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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 "DebugDraw.h"
#include "DetourDebugDraw.h"
#include "DetourNavMesh.h"
#include "DetourCommon.h"
#include "DetourNode.h"


static float distancePtLine2d(const float* pt, const float* p, const float* q)
{
    float pqx = q[0] - p[0];
    float pqz = q[2] - p[2];
    float dx = pt[0] - p[0];
    float dz = pt[2] - p[2];
    float d = pqx*pqx + pqz*pqz;
    float t = pqx*dx + pqz*dz;
    if (d != 0) t /= d;
    dx = p[0] + t*pqx - pt[0];
    dz = p[2] + t*pqz - pt[2];
    return dx*dx + dz*dz;
}

static void drawPolyBoundaries(duDebugDraw* dd, const dtMeshTile* tile,
                               const unsigned int col, const float linew,
                               bool inner)
{
    static const float thr = 0.01f*0.01f;

    dd->begin(DU_DRAW_LINES, linew);

    for (int i = 0; i < tile->header->polyCount; ++i)
    {
        const dtPoly* p = &tile->polys[i];
        
        if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION) continue;
        
        const dtPolyDetail* pd = &tile->detailMeshes[i];
        
        for (int j = 0, nj = (int)p->vertCount; j < nj; ++j)
        {
            unsigned int c = col;
            if (inner)
            {
                if (p->neis[j] == 0) continue;
                if (p->neis[j] & DT_EXT_LINK)
                {
                    bool con = false;
                    for (unsigned int k = p->firstLink; k != DT_NULL_LINK; k = tile->links[k].next)
                    {
                        if (tile->links[k].edge == j)
                        {
                            con = true;
                            break;
                        }
                    }
                    if (con)
                        c = duRGBA(255,255,255,48);
                    else
                        c = duRGBA(0,0,0,48);
                }
                else
                    c = duRGBA(0,48,64,32);
            }
            else
            {
                if (p->neis[j] != 0) continue;
            }
            
            const float* v0 = &tile->verts[p->verts[j]*3];
            const float* v1 = &tile->verts[p->verts[(j+1) % nj]*3];
            
            // Draw detail mesh edges which align with the actual poly edge.
            // This is really slow.
            for (int k = 0; k < pd->triCount; ++k)
            {
                const unsigned char* t = &tile->detailTris[(pd->triBase+k)*4];
                const float* tv[3];
                for (int m = 0; m < 3; ++m)
                {
                    if (t[m] < p->vertCount)
                        tv[m] = &tile->verts[p->verts[t[m]]*3];
                    else
                        tv[m] = &tile->detailVerts[(pd->vertBase+(t[m]-p->vertCount))*3];
                }
                for (int m = 0, n = 2; m < 3; n=m++)
                {
                    if (((t[3] >> (n*2)) & 0x3) == 0) continue;    // Skip inner detail edges.
                    if (distancePtLine2d(tv[n],v0,v1) < thr &&
                        distancePtLine2d(tv[m],v0,v1) < thr)
                    {
                        dd->vertex(tv[n], c);
                        dd->vertex(tv[m], c);
                    }
                }
            }
        }
    }
    dd->end();
}

static void drawMeshTile(duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery* query,
                         const dtMeshTile* tile, unsigned char flags)
{
    dtPolyRef base = mesh.getPolyRefBase(tile);

    int tileNum = mesh.decodePolyIdTile(base);
    
    dd->depthMask(false);

    dd->begin(DU_DRAW_TRIS);
    for (int i = 0; i < tile->header->polyCount; ++i)
    {
        const dtPoly* p = &tile->polys[i];
        if (p->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)    // Skip off-mesh links.
            continue;
            
        const dtPolyDetail* pd = &tile->detailMeshes[i];

        unsigned int col;
        if (query && query->isInClosedList(base | (dtPolyRef)i))
            col = duRGBA(255,196,0,64);
        else
        {
            if (flags & DU_DRAWNAVMESH_COLOR_TILES)
            {
                col = duIntToCol(tileNum, 128);
            }
            else
            {
                if (p->getArea() == 0) // Treat zero area type as default.
                    col = duRGBA(0,192,255,64);
                else
                    col = duIntToCol(p->getArea(), 64);
            }
        }
        
        for (int j = 0; j < pd->triCount; ++j)
        {
            const unsigned char* t = &tile->detailTris[(pd->triBase+j)*4];
            for (int k = 0; k < 3; ++k)
            {
                if (t[k] < p->vertCount)
                    dd->vertex(&tile->verts[p->verts[t[k]]*3], col);
                else
                    dd->vertex(&tile->detailVerts[(pd->vertBase+t[k]-p->vertCount)*3], col);
            }
        }
    }
    dd->end();
    
