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Code Issues Releases Wiki Activity

Purge unnecessary recast stuff

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pull/2472/head
capostrophic 5 years ago
parent 4d4a21ff09
commit 1f3740225b
76 changed files with 0 additions and 35100 deletions
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2
CMakeLists.txt
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@ -604,9 +604,7 @@ if(WIN32)
endif(WIN32) endif(WIN32)
# Extern # Extern
set(RECASTNAVIGATION_DEMO OFF CACHE BOOL "Do not build RecastDemo")
set(RECASTNAVIGATION_STATIC ON CACHE BOOL "Build recastnavigation static libraries") set(RECASTNAVIGATION_STATIC ON CACHE BOOL "Build recastnavigation static libraries")
set(RECASTNAVIGATION_TESTS OFF CACHE BOOL "Do not build recastnavigation tests")
add_subdirectory (extern/recastnavigation EXCLUDE_FROM_ALL) add_subdirectory (extern/recastnavigation EXCLUDE_FROM_ALL)
add_subdirectory (extern/osg-ffmpeg-videoplayer) add_subdirectory (extern/osg-ffmpeg-videoplayer)

13
extern/recastnavigation/.gitignore vendored
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@ -9,16 +9,6 @@
*.so *.so
*.idb *.idb
## Linux exes have no extension
RecastDemo/Bin/RecastDemo
RecastDemo/Bin/Tests
# Build directory
RecastDemo/Build
# Ignore meshes
RecastDemo/Bin/Meshes/*
## Logs and databases # ## Logs and databases #
*.log *.log
*.sql *.sql
@ -38,9 +28,6 @@ Thumbs.db
## xcode specific ## xcode specific
*xcuserdata* *xcuserdata*
## SDL contrib
RecastDemo/Contrib/SDL/*
## Generated doc files ## Generated doc files
Docs/html Docs/html

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extern/recastnavigation/.travis.yml vendored
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@ -1,72 +0,0 @@
language: cpp
branches:
only:
- master
- coverity_scan
- /recast-.*$/
sudo: false
addons:
apt:
sources:
- ubuntu-toolchain-r-test
- llvm-toolchain-xenial-7
packages: [ cmake, clang-7, clang-tools-7, gcc-8, g++-8, libsdl2-dev ]
matrix:
include:
- name: Recastnavigation (all) on MacOS xcode9.4
os: osx
osx_image: xcode9.4
before_install:
- brew update
- brew install sdl2
if: branch != coverity_scan
- name: Recastnavigation on Ubuntu Xenial GCC-5
os: linux
dist: xenial
sudo: required
if: branch != coverity_scan
- name: Recastnavigation on Ubuntu Xenial GCC-8
os: linux
dist: xenial
sudo: required
env:
- MATRIX_EVAL="CC=gcc-8 && CXX=g++-8"
if: branch != coverity_scan
- name: Recastnavigation on Ubuntu Xenial GCC-5 using Premake5
os: linux
dist: xenial
sudo: required
if: branch != coverity_scan
before_install:
- wget https://github.com/premake/premake-core/releases/download/v5.0.0-alpha12/premake-5.0.0-alpha12-linux.tar.gz -O premake.tar.gz
- tar -xf premake.tar.gz
env:
- PREMAKE=1
- name: Recastnavigation on Ubuntu Xenial Clang-7 with Static Analysis
os: linux
dist: xenial
sudo: required
env:
- MATRIX_EVAL="CC=clang-7 && CXX=clang++-7"
- ANALYZE="scan-build-7 --force-analyze-debug-code --use-cc clang-7 --use-c++ clang++-7"
if: branch != coverity_scan
compiler: clang
- name: Recastnavigation Coverity Scan
os: linux
dist: xenial
sudo: required
if: branch = coverity_scan
before_script:
- if [ "${TRAVIS_OS_NAME}" = "linux" ]; then eval "${MATRIX_EVAL}"; fi
- if [ "${PREMAKE}" = "1" ]; then cd RecastDemo && ../premake5 gmake && cd ..; fi
- if [ "${PREMAKE}" != "1" ]; then mkdir -p build && cd build && ${ANALYZE} cmake ../ && cd ..; fi
script: # 2 CPUs on Travis-CI + 1 extra for IO bound process
- if [ "${PREMAKE}" = "1" ]; then make -C RecastDemo/Build/gmake -j3; fi
- if [ "${PREMAKE}" != "1" ]; then make -C build -j3; fi
- if [ "${PREMAKE}" = "1" ]; then RecastDemo/Bin/Tests; fi
- if [ "${PREMAKE}" != "1" ]; then cd build && ctest; fi

12
extern/recastnavigation/CMakeLists.txt vendored
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@ -6,9 +6,6 @@ project(RecastNavigation)
SET(SOVERSION 1) SET(SOVERSION 1)
SET(VERSION 1.0.0) SET(VERSION 1.0.0)
option(RECASTNAVIGATION_DEMO "Build demo" ON)
option(RECASTNAVIGATION_TESTS "Build tests" ON)
option(RECASTNAVIGATION_EXAMPLES "Build examples" ON)
option(RECASTNAVIGATION_STATIC "Build static libraries" ON) option(RECASTNAVIGATION_STATIC "Build static libraries" ON)
add_subdirectory(DebugUtils) add_subdirectory(DebugUtils)
@ -16,12 +13,3 @@ add_subdirectory(Detour)
add_subdirectory(DetourCrowd) add_subdirectory(DetourCrowd)
add_subdirectory(DetourTileCache) add_subdirectory(DetourTileCache)
add_subdirectory(Recast) add_subdirectory(Recast)
if (RECASTNAVIGATION_DEMO)
add_subdirectory(RecastDemo)
endif ()
if (RECASTNAVIGATION_TESTS)
enable_testing()
add_subdirectory(Tests)
endif ()

185
extern/recastnavigation/CONTRIBUTING.md vendored
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@ -1,185 +0,0 @@
# Contributing to Recast and Detour
We'd love for you to contribute to our source code and to make Recast and Detour even better than they are
today! Here are the guidelines we'd like you to follow:
- [Code of Conduct](#coc)
- [Question or Problem?](#question)
- [Issues and Bugs](#issue)
- [Feature Requests](#feature)
- [Submission Guidelines](#submission-guidelines)
- [Git Commit Guidelines](#git-commit-guidelines)
## <a name="coc"></a> Code of Conduct
This project adheres to the [Open Code of Conduct][code-of-conduct].
By participating, you are expected to honor this code.
## <a name="question"></a> Got a Question or Problem?
If you have questions about how to use Recast or Detour, please direct these to the [Google Group][groups]
discussion list. We are also available on [Gitter][gitter].
## <a name="issue"></a> Found an Issue?
If you find a bug in the source code or a mistake in the documentation, you can help us by
submitting an issue to our [GitHub Repository][github]. Even better you can submit a Pull Request
with a fix.
**Please see the Submission Guidelines below**.
## <a name="feature"></a> Want a Feature?
You can request a new feature by submitting an issue to our [GitHub Repository][github]. If you
would like to implement a new feature then consider what kind of change it is:
* **Major Changes** that you wish to contribute to the project should be discussed first on our
[Google Group][groups] or in [GitHub Issues][github-issues] so that we can better coordinate our efforts, prevent
duplication of work, and help you to craft the change so that it is successfully accepted into the
project.
* **Small Changes** can be crafted and submitted to the [GitHub Repository][github] as a Pull Request.
## Submission Guidelines
### Submitting an Issue
Before you submit your issue search the [GitHub Issues][github-issues] archive,
maybe your question was already answered.
If your issue appears to be a bug, and hasn't been reported, open a new issue.
Help us to maximize the effort we can spend fixing issues and adding new
features, by not reporting duplicate issues. Providing the following information will increase the
chances of your issue being dealt with quickly:
* **Overview of the Issue** - what type of issue is it, and why is it an issue for you?
* **Callstack** - if it's a crash or other runtime error, a callstack will help diagnosis
* **Screenshots** - for navmesh generation problems, a picture really is worth a thousand words.
Implement `duDebugDraw` and call some methods from DetourDebugDraw.h. Seriously, just do it, we'll definitely ask you to if you haven't!
* **Logs** - stdout and stderr from the console, or log files if there are any.
If integrating into your own codebase, be sure to implement the log callbacks in `rcContext`.
* **Reproduction steps** - a minimal, unambigious set of steps including input, that causes the error for you.
e.g. input geometry and settings you can use to input into RecastDemo to get it to fail.
Note: These can be saved by pressing the 9 key in RecastDemo, and the resulting .gset file can be shared (with the .obj if it is not one of the default ones).
* **Recast version(s) and/or git commit hash** - particularly if you can find the point at which the error first started happening
* **Environment** - operating system, compiler etc.
* **Related issues** - has a similar issue been reported before?
* **Suggest a Fix** - if you can't fix the bug yourself, perhaps you can point to what might be
causing the problem (line of code or commit)
Here is a great example of a well defined issue: https://github.com/recastnavigation/recastnavigation/issues/12
**If you get help, help others. Good karma rulez!**
### Submitting a Pull Request
Before you submit your pull request consider the following guidelines:
* Search [GitHub Pull Requests][github-pulls] for an open or closed Pull Request
that relates to your submission. You don't want to duplicate effort.
* Make your changes in a new git branch:
```shell
git checkout -b my-fix-branch master
```
* Implement your changes, **including appropriate tests if appropriate/possible**.
* Commit your changes using a descriptive commit message that follows our
[commit message conventions](#commit-message-format).
```shell
git commit -a
```
Note: the optional commit `-a` command line option will automatically "add" and "rm" edited files.
* Squash any work-in-progress commits (by rebasing) to form a series of commits that make sense individually.
Ideally the pull request will be small and focused enough that it fits sensibly in one commit.
```shell
git rebase -i origin/master
```
* Push your branch to GitHub:
```shell
git push origin my-fix-branch
```
* In GitHub, send a pull request to `recastnavigation:master`.
* If we suggest changes then:
* Make the required updates.
* Commit your changes to your branch (e.g. `my-fix-branch`).
* Squash the changes, overwriting history in your fix branch - we don't want history to include incomplete work.
* Push the changes to your GitHub repository (this will update your Pull Request).
If you have rebased to squash commits together, you will need to force push to update the PR:
```shell
git rebase master -i
git push origin my-fix-branch -f
```
That's it! Thank you for your contribution!
#### After your pull request is merged
After your pull request is merged, you can safely delete your branch and pull the changes
from the main (upstream) repository:
* Delete the remote branch on GitHub either through the GitHub web UI or your local shell as follows:
```shell
git push origin --delete my-fix-branch
```
* Check out the master branch:
```shell
git checkout master -f
```
* Delete the local branch:
```shell
git branch -D my-fix-branch
```
* Update your master with the latest upstream version:
```shell
git pull --ff upstream master
```
## Git Commit Guidelines
### Commit content
Do your best to factor commits appropriately, i.e not too large with unrelated
things in the same commit, and not too small with the same small change applied N
times in N different commits. If there was some accidental reformatting or whitespace
changes during the course of your commits, please rebase them away before submitting
the PR.
### Commit Message Format
Please format commit messages as follows (based on this [excellent post](http://tbaggery.com/2008/04/19/a-note-about-git-commit-messages.html)):
```
Summarize change in 50 characters or less
Provide more detail after the first line. Leave one blank line below the
summary and wrap all lines at 72 characters or less.
If the change fixes an issue, leave another blank line after the final
paragraph and indicate which issue is fixed in the specific format
below.
Fix #42
```
Important things you should try to include in commit messages include:
* Motivation for the change
* Difference from previous behaviour
* Whether the change alters the public API, or affects existing behaviour significantly
[code-of-conduct]: http://todogroup.org/opencodeofconduct/#Recastnavigation/b.hymers@gmail.com
[github]: https://github.com/recastnavigation/recastnavigation
[github-issues]: https://github.com/recastnavigation/recastnavigation/issues
[github-pulls]: https://github.com/recastnavigation/recastnavigation/pulls
[gitter]: https://gitter.im/recastnavigation/chat
[groups]: https://groups.google.com/forum/?fromgroups#!forum/recastnavigation

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extern/recastnavigation/Docs/Conceptual/license_c.txt vendored
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@ -1,27 +0,0 @@
/**
@page License License
<pre>
Copyright (c) 2009-2011 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.
</pre>
*/

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extern/recastnavigation/Docs/Conceptual/mainpage_c.txt vendored
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@ -1,109 +0,0 @@
/// @mainpage Recast Navigation
///
/// @image html recast_intro.png
///
/// <h2>Recast</h2>
///
/// _Recast_ is a state of the art navigation mesh construction toolset for
/// games.
///
/// - It is automatic, which means that you can throw any level
/// geometry at it and you will get a robust mesh out.
/// - It is fast, which means swift turnaround times for level designers.
/// - It is open source, so it comes with full source and you can
/// customize it to your hearts content.
///
/// The latest version can be found on
/// <a href="https://github.com/recastnavigation/recastnavigation">GitHub</a>.
///
/// The _Recast_ process starts with constructing a voxel mold from level
/// geometry and then casting a navigation mesh over it. The process
/// consists of three steps: building the voxel mold, partitioning the
/// mold into simple regions, and triangulating the regions as simple polygons.
///
/// -# The voxel mold is built from the input triangle mesh by
/// rasterizing the triangles into a multi-layer heightfield. Some
/// simple filters are then applied to the mold to prune out locations
/// where the character would not be able to move.
/// -# The walkable areas described by the mold are divided into simple
/// overlayed 2D regions. The resulting regions have only one
/// non-overlapping contour, which simplifies the final step of the
/// process tremendously.
/// -# The navigation polygons are generated from the regions by first
/// tracing the boundaries and then simplifying them. The resulting
/// polygons are finally converted to convex polygons which makes them
/// perfect for pathfinding and spatial reasoning about the level.
///
/// <h2>Detour</h2>
///
/// _Recast_ is accompanied by _Detour_, a path-finding and spatial reasoning
/// toolkit. You can use any navigation mesh with _Detour_, but of course
/// the data generated by _Recast_ fits perfectly.
///
/// _Detour_ offers a simple static navigation mesh that is suitable for
/// many simple cases, as well as a tiled navigation mesh that allows you
/// to add and remove pieces of the mesh. The tiled mesh allows you to
/// create systems where you stream new navigation data in and out as
/// the player progresses the level, or regenerate tiles as the
/// world changes.
///
/// <h2>Recast Demo</h2>
///
/// You can find a comprehensive demo project in the `RecastDemo` folder. It
/// is a kitchen sink demo containing all the major functionality of the library.
/// If you are new to _Recast_ & _Detour_, check out
/// <a href="https://github.com/recastnavigation/recastnavigation/blob/master/RecastDemo/Source/Sample_SoloMesh.cpp">
/// Sample_SoloMesh.cpp</a> to get started with building navmeshes and
/// <a href="https://github.com/recastnavigation/recastnavigation/blob/master/RecastDemo/Source/NavMeshTesterTool.cpp">
/// NavMeshTesterTool.cpp</a> to see how _Detour_ can be used to find paths.
///
/// <h3>Building RecastDemo</h3>
///
/// RecastDemo uses [premake5](http://premake.github.io/) to build platform specific projects.
/// Download it and make sure it's available on your path, or specify the path to it.
///
/// <h4>Linux</h4>
///
/// - Install SDl2 and its dependencies according to your distro's guidelines.
/// - run `premake5 gmake` from the `RecastDemo` folder.
/// - `cd Build/gmake` then `make`
/// - Run `RecastDemo\Bin\RecastDemo`
///
/// <h4>OSX</h4>
///
/// - Grab the latest SDL2 development library dmg from [here](https://www.libsdl.org/download-2.0.php) and place `SDL2.framework` in `/Library/Frameworks/`
/// - Navigate to the `RecastDemo` folder and run `premake5 xcode4`
/// - Open `Build/xcode4/recastnavigation.xcworkspace`
/// - Select the "RecastDemo" project in the left pane, go to the "BuildPhases" tab and expand "Link Binary With Libraries"
/// - Remove the existing entry for SDL2 (it should have a white box icon) and re-add it by hitting the plus, selecting "Add Other", and selecting `/Library/Frameworks/SDL2.framework`. It should now have a suitcase icon.
/// - Set the RecastDemo project as the target and build.
///
/// <h4>Windows</h4>
///
/// - Grab the latest SDL2 development library release from [here](https://www.libsdl.org/download-2.0.php) and unzip it `RecastDemo\Contrib`. Rename the SDL folder such that the path `RecastDemo\Contrib\SDL\lib\x86` is valid.
/// - Run `"premake5" vs2015` from the `RecastDemo` folder
/// - Open the solution, build, and run.
///
/// <h2>Integrating With Your Own Project</h2>
///
/// It is recommended to add the source directories `DebugUtils`, `Detour`,
/// `DetourCrowd`, `DetourTileCache`, and `Recast` into your own project
/// depending on which parts of the project you need. For example your
/// level building tool could include `DebugUtils`, `Recast`, and `Detour`,
/// and your game runtime could just include `Detour`.
///
/// <h2>Contributing</h2>
/// All development is centralized in github. Check out the <a href="https://github.com/recastnavigation/recastnavigation/blob/master/CONTRIBUTING.md">Contributing Guidelines</a> for more information.
///
/// <h2>Discuss</h2>
///
/// - Discuss _Recast_ and _Detour_:
/// <a href="http://groups.google.com/group/recastnavigation">
/// Recast Navigation Group</a>
/// - Development Blog:
/// <a href="http://digestingduck.blogspot.com/">Digesting Duck</a>
///
/// <h2>License</h2>
///
/// _Recast Navigation_ is licensed under the ZLib license.
///

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<doxygenlayout version="1.0">
<!-- Generated by doxygen 1.8.6 -->
<!-- Navigation index tabs for HTML output -->
<navindex>
<tab type="mainpage" visible="yes" title=""/>
<tab type="pages" visible="yes" title="" intro=""/>
<tab type="modules" visible="yes" title="" intro=""/>
<tab type="namespaces" visible="no" title="">
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<tab type="filelist" visible="yes" title="" intro=""/>
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</tab>
<tab type="examples" visible="yes" title="" intro=""/>
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// This file contains the detail API documentation for
// elements defined in the Recast.h.
/**
@defgroup recast Recast
Members in this module are used to create mesh data that is then
used to create Detour navigation meshes.
The are a large number of possible ways to building navigation mesh data.
One of the simple piplines is as follows:
-# Prepare the input triangle mesh.
-# Build a #rcHeightfield.
-# Build a #rcCompactHeightfield.
-# Build a #rcContourSet.
-# Build a #rcPolyMesh.
-# Build a #rcPolyMeshDetail.
-# Use the rcPolyMesh and rcPolyMeshDetail to build a Detour navigation mesh
tile.
The general life-cycle of the main classes is as follows:
-# Allocate the object using the Recast allocator. (E.g. #rcAllocHeightfield)
-# Initialize or build the object. (E.g. #rcCreateHeightfield)
-# Update the object as needed. (E.g. #rcRasterizeTriangles)
-# Use the object as part of the pipeline.
-# Free the object using the Recast allocator. (E.g. #rcFreeHeightField)
@note This is a summary list of members. Use the index or search
feature to find minor members.
@struct rcConfig
@par
The is a convenience structure that represents an aggregation of parameters
used at different stages in the Recast build process. Some
values are derived during the build process. Not all parameters
are used for all build processes.
Units are usually in voxels (vx) or world units (wu). The units for voxels,
grid size, and cell size are all based on the values of #cs and #ch.
In this documentation, the term 'field' refers to heightfield and
contour data structures that define spacial information using an integer
grid.
The upper and lower limits for the various parameters often depend on
the platform's floating point accuraccy as well as interdependencies between
the values of multiple parameters. See the individual parameter
documentation for details.
@var rcConfig::borderSize
@par
This value represents the the closest the walkable area of the heightfield
should come to the xz-plane AABB of the field. It does not have any
impact on the borders around internal obstructions.
@var rcConfig::tileSize
@par
This field is only used when building multi-tile meshes.
@var rcConfig::cs
@par
@p cs and #ch define voxel/grid/cell size. So their values have significant
side effects on all parameters defined in voxel units.
The minimum value for this parameter depends on the platform's floating point
accuracy, with the practical minimum usually around 0.05.
@var rcConfig::ch
@par
#cs and @p ch define voxel/grid/cell size. So their values have significant
side effects on all parameters defined in voxel units.
The minimum value for this parameter depends on the platform's floating point
accuracy, with the practical minimum usually around 0.05.
@var rcConfig::walkableSlopeAngle
@par
The practical upper limit for this parameter is usually around 85 degrees.
@var rcConfig::walkableHeight
@par
Permits detection of overhangs in the source geometry that make the geometry
below un-walkable. The value is usually set to the maximum agent height.
@var rcConfig::walkableClimb
@par
Allows the mesh to flow over low lying obstructions such as curbs and
up/down stairways. The value is usually set to how far up/down an agent can step.
@var rcConfig::walkableRadius
@par
In general, this is the closest any part of the final mesh should get to an
obstruction in the source geometry. It is usually set to the maximum
agent radius.
While a value of zero is legal, it is not recommended and can result in
odd edge case issues.
@var rcConfig::maxEdgeLen
@par
Extra vertices will be inserted as needed to keep contour edges below this
length. A value of zero effectively disables this feature.
@var rcConfig::maxSimplificationError
@par
The effect of this parameter only applies to the xz-plane.
@var rcConfig::minRegionArea
@par
Any regions that are smaller than this area will be marked as unwalkable.
This is useful in removing useless regions that can sometimes form on
geometry such as table tops, box tops, etc.
@var rcConfig::maxVertsPerPoly
@par
If the mesh data is to be used to construct a Detour navigation mesh, then the upper limit
is limited to <= #DT_VERTS_PER_POLYGON.
@struct rcHeightfield
@par
The grid of a heightfield is layed out on the xz-plane based on the
value of #cs. Spans exist within the grid columns with the span
min/max values at increments of #ch from the base of the grid. The smallest
possible span size is <tt>(#cs width) * (#cs depth) * (#ch height)</tt>. (Which is a single voxel.)
The standard process for buidling a heightfield is to allocate it using
#rcAllocHeightfield, initialize it using #rcCreateHeightfield, then
add spans using the various helper functions such as #rcRasterizeTriangle.
Building a heightfield is one of the first steps in creating a polygon mesh
from source geometry. After it is populated, it is used to build a
rcCompactHeightfield.
Example of iterating the spans in a heightfield:
@code
// Where hf is a reference to an heightfield object.
const float* orig = hf.bmin;
const float cs = hf.cs;
const float ch = hf.ch;
const int w = hf.width;
const int h = hf.height;
for (int y = 0; y < h; ++y)
{
for (int x = 0; x < w; ++x)
{
// Deriving the minimum corner of the grid location.
float fx = orig[0] + x*cs;
float fz = orig[2] + y*cs;
// The base span in the column. (May be null.)
const rcSpan* s = hf.spans[x + y*w];
while (s)
{
// Detriving the minium and maximum world position of the span.
float fymin = orig[1]+s->smin*ch;
float fymax = orig[1] + s->smax*ch;
// Do other things with the span before moving up the column.
s = s->next;
}
}
}
@endcode
@see rcAllocHeightfield, rcFreeHeightField, rcCreateHeightfield
@struct rcCompactCell
@par
See the rcCompactHeightfield documentation for an example of how compact cells
are used to iterate the heightfield.
Useful instances of this type can only by obtained from a #rcCompactHeightfield object.
@see rcCompactHeightfield
@struct rcCompactSpan
@par
The span represents open, unobstructed space within a compact heightfield column.
See the rcCompactHeightfield documentation for an example of iterating spans and searching
span connections.
Useful instances of this type can only by obtained from a #rcCompactHeightfield object.
@see rcCompactHeightfield
@struct rcCompactHeightfield
@par
For this type of heightfield, the spans represent the open (unobstructed)
space above the solid surfaces of a voxel field. It is usually created from
a #rcHeightfield object. Data is stored in a compact, efficient manner,
but the structure is not condusive to adding and removing spans.
The standard process for buidling a compact heightfield is to allocate it
using #rcAllocCompactHeightfield, build it using #rcBuildCompactHeightfield,
then run it through the various helper functions to generate neighbor
and region data.
Connected neighbor spans form non-overlapping surfaces. When neighbor
information is generated, spans will include data that can be used to
locate axis-neighbors. Axis-neighbors are connected
spans that are offset from the current cell column as follows:
<pre>
Direction 0 = (-1, 0)
Direction 1 = (0, 1)
Direction 2 = (1, 0)
Direction 3 = (0, -1)
</pre>
Example of iterating and inspecting spans, including connected neighbors:
@code
// Where chf is an instance of a rcCompactHeightfield.
const float cs = chf.cs;
const float ch = chf.ch;
for (int y = 0; y < chf.height; ++y)
{
for (int x = 0; x < chf.width; ++x)
{
// Deriving the minimum corner of the grid location.
const float fx = chf.bmin[0] + x*cs;
const float fz = chf.bmin[2] + y*cs;
// Get the cell for the grid location then iterate
// up the column.
const rcCompactCell& c = chf.cells[x+y*chf.width];
for (unsigned i = c.index, ni = c.index+c.count; i < ni; ++i)
{
const rcCompactSpan& s = chf.spans[i];
Deriving the minimum (floor) of the span.
const float fy = chf.bmin[1] + (s.y+1)*ch;
// Testing the area assignment of the span.
if (chf.areas[i] == RC_WALKABLE_AREA)
{
// The span is in the default 'walkable area'.
}
else if (chf.areas[i] == RC_NULL_AREA)
{
// The surface is not considered walkable.
// E.g. It was filtered out during the build processes.
}
else
{
// Do something. (Only applicable for custom build
// build processes.)
}
// Iterating the connected axis-neighbor spans.
for (int dir = 0; dir < 4; ++dir)
{
if (rcGetCon(s, dir) != RC_NOT_CONNECTED)
{
// There is a neighbor in this direction.
const int nx = x + rcGetDirOffsetX(dir);
const int ny = y + rcGetDirOffsetY(dir);
const int ni = (int)chf.cells[nx+ny*w].index + rcGetCon(s, 0);
const rcCompactSpan& ns = chf.spans[ni];
// Do something with the neighbor span.
}
}
}
}
}
@endcode
@see rcAllocCompactHeightfield, rcFreeCompactHeightfield, rcBuildCompactHeightfield
@struct rcContour
@par
A contour only exists within the context of a #rcContourSet object.
While the height of the contour's border may vary, the contour will always
form a simple polygon when projected onto the xz-plane.
Example of converting vertices into world space:
@code
// Where cset is the rcContourSet object to which the contour belongs.
float worldX = cset.bmin[0] + vertX * cset.cs;
float worldY = cset.bmin[1] + vertY * cset.ch;
float worldZ = cset.bmin[2] + vertZ * cset.cs;
@endcode
@see rcContourSet
@var rcContour::verts
@par
The simplified contour is a version of the raw contour with all
'unnecessary' vertices removed. Whether a vertex is
considered unnecessary depends on the contour build process.
The data format is as follows: (x, y, z, r) * #nverts
A contour edge is formed by the current and next vertex. The r-value
represents region and connection information for the edge. For example:
@code
int r = verts[i*4+3];
int regionId = r & RC_CONTOUR_REG_MASK;
if (r & RC_BORDER_VERTEX)
{
// The edge represents a solid border.
}
if (r & RC_AREA_BORDER)
{
// The edge represents a transition between different areas.
}
@endcode
@var rcContour::rverts
@par
See #verts for information on element layout.
@struct rcContourSet
@par
All contours within the set share the minimum bounds and cell sizes of the set.
The standard process for building a contour set is to allocate it
using #rcAllocContourSet, then initialize it using #rcBuildContours.
@see rcAllocContourSet, rcFreeContourSet, rcBuildContours
@struct rcPolyMesh
@par
A mesh of potentially overlapping convex polygons of between three
and #nvp vertices. The mesh exists within the context of an axis-aligned
bounding box (AABB) with vertices laid out in an evenly spaced grid, based
on the values of #cs and #ch.
The standard process for building a contour set is to allocate it using
#rcAllocPolyMesh, the initialize it using #rcBuildPolyMesh
Example of iterating the polygons:
@code
// Where mesh is a reference to a rcPolyMesh object.
const int nvp = mesh.nvp;
const float cs = mesh.cs;
const float ch = mesh.ch;
const float* orig = mesh.bmin;
for (int i = 0; i < mesh.npolys; ++i)
{
const unsigned short* p = &mesh.polys[i*nvp*2];
// Iterate the vertices.
unsigned short vi[3]; // The vertex indices.
for (int j = 0; j < nvp; ++j)
{
if (p[j] == RC_MESH_NULL_IDX)
break; // End of vertices.
if (p[j + nvp] == RC_MESH_NULL_IDX)
{
// The edge beginning with this vertex is a solid border.
}
else
{
// The edge beginning with this vertex connects to
// polygon p[j + nvp].
}
// Convert to world space.
const unsigned short* v = &mesh.verts[p[j]*3];
const float x = orig[0] + v[0]*cs;
const float y = orig[1] + v[1]*ch;
const float z = orig[2] + v[2]*cs;
// Do something with the vertices.
}
}
@endcode
@see rcAllocPolyMesh, rcFreePolyMesh, rcBuildPolyMesh
@var rcPolyMesh::verts
@par
The values of #bmin ,#cs, and #ch are used to convert vertex coordinates
to world space as follows:
@code
float worldX = bmin[0] + verts[i*3+0] * cs
float worldY = bmin[1] + verts[i*3+1] * ch
float worldZ = bmin[2] + verts[i*3+2] * cs
@endcode
@var rcPolyMesh::polys
@par
Each entry is <tt>2 * #nvp</tt> in length. The first half of the entry
contains the indices of the polygon. The first instance of #RC_MESH_NULL_IDX
indicates the end of the indices for the entry. The second half contains
indices to neighbor polygons. A value of #RC_MESH_NULL_IDX indicates no
connection for the associated edge. (I.e. The edge is a solid border.)
For example:
<pre>
nvp = 6
For the entry: (1, 3, 4, 8, RC_MESH_NULL_IDX, RC_MESH_NULL_IDX,
18, RC_MESH_NULL_IDX , 21, RC_MESH_NULL_IDX, RC_MESH_NULL_IDX, RC_MESH_NULL_IDX)
(1, 3, 4, 8) defines a polygon with 4 vertices.
Edge 1->3 is shared with polygon 18.
Edge 4->8 is shared with polygon 21.
Edges 3->4 and 4->8 are border edges not shared with any other polygon.
</pre>
@var rcPolyMesh::areas
@par
The standard build process assigns the value of #RC_WALKABLE_AREA to all walkable polygons.
This value can then be changed to meet user requirements.
@struct rcPolyMeshDetail
@par
The detail mesh is made up of triangle sub-meshes that provide extra
height detail for each polygon in its assoicated polygon mesh.
The standard process for building a detail mesh is to allocate it
using #rcAllocPolyMeshDetail, then build it using #rcBuildPolyMeshDetail.
See the individual field definitions for details realted to the structure
the mesh.
@see rcAllocPolyMeshDetail, rcFreePolyMeshDetail, rcBuildPolyMeshDetail, rcPolyMesh
@var rcPolyMeshDetail::meshes
@par
[(baseVertIndex, vertCount, baseTriIndex, triCount) * #nmeshes]
Maximum number of vertices per sub-mesh: 127<br/>
Maximum number of triangles per sub-mesh: 255
The sub-meshes are stored in the same order as the polygons from the
rcPolyMesh they represent. E.g. rcPolyMeshDetail sub-mesh 5 is associated
with #rcPolyMesh polygon 5.
Example of iterating the triangles in a sub-mesh.
@code
// Where dmesh is a reference to a rcPolyMeshDetail object.
// Iterate the sub-meshes. (One for each source polygon.)
for (int i = 0; i < dmesh.nmeshes; ++i)
{
const unsigned int* meshDef = &dmesh.meshes[i*4];
const unsigned int baseVerts = meshDef[0];
const unsigned int baseTri = meshDef[2];
const int ntris = (int)meshDef[3];
const float* verts = &dmesh.verts[baseVerts*3];
const unsigned char* tris = &dmesh.tris[baseTri*4];
// Iterate the sub-mesh's triangles.
for (int j = 0; j < ntris; ++j)
{
const float x = verts[tris[j*4+0]*3];
const float y = verts[tris[j*4+1]*3];
const float z = verts[tris[j*4+2]*3];
// Do something with the vertex.
}
}
@endcode
@var rcPolyMeshDetail::verts
@par
[(x, y, z) * #nverts]
The vertices are grouped by sub-mesh and will contain duplicates since
each sub-mesh is independently defined.
The first group of vertices for each sub-mesh are in the same order as
the vertices for the sub-mesh's associated PolyMesh polygon. These
vertices are followed by any additional detail vertices. So it the
associated polygon has 5 vertices, the sub-mesh will have a minimum
of 5 vertices and the first 5 vertices will be equivalent to the 5
polygon vertices.
@var rcPolyMeshDetail::tris
@par
[(vertIndexA, vertIndexB, vertIndexC, flags) * #ntris]
The triangles are grouped by sub-mesh.
<b>Vertex Indices</b>
The vertex indices in the triangle array are local to the sub-mesh, not global.
To translate into an global index in the vertices array, the values must be
offset by the sub-mesh's base vertex index.
Example: If the baseVertexIndex for the sub-mesh is 5 and the triangle entry
is (4, 8, 7, 0), then the actual indices for the vertices are (4 + 5, 8 + 5, 7 + 5).
@b Flags
The flags entry indicates which edges are internal and which are external to
the sub-mesh. Internal edges connect to other triangles within the same sub-mesh.
External edges represent portals to other sub-meshes or the null region.
Each flag is stored in a 2-bit position. Where position 0 is the lowest 2-bits
and position 4 is the highest 2-bits:
<tt>
Position 0: Edge AB (>> 0)<br/>
Position 1: Edge BC (>> 2)<br/>
Position 2: Edge CA (>> 4)<br/>
Position 4: Unused<br/>
</tt>
Testing can be performed as follows:
@code
if (((flags >> 2) & 0x3) != 0)
{
// Edge BC is an external edge.
}
@endcode
@fn void rcSetCon(rcCompactSpan &s, int dir, int i)
@par
This function is used by the build process. It is rarely of use to end users.
@see #rcCompactHeightfield, #rcCompactSpan
@fn int rcGetCon(const rcCompactSpan &s, int dir)
@par
Can be used to locate neighbor spans in a compact heightfield. See the
#rcCompactHeightfield documentation for details on its use.
@see #rcCompactHeightfield, #rcCompactSpan
@fn int rcGetDirOffsetX(int dir)
@par
The value of @p dir will be automatically wrapped. So a value of 6 will be interpreted as 2.
See the #rcCompactHeightfield documentation for usage details.
@fn int rcGetDirOffsetY(int dir)
@par
The value of @p dir will be automatically wrapped. So a value of 6 will be interpreted as 2.
See the #rcCompactHeightfield documentation for usage details.
*/

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This directory contains source for the documentation. It is also the
build target for doxygen output.
Directory Layout
. (Docs root)
High level content and format files. (E.g. css, header, footer.)
./Conceptual
Conceptual (non-api) documentation such as overviews, how-to's, etc.
The main index page content is also in this directory.
./Extern
API documentation that is located outside the source files.
When the API documentation gets too big or complex for the header
and source files, it goes in this directory.
./Images
Images related to the documentation.
./html
The target for the Doxygen build. (Created during the build process.)
Miscellany
One of the requirements for the API documentation is that it
has the minimum possible impact on the declarations in the
header files. So, in general, the header file declarations only
contain summary documentation. The detail documentation
is placed as follows:
1. If an element is defined in a cpp file, then place
the detail documentation in the source file.
2. If an element does not have an associated cpp file, then
place the detail documentation at the end of the header file.
3. If there is a lot of detail documentation cluttering up
the end of a header file, then the content is moved to
a separate file in the Extern directory.
Building the Documentation
1. Download and install the appropriate Doxygen version. (See the first
line in the Doxyfile for the current version.)
2. Run "doxygen" in the project root directory. (The location of the Doxyfile.)
No arguments are required.
The generated html files will be located in the /Docs/html directory.
If you want to "version" the documentation, you can set the PROJECT_NUMBER
setting in the Doxyfile. E.g. PROJECT_NUMBER = "(2014-04-23)". The project
number will be added to the header of the documentation.
E.g. "Recast Navigation (2014-04-23)"

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<!-- HTML footer for doxygen 1.8.6-->
<!-- start footer part -->
<!--BEGIN GENERATE_TREEVIEW-->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
<ul>
$navpath
&nbsp;&nbsp;<a href="https://github.com/recastnavigation/recastnavigation">Project Home</a>
| <a href="./License.html">Licence: ZLib</a>
| Copyright (c) 2009-2014 Mikko Mononen
</ul>
</div>
<!--END GENERATE_TREEVIEW-->
<!--BEGIN !GENERATE_TREEVIEW-->
<hr class="footer"/><address class="footer"><small>
&nbsp;&nbsp;<a href="https://github.com/recastnavigation/recastnavigation">Project Home</a>
| <a href="./License.html">Licence: ZLib</a>
| Copyright (c) 2009-2014 Mikko Mononen
</small></address>
<!--END !GENERATE_TREEVIEW-->
</body>
</html>

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<!-- HTML header for doxygen 1.8.6-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen $doxygenversion"/>
<!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
<!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
<link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="$relpath^jquery.js"></script>
<script type="text/javascript" src="$relpath^dynsections.js"></script>
$treeview
$search
$mathjax
<link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
$extrastylesheet
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<!--BEGIN TITLEAREA-->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<!--BEGIN PROJECT_LOGO-->
<td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"/></td>
<!--END PROJECT_LOGO-->
<!--BEGIN PROJECT_NAME-->
<td style="padding-left: 0.5em;">
<div id="projectname">$projectname
<!--BEGIN PROJECT_NUMBER-->&#160;<span id="projectnumber">$projectnumber</span><!--END PROJECT_NUMBER-->
</div>
<!--BEGIN PROJECT_BRIEF--><div id="projectbrief">$projectbrief</div><!--END PROJECT_BRIEF-->
</td>
<!--END PROJECT_NAME-->
<!--BEGIN !PROJECT_NAME-->
<!--BEGIN PROJECT_BRIEF-->
<td style="padding-left: 0.5em;">
<div id="projectbrief">$projectbrief</div>
</td>
<!--END PROJECT_BRIEF-->
<!--END !PROJECT_NAME-->
<!--BEGIN DISABLE_INDEX-->
<!--BEGIN SEARCHENGINE-->
<td>$searchbox</td>
<!--END SEARCHENGINE-->
<!--END DISABLE_INDEX-->
</tr>
</tbody>
</table>
</div>
<!--END TITLEAREA-->
<!-- end header part -->

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Recast & Detour
===============
[![Travis (Linux) Build Status](https://travis-ci.org/recastnavigation/recastnavigation.svg?branch=master)](https://travis-ci.org/recastnavigation/recastnavigation)
[![Appveyor (Windows) Build Status](https://ci.appveyor.com/api/projects/status/20w84u25b3f8h179/branch/master?svg=true)](https://ci.appveyor.com/project/recastnavigation/recastnavigation/branch/master)
[![Issue Stats](http://www.issuestats.com/github/recastnavigation/recastnavigation/badge/pr?style=flat)](http://www.issuestats.com/github/recastnavigation/recastnavigation)
[![Issue Stats](http://www.issuestats.com/github/recastnavigation/recastnavigation/badge/issue?style=flat)](http://www.issuestats.com/github/recastnavigation/recastnavigation)
![screenshot of a navmesh baked with the sample program](/RecastDemo/screenshot.png?raw=true)
## Recast
Recast is state of the art navigation mesh construction toolset for games.
* It is automatic, which means that you can throw any level geometry at it and you will get robust mesh out
* It is fast which means swift turnaround times for level designers
* It is open source so it comes with full source and you can customize it to your heart's content.
The Recast process starts with constructing a voxel mold from a level geometry
and then casting a navigation mesh over it. The process consists of three steps,
building the voxel mold, partitioning the mold into simple regions, peeling off
the regions as simple polygons.
1. The voxel mold is built from the input triangle mesh by rasterizing the triangles into a multi-layer heightfield. Some simple filters are then applied to the mold to prune out locations where the character would not be able to move.
2. The walkable areas described by the mold are divided into simple overlayed 2D regions. The resulting regions have only one non-overlapping contour, which simplifies the final step of the process tremendously.
3. The navigation polygons are peeled off from the regions by first tracing the boundaries and then simplifying them. The resulting polygons are finally converted to convex polygons which makes them perfect for pathfinding and spatial reasoning about the level.
## Detour
Recast is accompanied with Detour, path-finding and spatial reasoning toolkit. You can use any navigation mesh with Detour, but of course the data generated with Recast fits perfectly.
Detour offers simple static navigation mesh which is suitable for many simple cases, as well as tiled navigation mesh which allows you to plug in and out pieces of the mesh. The tiled mesh allows you to create systems where you stream new navigation data in and out as the player progresses the level, or you may regenerate tiles as the world changes.
## Recast Demo
You can find a comprehensive demo project in RecastDemo folder. It is a kitchen sink demo containing all the functionality of the library. If you are new to Recast & Detour, check out [Sample_SoloMesh.cpp](/RecastDemo/Source/Sample_SoloMesh.cpp) to get started with building navmeshes and [NavMeshTesterTool.cpp](/RecastDemo/Source/NavMeshTesterTool.cpp) to see how Detour can be used to find paths.
### Building RecastDemo
RecastDemo uses [premake5](http://premake.github.io/) to build platform specific projects. Download it and make sure it's available on your path, or specify the path to it.
#### Linux
- Install SDL2 and its dependencies according to your distro's guidelines.
- run `premake5 gmake` from the `RecastDemo` folder.
- `cd Build/gmake` then `make`
- Run `RecastDemo\Bin\RecastDemo`
#### OSX
- Grab the latest SDL2 development library dmg from [here](https://www.libsdl.org/download-2.0.php) and place `SDL2.framework` in `/Library/Frameworks/`
- Navigate to the `RecastDemo` folder and run `premake5 xcode4`
- Open `Build/xcode4/recastnavigation.xcworkspace`
- Select the "RecastDemo" project in the left pane, go to the "BuildPhases" tab and expand "Link Binary With Libraries"
- Remove the existing entry for SDL2 (it should have a white box icon) and re-add it by hitting the plus, selecting "Add Other", and selecting `/Library/Frameworks/SDL2.framework`. It should now have a suitcase icon.
- Set the RecastDemo project as the target and build.
#### Windows
- Grab the latest SDL2 development library release from [here](https://www.libsdl.org/download-2.0.php) and unzip it `RecastDemo\Contrib`. Rename the SDL folder such that the path `RecastDemo\Contrib\SDL\lib\x86` is valid.
- Run `"premake5" vs2015` from the `RecastDemo` folder
- Open the solution, build, and run.
### Running Unit tests
- Follow the instructions to build RecastDemo above. Premake should generate another build target called "Tests".
- Build the "Tests" project. This will generate an executable named "Tests" in `RecastDemo/Bin/`
- Run the "Tests" executable. It will execute all the unit tests, indicate those that failed, and display a count of those that succeeded.
## Integrating with your own project
It is recommended to add the source directories `DebugUtils`, `Detour`, `DetourCrowd`, `DetourTileCache`, and `Recast` into your own project depending on which parts of the project you need. For example your level building tool could include `DebugUtils`, `Recast`, and `Detour`, and your game runtime could just include `Detour`.
## Contributing
See the [Contributing document](CONTRIBUTING.md) for guidelines for making contributions.
## Discuss
- Discuss Recast & Detour: http://groups.google.com/group/recastnavigation
- Development blog: http://digestingduck.blogspot.com/
## License
Recast & Detour is licensed under ZLib license, see License.txt for more information.

