Tool_NavMeshTester.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.
//
 
#pragma once
 
#include "DetourNavMesh.h"
#include "DetourNavMeshQuery.h"
#include "Sample.h"
 
class NavMeshTesterTool : public SampleTool
{
    static constexpr int MAX_POLYS = 256;
    static constexpr int MAX_SMOOTH = 2048;
    static constexpr int MAX_RAND_POINTS = 64;
 
    Sample* sample = nullptr;
 
    dtQueryFilter filter;
    dtStatus pathFindStatus = DT_FAILURE;
 
    enum class ToolMode : uint8_t
    {
        PATHFIND_FOLLOW,
        PATHFIND_STRAIGHT,
        PATHFIND_SLICED,
        RAYCAST,
        DISTANCE_TO_WALL,
        FIND_POLYS_IN_CIRCLE,
        FIND_POLYS_IN_SHAPE,
        FIND_LOCAL_NEIGHBORHOOD
    };
    ToolMode toolMode = ToolMode::PATHFIND_FOLLOW;
 
    int straightPathOptions = 0;
 
    dtPolyRef startRef = 0;
    dtPolyRef endRef = 0;
    dtPolyRef polys[MAX_POLYS];
    dtPolyRef parent[MAX_POLYS];
    int npolys = 0;
    float straightPath[MAX_POLYS * 3];
    unsigned char straightPathFlags[MAX_POLYS];
    dtPolyRef straightPathPolys[MAX_POLYS];
    int nstraightPath = 0;
    float polyPickExt[3] = {2, 4, 2};
 
    float smoothPath[MAX_SMOOTH * 3];
    int nsmoothPath = 0;
    float queryPoly[4 * 3];
 
    float randPoints[MAX_RAND_POINTS * 3];
    int nrandPoints = 0;
    bool randPointsInCircle = false;
 
    bool sposSet = false;
    float spos[3];
    bool eposSet = false;
    float epos[3];
 
    float hitPos[3];
    float hitNormal[3];
    bool hitResult = false;
    float distanceToWall = 0;
    float neighborhoodRadius = 2.5f;
    float randomRadius = 5.0f;
 
    int pathIterNum = 0;
    dtPolyRef pathIterPolys[MAX_POLYS];
    int pathIterPolyCount = 0;
    float prevIterPos[3];
    float iterPos[3];
    float steerPos[3];
    float targetPos[3];
 
    static constexpr int MAX_STEER_POINTS = 10;
    float steerPoints[MAX_STEER_POINTS * 3];
    int steerPointCount = 0;
 
public:
    NavMeshTesterTool();
 
    SampleToolType type() override { return SampleToolType::NAVMESH_TESTER; }
    void init(Sample* newSample) override;
    void reset() override;
    void drawMenuUI() override;
    void onClick(const float* s, const float* p, bool shift) override;
    void onToggle() override;
    void singleStep() override;
    void update(const float dt) override;
    void render() override;
    void drawOverlayUI() override;
 
    void recalc();
    void drawAgent(const float* pos, float r, float h, float c, const unsigned int col) const;
};