    // Draw inter poly boundaries
    drawPolyBoundaries(dd, tile, duRGBA(0,48,64,32), 1.5f, true);
    
    // Draw outer poly boundaries
    drawPolyBoundaries(dd, tile, duRGBA(0,48,64,220), 2.5f, false);

    if (flags & DU_DRAWNAVMESH_OFFMESHCONS)
    {
        dd->begin(DU_DRAW_LINES, 2.0f);
        for (int i = 0; i < tile->header->polyCount; ++i)
        {
            const dtPoly* p = &tile->polys[i];
            if (p->getType() != DT_POLYTYPE_OFFMESH_CONNECTION)    // Skip regular polys.
                continue;
            
            unsigned int col, col2;
            if (query && query->isInClosedList(base | (dtPolyRef)i))
                col = duRGBA(255,196,0,220);
            else
                col = duDarkenCol(duIntToCol(p->getArea(), 220));
            
            const dtOffMeshConnection* con = &tile->offMeshCons[i - tile->header->offMeshBase];
            const float* va = &tile->verts[p->verts[0]*3];
            const float* vb = &tile->verts[p->verts[1]*3];

            // Check to see if start and end end-points have links.
            bool startSet = false;
            bool endSet = false;
            for (unsigned int k = p->firstLink; k != DT_NULL_LINK; k = tile->links[k].next)
            {
                if (tile->links[k].edge == 0)
                    startSet = true;
                if (tile->links[k].edge == 1)
                    endSet = true;
            }
            
            // End points and their on-mesh locations.
            dd->vertex(va[0],va[1],va[2], col);
            dd->vertex(con->pos[0],con->pos[1],con->pos[2], col);
            col2 = startSet ? col : duRGBA(220,32,16,196);
            duAppendCircle(dd, con->pos[0],con->pos[1]+0.1f,con->pos[2], con->rad, col2);

            dd->vertex(vb[0],vb[1],vb[2], col);
            dd->vertex(con->pos[3],con->pos[4],con->pos[5], col);
            col2 = endSet ? col : duRGBA(220,32,16,196);
            duAppendCircle(dd, con->pos[3],con->pos[4]+0.1f,con->pos[5], con->rad, col2);
            
            // End point vertices.
            dd->vertex(con->pos[0],con->pos[1],con->pos[2], duRGBA(0,48,64,196));
            dd->vertex(con->pos[0],con->pos[1]+0.2f,con->pos[2], duRGBA(0,48,64,196));
            
            dd->vertex(con->pos[3],con->pos[4],con->pos[5], duRGBA(0,48,64,196));
            dd->vertex(con->pos[3],con->pos[4]+0.2f,con->pos[5], duRGBA(0,48,64,196));
            
            // Connection arc.
            duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f,
                        (con->flags & 1) ? 0.6f : 0, 0.6f, col);
        }
        dd->end();
    }
    
    const unsigned int vcol = duRGBA(0,0,0,196);
    dd->begin(DU_DRAW_POINTS, 3.0f);
    for (int i = 0; i < tile->header->vertCount; ++i)
    {
        const float* v = &tile->verts[i*3];
        dd->vertex(v[0], v[1], v[2], vcol);
    }
    dd->end();

    dd->depthMask(true);
}

void duDebugDrawNavMesh(duDebugDraw* dd, const dtNavMesh& mesh, unsigned char flags)
{
    if (!dd) return;
    
    for (int i = 0; i < mesh.getMaxTiles(); ++i)
    {
        const dtMeshTile* tile = mesh.getTile(i);
        if (!tile->header) continue;
        drawMeshTile(dd, mesh, 0, tile, flags);
    }
}

void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery& query, unsigned char flags)
{
    if (!dd) return;

    const dtNavMeshQuery* q = (flags & DU_DRAWNAVMESH_CLOSEDLIST) ? &query : 0;
    
    for (int i = 0; i < mesh.getMaxTiles(); ++i)
    {
        const dtMeshTile* tile = mesh.getTile(i);
        if (!tile->header) continue;
        drawMeshTile(dd, mesh, q, tile, flags);
    }
}

void duDebugDrawNavMeshNodes(struct duDebugDraw* dd, const dtNavMeshQuery& query)
{
    if (!dd) return;
    