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extern/recastnavigation/RecastDemo/Bin/TestCases/movement_test.txt vendored
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@ -1,15 +0,0 @@
s Solo Mesh
f movement.obj
pf -100.539185 -1.000000 54.028996 62.582016 15.757828 52.842243 0x3 0x0
pf -100.539185 -1.000000 54.028996 -1.259964 -1.000000 50.116970 0x3 0x0
pf -100.539185 -1.000000 54.028996 1.598934 -1.000000 23.528656 0x3 0x0
pf -100.539185 -1.000000 54.028996 3.652847 -1.000000 -5.022881 0x3 0x0
pf -100.539185 -1.000000 54.028996 -39.182816 8.999985 -24.697731 0x3 0x0
pf -100.539185 -1.000000 54.028996 -66.847992 -1.000000 -28.908646 0x3 0x0
pf -100.539185 -1.000000 54.028996 -90.966019 -1.000000 -3.219864 0x3 0x0
pf -43.394421 -1.000000 13.312424 -90.966019 -1.000000 -3.219864 0x3 0x0
pf -43.394421 -1.000000 13.312424 -36.447182 3.999992 -25.008087 0x3 0x0
pf -43.394421 -1.000000 13.312424 26.394167 15.757812 -13.491264 0x3 0x0
pf -43.394421 -1.000000 13.312424 -4.140746 6.944923 4.888435 0x3 0x0
pf -43.394421 -1.000000 13.312424 -73.532791 -1.062469 23.137051 0x3 0x0
pf -43.394421 -1.000000 13.312424 -72.902054 7.996834 15.076473 0x3 0x0

23
extern/recastnavigation/RecastDemo/Bin/TestCases/nav_mesh_test.txt vendored
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s Solo Mesh
f nav_test.obj
pf 18.138550 -2.370003 -21.319118 -19.206181 -2.369133 24.802742 0x3 0x0
pf 18.252758 -2.368240 -7.000238 -19.206181 -2.369133 24.802742 0x3 0x0
pf 18.252758 -2.368240 -7.000238 -22.759071 -2.369453 2.003946 0x3 0x0
pf 18.252758 -2.368240 -7.000238 -24.483898 -2.369728 -6.778278 0x3 0x0
pf 18.252758 -2.368240 -7.000238 -24.068850 -2.370285 -18.879251 0x3 0x0
pf 18.252758 -2.368240 -7.000238 12.124170 -2.369637 -21.222471 0x3 0x0
pf 10.830146 -2.366791 19.002508 12.124170 -2.369637 -21.222471 0x3 0x0
pf 10.830146 -2.366791 19.002508 -7.146484 -2.368736 -16.031403 0x3 0x0
pf 10.830146 -2.366791 19.002508 -21.615391 -2.368706 -3.264029 0x3 0x0
pf 10.830146 -2.366791 19.002508 -22.651268 -2.369354 1.053217 0x3 0x0
pf 10.830146 -2.366791 19.002508 19.181122 -2.368134 3.011776 0x3 0x0
pf 10.830146 -2.366791 19.002508 19.041592 -2.368713 -7.404587 0x3 0x0
pf 6.054083 -2.365402 3.330421 19.041592 -2.368713 -7.404587 0x3 0x0
pf 6.054083 -2.365402 3.330421 21.846087 -2.368568 17.918859 0x3 0x0
pf 6.054083 -2.365402 3.330421 0.967449 -2.368439 25.767756 0x3 0x0
pf 6.054083 -2.365402 3.330421 -17.518076 -2.368477 26.569633 0x3 0x0
pf 6.054083 -2.365402 3.330421 -22.141787 -2.369209 2.440046 0x3 0x0
pf 6.054083 -2.365402 3.330421 -23.296972 -2.369797 -17.411043 0x3 0x0
pf 6.054083 -2.365402 3.330421 -1.564062 -2.369926 -20.452827 0x3 0x0
pf 6.054083 -2.365402 3.330421 16.905643 -2.370193 -21.811655 0x3 0x0
pf 6.054083 -2.365402 3.330421 19.289761 -2.368813 -6.954918 0x3 0x0

6
extern/recastnavigation/RecastDemo/Bin/TestCases/raycast_test.txt vendored
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@ -1,6 +0,0 @@
s Tile Mesh
f nav_test.obj
rc 45.133884 -0.533207 -3.775568 47.078232 7.797605 14.293253 0xffef 0x0
rc 52.979847 -2.778793 -2.914886 50.628868 -2.350212 13.917850 0xffef 0x0
rc 45.209217 2.024442 1.838851 46.888412 7.797606 15.772338 0xffef 0x0
rc 45.388317 -0.562073 -3.673226 46.651001 7.797606 15.513507 0xffef 0x0

50
extern/recastnavigation/RecastDemo/CMakeLists.txt vendored
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file(GLOB SOURCES Source/*.cpp Contrib/fastlz/fastlz.c)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
if(NOT SDL2_ROOT_DIR)
set(SDL2_ROOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Contrib/SDL")
endif()
find_package(OpenGL REQUIRED)
find_package(SDL2 REQUIRED)
include_directories(SYSTEM ${OPENGL_INCLUDE_DIR})
include_directories(SYSTEM Contrib/fastlz)
include_directories(SYSTEM Contrib)
include_directories(../DebugUtils/Include)
include_directories(../Detour/Include)
include_directories(../DetourCrowd/Include)
include_directories(../DetourTileCache/Include)
include_directories(../Recast/Include)
include_directories(Include)
if (WIN32)
add_executable(RecastDemo WIN32 ${SOURCES})
elseif(APPLE)
add_executable(RecastDemo MACOSX_BUNDLE ${SOURCES})
else()
add_executable(RecastDemo ${SOURCES})
endif()
file(COPY Bin/Meshes DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
file(COPY Bin/TestCases DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
file(COPY Bin/DroidSans.ttf DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
if (WIN32)
file(COPY "${SDL2_RUNTIME_LIBRARY}" DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
endif()
add_dependencies(RecastDemo DebugUtils Detour DetourCrowd DetourTileCache Recast)
target_link_libraries(RecastDemo ${OPENGL_LIBRARIES} SDL2::SDL2main DebugUtils Detour DetourCrowd DetourTileCache Recast)
install(TARGETS RecastDemo
RUNTIME DESTINATION bin
BUNDLE DESTINATION bin)
install(DIRECTORY Bin/Meshes DESTINATION bin)
install(DIRECTORY Bin/TestCases DESTINATION bin)
install(FILES Bin/DroidSans.ttf DESTINATION bin)
if (WIN32)
install(FILES "${SDL2_RUNTIME_LIBRARY}" DESTINATION bin)
endif()

75
extern/recastnavigation/RecastDemo/Contrib/fastlz/README.TXT vendored
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FastLZ - lightning-fast lossless compression library
Author: Ariya Hidayat
Official website: http://www.fastlz.org
FastLZ is distributed using the MIT license, see file LICENSE
for details.
FastLZ consists of two files: fastlz.h and fastlz.c. Just add these
files to your project in order to use FastLZ. For information on
compression and decompression routines, see fastlz.h.
A simple file compressor called 6pack is included as an example
on how to use FastLZ. The corresponding decompressor is 6unpack.
To compile using GCC:
gcc -o 6pack 6pack.c fastlz.c
gcc -o 6unpack 6unpack.c fastlz.c
To compile using MinGW:
mingw32-gcc -o 6pack 6pack.c fastlz.c
mingw32-gcc -o 6unpack 6unpack.c fastlz.c
To compile using Microsoft Visual C++:
cl 6pack.c fastlz.c
cl 6unpack.c fastlz.c
To compile using Borland C++:
bcc32 6pack.c fastlz.c
bcc32 6unpack.c fastlz.c
To compile using OpenWatcom C/C++:
cl386 6pack.c fastlz.c
cl386 6unpack.c fastlz.c
To compile using Intel C++ compiler for Windows:
icl 6pack.c fastlz.c
icl 6unpack.c fastlz.c
To compile using Intel C++ compiler for Linux:
icc -o 6pack 6pack.c fastlz.c
icc -o 6unpack 6unpack.c fastlz.c
To compile 6pack using LCC-Win32:
lc 6pack.c fastlz.c
lc 6unpack.c fastlz.c
To compile 6pack using Pelles C:
pocc 6pack.c
pocc 6unpack.c
pocc fastlz.c
polink 6pack.obj fastlz.obj
polink 6unpack.obj fastlz.obj
For speed optimization, always use proper compile flags for optimization options.
Typical compiler flags are given below:
* GCC (pre 4.2): -march=pentium -O3 -fomit-frame-pointer -mtune=pentium
* GCC 4.2 or later: -march=pentium -O3 -fomit-frame-pointer -mtune=generic
* Digital Mars C/C++: -o+all -5
* Intel C++ (Windows): /O3 /Qipo
* Intel C++ (Linux): -O2 -march=pentium -mtune=pentium
* Borland C++: -O2 -5
* LCC-Win32: -O
* Pelles C: /O2

556
extern/recastnavigation/RecastDemo/Contrib/fastlz/fastlz.c vendored
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@ -1,556 +0,0 @@
/*
FastLZ - lightning-fast lossless compression library
Copyright (C) 2007 Ariya Hidayat (ariya@kde.org)
Copyright (C) 2006 Ariya Hidayat (ariya@kde.org)
Copyright (C) 2005 Ariya Hidayat (ariya@kde.org)
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#if !defined(FASTLZ__COMPRESSOR) && !defined(FASTLZ_DECOMPRESSOR)
/*
* Always check for bound when decompressing.
* Generally it is best to leave it defined.
*/
#define FASTLZ_SAFE
/*
* Give hints to the compiler for branch prediction optimization.
*/
#if defined(__GNUC__) && (__GNUC__ > 2)
#define FASTLZ_EXPECT_CONDITIONAL(c) (__builtin_expect((c), 1))
#define FASTLZ_UNEXPECT_CONDITIONAL(c) (__builtin_expect((c), 0))
#else
#define FASTLZ_EXPECT_CONDITIONAL(c) (c)
#define FASTLZ_UNEXPECT_CONDITIONAL(c) (c)
#endif
/*
* Use inlined functions for supported systems.
*/
#if defined(__GNUC__) || defined(__DMC__) || defined(__POCC__) || defined(__WATCOMC__) || defined(__SUNPRO_C)
#define FASTLZ_INLINE inline
#elif defined(__BORLANDC__) || defined(_MSC_VER) || defined(__LCC__)
#define FASTLZ_INLINE __inline
#else
#define FASTLZ_INLINE
#endif
/*
* Prevent accessing more than 8-bit at once, except on x86 architectures.
*/
#if !defined(FASTLZ_STRICT_ALIGN)
#define FASTLZ_STRICT_ALIGN
#if defined(__i386__) || defined(__386) /* GNU C, Sun Studio */
#undef FASTLZ_STRICT_ALIGN
#elif defined(__i486__) || defined(__i586__) || defined(__i686__) /* GNU C */
#undef FASTLZ_STRICT_ALIGN
#elif defined(_M_IX86) /* Intel, MSVC */
#undef FASTLZ_STRICT_ALIGN
#elif defined(__386)
#undef FASTLZ_STRICT_ALIGN
#elif defined(_X86_) /* MinGW */
#undef FASTLZ_STRICT_ALIGN
#elif defined(__I86__) /* Digital Mars */
#undef FASTLZ_STRICT_ALIGN
#endif
#endif
/*
* FIXME: use preprocessor magic to set this on different platforms!
*/
typedef unsigned char flzuint8;
typedef unsigned short flzuint16;
typedef unsigned int flzuint32;
/* Disable "conversion from A to B, possible loss of data" warning when using MSVC */
#if defined(_MSC_VER)
#pragma warning(disable: 4244)
#endif
/* prototypes */
int fastlz_compress(const void* input, int length, void* output);
int fastlz_compress_level(int level, const void* input, int length, void* output);
int fastlz_decompress(const void* input, int length, void* output, int maxout);
#define MAX_COPY 32
#define MAX_LEN 264 /* 256 + 8 */
#define MAX_DISTANCE 8192
#if !defined(FASTLZ_STRICT_ALIGN)
#define FASTLZ_READU16(p) *((const flzuint16*)(p))
#else
#define FASTLZ_READU16(p) ((p)[0] | (p)[1]<<8)
#endif
#define HASH_LOG 13
#define HASH_SIZE (1<< HASH_LOG)
#define HASH_MASK (HASH_SIZE-1)
#define HASH_FUNCTION(v,p) { v = FASTLZ_READU16(p); v ^= FASTLZ_READU16(p+1)^(v>>(16-HASH_LOG));v &= HASH_MASK; }
#undef FASTLZ_LEVEL
#define FASTLZ_LEVEL 1
#undef FASTLZ_COMPRESSOR
#undef FASTLZ_DECOMPRESSOR
#define FASTLZ_COMPRESSOR fastlz1_compress
#define FASTLZ_DECOMPRESSOR fastlz1_decompress
static FASTLZ_INLINE int FASTLZ_COMPRESSOR(const void* input, int length, void* output);
static FASTLZ_INLINE int FASTLZ_DECOMPRESSOR(const void* input, int length, void* output, int maxout);
#include "fastlz.c"
#undef FASTLZ_LEVEL
#define FASTLZ_LEVEL 2
#undef MAX_DISTANCE
#define MAX_DISTANCE 8191
#define MAX_FARDISTANCE (65535+MAX_DISTANCE-1)
#undef FASTLZ_COMPRESSOR
#undef FASTLZ_DECOMPRESSOR
#define FASTLZ_COMPRESSOR fastlz2_compress
#define FASTLZ_DECOMPRESSOR fastlz2_decompress
static FASTLZ_INLINE int FASTLZ_COMPRESSOR(const void* input, int length, void* output);
static FASTLZ_INLINE int FASTLZ_DECOMPRESSOR(const void* input, int length, void* output, int maxout);
#include "fastlz.c"
int fastlz_compress(const void* input, int length, void* output)
{
/* for short block, choose fastlz1 */
if(length < 65536)
return fastlz1_compress(input, length, output);
/* else... */
return fastlz2_compress(input, length, output);
}
int fastlz_decompress(const void* input, int length, void* output, int maxout)
{
/* magic identifier for compression level */
int level = ((*(const flzuint8*)input) >> 5) + 1;
if(level == 1)
return fastlz1_decompress(input, length, output, maxout);
if(level == 2)
return fastlz2_decompress(input, length, output, maxout);
/* unknown level, trigger error */
return 0;
}
int fastlz_compress_level(int level, const void* input, int length, void* output)
{
if(level == 1)
return fastlz1_compress(input, length, output);
if(level == 2)
return fastlz2_compress(input, length, output);
return 0;
}
#else /* !defined(FASTLZ_COMPRESSOR) && !defined(FASTLZ_DECOMPRESSOR) */
static FASTLZ_INLINE int FASTLZ_COMPRESSOR(const void* input, int length, void* output)
{
const flzuint8* ip = (const flzuint8*) input;
const flzuint8* ip_bound = ip + length - 2;
const flzuint8* ip_limit = ip + length - 12;
flzuint8* op = (flzuint8*) output;
const flzuint8* htab[HASH_SIZE];
const flzuint8** hslot;
flzuint32 hval;
flzuint32 copy;
/* sanity check */
if(FASTLZ_UNEXPECT_CONDITIONAL(length < 4))
{
if(length)
{
/* create literal copy only */
*op++ = length-1;
ip_bound++;
while(ip <= ip_bound)
*op++ = *ip++;
return length+1;
}
else
return 0;
}
/* initializes hash table */
for (hslot = htab; hslot < htab + HASH_SIZE; hslot++)
*hslot = ip;
/* we start with literal copy */
copy = 2;
*op++ = MAX_COPY-1;
*op++ = *ip++;
*op++ = *ip++;
/* main loop */
while(FASTLZ_EXPECT_CONDITIONAL(ip < ip_limit))
{
const flzuint8* ref;
flzuint32 distance;
/* minimum match length */
flzuint32 len = 3;
/* comparison starting-point */
const flzuint8* anchor = ip;
/* check for a run */
#if FASTLZ_LEVEL==2
if(ip[0] == ip[-1] && FASTLZ_READU16(ip-1)==FASTLZ_READU16(ip+1))
{
distance = 1;
ip += 3;
ref = anchor - 1 + 3;
goto match;
}
#endif
/* find potential match */
HASH_FUNCTION(hval,ip);
hslot = htab + hval;
ref = htab[hval];
/* calculate distance to the match */
distance = anchor - ref;
/* update hash table */
*hslot = anchor;
/* is this a match? check the first 3 bytes */
if(distance==0 ||
#if FASTLZ_LEVEL==1
(distance >= MAX_DISTANCE) ||
#else
(distance >= MAX_FARDISTANCE) ||
#endif
*ref++ != *ip++ || *ref++!=*ip++ || *ref++!=*ip++)
goto literal;
#if FASTLZ_LEVEL==2
/* far, needs at least 5-byte match */
if(distance >= MAX_DISTANCE)
{
if(*ip++ != *ref++ || *ip++!= *ref++)
goto literal;
len += 2;
}
match:
#endif
/* last matched byte */
ip = anchor + len;
/* distance is biased */
distance--;
if(!distance)
{
/* zero distance means a run */
flzuint8 x = ip[-1];
while(ip < ip_bound)
if(*ref++ != x) break; else ip++;
}
else
for(;;)
{
/* safe because the outer check against ip limit */
if(*ref++ != *ip++) break;
if(*ref++ != *ip++) break;
if(*ref++ != *ip++) break;
if(*ref++ != *ip++) break;
if(*ref++ != *ip++) break;
if(*ref++ != *ip++) break;
if(*ref++ != *ip++) break;
if(*ref++ != *ip++) break;
while(ip < ip_bound)
if(*ref++ != *ip++) break;
break;
}
/* if we have copied something, adjust the copy count */
if(copy)
/* copy is biased, '0' means 1 byte copy */
*(op-copy-1) = copy-1;
else
/* back, to overwrite the copy count */
op--;
/* reset literal counter */
copy = 0;
/* length is biased, '1' means a match of 3 bytes */
ip -= 3;
len = ip - anchor;
/* encode the match */
#if FASTLZ_LEVEL==2
if(distance < MAX_DISTANCE)
{
if(len < 7)
{
*op++ = (len << 5) + (distance >> 8);
*op++ = (distance & 255);
}
else
{
*op++ = (7 << 5) + (distance >> 8);
for(len-=7; len >= 255; len-= 255)
*op++ = 255;
*op++ = len;
*op++ = (distance & 255);
}
}
else
{
/* far away, but not yet in the another galaxy... */
if(len < 7)
{
distance -= MAX_DISTANCE;
*op++ = (len << 5) + 31;
*op++ = 255;
*op++ = distance >> 8;
*op++ = distance & 255;
}
else
{
distance -= MAX_DISTANCE;
*op++ = (7 << 5) + 31;
for(len-=7; len >= 255; len-= 255)
*op++ = 255;
*op++ = len;
*op++ = 255;
*op++ = distance >> 8;
*op++ = distance & 255;
}
}
#else
if(FASTLZ_UNEXPECT_CONDITIONAL(len > MAX_LEN-2))
while(len > MAX_LEN-2)
{
*op++ = (7 << 5) + (distance >> 8);
*op++ = MAX_LEN - 2 - 7 -2;
*op++ = (distance & 255);
len -= MAX_LEN-2;
}
if(len < 7)
{
*op++ = (len << 5) + (distance >> 8);
*op++ = (distance & 255);
}
else
{
*op++ = (7 << 5) + (distance >> 8);
*op++ = len - 7;
*op++ = (distance & 255);
}
#endif
/* update the hash at match boundary */
HASH_FUNCTION(hval,ip);
htab[hval] = ip++;
HASH_FUNCTION(hval,ip);
htab[hval] = ip++;
/* assuming literal copy */
*op++ = MAX_COPY-1;
continue;
literal:
*op++ = *anchor++;
ip = anchor;
copy++;
if(FASTLZ_UNEXPECT_CONDITIONAL(copy == MAX_COPY))
{
copy = 0;
*op++ = MAX_COPY-1;
}
}
/* left-over as literal copy */
ip_bound++;
while(ip <= ip_bound)
{
*op++ = *ip++;
copy++;
if(copy == MAX_COPY)
{
copy = 0;
*op++ = MAX_COPY-1;
}
}
/* if we have copied something, adjust the copy length */
if(copy)
*(op-copy-1) = copy-1;
else
op--;
#if FASTLZ_LEVEL==2
/* marker for fastlz2 */
*(flzuint8*)output |= (1 << 5);
#endif
return op - (flzuint8*)output;
}
static FASTLZ_INLINE int FASTLZ_DECOMPRESSOR(const void* input, int length, void* output, int maxout)
{
const flzuint8* ip = (const flzuint8*) input;
const flzuint8* ip_limit = ip + length;
flzuint8* op = (flzuint8*) output;
flzuint8* op_limit = op + maxout;
flzuint32 ctrl = (*ip++) & 31;
int loop = 1;
do
{
const flzuint8* ref = op;
flzuint32 len = ctrl >> 5;
flzuint32 ofs = (ctrl & 31) << 8;
if(ctrl >= 32)
{
#if FASTLZ_LEVEL==2
flzuint8 code;
#endif
len--;
ref -= ofs;
if (len == 7-1)
#if FASTLZ_LEVEL==1
len += *ip++;
ref -= *ip++;
#else
do
{
code = *ip++;
len += code;
} while (code==255);
code = *ip++;
ref -= code;
/* match from 16-bit distance */
if(FASTLZ_UNEXPECT_CONDITIONAL(code==255))
if(FASTLZ_EXPECT_CONDITIONAL(ofs==(31 << 8)))
{
ofs = (*ip++) << 8;
ofs += *ip++;
ref = op - ofs - MAX_DISTANCE;
}
#endif
#ifdef FASTLZ_SAFE
if (FASTLZ_UNEXPECT_CONDITIONAL(op + len + 3 > op_limit))
return 0;
if (FASTLZ_UNEXPECT_CONDITIONAL(ref-1 < (flzuint8 *)output))
return 0;
#endif
if(FASTLZ_EXPECT_CONDITIONAL(ip < ip_limit))
ctrl = *ip++;
else
loop = 0;
if(ref == op)
{
/* optimize copy for a run */
flzuint8 b = ref[-1];
*op++ = b;
*op++ = b;
*op++ = b;
for(; len; --len)
*op++ = b;
}
else
{
#if !defined(FASTLZ_STRICT_ALIGN)
const flzuint16* p;
flzuint16* q;
#endif
/* copy from reference */
ref--;
*op++ = *ref++;
*op++ = *ref++;
*op++ = *ref++;
#if !defined(FASTLZ_STRICT_ALIGN)
/* copy a byte, so that now it's word aligned */
if(len & 1)
{
*op++ = *ref++;
len--;
}
/* copy 16-bit at once */
q = (flzuint16*) op;
op += len;
p = (const flzuint16*) ref;
for(len>>=1; len > 4; len-=4)
{
*q++ = *p++;
*q++ = *p++;
*q++ = *p++;
*q++ = *p++;
}
for(; len; --len)
*q++ = *p++;
#else
for(; len; --len)
*op++ = *ref++;
#endif
}
}
else
{
ctrl++;
#ifdef FASTLZ_SAFE
if (FASTLZ_UNEXPECT_CONDITIONAL(op + ctrl > op_limit))
return 0;
if (FASTLZ_UNEXPECT_CONDITIONAL(ip + ctrl > ip_limit))
return 0;
#endif
*op++ = *ip++;
for(--ctrl; ctrl; ctrl--)
*op++ = *ip++;
loop = FASTLZ_EXPECT_CONDITIONAL(ip < ip_limit);
if(loop)
ctrl = *ip++;
}
}
while(FASTLZ_EXPECT_CONDITIONAL(loop));
return op - (flzuint8*)output;
}
#endif /* !defined(FASTLZ_COMPRESSOR) && !defined(FASTLZ_DECOMPRESSOR) */

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/*
FastLZ - lightning-fast lossless compression library
Copyright (C) 2007 Ariya Hidayat (ariya@kde.org)
Copyright (C) 2006 Ariya Hidayat (ariya@kde.org)
Copyright (C) 2005 Ariya Hidayat (ariya@kde.org)
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#ifndef FASTLZ_H
#define FASTLZ_H
#define FASTLZ_VERSION 0x000100
#define FASTLZ_VERSION_MAJOR 0
#define FASTLZ_VERSION_MINOR 0
#define FASTLZ_VERSION_REVISION 0
#define FASTLZ_VERSION_STRING "0.1.0"
#if defined (__cplusplus)
extern "C" {
#endif
/**
Compress a block of data in the input buffer and returns the size of
compressed block. The size of input buffer is specified by length. The
minimum input buffer size is 16.
The output buffer must be at least 5% larger than the input buffer
and can not be smaller than 66 bytes.
If the input is not compressible, the return value might be larger than
length (input buffer size).
The input buffer and the output buffer can not overlap.
*/
int fastlz_compress(const void* input, int length, void* output);
/**
Decompress a block of compressed data and returns the size of the
decompressed block. If error occurs, e.g. the compressed data is
corrupted or the output buffer is not large enough, then 0 (zero)
will be returned instead.
The input buffer and the output buffer can not overlap.
Decompression is memory safe and guaranteed not to write the output buffer
more than what is specified in maxout.
*/
int fastlz_decompress(const void* input, int length, void* output, int maxout);
/**
Compress a block of data in the input buffer and returns the size of
compressed block. The size of input buffer is specified by length. The
minimum input buffer size is 16.
The output buffer must be at least 5% larger than the input buffer
and can not be smaller than 66 bytes.
If the input is not compressible, the return value might be larger than
length (input buffer size).
The input buffer and the output buffer can not overlap.
Compression level can be specified in parameter level. At the moment,
only level 1 and level 2 are supported.
Level 1 is the fastest compression and generally useful for short data.
Level 2 is slightly slower but it gives better compression ratio.
Note that the compressed data, regardless of the level, can always be
decompressed using the function fastlz_decompress above.
*/
int fastlz_compress_level(int level, const void* input, int length, void* output);
#if defined (__cplusplus)
}
#endif
#endif /* FASTLZ_H */

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Windows
Download SDL Developer Libraries from http://www.libsdl.org and unzip them to SDL/
OSX
Download and install OSX SDL Developer Libraries from http://www.libsdl.org

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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.
//
#ifndef CHUNKYTRIMESH_H
#define CHUNKYTRIMESH_H
struct rcChunkyTriMeshNode
{
float bmin[2];
float bmax[2];
int i;
int n;
};
struct rcChunkyTriMesh
{
inline rcChunkyTriMesh() : nodes(0), nnodes(0), tris(0), ntris(0), maxTrisPerChunk(0) {};
inline ~rcChunkyTriMesh() { delete [] nodes; delete [] tris; }
rcChunkyTriMeshNode* nodes;
int nnodes;
int* tris;
int ntris;
int maxTrisPerChunk;
private:
// Explicitly disabled copy constructor and copy assignment operator.
rcChunkyTriMesh(const rcChunkyTriMesh&);
rcChunkyTriMesh& operator=(const rcChunkyTriMesh&);
};
/// Creates partitioned triangle mesh (AABB tree),
/// where each node contains at max trisPerChunk triangles.
bool rcCreateChunkyTriMesh(const float* verts, const int* tris, int ntris,
int trisPerChunk, rcChunkyTriMesh* cm);
/// Returns the chunk indices which overlap the input rectable.
int rcGetChunksOverlappingRect(const rcChunkyTriMesh* cm, float bmin[2], float bmax[2], int* ids, const int maxIds);
/// Returns the chunk indices which overlap the input segment.
int rcGetChunksOverlappingSegment(const rcChunkyTriMesh* cm, float p[2], float q[2], int* ids, const int maxIds);
#endif // CHUNKYTRIMESH_H

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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.
//
#ifndef CONVEXVOLUMETOOL_H
#define CONVEXVOLUMETOOL_H
#include "Sample.h"
// Tool to create convex volumess for InputGeom
class ConvexVolumeTool : public SampleTool
{
Sample* m_sample;
int m_areaType;
float m_polyOffset;
float m_boxHeight;
float m_boxDescent;
static const int MAX_PTS = 12;
float m_pts[MAX_PTS*3];
int m_npts;
int m_hull[MAX_PTS];
int m_nhull;
public:
ConvexVolumeTool();
virtual int type() { return TOOL_CONVEX_VOLUME; }
virtual void init(Sample* sample);
virtual void reset();
virtual void handleMenu();
virtual void handleClick(const float* s, const float* p, bool shift);
virtual void handleToggle();
virtual void handleStep();
virtual void handleUpdate(const float dt);
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
};
#endif // CONVEXVOLUMETOOL_H

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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.
//
#ifndef CROWDTOOL_H
#define CROWDTOOL_H
#include "Sample.h"
#include "DetourNavMesh.h"
#include "DetourObstacleAvoidance.h"
#include "ValueHistory.h"
#include "DetourCrowd.h"
// Tool to create crowds.
struct CrowdToolParams
{
bool m_expandSelectedDebugDraw;
bool m_showCorners;
bool m_showCollisionSegments;
bool m_showPath;
bool m_showVO;
bool m_showOpt;
bool m_showNeis;
bool m_expandDebugDraw;
bool m_showLabels;
bool m_showGrid;
bool m_showNodes;
bool m_showPerfGraph;
bool m_showDetailAll;
bool m_expandOptions;
bool m_anticipateTurns;
bool m_optimizeVis;
bool m_optimizeTopo;
bool m_obstacleAvoidance;
float m_obstacleAvoidanceType;
bool m_separation;
float m_separationWeight;
};
class CrowdToolState : public SampleToolState
{
Sample* m_sample;
dtNavMesh* m_nav;
dtCrowd* m_crowd;
float m_targetPos[3];
dtPolyRef m_targetRef;
dtCrowdAgentDebugInfo m_agentDebug;
dtObstacleAvoidanceDebugData* m_vod;
static const int AGENT_MAX_TRAIL = 64;
static const int MAX_AGENTS = 128;
struct AgentTrail
{
float trail[AGENT_MAX_TRAIL*3];
int htrail;
};
AgentTrail m_trails[MAX_AGENTS];
ValueHistory m_crowdTotalTime;
ValueHistory m_crowdSampleCount;
CrowdToolParams m_toolParams;
bool m_run;
public:
CrowdToolState();
virtual ~CrowdToolState();
virtual void init(class Sample* sample);
virtual void reset();
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
virtual void handleUpdate(const float dt);
inline bool isRunning() const { return m_run; }
inline void setRunning(const bool s) { m_run = s; }
void addAgent(const float* pos);
void removeAgent(const int idx);
void hilightAgent(const int idx);
void updateAgentParams();
int hitTestAgents(const float* s, const float* p);
void setMoveTarget(const float* p, bool adjust);
void updateTick(const float dt);
inline CrowdToolParams* getToolParams() { return &m_toolParams; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
CrowdToolState(const CrowdToolState&);
CrowdToolState& operator=(const CrowdToolState&);
};
class CrowdTool : public SampleTool
{
Sample* m_sample;
CrowdToolState* m_state;
enum ToolMode
{
TOOLMODE_CREATE,
TOOLMODE_MOVE_TARGET,
TOOLMODE_SELECT,
TOOLMODE_TOGGLE_POLYS,
};
ToolMode m_mode;
public:
CrowdTool();
virtual int type() { return TOOL_CROWD; }
virtual void init(Sample* sample);
virtual void reset();
virtual void handleMenu();
virtual void handleClick(const float* s, const float* p, bool shift);
virtual void handleToggle();
virtual void handleStep();
virtual void handleUpdate(const float dt);
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
};
#endif // CROWDTOOL_H

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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.
//
#ifndef FILELIST_H
#define FILELIST_H
#include <vector>
#include <string>
void scanDirectoryAppend(const std::string& path, const std::string& ext, std::vector<std::string>& fileList);
void scanDirectory(const std::string& path, const std::string& ext, std::vector<std::string>& fileList);
#endif // FILELIST_H

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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.
//
#ifndef INPUTGEOM_H
#define INPUTGEOM_H
#include "ChunkyTriMesh.h"
#include "MeshLoaderObj.h"
static const int MAX_CONVEXVOL_PTS = 12;
struct ConvexVolume
{
float verts[MAX_CONVEXVOL_PTS*3];
float hmin, hmax;
int nverts;
int area;
};
struct BuildSettings
{
// Cell size in world units
float cellSize;
// Cell height in world units
float cellHeight;
// Agent height in world units
float agentHeight;
// Agent radius in world units
float agentRadius;
// Agent max climb in world units
float agentMaxClimb;
// Agent max slope in degrees
float agentMaxSlope;
// Region minimum size in voxels.
// regionMinSize = sqrt(regionMinArea)
float regionMinSize;
// Region merge size in voxels.
// regionMergeSize = sqrt(regionMergeArea)
float regionMergeSize;
// Edge max length in world units
float edgeMaxLen;
// Edge max error in voxels
float edgeMaxError;
float vertsPerPoly;
// Detail sample distance in voxels
float detailSampleDist;
// Detail sample max error in voxel heights.
float detailSampleMaxError;
// Partition type, see SamplePartitionType
int partitionType;
// Bounds of the area to mesh
float navMeshBMin[3];
float navMeshBMax[3];
// Size of the tiles in voxels
float tileSize;
};
class InputGeom
{
rcChunkyTriMesh* m_chunkyMesh;
rcMeshLoaderObj* m_mesh;
float m_meshBMin[3], m_meshBMax[3];
BuildSettings m_buildSettings;
bool m_hasBuildSettings;
/// @name Off-Mesh connections.
///@{
static const int MAX_OFFMESH_CONNECTIONS = 256;
float m_offMeshConVerts[MAX_OFFMESH_CONNECTIONS*3*2];
float m_offMeshConRads[MAX_OFFMESH_CONNECTIONS];
unsigned char m_offMeshConDirs[MAX_OFFMESH_CONNECTIONS];
unsigned char m_offMeshConAreas[MAX_OFFMESH_CONNECTIONS];
unsigned short m_offMeshConFlags[MAX_OFFMESH_CONNECTIONS];
unsigned int m_offMeshConId[MAX_OFFMESH_CONNECTIONS];
int m_offMeshConCount;
///@}
/// @name Convex Volumes.
///@{
static const int MAX_VOLUMES = 256;
ConvexVolume m_volumes[MAX_VOLUMES];
int m_volumeCount;
///@}
bool loadMesh(class rcContext* ctx, const std::string& filepath);
bool loadGeomSet(class rcContext* ctx, const std::string& filepath);
public:
InputGeom();
~InputGeom();
bool load(class rcContext* ctx, const std::string& filepath);
bool saveGeomSet(const BuildSettings* settings);
/// Method to return static mesh data.
const rcMeshLoaderObj* getMesh() const { return m_mesh; }
const float* getMeshBoundsMin() const { return m_meshBMin; }
const float* getMeshBoundsMax() const { return m_meshBMax; }
const float* getNavMeshBoundsMin() const { return m_hasBuildSettings ? m_buildSettings.navMeshBMin : m_meshBMin; }
const float* getNavMeshBoundsMax() const { return m_hasBuildSettings ? m_buildSettings.navMeshBMax : m_meshBMax; }
const rcChunkyTriMesh* getChunkyMesh() const { return m_chunkyMesh; }
const BuildSettings* getBuildSettings() const { return m_hasBuildSettings ? &m_buildSettings : 0; }
bool raycastMesh(float* src, float* dst, float& tmin);
/// @name Off-Mesh connections.
///@{
int getOffMeshConnectionCount() const { return m_offMeshConCount; }
const float* getOffMeshConnectionVerts() const { return m_offMeshConVerts; }
const float* getOffMeshConnectionRads() const { return m_offMeshConRads; }
const unsigned char* getOffMeshConnectionDirs() const { return m_offMeshConDirs; }
const unsigned char* getOffMeshConnectionAreas() const { return m_offMeshConAreas; }
const unsigned short* getOffMeshConnectionFlags() const { return m_offMeshConFlags; }
const unsigned int* getOffMeshConnectionId() const { return m_offMeshConId; }
void addOffMeshConnection(const float* spos, const float* epos, const float rad,
unsigned char bidir, unsigned char area, unsigned short flags);
void deleteOffMeshConnection(int i);
void drawOffMeshConnections(struct duDebugDraw* dd, bool hilight = false);
///@}
/// @name Box Volumes.
///@{
int getConvexVolumeCount() const { return m_volumeCount; }
const ConvexVolume* getConvexVolumes() const { return m_volumes; }
void addConvexVolume(const float* verts, const int nverts,
const float minh, const float maxh, unsigned char area);
void deleteConvexVolume(int i);
void drawConvexVolumes(struct duDebugDraw* dd, bool hilight = false);
///@}
private:
// Explicitly disabled copy constructor and copy assignment operator.
InputGeom(const InputGeom&);
InputGeom& operator=(const InputGeom&);
};
#endif // INPUTGEOM_H

