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path: root/extern/recastnavigation/Detour/Source/DetourDebugDraw.cpp
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-rw-r--r--extern/recastnavigation/Detour/Source/DetourDebugDraw.cpp496
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diff --git a/extern/recastnavigation/Detour/Source/DetourDebugDraw.cpp b/extern/recastnavigation/Detour/Source/DetourDebugDraw.cpp
new file mode 100644
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+++ b/extern/recastnavigation/Detour/Source/DetourDebugDraw.cpp
@@ -0,0 +1,496 @@
+//
+// Copyright (c) 2009 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.
+//
+
+#include "DetourDebugDraw.h"
+#include "DetourStatNavMesh.h"
+#include "SDL.h"
+#include "SDL_Opengl.h"
+
+void dtDebugDrawStatNavMeshPoly(const dtStatNavMesh* mesh, dtStatPolyRef ref, const float* col)
+{
+ int idx = mesh->getPolyIndexByRef(ref);
+ if (idx == -1) return;
+
+ glColor4f(col[0],col[1],col[2],0.25f);
+
+ if (mesh->getPolyDetailCount())
+ {
+ const dtStatPoly* p = mesh->getPoly(idx);
+ const dtStatPolyDetail* pd = mesh->getPolyDetail(idx);
+ glBegin(GL_TRIANGLES);
+ for (int j = 0; j < pd->ntris; ++j)
+ {
+ const unsigned char* t = mesh->getDetailTri(pd->tbase+j);
+ for (int k = 0; k < 3; ++k)
+ {
+ if (t[k] < p->nv)
+ glVertex3fv(mesh->getVertex(p->v[t[k]]));
+ else
+ glVertex3fv(mesh->getDetailVertex(pd->vbase+(t[k]-p->nv)));
+ }
+ }
+ glEnd();
+ }
+ else
+ {
+ const dtStatPoly* p = mesh->getPoly(idx);
+ glBegin(GL_TRIANGLES);
+ unsigned short vi[3];
+ for (int j = 2; j < (int)p->nv; ++j)
+ {
+ vi[0] = p->v[0];
+ vi[1] = p->v[j-1];
+ vi[2] = p->v[j];
+ for (int k = 0; k < 3; ++k)
+ {
+ const float* v = mesh->getVertex(vi[k]);
+ glVertex3f(v[0], v[1]+0.2f, v[2]);
+ }
+ }
+ glEnd();
+ }
+}
+
+static void drawBoxWire(float minx, float miny, float minz, float maxx, float maxy, float maxz, const float* col)
+{
+ glColor4fv(col);
+
+ // Top
+ glVertex3f(minx, miny, minz);
+ glVertex3f(maxx, miny, minz);
+ glVertex3f(maxx, miny, minz);
+ glVertex3f(maxx, miny, maxz);
+ glVertex3f(maxx, miny, maxz);
+ glVertex3f(minx, miny, maxz);
+ glVertex3f(minx, miny, maxz);
+ glVertex3f(minx, miny, minz);
+
+ // bottom
+ glVertex3f(minx, maxy, minz);
+ glVertex3f(maxx, maxy, minz);
+ glVertex3f(maxx, maxy, minz);
+ glVertex3f(maxx, maxy, maxz);
+ glVertex3f(maxx, maxy, maxz);
+ glVertex3f(minx, maxy, maxz);
+ glVertex3f(minx, maxy, maxz);
+ glVertex3f(minx, maxy, minz);
+
+ // Sides
+ glVertex3f(minx, miny, minz);
+ glVertex3f(minx, maxy, minz);
+ glVertex3f(maxx, miny, minz);
+ glVertex3f(maxx, maxy, minz);
+ glVertex3f(maxx, miny, maxz);
+ glVertex3f(maxx, maxy, maxz);
+ glVertex3f(minx, miny, maxz);
+ glVertex3f(minx, maxy, maxz);
+}
+
+void dtDebugDrawStatNavMeshBVTree(const dtStatNavMesh* mesh)
+{
+ const float col[] = { 1,1,1,0.5f };
+ const dtStatNavMeshHeader* hdr = mesh->getHeader();
+
+ const dtStatBVNode* nodes = mesh->getBvTreeNodes();
+ int nnodes = mesh->getBvTreeNodeCount();
+
+ glBegin(GL_LINES);
+
+ for (int i = 0; i < nnodes; ++i)
+ {
+ const dtStatBVNode* n = &nodes[i];
+ if (n->i < 0) // Leaf indices are positive.