    const dtNodePool* pool = query.getNodePool();
    if (pool)
    {
        const float off = 0.5f;
        dd->begin(DU_DRAW_POINTS, 4.0f);
        for (int i = 0; i < pool->getHashSize(); ++i)
        {
            for (dtNodeIndex j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j))
            {
                const dtNode* node = pool->getNodeAtIdx(j+1);
                if (!node) continue;
                dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,255));
            }
        }
        dd->end();
        
        dd->begin(DU_DRAW_LINES, 2.0f);
        for (int i = 0; i < pool->getHashSize(); ++i)
        {
            for (dtNodeIndex j = pool->getFirst(i); j != DT_NULL_IDX; j = pool->getNext(j))
            {
                const dtNode* node = pool->getNodeAtIdx(j+1);
                if (!node) continue;
                if (!node->pidx) continue;
                const dtNode* parent = pool->getNodeAtIdx(node->pidx);
                if (!parent) continue;
                dd->vertex(node->pos[0],node->pos[1]+off,node->pos[2], duRGBA(255,192,0,128));
                dd->vertex(parent->pos[0],parent->pos[1]+off,parent->pos[2], duRGBA(255,192,0,128));
            }
        }
        dd->end();
    }
}


static void drawMeshTileBVTree(duDebugDraw* dd, const dtMeshTile* tile)
{
    // Draw BV nodes.
    const float cs = 1.0f / tile->header->bvQuantFactor;
    dd->begin(DU_DRAW_LINES, 1.0f);
    for (int i = 0; i < tile->header->bvNodeCount; ++i)
    {
        const dtBVNode* n = &tile->bvTree[i];
        if (n->i < 0) // Leaf indices are positive.
            continue;
        duAppendBoxWire(dd, tile->header->bmin[0] + n->bmin[0]*cs,
                        tile->header->bmin[1] + n->bmin[1]*cs,
                        tile->header->bmin[2] + n->bmin[2]*cs,
                        tile->header->bmin[0] + n->bmax[0]*cs,
                        tile->header->bmin[1] + n->bmax[1]*cs,
                        tile->header->bmin[2] + n->bmax[2]*cs,
                        duRGBA(255,255,255,128));
    }
    dd->end();
}

void duDebugDrawNavMeshBVTree(duDebugDraw* dd, const dtNavMesh& mesh)
{
    if (!dd) return;
    
    for (int i = 0; i < mesh.getMaxTiles(); ++i)
    {
        const dtMeshTile* tile = mesh.getTile(i);
        if (!tile->header) continue;
        drawMeshTileBVTree(dd, tile);
    }
}

static void drawMeshTilePortal(duDebugDraw* dd, const dtMeshTile* tile)
{
    // Draw portals
    const float padx = 0.04f;
    const float pady = tile->header->walkableClimb;

    dd->begin(DU_DRAW_LINES, 2.0f);

    for (int side = 0; side < 8; ++side)
    {
        unsigned short m = DT_EXT_LINK | (unsigned short)side;
        
        for (int i = 0; i < tile->header->polyCount; ++i)
        {
            dtPoly* poly = &tile->polys[i];
            
            // Create new links.
            const int nv = poly->vertCount;
            for (int j = 0; j < nv; ++j)
            {
                // Skip edges which do not point to the right side.
                if (poly->neis[j] != m)
                    continue;
                
                // Create new links
                const float* va = &tile->verts[poly->verts[j]*3];
                const float* vb = &tile->verts[poly->verts[(j+1) % nv]*3];
                
                if (side == 0 || side == 4)
                {
                    unsigned int col = side == 0 ? duRGBA(128,0,0,128) : duRGBA(128,0,128,128);

                    const float x = va[0] + ((side == 0) ? -padx : padx);
                    
                    dd->vertex(x,va[1]-pady,va[2], col);
                    dd->vertex(x,va[1]+pady,va[2], col);

                    dd->vertex(x,va[1]+pady,va[2], col);
                    dd->vertex(x,vb[1]+pady,vb[2], col);

                    dd->vertex(x,vb[1]+pady,vb[2], col);
                    dd->vertex(x,vb[1]-pady,vb[2], col);

                    dd->vertex(x,vb[1]-pady,vb[2], col);
                    dd->vertex(x,va[1]-pady,va[2], col);
                }
                else if (side == 2 || side == 6)
                {
                    unsigned int col = side == 2 ? duRGBA(0,128,0,128) : duRGBA(0,128,128,128);