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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.
//
#ifndef MESHLOADER_OBJ
#define MESHLOADER_OBJ
#include <string>
class rcMeshLoaderObj
{
public:
rcMeshLoaderObj();
~rcMeshLoaderObj();
bool load(const std::string& fileName);
const float* getVerts() const { return m_verts; }
const float* getNormals() const { return m_normals; }
const int* getTris() const { return m_tris; }
int getVertCount() const { return m_vertCount; }
int getTriCount() const { return m_triCount; }
const std::string& getFileName() const { return m_filename; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
rcMeshLoaderObj(const rcMeshLoaderObj&);
rcMeshLoaderObj& operator=(const rcMeshLoaderObj&);
void addVertex(float x, float y, float z, int& cap);
void addTriangle(int a, int b, int c, int& cap);
std::string m_filename;
float m_scale;
float* m_verts;
int* m_tris;
float* m_normals;
int m_vertCount;
int m_triCount;
};
#endif // MESHLOADER_OBJ

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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.
//
#ifndef NAVMESHPRUNETOOL_H
#define NAVMESHPRUNETOOL_H
#include "Sample.h"
// Prune navmesh to accessible locations from a point.
class NavMeshPruneTool : public SampleTool
{
Sample* m_sample;
class NavmeshFlags* m_flags;
float m_hitPos[3];
bool m_hitPosSet;
public:
NavMeshPruneTool();
virtual ~NavMeshPruneTool();
virtual int type() { return TOOL_NAVMESH_PRUNE; }
virtual void init(Sample* sample);
virtual void reset();
virtual void handleMenu();
virtual void handleClick(const float* s, const float* p, bool shift);
virtual void handleToggle();
virtual void handleStep();
virtual void handleUpdate(const float dt);
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
private:
// Explicitly disabled copy constructor and copy assignment operator.
NavMeshPruneTool(const NavMeshPruneTool&);
NavMeshPruneTool& operator=(const NavMeshPruneTool&);
};
#endif // NAVMESHPRUNETOOL_H

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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.
//
#ifndef NAVMESHTESTERTOOL_H
#define NAVMESHTESTERTOOL_H
#include "Sample.h"
#include "DetourNavMesh.h"
#include "DetourNavMeshQuery.h"
class NavMeshTesterTool : public SampleTool
{
Sample* m_sample;
dtNavMesh* m_navMesh;
dtNavMeshQuery* m_navQuery;
dtQueryFilter m_filter;
dtStatus m_pathFindStatus;
enum ToolMode
{
TOOLMODE_PATHFIND_FOLLOW,
TOOLMODE_PATHFIND_STRAIGHT,
TOOLMODE_PATHFIND_SLICED,
TOOLMODE_RAYCAST,
TOOLMODE_DISTANCE_TO_WALL,
TOOLMODE_FIND_POLYS_IN_CIRCLE,
TOOLMODE_FIND_POLYS_IN_SHAPE,
TOOLMODE_FIND_LOCAL_NEIGHBOURHOOD,
};
ToolMode m_toolMode;
int m_straightPathOptions;
static const int MAX_POLYS = 256;
static const int MAX_SMOOTH = 2048;
dtPolyRef m_startRef;
dtPolyRef m_endRef;
dtPolyRef m_polys[MAX_POLYS];
dtPolyRef m_parent[MAX_POLYS];
int m_npolys;
float m_straightPath[MAX_POLYS*3];
unsigned char m_straightPathFlags[MAX_POLYS];
dtPolyRef m_straightPathPolys[MAX_POLYS];
int m_nstraightPath;
float m_polyPickExt[3];
float m_smoothPath[MAX_SMOOTH*3];
int m_nsmoothPath;
float m_queryPoly[4*3];
static const int MAX_RAND_POINTS = 64;
float m_randPoints[MAX_RAND_POINTS*3];
int m_nrandPoints;
bool m_randPointsInCircle;
float m_spos[3];
float m_epos[3];
float m_hitPos[3];
float m_hitNormal[3];
bool m_hitResult;
float m_distanceToWall;
float m_neighbourhoodRadius;
float m_randomRadius;
bool m_sposSet;
bool m_eposSet;
int m_pathIterNum;
dtPolyRef m_pathIterPolys[MAX_POLYS];
int m_pathIterPolyCount;
float m_prevIterPos[3], m_iterPos[3], m_steerPos[3], m_targetPos[3];
static const int MAX_STEER_POINTS = 10;
float m_steerPoints[MAX_STEER_POINTS*3];
int m_steerPointCount;
public:
NavMeshTesterTool();
virtual int type() { return TOOL_NAVMESH_TESTER; }
virtual void init(Sample* sample);
virtual void reset();
virtual void handleMenu();
virtual void handleClick(const float* s, const float* p, bool shift);
virtual void handleToggle();
virtual void handleStep();
virtual void handleUpdate(const float dt);
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
void recalc();
void drawAgent(const float* pos, float r, float h, float c, const unsigned int col);
};
#endif // NAVMESHTESTERTOOL_H

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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.
//
#ifndef OFFMESHCONNECTIONTOOL_H
#define OFFMESHCONNECTIONTOOL_H
#include "Sample.h"
// Tool to create off-mesh connection for InputGeom
class OffMeshConnectionTool : public SampleTool
{
Sample* m_sample;
float m_hitPos[3];
bool m_hitPosSet;
bool m_bidir;
unsigned char m_oldFlags;
public:
OffMeshConnectionTool();
~OffMeshConnectionTool();
virtual int type() { return TOOL_OFFMESH_CONNECTION; }
virtual void init(Sample* sample);
virtual void reset();
virtual void handleMenu();
virtual void handleClick(const float* s, const float* p, bool shift);
virtual void handleToggle();
virtual void handleStep();
virtual void handleUpdate(const float dt);
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
};
#endif // OFFMESHCONNECTIONTOOL_H

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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.
//
#ifndef PERFTIMER_H
#define PERFTIMER_H
#ifdef __GNUC__
#include <stdint.h>
typedef int64_t TimeVal;
#else
typedef __int64 TimeVal;
#endif
TimeVal getPerfTime();
int getPerfTimeUsec(const TimeVal duration);
#endif // PERFTIMER_H

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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.
//
#ifndef RECASTSAMPLE_H
#define RECASTSAMPLE_H
#include "Recast.h"
#include "SampleInterfaces.h"
/// Tool types.
enum SampleToolType
{
TOOL_NONE = 0,
TOOL_TILE_EDIT,
TOOL_TILE_HIGHLIGHT,
TOOL_TEMP_OBSTACLE,
TOOL_NAVMESH_TESTER,
TOOL_NAVMESH_PRUNE,
TOOL_OFFMESH_CONNECTION,
TOOL_CONVEX_VOLUME,
TOOL_CROWD,
MAX_TOOLS
};
/// These are just sample areas to use consistent values across the samples.
/// The use should specify these base on his needs.
enum SamplePolyAreas
{
SAMPLE_POLYAREA_GROUND,
SAMPLE_POLYAREA_WATER,
SAMPLE_POLYAREA_ROAD,
SAMPLE_POLYAREA_DOOR,
SAMPLE_POLYAREA_GRASS,
SAMPLE_POLYAREA_JUMP,
};
enum SamplePolyFlags
{
SAMPLE_POLYFLAGS_WALK = 0x01, // Ability to walk (ground, grass, road)
SAMPLE_POLYFLAGS_SWIM = 0x02, // Ability to swim (water).
SAMPLE_POLYFLAGS_DOOR = 0x04, // Ability to move through doors.
SAMPLE_POLYFLAGS_JUMP = 0x08, // Ability to jump.
SAMPLE_POLYFLAGS_DISABLED = 0x10, // Disabled polygon
SAMPLE_POLYFLAGS_ALL = 0xffff // All abilities.
};
class SampleDebugDraw : public DebugDrawGL
{
public:
virtual unsigned int areaToCol(unsigned int area);
};
enum SamplePartitionType
{
SAMPLE_PARTITION_WATERSHED,
SAMPLE_PARTITION_MONOTONE,
SAMPLE_PARTITION_LAYERS,
};
struct SampleTool
{
virtual ~SampleTool() {}
virtual int type() = 0;
virtual void init(class Sample* sample) = 0;
virtual void reset() = 0;
virtual void handleMenu() = 0;
virtual void handleClick(const float* s, const float* p, bool shift) = 0;
virtual void handleRender() = 0;
virtual void handleRenderOverlay(double* proj, double* model, int* view) = 0;
virtual void handleToggle() = 0;
virtual void handleStep() = 0;
virtual void handleUpdate(const float dt) = 0;
};
struct SampleToolState {
virtual ~SampleToolState() {}
virtual void init(class Sample* sample) = 0;
virtual void reset() = 0;
virtual void handleRender() = 0;
virtual void handleRenderOverlay(double* proj, double* model, int* view) = 0;
virtual void handleUpdate(const float dt) = 0;
};
class Sample
{
protected:
class InputGeom* m_geom;
class dtNavMesh* m_navMesh;
class dtNavMeshQuery* m_navQuery;
class dtCrowd* m_crowd;
unsigned char m_navMeshDrawFlags;
float m_cellSize;
float m_cellHeight;
float m_agentHeight;
float m_agentRadius;
float m_agentMaxClimb;
float m_agentMaxSlope;
float m_regionMinSize;
float m_regionMergeSize;
float m_edgeMaxLen;
float m_edgeMaxError;
float m_vertsPerPoly;
float m_detailSampleDist;
float m_detailSampleMaxError;
int m_partitionType;
bool m_filterLowHangingObstacles;
bool m_filterLedgeSpans;
bool m_filterWalkableLowHeightSpans;
SampleTool* m_tool;
SampleToolState* m_toolStates[MAX_TOOLS];
BuildContext* m_ctx;
SampleDebugDraw m_dd;
dtNavMesh* loadAll(const char* path);
void saveAll(const char* path, const dtNavMesh* mesh);
public:
Sample();
virtual ~Sample();
void setContext(BuildContext* ctx) { m_ctx = ctx; }
void setTool(SampleTool* tool);
SampleToolState* getToolState(int type) { return m_toolStates[type]; }
void setToolState(int type, SampleToolState* s) { m_toolStates[type] = s; }
SampleDebugDraw& getDebugDraw() { return m_dd; }
virtual void handleSettings();
virtual void handleTools();
virtual void handleDebugMode();
virtual void handleClick(const float* s, const float* p, bool shift);
virtual void handleToggle();
virtual void handleStep();
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
virtual void handleMeshChanged(class InputGeom* geom);
virtual bool handleBuild();
virtual void handleUpdate(const float dt);
virtual void collectSettings(struct BuildSettings& settings);
virtual class InputGeom* getInputGeom() { return m_geom; }
virtual class dtNavMesh* getNavMesh() { return m_navMesh; }
virtual class dtNavMeshQuery* getNavMeshQuery() { return m_navQuery; }
virtual class dtCrowd* getCrowd() { return m_crowd; }
virtual float getAgentRadius() { return m_agentRadius; }
virtual float getAgentHeight() { return m_agentHeight; }
virtual float getAgentClimb() { return m_agentMaxClimb; }
unsigned char getNavMeshDrawFlags() const { return m_navMeshDrawFlags; }
void setNavMeshDrawFlags(unsigned char flags) { m_navMeshDrawFlags = flags; }
void updateToolStates(const float dt);
void initToolStates(Sample* sample);
void resetToolStates();
void renderToolStates();
void renderOverlayToolStates(double* proj, double* model, int* view);
void resetCommonSettings();
void handleCommonSettings();
private:
// Explicitly disabled copy constructor and copy assignment operator.
Sample(const Sample&);
Sample& operator=(const Sample&);
};
#endif // RECASTSAMPLE_H

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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.
//
#ifndef SAMPLEINTERFACES_H
#define SAMPLEINTERFACES_H
#include "DebugDraw.h"
#include "Recast.h"
#include "RecastDump.h"
#include "PerfTimer.h"
// These are example implementations of various interfaces used in Recast and Detour.
/// Recast build context.
class BuildContext : public rcContext
{
TimeVal m_startTime[RC_MAX_TIMERS];
TimeVal m_accTime[RC_MAX_TIMERS];
static const int MAX_MESSAGES = 1000;
const char* m_messages[MAX_MESSAGES];
int m_messageCount;
static const int TEXT_POOL_SIZE = 8000;
char m_textPool[TEXT_POOL_SIZE];
int m_textPoolSize;
public:
BuildContext();
/// Dumps the log to stdout.
void dumpLog(const char* format, ...);
/// Returns number of log messages.
int getLogCount() const;
/// Returns log message text.
const char* getLogText(const int i) const;
protected:
/// Virtual functions for custom implementations.
///@{
virtual void doResetLog();
virtual void doLog(const rcLogCategory category, const char* msg, const int len);
virtual void doResetTimers();
virtual void doStartTimer(const rcTimerLabel label);
virtual void doStopTimer(const rcTimerLabel label);
virtual int doGetAccumulatedTime(const rcTimerLabel label) const;
///@}
};
/// OpenGL debug draw implementation.
class DebugDrawGL : public duDebugDraw
{
public:
virtual void depthMask(bool state);
virtual void texture(bool state);
virtual void begin(duDebugDrawPrimitives prim, float size = 1.0f);
virtual void vertex(const float* pos, unsigned int color);
virtual void vertex(const float x, const float y, const float z, unsigned int color);
virtual void vertex(const float* pos, unsigned int color, const float* uv);
virtual void vertex(const float x, const float y, const float z, unsigned int color, const float u, const float v);
virtual void end();
};
/// stdio file implementation.
class FileIO : public duFileIO
{
FILE* m_fp;
int m_mode;
public:
FileIO();
virtual ~FileIO();
bool openForWrite(const char* path);
bool openForRead(const char* path);
virtual bool isWriting() const;
virtual bool isReading() const;
virtual bool write(const void* ptr, const size_t size);
virtual bool read(void* ptr, const size_t size);
private:
// Explicitly disabled copy constructor and copy assignment operator.
FileIO(const FileIO&);
FileIO& operator=(const FileIO&);
};
#endif // SAMPLEINTERFACES_H

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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.
//
#ifndef RECASTSAMPLEDEBUG_H
#define RECASTSAMPLEDEBUG_H
#include "Sample.h"
#include "DetourNavMesh.h"
#include "Recast.h"
/// Sample used for random debugging.
class Sample_Debug : public Sample
{
protected:
rcCompactHeightfield* m_chf;
rcContourSet* m_cset;
rcPolyMesh* m_pmesh;
float m_halfExtents[3];
float m_center[3];
float m_bmin[3], m_bmax[3];
dtPolyRef m_ref;
public:
Sample_Debug();
virtual ~Sample_Debug();
virtual void handleSettings();
virtual void handleTools();
virtual void handleDebugMode();
virtual void handleClick(const float* s, const float* p, bool shift);
virtual void handleToggle();
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
virtual void handleMeshChanged(class InputGeom* geom);
virtual bool handleBuild();
virtual const float* getBoundsMin();
virtual const float* getBoundsMax();
private:
// Explicitly disabled copy constructor and copy assignment operator.
Sample_Debug(const Sample_Debug&);
Sample_Debug& operator=(const Sample_Debug&);
};
#endif // RECASTSAMPLE_H

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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.
//
#ifndef RECASTSAMPLESOLOMESH_H
#define RECASTSAMPLESOLOMESH_H
#include "Sample.h"
#include "DetourNavMesh.h"
#include "Recast.h"
class Sample_SoloMesh : public Sample
{
protected:
bool m_keepInterResults;
float m_totalBuildTimeMs;
unsigned char* m_triareas;
rcHeightfield* m_solid;
rcCompactHeightfield* m_chf;
rcContourSet* m_cset;
rcPolyMesh* m_pmesh;
rcConfig m_cfg;
rcPolyMeshDetail* m_dmesh;
enum DrawMode
{
DRAWMODE_NAVMESH,
DRAWMODE_NAVMESH_TRANS,
DRAWMODE_NAVMESH_BVTREE,
DRAWMODE_NAVMESH_NODES,
DRAWMODE_NAVMESH_INVIS,
DRAWMODE_MESH,
DRAWMODE_VOXELS,
DRAWMODE_VOXELS_WALKABLE,
DRAWMODE_COMPACT,
DRAWMODE_COMPACT_DISTANCE,
DRAWMODE_COMPACT_REGIONS,
DRAWMODE_REGION_CONNECTIONS,
DRAWMODE_RAW_CONTOURS,
DRAWMODE_BOTH_CONTOURS,
DRAWMODE_CONTOURS,
DRAWMODE_POLYMESH,
DRAWMODE_POLYMESH_DETAIL,
MAX_DRAWMODE
};
DrawMode m_drawMode;
void cleanup();
public:
Sample_SoloMesh();
virtual ~Sample_SoloMesh();
virtual void handleSettings();
virtual void handleTools();
virtual void handleDebugMode();
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
virtual void handleMeshChanged(class InputGeom* geom);
virtual bool handleBuild();
private:
// Explicitly disabled copy constructor and copy assignment operator.
Sample_SoloMesh(const Sample_SoloMesh&);
Sample_SoloMesh& operator=(const Sample_SoloMesh&);
};
#endif // RECASTSAMPLESOLOMESHSIMPLE_H

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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.
//
#ifndef RECASTSAMPLETEMPOBSTACLE_H
#define RECASTSAMPLETEMPOBSTACLE_H
#include "Sample.h"
#include "DetourNavMesh.h"
#include "Recast.h"
#include "ChunkyTriMesh.h"
class Sample_TempObstacles : public Sample
{
protected:
bool m_keepInterResults;
struct LinearAllocator* m_talloc;
struct FastLZCompressor* m_tcomp;
struct MeshProcess* m_tmproc;
class dtTileCache* m_tileCache;
float m_cacheBuildTimeMs;
int m_cacheCompressedSize;
int m_cacheRawSize;
int m_cacheLayerCount;
unsigned int m_cacheBuildMemUsage;
enum DrawMode
{
DRAWMODE_NAVMESH,
DRAWMODE_NAVMESH_TRANS,
DRAWMODE_NAVMESH_BVTREE,
DRAWMODE_NAVMESH_NODES,
DRAWMODE_NAVMESH_PORTALS,
DRAWMODE_NAVMESH_INVIS,
DRAWMODE_MESH,
DRAWMODE_CACHE_BOUNDS,
MAX_DRAWMODE
};
DrawMode m_drawMode;
int m_maxTiles;
int m_maxPolysPerTile;
float m_tileSize;
public:
Sample_TempObstacles();
virtual ~Sample_TempObstacles();
virtual void handleSettings();
virtual void handleTools();
virtual void handleDebugMode();
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
virtual void handleMeshChanged(class InputGeom* geom);
virtual bool handleBuild();
virtual void handleUpdate(const float dt);
void getTilePos(const float* pos, int& tx, int& ty);
void renderCachedTile(const int tx, const int ty, const int type);
void renderCachedTileOverlay(const int tx, const int ty, double* proj, double* model, int* view);
void addTempObstacle(const float* pos);
void removeTempObstacle(const float* sp, const float* sq);
void clearAllTempObstacles();
void saveAll(const char* path);
void loadAll(const char* path);
private:
// Explicitly disabled copy constructor and copy assignment operator.
Sample_TempObstacles(const Sample_TempObstacles&);
Sample_TempObstacles& operator=(const Sample_TempObstacles&);
int rasterizeTileLayers(const int tx, const int ty, const rcConfig& cfg, struct TileCacheData* tiles, const int maxTiles);
};
#endif // RECASTSAMPLETEMPOBSTACLE_H

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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.
//
#ifndef RECASTSAMPLETILEMESH_H
#define RECASTSAMPLETILEMESH_H
#include "Sample.h"
#include "DetourNavMesh.h"
#include "Recast.h"
#include "ChunkyTriMesh.h"
class Sample_TileMesh : public Sample
{
protected:
bool m_keepInterResults;
bool m_buildAll;
float m_totalBuildTimeMs;
unsigned char* m_triareas;
rcHeightfield* m_solid;
rcCompactHeightfield* m_chf;
rcContourSet* m_cset;
rcPolyMesh* m_pmesh;
rcPolyMeshDetail* m_dmesh;
rcConfig m_cfg;
enum DrawMode
{
DRAWMODE_NAVMESH,
DRAWMODE_NAVMESH_TRANS,
DRAWMODE_NAVMESH_BVTREE,
DRAWMODE_NAVMESH_NODES,
DRAWMODE_NAVMESH_PORTALS,
DRAWMODE_NAVMESH_INVIS,
DRAWMODE_MESH,
DRAWMODE_VOXELS,
DRAWMODE_VOXELS_WALKABLE,
DRAWMODE_COMPACT,
DRAWMODE_COMPACT_DISTANCE,
DRAWMODE_COMPACT_REGIONS,
DRAWMODE_REGION_CONNECTIONS,
DRAWMODE_RAW_CONTOURS,
DRAWMODE_BOTH_CONTOURS,
DRAWMODE_CONTOURS,
DRAWMODE_POLYMESH,
DRAWMODE_POLYMESH_DETAIL,
MAX_DRAWMODE
};
DrawMode m_drawMode;
int m_maxTiles;
int m_maxPolysPerTile;
float m_tileSize;
unsigned int m_tileCol;
float m_lastBuiltTileBmin[3];
float m_lastBuiltTileBmax[3];
float m_tileBuildTime;
float m_tileMemUsage;
int m_tileTriCount;
unsigned char* buildTileMesh(const int tx, const int ty, const float* bmin, const float* bmax, int& dataSize);
void cleanup();
void saveAll(const char* path, const dtNavMesh* mesh);
dtNavMesh* loadAll(const char* path);
public:
Sample_TileMesh();
virtual ~Sample_TileMesh();
virtual void handleSettings();
virtual void handleTools();
virtual void handleDebugMode();
virtual void handleRender();
virtual void handleRenderOverlay(double* proj, double* model, int* view);
virtual void handleMeshChanged(class InputGeom* geom);
virtual bool handleBuild();
virtual void collectSettings(struct BuildSettings& settings);
void getTilePos(const float* pos, int& tx, int& ty);
void buildTile(const float* pos);
void removeTile(const float* pos);
void buildAllTiles();
void removeAllTiles();
private:
// Explicitly disabled copy constructor and copy assignment operator.
Sample_TileMesh(const Sample_TileMesh&);
Sample_TileMesh& operator=(const Sample_TileMesh&);
};
#endif // RECASTSAMPLETILEMESH_H

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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.
//
#ifndef TESTCASE_H
#define TESTCASE_H
#include <string>
#include "DetourNavMesh.h"
class TestCase
{
enum TestType
{
TEST_PATHFIND,
TEST_RAYCAST,
};
struct Test
{
Test() :
type(),
radius(0),
includeFlags(0),
excludeFlags(0),
expand(false),
straight(0),
nstraight(0),
polys(0),
npolys(0),
findNearestPolyTime(0),
findPathTime(0),
findStraightPathTime(0),
next(0)
{
}
~Test()
{
delete [] straight;
delete [] polys;
}
TestType type;
float spos[3];
float epos[3];
float nspos[3];
float nepos[3];
float radius;
unsigned short includeFlags;
unsigned short excludeFlags;
bool expand;
float* straight;
int nstraight;
dtPolyRef* polys;
int npolys;
int findNearestPolyTime;
int findPathTime;
int findStraightPathTime;
Test* next;
private:
// Explicitly disabled copy constructor and copy assignment operator.
Test(const Test&);
Test& operator=(const Test&);
};
std::string m_sampleName;
std::string m_geomFileName;
Test* m_tests;
void resetTimes();
public:
TestCase();
~TestCase();
bool load(const std::string& filePath);
const std::string& getSampleName() const { return m_sampleName; }
const std::string& getGeomFileName() const { return m_geomFileName; }
void doTests(class dtNavMesh* navmesh, class dtNavMeshQuery* navquery);
void handleRender();
bool handleRenderOverlay(double* proj, double* model, int* view);
private:
// Explicitly disabled copy constructor and copy assignment operator.
TestCase(const TestCase&);
TestCase& operator=(const TestCase&);
};
#endif // TESTCASE_H

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#ifndef VALUEHISTORY_H
#define VALUEHISTORY_H
class ValueHistory
{
static const int MAX_HISTORY = 256;
float m_samples[MAX_HISTORY];
int m_hsamples;
public:
ValueHistory();
inline void addSample(const float val)
{
m_hsamples = (m_hsamples+MAX_HISTORY-1) % MAX_HISTORY;
m_samples[m_hsamples] = val;
}
inline int getSampleCount() const
{
return MAX_HISTORY;
}
inline float getSample(const int i) const
{
return m_samples[(m_hsamples+i) % MAX_HISTORY];
}
float getSampleMin() const;
float getSampleMax() const;
float getAverage() const;
};
struct GraphParams
{
void setRect(int ix, int iy, int iw, int ih, int ipad);
void setValueRange(float ivmin, float ivmax, int indiv, const char* iunits);
int x, y, w, h, pad;
float vmin, vmax;
int ndiv;
char units[16];
};
void drawGraphBackground(const GraphParams* p);
void drawGraph(const GraphParams* p, const ValueHistory* graph,
int idx, const char* label, const unsigned int col);
#endif // VALUEHISTORY_H

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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.
//
#ifndef IMGUI_H
#define IMGUI_H
enum imguiMouseButton
{
IMGUI_MBUT_LEFT = 0x01,
IMGUI_MBUT_RIGHT = 0x02,
};
enum imguiTextAlign
{
IMGUI_ALIGN_LEFT,
IMGUI_ALIGN_CENTER,
IMGUI_ALIGN_RIGHT,
};
inline unsigned int imguiRGBA(unsigned char r, unsigned char g, unsigned char b, unsigned char a=255)
{
return (r) | (g << 8) | (b << 16) | (a << 24);
}
void imguiBeginFrame(int mx, int my, unsigned char mbut, int scroll);
void imguiEndFrame();
bool imguiBeginScrollArea(const char* name, int x, int y, int w, int h, int* scroll);
void imguiEndScrollArea();
void imguiIndent();
void imguiUnindent();
void imguiSeparator();
void imguiSeparatorLine();
bool imguiButton(const char* text, bool enabled = true);
bool imguiItem(const char* text, bool enabled = true);
bool imguiCheck(const char* text, bool checked, bool enabled = true);
bool imguiCollapse(const char* text, const char* subtext, bool checked, bool enabled = true);
void imguiLabel(const char* text);
void imguiValue(const char* text);
bool imguiSlider(const char* text, float* val, float vmin, float vmax, float vinc, bool enabled = true);
void imguiDrawText(int x, int y, int align, const char* text, unsigned int color);
void imguiDrawLine(float x0, float y0, float x1, float y1, float r, unsigned int color);
void imguiDrawRoundedRect(float x, float y, float w, float h, float r, unsigned int color);
void imguiDrawRect(float x, float y, float w, float h, unsigned int color);
// Pull render interface.
enum imguiGfxCmdType
{
IMGUI_GFXCMD_RECT,
IMGUI_GFXCMD_TRIANGLE,
IMGUI_GFXCMD_LINE,
IMGUI_GFXCMD_TEXT,
IMGUI_GFXCMD_SCISSOR,
};
struct imguiGfxRect
{
short x,y,w,h,r;
};
struct imguiGfxText
{
short x,y,align;
const char* text;
};
struct imguiGfxLine
{
short x0,y0,x1,y1,r;
};
struct imguiGfxCmd
{
char type;
char flags;
char pad[2];
unsigned int col;
union
{
imguiGfxLine line;
imguiGfxRect rect;
imguiGfxText text;
};
};
const imguiGfxCmd* imguiGetRenderQueue();
int imguiGetRenderQueueSize();
#endif // IMGUI_H

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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.
//
#ifndef IMGUI_RENDER_GL_H
#define IMGUI_RENDER_GL_H
bool imguiRenderGLInit(const char* fontpath);
void imguiRenderGLDestroy();
void imguiRenderGLDraw();
#endif // IMGUI_RENDER_GL_H

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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.
//
#include "ChunkyTriMesh.h"
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
struct BoundsItem
{
float bmin[2];
float bmax[2];
int i;
};
static int compareItemX(const void* va, const void* vb)
{
const BoundsItem* a = (const BoundsItem*)va;
const BoundsItem* b = (const BoundsItem*)vb;
if (a->bmin[0] < b->bmin[0])
return -1;
if (a->bmin[0] > b->bmin[0])
return 1;
return 0;
}
static int compareItemY(const void* va, const void* vb)
{
const BoundsItem* a = (const BoundsItem*)va;
const BoundsItem* b = (const BoundsItem*)vb;
if (a->bmin[1] < b->bmin[1])
return -1;
if (a->bmin[1] > b->bmin[1])
return 1;
return 0;
}
static void calcExtends(const BoundsItem* items, const int /*nitems*/,
const int imin, const int imax,
float* bmin, float* bmax)
{
bmin[0] = items[imin].bmin[0];
bmin[1] = items[imin].bmin[1];
bmax[0] = items[imin].bmax[0];
bmax[1] = items[imin].bmax[1];
for (int i = imin+1; i < imax; ++i)
{
const BoundsItem& it = items[i];
if (it.bmin[0] < bmin[0]) bmin[0] = it.bmin[0];
if (it.bmin[1] < bmin[1]) bmin[1] = it.bmin[1];
if (it.bmax[0] > bmax[0]) bmax[0] = it.bmax[0];
if (it.bmax[1] > bmax[1]) bmax[1] = it.bmax[1];
}
}
inline int longestAxis(float x, float y)
{
return y > x ? 1 : 0;
}
static void subdivide(BoundsItem* items, int nitems, int imin, int imax, int trisPerChunk,
int& curNode, rcChunkyTriMeshNode* nodes, const int maxNodes,
int& curTri, int* outTris, const int* inTris)
{
int inum = imax - imin;
int icur = curNode;
if (curNode > maxNodes)
return;
rcChunkyTriMeshNode& node = nodes[curNode++];
if (inum <= trisPerChunk)
{
// Leaf
calcExtends(items, nitems, imin, imax, node.bmin, node.bmax);
// Copy triangles.
node.i = curTri;
node.n = inum;
for (int i = imin; i < imax; ++i)
{
const int* src = &inTris[items[i].i*3];
int* dst = &outTris[curTri*3];
curTri++;
dst[0] = src[0];
dst[1] = src[1];
dst[2] = src[2];
}
}
else
{
// Split
calcExtends(items, nitems, imin, imax, node.bmin, node.bmax);
int axis = longestAxis(node.bmax[0] - node.bmin[0],
node.bmax[1] - node.bmin[1]);
if (axis == 0)
{
// Sort along x-axis
qsort(items+imin, static_cast<size_t>(inum), sizeof(BoundsItem), compareItemX);
}
else if (axis == 1)
{
// Sort along y-axis
qsort(items+imin, static_cast<size_t>(inum), sizeof(BoundsItem), compareItemY);
}
int isplit = imin+inum/2;
// Left
subdivide(items, nitems, imin, isplit, trisPerChunk, curNode, nodes, maxNodes, curTri, outTris, inTris);
// Right
subdivide(items, nitems, isplit, imax, trisPerChunk, curNode, nodes, maxNodes, curTri, outTris, inTris);
int iescape = curNode - icur;
// Negative index means escape.
node.i = -iescape;
}
}
bool rcCreateChunkyTriMesh(const float* verts, const int* tris, int ntris,
int trisPerChunk, rcChunkyTriMesh* cm)
{
int nchunks = (ntris + trisPerChunk-1) / trisPerChunk;
cm->nodes = new rcChunkyTriMeshNode[nchunks*4];
if (!cm->nodes)
return false;
cm->tris = new int[ntris*3];
if (!cm->tris)
return false;
cm->ntris = ntris;
// Build tree
BoundsItem* items = new BoundsItem[ntris];
if (!items)
return false;
for (int i = 0; i < ntris; i++)
{
const int* t = &tris[i*3];
BoundsItem& it = items[i];
it.i = i;
// Calc triangle XZ bounds.
it.bmin[0] = it.bmax[0] = verts[t[0]*3+0];
it.bmin[1] = it.bmax[1] = verts[t[0]*3+2];
for (int j = 1; j < 3; ++j)
{
const float* v = &verts[t[j]*3];
if (v[0] < it.bmin[0]) it.bmin[0] = v[0];
if (v[2] < it.bmin[1]) it.bmin[1] = v[2];
if (v[0] > it.bmax[0]) it.bmax[0] = v[0];
if (v[2] > it.bmax[1]) it.bmax[1] = v[2];
}
}
int curTri = 0;
int curNode = 0;
subdivide(items, ntris, 0, ntris, trisPerChunk, curNode, cm->nodes, nchunks*4, curTri, cm->tris, tris);
delete [] items;
cm->nnodes = curNode;
// Calc max tris per node.
cm->maxTrisPerChunk = 0;
for (int i = 0; i < cm->nnodes; ++i)
{
rcChunkyTriMeshNode& node = cm->nodes[i];
const bool isLeaf = node.i >= 0;
if (!isLeaf) continue;
if (node.n > cm->maxTrisPerChunk)
cm->maxTrisPerChunk = node.n;
}
return true;
}
inline bool checkOverlapRect(const float amin[2], const float amax[2],
const float bmin[2], const float bmax[2])
{
bool overlap = true;
overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
return overlap;
}
int rcGetChunksOverlappingRect(const rcChunkyTriMesh* cm,
float bmin[2], float bmax[2],
int* ids, const int maxIds)
{
// Traverse tree
int i = 0;
int n = 0;
while (i < cm->nnodes)
{
const rcChunkyTriMeshNode* node = &cm->nodes[i];
const bool overlap = checkOverlapRect(bmin, bmax, node->bmin, node->bmax);
const bool isLeafNode = node->i >= 0;
if (isLeafNode && overlap)
{
if (n < maxIds)
{
ids[n] = i;
n++;
}
}
if (overlap || isLeafNode)
i++;
else
{
const int escapeIndex = -node->i;
i += escapeIndex;
}
}
return n;
}
static bool checkOverlapSegment(const float p[2], const float q[2],
const float bmin[2], const float bmax[2])
{
static const float EPSILON = 1e-6f;
float tmin = 0;
float tmax = 1;
float d[2];
d[0] = q[0] - p[0];
d[1] = q[1] - p[1];
for (int i = 0; i < 2; i++)
{
if (fabsf(d[i]) < EPSILON)
{
// Ray is parallel to slab. No hit if origin not within slab
if (p[i] < bmin[i] || p[i] > bmax[i])
return false;
}
else
{
// Compute intersection t value of ray with near and far plane of slab
float ood = 1.0f / d[i];
float t1 = (bmin[i] - p[i]) * ood;
float t2 = (bmax[i] - p[i]) * ood;
if (t1 > t2) { float tmp = t1; t1 = t2; t2 = tmp; }
if (t1 > tmin) tmin = t1;
if (t2 < tmax) tmax = t2;
if (tmin > tmax) return false;
}
}
return true;
}
int rcGetChunksOverlappingSegment(const rcChunkyTriMesh* cm,
float p[2], float q[2],
int* ids, const int maxIds)
{
// Traverse tree
int i = 0;
int n = 0;
while (i < cm->nnodes)
{
const rcChunkyTriMeshNode* node = &cm->nodes[i];
const bool overlap = checkOverlapSegment(p, q, node->bmin, node->bmax);
const bool isLeafNode = node->i >= 0;
if (isLeafNode && overlap)
{
if (n < maxIds)
{
ids[n] = i;
n++;
}
}
if (overlap || isLeafNode)
i++;
else
{
const int escapeIndex = -node->i;
i += escapeIndex;
}
}
return n;
}