+ continue;
+ drawBoxWire(hdr->bmin[0] + n->bmin[0]*hdr->cs,
+ hdr->bmin[1] + n->bmin[1]*hdr->cs,
+ hdr->bmin[2] + n->bmin[2]*hdr->cs,
+ hdr->bmin[0] + n->bmax[0]*hdr->cs,
+ hdr->bmin[1] + n->bmax[1]*hdr->cs,
+ hdr->bmin[2] + n->bmax[2]*hdr->cs, col);
+ }
+ glEnd();
+}
+
+
+static float distancePtLine2d(const float* pt, const float* p, const float* q)
+{
+ float pqx = q[0] - p[0];
+ float pqz = q[2] - p[2];
+ float dx = pt[0] - p[0];
+ float dz = pt[2] - p[2];
+ float d = pqx*pqx + pqz*pqz;
+ float t = pqx*dx + pqz*dz;
+ if (d != 0) t /= d;
+ dx = p[0] + t*pqx - pt[0];
+ dz = p[2] + t*pqz - pt[2];
+ return dx*dx + dz*dz;
+}
+
+static void drawStatMeshPolyBoundaries(const dtStatNavMesh* mesh, bool inner)
+{
+ static const float thr = 0.01f*0.01f;
+
+ glBegin(GL_LINES);
+ for (int i = 0; i < mesh->getPolyCount(); ++i)
+ {
+ const dtStatPoly* p = mesh->getPoly(i);
+ const dtStatPolyDetail* pd = mesh->getPolyDetail(i);
+
+ for (int j = 0, nj = (int)p->nv; j < nj; ++j)
+ {
+ if (inner)
+ {
+ // Skip non-connected edges.
+ if (p->n[j] == 0) continue;
+ }
+ else
+ {
+ // Skip connected edges.
+ if (p->n[j] != 0) continue;
+ }
+
+ const float* v0 = mesh->getVertex(p->v[j]);
+ const float* v1 = mesh->getVertex(p->v[(j+1) % nj]);
+
+ // Draw detail mesh edges which align with the actual poly edge.
+ // This is really slow.
+ for (int k = 0; k < pd->ntris; ++k)
+ {
+ const unsigned char* t = mesh->getDetailTri(pd->tbase+k);
+ const float* tv[3];
+ for (int m = 0; m < 3; ++m)
+ {
+ if (t[m] < p->nv)
+ tv[m] = mesh->getVertex(p->v[t[m]]);
+ else
+ tv[m] = mesh->getDetailVertex(pd->vbase+(t[m]-p->nv));
+ }
+ for (int m = 0, n = 2; m < 3; n=m++)
+ {
+ if (((t[3] >> (n*2)) & 0x3) == 0) continue; // Skip inner edges.
+ if (distancePtLine2d(tv[n],v0,v1) < thr &&
+ distancePtLine2d(tv[m],v0,v1) < thr)
+ {
+ glVertex3fv(tv[n]);
+ glVertex3fv(tv[m]);
+ }
+ }
+ }
+ }
+ }
+ glEnd();
+}
+
+void dtDebugDrawStatNavMesh(const dtStatNavMesh* mesh, bool drawClosedList)
+{
+ glBegin(GL_TRIANGLES);
+ for (int i = 0; i < mesh->getPolyDetailCount(); ++i)
+ {
+ const dtStatPoly* p = mesh->getPoly(i);
+ const dtStatPolyDetail* pd = mesh->getPolyDetail(i);
+
+ if (drawClosedList && mesh->isInClosedList(i+1))
+ glColor4ub(255,196,0,64);
+ else
+ glColor4ub(0,196,255,64);
+
+ for (int j = 0; j < pd->ntris; ++j)
+ {
+ const unsigned char* t = mesh->getDetailTri(pd->tbase+j);
+ for (int k = 0; k < 3; ++k)
+ {
+ if (t[k] < p->nv)
+ glVertex3fv(mesh->getVertex(p->v[t[k]]));
+ else
+ glVertex3fv(mesh->getDetailVertex(pd->vbase+(t[k]-p->nv)));
+ }
+ }
+ }
+ glEnd();
+
+ // Draw inter poly boundaries
+ glColor4ub(0,48,64,32);
+ glLineWidth(1.5f);
+ drawStatMeshPolyBoundaries(mesh, true);
+
+ // Draw outer poly boundaries
+ glLineWidth(2.5f);
+ glColor4ub(0,48,64,220);
+ drawStatMeshPolyBoundaries(mesh, false);
+
+ glLineWidth(1.0f);
+
+ glPointSize(3.0f);
+ glColor4ub(0,0,0,196);
+ glBegin(GL_POINTS);
+ for (int i = 0; i < mesh->getVertexCount(); ++i)
+ {
+ const float* v = mesh->getVertex(i);
+ glVertex3f(v[0], v[1], v[2]);
+ }
+ glEnd();
+ glPointSize(1.0f);
+}
+
+
+static void drawTilePolyBoundaries(const dtTileHeader* header, bool inner)
+{