                    const float z = va[2] + ((side == 2) ? -padx : padx);
                    
                    dd->vertex(va[0],va[1]-pady,z, col);
                    dd->vertex(va[0],va[1]+pady,z, col);
                    
                    dd->vertex(va[0],va[1]+pady,z, col);
                    dd->vertex(vb[0],vb[1]+pady,z, col);
                    
                    dd->vertex(vb[0],vb[1]+pady,z, col);
                    dd->vertex(vb[0],vb[1]-pady,z, col);
                    
                    dd->vertex(vb[0],vb[1]-pady,z, col);
                    dd->vertex(va[0],va[1]-pady,z, col);
                }

            }
        }
    }
    
    dd->end();
}

void duDebugDrawNavMeshPortals(duDebugDraw* dd, const dtNavMesh& mesh)
{
    if (!dd) return;
    
    for (int i = 0; i < mesh.getMaxTiles(); ++i)
    {
        const dtMeshTile* tile = mesh.getTile(i);
        if (!tile->header) continue;
        drawMeshTilePortal(dd, tile);
    }
}

void duDebugDrawNavMeshPolysWithFlags(struct duDebugDraw* dd, const dtNavMesh& mesh,
                                      const unsigned short polyFlags, const unsigned int col)
{
    if (!dd) return;
    
    for (int i = 0; i < mesh.getMaxTiles(); ++i)
    {
        const dtMeshTile* tile = mesh.getTile(i);
        if (!tile->header) continue;
        dtPolyRef base = mesh.getPolyRefBase(tile);

        for (int j = 0; j < tile->header->polyCount; ++j)
        {
            const dtPoly* p = &tile->polys[j];
            if ((p->flags & polyFlags) == 0) continue;
            duDebugDrawNavMeshPoly(dd, mesh, base|(dtPolyRef)j, col);
        }
    }
}

void duDebugDrawNavMeshPoly(duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef ref, const unsigned int col)
{
    if (!dd) return;
    
    const dtMeshTile* tile = 0;
    const dtPoly* poly = 0;
    if (dtStatusFailed(mesh.getTileAndPolyByRef(ref, &tile, &poly)))
        return;
    
    dd->depthMask(false);
    
    const unsigned int c = (col & 0x00ffffff) | (64 << 24);
    const unsigned int ip = (unsigned int)(poly - tile->polys);

    if (poly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)
    {
        dtOffMeshConnection* con = &tile->offMeshCons[ip - tile->header->offMeshBase];

        dd->begin(DU_DRAW_LINES, 2.0f);

        // Connection arc.
        duAppendArc(dd, con->pos[0],con->pos[1],con->pos[2], con->pos[3],con->pos[4],con->pos[5], 0.25f,
                    (con->flags & 1) ? 0.6f : 0, 0.6f, c);
        
        dd->end();
    }
    else
    {
        const dtPolyDetail* pd = &tile->detailMeshes[ip];

        dd->begin(DU_DRAW_TRIS);
        for (int i = 0; i < pd->triCount; ++i)
        {
            const unsigned char* t = &tile->detailTris[(pd->triBase+i)*4];
            for (int j = 0; j < 3; ++j)
            {
                if (t[j] < poly->vertCount)
                    dd->vertex(&tile->verts[poly->verts[t[j]]*3], c);
                else
                    dd->vertex(&tile->detailVerts[(pd->vertBase+t[j]-poly->vertCount)*3], c);
            }
        }
        dd->end();
    }
    
    dd->depthMask(true);

}

static void debugDrawTileCachePortals(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch)
{
    const int w = (int)layer.header->width;
    const int h = (int)layer.header->height;
    const float* bmin = layer.header->bmin;

    // Portals
    unsigned int pcol = duRGBA(255,255,255,255);
    
    const int segs[4*4] = {0,0,0,1, 0,1,1,1, 1,1,1,0, 1,0,0,0};
    