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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 "SDL.h"
#include "SDL_opengl.h"
#include "imgui.h"
#include "ConvexVolumeTool.h"
#include "InputGeom.h"
#include "Sample.h"
#include "Recast.h"
#include "RecastDebugDraw.h"
#include "DetourDebugDraw.h"
#ifdef WIN32
# define snprintf _snprintf
#endif
// Quick and dirty convex hull.
// Returns true if 'c' is left of line 'a'-'b'.
inline bool left(const float* a, const float* b, const float* c)
{
const float u1 = b[0] - a[0];
const float v1 = b[2] - a[2];
const float u2 = c[0] - a[0];
const float v2 = c[2] - a[2];
return u1 * v2 - v1 * u2 < 0;
}
// Returns true if 'a' is more lower-left than 'b'.
inline bool cmppt(const float* a, const float* b)
{
if (a[0] < b[0]) return true;
if (a[0] > b[0]) return false;
if (a[2] < b[2]) return true;
if (a[2] > b[2]) return false;
return false;
}
// Calculates convex hull on xz-plane of points on 'pts',
// stores the indices of the resulting hull in 'out' and
// returns number of points on hull.
static int convexhull(const float* pts, int npts, int* out)
{
// Find lower-leftmost point.
int hull = 0;
for (int i = 1; i < npts; ++i)
if (cmppt(&pts[i*3], &pts[hull*3]))
hull = i;
// Gift wrap hull.
int endpt = 0;
int i = 0;
do
{
out[i++] = hull;
endpt = 0;
for (int j = 1; j < npts; ++j)
if (hull == endpt || left(&pts[hull*3], &pts[endpt*3], &pts[j*3]))
endpt = j;
hull = endpt;
}
while (endpt != out[0]);
return i;
}
static int pointInPoly(int nvert, const float* verts, const float* p)
{
int i, j, c = 0;
for (i = 0, j = nvert-1; i < nvert; j = i++)
{
const float* vi = &verts[i*3];
const float* vj = &verts[j*3];
if (((vi[2] > p[2]) != (vj[2] > p[2])) &&
(p[0] < (vj[0]-vi[0]) * (p[2]-vi[2]) / (vj[2]-vi[2]) + vi[0]) )
c = !c;
}
return c;
}
ConvexVolumeTool::ConvexVolumeTool() :
m_sample(0),
m_areaType(SAMPLE_POLYAREA_GRASS),
m_polyOffset(0.0f),
m_boxHeight(6.0f),
m_boxDescent(1.0f),
m_npts(0),
m_nhull(0)
{
}
void ConvexVolumeTool::init(Sample* sample)
{
m_sample = sample;
}
void ConvexVolumeTool::reset()
{
m_npts = 0;
m_nhull = 0;
}
void ConvexVolumeTool::handleMenu()
{
imguiSlider("Shape Height", &m_boxHeight, 0.1f, 20.0f, 0.1f);
imguiSlider("Shape Descent", &m_boxDescent, 0.1f, 20.0f, 0.1f);
imguiSlider("Poly Offset", &m_polyOffset, 0.0f, 10.0f, 0.1f);
imguiSeparator();
imguiLabel("Area Type");
imguiIndent();
if (imguiCheck("Ground", m_areaType == SAMPLE_POLYAREA_GROUND))
m_areaType = SAMPLE_POLYAREA_GROUND;
if (imguiCheck("Water", m_areaType == SAMPLE_POLYAREA_WATER))
m_areaType = SAMPLE_POLYAREA_WATER;
if (imguiCheck("Road", m_areaType == SAMPLE_POLYAREA_ROAD))
m_areaType = SAMPLE_POLYAREA_ROAD;
if (imguiCheck("Door", m_areaType == SAMPLE_POLYAREA_DOOR))
m_areaType = SAMPLE_POLYAREA_DOOR;
if (imguiCheck("Grass", m_areaType == SAMPLE_POLYAREA_GRASS))
m_areaType = SAMPLE_POLYAREA_GRASS;
if (imguiCheck("Jump", m_areaType == SAMPLE_POLYAREA_JUMP))
m_areaType = SAMPLE_POLYAREA_JUMP;
imguiUnindent();
imguiSeparator();
if (imguiButton("Clear Shape"))
{
m_npts = 0;
m_nhull = 0;
}
}
void ConvexVolumeTool::handleClick(const float* /*s*/, const float* p, bool shift)
{
if (!m_sample) return;
InputGeom* geom = m_sample->getInputGeom();
if (!geom) return;
if (shift)
{
// Delete
int nearestIndex = -1;
const ConvexVolume* vols = geom->getConvexVolumes();
for (int i = 0; i < geom->getConvexVolumeCount(); ++i)
{
if (pointInPoly(vols[i].nverts, vols[i].verts, p) &&
p[1] >= vols[i].hmin && p[1] <= vols[i].hmax)
{
nearestIndex = i;
}
}
// If end point close enough, delete it.
if (nearestIndex != -1)
{
geom->deleteConvexVolume(nearestIndex);
}
}
else
{
// Create
// If clicked on that last pt, create the shape.
if (m_npts && rcVdistSqr(p, &m_pts[(m_npts-1)*3]) < rcSqr(0.2f))
{
if (m_nhull > 2)
{
// Create shape.
float verts[MAX_PTS*3];
for (int i = 0; i < m_nhull; ++i)
rcVcopy(&verts[i*3], &m_pts[m_hull[i]*3]);
float minh = FLT_MAX, maxh = 0;
for (int i = 0; i < m_nhull; ++i)
minh = rcMin(minh, verts[i*3+1]);
minh -= m_boxDescent;
maxh = minh + m_boxHeight;
if (m_polyOffset > 0.01f)
{
float offset[MAX_PTS*2*3];
int noffset = rcOffsetPoly(verts, m_nhull, m_polyOffset, offset, MAX_PTS*2);
if (noffset > 0)
geom->addConvexVolume(offset, noffset, minh, maxh, (unsigned char)m_areaType);
}
else
{
geom->addConvexVolume(verts, m_nhull, minh, maxh, (unsigned char)m_areaType);
}
}
m_npts = 0;
m_nhull = 0;
}
else
{
// Add new point
if (m_npts < MAX_PTS)
{
rcVcopy(&m_pts[m_npts*3], p);
m_npts++;
// Update hull.
if (m_npts > 1)
m_nhull = convexhull(m_pts, m_npts, m_hull);
else
m_nhull = 0;
}
}
}
}
void ConvexVolumeTool::handleToggle()
{
}
void ConvexVolumeTool::handleStep()
{
}
void ConvexVolumeTool::handleUpdate(const float /*dt*/)
{
}
void ConvexVolumeTool::handleRender()
{
duDebugDraw& dd = m_sample->getDebugDraw();
// Find height extent of the shape.
float minh = FLT_MAX, maxh = 0;
for (int i = 0; i < m_npts; ++i)
minh = rcMin(minh, m_pts[i*3+1]);
minh -= m_boxDescent;
maxh = minh + m_boxHeight;
dd.begin(DU_DRAW_POINTS, 4.0f);
for (int i = 0; i < m_npts; ++i)
{
unsigned int col = duRGBA(255,255,255,255);
if (i == m_npts-1)
col = duRGBA(240,32,16,255);
dd.vertex(m_pts[i*3+0],m_pts[i*3+1]+0.1f,m_pts[i*3+2], col);
}
dd.end();
dd.begin(DU_DRAW_LINES, 2.0f);
for (int i = 0, j = m_nhull-1; i < m_nhull; j = i++)
{
const float* vi = &m_pts[m_hull[j]*3];
const float* vj = &m_pts[m_hull[i]*3];
dd.vertex(vj[0],minh,vj[2], duRGBA(255,255,255,64));
dd.vertex(vi[0],minh,vi[2], duRGBA(255,255,255,64));
dd.vertex(vj[0],maxh,vj[2], duRGBA(255,255,255,64));
dd.vertex(vi[0],maxh,vi[2], duRGBA(255,255,255,64));
dd.vertex(vj[0],minh,vj[2], duRGBA(255,255,255,64));
dd.vertex(vj[0],maxh,vj[2], duRGBA(255,255,255,64));
}
dd.end();
}
void ConvexVolumeTool::handleRenderOverlay(double* /*proj*/, double* /*model*/, int* view)
{
// Tool help
const int h = view[3];
if (!m_npts)
{
imguiDrawText(280, h-40, IMGUI_ALIGN_LEFT, "LMB: Create new shape. SHIFT+LMB: Delete existing shape (click inside a shape).", imguiRGBA(255,255,255,192));
}
else
{
imguiDrawText(280, h-40, IMGUI_ALIGN_LEFT, "Click LMB to add new points. Click on the red point to finish the shape.", imguiRGBA(255,255,255,192));
imguiDrawText(280, h-60, IMGUI_ALIGN_LEFT, "The shape will be convex hull of all added points.", imguiRGBA(255,255,255,192));
}
}

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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.
//
#include "Filelist.h"
#include <algorithm>
#ifdef WIN32
# include <io.h>
#else
# include <dirent.h>
# include <cstring>
#endif
using std::vector;
using std::string;
void scanDirectoryAppend(const string& path, const string& ext, vector<string>& filelist)
{
#ifdef WIN32
string pathWithExt = path + "/*" + ext;
_finddata_t dir;
intptr_t fh = _findfirst(pathWithExt.c_str(), &dir);
if (fh == -1L)
{
return;
}
do
{
filelist.push_back(dir.name);
}
while (_findnext(fh, &dir) == 0);
_findclose(fh);
#else
dirent* current = 0;
DIR* dp = opendir(path.c_str());
if (!dp)
{
return;
}
int extLen = strlen(ext.c_str());
while ((current = readdir(dp)) != 0)
{
int len = strlen(current->d_name);
if (len > extLen && strncmp(current->d_name + len - extLen, ext.c_str(), extLen) == 0)
{
filelist.push_back(current->d_name);
}
}
closedir(dp);
#endif
// Sort the list of files alphabetically.
std::sort(filelist.begin(), filelist.end());
}
void scanDirectory(const string& path, const string& ext, vector<string>& filelist)
{
filelist.clear();
scanDirectoryAppend(path, ext, filelist);
}

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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 <ctype.h>
#include <string.h>
#include <algorithm>
#include "Recast.h"
#include "InputGeom.h"
#include "ChunkyTriMesh.h"
#include "MeshLoaderObj.h"
#include "DebugDraw.h"
#include "RecastDebugDraw.h"
#include "DetourNavMesh.h"
#include "Sample.h"
static bool intersectSegmentTriangle(const float* sp, const float* sq,
const float* a, const float* b, const float* c,
float &t)
{
float v, w;
float ab[3], ac[3], qp[3], ap[3], norm[3], e[3];
rcVsub(ab, b, a);
rcVsub(ac, c, a);
rcVsub(qp, sp, sq);
// Compute triangle normal. Can be precalculated or cached if
// intersecting multiple segments against the same triangle
rcVcross(norm, ab, ac);
// Compute denominator d. If d <= 0, segment is parallel to or points
// away from triangle, so exit early
float d = rcVdot(qp, norm);
if (d <= 0.0f) return false;
// Compute intersection t value of pq with plane of triangle. A ray
// intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
// dividing by d until intersection has been found to pierce triangle
rcVsub(ap, sp, a);
t = rcVdot(ap, norm);
if (t < 0.0f) return false;
if (t > d) return false; // For segment; exclude this code line for a ray test
// Compute barycentric coordinate components and test if within bounds
rcVcross(e, qp, ap);
v = rcVdot(ac, e);
if (v < 0.0f || v > d) return false;
w = -rcVdot(ab, e);
if (w < 0.0f || v + w > d) return false;
// Segment/ray intersects triangle. Perform delayed division
t /= d;
return true;
}
static char* parseRow(char* buf, char* bufEnd, char* row, int len)
{
bool start = true;
bool done = false;
int n = 0;
while (!done && buf < bufEnd)
{
char c = *buf;
buf++;
// multirow
switch (c)
{
case '\n':
if (start) break;
done = true;
break;
case '\r':
break;
case '\t':
case ' ':
if (start) break;
// else falls through
default:
start = false;
row[n++] = c;
if (n >= len-1)
done = true;
break;
}
}
row[n] = '\0';
return buf;
}
InputGeom::InputGeom() :
m_chunkyMesh(0),
m_mesh(0),
m_hasBuildSettings(false),
m_offMeshConCount(0),
m_volumeCount(0)
{
}
InputGeom::~InputGeom()
{
delete m_chunkyMesh;
delete m_mesh;
}
bool InputGeom::loadMesh(rcContext* ctx, const std::string& filepath)
{
if (m_mesh)
{
delete m_chunkyMesh;
m_chunkyMesh = 0;
delete m_mesh;
m_mesh = 0;
}
m_offMeshConCount = 0;
m_volumeCount = 0;
m_mesh = new rcMeshLoaderObj;
if (!m_mesh)
{
ctx->log(RC_LOG_ERROR, "loadMesh: Out of memory 'm_mesh'.");
return false;
}
if (!m_mesh->load(filepath))
{
ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not load '%s'", filepath.c_str());
return false;
}
rcCalcBounds(m_mesh->getVerts(), m_mesh->getVertCount(), m_meshBMin, m_meshBMax);
m_chunkyMesh = new rcChunkyTriMesh;
if (!m_chunkyMesh)
{
ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Out of memory 'm_chunkyMesh'.");
return false;
}
if (!rcCreateChunkyTriMesh(m_mesh->getVerts(), m_mesh->getTris(), m_mesh->getTriCount(), 256, m_chunkyMesh))
{
ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Failed to build chunky mesh.");
return false;
}
return true;
}
bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
{
char* buf = 0;
FILE* fp = fopen(filepath.c_str(), "rb");
if (!fp)
{
return false;
}
if (fseek(fp, 0, SEEK_END) != 0)
{
fclose(fp);
return false;
}
long bufSize = ftell(fp);
if (bufSize < 0)
{
fclose(fp);
return false;
}
if (fseek(fp, 0, SEEK_SET) != 0)
{
fclose(fp);
return false;
}
buf = new char[bufSize];
if (!buf)
{
fclose(fp);
return false;
}
size_t readLen = fread(buf, bufSize, 1, fp);
fclose(fp);
if (readLen != 1)
{
delete[] buf;
return false;
}
m_offMeshConCount = 0;
m_volumeCount = 0;
delete m_mesh;
m_mesh = 0;
char* src = buf;
char* srcEnd = buf + bufSize;
char row[512];
while (src < srcEnd)
{
// Parse one row
row[0] = '\0';
src = parseRow(src, srcEnd, row, sizeof(row)/sizeof(char));
if (row[0] == 'f')
{
// File name.
const char* name = row+1;
// Skip white spaces
while (*name && isspace(*name))
name++;
if (*name)
{
if (!loadMesh(ctx, name))
{
delete [] buf;
return false;
}
}
}
else if (row[0] == 'c')
{
// Off-mesh connection
if (m_offMeshConCount < MAX_OFFMESH_CONNECTIONS)
{
float* v = &m_offMeshConVerts[m_offMeshConCount*3*2];
int bidir, area = 0, flags = 0;
float rad;
sscanf(row+1, "%f %f %f %f %f %f %f %d %d %d",
&v[0], &v[1], &v[2], &v[3], &v[4], &v[5], &rad, &bidir, &area, &flags);
m_offMeshConRads[m_offMeshConCount] = rad;
m_offMeshConDirs[m_offMeshConCount] = (unsigned char)bidir;
m_offMeshConAreas[m_offMeshConCount] = (unsigned char)area;
m_offMeshConFlags[m_offMeshConCount] = (unsigned short)flags;
m_offMeshConCount++;
}
}
else if (row[0] == 'v')
{
// Convex volumes
if (m_volumeCount < MAX_VOLUMES)
{
ConvexVolume* vol = &m_volumes[m_volumeCount++];
sscanf(row+1, "%d %d %f %f", &vol->nverts, &vol->area, &vol->hmin, &vol->hmax);
for (int i = 0; i < vol->nverts; ++i)
{
row[0] = '\0';
src = parseRow(src, srcEnd, row, sizeof(row)/sizeof(char));
sscanf(row, "%f %f %f", &vol->verts[i*3+0], &vol->verts[i*3+1], &vol->verts[i*3+2]);
}
}
}
else if (row[0] == 's')
{
// Settings
m_hasBuildSettings = true;
sscanf(row + 1, "%f %f %f %f %f %f %f %f %f %f %f %f %f %d %f %f %f %f %f %f %f",
&m_buildSettings.cellSize,
&m_buildSettings.cellHeight,
&m_buildSettings.agentHeight,
&m_buildSettings.agentRadius,
&m_buildSettings.agentMaxClimb,
&m_buildSettings.agentMaxSlope,
&m_buildSettings.regionMinSize,
&m_buildSettings.regionMergeSize,
&m_buildSettings.edgeMaxLen,
&m_buildSettings.edgeMaxError,
&m_buildSettings.vertsPerPoly,
&m_buildSettings.detailSampleDist,
&m_buildSettings.detailSampleMaxError,
&m_buildSettings.partitionType,
&m_buildSettings.navMeshBMin[0],
&m_buildSettings.navMeshBMin[1],
&m_buildSettings.navMeshBMin[2],
&m_buildSettings.navMeshBMax[0],
&m_buildSettings.navMeshBMax[1],
&m_buildSettings.navMeshBMax[2],
&m_buildSettings.tileSize);
}
}
delete [] buf;
return true;
}
bool InputGeom::load(rcContext* ctx, const std::string& filepath)
{
size_t extensionPos = filepath.find_last_of('.');
if (extensionPos == std::string::npos)
return false;
std::string extension = filepath.substr(extensionPos);
std::transform(extension.begin(), extension.end(), extension.begin(), tolower);
if (extension == ".gset")
return loadGeomSet(ctx, filepath);
if (extension == ".obj")
return loadMesh(ctx, filepath);
return false;
}
bool InputGeom::saveGeomSet(const BuildSettings* settings)
{
if (!m_mesh) return false;
// Change extension
std::string filepath = m_mesh->getFileName();
size_t extPos = filepath.find_last_of('.');
if (extPos != std::string::npos)
filepath = filepath.substr(0, extPos);
filepath += ".gset";
FILE* fp = fopen(filepath.c_str(), "w");
if (!fp) return false;
// Store mesh filename.
fprintf(fp, "f %s\n", m_mesh->getFileName().c_str());
// Store settings if any
if (settings)
{
fprintf(fp,
"s %f %f %f %f %f %f %f %f %f %f %f %f %f %d %f %f %f %f %f %f %f\n",
settings->cellSize,
settings->cellHeight,
settings->agentHeight,
settings->agentRadius,
settings->agentMaxClimb,
settings->agentMaxSlope,
settings->regionMinSize,
settings->regionMergeSize,
settings->edgeMaxLen,
settings->edgeMaxError,
settings->vertsPerPoly,
settings->detailSampleDist,
settings->detailSampleMaxError,
settings->partitionType,
settings->navMeshBMin[0],
settings->navMeshBMin[1],
settings->navMeshBMin[2],
settings->navMeshBMax[0],
settings->navMeshBMax[1],
settings->navMeshBMax[2],
settings->tileSize);
}
// Store off-mesh links.
for (int i = 0; i < m_offMeshConCount; ++i)
{
const float* v = &m_offMeshConVerts[i*3*2];
const float rad = m_offMeshConRads[i];
const int bidir = m_offMeshConDirs[i];
const int area = m_offMeshConAreas[i];
const int flags = m_offMeshConFlags[i];
fprintf(fp, "c %f %f %f %f %f %f %f %d %d %d\n",
v[0], v[1], v[2], v[3], v[4], v[5], rad, bidir, area, flags);
}
// Convex volumes
for (int i = 0; i < m_volumeCount; ++i)
{
ConvexVolume* vol = &m_volumes[i];
fprintf(fp, "v %d %d %f %f\n", vol->nverts, vol->area, vol->hmin, vol->hmax);
for (int j = 0; j < vol->nverts; ++j)
fprintf(fp, "%f %f %f\n", vol->verts[j*3+0], vol->verts[j*3+1], vol->verts[j*3+2]);
}
fclose(fp);
return true;
}
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];
d[0] = sq[0] - sp[0];
d[1] = sq[1] - sp[1];
d[2] = sq[2] - sp[2];
tmin = 0.0;
tmax = 1.0f;
for (int i = 0; i < 3; i++)
{
if (fabsf(d[i]) < EPS)
{
if (sp[i] < amin[i] || sp[i] > amax[i])
return false;
}
else
{
const float ood = 1.0f / d[i];
float t1 = (amin[i] - sp[i]) * ood;
float t2 = (amax[i] - sp[i]) * ood;
if (t1 > t2) { float tmp = t1; t1 = t2; t2 = tmp; }
if (t1 > tmin) tmin = t1;
if (t2 < tmax) tmax = t2;
if (tmin > tmax) return false;
}
}
return true;
}
bool InputGeom::raycastMesh(float* src, float* dst, float& tmin)
{
float dir[3];
rcVsub(dir, dst, src);
// Prune hit ray.
float btmin, btmax;
if (!isectSegAABB(src, dst, m_meshBMin, m_meshBMax, btmin, btmax))
return false;
float p[2], q[2];
p[0] = src[0] + (dst[0]-src[0])*btmin;
p[1] = src[2] + (dst[2]-src[2])*btmin;
q[0] = src[0] + (dst[0]-src[0])*btmax;
q[1] = src[2] + (dst[2]-src[2])*btmax;
int cid[512];
const int ncid = rcGetChunksOverlappingSegment(m_chunkyMesh, p, q, cid, 512);
if (!ncid)
return false;
tmin = 1.0f;
bool hit = false;
const float* verts = m_mesh->getVerts();
for (int i = 0; i < ncid; ++i)
{
const rcChunkyTriMeshNode& node = m_chunkyMesh->nodes[cid[i]];
const int* tris = &m_chunkyMesh->tris[node.i*3];
const int ntris = node.n;
for (int j = 0; j < ntris*3; j += 3)
{
float t = 1;
if (intersectSegmentTriangle(src, dst,
&verts[tris[j]*3],
&verts[tris[j+1]*3],
&verts[tris[j+2]*3], t))
{
if (t < tmin)
tmin = t;
hit = true;
}
}
}
return hit;
}
void InputGeom::addOffMeshConnection(const float* spos, const float* epos, const float rad,
unsigned char bidir, unsigned char area, unsigned short flags)
{
if (m_offMeshConCount >= MAX_OFFMESH_CONNECTIONS) return;
float* v = &m_offMeshConVerts[m_offMeshConCount*3*2];
m_offMeshConRads[m_offMeshConCount] = rad;
m_offMeshConDirs[m_offMeshConCount] = bidir;
m_offMeshConAreas[m_offMeshConCount] = area;
m_offMeshConFlags[m_offMeshConCount] = flags;
m_offMeshConId[m_offMeshConCount] = 1000 + m_offMeshConCount;
rcVcopy(&v[0], spos);
rcVcopy(&v[3], epos);
m_offMeshConCount++;
}
void InputGeom::deleteOffMeshConnection(int i)
{
m_offMeshConCount--;
float* src = &m_offMeshConVerts[m_offMeshConCount*3*2];
float* dst = &m_offMeshConVerts[i*3*2];
rcVcopy(&dst[0], &src[0]);
rcVcopy(&dst[3], &src[3]);
m_offMeshConRads[i] = m_offMeshConRads[m_offMeshConCount];
m_offMeshConDirs[i] = m_offMeshConDirs[m_offMeshConCount];
m_offMeshConAreas[i] = m_offMeshConAreas[m_offMeshConCount];
m_offMeshConFlags[i] = m_offMeshConFlags[m_offMeshConCount];
}
void InputGeom::drawOffMeshConnections(duDebugDraw* dd, bool hilight)
{
unsigned int conColor = duRGBA(192,0,128,192);
unsigned int baseColor = duRGBA(0,0,0,64);
dd->depthMask(false);
dd->begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < m_offMeshConCount; ++i)
{
float* v = &m_offMeshConVerts[i*3*2];
dd->vertex(v[0],v[1],v[2], baseColor);
dd->vertex(v[0],v[1]+0.2f,v[2], baseColor);
dd->vertex(v[3],v[4],v[5], baseColor);
dd->vertex(v[3],v[4]+0.2f,v[5], baseColor);
duAppendCircle(dd, v[0],v[1]+0.1f,v[2], m_offMeshConRads[i], baseColor);
duAppendCircle(dd, v[3],v[4]+0.1f,v[5], m_offMeshConRads[i], baseColor);
if (hilight)
{
duAppendArc(dd, v[0],v[1],v[2], v[3],v[4],v[5], 0.25f,
(m_offMeshConDirs[i]&1) ? 0.6f : 0.0f, 0.6f, conColor);
}
}
dd->end();
dd->depthMask(true);
}
void InputGeom::addConvexVolume(const float* verts, const int nverts,
const float minh, const float maxh, unsigned char area)
{
if (m_volumeCount >= MAX_VOLUMES) return;
ConvexVolume* vol = &m_volumes[m_volumeCount++];
memset(vol, 0, sizeof(ConvexVolume));
memcpy(vol->verts, verts, sizeof(float)*3*nverts);
vol->hmin = minh;
vol->hmax = maxh;
vol->nverts = nverts;
vol->area = area;
}
void InputGeom::deleteConvexVolume(int i)
{
m_volumeCount--;
m_volumes[i] = m_volumes[m_volumeCount];
}
void InputGeom::drawConvexVolumes(struct duDebugDraw* dd, bool /*hilight*/)
{
dd->depthMask(false);
dd->begin(DU_DRAW_TRIS);
for (int i = 0; i < m_volumeCount; ++i)
{
const ConvexVolume* vol = &m_volumes[i];
unsigned int col = duTransCol(dd->areaToCol(vol->area), 32);
for (int j = 0, k = vol->nverts-1; j < vol->nverts; k = j++)
{
const float* va = &vol->verts[k*3];
const float* vb = &vol->verts[j*3];
dd->vertex(vol->verts[0],vol->hmax,vol->verts[2], col);
dd->vertex(vb[0],vol->hmax,vb[2], col);
dd->vertex(va[0],vol->hmax,va[2], col);
dd->vertex(va[0],vol->hmin,va[2], duDarkenCol(col));
dd->vertex(va[0],vol->hmax,va[2], col);
dd->vertex(vb[0],vol->hmax,vb[2], col);
dd->vertex(va[0],vol->hmin,va[2], duDarkenCol(col));
dd->vertex(vb[0],vol->hmax,vb[2], col);
dd->vertex(vb[0],vol->hmin,vb[2], duDarkenCol(col));
}
}
dd->end();
dd->begin(DU_DRAW_LINES, 2.0f);
for (int i = 0; i < m_volumeCount; ++i)
{
const ConvexVolume* vol = &m_volumes[i];
unsigned int col = duTransCol(dd->areaToCol(vol->area), 220);
for (int j = 0, k = vol->nverts-1; j < vol->nverts; k = j++)
{
const float* va = &vol->verts[k*3];
const float* vb = &vol->verts[j*3];
dd->vertex(va[0],vol->hmin,va[2], duDarkenCol(col));
dd->vertex(vb[0],vol->hmin,vb[2], duDarkenCol(col));
dd->vertex(va[0],vol->hmax,va[2], col);
dd->vertex(vb[0],vol->hmax,vb[2], col);
dd->vertex(va[0],vol->hmin,va[2], duDarkenCol(col));
dd->vertex(va[0],vol->hmax,va[2], col);
}
}
dd->end();
dd->begin(DU_DRAW_POINTS, 3.0f);
for (int i = 0; i < m_volumeCount; ++i)
{
const ConvexVolume* vol = &m_volumes[i];
unsigned int col = duDarkenCol(duTransCol(dd->areaToCol(vol->area), 220));
for (int j = 0; j < vol->nverts; ++j)
{
dd->vertex(vol->verts[j*3+0],vol->verts[j*3+1]+0.1f,vol->verts[j*3+2], col);
dd->vertex(vol->verts[j*3+0],vol->hmin,vol->verts[j*3+2], col);
dd->vertex(vol->verts[j*3+0],vol->hmax,vol->verts[j*3+2], col);
}
}
dd->end();
dd->depthMask(true);
}

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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.
//
#include "MeshLoaderObj.h"
#include <stdio.h>
#include <stdlib.h>
#include <cstring>
#define _USE_MATH_DEFINES
#include <math.h>
rcMeshLoaderObj::rcMeshLoaderObj() :
m_scale(1.0f),
m_verts(0),
m_tris(0),
m_normals(0),
m_vertCount(0),
m_triCount(0)
{
}
rcMeshLoaderObj::~rcMeshLoaderObj()
{
delete [] m_verts;
delete [] m_normals;
delete [] m_tris;
}
void rcMeshLoaderObj::addVertex(float x, float y, float z, int& cap)
{
if (m_vertCount+1 > cap)
{
cap = !cap ? 8 : cap*2;
float* nv = new float[cap*3];
if (m_vertCount)
memcpy(nv, m_verts, m_vertCount*3*sizeof(float));
delete [] m_verts;
m_verts = nv;
}
float* dst = &m_verts[m_vertCount*3];
*dst++ = x*m_scale;
*dst++ = y*m_scale;
*dst++ = z*m_scale;
m_vertCount++;
}
void rcMeshLoaderObj::addTriangle(int a, int b, int c, int& cap)
{
if (m_triCount+1 > cap)
{
cap = !cap ? 8 : cap*2;
int* nv = new int[cap*3];
if (m_triCount)
memcpy(nv, m_tris, m_triCount*3*sizeof(int));
delete [] m_tris;
m_tris = nv;
}
int* dst = &m_tris[m_triCount*3];
*dst++ = a;
*dst++ = b;
*dst++ = c;
m_triCount++;
}
static char* parseRow(char* buf, char* bufEnd, char* row, int len)
{
bool start = true;
bool done = false;
int n = 0;
while (!done && buf < bufEnd)
{
char c = *buf;
buf++;
// multirow
switch (c)
{
case '\\':
break;
case '\n':
if (start) break;
done = true;
break;
case '\r':
break;
case '\t':
case ' ':
if (start) break;
// else falls through
default:
start = false;
row[n++] = c;
if (n >= len-1)
done = true;
break;
}
}
row[n] = '\0';
return buf;
}
static int parseFace(char* row, int* data, int n, int vcnt)
{
int j = 0;
while (*row != '\0')
{
// Skip initial white space
while (*row != '\0' && (*row == ' ' || *row == '\t'))
row++;
char* s = row;
// Find vertex delimiter and terminated the string there for conversion.
while (*row != '\0' && *row != ' ' && *row != '\t')
{
if (*row == '/') *row = '\0';
row++;
}
if (*s == '\0')
continue;
int vi = atoi(s);
data[j++] = vi < 0 ? vi+vcnt : vi-1;
if (j >= n) return j;
}
return j;
}
bool rcMeshLoaderObj::load(const std::string& filename)
{
char* buf = 0;
FILE* fp = fopen(filename.c_str(), "rb");
if (!fp)
return false;
if (fseek(fp, 0, SEEK_END) != 0)
{
fclose(fp);
return false;
}
long bufSize = ftell(fp);
if (bufSize < 0)
{
fclose(fp);
return false;
}
if (fseek(fp, 0, SEEK_SET) != 0)
{
fclose(fp);
return false;
}
buf = new char[bufSize];
if (!buf)
{
fclose(fp);
return false;
}
size_t readLen = fread(buf, bufSize, 1, fp);
fclose(fp);
if (readLen != 1)
{
delete[] buf;
return false;
}
char* src = buf;
char* srcEnd = buf + bufSize;
char row[512];
int face[32];
float x,y,z;
int nv;
int vcap = 0;
int tcap = 0;
while (src < srcEnd)
{
// Parse one row
row[0] = '\0';
src = parseRow(src, srcEnd, row, sizeof(row)/sizeof(char));
// Skip comments
if (row[0] == '#') continue;
if (row[0] == 'v' && row[1] != 'n' && row[1] != 't')
{
// Vertex pos
sscanf(row+1, "%f %f %f", &x, &y, &z);
addVertex(x, y, z, vcap);
}
if (row[0] == 'f')
{
// Faces
nv = parseFace(row+1, face, 32, m_vertCount);
for (int i = 2; i < nv; ++i)
{
const int a = face[0];
const int b = face[i-1];
const int c = face[i];
if (a < 0 || a >= m_vertCount || b < 0 || b >= m_vertCount || c < 0 || c >= m_vertCount)
continue;
addTriangle(a, b, c, tcap);
}
}
}
delete [] buf;
// Calculate normals.
m_normals = new float[m_triCount*3];
for (int i = 0; i < m_triCount*3; i += 3)
{
const float* v0 = &m_verts[m_tris[i]*3];
const float* v1 = &m_verts[m_tris[i+1]*3];
const float* v2 = &m_verts[m_tris[i+2]*3];
float e0[3], e1[3];
for (int j = 0; j < 3; ++j)
{
e0[j] = v1[j] - v0[j];
e1[j] = v2[j] - v0[j];
}
float* n = &m_normals[i];
n[0] = e0[1]*e1[2] - e0[2]*e1[1];
n[1] = e0[2]*e1[0] - e0[0]*e1[2];
n[2] = e0[0]*e1[1] - e0[1]*e1[0];
float d = sqrtf(n[0]*n[0] + n[1]*n[1] + n[2]*n[2]);
if (d > 0)
{
d = 1.0f/d;
n[0] *= d;
n[1] *= d;
n[2] *= d;
}
}
m_filename = filename;
return true;
}

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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 <vector>
#include "SDL.h"
#include "SDL_opengl.h"
#include "imgui.h"
#include "NavMeshPruneTool.h"
#include "InputGeom.h"
#include "Sample.h"
#include "DetourNavMesh.h"
#include "DetourCommon.h"
#include "DetourAssert.h"
#include "DetourDebugDraw.h"
#ifdef WIN32
# define snprintf _snprintf
#endif
class NavmeshFlags
{
struct TileFlags
{
inline void purge() { dtFree(flags); }
unsigned char* flags;
int nflags;
dtPolyRef base;
};
const dtNavMesh* m_nav;
TileFlags* m_tiles;
int m_ntiles;
public:
NavmeshFlags() :
m_nav(0), m_tiles(0), m_ntiles(0)
{
}
~NavmeshFlags()
{
for (int i = 0; i < m_ntiles; ++i)
m_tiles[i].purge();
dtFree(m_tiles);
}
bool init(const dtNavMesh* nav)
{
m_ntiles = nav->getMaxTiles();
if (!m_ntiles)
return true;
m_tiles = (TileFlags*)dtAlloc(sizeof(TileFlags)*m_ntiles, DT_ALLOC_TEMP);
if (!m_tiles)
{
return false;
}
memset(m_tiles, 0, sizeof(TileFlags)*m_ntiles);
// Alloc flags for each tile.
for (int i = 0; i < nav->getMaxTiles(); ++i)
{
const dtMeshTile* tile = nav->getTile(i);
if (!tile->header) continue;
TileFlags* tf = &m_tiles[i];
tf->nflags = tile->header->polyCount;
tf->base = nav->getPolyRefBase(tile);
if (tf->nflags)
{
tf->flags = (unsigned char*)dtAlloc(tf->nflags, DT_ALLOC_TEMP);
if (!tf->flags)
return false;
memset(tf->flags, 0, tf->nflags);
}
}
m_nav = nav;
return false;
}
inline void clearAllFlags()
{
for (int i = 0; i < m_ntiles; ++i)
{
TileFlags* tf = &m_tiles[i];
if (tf->nflags)
memset(tf->flags, 0, tf->nflags);
}
}
inline unsigned char getFlags(dtPolyRef ref)
{
dtAssert(m_nav);
dtAssert(m_ntiles);
// Assume the ref is valid, no bounds checks.
unsigned int salt, it, ip;
m_nav->decodePolyId(ref, salt, it, ip);
return m_tiles[it].flags[ip];
}
inline void setFlags(dtPolyRef ref, unsigned char flags)
{
dtAssert(m_nav);
dtAssert(m_ntiles);
// Assume the ref is valid, no bounds checks.
unsigned int salt, it, ip;
m_nav->decodePolyId(ref, salt, it, ip);
m_tiles[it].flags[ip] = flags;
}
};
static void floodNavmesh(dtNavMesh* nav, NavmeshFlags* flags, dtPolyRef start, unsigned char flag)
{
// If already visited, skip.
if (flags->getFlags(start))
return;
flags->setFlags(start, flag);
std::vector<dtPolyRef> openList;
openList.push_back(start);
while (openList.size())
{
const dtPolyRef ref = openList.back();
openList.pop_back();
// Get current poly and tile.
// The API input has been cheked already, skip checking internal data.
const dtMeshTile* tile = 0;
const dtPoly* poly = 0;
nav->getTileAndPolyByRefUnsafe(ref, &tile, &poly);
// Visit linked polygons.
for (unsigned int i = poly->firstLink; i != DT_NULL_LINK; i = tile->links[i].next)
{
const dtPolyRef neiRef = tile->links[i].ref;
// Skip invalid and already visited.
if (!neiRef || flags->getFlags(neiRef))
continue;
// Mark as visited
flags->setFlags(neiRef, flag);
// Visit neighbours
openList.push_back(neiRef);
}
}
}
static void disableUnvisitedPolys(dtNavMesh* nav, NavmeshFlags* flags)
{
for (int i = 0; i < nav->getMaxTiles(); ++i)
{
const dtMeshTile* tile = ((const dtNavMesh*)nav)->getTile(i);
if (!tile->header) continue;
const dtPolyRef base = nav->getPolyRefBase(tile);
for (int j = 0; j < tile->header->polyCount; ++j)
{
const dtPolyRef ref = base | (unsigned int)j;
if (!flags->getFlags(ref))
{
unsigned short f = 0;
nav->getPolyFlags(ref, &f);
nav->setPolyFlags(ref, f | SAMPLE_POLYFLAGS_DISABLED);
}
}
}
}
NavMeshPruneTool::NavMeshPruneTool() :
m_sample(0),
m_flags(0),
m_hitPosSet(false)
{
}
NavMeshPruneTool::~NavMeshPruneTool()
{
delete m_flags;
}
void NavMeshPruneTool::init(Sample* sample)
{
m_sample = sample;
}
void NavMeshPruneTool::reset()
{
m_hitPosSet = false;
delete m_flags;
m_flags = 0;
}
void NavMeshPruneTool::handleMenu()
{
dtNavMesh* nav = m_sample->getNavMesh();
if (!nav) return;
if (!m_flags) return;
if (imguiButton("Clear Selection"))
{
m_flags->clearAllFlags();
}
if (imguiButton("Prune Unselected"))
{
disableUnvisitedPolys(nav, m_flags);
delete m_flags;
m_flags = 0;
}
}
void NavMeshPruneTool::handleClick(const float* s, const float* p, bool shift)
{
rcIgnoreUnused(s);
rcIgnoreUnused(shift);
if (!m_sample) return;
InputGeom* geom = m_sample->getInputGeom();
if (!geom) return;
dtNavMesh* nav = m_sample->getNavMesh();
if (!nav) return;
dtNavMeshQuery* query = m_sample->getNavMeshQuery();
if (!query) return;
dtVcopy(m_hitPos, p);
m_hitPosSet = true;
if (!m_flags)
{
m_flags = new NavmeshFlags;
m_flags->init(nav);
}
const float halfExtents[3] = { 2, 4, 2 };
dtQueryFilter filter;
dtPolyRef ref = 0;
query->findNearestPoly(p, halfExtents, &filter, &ref, 0);
floodNavmesh(nav, m_flags, ref, 1);
}
void NavMeshPruneTool::handleToggle()
{
}
void NavMeshPruneTool::handleStep()
{
}
void NavMeshPruneTool::handleUpdate(const float /*dt*/)
{
}
void NavMeshPruneTool::handleRender()
{
duDebugDraw& dd = m_sample->getDebugDraw();
if (m_hitPosSet)
{
const float s = m_sample->getAgentRadius();
const unsigned int col = duRGBA(255,255,255,255);
dd.begin(DU_DRAW_LINES);
dd.vertex(m_hitPos[0]-s,m_hitPos[1],m_hitPos[2], col);
dd.vertex(m_hitPos[0]+s,m_hitPos[1],m_hitPos[2], col);
dd.vertex(m_hitPos[0],m_hitPos[1]-s,m_hitPos[2], col);
dd.vertex(m_hitPos[0],m_hitPos[1]+s,m_hitPos[2], col);
dd.vertex(m_hitPos[0],m_hitPos[1],m_hitPos[2]-s, col);
dd.vertex(m_hitPos[0],m_hitPos[1],m_hitPos[2]+s, col);
dd.end();
}
const dtNavMesh* nav = m_sample->getNavMesh();
if (m_flags && nav)
{
for (int i = 0; i < nav->getMaxTiles(); ++i)
{
const dtMeshTile* tile = nav->getTile(i);
if (!tile->header) continue;
const dtPolyRef base = nav->getPolyRefBase(tile);
for (int j = 0; j < tile->header->polyCount; ++j)
{
const dtPolyRef ref = base | (unsigned int)j;
if (m_flags->getFlags(ref))
{
duDebugDrawNavMeshPoly(&dd, *nav, ref, duRGBA(255,255,255,128));
}
}
}
}
}
void NavMeshPruneTool::handleRenderOverlay(double* proj, double* model, int* view)
{
rcIgnoreUnused(model);
rcIgnoreUnused(proj);
// Tool help
const int h = view[3];
imguiDrawText(280, h-40, IMGUI_ALIGN_LEFT, "LMB: Click fill area.", imguiRGBA(255,255,255,192));
}

