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70 lines
2.7 KiB
C++
70 lines
2.7 KiB
C++
#include "navmesh.hpp"
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#include "detourdebugdraw.hpp"
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#include <components/detournavigator/settings.hpp>
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#include <components/detournavigator/recastmesh.hpp>
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#include <components/detournavigator/recastmeshbuilder.hpp>
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#include <RecastDebugDraw.h>
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#include <osg/Group>
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#include <algorithm>
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#include <vector>
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namespace
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{
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std::vector<float> calculateNormals(const std::vector<float>& vertices, const std::vector<int>& indices)
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{
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std::vector<float> result(indices.size());
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for (std::size_t i = 0, n = indices.size(); i < n; i += 3)
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{
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const float* v0_ptr = &vertices[indices[i] * 3];
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const float* v1_ptr = &vertices[indices[i + 1] * 3];
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const float* v2_ptr = &vertices[indices[i + 2] * 3];
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const osg::Vec3f v0(v0_ptr[0], v0_ptr[1], v0_ptr[2]);
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const osg::Vec3f v1(v1_ptr[0], v1_ptr[1], v1_ptr[2]);
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const osg::Vec3f v2(v2_ptr[0], v2_ptr[1], v2_ptr[2]);
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const osg::Vec3f e0 = v1 - v0;
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const osg::Vec3f e1 = v2 - v0;
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osg::Vec3f normal = e0 ^ e1;
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normal.normalize();
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for (std::size_t j = 0; j < 3; ++j)
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result[i + j] = normal[j];
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}
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return result;
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}
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}
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namespace SceneUtil
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{
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osg::ref_ptr<osg::Group> createRecastMeshGroup(const DetourNavigator::RecastMesh& recastMesh,
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const DetourNavigator::Settings& settings)
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{
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using namespace DetourNavigator;
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const osg::ref_ptr<osg::Group> group(new osg::Group);
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DebugDraw debugDraw(*group, osg::Vec3f(0, 0, 0), 1.0f);
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const DetourNavigator::Mesh& mesh = recastMesh.getMesh();
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std::vector<int> indices = mesh.getIndices();
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std::vector<float> vertices = mesh.getVertices();
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for (const Heightfield& heightfield : recastMesh.getHeightfields())
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{
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const Mesh mesh = makeMesh(heightfield);
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const int indexShift = static_cast<int>(vertices.size() / 3);
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std::copy(mesh.getVertices().begin(), mesh.getVertices().end(), std::back_inserter(vertices));
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std::transform(mesh.getIndices().begin(), mesh.getIndices().end(), std::back_inserter(indices),
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[&] (int index) { return index + indexShift; });
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}
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for (std::size_t i = 0; i < vertices.size(); i += 3)
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std::swap(vertices[i + 1], vertices[i + 2]);
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const auto normals = calculateNormals(vertices, indices);
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const auto texScale = 1.0f / (settings.mCellSize * 10.0f);
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duDebugDrawTriMesh(&debugDraw, vertices.data(), static_cast<int>(vertices.size() / 3),
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indices.data(), normals.data(), static_cast<int>(indices.size() / 3), nullptr, texScale);
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return group;
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}
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}
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