    // Layer portals
    dd->begin(DU_DRAW_LINES, 2.0f);
    for (int y = 0; y < h; ++y)
    {
        for (int x = 0; x < w; ++x)
        {
            const int idx = x+y*w;
            const int lh = (int)layer.heights[idx];
            if (lh == 0xff) continue;
            
            for (int dir = 0; dir < 4; ++dir)
            {
                if (layer.cons[idx] & (1<<(dir+4)))
                {
                    const int* seg = &segs[dir*4];
                    const float ax = bmin[0] + (x+seg[0])*cs;
                    const float ay = bmin[1] + (lh+2)*ch;
                    const float az = bmin[2] + (y+seg[1])*cs;
                    const float bx = bmin[0] + (x+seg[2])*cs;
                    const float by = bmin[1] + (lh+2)*ch;
                    const float bz = bmin[2] + (y+seg[3])*cs;
                    dd->vertex(ax, ay, az, pcol);
                    dd->vertex(bx, by, bz, pcol);
                }
            }
        }
    }
    dd->end();
}

void duDebugDrawTileCacheLayerAreas(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch)
{
    const int w = (int)layer.header->width;
    const int h = (int)layer.header->height;
    const float* bmin = layer.header->bmin;
    const float* bmax = layer.header->bmax;
    const int idx = layer.header->tlayer;
    
    unsigned int color = duIntToCol(idx+1, 255);
    
    // Layer bounds
    float lbmin[3], lbmax[3];
    lbmin[0] = bmin[0] + layer.header->minx*cs;
    lbmin[1] = bmin[1];
    lbmin[2] = bmin[2] + layer.header->miny*cs;
    lbmax[0] = bmin[0] + (layer.header->maxx+1)*cs;
    lbmax[1] = bmax[1];
    lbmax[2] = bmin[2] + (layer.header->maxy+1)*cs;
    duDebugDrawBoxWire(dd, lbmin[0],lbmin[1],lbmin[2], lbmax[0],lbmax[1],lbmax[2], duTransCol(color,128), 2.0f);
    
    // Layer height
    dd->begin(DU_DRAW_QUADS);
    for (int y = 0; y < h; ++y)
    {
        for (int x = 0; x < w; ++x)
        {
            const int lidx = x+y*w;
            const int lh = (int)layer.heights[lidx];
            if (lh == 0xff) continue;
            const unsigned char area = layer.areas[lidx];
            
            unsigned int col;
            if (area == 63)
                col = duLerpCol(color, duRGBA(0,192,255,64), 32);
            else if (area == 0)
                col = duLerpCol(color, duRGBA(0,0,0,64), 32);
            else
                col = duLerpCol(color, duIntToCol(area, 255), 32);
            
            const float fx = bmin[0] + x*cs;
            const float fy = bmin[1] + (lh+1)*ch;
            const float fz = bmin[2] + y*cs;
            
            dd->vertex(fx, fy, fz, col);
            dd->vertex(fx, fy, fz+cs, col);
            dd->vertex(fx+cs, fy, fz+cs, col);
            dd->vertex(fx+cs, fy, fz, col);
        }
    }
    dd->end();
    
    debugDrawTileCachePortals(dd, layer, cs, ch);
}

void duDebugDrawTileCacheLayerRegions(struct duDebugDraw* dd, const dtTileCacheLayer& layer, const float cs, const float ch)
{
    const int w = (int)layer.header->width;
    const int h = (int)layer.header->height;
    const float* bmin = layer.header->bmin;
    const float* bmax = layer.header->bmax;
    const int idx = layer.header->tlayer;
    
    unsigned int color = duIntToCol(idx+1, 255);
    
    // Layer bounds
    float lbmin[3], lbmax[3];
    lbmin[0] = bmin[0] + layer.header->minx*cs;
    lbmin[1] = bmin[1];
    lbmin[2] = bmin[2] + layer.header->miny*cs;
    lbmax[0] = bmin[0] + (layer.header->maxx+1)*cs;
    lbmax[1] = bmax[1];
    lbmax[2] = bmin[2] + (layer.header->maxy+1)*cs;
    duDebugDrawBoxWire(dd, lbmin[0],lbmin[1],lbmin[2], lbmax[0],lbmax[1],lbmax[2], duTransCol(color,128), 2.0f);
    
    // Layer height
    dd->begin(DU_DRAW_QUADS);
    for (int y = 0; y < h; ++y)
    {
        for (int x = 0; x < w; ++x)
        {
            const int lidx = x+y*w;
            const int lh = (int)layer.heights[lidx];
            if (lh == 0xff) continue;
            const unsigned char reg = layer.regs[lidx];
            
            unsigned int col = duLerpCol(color, duIntToCol(reg, 255), 192);
            
            const float fx = bmin[0] + x*cs;
            const float fy = bmin[1] + (lh+1)*ch;
            const float fz = bmin[2] + y*cs;
            