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177
extern/recastnavigation/RecastDemo/Source/OffMeshConnectionTool.cpp vendored
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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 "SDL.h"
#include "SDL_opengl.h"
#ifdef __APPLE__
# include <OpenGL/glu.h>
#else
# include <GL/glu.h>
#endif
#include "imgui.h"
#include "OffMeshConnectionTool.h"
#include "InputGeom.h"
#include "Sample.h"
#include "Recast.h"
#include "RecastDebugDraw.h"
#include "DetourDebugDraw.h"
#ifdef WIN32
# define snprintf _snprintf
#endif
OffMeshConnectionTool::OffMeshConnectionTool() :
m_sample(0),
m_hitPosSet(0),
m_bidir(true),
m_oldFlags(0)
{
}
OffMeshConnectionTool::~OffMeshConnectionTool()
{
if (m_sample)
{
m_sample->setNavMeshDrawFlags(m_oldFlags);
}
}
void OffMeshConnectionTool::init(Sample* sample)
{
if (m_sample != sample)
{
m_sample = sample;
m_oldFlags = m_sample->getNavMeshDrawFlags();
m_sample->setNavMeshDrawFlags(m_oldFlags & ~DU_DRAWNAVMESH_OFFMESHCONS);
}
}
void OffMeshConnectionTool::reset()
{
m_hitPosSet = false;
}
void OffMeshConnectionTool::handleMenu()
{
if (imguiCheck("One Way", !m_bidir))
m_bidir = false;
if (imguiCheck("Bidirectional", m_bidir))
m_bidir = true;
}
void OffMeshConnectionTool::handleClick(const float* /*s*/, const float* p, bool shift)
{
if (!m_sample) return;
InputGeom* geom = m_sample->getInputGeom();
if (!geom) return;
if (shift)
{
// Delete
// Find nearest link end-point
float nearestDist = FLT_MAX;
int nearestIndex = -1;
const float* verts = geom->getOffMeshConnectionVerts();
for (int i = 0; i < geom->getOffMeshConnectionCount()*2; ++i)
{
const float* v = &verts[i*3];
float d = rcVdistSqr(p, v);
if (d < nearestDist)
{
nearestDist = d;
nearestIndex = i/2; // Each link has two vertices.
}
}
// If end point close enough, delete it.
if (nearestIndex != -1 &&
sqrtf(nearestDist) < m_sample->getAgentRadius())
{
geom->deleteOffMeshConnection(nearestIndex);
}
}
else
{
// Create
if (!m_hitPosSet)
{
rcVcopy(m_hitPos, p);
m_hitPosSet = true;
}
else
{
const unsigned char area = SAMPLE_POLYAREA_JUMP;
const unsigned short flags = SAMPLE_POLYFLAGS_JUMP;
geom->addOffMeshConnection(m_hitPos, p, m_sample->getAgentRadius(), m_bidir ? 1 : 0, area, flags);
m_hitPosSet = false;
}
}
}
void OffMeshConnectionTool::handleToggle()
{
}
void OffMeshConnectionTool::handleStep()
{
}
void OffMeshConnectionTool::handleUpdate(const float /*dt*/)
{
}
void OffMeshConnectionTool::handleRender()
{
duDebugDraw& dd = m_sample->getDebugDraw();
const float s = m_sample->getAgentRadius();
if (m_hitPosSet)
duDebugDrawCross(&dd, m_hitPos[0],m_hitPos[1]+0.1f,m_hitPos[2], s, duRGBA(0,0,0,128), 2.0f);
InputGeom* geom = m_sample->getInputGeom();
if (geom)
geom->drawOffMeshConnections(&dd, true);
}
void OffMeshConnectionTool::handleRenderOverlay(double* proj, double* model, int* view)
{
GLdouble x, y, z;
// Draw start and end point labels
if (m_hitPosSet && gluProject((GLdouble)m_hitPos[0], (GLdouble)m_hitPos[1], (GLdouble)m_hitPos[2],
model, proj, view, &x, &y, &z))
{
imguiDrawText((int)x, (int)(y-25), IMGUI_ALIGN_CENTER, "Start", imguiRGBA(0,0,0,220));
}
// Tool help
const int h = view[3];
if (!m_hitPosSet)
{
imguiDrawText(280, h-40, IMGUI_ALIGN_LEFT, "LMB: Create new connection. SHIFT+LMB: Delete existing connection, click close to start or end point.", imguiRGBA(255,255,255,192));
}
else
{
imguiDrawText(280, h-40, IMGUI_ALIGN_LEFT, "LMB: Set connection end point and finish.", imguiRGBA(255,255,255,192));
}
}

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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.
//
#include "PerfTimer.h"
#if defined(WIN32)
// Win32
#include <windows.h>
TimeVal getPerfTime()
{
__int64 count;
QueryPerformanceCounter((LARGE_INTEGER*)&count);
return count;
}
int getPerfTimeUsec(const TimeVal duration)
{
static __int64 freq = 0;
if (freq == 0)
QueryPerformanceFrequency((LARGE_INTEGER*)&freq);
return (int)(duration*1000000 / freq);
}
#else
// Linux, BSD, OSX
#include <sys/time.h>
TimeVal getPerfTime()
{
timeval now;
gettimeofday(&now, 0);
return (TimeVal)now.tv_sec*1000000L + (TimeVal)now.tv_usec;
}
int getPerfTimeUsec(const TimeVal duration)
{
return (int)duration;
}
#endif

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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 "Sample.h"
#include "InputGeom.h"
#include "Recast.h"
#include "RecastDebugDraw.h"
#include "DetourDebugDraw.h"
#include "DetourNavMesh.h"
#include "DetourNavMeshQuery.h"
#include "DetourCrowd.h"
#include "imgui.h"
#include "SDL.h"
#include "SDL_opengl.h"
#ifdef WIN32
# define snprintf _snprintf
#endif
unsigned int SampleDebugDraw::areaToCol(unsigned int area)
{
switch(area)
{
// Ground (0) : light blue
case SAMPLE_POLYAREA_GROUND: return duRGBA(0, 192, 255, 255);
// Water : blue
case SAMPLE_POLYAREA_WATER: return duRGBA(0, 0, 255, 255);
// Road : brown
case SAMPLE_POLYAREA_ROAD: return duRGBA(50, 20, 12, 255);
// Door : cyan
case SAMPLE_POLYAREA_DOOR: return duRGBA(0, 255, 255, 255);
// Grass : green
case SAMPLE_POLYAREA_GRASS: return duRGBA(0, 255, 0, 255);
// Jump : yellow
case SAMPLE_POLYAREA_JUMP: return duRGBA(255, 255, 0, 255);
// Unexpected : red
default: return duRGBA(255, 0, 0, 255);
}
}
Sample::Sample() :
m_geom(0),
m_navMesh(0),
m_navQuery(0),
m_crowd(0),
m_navMeshDrawFlags(DU_DRAWNAVMESH_OFFMESHCONS|DU_DRAWNAVMESH_CLOSEDLIST),
m_filterLowHangingObstacles(true),
m_filterLedgeSpans(true),
m_filterWalkableLowHeightSpans(true),
m_tool(0),
m_ctx(0)
{
resetCommonSettings();
m_navQuery = dtAllocNavMeshQuery();
m_crowd = dtAllocCrowd();
for (int i = 0; i < MAX_TOOLS; i++)
m_toolStates[i] = 0;
}
Sample::~Sample()
{
dtFreeNavMeshQuery(m_navQuery);
dtFreeNavMesh(m_navMesh);
dtFreeCrowd(m_crowd);
delete m_tool;
for (int i = 0; i < MAX_TOOLS; i++)
delete m_toolStates[i];
}
void Sample::setTool(SampleTool* tool)
{
delete m_tool;
m_tool = tool;
if (tool)
m_tool->init(this);
}
void Sample::handleSettings()
{
}
void Sample::handleTools()
{
}
void Sample::handleDebugMode()
{
}
void Sample::handleRender()
{
if (!m_geom)
return;
// Draw mesh
duDebugDrawTriMesh(&m_dd, m_geom->getMesh()->getVerts(), m_geom->getMesh()->getVertCount(),
m_geom->getMesh()->getTris(), m_geom->getMesh()->getNormals(), m_geom->getMesh()->getTriCount(), 0, 1.0f);
// Draw bounds
const float* bmin = m_geom->getMeshBoundsMin();
const float* bmax = m_geom->getMeshBoundsMax();
duDebugDrawBoxWire(&m_dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duRGBA(255,255,255,128), 1.0f);
}
void Sample::handleRenderOverlay(double* /*proj*/, double* /*model*/, int* /*view*/)
{
}
void Sample::handleMeshChanged(InputGeom* geom)
{
m_geom = geom;
const BuildSettings* buildSettings = geom->getBuildSettings();
if (buildSettings)
{
m_cellSize = buildSettings->cellSize;
m_cellHeight = buildSettings->cellHeight;
m_agentHeight = buildSettings->agentHeight;
m_agentRadius = buildSettings->agentRadius;
m_agentMaxClimb = buildSettings->agentMaxClimb;
m_agentMaxSlope = buildSettings->agentMaxSlope;
m_regionMinSize = buildSettings->regionMinSize;
m_regionMergeSize = buildSettings->regionMergeSize;
m_edgeMaxLen = buildSettings->edgeMaxLen;
m_edgeMaxError = buildSettings->edgeMaxError;
m_vertsPerPoly = buildSettings->vertsPerPoly;
m_detailSampleDist = buildSettings->detailSampleDist;
m_detailSampleMaxError = buildSettings->detailSampleMaxError;
m_partitionType = buildSettings->partitionType;
}
}
void Sample::collectSettings(BuildSettings& settings)
{
settings.cellSize = m_cellSize;
settings.cellHeight = m_cellHeight;
settings.agentHeight = m_agentHeight;
settings.agentRadius = m_agentRadius;
settings.agentMaxClimb = m_agentMaxClimb;
settings.agentMaxSlope = m_agentMaxSlope;
settings.regionMinSize = m_regionMinSize;
settings.regionMergeSize = m_regionMergeSize;
settings.edgeMaxLen = m_edgeMaxLen;
settings.edgeMaxError = m_edgeMaxError;
settings.vertsPerPoly = m_vertsPerPoly;
settings.detailSampleDist = m_detailSampleDist;
settings.detailSampleMaxError = m_detailSampleMaxError;
settings.partitionType = m_partitionType;
}
void Sample::resetCommonSettings()
{
m_cellSize = 0.3f;
m_cellHeight = 0.2f;
m_agentHeight = 2.0f;
m_agentRadius = 0.6f;
m_agentMaxClimb = 0.9f;
m_agentMaxSlope = 45.0f;
m_regionMinSize = 8;
m_regionMergeSize = 20;
m_edgeMaxLen = 12.0f;
m_edgeMaxError = 1.3f;
m_vertsPerPoly = 6.0f;
m_detailSampleDist = 6.0f;
m_detailSampleMaxError = 1.0f;
m_partitionType = SAMPLE_PARTITION_WATERSHED;
}
void Sample::handleCommonSettings()
{
imguiLabel("Rasterization");
imguiSlider("Cell Size", &m_cellSize, 0.1f, 1.0f, 0.01f);
imguiSlider("Cell Height", &m_cellHeight, 0.1f, 1.0f, 0.01f);
if (m_geom)
{
const float* bmin = m_geom->getNavMeshBoundsMin();
const float* bmax = m_geom->getNavMeshBoundsMax();
int gw = 0, gh = 0;
rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
char text[64];
snprintf(text, 64, "Voxels %d x %d", gw, gh);
imguiValue(text);
}
imguiSeparator();
imguiLabel("Agent");
imguiSlider("Height", &m_agentHeight, 0.1f, 5.0f, 0.1f);
imguiSlider("Radius", &m_agentRadius, 0.0f, 5.0f, 0.1f);
imguiSlider("Max Climb", &m_agentMaxClimb, 0.1f, 5.0f, 0.1f);
imguiSlider("Max Slope", &m_agentMaxSlope, 0.0f, 90.0f, 1.0f);
imguiSeparator();
imguiLabel("Region");
imguiSlider("Min Region Size", &m_regionMinSize, 0.0f, 150.0f, 1.0f);
imguiSlider("Merged Region Size", &m_regionMergeSize, 0.0f, 150.0f, 1.0f);
imguiSeparator();
imguiLabel("Partitioning");
if (imguiCheck("Watershed", m_partitionType == SAMPLE_PARTITION_WATERSHED))
m_partitionType = SAMPLE_PARTITION_WATERSHED;
if (imguiCheck("Monotone", m_partitionType == SAMPLE_PARTITION_MONOTONE))
m_partitionType = SAMPLE_PARTITION_MONOTONE;
if (imguiCheck("Layers", m_partitionType == SAMPLE_PARTITION_LAYERS))
m_partitionType = SAMPLE_PARTITION_LAYERS;
imguiSeparator();
imguiLabel("Filtering");
if (imguiCheck("Low Hanging Obstacles", m_filterLowHangingObstacles))
m_filterLowHangingObstacles = !m_filterLowHangingObstacles;
if (imguiCheck("Ledge Spans", m_filterLedgeSpans))
m_filterLedgeSpans= !m_filterLedgeSpans;
if (imguiCheck("Walkable Low Height Spans", m_filterWalkableLowHeightSpans))
m_filterWalkableLowHeightSpans = !m_filterWalkableLowHeightSpans;
imguiSeparator();
imguiLabel("Polygonization");
imguiSlider("Max Edge Length", &m_edgeMaxLen, 0.0f, 50.0f, 1.0f);
imguiSlider("Max Edge Error", &m_edgeMaxError, 0.1f, 3.0f, 0.1f);
imguiSlider("Verts Per Poly", &m_vertsPerPoly, 3.0f, 12.0f, 1.0f);
imguiSeparator();
imguiLabel("Detail Mesh");
imguiSlider("Sample Distance", &m_detailSampleDist, 0.0f, 16.0f, 1.0f);
imguiSlider("Max Sample Error", &m_detailSampleMaxError, 0.0f, 16.0f, 1.0f);
imguiSeparator();
}
void Sample::handleClick(const float* s, const float* p, bool shift)
{
if (m_tool)
m_tool->handleClick(s, p, shift);
}
void Sample::handleToggle()
{
if (m_tool)
m_tool->handleToggle();
}
void Sample::handleStep()
{
if (m_tool)
m_tool->handleStep();
}
bool Sample::handleBuild()
{
return true;
}
void Sample::handleUpdate(const float dt)
{
if (m_tool)
m_tool->handleUpdate(dt);
updateToolStates(dt);
}
void Sample::updateToolStates(const float dt)
{
for (int i = 0; i < MAX_TOOLS; i++)
{
if (m_toolStates[i])
m_toolStates[i]->handleUpdate(dt);
}
}
void Sample::initToolStates(Sample* sample)
{
for (int i = 0; i < MAX_TOOLS; i++)
{
if (m_toolStates[i])
m_toolStates[i]->init(sample);
}
}
void Sample::resetToolStates()
{
for (int i = 0; i < MAX_TOOLS; i++)
{
if (m_toolStates[i])
m_toolStates[i]->reset();
}
}
void Sample::renderToolStates()
{
for (int i = 0; i < MAX_TOOLS; i++)
{
if (m_toolStates[i])
m_toolStates[i]->handleRender();
}
}
void Sample::renderOverlayToolStates(double* proj, double* model, int* view)
{
for (int i = 0; i < MAX_TOOLS; i++)
{
if (m_toolStates[i])
m_toolStates[i]->handleRenderOverlay(proj, model, view);
}
}
static const int NAVMESHSET_MAGIC = 'M'<<24 | 'S'<<16 | 'E'<<8 | 'T'; //'MSET';
static const int NAVMESHSET_VERSION = 1;
struct NavMeshSetHeader
{
int magic;
int version;
int numTiles;
dtNavMeshParams params;
};
struct NavMeshTileHeader
{
dtTileRef tileRef;
int dataSize;
};
dtNavMesh* Sample::loadAll(const char* path)
{
FILE* fp = fopen(path, "rb");
if (!fp) return 0;
// Read header.
NavMeshSetHeader header;
size_t readLen = fread(&header, sizeof(NavMeshSetHeader), 1, fp);
if (readLen != 1)
{
fclose(fp);
return 0;
}
if (header.magic != NAVMESHSET_MAGIC)
{
fclose(fp);
return 0;
}
if (header.version != NAVMESHSET_VERSION)
{
fclose(fp);
return 0;
}
dtNavMesh* mesh = dtAllocNavMesh();
if (!mesh)
{
fclose(fp);
return 0;
}
dtStatus status = mesh->init(&header.params);
if (dtStatusFailed(status))
{
fclose(fp);
return 0;
}
// Read tiles.
for (int i = 0; i < header.numTiles; ++i)
{
NavMeshTileHeader tileHeader;
readLen = fread(&tileHeader, sizeof(tileHeader), 1, fp);
if (readLen != 1)
{
fclose(fp);
return 0;
}
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);
readLen = fread(data, tileHeader.dataSize, 1, fp);
if (readLen != 1)
{
dtFree(data);
fclose(fp);
return 0;
}
mesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
}
fclose(fp);
return mesh;
}
void Sample::saveAll(const char* path, const dtNavMesh* mesh)
{
if (!mesh) return;
FILE* fp = fopen(path, "wb");
if (!fp)
return;
// Store header.
NavMeshSetHeader header;
header.magic = NAVMESHSET_MAGIC;
header.version = NAVMESHSET_VERSION;
header.numTiles = 0;
for (int i = 0; i < mesh->getMaxTiles(); ++i)
{
const dtMeshTile* tile = mesh->getTile(i);
if (!tile || !tile->header || !tile->dataSize) continue;
header.numTiles++;
}
memcpy(&header.params, mesh->getParams(), sizeof(dtNavMeshParams));
fwrite(&header, sizeof(NavMeshSetHeader), 1, fp);
// Store tiles.
for (int i = 0; i < mesh->getMaxTiles(); ++i)
{
const dtMeshTile* tile = mesh->getTile(i);
if (!tile || !tile->header || !tile->dataSize) continue;
NavMeshTileHeader tileHeader;
tileHeader.tileRef = mesh->getTileRef(tile);
tileHeader.dataSize = tile->dataSize;
fwrite(&tileHeader, sizeof(tileHeader), 1, fp);
fwrite(tile->data, tile->dataSize, 1, fp);
}
fclose(fp);
}

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#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#include <stdarg.h>
#include "SampleInterfaces.h"
#include "Recast.h"
#include "RecastDebugDraw.h"
#include "DetourDebugDraw.h"
#include "PerfTimer.h"
#include "SDL.h"
#include "SDL_opengl.h"
#ifdef WIN32
# define snprintf _snprintf
#endif
////////////////////////////////////////////////////////////////////////////////////////////////////
BuildContext::BuildContext() :
m_messageCount(0),
m_textPoolSize(0)
{
memset(m_messages, 0, sizeof(char*) * MAX_MESSAGES);
resetTimers();
}
// Virtual functions for custom implementations.
void BuildContext::doResetLog()
{
m_messageCount = 0;
m_textPoolSize = 0;
}
void BuildContext::doLog(const rcLogCategory category, const char* msg, const int len)
{
if (!len) return;
if (m_messageCount >= MAX_MESSAGES)
return;
char* dst = &m_textPool[m_textPoolSize];
int n = TEXT_POOL_SIZE - m_textPoolSize;
if (n < 2)
return;
char* cat = dst;
char* text = dst+1;
const int maxtext = n-1;
// Store category
*cat = (char)category;
// Store message
const int count = rcMin(len+1, maxtext);
memcpy(text, msg, count);
text[count-1] = '\0';
m_textPoolSize += 1 + count;
m_messages[m_messageCount++] = dst;
}
void BuildContext::doResetTimers()
{
for (int i = 0; i < RC_MAX_TIMERS; ++i)
m_accTime[i] = -1;
}
void BuildContext::doStartTimer(const rcTimerLabel label)
{
m_startTime[label] = getPerfTime();
}
void BuildContext::doStopTimer(const rcTimerLabel label)
{
const TimeVal endTime = getPerfTime();
const TimeVal deltaTime = endTime - m_startTime[label];
if (m_accTime[label] == -1)
m_accTime[label] = deltaTime;
else
m_accTime[label] += deltaTime;
}
int BuildContext::doGetAccumulatedTime(const rcTimerLabel label) const
{
return getPerfTimeUsec(m_accTime[label]);
}
void BuildContext::dumpLog(const char* format, ...)
{
// Print header.
va_list ap;
va_start(ap, format);
vprintf(format, ap);
va_end(ap);
printf("\n");
// Print messages
const int TAB_STOPS[4] = { 28, 36, 44, 52 };
for (int i = 0; i < m_messageCount; ++i)
{
const char* msg = m_messages[i]+1;
int n = 0;
while (*msg)
{
if (*msg == '\t')
{
int count = 1;
for (int j = 0; j < 4; ++j)
{
if (n < TAB_STOPS[j])
{
count = TAB_STOPS[j] - n;
break;
}
}
while (--count)
{
putchar(' ');
n++;
}
}
else
{
putchar(*msg);
n++;
}
msg++;
}
putchar('\n');
}
}
int BuildContext::getLogCount() const
{
return m_messageCount;
}
const char* BuildContext::getLogText(const int i) const
{
return m_messages[i]+1;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
class GLCheckerTexture
{
unsigned int m_texId;
public:
GLCheckerTexture() : m_texId(0)
{
}
~GLCheckerTexture()
{
if (m_texId != 0)
glDeleteTextures(1, &m_texId);
}
void bind()
{
if (m_texId == 0)
{
// Create checker pattern.
const unsigned int col0 = duRGBA(215,215,215,255);
const unsigned int col1 = duRGBA(255,255,255,255);
static const int TSIZE = 64;
unsigned int data[TSIZE*TSIZE];
glGenTextures(1, &m_texId);
glBindTexture(GL_TEXTURE_2D, m_texId);
int level = 0;
int size = TSIZE;
while (size > 0)
{
for (int y = 0; y < size; ++y)
for (int x = 0; x < size; ++x)
data[x+y*size] = (x==0 || y==0) ? col0 : col1;
glTexImage2D(GL_TEXTURE_2D, level, GL_RGBA, size,size, 0, GL_RGBA, GL_UNSIGNED_BYTE, data);
size /= 2;
level++;
}
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
}
else
{
glBindTexture(GL_TEXTURE_2D, m_texId);
}
}
};
GLCheckerTexture g_tex;
void DebugDrawGL::depthMask(bool state)
{
glDepthMask(state ? GL_TRUE : GL_FALSE);
}
void DebugDrawGL::texture(bool state)
{
if (state)
{
glEnable(GL_TEXTURE_2D);
g_tex.bind();
}
else
{
glDisable(GL_TEXTURE_2D);
}
}
void DebugDrawGL::begin(duDebugDrawPrimitives prim, float size)
{
switch (prim)
{
case DU_DRAW_POINTS:
glPointSize(size);
glBegin(GL_POINTS);
break;
case DU_DRAW_LINES:
glLineWidth(size);
glBegin(GL_LINES);
break;
case DU_DRAW_TRIS:
glBegin(GL_TRIANGLES);
break;
case DU_DRAW_QUADS:
glBegin(GL_QUADS);
break;
};
}
void DebugDrawGL::vertex(const float* pos, unsigned int color)
{
glColor4ubv((GLubyte*)&color);
glVertex3fv(pos);
}
void DebugDrawGL::vertex(const float x, const float y, const float z, unsigned int color)
{
glColor4ubv((GLubyte*)&color);
glVertex3f(x,y,z);
}
void DebugDrawGL::vertex(const float* pos, unsigned int color, const float* uv)
{
glColor4ubv((GLubyte*)&color);
glTexCoord2fv(uv);
glVertex3fv(pos);
}
void DebugDrawGL::vertex(const float x, const float y, const float z, unsigned int color, const float u, const float v)
{
glColor4ubv((GLubyte*)&color);
glTexCoord2f(u,v);
glVertex3f(x,y,z);
}
void DebugDrawGL::end()
{
glEnd();
glLineWidth(1.0f);
glPointSize(1.0f);
}
////////////////////////////////////////////////////////////////////////////////////////////////////
FileIO::FileIO() :
m_fp(0),
m_mode(-1)
{
}
FileIO::~FileIO()
{
if (m_fp) fclose(m_fp);
}
bool FileIO::openForWrite(const char* path)
{
if (m_fp) return false;
m_fp = fopen(path, "wb");
if (!m_fp) return false;
m_mode = 1;
return true;
}
bool FileIO::openForRead(const char* path)
{
if (m_fp) return false;
m_fp = fopen(path, "rb");
if (!m_fp) return false;
m_mode = 2;
return true;
}
bool FileIO::isWriting() const
{
return m_mode == 1;
}
bool FileIO::isReading() const
{
return m_mode == 2;
}
bool FileIO::write(const void* ptr, const size_t size)
{
if (!m_fp || m_mode != 1) return false;
fwrite(ptr, size, 1, m_fp);
return true;
}
bool FileIO::read(void* ptr, const size_t size)
{
if (!m_fp || m_mode != 2) return false;
size_t readLen = fread(ptr, size, 1, m_fp);
return readLen == 1;
}

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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 "Sample_Debug.h"
#include "InputGeom.h"
#include "Recast.h"
#include "DetourNavMesh.h"
#include "RecastDebugDraw.h"
#include "DetourDebugDraw.h"
#include "RecastDump.h"
#include "imgui.h"
#include "SDL.h"
#include "SDL_opengl.h"
#ifdef WIN32
# define snprintf _snprintf
#endif
/*
static int loadBin(const char* path, unsigned char** data)
{
FILE* fp = fopen(path, "rb");
if (!fp) return 0;
fseek(fp, 0, SEEK_END);
int size = ftell(fp);
fseek(fp, 0, SEEK_SET);
*data = new unsigned char[size];
fread(*data, size, 1, fp);
fclose(fp);
return size;
}
*/
Sample_Debug::Sample_Debug() :
m_chf(0),
m_cset(0),
m_pmesh(0)
{
resetCommonSettings();
// Test
/* m_chf = rcAllocCompactHeightfield();
FileIO io;
if (!io.openForRead("test.chf"))
{
delete m_chf;
m_chf = 0;
}
else
{
if (!duReadCompactHeightfield(*m_chf, &io))
{
delete m_chf;
m_chf = 0;
}
}*/
/* if (m_chf)
{
unsigned short ymin = 0xffff;
unsigned short ymax = 0;
for (int i = 0; i < m_chf->spanCount; ++i)
{
const rcCompactSpan& s = m_chf->spans[i];
if (s.y < ymin) ymin = s.y;
if (s.y > ymax) ymax = s.y;
}
printf("ymin=%d ymax=%d\n", (int)ymin, (int)ymax);
int maxSpans = 0;
for (int i = 0; i < m_chf->width*m_chf->height; ++i)
{
maxSpans = rcMax(maxSpans, (int)m_chf->cells[i].count);
}
printf("maxSpans = %d\n", maxSpans);
}*/
/* const float orig[3] = {0,0,0};
m_navMesh = new dtNavMesh;
m_navMesh->init(orig, 133.333f,133.333f, 2048, 4096, 4096);
unsigned char* data = 0;
int dataSize = 0;
// Tile_-13_-14.bin is basically just the bytes that was output by Detour. It should be loaded at X: -13 and Y: -14.
dataSize = loadBin("Tile_-13_-13.bin", &data);
if (dataSize > 0)
{
m_navMesh->addTileAt(-13,-13, data, dataSize, true);
dtMeshHeader* header = (dtMeshHeader*)data;
vcopy(m_bmin, header->bmin);
vcopy(m_bmax, header->bmax);
}
dataSize = loadBin("Tile_-13_-14.bin", &data);
if (dataSize > 0)
{
m_navMesh->addTileAt(-13,-14, data, dataSize, true);
}
dataSize = loadBin("Tile_-14_-14.bin", &data);
if (dataSize > 0)
{
m_navMesh->addTileAt(-14,-14, data, dataSize, true);
}
const float halfExtents[3] = {40,100,40};
const float center[3] = { -1667.9491f, 135.52649f, -1680.6149f };
dtQueryFilter filter;
m_ref = m_navMesh->findNearestPoly(center, halfExtents, &filter, 0);
vcopy(m_halfExtents, halfExtents);
vcopy(m_center, center);*/
{
m_cset = rcAllocContourSet();
if (m_cset)
{
FileIO io;
if (io.openForRead("PathSet_TMP_NA_PathingTestAReg1_1_2_CS.rc"))
{
duReadContourSet(*m_cset, &io);
printf("bmin=(%f,%f,%f) bmax=(%f,%f,%f)\n",
m_cset->bmin[0], m_cset->bmin[1], m_cset->bmin[2],
m_cset->bmax[0], m_cset->bmax[1], m_cset->bmax[2]);
printf("cs=%f ch=%f\n", m_cset->cs, m_cset->ch);
}
else
{
printf("could not open test.cset\n");
}
}
else
{
printf("Could not alloc cset\n");
}
/* if (m_cset)
{
m_pmesh = rcAllocPolyMesh();
if (m_pmesh)
{
rcBuildPolyMesh(m_ctx, *m_cset, 6, *m_pmesh);
}
}*/
}
}
Sample_Debug::~Sample_Debug()
{
rcFreeCompactHeightfield(m_chf);
rcFreeContourSet(m_cset);
rcFreePolyMesh(m_pmesh);
}
void Sample_Debug::handleSettings()
{
}
void Sample_Debug::handleTools()
{
}
void Sample_Debug::handleDebugMode()
{
}
void Sample_Debug::handleRender()
{
if (m_chf)
{
duDebugDrawCompactHeightfieldRegions(&m_dd, *m_chf);
// duDebugDrawCompactHeightfieldSolid(&dd, *m_chf);
}
if (m_navMesh)
duDebugDrawNavMesh(&m_dd, *m_navMesh, DU_DRAWNAVMESH_OFFMESHCONS);
if (m_ref && m_navMesh)
duDebugDrawNavMeshPoly(&m_dd, *m_navMesh, m_ref, duRGBA(255,0,0,128));
/* float bmin[3], bmax[3];
rcVsub(bmin, m_center, m_halfExtents);
rcVadd(bmax, m_center, m_halfExtents);
duDebugDrawBoxWire(&dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duRGBA(255,255,255,128), 1.0f);
duDebugDrawCross(&dd, m_center[0], m_center[1], m_center[2], 1.0f, duRGBA(255,255,255,128), 2.0f);*/
if (m_cset)
{
duDebugDrawRawContours(&m_dd, *m_cset, 0.25f);
duDebugDrawContours(&m_dd, *m_cset);
}
if (m_pmesh)
{
duDebugDrawPolyMesh(&m_dd, *m_pmesh);
}
/*
dd.depthMask(false);
{
const float bmin[3] = {-32.000004f,-11.488281f,-115.343544f};
const float cs = 0.300000f;
const float ch = 0.200000f;
const int verts[] = {
158,46,336,0,
157,47,331,0,
161,53,330,0,
162,52,335,0,
158,46,336,0,
154,46,339,5,
161,46,365,5,
171,46,385,5,
174,46,400,5,
177,46,404,5,
177,46,410,5,
183,46,416,5,
188,49,416,5,
193,52,411,6,
194,53,382,6,
188,52,376,6,
188,57,363,6,
174,57,349,6,
174,60,342,6,
168,58,336,6,
167,59,328,6,
162,55,324,6,
159,53,324,5,
152,46,328,5,
151,46,336,5,
154,46,339,5,
158,46,336,0,
160,46,340,0,
164,52,339,0,
168,55,343,0,
168,50,351,0,
182,54,364,0,
182,47,378,0,
188,50,383,0,
188,49,409,0,
183,46,409,0,
183,46,403,0,
180,46,399,0,
177,46,384,0,
165,46,359,0,
160,46,340,0,
};
const int nverts = sizeof(verts)/(sizeof(int)*4);
const unsigned int colln = duRGBA(255,255,255,128);
dd.begin(DU_DRAW_LINES, 1.0f);
for (int i = 0, j = nverts-1; i < nverts; j=i++)
{
const int* va = &verts[j*4];
const int* vb = &verts[i*4];
dd.vertex(bmin[0]+va[0]*cs, bmin[1]+va[1]*ch+j*0.01f, bmin[2]+va[2]*cs, colln);
dd.vertex(bmin[0]+vb[0]*cs, bmin[1]+vb[1]*ch+i*0.01f, bmin[2]+vb[2]*cs, colln);
}
dd.end();
const unsigned int colpt = duRGBA(255,255,255,255);
dd.begin(DU_DRAW_POINTS, 3.0f);
for (int i = 0, j = nverts-1; i < nverts; j=i++)
{
const int* va = &verts[j*4];
dd.vertex(bmin[0]+va[0]*cs, bmin[1]+va[1]*ch+j*0.01f, bmin[2]+va[2]*cs, colpt);
}
dd.end();
extern int triangulate(int n, const int* verts, int* indices, int* tris);
static int indices[nverts];
static int tris[nverts*3];
for (int j = 0; j < nverts; ++j)
indices[j] = j;
static int ntris = 0;
if (!ntris)
{
ntris = triangulate(nverts, verts, &indices[0], &tris[0]);
if (ntris < 0) ntris = -ntris;
}
const unsigned int coltri = duRGBA(255,255,255,64);
dd.begin(DU_DRAW_TRIS);
for (int i = 0; i < ntris*3; ++i)
{
const int* va = &verts[indices[tris[i]]*4];
dd.vertex(bmin[0]+va[0]*cs, bmin[1]+va[1]*ch, bmin[2]+va[2]*cs, coltri);
}
dd.end();
}
dd.depthMask(true);*/
}
void Sample_Debug::handleRenderOverlay(double* /*proj*/, double* /*model*/, int* /*view*/)
{
}
void Sample_Debug::handleMeshChanged(InputGeom* geom)
{
m_geom = geom;
}
const float* Sample_Debug::getBoundsMin()
{
if (m_cset)
return m_cset->bmin;
if (m_chf)
return m_chf->bmin;
if (m_navMesh)
return m_bmin;
return 0;
}
const float* Sample_Debug::getBoundsMax()
{
if (m_cset)
return m_cset->bmax;
if (m_chf)
return m_chf->bmax;
if (m_navMesh)
return m_bmax;
return 0;
}
void Sample_Debug::handleClick(const float* s, const float* p, bool shift)
{
if (m_tool)
m_tool->handleClick(s, p, shift);
}
void Sample_Debug::handleToggle()
{
if (m_tool)
m_tool->handleToggle();
}
bool Sample_Debug::handleBuild()
{
if (m_chf)
{
rcFreeContourSet(m_cset);
m_cset = 0;
// Create contours.
m_cset = rcAllocContourSet();
if (!m_cset)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
return false;
}
if (!rcBuildContours(m_ctx, *m_chf, /*m_cfg.maxSimplificationError*/1.3f, /*m_cfg.maxEdgeLen*/12, *m_cset))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
return false;
}
}
return true;
}

755
extern/recastnavigation/RecastDemo/Source/Sample_SoloMesh.cpp vendored
Unescape Escape View File