+ static const float thr = 0.01f*0.01f;
+
+ glBegin(GL_LINES);
+ for (int i = 0; i < header->npolys; ++i)
+ {
+ const dtTilePoly* p = &header->polys[i];
+ const dtTilePolyDetail* pd = &header->dmeshes[i];
+
+ for (int j = 0, nj = (int)p->nv; j < nj; ++j)
+ {
+ if (inner)
+ {
+ if (p->n[j] == 0) continue;
+ if (p->n[j] & 0x8000)
+ {
+ bool con = false;
+ for (int k = 0; k < p->nlinks; ++k)
+ {
+ if (header->links[p->links+k].e == j)
+ {
+ con = true;
+ break;
+ }
+ }
+ if (con)
+ glColor4ub(255,255,255,128);
+ else
+ glColor4ub(0,0,0,128);
+ }
+ else
+ glColor4ub(0,48,64,32);
+ }
+ else
+ {
+ if (p->n[j] != 0) continue;
+ }
+
+ const float* v0 = &header->verts[p->v[j]*3];
+ const float* v1 = &header->verts[p->v[(j+1)%nj]*3];
+
+ // Draw detail mesh edges which align with the actual poly edge.
+ // This is really slow.
+ for (int k = 0; k < pd->ntris; ++k)
+ {
+ const unsigned char* t = &header->dtris[(pd->tbase+k)*4];
+ const float* tv[3];
+ for (int m = 0; m < 3; ++m)
+ {
+ if (t[m] < p->nv)
+ tv[m] = &header->verts[p->v[t[m]]*3];
+ else
+ tv[m] = &header->dverts[(pd->vbase+(t[m]-p->nv))*3];
+ }
+ for (int m = 0, n = 2; m < 3; n=m++)
+ {
+ if (((t[3] >> (n*2)) & 0x3) == 0) continue; // Skip inner detail edges.
+ if (distancePtLine2d(tv[n],v0,v1) < thr &&
+ distancePtLine2d(tv[m],v0,v1) < thr)
+ {
+ glVertex3fv(tv[n]);
+ glVertex3fv(tv[m]);
+ }
+ }
+ }
+ }
+ }
+ glEnd();
+}
+
+static void drawTile(const dtTileHeader* header)
+{
+ glBegin(GL_TRIANGLES);
+ for (int i = 0; i < header->npolys; ++i)
+ {
+ const dtTilePoly* p = &header->polys[i];
+ const dtTilePolyDetail* pd = &header->dmeshes[i];
+
+ glColor4ub(0,196,255,64);
+
+ for (int j = 0; j < pd->ntris; ++j)
+ {
+ const unsigned char* t = &header->dtris[(pd->tbase+j)*4];
+ for (int k = 0; k < 3; ++k)
+ {
+ if (t[k] < p->nv)
+ glVertex3fv(&header->verts[p->v[t[k]]*3]);
+ else
+ glVertex3fv(&header->dverts[(pd->vbase+t[k]-p->nv)*3]);
+ }
+ }
+ }
+ glEnd();
+
+ // Draw inter poly boundaries
+ glColor4ub(0,48,64,32);
+ glLineWidth(1.5f);
+
+ drawTilePolyBoundaries(header, true);
+
+ // Draw outer poly boundaries
+ glLineWidth(2.5f);
+ glColor4ub(0,48,64,220);
+
+ drawTilePolyBoundaries(header, false);
+
+ glLineWidth(1.0f);
+
+ glPointSize(3.0f);
+ glColor4ub(0,0,0,196);
+ glBegin(GL_POINTS);
+ for (int i = 0; i < header->nverts; ++i)
+ {
+ const float* v = &header->verts[i*3];
+ glVertex3f(v[0], v[1], v[2]);
+ }
+ glEnd();
+ glPointSize(1.0f);
+
+ // Draw portals
+/* glBegin(GL_LINES);
+
+ for (int i = 0; i < header->nportals[0]; ++i)
+ {
+ const dtTilePortal* p = &header->portals[0][i];
+ if (p->ncon)
+ glColor4ub(255,255,255,192);
+ else
+ glColor4ub(255,0,0,64);
+ glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
+ glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
+
+ glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmin[0]);
+ glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
+
+ glVertex3f(header->bmax[0]-0.1f, p->bmax[1], p->bmax[0]);
+ glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
+
+ glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmax[0]);
+ glVertex3f(header->bmax[0]-0.1f, p->bmin[1], p->bmin[0]);
+ }