            dd->vertex(fx, fy, fz, col);
            dd->vertex(fx, fy, fz+cs, col);
            dd->vertex(fx+cs, fy, fz+cs, col);
            dd->vertex(fx+cs, fy, fz, col);
        }
    }
    dd->end();
    
    debugDrawTileCachePortals(dd, layer, cs, ch);
}




/*struct dtTileCacheContour
{
    int nverts;
    unsigned char* verts;
    unsigned char reg;
    unsigned char area;
};

struct dtTileCacheContourSet
{
    int nconts;
    dtTileCacheContour* conts;
};*/

void duDebugDrawTileCacheContours(duDebugDraw* dd, const struct dtTileCacheContourSet& lcset,
                                  const float* orig, const float cs, const float ch)
{
    if (!dd) return;
    
    const unsigned char a = 255;// (unsigned char)(alpha*255.0f);
    
    const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1};
    
    dd->begin(DU_DRAW_LINES, 2.0f);
    
    for (int i = 0; i < lcset.nconts; ++i)
    {
        const dtTileCacheContour& c = lcset.conts[i];
        unsigned int color = 0;
        
        color = duIntToCol(i, a);
        
        for (int j = 0; j < c.nverts; ++j)
        {
            const int k = (j+1) % c.nverts;
            const unsigned char* va = &c.verts[j*4];
            const unsigned char* vb = &c.verts[k*4];
            const float ax = orig[0] + va[0]*cs;
            const float ay = orig[1] + (va[1]+1+(i&1))*ch;
            const float az = orig[2] + va[2]*cs;
            const float bx = orig[0] + vb[0]*cs;
            const float by = orig[1] + (vb[1]+1+(i&1))*ch;
            const float bz = orig[2] + vb[2]*cs;
            unsigned int col = color;
            if ((va[3] & 0xf) != 0xf)
            {
                // Portal segment
                col = duRGBA(255,255,255,128);
                int d = va[3] & 0xf;
                
                const float cx = (ax+bx)*0.5f;
                const float cy = (ay+by)*0.5f;
                const float cz = (az+bz)*0.5f;
                
                const float dx = cx + offs[d*2+0]*2*cs;
                const float dy = cy;
                const float dz = cz + offs[d*2+1]*2*cs;
                
                dd->vertex(cx,cy,cz,duRGBA(255,0,0,255));
                dd->vertex(dx,dy,dz,duRGBA(255,0,0,255));
            }
            
            duAppendArrow(dd, ax,ay,az, bx,by,bz, 0.0f, cs*0.5f, col);
        }
    }
    dd->end();
    
    dd->begin(DU_DRAW_POINTS, 4.0f);    
    
    for (int i = 0; i < lcset.nconts; ++i)
    {
        const dtTileCacheContour& c = lcset.conts[i];
        unsigned int color = 0;
        
        for (int j = 0; j < c.nverts; ++j)
        {
            const unsigned char* va = &c.verts[j*4];
            
            color = duDarkenCol(duIntToCol(i, a));
            if (va[3] & 0x80)
            {
                // Border vertex
                color = duRGBA(255,0,0,255);
            }
            
            float fx = orig[0] + va[0]*cs;
            float fy = orig[1] + (va[1]+1+(i&1))*ch;
            float fz = orig[2] + va[2]*cs;
            dd->vertex(fx,fy,fz, color);
        }
    }
    dd->end();
}

void duDebugDrawTileCachePolyMesh(duDebugDraw* dd, const struct dtTileCachePolyMesh& lmesh,
                                  const float* orig, const float cs, const float ch)
{
    if (!dd) return;
    
    const int nvp = lmesh.nvp;
    
    const int offs[2*4] = {-1,0, 0,1, 1,0, 0,-1};
    
    dd->begin(DU_DRAW_TRIS);
    
    for (int i = 0; i < lmesh.npolys; ++i)
    {
        const unsigned short* p = &lmesh.polys[i*nvp*2];
        
        unsigned int color;
        if (lmesh.areas[i] == DT_TILECACHE_WALKABLE_AREA)
            color = duRGBA(0,192,255,64);
        else if (lmesh.areas[i] == DT_TILECACHE_NULL_AREA)
            color = duRGBA(0,0,0,64);
        else
            color = duIntToCol(lmesh.areas[i], 255);
        
        unsigned short vi[3];
        for (int j = 2; j < nvp; ++j)
        {
            if (p[j] == DT_TILECACHE_NULL_IDX) break;
            vi[0] = p[0];
            vi[1] = p[j-1];
            vi[2] = p[j];
            for (int k = 0; k < 3; ++k)
            {
                const unsigned short* v = &lmesh.verts[vi[k]*3];
                const float x = orig[0] + v[0]*cs;
                const float y = orig[1] + (v[1]+1)*ch;
                const float z = orig[2] + v[2]*cs;
                dd->vertex(x,y,z, color);
            }
        }
    }
    dd->end();
    