@ -1,755 +0,0 @@
//
// 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 "SDL.h"
#include "SDL_opengl.h"
#include "imgui.h"
#include "InputGeom.h"
#include "Sample.h"
#include "Sample_SoloMesh.h"
#include "Recast.h"
#include "RecastDebugDraw.h"
#include "RecastDump.h"
#include "DetourNavMesh.h"
#include "DetourNavMeshBuilder.h"
#include "DetourDebugDraw.h"
#include "NavMeshTesterTool.h"
#include "NavMeshPruneTool.h"
#include "OffMeshConnectionTool.h"
#include "ConvexVolumeTool.h"
#include "CrowdTool.h"
#ifdef WIN32
# define snprintf _snprintf
#endif
Sample_SoloMesh::Sample_SoloMesh() :
m_keepInterResults(true),
m_totalBuildTimeMs(0),
m_triareas(0),
m_solid(0),
m_chf(0),
m_cset(0),
m_pmesh(0),
m_dmesh(0),
m_drawMode(DRAWMODE_NAVMESH)
{
setTool(new NavMeshTesterTool);
}
Sample_SoloMesh::~Sample_SoloMesh()
{
cleanup();
}
void Sample_SoloMesh::cleanup()
{
delete [] m_triareas;
m_triareas = 0;
rcFreeHeightField(m_solid);
m_solid = 0;
rcFreeCompactHeightfield(m_chf);
m_chf = 0;
rcFreeContourSet(m_cset);
m_cset = 0;
rcFreePolyMesh(m_pmesh);
m_pmesh = 0;
rcFreePolyMeshDetail(m_dmesh);
m_dmesh = 0;
dtFreeNavMesh(m_navMesh);
m_navMesh = 0;
}
void Sample_SoloMesh::handleSettings()
{
Sample::handleCommonSettings();
if (imguiCheck("Keep Itermediate Results", m_keepInterResults))
m_keepInterResults = !m_keepInterResults;
imguiSeparator();
imguiIndent();
imguiIndent();
if (imguiButton("Save"))
{
Sample::saveAll("solo_navmesh.bin", m_navMesh);
}
if (imguiButton("Load"))
{
dtFreeNavMesh(m_navMesh);
m_navMesh = Sample::loadAll("solo_navmesh.bin");
m_navQuery->init(m_navMesh, 2048);
}
imguiUnindent();
imguiUnindent();
char msg[64];
snprintf(msg, 64, "Build Time: %.1fms", m_totalBuildTimeMs);
imguiLabel(msg);
imguiSeparator();
}
void Sample_SoloMesh::handleTools()
{
int type = !m_tool ? TOOL_NONE : m_tool->type();
if (imguiCheck("Test Navmesh", type == TOOL_NAVMESH_TESTER))
{
setTool(new NavMeshTesterTool);
}
if (imguiCheck("Prune Navmesh", type == TOOL_NAVMESH_PRUNE))
{
setTool(new NavMeshPruneTool);
}
if (imguiCheck("Create Off-Mesh Connections", 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_SoloMesh::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_INVIS] = m_navMesh != 0;
valid[DRAWMODE_MESH] = true;
valid[DRAWMODE_VOXELS] = m_solid != 0;
valid[DRAWMODE_VOXELS_WALKABLE] = m_solid != 0;
valid[DRAWMODE_COMPACT] = m_chf != 0;
valid[DRAWMODE_COMPACT_DISTANCE] = m_chf != 0;
valid[DRAWMODE_COMPACT_REGIONS] = m_chf != 0;
valid[DRAWMODE_REGION_CONNECTIONS] = m_cset != 0;
valid[DRAWMODE_RAW_CONTOURS] = m_cset != 0;
valid[DRAWMODE_BOTH_CONTOURS] = m_cset != 0;
valid[DRAWMODE_CONTOURS] = m_cset != 0;
valid[DRAWMODE_POLYMESH] = m_pmesh != 0;
valid[DRAWMODE_POLYMESH_DETAIL] = m_dmesh != 0;
}
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("Voxels", m_drawMode == DRAWMODE_VOXELS, valid[DRAWMODE_VOXELS]))
m_drawMode = DRAWMODE_VOXELS;
if (imguiCheck("Walkable Voxels", m_drawMode == DRAWMODE_VOXELS_WALKABLE, valid[DRAWMODE_VOXELS_WALKABLE]))
m_drawMode = DRAWMODE_VOXELS_WALKABLE;
if (imguiCheck("Compact", m_drawMode == DRAWMODE_COMPACT, valid[DRAWMODE_COMPACT]))
m_drawMode = DRAWMODE_COMPACT;
if (imguiCheck("Compact Distance", m_drawMode == DRAWMODE_COMPACT_DISTANCE, valid[DRAWMODE_COMPACT_DISTANCE]))
m_drawMode = DRAWMODE_COMPACT_DISTANCE;
if (imguiCheck("Compact Regions", m_drawMode == DRAWMODE_COMPACT_REGIONS, valid[DRAWMODE_COMPACT_REGIONS]))
m_drawMode = DRAWMODE_COMPACT_REGIONS;
if (imguiCheck("Region Connections", m_drawMode == DRAWMODE_REGION_CONNECTIONS, valid[DRAWMODE_REGION_CONNECTIONS]))
m_drawMode = DRAWMODE_REGION_CONNECTIONS;
if (imguiCheck("Raw Contours", m_drawMode == DRAWMODE_RAW_CONTOURS, valid[DRAWMODE_RAW_CONTOURS]))
m_drawMode = DRAWMODE_RAW_CONTOURS;
if (imguiCheck("Both Contours", m_drawMode == DRAWMODE_BOTH_CONTOURS, valid[DRAWMODE_BOTH_CONTOURS]))
m_drawMode = DRAWMODE_BOTH_CONTOURS;
if (imguiCheck("Contours", m_drawMode == DRAWMODE_CONTOURS, valid[DRAWMODE_CONTOURS]))
m_drawMode = DRAWMODE_CONTOURS;
if (imguiCheck("Poly Mesh", m_drawMode == DRAWMODE_POLYMESH, valid[DRAWMODE_POLYMESH]))
m_drawMode = DRAWMODE_POLYMESH;
if (imguiCheck("Poly Mesh Detail", m_drawMode == DRAWMODE_POLYMESH_DETAIL, valid[DRAWMODE_POLYMESH_DETAIL]))
m_drawMode = DRAWMODE_POLYMESH_DETAIL;
if (unavail)
{
imguiValue("Tick 'Keep Itermediate Results'");
imguiValue("to see more debug mode options.");
}
}
void Sample_SoloMesh::handleRender()
{
if (!m_geom || !m_geom->getMesh())
return;
glEnable(GL_FOG);
glDepthMask(GL_TRUE);
const float texScale = 1.0f / (m_cellSize * 10.0f);
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);
}
glDisable(GL_FOG);
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);
m_dd.begin(DU_DRAW_POINTS, 5.0f);
m_dd.vertex(bmin[0],bmin[1],bmin[2],duRGBA(255,255,255,128));
m_dd.end();
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_INVIS))
{
if (m_drawMode != DRAWMODE_NAVMESH_INVIS)
duDebugDrawNavMeshWithClosedList(&m_dd, *m_navMesh, *m_navQuery, m_navMeshDrawFlags);
if (m_drawMode == DRAWMODE_NAVMESH_BVTREE)
duDebugDrawNavMeshBVTree(&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);
if (m_chf && m_drawMode == DRAWMODE_COMPACT)
duDebugDrawCompactHeightfieldSolid(&m_dd, *m_chf);
if (m_chf && m_drawMode == DRAWMODE_COMPACT_DISTANCE)
duDebugDrawCompactHeightfieldDistance(&m_dd, *m_chf);
if (m_chf && m_drawMode == DRAWMODE_COMPACT_REGIONS)
duDebugDrawCompactHeightfieldRegions(&m_dd, *m_chf);
if (m_solid && m_drawMode == DRAWMODE_VOXELS)
{
glEnable(GL_FOG);
duDebugDrawHeightfieldSolid(&m_dd, *m_solid);
glDisable(GL_FOG);
}
if (m_solid && m_drawMode == DRAWMODE_VOXELS_WALKABLE)
{
glEnable(GL_FOG);
duDebugDrawHeightfieldWalkable(&m_dd, *m_solid);
glDisable(GL_FOG);
}
if (m_cset && m_drawMode == DRAWMODE_RAW_CONTOURS)
{
glDepthMask(GL_FALSE);
duDebugDrawRawContours(&m_dd, *m_cset);
glDepthMask(GL_TRUE);
}
if (m_cset && m_drawMode == DRAWMODE_BOTH_CONTOURS)
{
glDepthMask(GL_FALSE);
duDebugDrawRawContours(&m_dd, *m_cset, 0.5f);
duDebugDrawContours(&m_dd, *m_cset);
glDepthMask(GL_TRUE);
}
if (m_cset && m_drawMode == DRAWMODE_CONTOURS)
{
glDepthMask(GL_FALSE);
duDebugDrawContours(&m_dd, *m_cset);
glDepthMask(GL_TRUE);
}
if (m_chf && m_cset && m_drawMode == DRAWMODE_REGION_CONNECTIONS)
{
duDebugDrawCompactHeightfieldRegions(&m_dd, *m_chf);
glDepthMask(GL_FALSE);
duDebugDrawRegionConnections(&m_dd, *m_cset);
glDepthMask(GL_TRUE);
}
if (m_pmesh && m_drawMode == DRAWMODE_POLYMESH)
{
glDepthMask(GL_FALSE);
duDebugDrawPolyMesh(&m_dd, *m_pmesh);
glDepthMask(GL_TRUE);
}
if (m_dmesh && m_drawMode == DRAWMODE_POLYMESH_DETAIL)
{
glDepthMask(GL_FALSE);
duDebugDrawPolyMeshDetail(&m_dd, *m_dmesh);
glDepthMask(GL_TRUE);
}
m_geom->drawConvexVolumes(&m_dd);
if (m_tool)
m_tool->handleRender();
renderToolStates();
glDepthMask(GL_TRUE);
}
void Sample_SoloMesh::handleRenderOverlay(double* proj, double* model, int* view)
{
if (m_tool)
m_tool->handleRenderOverlay(proj, model, view);
renderOverlayToolStates(proj, model, view);
}
void Sample_SoloMesh::handleMeshChanged(class InputGeom* geom)
{
Sample::handleMeshChanged(geom);
dtFreeNavMesh(m_navMesh);
m_navMesh = 0;
if (m_tool)
{
m_tool->reset();
m_tool->init(this);
}
resetToolStates();
initToolStates(this);
}
bool Sample_SoloMesh::handleBuild()
{
if (!m_geom || !m_geom->getMesh())
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Input mesh is not specified.");
return false;
}
cleanup();
const float* bmin = m_geom->getNavMeshBoundsMin();
const float* bmax = m_geom->getNavMeshBoundsMax();
const float* verts = m_geom->getMesh()->getVerts();
const int nverts = m_geom->getMesh()->getVertCount();
const int* tris = m_geom->getMesh()->getTris();
const int ntris = m_geom->getMesh()->getTriCount();
//
// Step 1. Initialize build config.
//
// Init build configuration from GUI
memset(&m_cfg, 0, sizeof(m_cfg));
m_cfg.cs = m_cellSize;
m_cfg.ch = m_cellHeight;
m_cfg.walkableSlopeAngle = m_agentMaxSlope;
m_cfg.walkableHeight = (int)ceilf(m_agentHeight / m_cfg.ch);
m_cfg.walkableClimb = (int)floorf(m_agentMaxClimb / m_cfg.ch);
m_cfg.walkableRadius = (int)ceilf(m_agentRadius / m_cfg.cs);
m_cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
m_cfg.maxSimplificationError = m_edgeMaxError;
m_cfg.minRegionArea = (int)rcSqr(m_regionMinSize); // Note: area = size*size
m_cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize); // Note: area = size*size
m_cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
m_cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
m_cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
// Set the area where the navigation will be build.
// Here the bounds of the input mesh are used, but the
// area could be specified by an user defined box, etc.
rcVcopy(m_cfg.bmin, bmin);
rcVcopy(m_cfg.bmax, bmax);
rcCalcGridSize(m_cfg.bmin, m_cfg.bmax, m_cfg.cs, &m_cfg.width, &m_cfg.height);
// Reset build times gathering.
m_ctx->resetTimers();
// Start the build process.
m_ctx->startTimer(RC_TIMER_TOTAL);
m_ctx->log(RC_LOG_PROGRESS, "Building navigation:");
m_ctx->log(RC_LOG_PROGRESS, " - %d x %d cells", m_cfg.width, m_cfg.height);
m_ctx->log(RC_LOG_PROGRESS, " - %.1fK verts, %.1fK tris", nverts/1000.0f, ntris/1000.0f);
//
// Step 2. Rasterize input polygon soup.
//
// Allocate voxel heightfield where we rasterize our input data to.
m_solid = rcAllocHeightfield();
if (!m_solid)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
return false;
}
if (!rcCreateHeightfield(m_ctx, *m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");
return false;
}
// Allocate array that can hold triangle area types.
// If you have multiple meshes you need to process, allocate
// and array which can hold the max number of triangles you need to process.
m_triareas = new unsigned char[ntris];
if (!m_triareas)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (%d).", ntris);
return false;
}
// Find triangles which are walkable based on their slope and rasterize them.
// If your input data is multiple meshes, you can transform them here, calculate
// the are type for each of the meshes and rasterize them.
memset(m_triareas, 0, ntris*sizeof(unsigned char));
rcMarkWalkableTriangles(m_ctx, m_cfg.walkableSlopeAngle, verts, nverts, tris, ntris, m_triareas);
if (!rcRasterizeTriangles(m_ctx, verts, nverts, tris, m_triareas, ntris, *m_solid, m_cfg.walkableClimb))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not rasterize triangles.");
return false;
}
if (!m_keepInterResults)
{
delete [] m_triareas;
m_triareas = 0;
}
//
// Step 3. Filter walkables surfaces.
//
// Once all geoemtry 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, m_cfg.walkableClimb, *m_solid);
if (m_filterLedgeSpans)
rcFilterLedgeSpans(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
if (m_filterWalkableLowHeightSpans)
rcFilterWalkableLowHeightSpans(m_ctx, m_cfg.walkableHeight, *m_solid);
//
// Step 4. Partition walkable surface to simple regions.
//
// Compact the heightfield so that it is faster to handle from now on.
// This will result more cache coherent data as well as the neighbours
// between walkable cells will be calculated.
m_chf = rcAllocCompactHeightfield();
if (!m_chf)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
return false;
}
if (!rcBuildCompactHeightfield(m_ctx, m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid, *m_chf))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
return false;
}
if (!m_keepInterResults)
{
rcFreeHeightField(m_solid);
m_solid = 0;
}
// Erode the walkable area by agent radius.
if (!rcErodeWalkableArea(m_ctx, m_cfg.walkableRadius, *m_chf))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
return false;
}
// (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, *m_chf);
// Partition the heightfield so that we can use simple algorithm later to triangulate the walkable areas.
// There are 3 martitioning methods, each with some pros and cons:
// 1) Watershed partitioning
// - the classic Recast partitioning
// - creates the nicest tessellation
// - usually slowest
// - partitions the heightfield into nice regions without holes or overlaps
// - the are some corner cases where this method creates produces holes and overlaps
// - holes may appear when a small obstacles is close to large open area (triangulation can handle this)
// - overlaps may occur if you have narrow spiral corridors (i.e stairs), this make triangulation to fail
// * generally the best choice if you precompute the nacmesh, use this if you have large open areas
// 2) Monotone partioning
// - fastest
// - partitions the heightfield into regions without holes and overlaps (guaranteed)
// - creates long thin polygons, which sometimes causes paths with detours
// * use this if you want fast navmesh generation
// 3) Layer partitoining
// - quite fast
// - partitions the heighfield into non-overlapping regions
// - relies on the triangulation code to cope with holes (thus slower than monotone partitioning)
// - produces better triangles than monotone partitioning
// - does not have the corner cases of watershed partitioning
// - can be slow and create a bit ugly tessellation (still better than monotone)
// if you have large open areas with small obstacles (not a problem if you use tiles)
// * good choice to use for tiled navmesh with medium and small sized tiles
if (m_partitionType == SAMPLE_PARTITION_WATERSHED)
{
// Prepare for region partitioning, by calculating distance field along the walkable surface.
if (!rcBuildDistanceField(m_ctx, *m_chf))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build distance field.");
return false;
}
// Partition the walkable surface into simple regions without holes.
if (!rcBuildRegions(m_ctx, *m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build watershed regions.");
return false;
}
}
else if (m_partitionType == SAMPLE_PARTITION_MONOTONE)
{
// Partition the walkable surface into simple regions without holes.
// Monotone partitioning does not need distancefield.
if (!rcBuildRegionsMonotone(m_ctx, *m_chf, 0, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build monotone regions.");
return false;
}
}
else // SAMPLE_PARTITION_LAYERS
{
// Partition the walkable surface into simple regions without holes.
if (!rcBuildLayerRegions(m_ctx, *m_chf, 0, m_cfg.minRegionArea))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build layer regions.");
return false;
}
}
//
// Step 5. Trace and simplify region contours.
//
// Create contours.
m_cset = rcAllocContourSet();
if (!m_cset)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
return false;
}
if (!rcBuildContours(m_ctx, *m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, *m_cset))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
return false;
}
//
// Step 6. Build polygons mesh from contours.
//
// Build polygon navmesh from the contours.
m_pmesh = rcAllocPolyMesh();
if (!m_pmesh)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
return false;
}
if (!rcBuildPolyMesh(m_ctx, *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
return false;
}
//
// Step 7. Create detail mesh which allows to access approximate height on each polygon.
//
m_dmesh = rcAllocPolyMeshDetail();
if (!m_dmesh)
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmdtl'.");
return false;
}
if (!rcBuildPolyMeshDetail(m_ctx, *m_pmesh, *m_chf, m_cfg.detailSampleDist, m_cfg.detailSampleMaxError, *m_dmesh))
{
m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build detail mesh.");
return false;
}
if (!m_keepInterResults)
{
rcFreeCompactHeightfield(m_chf);
m_chf = 0;
rcFreeContourSet(m_cset);
m_cset = 0;
}
// At this point the navigation mesh data is ready, you can access it from m_pmesh.
// See duDebugDrawPolyMesh or dtCreateNavMeshData as examples how to access the data.
//
// (Optional) Step 8. Create Detour data from Recast poly mesh.
//
// The GUI may allow more max points per polygon than Detour can handle.
// Only build the detour navmesh if we do not exceed the limit.
if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
{
unsigned char* navData = 0;
int navDataSize = 0;
// Update poly flags from areas.
for (int i = 0; i < m_pmesh->npolys; ++i)
{
if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;
if (m_pmesh->areas[i] == SAMPLE_POLYAREA_GROUND ||
m_pmesh->areas[i] == SAMPLE_POLYAREA_GRASS ||
m_pmesh->areas[i] == SAMPLE_POLYAREA_ROAD)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK;
}
else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_WATER)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_SWIM;
}
else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_DOOR)
{
m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR;
}
}
dtNavMeshCreateParams params;
memset(&params, 0, sizeof(params));
params.verts = m_pmesh->verts;
params.vertCount = m_pmesh->nverts;
params.polys = m_pmesh->polys;
params.polyAreas = m_pmesh->areas;
params.polyFlags = m_pmesh->flags;
params.polyCount = m_pmesh->npolys;
params.nvp = m_pmesh->nvp;
params.detailMeshes = m_dmesh->meshes;
params.detailVerts = m_dmesh->verts;
params.detailVertsCount = m_dmesh->nverts;
params.detailTris = m_dmesh->tris;
params.detailTriCount = m_dmesh->ntris;
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();
params.walkableHeight = m_agentHeight;
params.walkableRadius = m_agentRadius;
params.walkableClimb = m_agentMaxClimb;
rcVcopy(params.bmin, m_pmesh->bmin);
rcVcopy(params.bmax, m_pmesh->bmax);
params.cs = m_cfg.cs;
params.ch = m_cfg.ch;
params.buildBvTree = true;
if (!dtCreateNavMeshData(&params, &navData, &navDataSize))
{
m_ctx->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
return false;
}
m_navMesh = dtAllocNavMesh();
if (!m_navMesh)
{
dtFree(navData);
m_ctx->log(RC_LOG_ERROR, "Could not create Detour navmesh");
return false;
}
dtStatus status;
status = m_navMesh->init(navData, navDataSize, DT_TILE_FREE_DATA);
if (dtStatusFailed(status))
{
dtFree(navData);
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh");
return false;
}
status = m_navQuery->init(m_navMesh, 2048);
if (dtStatusFailed(status))
{
m_ctx->log(RC_LOG_ERROR, "Could not init Detour navmesh query");
return false;
}
}
m_ctx->stopTimer(RC_TIMER_TOTAL);
// Show performance stats.
duLogBuildTimes(*m_ctx, m_ctx->getAccumulatedTime(RC_TIMER_TOTAL));
m_ctx->log(RC_LOG_PROGRESS, ">> Polymesh: %d vertices %d polygons", m_pmesh->nverts, m_pmesh->npolys);
m_totalBuildTimeMs = m_ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f;
if (m_tool)
m_tool->init(this);
initToolStates(this);
return true;
}

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@ -1,464 +0,0 @@
//
// 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.
//
#include <stdio.h>
#include <ctype.h>
#include <string.h>
#include <math.h>
#include "TestCase.h"
#include "DetourNavMesh.h"
#include "DetourNavMeshQuery.h"
#include "DetourCommon.h"
#include "SDL.h"
#include "SDL_opengl.h"
#ifdef __APPLE__
# include <OpenGL/glu.h>
#else
# include <GL/glu.h>
#endif
#include "imgui.h"
#include "PerfTimer.h"
#ifdef WIN32
#define snprintf _snprintf
#endif
TestCase::TestCase() :
m_tests(0)
{
}
TestCase::~TestCase()
{
Test* iter = m_tests;
while (iter)
{
Test* next = iter->next;
delete iter;
iter = next;
}
}
static char* parseRow(char* buf, char* bufEnd, char* row, int len)
{
bool start = true;
bool done = false;
int n = 0;
while (!done && buf < bufEnd)
{
char c = *buf;
buf++;
// multirow
switch (c)
{
case '\n':
if (start) break;
done = true;
break;
case '\r':
break;
case '\t':
case ' ':
if (start) break;
// else falls through
default:
start = false;
row[n++] = c;
if (n >= len-1)
done = true;
break;
}
}
row[n] = '\0';
return buf;
}
static void copyName(std::string& dst, const char* src)
{
// Skip white spaces
while (*src && isspace(*src))
src++;
dst = src;
}
bool TestCase::load(const std::string& filePath)
{
char* buf = 0;
FILE* fp = fopen(filePath.c_str(), "rb");
if (!fp)
return false;
if (fseek(fp, 0, SEEK_END) != 0)
{
fclose(fp);
return false;
}
long bufSize = ftell(fp);
if (bufSize < 0)
{
fclose(fp);
return false;
}
if (fseek(fp, 0, SEEK_SET) != 0)
{
fclose(fp);
return false;
}
buf = new char[bufSize];
if (!buf)
{
fclose(fp);
return false;
}
size_t readLen = fread(buf, bufSize, 1, fp);
fclose(fp);
if (readLen != 1)
{
delete[] buf;
return false;
}
char* src = buf;
char* srcEnd = buf + bufSize;
char row[512];
while (src < srcEnd)
{
// Parse one row
row[0] = '\0';
src = parseRow(src, srcEnd, row, sizeof(row)/sizeof(char));
if (row[0] == 's')
{
// Sample name.
copyName(m_sampleName, row+1);
}
else if (row[0] == 'f')
{
// File name.
copyName(m_geomFileName, row+1);
}
else if (row[0] == 'p' && row[1] == 'f')
{
// Pathfind test.
Test* test = new Test;
memset(test, 0, sizeof(Test));
test->type = TEST_PATHFIND;
test->expand = false;
test->next = m_tests;
m_tests = test;
sscanf(row+2, "%f %f %f %f %f %f %hx %hx",
&test->spos[0], &test->spos[1], &test->spos[2],
&test->epos[0], &test->epos[1], &test->epos[2],
&test->includeFlags, &test->excludeFlags);
}
else if (row[0] == 'r' && row[1] == 'c')
{
// Pathfind test.
Test* test = new Test;
memset(test, 0, sizeof(Test));
test->type = TEST_RAYCAST;
test->expand = false;
test->next = m_tests;
m_tests = test;
sscanf(row+2, "%f %f %f %f %f %f %hx %hx",
&test->spos[0], &test->spos[1], &test->spos[2],
&test->epos[0], &test->epos[1], &test->epos[2],
&test->includeFlags, &test->excludeFlags);
}
}
delete [] buf;
return true;
}
void TestCase::resetTimes()
{
for (Test* iter = m_tests; iter; iter = iter->next)
{
iter->findNearestPolyTime = 0;
iter->findPathTime = 0;
iter->findStraightPathTime = 0;
}
}
void TestCase::doTests(dtNavMesh* navmesh, dtNavMeshQuery* navquery)
{
if (!navmesh || !navquery)
return;
resetTimes();
static const int MAX_POLYS = 256;
dtPolyRef polys[MAX_POLYS];
float straight[MAX_POLYS*3];
const float polyPickExt[3] = {2,4,2};
for (Test* iter = m_tests; iter; iter = iter->next)
{
delete [] iter->polys;
iter->polys = 0;
iter->npolys = 0;
delete [] iter->straight;
iter->straight = 0;
iter->nstraight = 0;
dtQueryFilter filter;
filter.setIncludeFlags(iter->includeFlags);
filter.setExcludeFlags(iter->excludeFlags);
// Find start points
TimeVal findNearestPolyStart = getPerfTime();
dtPolyRef startRef, endRef;
navquery->findNearestPoly(iter->spos, polyPickExt, &filter, &startRef, iter->nspos);
navquery->findNearestPoly(iter->epos, polyPickExt, &filter, &endRef, iter->nepos);
TimeVal findNearestPolyEnd = getPerfTime();
iter->findNearestPolyTime += getPerfTimeUsec(findNearestPolyEnd - findNearestPolyStart);
if (!startRef || ! endRef)
continue;
if (iter->type == TEST_PATHFIND)
{
// Find path
TimeVal findPathStart = getPerfTime();
navquery->findPath(startRef, endRef, iter->spos, iter->epos, &filter, polys, &iter->npolys, MAX_POLYS);
TimeVal findPathEnd = getPerfTime();
iter->findPathTime += getPerfTimeUsec(findPathEnd - findPathStart);
// Find straight path
if (iter->npolys)
{
TimeVal findStraightPathStart = getPerfTime();
navquery->findStraightPath(iter->spos, iter->epos, polys, iter->npolys,
straight, 0, 0, &iter->nstraight, MAX_POLYS);
TimeVal findStraightPathEnd = getPerfTime();
iter->findStraightPathTime += getPerfTimeUsec(findStraightPathEnd - findStraightPathStart);
}
// Copy results
if (iter->npolys)
{
iter->polys = new dtPolyRef[iter->npolys];
memcpy(iter->polys, polys, sizeof(dtPolyRef)*iter->npolys);
}
if (iter->nstraight)
{
iter->straight = new float[iter->nstraight*3];
memcpy(iter->straight, straight, sizeof(float)*3*iter->nstraight);
}
}
else if (iter->type == TEST_RAYCAST)
{
float t = 0;
float hitNormal[3], hitPos[3];
iter->straight = new float[2*3];
iter->nstraight = 2;
iter->straight[0] = iter->spos[0];
iter->straight[1] = iter->spos[1];
iter->straight[2] = iter->spos[2];
TimeVal findPathStart = getPerfTime();
navquery->raycast(startRef, iter->spos, iter->epos, &filter, &t, hitNormal, polys, &iter->npolys, MAX_POLYS);
TimeVal findPathEnd = getPerfTime();
iter->findPathTime += getPerfTimeUsec(findPathEnd - findPathStart);
if (t > 1)
{
// No hit
dtVcopy(hitPos, iter->epos);
}
else
{
// Hit
dtVlerp(hitPos, iter->spos, iter->epos, t);
}
// Adjust height.
if (iter->npolys > 0)
{
float h = 0;
navquery->getPolyHeight(polys[iter->npolys-1], hitPos, &h);
hitPos[1] = h;
}
dtVcopy(&iter->straight[3], hitPos);
if (iter->npolys)
{
iter->polys = new dtPolyRef[iter->npolys];
memcpy(iter->polys, polys, sizeof(dtPolyRef)*iter->npolys);
}
}
}
printf("Test Results:\n");
int n = 0;
for (Test* iter = m_tests; iter; iter = iter->next)
{
const int total = iter->findNearestPolyTime + iter->findPathTime + iter->findStraightPathTime;
printf(" - Path %02d: %.4f ms\n", n, (float)total/1000.0f);
printf(" - poly: %.4f ms\n", (float)iter->findNearestPolyTime/1000.0f);
printf(" - path: %.4f ms\n", (float)iter->findPathTime/1000.0f);
printf(" - straight: %.4f ms\n", (float)iter->findStraightPathTime/1000.0f);
n++;
}
}
void TestCase::handleRender()
{
glLineWidth(2.0f);
glBegin(GL_LINES);
for (Test* iter = m_tests; iter; iter = iter->next)
{
float dir[3];
dtVsub(dir, iter->epos, iter->spos);
dtVnormalize(dir);
glColor4ub(128,25,0,192);
glVertex3f(iter->spos[0],iter->spos[1]-0.3f,iter->spos[2]);
glVertex3f(iter->spos[0],iter->spos[1]+0.3f,iter->spos[2]);
glVertex3f(iter->spos[0],iter->spos[1]+0.3f,iter->spos[2]);
glVertex3f(iter->spos[0]+dir[0]*0.3f,iter->spos[1]+0.3f+dir[1]*0.3f,iter->spos[2]+dir[2]*0.3f);
glColor4ub(51,102,0,129);
glVertex3f(iter->epos[0],iter->epos[1]-0.3f,iter->epos[2]);
glVertex3f(iter->epos[0],iter->epos[1]+0.3f,iter->epos[2]);
if (iter->expand)
{
const float s = 0.1f;
glColor4ub(255,32,0,128);
glVertex3f(iter->spos[0]-s,iter->spos[1],iter->spos[2]);
glVertex3f(iter->spos[0]+s,iter->spos[1],iter->spos[2]);
glVertex3f(iter->spos[0],iter->spos[1],iter->spos[2]-s);
glVertex3f(iter->spos[0],iter->spos[1],iter->spos[2]+s);
glColor4ub(255,192,0,255);
glVertex3f(iter->nspos[0]-s,iter->nspos[1],iter->nspos[2]);
glVertex3f(iter->nspos[0]+s,iter->nspos[1],iter->nspos[2]);
glVertex3f(iter->nspos[0],iter->nspos[1],iter->nspos[2]-s);
glVertex3f(iter->nspos[0],iter->nspos[1],iter->nspos[2]+s);
glColor4ub(255,32,0,128);
glVertex3f(iter->epos[0]-s,iter->epos[1],iter->epos[2]);
glVertex3f(iter->epos[0]+s,iter->epos[1],iter->epos[2]);
glVertex3f(iter->epos[0],iter->epos[1],iter->epos[2]-s);
glVertex3f(iter->epos[0],iter->epos[1],iter->epos[2]+s);
glColor4ub(255,192,0,255);
glVertex3f(iter->nepos[0]-s,iter->nepos[1],iter->nepos[2]);
glVertex3f(iter->nepos[0]+s,iter->nepos[1],iter->nepos[2]);
glVertex3f(iter->nepos[0],iter->nepos[1],iter->nepos[2]-s);
glVertex3f(iter->nepos[0],iter->nepos[1],iter->nepos[2]+s);
}
if (iter->expand)
glColor4ub(255,192,0,255);
else
glColor4ub(0,0,0,64);
for (int i = 0; i < iter->nstraight-1; ++i)
{
glVertex3f(iter->straight[i*3+0],iter->straight[i*3+1]+0.3f,iter->straight[i*3+2]);
glVertex3f(iter->straight[(i+1)*3+0],iter->straight[(i+1)*3+1]+0.3f,iter->straight[(i+1)*3+2]);
}
}
glEnd();
glLineWidth(1.0f);
}
bool TestCase::handleRenderOverlay(double* proj, double* model, int* view)
{
GLdouble x, y, z;
char text[64], subtext[64];
int n = 0;
static const float LABEL_DIST = 1.0f;
for (Test* iter = m_tests; iter; iter = iter->next)
{
float pt[3], dir[3];
if (iter->nstraight)
{
dtVcopy(pt, &iter->straight[3]);
if (dtVdist(pt, iter->spos) > LABEL_DIST)
{
dtVsub(dir, pt, iter->spos);
dtVnormalize(dir);
dtVmad(pt, iter->spos, dir, LABEL_DIST);
}
pt[1]+=0.5f;
}
else
{
dtVsub(dir, iter->epos, iter->spos);
dtVnormalize(dir);
dtVmad(pt, iter->spos, dir, LABEL_DIST);
pt[1]+=0.5f;
}
if (gluProject((GLdouble)pt[0], (GLdouble)pt[1], (GLdouble)pt[2],
model, proj, view, &x, &y, &z))
{
snprintf(text, 64, "Path %d\n", n);
unsigned int col = imguiRGBA(0,0,0,128);
if (iter->expand)
col = imguiRGBA(255,192,0,220);
imguiDrawText((int)x, (int)(y-25), IMGUI_ALIGN_CENTER, text, col);
}
n++;
}
static int resScroll = 0;
bool mouseOverMenu = imguiBeginScrollArea("Test Results", 10, view[3] - 10 - 350, 200, 350, &resScroll);
// mouseOverMenu = true;
n = 0;
for (Test* iter = m_tests; iter; iter = iter->next)
{
const int total = iter->findNearestPolyTime + iter->findPathTime + iter->findStraightPathTime;
snprintf(subtext, 64, "%.4f ms", (float)total/1000.0f);
snprintf(text, 64, "Path %d", n);
if (imguiCollapse(text, subtext, iter->expand))
iter->expand = !iter->expand;
if (iter->expand)
{
snprintf(text, 64, "Poly: %.4f ms", (float)iter->findNearestPolyTime/1000.0f);
imguiValue(text);
snprintf(text, 64, "Path: %.4f ms", (float)iter->findPathTime/1000.0f);
imguiValue(text);
snprintf(text, 64, "Straight: %.4f ms", (float)iter->findStraightPathTime/1000.0f);
imguiValue(text);
imguiSeparator();
}
n++;
}
imguiEndScrollArea();
return mouseOverMenu;
}

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extern/recastnavigation/RecastDemo/Source/ValueHistory.cpp vendored
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#include "ValueHistory.h"
#include "imgui.h"
#include <string.h>
#include <stdio.h>
#ifdef WIN32
# define snprintf _snprintf
#endif
ValueHistory::ValueHistory() :
m_hsamples(0)
{
for (int i = 0; i < MAX_HISTORY; ++i)
m_samples[i] = 0;
}
float ValueHistory::getSampleMin() const
{
float val = m_samples[0];
for (int i = 1; i < MAX_HISTORY; ++i)
if (m_samples[i] < val)
val = m_samples[i];
return val;
}
float ValueHistory::getSampleMax() const
{
float val = m_samples[0];
for (int i = 1; i < MAX_HISTORY; ++i)
if (m_samples[i] > val)
val = m_samples[i];
return val;
}
float ValueHistory::getAverage() const
{
float val = 0;
for (int i = 0; i < MAX_HISTORY; ++i)
val += m_samples[i];
return val/(float)MAX_HISTORY;
}
void GraphParams::setRect(int ix, int iy, int iw, int ih, int ipad)
{
x = ix;
y = iy;
w = iw;
h = ih;
pad = ipad;
}
void GraphParams::setValueRange(float ivmin, float ivmax, int indiv, const char* iunits)
{
vmin = ivmin;
vmax = ivmax;
ndiv = indiv;
strcpy(units, iunits);
}
void drawGraphBackground(const GraphParams* p)
{
// BG
imguiDrawRoundedRect((float)p->x, (float)p->y, (float)p->w, (float)p->h, (float)p->pad, imguiRGBA(64,64,64,128));
const float sy = (p->h-p->pad*2) / (p->vmax-p->vmin);
const float oy = p->y+p->pad-p->vmin*sy;
char text[64];
// Divider Lines
for (int i = 0; i <= p->ndiv; ++i)
{
const float u = (float)i/(float)p->ndiv;
const float v = p->vmin + (p->vmax-p->vmin)*u;
snprintf(text, 64, "%.2f %s", v, p->units);
const float fy = oy + v*sy;
imguiDrawText(p->x + p->w - p->pad, (int)fy-4, IMGUI_ALIGN_RIGHT, text, imguiRGBA(0,0,0,255));
imguiDrawLine((float)p->x + (float)p->pad, fy, (float)p->x + (float)p->w - (float)p->pad - 50, fy, 1.0f, imguiRGBA(0,0,0,64));
}
}
void drawGraph(const GraphParams* p, const ValueHistory* graph,
int idx, const char* label, const unsigned int col)
{
const float sx = (p->w - p->pad*2) / (float)graph->getSampleCount();
const float sy = (p->h - p->pad*2) / (p->vmax - p->vmin);
const float ox = (float)p->x + (float)p->pad;
const float oy = (float)p->y + (float)p->pad - p->vmin*sy;
// Values
float px=0, py=0;
for (int i = 0; i < graph->getSampleCount()-1; ++i)
{
const float x = ox + i*sx;
const float y = oy + graph->getSample(i)*sy;
if (i > 0)
imguiDrawLine(px,py, x,y, 2.0f, col);
px = x;
py = y;
}
// Label
const int size = 15;
const int spacing = 10;
int ix = p->x + p->w + 5;
int iy = p->y + p->h - (idx+1)*(size+spacing);
imguiDrawRoundedRect((float)ix, (float)iy, (float)size, (float)size, 2.0f, col);
char text[64];
snprintf(text, 64, "%.2f %s", graph->getAverage(), p->units);
imguiDrawText(ix+size+5, iy+3, IMGUI_ALIGN_LEFT, label, imguiRGBA(255,255,255,192));
imguiDrawText(ix+size+150, iy+3, IMGUI_ALIGN_RIGHT, text, imguiRGBA(255,255,255,128));
}