+ for (int i = 0; i < header->nportals[1]; ++i)
+ {
+ const dtTilePortal* p = &header->portals[1][i];
+ if (p->ncon)
+ glColor4ub(255,255,255,192);
+ else
+ glColor4ub(255,0,0,64);
+ glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
+ glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
+
+ glVertex3f(p->bmin[0], p->bmax[1], header->bmax[2]-0.1f);
+ glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
+
+ glVertex3f(p->bmax[0], p->bmax[1], header->bmax[2]-0.1f);
+ glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
+
+ glVertex3f(p->bmax[0], p->bmin[1], header->bmax[2]-0.1f);
+ glVertex3f(p->bmin[0], p->bmin[1], header->bmax[2]-0.1f);
+ }
+ for (int i = 0; i < header->nportals[2]; ++i)
+ {
+ const dtTilePortal* p = &header->portals[2][i];
+ if (p->ncon)
+ glColor4ub(255,255,255,192);
+ else
+ glColor4ub(255,0,0,64);
+ glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
+ glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
+
+ glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmin[0]);
+ glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
+
+ glVertex3f(header->bmin[0]+0.1f, p->bmax[1], p->bmax[0]);
+ glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
+
+ glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmax[0]);
+ glVertex3f(header->bmin[0]+0.1f, p->bmin[1], p->bmin[0]);
+ }
+ for (int i = 0; i < header->nportals[3]; ++i)
+ {
+ const dtTilePortal* p = &header->portals[3][i];
+ if (p->ncon)
+ glColor4ub(255,255,255,192);
+ else
+ glColor4ub(255,0,0,64);
+ glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
+ glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
+
+ glVertex3f(p->bmin[0], p->bmax[1], header->bmin[2]+0.1f);
+ glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
+
+ glVertex3f(p->bmax[0], p->bmax[1], header->bmin[2]+0.1f);
+ glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
+
+ glVertex3f(p->bmax[0], p->bmin[1], header->bmin[2]+0.1f);
+ glVertex3f(p->bmin[0], p->bmin[1], header->bmin[2]+0.1f);
+ }
+ glEnd();*/
+}
+
+void dtDebugDrawTiledNavMesh(const dtTiledNavMesh* mesh)
+{
+ if (!mesh) return;
+
+ for (int i = 0; i < DT_MAX_TILES; ++i)
+ {
+ const dtTile* tile = mesh->getTile(i);
+ if (!tile->header) continue;
+
+ drawTile(tile->header);
+ }
+}
+
+void dtDebugDrawTiledNavMeshPoly(const dtTiledNavMesh* mesh, dtTilePolyRef ref, const float* col)
+{
+ unsigned int salt, it, ip;
+ dtDecodeTileId(ref, salt, it, ip);
+ if (it >= DT_MAX_TILES) return;
+ const dtTile* tile = mesh->getTile(it);
+ if (tile->salt != salt || tile->header == 0) return;
+ const dtTileHeader* header = tile->header;
+
+ if (ip >= (unsigned int)header->npolys) return;
+
+ glColor4f(col[0],col[1],col[2],0.25f);
+
+ const dtTilePoly* p = &header->polys[ip];
+ const dtTilePolyDetail* pd = &header->dmeshes[ip];
+
+ glBegin(GL_TRIANGLES);
+ for (int i = 0; i < pd->ntris; ++i)
+ {
+ const unsigned char* t = &header->dtris[(pd->tbase+i)*4];
+ for (int j = 0; j < 3; ++j)
+ {
+ if (t[j] < p->nv)
+ glVertex3fv(&header->verts[p->v[t[j]]*3]);
+ else
+ glVertex3fv(&header->dverts[(pd->vbase+t[j]-p->nv)*3]);
+ }
+ }
+ glEnd();
+}
+
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