    // Draw neighbours edges
    const unsigned int coln = duRGBA(0,48,64,32);
    dd->begin(DU_DRAW_LINES, 1.5f);
    for (int i = 0; i < lmesh.npolys; ++i)
    {
        const unsigned short* p = &lmesh.polys[i*nvp*2];
        for (int j = 0; j < nvp; ++j)
        {
            if (p[j] == DT_TILECACHE_NULL_IDX) break;
            if (p[nvp+j] & 0x8000) continue;
            const int nj = (j+1 >= nvp || p[j+1] == DT_TILECACHE_NULL_IDX) ? 0 : j+1; 
            int vi[2] = {p[j], p[nj]};
            
            for (int k = 0; k < 2; ++k)
            {
                const unsigned short* v = &lmesh.verts[vi[k]*3];
                const float x = orig[0] + v[0]*cs;
                const float y = orig[1] + (v[1]+1)*ch + 0.1f;
                const float z = orig[2] + v[2]*cs;
                dd->vertex(x, y, z, coln);
            }
        }
    }
    dd->end();
    
    // Draw boundary edges
    const unsigned int colb = duRGBA(0,48,64,220);
    dd->begin(DU_DRAW_LINES, 2.5f);
    for (int i = 0; i < lmesh.npolys; ++i)
    {
        const unsigned short* p = &lmesh.polys[i*nvp*2];
        for (int j = 0; j < nvp; ++j)
        {
            if (p[j] == DT_TILECACHE_NULL_IDX) break;
            if ((p[nvp+j] & 0x8000) == 0) continue;
            const int nj = (j+1 >= nvp || p[j+1] == DT_TILECACHE_NULL_IDX) ? 0 : j+1; 
            int vi[2] = {p[j], p[nj]};
            
            unsigned int col = colb;
            if ((p[nvp+j] & 0xf) != 0xf)
            {
                const unsigned short* va = &lmesh.verts[vi[0]*3];
                const unsigned short* vb = &lmesh.verts[vi[1]*3];
                
                const float ax = orig[0] + va[0]*cs;
                const float ay = orig[1] + (va[1]+1+(i&1))*ch;
                const float az = orig[2] + va[2]*cs;
                const float bx = orig[0] + vb[0]*cs;
                const float by = orig[1] + (vb[1]+1+(i&1))*ch;
                const float bz = orig[2] + vb[2]*cs;
                
                const float cx = (ax+bx)*0.5f;
                const float cy = (ay+by)*0.5f;
                const float cz = (az+bz)*0.5f;
                
                int d = p[nvp+j] & 0xf;
                
                const float dx = cx + offs[d*2+0]*2*cs;
                const float dy = cy;
                const float dz = cz + offs[d*2+1]*2*cs;
                
                dd->vertex(cx,cy,cz,duRGBA(255,0,0,255));
                dd->vertex(dx,dy,dz,duRGBA(255,0,0,255));
                
                col = duRGBA(255,255,255,128);
            }
            
            for (int k = 0; k < 2; ++k)
            {
                const unsigned short* v = &lmesh.verts[vi[k]*3];
                const float x = orig[0] + v[0]*cs;
                const float y = orig[1] + (v[1]+1)*ch + 0.1f;
                const float z = orig[2] + v[2]*cs;
                dd->vertex(x, y, z, col);
            }
        }
    }
    dd->end();
    
    dd->begin(DU_DRAW_POINTS, 3.0f);
    const unsigned int colv = duRGBA(0,0,0,220);
    for (int i = 0; i < lmesh.nverts; ++i)
    {
        const unsigned short* v = &lmesh.verts[i*3];
        const float x = orig[0] + v[0]*cs;
        const float y = orig[1] + (v[1]+1)*ch + 0.1f;
        const float z = orig[2] + v[2]*cs;
        dd->vertex(x,y,z, colv);
    }
    dd->end();
}



Commits for Divide-Framework/trunk/Source Code/Libs/src/ReCast/DebugUtils/Source/DetourDebugDraw.cpp

