileCache)
- return;
-
- m_tileCache->update(dt, m_navMesh);
- }
- void Sample_TempObstacles::getTilePos(const float* pos, int& tx, int& ty)
- {
- if (!m_geom) return;
-
- const float* bmin = m_geom->getNavMeshBoundsMin();
-
- const float ts = m_tileSize*m_cellSize;
- tx = (int)((pos[0] - bmin[0]) / ts);
- ty = (int)((pos[2] - bmin[2]) / ts);
- }
- static const int TILECACHESET_MAGIC = 'T'<<24 | 'S'<<16 | 'E'<<8 | 'T'; //'TSET';
- static const int TILECACHESET_VERSION = 1;
- struct TileCacheSetHeader
- {
- int magic;
- int version;
- int numTiles;
- dtNavMeshParams meshParams;
- dtTileCacheParams cacheParams;
- };
- struct TileCacheTileHeader
- {
- dtCompressedTileRef tileRef;
- int dataSize;
- };
- void Sample_TempObstacles::saveAll(const char* path)
- {
- if (!m_tileCache) return;
-
- FILE* fp = fopen(path, "wb");
- if (!fp)
- return;
-
- // Store header.
- TileCacheSetHeader header;
- header.magic = TILECACHESET_MAGIC;
- header.version = TILECACHESET_VERSION;
- header.numTiles = 0;
- for (int i = 0; i < m_tileCache->getTileCount(); ++i)
- {
- const dtCompressedTile* tile = m_tileCache->getTile(i);
- if (!tile || !tile->header || !tile->dataSize) continue;
- header.numTiles++;
- }
- memcpy(&header.cacheParams, m_tileCache->getParams(), sizeof(dtTileCacheParams));
- memcpy(&header.meshParams, m_navMesh->getParams(), sizeof(dtNavMeshParams));
- fwrite(&header, sizeof(TileCacheSetHeader), 1, fp);
- // Store tiles.
- for (int i = 0; i < m_tileCache->getTileCount(); ++i)
- {
- const dtCompressedTile* tile = m_tileCache->getTile(i);
- if (!tile || !tile->header || !tile->dataSize) continue;
- TileCacheTileHeader tileHeader;
- tileHeader.tileRef = m_tileCache->getTileRef(tile);
- tileHeader.dataSize = tile->dataSize;
- fwrite(&tileHeader, sizeof(tileHeader), 1, fp);
- fwrite(tile->data, tile->dataSize, 1, fp);
- }
- fclose(fp);
- }
- void Sample_TempObstacles::loadAll(const char* path)
- {
- FILE* fp = fopen(path, "rb");
- if (!fp) return;
-
- // Read header.
- TileCacheSetHeader header;
- size_t headerReadReturnCode = fread(&header, sizeof(TileCacheSetHeader), 1, fp);
- if( headerReadReturnCode != 1)
- {
- // Error or early EOF
- fclose(fp);
- return;
- }
- if (header.magic != TILECACHESET_MAGIC)
- {
- fclose(fp);
- return;
- }
- if (header.version != TILECACHESET_VERSION)
- {
- fclose(fp);
- return;
- }
-
- m_navMesh = dtAllocNavMesh();
- if (!m_navMesh)
- {
- fclose(fp);
- return;
- }
- dtStatus status = m_navMesh->init(&header.meshParams);
- if (dtStatusFailed(status))
- {
- fclose(fp);
- return;
- }
- m_tileCache = dtAllocTileCache();
- if (!m_tileCache)
- {
- fclose(fp);
- return;
- }
- status = m_tileCache->init(&header.cacheParams, m_talloc, m_tcomp, m_tmproc);
- if (dtStatusFailed(status))
- {
- fclose(fp);
- return;
- }
-
- // Read tiles.
- for (int i = 0; i < header.numTiles; ++i)
- {
- TileCacheTileHeader tileHeader;
- size_t tileHeaderReadReturnCode = fread(&tileHeader, sizeof(tileHeader), 1, fp);
- if( tileHeaderReadReturnCode != 1)
- {
- // Error or early EOF
- fclose(fp);
- return;
- }
- if (!tileHeader.tileRef || !tileHeader.dataSize)
- break;
- unsigned char* data = (unsigned char*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);
- if (!data) break;
- memset(data, 0, tileHeader.dataSize);
- size_t tileDataReadReturnCode = fread(data, tileHeader.dataSize, 1, fp);
- if( tileDataReadReturnCode != 1)
- {
- // Error or early EOF
- dtFree(data);
- fclose(fp);
- return;
- }
-
- dtCompressedTileRef tile = 0;
- dtStatus addTileStatus = m_tileCache->addTile(data, tileHeader.dataSize, DT_COMPRESSEDTILE_FREE_DATA, &tile);
- if (dtStatusFailed(addTileStatus))
- {
- dtFree(data);
- }
- if (tile)
- m_tileCache->buildNavMeshTile(tile, m_navMesh);
- }
-
- fclose(fp);
- }
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