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Unescape Escape View File

@ -1,676 +0,0 @@
//
// 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.
//
#include <stdio.h>
#include <string.h>
#define _USE_MATH_DEFINES
#include <math.h>
#include "imgui.h"
#ifdef WIN32
# define snprintf _snprintf
#endif
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
static const unsigned TEXT_POOL_SIZE = 50000;
static char g_textPool[TEXT_POOL_SIZE];
static unsigned g_textPoolSize = 0;
static const char* allocText(const char* text)
{
unsigned len = static_cast<unsigned>(strlen(text)+1);
if (g_textPoolSize + len >= TEXT_POOL_SIZE)
return 0;
char* dst = &g_textPool[g_textPoolSize];
memcpy(dst, text, len);
g_textPoolSize += len;
return dst;
}
static const unsigned GFXCMD_QUEUE_SIZE = 5000;
static imguiGfxCmd g_gfxCmdQueue[GFXCMD_QUEUE_SIZE];
static unsigned g_gfxCmdQueueSize = 0;
static void resetGfxCmdQueue()
{
g_gfxCmdQueueSize = 0;
g_textPoolSize = 0;
}
static void addGfxCmdScissor(int x, int y, int w, int h)
{
if (g_gfxCmdQueueSize >= GFXCMD_QUEUE_SIZE)
return;
imguiGfxCmd& cmd = g_gfxCmdQueue[g_gfxCmdQueueSize++];
cmd.type = IMGUI_GFXCMD_SCISSOR;
cmd.flags = x < 0 ? 0 : 1; // on/off flag.
cmd.col = 0;
cmd.rect.x = (short)x;
cmd.rect.y = (short)y;
cmd.rect.w = (short)w;
cmd.rect.h = (short)h;
}
static void addGfxCmdRect(float x, float y, float w, float h, unsigned int color)
{
if (g_gfxCmdQueueSize >= GFXCMD_QUEUE_SIZE)
return;
imguiGfxCmd& cmd = g_gfxCmdQueue[g_gfxCmdQueueSize++];
cmd.type = IMGUI_GFXCMD_RECT;
cmd.flags = 0;
cmd.col = color;
cmd.rect.x = (short)(x*8.0f);
cmd.rect.y = (short)(y*8.0f);
cmd.rect.w = (short)(w*8.0f);
cmd.rect.h = (short)(h*8.0f);
cmd.rect.r = 0;
}
static void addGfxCmdLine(float x0, float y0, float x1, float y1, float r, unsigned int color)
{
if (g_gfxCmdQueueSize >= GFXCMD_QUEUE_SIZE)
return;
imguiGfxCmd& cmd = g_gfxCmdQueue[g_gfxCmdQueueSize++];
cmd.type = IMGUI_GFXCMD_LINE;
cmd.flags = 0;
cmd.col = color;
cmd.line.x0 = (short)(x0*8.0f);
cmd.line.y0 = (short)(y0*8.0f);
cmd.line.x1 = (short)(x1*8.0f);
cmd.line.y1 = (short)(y1*8.0f);
cmd.line.r = (short)(r*8.0f);
}
static void addGfxCmdRoundedRect(float x, float y, float w, float h, float r, unsigned int color)
{
if (g_gfxCmdQueueSize >= GFXCMD_QUEUE_SIZE)
return;
imguiGfxCmd& cmd = g_gfxCmdQueue[g_gfxCmdQueueSize++];
cmd.type = IMGUI_GFXCMD_RECT;
cmd.flags = 0;
cmd.col = color;
cmd.rect.x = (short)(x*8.0f);
cmd.rect.y = (short)(y*8.0f);
cmd.rect.w = (short)(w*8.0f);
cmd.rect.h = (short)(h*8.0f);
cmd.rect.r = (short)(r*8.0f);
}
static void addGfxCmdTriangle(int x, int y, int w, int h, int flags, unsigned int color)
{
if (g_gfxCmdQueueSize >= GFXCMD_QUEUE_SIZE)
return;
imguiGfxCmd& cmd = g_gfxCmdQueue[g_gfxCmdQueueSize++];
cmd.type = IMGUI_GFXCMD_TRIANGLE;
cmd.flags = (char)flags;
cmd.col = color;
cmd.rect.x = (short)(x*8.0f);
cmd.rect.y = (short)(y*8.0f);
cmd.rect.w = (short)(w*8.0f);
cmd.rect.h = (short)(h*8.0f);
}
static void addGfxCmdText(int x, int y, int align, const char* text, unsigned int color)
{
if (g_gfxCmdQueueSize >= GFXCMD_QUEUE_SIZE)
return;
imguiGfxCmd& cmd = g_gfxCmdQueue[g_gfxCmdQueueSize++];
cmd.type = IMGUI_GFXCMD_TEXT;
cmd.flags = 0;
cmd.col = color;
cmd.text.x = (short)x;
cmd.text.y = (short)y;
cmd.text.align = (short)align;
cmd.text.text = allocText(text);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
struct GuiState
{
GuiState() :
left(false), leftPressed(false), leftReleased(false),
mx(-1), my(-1), scroll(0),
active(0), hot(0), hotToBe(0), isHot(false), isActive(false), wentActive(false),
dragX(0), dragY(0), dragOrig(0), widgetX(0), widgetY(0), widgetW(100),
insideCurrentScroll(false), areaId(0), widgetId(0)
{
}
bool left;
bool leftPressed, leftReleased;
int mx,my;
int scroll;
unsigned int active;
unsigned int hot;
unsigned int hotToBe;
bool isHot;
bool isActive;
bool wentActive;
int dragX, dragY;
float dragOrig;
int widgetX, widgetY, widgetW;
bool insideCurrentScroll;
unsigned int areaId;
unsigned int widgetId;
};
static GuiState g_state;
inline bool anyActive()
{
return g_state.active != 0;
}
inline bool isActive(unsigned int id)
{
return g_state.active == id;
}
inline bool isHot(unsigned int id)
{
return g_state.hot == id;
}
inline bool inRect(int x, int y, int w, int h, bool checkScroll = true)
{
return (!checkScroll || g_state.insideCurrentScroll) && g_state.mx >= x && g_state.mx <= x+w && g_state.my >= y && g_state.my <= y+h;
}
inline void clearInput()
{
g_state.leftPressed = false;
g_state.leftReleased = false;
g_state.scroll = 0;
}
inline void clearActive()
{
g_state.active = 0;
// mark all UI for this frame as processed
clearInput();
}
inline void setActive(unsigned int id)
{
g_state.active = id;
g_state.wentActive = true;
}
inline void setHot(unsigned int id)
{
g_state.hotToBe = id;
}
static bool buttonLogic(unsigned int id, bool over)
{
bool res = false;
// process down
if (!anyActive())
{
if (over)
setHot(id);
if (isHot(id) && g_state.leftPressed)
setActive(id);
}
// if button is active, then react on left up
if (isActive(id))
{
g_state.isActive = true;
if (over)
setHot(id);
if (g_state.leftReleased)
{
if (isHot(id))
res = true;
clearActive();
}
}
if (isHot(id))
g_state.isHot = true;
return res;
}
static void updateInput(int mx, int my, unsigned char mbut, int scroll)
{
bool left = (mbut & IMGUI_MBUT_LEFT) != 0;
g_state.mx = mx;
g_state.my = my;
g_state.leftPressed = !g_state.left && left;
g_state.leftReleased = g_state.left && !left;
g_state.left = left;
g_state.scroll = scroll;
}
void imguiBeginFrame(int mx, int my, unsigned char mbut, int scroll)
{
updateInput(mx,my,mbut,scroll);
g_state.hot = g_state.hotToBe;
g_state.hotToBe = 0;
g_state.wentActive = false;
g_state.isActive = false;
g_state.isHot = false;
g_state.widgetX = 0;
g_state.widgetY = 0;
g_state.widgetW = 0;
g_state.areaId = 1;
g_state.widgetId = 1;
resetGfxCmdQueue();
}
void imguiEndFrame()
{
clearInput();
}
const imguiGfxCmd* imguiGetRenderQueue()
{
return g_gfxCmdQueue;
}
int imguiGetRenderQueueSize()
{
return g_gfxCmdQueueSize;
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
static const int BUTTON_HEIGHT = 20;
static const int SLIDER_HEIGHT = 20;
static const int SLIDER_MARKER_WIDTH = 10;
static const int CHECK_SIZE = 8;
static const int DEFAULT_SPACING = 4;
static const int TEXT_HEIGHT = 8;
static const int SCROLL_AREA_PADDING = 6;
static const int INDENT_SIZE = 16;
static const int AREA_HEADER = 28;
static int g_scrollTop = 0;
static int g_scrollBottom = 0;
static int g_scrollRight = 0;
static int g_scrollAreaTop = 0;
static int* g_scrollVal = 0;
static int g_focusTop = 0;
static int g_focusBottom = 0;
static unsigned int g_scrollId = 0;
static bool g_insideScrollArea = false;
bool imguiBeginScrollArea(const char* name, int x, int y, int w, int h, int* scroll)
{
g_state.areaId++;
g_state.widgetId = 0;
g_scrollId = (g_state.areaId<<16) | g_state.widgetId;
g_state.widgetX = x + SCROLL_AREA_PADDING;
g_state.widgetY = y+h-AREA_HEADER + (*scroll);
g_state.widgetW = w - SCROLL_AREA_PADDING*4;
g_scrollTop = y-AREA_HEADER+h;
g_scrollBottom = y+SCROLL_AREA_PADDING;
g_scrollRight = x+w - SCROLL_AREA_PADDING*3;
g_scrollVal = scroll;
g_scrollAreaTop = g_state.widgetY;
g_focusTop = y-AREA_HEADER;
g_focusBottom = y-AREA_HEADER+h;
g_insideScrollArea = inRect(x, y, w, h, false);
g_state.insideCurrentScroll = g_insideScrollArea;
addGfxCmdRoundedRect((float)x, (float)y, (float)w, (float)h, 6, imguiRGBA(0,0,0,192));
addGfxCmdText(x+AREA_HEADER/2, y+h-AREA_HEADER/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, name, imguiRGBA(255,255,255,128));
addGfxCmdScissor(x+SCROLL_AREA_PADDING, y+SCROLL_AREA_PADDING, w-SCROLL_AREA_PADDING*4, h-AREA_HEADER-SCROLL_AREA_PADDING);
return g_insideScrollArea;
}
void imguiEndScrollArea()
{
// Disable scissoring.
addGfxCmdScissor(-1,-1,-1,-1);
// Draw scroll bar
int x = g_scrollRight+SCROLL_AREA_PADDING/2;
int y = g_scrollBottom;
int w = SCROLL_AREA_PADDING*2;
int h = g_scrollTop - g_scrollBottom;
int stop = g_scrollAreaTop;
int sbot = g_state.widgetY;
int sh = stop - sbot; // The scrollable area height.
float barHeight = (float)h/(float)sh;
if (barHeight < 1)
{
float barY = (float)(y - sbot)/(float)sh;
if (barY < 0) barY = 0;
if (barY > 1) barY = 1;
// Handle scroll bar logic.
unsigned int hid = g_scrollId;
int hx = x;
int hy = y + (int)(barY*h);
int hw = w;
int hh = (int)(barHeight*h);
const int range = h - (hh-1);
bool over = inRect(hx, hy, hw, hh);
buttonLogic(hid, over);
if (isActive(hid))
{
float u = (float)(hy-y) / (float)range;
if (g_state.wentActive)
{
g_state.dragY = g_state.my;
g_state.dragOrig = u;
}
if (g_state.dragY != g_state.my)
{
u = g_state.dragOrig + (g_state.my - g_state.dragY) / (float)range;
if (u < 0) u = 0;
if (u > 1) u = 1;
*g_scrollVal = (int)((1-u) * (sh - h));
}
}
// BG
addGfxCmdRoundedRect((float)x, (float)y, (float)w, (float)h, (float)w/2-1, imguiRGBA(0,0,0,196));
// Bar
if (isActive(hid))
addGfxCmdRoundedRect((float)hx, (float)hy, (float)hw, (float)hh, (float)w/2-1, imguiRGBA(255,196,0,196));
else
addGfxCmdRoundedRect((float)hx, (float)hy, (float)hw, (float)hh, (float)w/2-1, isHot(hid) ? imguiRGBA(255,196,0,96) : imguiRGBA(255,255,255,64));
// Handle mouse scrolling.
if (g_insideScrollArea) // && !anyActive())
{
if (g_state.scroll)
{
*g_scrollVal += 20*g_state.scroll;
if (*g_scrollVal < 0) *g_scrollVal = 0;
if (*g_scrollVal > (sh - h)) *g_scrollVal = (sh - h);
}
}
}
g_state.insideCurrentScroll = false;
}
bool imguiButton(const char* text, bool enabled)
{
g_state.widgetId++;
unsigned int id = (g_state.areaId<<16) | g_state.widgetId;
int x = g_state.widgetX;
int y = g_state.widgetY - BUTTON_HEIGHT;
int w = g_state.widgetW;
int h = BUTTON_HEIGHT;
g_state.widgetY -= BUTTON_HEIGHT + DEFAULT_SPACING;
bool over = enabled && inRect(x, y, w, h);
bool res = buttonLogic(id, over);
addGfxCmdRoundedRect((float)x, (float)y, (float)w, (float)h, (float)BUTTON_HEIGHT/2-1, imguiRGBA(128,128,128, isActive(id)?196:96));
if (enabled)
addGfxCmdText(x+BUTTON_HEIGHT/2, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, isHot(id) ? imguiRGBA(255,196,0,255) : imguiRGBA(255,255,255,200));
else
addGfxCmdText(x+BUTTON_HEIGHT/2, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, imguiRGBA(128,128,128,200));
return res;
}
bool imguiItem(const char* text, bool enabled)
{
g_state.widgetId++;
unsigned int id = (g_state.areaId<<16) | g_state.widgetId;
int x = g_state.widgetX;
int y = g_state.widgetY - BUTTON_HEIGHT;
int w = g_state.widgetW;
int h = BUTTON_HEIGHT;
g_state.widgetY -= BUTTON_HEIGHT + DEFAULT_SPACING;
bool over = enabled && inRect(x, y, w, h);
bool res = buttonLogic(id, over);
if (isHot(id))
addGfxCmdRoundedRect((float)x, (float)y, (float)w, (float)h, 2.0f, imguiRGBA(255,196,0,isActive(id)?196:96));
if (enabled)
addGfxCmdText(x+BUTTON_HEIGHT/2, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, imguiRGBA(255,255,255,200));
else
addGfxCmdText(x+BUTTON_HEIGHT/2, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, imguiRGBA(128,128,128,200));
return res;
}
bool imguiCheck(const char* text, bool checked, bool enabled)
{
g_state.widgetId++;
unsigned int id = (g_state.areaId<<16) | g_state.widgetId;
int x = g_state.widgetX;
int y = g_state.widgetY - BUTTON_HEIGHT;
int w = g_state.widgetW;
int h = BUTTON_HEIGHT;
g_state.widgetY -= BUTTON_HEIGHT + DEFAULT_SPACING;
bool over = enabled && inRect(x, y, w, h);
bool res = buttonLogic(id, over);
const int cx = x+BUTTON_HEIGHT/2-CHECK_SIZE/2;
const int cy = y+BUTTON_HEIGHT/2-CHECK_SIZE/2;
addGfxCmdRoundedRect((float)cx-3, (float)cy-3, (float)CHECK_SIZE+6, (float)CHECK_SIZE+6, 4, imguiRGBA(128,128,128, isActive(id)?196:96));
if (checked)
{
if (enabled)
addGfxCmdRoundedRect((float)cx, (float)cy, (float)CHECK_SIZE, (float)CHECK_SIZE, (float)CHECK_SIZE/2-1, imguiRGBA(255,255,255,isActive(id)?255:200));
else
addGfxCmdRoundedRect((float)cx, (float)cy, (float)CHECK_SIZE, (float)CHECK_SIZE, (float)CHECK_SIZE/2-1, imguiRGBA(128,128,128,200));
}
if (enabled)
addGfxCmdText(x+BUTTON_HEIGHT, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, isHot(id) ? imguiRGBA(255,196,0,255) : imguiRGBA(255,255,255,200));
else
addGfxCmdText(x+BUTTON_HEIGHT, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, imguiRGBA(128,128,128,200));
return res;
}
bool imguiCollapse(const char* text, const char* subtext, bool checked, bool enabled)
{
g_state.widgetId++;
unsigned int id = (g_state.areaId<<16) | g_state.widgetId;
int x = g_state.widgetX;
int y = g_state.widgetY - BUTTON_HEIGHT;
int w = g_state.widgetW;
int h = BUTTON_HEIGHT;
g_state.widgetY -= BUTTON_HEIGHT; // + DEFAULT_SPACING;
const int cx = x+BUTTON_HEIGHT/2-CHECK_SIZE/2;
const int cy = y+BUTTON_HEIGHT/2-CHECK_SIZE/2;
bool over = enabled && inRect(x, y, w, h);
bool res = buttonLogic(id, over);
if (checked)
addGfxCmdTriangle(cx, cy, CHECK_SIZE, CHECK_SIZE, 2, imguiRGBA(255,255,255,isActive(id)?255:200));
else
addGfxCmdTriangle(cx, cy, CHECK_SIZE, CHECK_SIZE, 1, imguiRGBA(255,255,255,isActive(id)?255:200));
if (enabled)
addGfxCmdText(x+BUTTON_HEIGHT, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, isHot(id) ? imguiRGBA(255,196,0,255) : imguiRGBA(255,255,255,200));
else
addGfxCmdText(x+BUTTON_HEIGHT, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, imguiRGBA(128,128,128,200));
if (subtext)
addGfxCmdText(x+w-BUTTON_HEIGHT/2, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_RIGHT, subtext, imguiRGBA(255,255,255,128));
return res;
}
void imguiLabel(const char* text)
{
int x = g_state.widgetX;
int y = g_state.widgetY - BUTTON_HEIGHT;
g_state.widgetY -= BUTTON_HEIGHT;
addGfxCmdText(x, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, imguiRGBA(255,255,255,255));
}
void imguiValue(const char* text)
{
const int x = g_state.widgetX;
const int y = g_state.widgetY - BUTTON_HEIGHT;
const int w = g_state.widgetW;
g_state.widgetY -= BUTTON_HEIGHT;
addGfxCmdText(x+w-BUTTON_HEIGHT/2, y+BUTTON_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_RIGHT, text, imguiRGBA(255,255,255,200));
}
bool imguiSlider(const char* text, float* val, float vmin, float vmax, float vinc, bool enabled)
{
g_state.widgetId++;
unsigned int id = (g_state.areaId<<16) | g_state.widgetId;
int x = g_state.widgetX;
int y = g_state.widgetY - BUTTON_HEIGHT;
int w = g_state.widgetW;
int h = SLIDER_HEIGHT;
g_state.widgetY -= SLIDER_HEIGHT + DEFAULT_SPACING;
addGfxCmdRoundedRect((float)x, (float)y, (float)w, (float)h, 4.0f, imguiRGBA(0,0,0,128));
const int range = w - SLIDER_MARKER_WIDTH;
float u = (*val - vmin) / (vmax-vmin);
if (u < 0) u = 0;
if (u > 1) u = 1;
int m = (int)(u * range);
bool over = enabled && inRect(x+m, y, SLIDER_MARKER_WIDTH, SLIDER_HEIGHT);
bool res = buttonLogic(id, over);
bool valChanged = false;
if (isActive(id))
{
if (g_state.wentActive)
{
g_state.dragX = g_state.mx;
g_state.dragOrig = u;
}
if (g_state.dragX != g_state.mx)
{
u = g_state.dragOrig + (float)(g_state.mx - g_state.dragX) / (float)range;
if (u < 0) u = 0;
if (u > 1) u = 1;
*val = vmin + u*(vmax-vmin);
*val = floorf(*val/vinc+0.5f)*vinc; // Snap to vinc
m = (int)(u * range);
valChanged = true;
}
}
if (isActive(id))
addGfxCmdRoundedRect((float)(x+m), (float)y, (float)SLIDER_MARKER_WIDTH, (float)SLIDER_HEIGHT, 4.0f, imguiRGBA(255,255,255,255));
else
addGfxCmdRoundedRect((float)(x+m), (float)y, (float)SLIDER_MARKER_WIDTH, (float)SLIDER_HEIGHT, 4.0f, isHot(id) ? imguiRGBA(255,196,0,128) : imguiRGBA(255,255,255,64));
// TODO: fix this, take a look at 'nicenum'.
int digits = (int)(ceilf(log10f(vinc)));
char fmt[16];
snprintf(fmt, 16, "%%.%df", digits >= 0 ? 0 : -digits);
char msg[128];
snprintf(msg, 128, fmt, *val);
if (enabled)
{
addGfxCmdText(x+SLIDER_HEIGHT/2, y+SLIDER_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, isHot(id) ? imguiRGBA(255,196,0,255) : imguiRGBA(255,255,255,200));
addGfxCmdText(x+w-SLIDER_HEIGHT/2, y+SLIDER_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_RIGHT, msg, isHot(id) ? imguiRGBA(255,196,0,255) : imguiRGBA(255,255,255,200));
}
else
{
addGfxCmdText(x+SLIDER_HEIGHT/2, y+SLIDER_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_LEFT, text, imguiRGBA(128,128,128,200));
addGfxCmdText(x+w-SLIDER_HEIGHT/2, y+SLIDER_HEIGHT/2-TEXT_HEIGHT/2, IMGUI_ALIGN_RIGHT, msg, imguiRGBA(128,128,128,200));
}
return res || valChanged;
}
void imguiIndent()
{
g_state.widgetX += INDENT_SIZE;
g_state.widgetW -= INDENT_SIZE;
}
void imguiUnindent()
{
g_state.widgetX -= INDENT_SIZE;
g_state.widgetW += INDENT_SIZE;
}
void imguiSeparator()
{
g_state.widgetY -= DEFAULT_SPACING*3;
}
void imguiSeparatorLine()
{
int x = g_state.widgetX;
int y = g_state.widgetY - DEFAULT_SPACING*2;
int w = g_state.widgetW;
int h = 1;
g_state.widgetY -= DEFAULT_SPACING*4;
addGfxCmdRect((float)x, (float)y, (float)w, (float)h, imguiRGBA(255,255,255,32));
}
void imguiDrawText(int x, int y, int align, const char* text, unsigned int color)
{
addGfxCmdText(x, y, align, text, color);
}
void imguiDrawLine(float x0, float y0, float x1, float y1, float r, unsigned int color)
{
addGfxCmdLine(x0, y0, x1, y1, r, color);
}
void imguiDrawRect(float x, float y, float w, float h, unsigned int color)
{
addGfxCmdRect(x, y, w, h, color);
}
void imguiDrawRoundedRect(float x, float y, float w, float h, float r, unsigned int color)
{
addGfxCmdRoundedRect(x, y, w, h, r, color);
}

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@ -1,500 +0,0 @@
//
// 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 <cmath>
#include <cstdio>
#include "imgui.h"
#include "SDL.h"
#include "SDL_opengl.h"
// Some math headers don't have PI defined.
static const float PI = 3.14159265f;
void imguifree(void* ptr, void* userptr);
void* imguimalloc(size_t size, void* userptr);
#define STBTT_malloc(x,y) imguimalloc(x,y)
#define STBTT_free(x,y) imguifree(x,y)
#define STB_TRUETYPE_IMPLEMENTATION
#include "stb_truetype.h"
void imguifree(void* ptr, void* /*userptr*/)
{
free(ptr);
}
void* imguimalloc(size_t size, void* /*userptr*/)
{
return malloc(size);
}
static const unsigned TEMP_COORD_COUNT = 100;
static float g_tempCoords[TEMP_COORD_COUNT*2];
static float g_tempNormals[TEMP_COORD_COUNT*2];
static const int CIRCLE_VERTS = 8*4;
static float g_circleVerts[CIRCLE_VERTS*2];
static stbtt_bakedchar g_cdata[96]; // ASCII 32..126 is 95 glyphs
static GLuint g_ftex = 0;
inline unsigned int RGBA(unsigned char r, unsigned char g, unsigned char b, unsigned char a)
{
return (r) | (g << 8) | (b << 16) | (a << 24);
}
static void drawPolygon(const float* coords, unsigned numCoords, float r, unsigned int col)
{
if (numCoords > TEMP_COORD_COUNT) numCoords = TEMP_COORD_COUNT;
for (unsigned i = 0, j = numCoords-1; i < numCoords; j=i++)
{
const float* v0 = &coords[j*2];
const float* v1 = &coords[i*2];
float dx = v1[0] - v0[0];
float dy = v1[1] - v0[1];
float d = sqrtf(dx*dx+dy*dy);
if (d > 0)
{
d = 1.0f/d;
dx *= d;
dy *= d;
}
g_tempNormals[j*2+0] = dy;
g_tempNormals[j*2+1] = -dx;
}
for (unsigned i = 0, j = numCoords-1; i < numCoords; j=i++)
{
float dlx0 = g_tempNormals[j*2+0];
float dly0 = g_tempNormals[j*2+1];
float dlx1 = g_tempNormals[i*2+0];
float dly1 = g_tempNormals[i*2+1];
float dmx = (dlx0 + dlx1) * 0.5f;
float dmy = (dly0 + dly1) * 0.5f;
float dmr2 = dmx*dmx + dmy*dmy;
if (dmr2 > 0.000001f)
{
float scale = 1.0f / dmr2;
if (scale > 10.0f) scale = 10.0f;
dmx *= scale;
dmy *= scale;
}
g_tempCoords[i*2+0] = coords[i*2+0]+dmx*r;
g_tempCoords[i*2+1] = coords[i*2+1]+dmy*r;
}
unsigned int colTrans = RGBA(col&0xff, (col>>8)&0xff, (col>>16)&0xff, 0);
glBegin(GL_TRIANGLES);
glColor4ubv((GLubyte*)&col);
for (unsigned i = 0, j = numCoords-1; i < numCoords; j=i++)
{
glVertex2fv(&coords[i*2]);
glVertex2fv(&coords[j*2]);
glColor4ubv((GLubyte*)&colTrans);
glVertex2fv(&g_tempCoords[j*2]);
glVertex2fv(&g_tempCoords[j*2]);
glVertex2fv(&g_tempCoords[i*2]);
glColor4ubv((GLubyte*)&col);
glVertex2fv(&coords[i*2]);
}
glColor4ubv((GLubyte*)&col);
for (unsigned i = 2; i < numCoords; ++i)
{
glVertex2fv(&coords[0]);
glVertex2fv(&coords[(i-1)*2]);
glVertex2fv(&coords[i*2]);
}
glEnd();
}
static void drawRect(float x, float y, float w, float h, float fth, unsigned int col)
{
float verts[4*2] =
{
x+0.5f, y+0.5f,
x+w-0.5f, y+0.5f,
x+w-0.5f, y+h-0.5f,
x+0.5f, y+h-0.5f,
};
drawPolygon(verts, 4, fth, col);
}
/*
static void drawEllipse(float x, float y, float w, float h, float fth, unsigned int col)
{
float verts[CIRCLE_VERTS*2];
const float* cverts = g_circleVerts;
float* v = verts;
for (int i = 0; i < CIRCLE_VERTS; ++i)
{
*v++ = x + cverts[i*2]*w;
*v++ = y + cverts[i*2+1]*h;
}
drawPolygon(verts, CIRCLE_VERTS, fth, col);
}
*/
static void drawRoundedRect(float x, float y, float w, float h, float r, float fth, unsigned int col)
{
const unsigned n = CIRCLE_VERTS/4;
float verts[(n+1)*4*2];
const float* cverts = g_circleVerts;
float* v = verts;
for (unsigned i = 0; i <= n; ++i)
{
*v++ = x+w-r + cverts[i*2]*r;
*v++ = y+h-r + cverts[i*2+1]*r;
}
for (unsigned i = n; i <= n*2; ++i)
{
*v++ = x+r + cverts[i*2]*r;
*v++ = y+h-r + cverts[i*2+1]*r;
}
for (unsigned i = n*2; i <= n*3; ++i)
{
*v++ = x+r + cverts[i*2]*r;
*v++ = y+r + cverts[i*2+1]*r;
}
for (unsigned i = n*3; i < n*4; ++i)
{
*v++ = x+w-r + cverts[i*2]*r;
*v++ = y+r + cverts[i*2+1]*r;
}
*v++ = x+w-r + cverts[0]*r;
*v++ = y+r + cverts[1]*r;
drawPolygon(verts, (n+1)*4, fth, col);
}
static void drawLine(float x0, float y0, float x1, float y1, float r, float fth, unsigned int col)
{
float dx = x1-x0;
float dy = y1-y0;
float d = sqrtf(dx*dx+dy*dy);
if (d > 0.0001f)
{
d = 1.0f/d;
dx *= d;
dy *= d;
}
float nx = dy;
float ny = -dx;
float verts[4*2];
r -= fth;
r *= 0.5f;
if (r < 0.01f) r = 0.01f;
dx *= r;
dy *= r;
nx *= r;
ny *= r;
verts[0] = x0-dx-nx;
verts[1] = y0-dy-ny;
verts[2] = x0-dx+nx;
verts[3] = y0-dy+ny;
verts[4] = x1+dx+nx;
verts[5] = y1+dy+ny;
verts[6] = x1+dx-nx;
verts[7] = y1+dy-ny;
drawPolygon(verts, 4, fth, col);
}
bool imguiRenderGLInit(const char* fontpath)
{
for (int i = 0; i < CIRCLE_VERTS; ++i)
{
float a = (float)i/(float)CIRCLE_VERTS * PI*2;
g_circleVerts[i*2+0] = cosf(a);
g_circleVerts[i*2+1] = sinf(a);
}
// Load font.
FILE* fp = fopen(fontpath, "rb");
if (!fp) return false;
if (fseek(fp, 0, SEEK_END) != 0)
{
fclose(fp);
return false;
}
long size = ftell(fp);
if (size < 0)
{
fclose(fp);
return false;
}
if (fseek(fp, 0, SEEK_SET) != 0)
{
fclose(fp);
return false;
}
unsigned char* ttfBuffer = (unsigned char*)malloc(size);
if (!ttfBuffer)
{
fclose(fp);
return false;
}
size_t readLen = fread(ttfBuffer, 1, size, fp);
fclose(fp);
if (readLen != static_cast<size_t>(size))
{
free(ttfBuffer);
return false;
}
fp = 0;
unsigned char* bmap = (unsigned char*)malloc(512*512);
if (!bmap)
{
free(ttfBuffer);
return false;
}
stbtt_BakeFontBitmap(ttfBuffer,0, 15.0f, bmap,512,512, 32,96, g_cdata);
// can free ttf_buffer at this point
glGenTextures(1, &g_ftex);
glBindTexture(GL_TEXTURE_2D, g_ftex);
glTexImage2D(GL_TEXTURE_2D, 0, GL_ALPHA, 512,512, 0, GL_ALPHA, GL_UNSIGNED_BYTE, bmap);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
free(ttfBuffer);
free(bmap);
return true;
}
void imguiRenderGLDestroy()
{
if (g_ftex)
{
glDeleteTextures(1, &g_ftex);
g_ftex = 0;
}
}
static void getBakedQuad(stbtt_bakedchar *chardata, int pw, int ph, int char_index,
float *xpos, float *ypos, stbtt_aligned_quad *q)
{
stbtt_bakedchar *b = chardata + char_index;
int round_x = STBTT_ifloor(*xpos + b->xoff);
int round_y = STBTT_ifloor(*ypos - b->yoff);
q->x0 = (float)round_x;
q->y0 = (float)round_y;
q->x1 = (float)round_x + b->x1 - b->x0;
q->y1 = (float)round_y - b->y1 + b->y0;
q->s0 = b->x0 / (float)pw;
q->t0 = b->y0 / (float)pw;
q->s1 = b->x1 / (float)ph;
q->t1 = b->y1 / (float)ph;
*xpos += b->xadvance;
}
static const float g_tabStops[4] = {150, 210, 270, 330};
static float getTextLength(stbtt_bakedchar *chardata, const char* text)
{
float xpos = 0;
float len = 0;
while (*text)
{
int c = (unsigned char)*text;
if (c == '\t')
{
for (int i = 0; i < 4; ++i)
{
if (xpos < g_tabStops[i])
{
xpos = g_tabStops[i];
break;
}
}
}
else if (c >= 32 && c < 128)
{
stbtt_bakedchar *b = chardata + c-32;
int round_x = STBTT_ifloor((xpos + b->xoff) + 0.5);
len = round_x + b->x1 - b->x0 + 0.5f;
xpos += b->xadvance;
}
++text;
}
return len;
}
static void drawText(float x, float y, const char *text, int align, unsigned int col)
{
if (!g_ftex) return;
if (!text) return;
if (align == IMGUI_ALIGN_CENTER)
x -= getTextLength(g_cdata, text)/2;
else if (align == IMGUI_ALIGN_RIGHT)
x -= getTextLength(g_cdata, text);
glColor4ub(col&0xff, (col>>8)&0xff, (col>>16)&0xff, (col>>24)&0xff);
glEnable(GL_TEXTURE_2D);
// assume orthographic projection with units = screen pixels, origin at top left
glBindTexture(GL_TEXTURE_2D, g_ftex);
glBegin(GL_TRIANGLES);
const float ox = x;
while (*text)
{
int c = (unsigned char)*text;
if (c == '\t')
{
for (int i = 0; i < 4; ++i)
{
if (x < g_tabStops[i]+ox)
{
x = g_tabStops[i]+ox;
break;
}
}
}
else if (c >= 32 && c < 128)
{
stbtt_aligned_quad q;
getBakedQuad(g_cdata, 512,512, c-32, &x,&y,&q);
glTexCoord2f(q.s0, q.t0);
glVertex2f(q.x0, q.y0);
glTexCoord2f(q.s1, q.t1);
glVertex2f(q.x1, q.y1);
glTexCoord2f(q.s1, q.t0);
glVertex2f(q.x1, q.y0);
glTexCoord2f(q.s0, q.t0);
glVertex2f(q.x0, q.y0);
glTexCoord2f(q.s0, q.t1);
glVertex2f(q.x0, q.y1);
glTexCoord2f(q.s1, q.t1);
glVertex2f(q.x1, q.y1);
}
++text;
}
glEnd();
glDisable(GL_TEXTURE_2D);
}
void imguiRenderGLDraw()
{
const imguiGfxCmd* q = imguiGetRenderQueue();
int nq = imguiGetRenderQueueSize();
const float s = 1.0f/8.0f;
glDisable(GL_SCISSOR_TEST);
for (int i = 0; i < nq; ++i)
{
const imguiGfxCmd& cmd = q[i];
if (cmd.type == IMGUI_GFXCMD_RECT)
{
if (cmd.rect.r == 0)
{
drawRect((float)cmd.rect.x*s+0.5f, (float)cmd.rect.y*s+0.5f,
(float)cmd.rect.w*s-1, (float)cmd.rect.h*s-1,
1.0f, cmd.col);
}
else
{
drawRoundedRect((float)cmd.rect.x*s+0.5f, (float)cmd.rect.y*s+0.5f,
(float)cmd.rect.w*s-1, (float)cmd.rect.h*s-1,
(float)cmd.rect.r*s, 1.0f, cmd.col);
}
}
else if (cmd.type == IMGUI_GFXCMD_LINE)
{
drawLine(cmd.line.x0*s, cmd.line.y0*s, cmd.line.x1*s, cmd.line.y1*s, cmd.line.r*s, 1.0f, cmd.col);
}
else if (cmd.type == IMGUI_GFXCMD_TRIANGLE)
{
if (cmd.flags == 1)
{
const float verts[3*2] =
{
(float)cmd.rect.x*s+0.5f, (float)cmd.rect.y*s+0.5f,
(float)cmd.rect.x*s+0.5f+(float)cmd.rect.w*s-1, (float)cmd.rect.y*s+0.5f+(float)cmd.rect.h*s/2-0.5f,
(float)cmd.rect.x*s+0.5f, (float)cmd.rect.y*s+0.5f+(float)cmd.rect.h*s-1,
};
drawPolygon(verts, 3, 1.0f, cmd.col);
}
if (cmd.flags == 2)
{
const float verts[3*2] =
{
(float)cmd.rect.x*s+0.5f, (float)cmd.rect.y*s+0.5f+(float)cmd.rect.h*s-1,
(float)cmd.rect.x*s+0.5f+(float)cmd.rect.w*s/2-0.5f, (float)cmd.rect.y*s+0.5f,
(float)cmd.rect.x*s+0.5f+(float)cmd.rect.w*s-1, (float)cmd.rect.y*s+0.5f+(float)cmd.rect.h*s-1,
};
drawPolygon(verts, 3, 1.0f, cmd.col);
}
}
else if (cmd.type == IMGUI_GFXCMD_TEXT)
{
drawText(cmd.text.x, cmd.text.y, cmd.text.text, cmd.text.align, cmd.col);
}
else if (cmd.type == IMGUI_GFXCMD_SCISSOR)
{
if (cmd.flags)
{
glEnable(GL_SCISSOR_TEST);
glScissor(cmd.rect.x, cmd.rect.y, cmd.rect.w, cmd.rect.h);
}
else
{
glDisable(GL_SCISSOR_TEST);
}
}
}
glDisable(GL_SCISSOR_TEST);
}