Diff revisions: vs.
Revision Author Commited Message
337 Diff Diff IonutCava picture IonutCava Wed 17 Dec, 2014 17:25:16 +0000

[Ionut]
- Replaced all tabs with 4 spaces (some spacing may be off now. no way to check all the files.)
- Moved implementation details for ParamHandler, BoundingBox, BoundingSphere and ProfileTimer to proper .inl and .cpp files. (more to follow)
- Update all forward declared enums with the required storage type (as requested by the C++11 standard)

315 Diff Diff IonutCava picture IonutCava Mon 25 Aug, 2014 15:23:33 +0000

[Ionut]
- Update ReCast to the latest version available on GitHub
- Improved nav mesh target point selection
- Added basic “go to enemy flag” logic for the WarScene teams

152 Diff Diff k1ngp1n picture k1ngp1n Thu 20 Jun, 2013 14:23:31 +0000

[Ionut] [[BR]]
- New rendering pipeline (experimental and unstable): [[BR]]
— OpenGL 3.x clean context (glLight commands are still used for now, but UBO support is there, but not used yet) [[BR]]
— Custom matrix stacks and UBO based shader data (UBOs cause some link errors on some nVidia cards)[[BR]]
— Multi-threaded texture loading and shader compilation (mt shader compilation disabled for now. needs more tests) [[BR]]
— VAO rendering is self contained (no more enable/disable calls before a draw request) [[BR]]
— Render instance class used for rendering information [[BR]]
[[BR]]
- New unique ID generation base class: GUIDWrapper. Each class that derives from this, gets an application wide unique id on construction [[BR]]
- Added base code for an in-game editor using CEGUI [[BR]]
- Replaced some mutex locks with lockless data structures or atomic data [[BR]]
- CEGUI 0.8.2, FTGL-GL3 and GLIM 0.4 modified to support GLEW_MX if defined [[BR]]
- Dropped VS2008 support [[BR]]
- Networking library, server framework and ReCast files are now projects inside the Divide Framework solution [[BR]]
- New console command “setFov” that modifies the horizontal FoV value in realtime [[BR]]
- New console command “recompileShader” that reparses shader files, recompiles shaders and relinks shader programs who’s names match or contain the argument string [[BR]]
- New debug utility: axis angle drawn in corner of the screen if needed [[BR]]
- More ‘const’-s pasted around the code, more loop performance tweaks (allocations before a loop, tighter loops, etc), more utility member functions added to various classes [[BR]]

151 k1ngp1n picture k1ngp1n Tue 07 May, 2013 00:00:52 +0000

[Ionut] [[BR]]
- Better ReCast integration [[BR]]
— Any entity can be used as an obstacle in the NavMesh if that’s specified in each scene’s assets.xml file for said entity [[BR]]
— New console command, “createNavMesh”, that passes geometry data to ReCast [[BR]]
-— NavMesh generation is not yet complete [[BR]]
- Better PhysX integration [[BR]]
— Each scene passes data to and gets data from the Physics API better and safer[[BR]]
- Multi-threaded support extended: [[BR]]
— Event class replaced with Task [[BR]]
— Kernel uses a threadpool for scene tasks [[BR]]
— Each task can be added to a different threadpool if needed [[BR]]
— Most critical sections use the new boost::atomic wrapper for thread safety [[BR]]
- Rendering system updated [[BR]]
— VBO’s keep track of the geometry type internally [[BR]]
— Rendering by specific element list is internal to the VBO [[BR]]
— VBO’s can draw a “lite” version that doesn’t send Tangent, BiTangent and TexCoord data for depth rendering (disabled) [[BR]]
- Reflectors now offer a preview of the generated reflective texture if needed [[BR]]
- Buttons are now added and rendered by CEGUI [[BR]]
[[BR]]
Deprecation: [[BR]]
- Removed fixed pipeline material system [[BR]]
- Removed BoundingBox late update system [[BR]]
- Shadow references in the material system are now depth references [[BR]]
[[BR]]
Bug fixes: [[BR]]
- Problematic FBO double bind check removed [[BR]]
- Faster terrain rendering via chunk size selection through each scene’s terrain.xml[[BR]]
- Rendering is paused when the window is minimized [[BR]]
- CEGUI and impostors now render properly in deferred rendering mode [[BR]]
- Fixed various level 4 (VS2008) warnings [[BR]]
- Better state management and cleaning [[BR]]
- Better SceneGraph node management and trasformation/AABB update calls [[BR]]
- AITenisScene has proper collisions now [[BR]]