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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.
//
#include <cstdio>
#define _USE_MATH_DEFINES
#include <cmath>
#include "SDL.h"
#include "SDL_opengl.h"
#ifdef __APPLE__
# include <OpenGL/glu.h>
#else
# include <GL/glu.h>
#endif
#include <vector>
#include <string>
#include "imgui.h"
#include "imguiRenderGL.h"
#include "Recast.h"
#include "RecastDebugDraw.h"
#include "InputGeom.h"
#include "TestCase.h"
#include "Filelist.h"
#include "Sample_SoloMesh.h"
#include "Sample_TileMesh.h"
#include "Sample_TempObstacles.h"
#include "Sample_Debug.h"
#ifdef WIN32
# define snprintf _snprintf
# define putenv _putenv
#endif
using std::string;
using std::vector;
struct SampleItem
{
Sample* (*create)();
const string name;
};
Sample* createSolo() { return new Sample_SoloMesh(); }
Sample* createTile() { return new Sample_TileMesh(); }
Sample* createTempObstacle() { return new Sample_TempObstacles(); }
Sample* createDebug() { return new Sample_Debug(); }
static SampleItem g_samples[] =
{
{ createSolo, "Solo Mesh" },
{ createTile, "Tile Mesh" },
{ createTempObstacle, "Temp Obstacles" },
};
static const int g_nsamples = sizeof(g_samples) / sizeof(SampleItem);
int main(int /*argc*/, char** /*argv*/)
{
// Init SDL
if (SDL_Init(SDL_INIT_EVERYTHING) != 0)
{
printf("Could not initialise SDL.\nError: %s\n", SDL_GetError());
return -1;
}
// Enable depth buffer.
SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 1);
SDL_GL_SetAttribute(SDL_GL_DEPTH_SIZE, 24);
// Set color channel depth.
SDL_GL_SetAttribute(SDL_GL_RED_SIZE, 8);
SDL_GL_SetAttribute(SDL_GL_GREEN_SIZE, 8);
SDL_GL_SetAttribute(SDL_GL_BLUE_SIZE, 8);
SDL_GL_SetAttribute(SDL_GL_ALPHA_SIZE, 8);
// 4x MSAA.
SDL_GL_SetAttribute(SDL_GL_MULTISAMPLEBUFFERS, 1);
SDL_GL_SetAttribute(SDL_GL_MULTISAMPLESAMPLES, 4);
SDL_DisplayMode displayMode;
SDL_GetCurrentDisplayMode(0, &displayMode);
bool presentationMode = false;
Uint32 flags = SDL_WINDOW_OPENGL;
int width;
int height;
if (presentationMode)
{
// Create a fullscreen window at the native resolution.
width = displayMode.w;
height = displayMode.h;
flags |= SDL_WINDOW_FULLSCREEN;
}
else
{
float aspect = 16.0f / 9.0f;
width = rcMin(displayMode.w, (int)(displayMode.h * aspect)) - 80;
height = displayMode.h - 80;
}
SDL_Window* window;
SDL_Renderer* renderer;
int errorCode = SDL_CreateWindowAndRenderer(width, height, flags, &window, &renderer);
if (errorCode != 0 || !window || !renderer)
{
printf("Could not initialise SDL opengl\nError: %s\n", SDL_GetError());
return -1;
}
SDL_SetWindowPosition(window, SDL_WINDOWPOS_CENTERED, SDL_WINDOWPOS_CENTERED);
SDL_GL_CreateContext(window);
if (!imguiRenderGLInit("DroidSans.ttf"))
{
printf("Could not init GUI renderer.\n");
SDL_Quit();
return -1;
}
float t = 0.0f;
float timeAcc = 0.0f;
Uint32 prevFrameTime = SDL_GetTicks();
int mousePos[2] = {0, 0};
int origMousePos[2] = {0, 0}; // Used to compute mouse movement totals across frames.
float cameraEulers[] = {45, -45};
float cameraPos[] = {0, 0, 0};
float camr = 1000;
float origCameraEulers[] = {0, 0}; // Used to compute rotational changes across frames.
float moveFront = 0.0f, moveBack = 0.0f, moveLeft = 0.0f, moveRight = 0.0f, moveUp = 0.0f, moveDown = 0.0f;
float scrollZoom = 0;
bool rotate = false;
bool movedDuringRotate = false;
float rayStart[3];
float rayEnd[3];
bool mouseOverMenu = false;
bool showMenu = !presentationMode;
bool showLog = false;
bool showTools = true;
bool showLevels = false;
bool showSample = false;
bool showTestCases = false;
// Window scroll positions.
int propScroll = 0;
int logScroll = 0;
int toolsScroll = 0;
string sampleName = "Choose Sample...";
vector<string> files;
const string meshesFolder = "Meshes";
string meshName = "Choose Mesh...";
float markerPosition[3] = {0, 0, 0};
bool markerPositionSet = false;
InputGeom* geom = 0;
Sample* sample = 0;
const string testCasesFolder = "TestCases";
TestCase* test = 0;
BuildContext ctx;
// Fog.
float fogColor[4] = { 0.32f, 0.31f, 0.30f, 1.0f };
glEnable(GL_FOG);
glFogi(GL_FOG_MODE, GL_LINEAR);
glFogf(GL_FOG_START, camr * 0.1f);
glFogf(GL_FOG_END, camr * 1.25f);
glFogfv(GL_FOG_COLOR, fogColor);
glEnable(GL_CULL_FACE);
glDepthFunc(GL_LEQUAL);
bool done = false;
while(!done)
{
// Handle input events.
int mouseScroll = 0;
bool processHitTest = false;
bool processHitTestShift = false;
SDL_Event event;
while (SDL_PollEvent(&event))
{
switch (event.type)
{
case SDL_KEYDOWN:
// Handle any key presses here.
if (event.key.keysym.sym == SDLK_ESCAPE)
{
done = true;
}
else if (event.key.keysym.sym == SDLK_t)
{
showLevels = false;
showSample = false;
showTestCases = true;
scanDirectory(testCasesFolder, ".txt", files);
}
else if (event.key.keysym.sym == SDLK_TAB)
{
showMenu = !showMenu;
}
else if (event.key.keysym.sym == SDLK_SPACE)
{
if (sample)
sample->handleToggle();
}
else if (event.key.keysym.sym == SDLK_1)
{
if (sample)
sample->handleStep();
}
else if (event.key.keysym.sym == SDLK_9)
{
if (sample && geom)
{
string savePath = meshesFolder + "/";
BuildSettings settings;
memset(&settings, 0, sizeof(settings));
rcVcopy(settings.navMeshBMin, geom->getNavMeshBoundsMin());
rcVcopy(settings.navMeshBMax, geom->getNavMeshBoundsMax());
sample->collectSettings(settings);
geom->saveGeomSet(&settings);
}
}
break;
case SDL_MOUSEWHEEL:
if (event.wheel.y < 0)
{
// wheel down
if (mouseOverMenu)
{
mouseScroll++;
}
else
{
scrollZoom += 1.0f;
}
}
else
{
if (mouseOverMenu)
{
mouseScroll--;
}
else
{
scrollZoom -= 1.0f;
}
}
break;
case SDL_MOUSEBUTTONDOWN:
if (event.button.button == SDL_BUTTON_RIGHT)
{
if (!mouseOverMenu)
{
// Rotate view
rotate = true;
movedDuringRotate = false;
origMousePos[0] = mousePos[0];
origMousePos[1] = mousePos[1];
origCameraEulers[0] = cameraEulers[0];
origCameraEulers[1] = cameraEulers[1];
}
}
break;
case SDL_MOUSEBUTTONUP:
// Handle mouse clicks here.
if (event.button.button == SDL_BUTTON_RIGHT)
{
rotate = false;
if (!mouseOverMenu)
{
if (!movedDuringRotate)
{
processHitTest = true;
processHitTestShift = true;
}
}
}
else if (event.button.button == SDL_BUTTON_LEFT)
{
if (!mouseOverMenu)
{
processHitTest = true;
processHitTestShift = (SDL_GetModState() & KMOD_SHIFT) ? true : false;
}
}
break;
case SDL_MOUSEMOTION:
mousePos[0] = event.motion.x;
mousePos[1] = height-1 - event.motion.y;
if (rotate)
{
int dx = mousePos[0] - origMousePos[0];
int dy = mousePos[1] - origMousePos[1];
cameraEulers[0] = origCameraEulers[0] - dy * 0.25f;
cameraEulers[1] = origCameraEulers[1] + dx * 0.25f;
if (dx * dx + dy * dy > 3 * 3)
{
movedDuringRotate = true;
}
}
break;
case SDL_QUIT:
done = true;
break;
default:
break;
}
}
unsigned char mouseButtonMask = 0;
if (SDL_GetMouseState(0, 0) & SDL_BUTTON_LMASK)
mouseButtonMask |= IMGUI_MBUT_LEFT;
if (SDL_GetMouseState(0, 0) & SDL_BUTTON_RMASK)
mouseButtonMask |= IMGUI_MBUT_RIGHT;
Uint32 time = SDL_GetTicks();
float dt = (time - prevFrameTime) / 1000.0f;
prevFrameTime = time;
t += dt;
// Hit test mesh.
if (processHitTest && geom && sample)
{
float hitTime;
bool hit = geom->raycastMesh(rayStart, rayEnd, hitTime);
if (hit)
{
if (SDL_GetModState() & KMOD_CTRL)
{
// Marker
markerPositionSet = true;
markerPosition[0] = rayStart[0] + (rayEnd[0] - rayStart[0]) * hitTime;
markerPosition[1] = rayStart[1] + (rayEnd[1] - rayStart[1]) * hitTime;
markerPosition[2] = rayStart[2] + (rayEnd[2] - rayStart[2]) * hitTime;
}
else
{
float pos[3];
pos[0] = rayStart[0] + (rayEnd[0] - rayStart[0]) * hitTime;
pos[1] = rayStart[1] + (rayEnd[1] - rayStart[1]) * hitTime;
pos[2] = rayStart[2] + (rayEnd[2] - rayStart[2]) * hitTime;
sample->handleClick(rayStart, pos, processHitTestShift);
}
}
else
{
if (SDL_GetModState() & KMOD_CTRL)
{
// Marker
markerPositionSet = false;
}
}
}
// Update sample simulation.
const float SIM_RATE = 20;
const float DELTA_TIME = 1.0f / SIM_RATE;
timeAcc = rcClamp(timeAcc + dt, -1.0f, 1.0f);
int simIter = 0;
while (timeAcc > DELTA_TIME)
{
timeAcc -= DELTA_TIME;
if (simIter < 5 && sample)
{
sample->handleUpdate(DELTA_TIME);
}
simIter++;
}
// Clamp the framerate so that we do not hog all the CPU.
const float MIN_FRAME_TIME = 1.0f / 40.0f;
if (dt < MIN_FRAME_TIME)
{
int ms = (int)((MIN_FRAME_TIME - dt) * 1000.0f);
if (ms > 10) ms = 10;
if (ms >= 0) SDL_Delay(ms);
}
// Set the viewport.
glViewport(0, 0, width, height);
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT, viewport);
// Clear the screen
glClearColor(0.3f, 0.3f, 0.32f, 1.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glDisable(GL_TEXTURE_2D);
glEnable(GL_DEPTH_TEST);
// Compute the projection matrix.
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(50.0f, (float)width/(float)height, 1.0f, camr);
GLdouble projectionMatrix[16];
glGetDoublev(GL_PROJECTION_MATRIX, projectionMatrix);
// Compute the modelview matrix.
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glRotatef(cameraEulers[0], 1, 0, 0);
glRotatef(cameraEulers[1], 0, 1, 0);
glTranslatef(-cameraPos[0], -cameraPos[1], -cameraPos[2]);
GLdouble modelviewMatrix[16];
glGetDoublev(GL_MODELVIEW_MATRIX, modelviewMatrix);
// Get hit ray position and direction.
GLdouble x, y, z;
gluUnProject(mousePos[0], mousePos[1], 0.0f, modelviewMatrix, projectionMatrix, viewport, &x, &y, &z);
rayStart[0] = (float)x;
rayStart[1] = (float)y;
rayStart[2] = (float)z;
gluUnProject(mousePos[0], mousePos[1], 1.0f, modelviewMatrix, projectionMatrix, viewport, &x, &y, &z);
rayEnd[0] = (float)x;
rayEnd[1] = (float)y;
rayEnd[2] = (float)z;
// Handle keyboard movement.
const Uint8* keystate = SDL_GetKeyboardState(NULL);
moveFront = rcClamp(moveFront + dt * 4 * ((keystate[SDL_SCANCODE_W] || keystate[SDL_SCANCODE_UP ]) ? 1 : -1), 0.0f, 1.0f);
moveLeft = rcClamp(moveLeft + dt * 4 * ((keystate[SDL_SCANCODE_A] || keystate[SDL_SCANCODE_LEFT ]) ? 1 : -1), 0.0f, 1.0f);
moveBack = rcClamp(moveBack + dt * 4 * ((keystate[SDL_SCANCODE_S] || keystate[SDL_SCANCODE_DOWN ]) ? 1 : -1), 0.0f, 1.0f);
moveRight = rcClamp(moveRight + dt * 4 * ((keystate[SDL_SCANCODE_D] || keystate[SDL_SCANCODE_RIGHT ]) ? 1 : -1), 0.0f, 1.0f);
moveUp = rcClamp(moveUp + dt * 4 * ((keystate[SDL_SCANCODE_Q] || keystate[SDL_SCANCODE_PAGEUP ]) ? 1 : -1), 0.0f, 1.0f);
moveDown = rcClamp(moveDown + dt * 4 * ((keystate[SDL_SCANCODE_E] || keystate[SDL_SCANCODE_PAGEDOWN ]) ? 1 : -1), 0.0f, 1.0f);
float keybSpeed = 22.0f;
if (SDL_GetModState() & KMOD_SHIFT)
{
keybSpeed *= 4.0f;
}
float movex = (moveRight - moveLeft) * keybSpeed * dt;
float movey = (moveBack - moveFront) * keybSpeed * dt + scrollZoom * 2.0f;
scrollZoom = 0;
cameraPos[0] += movex * (float)modelviewMatrix[0];
cameraPos[1] += movex * (float)modelviewMatrix[4];
cameraPos[2] += movex * (float)modelviewMatrix[8];
cameraPos[0] += movey * (float)modelviewMatrix[2];
cameraPos[1] += movey * (float)modelviewMatrix[6];
cameraPos[2] += movey * (float)modelviewMatrix[10];
cameraPos[1] += (moveUp - moveDown) * keybSpeed * dt;
glEnable(GL_FOG);
if (sample)
sample->handleRender();
if (test)
test->handleRender();
glDisable(GL_FOG);
// Render GUI
glDisable(GL_DEPTH_TEST);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0, width, 0, height);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
mouseOverMenu = false;
imguiBeginFrame(mousePos[0], mousePos[1], mouseButtonMask, mouseScroll);
if (sample)
{
sample->handleRenderOverlay((double*)projectionMatrix, (double*)modelviewMatrix, (int*)viewport);
}
if (test)
{
if (test->handleRenderOverlay((double*)projectionMatrix, (double*)modelviewMatrix, (int*)viewport))
mouseOverMenu = true;
}
// Help text.
if (showMenu)
{
const char msg[] = "W/S/A/D: Move RMB: Rotate";
imguiDrawText(280, height-20, IMGUI_ALIGN_LEFT, msg, imguiRGBA(255,255,255,128));
}
if (showMenu)
{
if (imguiBeginScrollArea("Properties", width-250-10, 10, 250, height-20, &propScroll))
mouseOverMenu = true;
if (imguiCheck("Show Log", showLog))
showLog = !showLog;
if (imguiCheck("Show Tools", showTools))
showTools = !showTools;
imguiSeparator();
imguiLabel("Sample");
if (imguiButton(sampleName.c_str()))
{
if (showSample)
{
showSample = false;
}
else
{
showSample = true;
showLevels = false;
showTestCases = false;
}
}
imguiSeparator();
imguiLabel("Input Mesh");
if (imguiButton(meshName.c_str()))
{
if (showLevels)
{
showLevels = false;
}
else
{
showSample = false;
showTestCases = false;
showLevels = true;
scanDirectory(meshesFolder, ".obj", files);
scanDirectoryAppend(meshesFolder, ".gset", files);
}
}
if (geom)
{
char text[64];
snprintf(text, 64, "Verts: %.1fk Tris: %.1fk",
geom->getMesh()->getVertCount()/1000.0f,
geom->getMesh()->getTriCount()/1000.0f);
imguiValue(text);
}
imguiSeparator();
if (geom && sample)
{
imguiSeparatorLine();
sample->handleSettings();
if (imguiButton("Build"))
{
ctx.resetLog();
if (!sample->handleBuild())
{
showLog = true;
logScroll = 0;
}
ctx.dumpLog("Build log %s:", meshName.c_str());
// Clear test.
delete test;
test = 0;
}
imguiSeparator();
}
if (sample)
{
imguiSeparatorLine();
sample->handleDebugMode();
}
imguiEndScrollArea();
}
// Sample selection dialog.
if (showSample)
{
static int levelScroll = 0;
if (imguiBeginScrollArea("Choose Sample", width-10-250-10-200, height-10-250, 200, 250, &levelScroll))
mouseOverMenu = true;
Sample* newSample = 0;
for (int i = 0; i < g_nsamples; ++i)
{
if (imguiItem(g_samples[i].name.c_str()))
{
newSample = g_samples[i].create();
if (newSample)
sampleName = g_samples[i].name;
}
}
if (newSample)
{
delete sample;
sample = newSample;
sample->setContext(&ctx);
if (geom)
{
sample->handleMeshChanged(geom);
}
showSample = false;
}
if (geom || sample)
{
const float* bmin = 0;
const float* bmax = 0;
if (geom)
{
bmin = geom->getNavMeshBoundsMin();
bmax = geom->getNavMeshBoundsMax();
}
// Reset camera and fog to match the mesh bounds.
if (bmin && bmax)
{
camr = sqrtf(rcSqr(bmax[0]-bmin[0]) +
rcSqr(bmax[1]-bmin[1]) +
rcSqr(bmax[2]-bmin[2])) / 2;
cameraPos[0] = (bmax[0] + bmin[0]) / 2 + camr;
cameraPos[1] = (bmax[1] + bmin[1]) / 2 + camr;
cameraPos[2] = (bmax[2] + bmin[2]) / 2 + camr;
camr *= 3;
}
cameraEulers[0] = 45;
cameraEulers[1] = -45;
glFogf(GL_FOG_START, camr*0.1f);
glFogf(GL_FOG_END, camr*1.25f);
}
imguiEndScrollArea();
}
// Level selection dialog.
if (showLevels)
{
static int levelScroll = 0;
if (imguiBeginScrollArea("Choose Level", width - 10 - 250 - 10 - 200, height - 10 - 450, 200, 450, &levelScroll))
mouseOverMenu = true;
vector<string>::const_iterator fileIter = files.begin();
vector<string>::const_iterator filesEnd = files.end();
vector<string>::const_iterator levelToLoad = filesEnd;
for (; fileIter != filesEnd; ++fileIter)
{
if (imguiItem(fileIter->c_str()))
{
levelToLoad = fileIter;
}
}
if (levelToLoad != filesEnd)
{
meshName = *levelToLoad;
showLevels = false;
delete geom;
geom = 0;
string path = meshesFolder + "/" + meshName;
geom = new InputGeom;
if (!geom->load(&ctx, path))
{
delete geom;
geom = 0;
// Destroy the sample if it already had geometry loaded, as we've just deleted it!
if (sample && sample->getInputGeom())
{
delete sample;
sample = 0;
}
showLog = true;
logScroll = 0;
ctx.dumpLog("Geom load log %s:", meshName.c_str());
}
if (sample && geom)
{
sample->handleMeshChanged(geom);
}
if (geom || sample)
{
const float* bmin = 0;
const float* bmax = 0;
if (geom)
{
bmin = geom->getNavMeshBoundsMin();
bmax = geom->getNavMeshBoundsMax();
}
// Reset camera and fog to match the mesh bounds.
if (bmin && bmax)
{
camr = sqrtf(rcSqr(bmax[0]-bmin[0]) +
rcSqr(bmax[1]-bmin[1]) +
rcSqr(bmax[2]-bmin[2])) / 2;
cameraPos[0] = (bmax[0] + bmin[0]) / 2 + camr;
cameraPos[1] = (bmax[1] + bmin[1]) / 2 + camr;
cameraPos[2] = (bmax[2] + bmin[2]) / 2 + camr;
camr *= 3;
}
cameraEulers[0] = 45;
cameraEulers[1] = -45;
glFogf(GL_FOG_START, camr * 0.1f);
glFogf(GL_FOG_END, camr * 1.25f);
}
}
imguiEndScrollArea();
}
// Test cases
if (showTestCases)
{
static int testScroll = 0;
if (imguiBeginScrollArea("Choose Test To Run", width-10-250-10-200, height-10-450, 200, 450, &testScroll))
mouseOverMenu = true;
vector<string>::const_iterator fileIter = files.begin();
vector<string>::const_iterator filesEnd = files.end();
vector<string>::const_iterator testToLoad = filesEnd;
for (; fileIter != filesEnd; ++fileIter)
{
if (imguiItem(fileIter->c_str()))
{
testToLoad = fileIter;
}
}
if (testToLoad != filesEnd)
{
string path = testCasesFolder + "/" + *testToLoad;
test = new TestCase;
if (test)
{
// Load the test.
if (!test->load(path))
{
delete test;
test = 0;
}
// Create sample
Sample* newSample = 0;
for (int i = 0; i < g_nsamples; ++i)
{
if (g_samples[i].name == test->getSampleName())
{
newSample = g_samples[i].create();
if (newSample)
sampleName = g_samples[i].name;
}
}
delete sample;
sample = newSample;
if (sample)
{
sample->setContext(&ctx);
showSample = false;
}
// Load geom.
meshName = test->getGeomFileName();
path = meshesFolder + "/" + meshName;
delete geom;
geom = new InputGeom;
if (!geom || !geom->load(&ctx, path))
{
delete geom;
geom = 0;
delete sample;
sample = 0;
showLog = true;
logScroll = 0;
ctx.dumpLog("Geom load log %s:", meshName.c_str());
}
if (sample && geom)
{
sample->handleMeshChanged(geom);
}
// This will ensure that tile & poly bits are updated in tiled sample.
if (sample)
sample->handleSettings();
ctx.resetLog();
if (sample && !sample->handleBuild())
{
ctx.dumpLog("Build log %s:", meshName.c_str());
}
if (geom || sample)
{
const float* bmin = 0;
const float* bmax = 0;
if (geom)
{
bmin = geom->getNavMeshBoundsMin();
bmax = geom->getNavMeshBoundsMax();
}
// Reset camera and fog to match the mesh bounds.
if (bmin && bmax)
{
camr = sqrtf(rcSqr(bmax[0] - bmin[0]) +
rcSqr(bmax[1] - bmin[1]) +
rcSqr(bmax[2] - bmin[2])) / 2;
cameraPos[0] = (bmax[0] + bmin[0]) / 2 + camr;
cameraPos[1] = (bmax[1] + bmin[1]) / 2 + camr;
cameraPos[2] = (bmax[2] + bmin[2]) / 2 + camr;
camr *= 3;
}
cameraEulers[0] = 45;
cameraEulers[1] = -45;
glFogf(GL_FOG_START, camr * 0.2f);
glFogf(GL_FOG_END, camr * 1.25f);
}
// Do the tests.
if (sample)
test->doTests(sample->getNavMesh(), sample->getNavMeshQuery());
}
}
imguiEndScrollArea();
}
// Log
if (showLog && showMenu)
{
if (imguiBeginScrollArea("Log", 250 + 20, 10, width - 300 - 250, 200, &logScroll))
mouseOverMenu = true;
for (int i = 0; i < ctx.getLogCount(); ++i)
imguiLabel(ctx.getLogText(i));
imguiEndScrollArea();
}
// Left column tools menu
if (!showTestCases && showTools && showMenu) // && geom && sample)
{
if (imguiBeginScrollArea("Tools", 10, 10, 250, height - 20, &toolsScroll))
mouseOverMenu = true;
if (sample)
sample->handleTools();
imguiEndScrollArea();
}
// Marker
if (markerPositionSet && gluProject((GLdouble)markerPosition[0], (GLdouble)markerPosition[1], (GLdouble)markerPosition[2],
modelviewMatrix, projectionMatrix, viewport, &x, &y, &z))
{
// Draw marker circle
glLineWidth(5.0f);
glColor4ub(240,220,0,196);
glBegin(GL_LINE_LOOP);
const float r = 25.0f;
for (int i = 0; i < 20; ++i)
{
const float a = (float)i / 20.0f * RC_PI*2;
const float fx = (float)x + cosf(a)*r;
const float fy = (float)y + sinf(a)*r;
glVertex2f(fx,fy);
}
glEnd();
glLineWidth(1.0f);
}
imguiEndFrame();
imguiRenderGLDraw();
glEnable(GL_DEPTH_TEST);
SDL_GL_SwapWindow(window);
}
imguiRenderGLDestroy();
SDL_Quit();
delete sample;
delete geom;
return 0;
}

249
extern/recastnavigation/RecastDemo/cmake/FindSDL2.cmake vendored
Unescape Escape View File

@ -1,249 +0,0 @@
# - Find SDL2
# Find the SDL2 headers and libraries
#
# SDL2::SDL2 - Imported target to use for building a library
# SDL2::SDL2main - Imported interface target to use if you want SDL and SDLmain.
# SDL2_FOUND - True if SDL2 was found.
# SDL2_DYNAMIC - If we found a DLL version of SDL (meaning you might want to copy a DLL from SDL2::SDL2)
#
# Original Author:
# 2015 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
#
# Copyright Sensics, Inc. 2015.
# Distributed under the Boost Software License, Version 1.0.
# (See accompanying file LICENSE_1_0.txt or copy at
# http://www.boost.org/LICENSE_1_0.txt)
# Set up architectures (for windows) and prefixes (for mingw builds)
if(WIN32)
if(MINGW)
include(MinGWSearchPathExtras OPTIONAL)
if(MINGWSEARCH_TARGET_TRIPLE)
set(SDL2_PREFIX ${MINGWSEARCH_TARGET_TRIPLE})
endif()
endif()
if(CMAKE_SIZEOF_VOID_P EQUAL 8)
set(SDL2_LIB_PATH_SUFFIX lib/x64)
if(NOT MSVC AND NOT SDL2_PREFIX)
set(SDL2_PREFIX x86_64-w64-mingw32)
endif()
else()
set(SDL2_LIB_PATH_SUFFIX lib/x86)
if(NOT MSVC AND NOT SDL2_PREFIX)
set(SDL2_PREFIX i686-w64-mingw32)
endif()
endif()
endif()
if(SDL2_PREFIX)
set(SDL2_ORIGPREFIXPATH ${CMAKE_PREFIX_PATH})
if(SDL2_ROOT_DIR)
list(APPEND CMAKE_PREFIX_PATH "${SDL2_ROOT_DIR}")
endif()
if(CMAKE_PREFIX_PATH)
foreach(_prefix ${CMAKE_PREFIX_PATH})
list(APPEND CMAKE_PREFIX_PATH "${_prefix}/${SDL2_PREFIX}")
endforeach()
endif()
if(MINGWSEARCH_PREFIXES)
list(APPEND CMAKE_PREFIX_PATH ${MINGWSEARCH_PREFIXES})
endif()
endif()
# Invoke pkgconfig for hints
find_package(PkgConfig QUIET)
set(SDL2_INCLUDE_HINTS)
set(SDL2_LIB_HINTS)
if(PKG_CONFIG_FOUND)
pkg_search_module(SDL2PC QUIET sdl2)
if(SDL2PC_INCLUDE_DIRS)
set(SDL2_INCLUDE_HINTS ${SDL2PC_INCLUDE_DIRS})
endif()
if(SDL2PC_LIBRARY_DIRS)
set(SDL2_LIB_HINTS ${SDL2PC_LIBRARY_DIRS})
endif()
endif()
include(FindPackageHandleStandardArgs)
find_library(SDL2_LIBRARY
NAMES
SDL2
HINTS
${SDL2_LIB_HINTS}
PATHS
${SDL2_ROOT_DIR}
ENV SDL2DIR
PATH_SUFFIXES lib SDL2 ${SDL2_LIB_PATH_SUFFIX})
set(_sdl2_framework FALSE)
# Some special-casing if we've found/been given a framework.
# Handles whether we're given the library inside the framework or the framework itself.
if(APPLE AND "${SDL2_LIBRARY}" MATCHES "(/[^/]+)*.framework(/.*)?$")
set(_sdl2_framework TRUE)
set(SDL2_FRAMEWORK "${SDL2_LIBRARY}")
# Move up in the directory tree as required to get the framework directory.
while("${SDL2_FRAMEWORK}" MATCHES "(/[^/]+)*.framework(/.*)$" AND NOT "${SDL2_FRAMEWORK}" MATCHES "(/[^/]+)*.framework$")
get_filename_component(SDL2_FRAMEWORK "${SDL2_FRAMEWORK}" DIRECTORY)
endwhile()
if("${SDL2_FRAMEWORK}" MATCHES "(/[^/]+)*.framework$")
set(SDL2_FRAMEWORK_NAME ${CMAKE_MATCH_1})
# If we found a framework, do a search for the header ahead of time that will be more likely to get the framework header.
find_path(SDL2_INCLUDE_DIR
NAMES
SDL_haptic.h # this file was introduced with SDL2
HINTS
"${SDL2_FRAMEWORK}/Headers/")
else()
# For some reason we couldn't get the framework directory itself.
# Shouldn't happen, but might if something is weird.
unset(SDL2_FRAMEWORK)
endif()
endif()
find_path(SDL2_INCLUDE_DIR
NAMES
SDL_haptic.h # this file was introduced with SDL2
HINTS
${SDL2_INCLUDE_HINTS}
PATHS
${SDL2_ROOT_DIR}
ENV SDL2DIR
PATH_SUFFIXES include include/sdl2 include/SDL2 SDL2)
if(WIN32 AND SDL2_LIBRARY)
find_file(SDL2_RUNTIME_LIBRARY
NAMES
SDL2.dll
libSDL2.dll
HINTS
${SDL2_LIB_HINTS}
PATHS
${SDL2_ROOT_DIR}
ENV SDL2DIR
PATH_SUFFIXES bin lib ${SDL2_LIB_PATH_SUFFIX})
endif()
if(WIN32 OR ANDROID OR IOS OR (APPLE AND NOT _sdl2_framework))
set(SDL2_EXTRA_REQUIRED SDL2_SDLMAIN_LIBRARY)
find_library(SDL2_SDLMAIN_LIBRARY
NAMES
SDL2main
PATHS
${SDL2_ROOT_DIR}
ENV SDL2DIR
PATH_SUFFIXES lib ${SDL2_LIB_PATH_SUFFIX})
endif()
if(MINGW AND NOT SDL2PC_FOUND)
find_library(SDL2_MINGW_LIBRARY mingw32)
find_library(SDL2_MWINDOWS_LIBRARY mwindows)
endif()
if(SDL2_PREFIX)
# Restore things the way they used to be.
set(CMAKE_PREFIX_PATH ${SDL2_ORIGPREFIXPATH})
endif()
# handle the QUIETLY and REQUIRED arguments and set QUATLIB_FOUND to TRUE if
# all listed variables are TRUE
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(SDL2
DEFAULT_MSG
SDL2_LIBRARY
SDL2_INCLUDE_DIR
${SDL2_EXTRA_REQUIRED})
if(SDL2_FOUND)
if(NOT TARGET SDL2::SDL2)
# Create SDL2::SDL2
if(WIN32 AND SDL2_RUNTIME_LIBRARY)
set(SDL2_DYNAMIC TRUE)
add_library(SDL2::SDL2 SHARED IMPORTED)
set_target_properties(SDL2::SDL2
PROPERTIES
IMPORTED_IMPLIB "${SDL2_LIBRARY}"
IMPORTED_LOCATION "${SDL2_RUNTIME_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${SDL2_INCLUDE_DIR}"
)
else()
add_library(SDL2::SDL2 UNKNOWN IMPORTED)
if(SDL2_FRAMEWORK AND SDL2_FRAMEWORK_NAME)
# Handle the case that SDL2 is a framework and we were able to decompose it above.
set_target_properties(SDL2::SDL2 PROPERTIES
IMPORTED_LOCATION "${SDL2_FRAMEWORK}/${SDL2_FRAMEWORK_NAME}")
elseif(_sdl2_framework AND SDL2_LIBRARY MATCHES "(/[^/]+)*.framework$")
# Handle the case that SDL2 is a framework and SDL_LIBRARY is just the framework itself.
# This takes the basename of the framework, without the extension,
# and sets it (as a child of the framework) as the imported location for the target.
# This is the library symlink inside of the framework.
set_target_properties(SDL2::SDL2 PROPERTIES
IMPORTED_LOCATION "${SDL2_LIBRARY}/${CMAKE_MATCH_1}")
else()
# Handle non-frameworks (including non-Mac), as well as the case that we're given the library inside of the framework
set_target_properties(SDL2::SDL2 PROPERTIES
IMPORTED_LOCATION "${SDL2_LIBRARY}")
endif()
set_target_properties(SDL2::SDL2
PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${SDL2_INCLUDE_DIR}"
)
endif()
if(APPLE)
# Need Cocoa here, is always a framework
find_library(SDL2_COCOA_LIBRARY Cocoa)
list(APPEND SDL2_EXTRA_REQUIRED SDL2_COCOA_LIBRARY)
if(SDL2_COCOA_LIBRARY)
set_target_properties(SDL2::SDL2 PROPERTIES
IMPORTED_LINK_INTERFACE_LIBRARIES ${SDL2_COCOA_LIBRARY})
endif()
endif()
# Compute what to do with SDL2main
set(SDL2MAIN_LIBRARIES SDL2::SDL2)
add_library(SDL2::SDL2main INTERFACE IMPORTED)
if(SDL2_SDLMAIN_LIBRARY)
add_library(SDL2::SDL2main_real STATIC IMPORTED)
set_target_properties(SDL2::SDL2main_real
PROPERTIES
IMPORTED_LOCATION "${SDL2_SDLMAIN_LIBRARY}")
set(SDL2MAIN_LIBRARIES SDL2::SDL2main_real ${SDL2MAIN_LIBRARIES})
endif()
if(MINGW)
# MinGW requires some additional libraries to appear earlier in the link line.
if(SDL2PC_LIBRARIES)
# Use pkgconfig-suggested extra libraries if available.
list(REMOVE_ITEM SDL2PC_LIBRARIES SDL2main SDL2)
set(SDL2MAIN_LIBRARIES ${SDL2PC_LIBRARIES} ${SDL2MAIN_LIBRARIES})
else()
# fall back to extra libraries specified in pkg-config in
# an official binary distro of SDL2 for MinGW I downloaded
if(SDL2_MINGW_LIBRARY)
set(SDL2MAIN_LIBRARIES ${SDL2_MINGW_LIBRARY} ${SDL2MAIN_LIBRARIES})
endif()
if(SDL2_MWINDOWS_LIBRARY)
set(SDL2MAIN_LIBRARIES ${SDL2_MWINDOWS_LIBRARY} ${SDL2MAIN_LIBRARIES})
endif()
endif()
set_target_properties(SDL2::SDL2main
PROPERTIES
INTERFACE_COMPILE_DEFINITIONS "main=SDL_main")
endif()
set_target_properties(SDL2::SDL2main
PROPERTIES
INTERFACE_LINK_LIBRARIES "${SDL2MAIN_LIBRARIES}")
endif()
mark_as_advanced(SDL2_ROOT_DIR)
endif()
mark_as_advanced(SDL2_LIBRARY
SDL2_RUNTIME_LIBRARY
SDL2_INCLUDE_DIR
SDL2_SDLMAIN_LIBRARY
SDL2_COCOA_LIBRARY
SDL2_MINGW_LIBRARY
SDL2_MWINDOWS_LIBRARY)

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extern/recastnavigation/RecastDemo/premake5.lua vendored
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@ -1,259 +0,0 @@
--
-- premake5 file to build RecastDemo
-- http://premake.github.io/
--
local action = _ACTION or ""
local todir = "Build/" .. action
solution "recastnavigation"
configurations {
"Debug",
"Release"
}
location (todir)
floatingpoint "Fast"
symbols "On"
exceptionhandling "Off"
rtti "Off"
flags { "FatalCompileWarnings" }
-- debug configs
configuration "Debug*"
defines { "DEBUG" }
targetdir ( todir .. "/lib/Debug" )
-- release configs
configuration "Release*"
defines { "NDEBUG" }
optimize "On"
targetdir ( todir .. "/lib/Release" )
configuration "not windows"
warnings "Extra"
-- windows specific
configuration "windows"
platforms { "Win32", "Win64" }
defines { "WIN32", "_WINDOWS", "_CRT_SECURE_NO_WARNINGS", "_HAS_EXCEPTIONS=0" }
-- warnings "Extra" uses /W4 which is too aggressive for us, so use W3 instead.
-- Disable:
-- * C4351: new behavior for array initialization
buildoptions { "/W3", "/wd4351" }
filter "platforms:Win32"
architecture "x32"
filter "platforms:Win64"
architecture "x64"
project "DebugUtils"
language "C++"
kind "StaticLib"
includedirs {
"../DebugUtils/Include",
"../Detour/Include",
"../DetourTileCache/Include",
"../Recast/Include"
}
files {
"../DebugUtils/Include/*.h",
"../DebugUtils/Source/*.cpp"
}
project "Detour"
language "C++"
kind "StaticLib"
includedirs {
"../Detour/Include"
}
files {
"../Detour/Include/*.h",
"../Detour/Source/*.cpp"
}
project "DetourCrowd"
language "C++"
kind "StaticLib"
includedirs {
"../DetourCrowd/Include",
"../Detour/Include",
"../Recast/Include"
}
files {
"../DetourCrowd/Include/*.h",
"../DetourCrowd/Source/*.cpp"
}
project "DetourTileCache"
language "C++"
kind "StaticLib"
includedirs {
"../DetourTileCache/Include",
"../Detour/Include",
"../Recast/Include"
}
files {
"../DetourTileCache/Include/*.h",
"../DetourTileCache/Source/*.cpp"
}
project "Recast"
language "C++"
kind "StaticLib"
includedirs {
"../Recast/Include"
}
files {
"../Recast/Include/*.h",
"../Recast/Source/*.cpp"
}
project "RecastDemo"
language "C++"
kind "WindowedApp"
includedirs {
"../RecastDemo/Include",
"../RecastDemo/Contrib",
"../RecastDemo/Contrib/fastlz",
"../DebugUtils/Include",
"../Detour/Include",
"../DetourCrowd/Include",
"../DetourTileCache/Include",
"../Recast/Include"
}
files {
"../RecastDemo/Include/*.h",
"../RecastDemo/Source/*.cpp",
"../RecastDemo/Contrib/fastlz/*.h",
"../RecastDemo/Contrib/fastlz/*.c"
}
-- project dependencies
links {
"DebugUtils",
"Detour",
"DetourCrowd",
"DetourTileCache",
"Recast"
}
-- distribute executable in RecastDemo/Bin directory
targetdir "Bin"
-- linux library cflags and libs
configuration { "linux", "gmake" }
buildoptions {
"`pkg-config --cflags sdl2`",
"`pkg-config --cflags gl`",
"`pkg-config --cflags glu`"
}
linkoptions {
"`pkg-config --libs sdl2`",
"`pkg-config --libs gl`",
"`pkg-config --libs glu`"
}
-- windows library cflags and libs
configuration { "windows" }
includedirs { "../RecastDemo/Contrib/SDL/include" }
libdirs { "../RecastDemo/Contrib/SDL/lib/%{cfg.architecture:gsub('x86_64', 'x64')}" }
debugdir "../RecastDemo/Bin/"
links {
"glu32",
"opengl32",
"SDL2",
"SDL2main",
}
postbuildcommands {
-- Copy the SDL2 dll to the Bin folder.
'{COPY} "%{path.getabsolute("Contrib/SDL/lib/" .. cfg.architecture:gsub("x86_64", "x64") .. "/SDL2.dll")}" "%{cfg.targetdir}"'
}
-- mac includes and libs
configuration { "macosx" }
kind "ConsoleApp" -- xcode4 failes to run the project if using WindowedApp
includedirs { "/Library/Frameworks/SDL2.framework/Headers" }
links {
"OpenGL.framework",
"SDL2.framework",
"Cocoa.framework",
}
project "Tests"
language "C++"
kind "ConsoleApp"
-- Catch requires RTTI and exceptions
exceptionhandling "On"
rtti "On"
includedirs {
"../DebugUtils/Include",
"../Detour/Include",
"../DetourCrowd/Include",
"../DetourTileCache/Include",
"../Recast/Include",
"../Recast/Source",
"../Tests/Recast",
"../Tests",
}
files {
"../Tests/*.h",
"../Tests/*.hpp",
"../Tests/*.cpp",
"../Tests/Recast/*.h",
"../Tests/Recast/*.cpp",
"../Tests/Detour/*.h",
"../Tests/Detour/*.cpp",
}
-- project dependencies
links {
"DebugUtils",
"Detour",
"DetourCrowd",
"DetourTileCache",
"Recast",
}
-- distribute executable in RecastDemo/Bin directory
targetdir "Bin"
-- linux library cflags and libs
configuration { "linux", "gmake" }
buildoptions {
"`pkg-config --cflags sdl2`",
"`pkg-config --cflags gl`",
"`pkg-config --cflags glu`",
"-Wno-parentheses" -- Disable parentheses warning for the Tests target, as Catch's macros generate this everywhere.
}
linkoptions {
"`pkg-config --libs sdl2`",
"`pkg-config --libs gl`",
"`pkg-config --libs glu`"
}
-- windows library cflags and libs
configuration { "windows" }
includedirs { "../RecastDemo/Contrib/SDL/include" }
libdirs { "../RecastDemo/Contrib/SDL/lib/%{cfg.architecture:gsub('x86_64', 'x64')}" }
debugdir "../RecastDemo/Bin/"
links {
"glu32",
"opengl32",
"SDL2",
"SDL2main",
}
-- mac includes and libs
configuration { "macosx" }
kind "ConsoleApp"
includedirs { "/Library/Frameworks/SDL2.framework/Headers" }
links {
"OpenGL.framework",
"SDL2.framework",
"Cocoa.framework",
}

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12
extern/recastnavigation/Tests/CMakeLists.txt vendored
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file(GLOB TESTS_SOURCES *.cpp Detour/*.cpp Recast/*.cpp)
include_directories(../Detour/Include)
include_directories(../Recast/Include)
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
add_executable(Tests ${TESTS_SOURCES})
add_dependencies(Tests Recast Detour)
target_link_libraries(Tests Recast Detour)
add_test(Tests Tests)
install(TARGETS Tests RUNTIME DESTINATION bin)

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extern/recastnavigation/Tests/Detour/Tests_Detour.cpp vendored
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#include "catch.hpp"
#include "DetourCommon.h"
TEST_CASE("dtRandomPointInConvexPoly")
{
SECTION("Properly works when the argument 's' is 1.0f")
{
const float pts[] = {
0, 0, 0,
0, 0, 1,
1, 0, 0,
};
const int npts = 3;
float areas[6];
float out[3];
dtRandomPointInConvexPoly(pts, npts, areas, 0.0f, 1.0f, out);
REQUIRE(out[0] == Approx(0));
REQUIRE(out[1] == Approx(0));
REQUIRE(out[2] == Approx(1));
dtRandomPointInConvexPoly(pts, npts, areas, 0.5f, 1.0f, out);
REQUIRE(out[0] == Approx(1.0f / 2));
REQUIRE(out[1] == Approx(0));
REQUIRE(out[2] == Approx(1.0f / 2));
dtRandomPointInConvexPoly(pts, npts, areas, 1.0f, 1.0f, out);
REQUIRE(out[0] == Approx(1));
REQUIRE(out[1] == Approx(0));
REQUIRE(out[2] == Approx(0));
}
}

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extern/recastnavigation/Tests/catch.hpp vendored
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extern/recastnavigation/Tests/main.cpp vendored
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#define CATCH_CONFIG_MAIN
#include "catch.hpp"

51
extern/recastnavigation/appveyor.yml vendored
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shallow_clone: true
environment:
matrix:
- APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2013
PREMAKE_ACTION: vs2013
CMAKE_GENERATOR: Visual Studio 12 2013 Win64
- APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2015
PREMAKE_ACTION: vs2015
CMAKE_GENERATOR: Visual Studio 14 2015 Win64
- APPVEYOR_BUILD_WORKER_IMAGE: Visual Studio 2017
PREMAKE_ACTION: vs2017
CMAKE_GENERATOR: Visual Studio 15 2017 Win64
configuration:
- Debug
- Release
platform:
- Win64
install:
# Download Premake
- ps: Start-FileDownload 'https://github.com/premake/premake-core/releases/download/v5.0.0-alpha12/premake-5.0.0-alpha12-windows.zip' 'premake.zip'
# Extract it in-place; premake5.exe is at the top level.
- 7z x premake.zip
# Download SDL.
- ps: Start-FileDownload 'https://www.libsdl.org/release/SDL2-devel-2.0.4-VC.zip' 'RecastDemo/Contrib/SDL.zip'
# Extract it, put it in the right place, and rename it.
- cd RecastDemo\Contrib && 7z x SDL.zip && ren SDL2-2.0.4 SDL && cd ..\..
# Generate solution files using premake.
- cd RecastDemo && "../premake5.exe" %PREMAKE_ACTION% && cd ..
build:
project: RecastDemo/Build/$(PREMAKE_ACTION)/recastnavigation.sln
after_build:
- mkdir build
- cd build
- cmake -G "%CMAKE_GENERATOR%" -DCMAKE_BUILD_TYPE="%CONFIGURATION%" -D CMAKE_INSTALL_PREFIX=. ..
- cmake --build . --config "%CONFIGURATION%" --target install -- /m:%NUMBER_OF_PROCESSORS%
- ctest -V
- cd ..
after_test:
- RecastDemo\Bin\Tests.exe
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