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//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#define _USE_MATH_DEFINES
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#include <math.h>
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#include <stdio.h>
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#include "Sample_Debug.h"
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#include "InputGeom.h"
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#include "Recast.h"
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#include "DetourNavMesh.h"
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#include "RecastDebugDraw.h"
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#include "DetourDebugDraw.h"
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#include "RecastDump.h"
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#include "imgui.h"
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#include "SDL.h"
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#include "SDL_opengl.h"
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#ifdef WIN32
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# define snprintf _snprintf
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#endif
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/*
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static int loadBin(const char* path, unsigned char** data)
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{
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FILE* fp = fopen(path, "rb");
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if (!fp) return 0;
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fseek(fp, 0, SEEK_END);
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int size = ftell(fp);
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fseek(fp, 0, SEEK_SET);
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*data = new unsigned char[size];
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fread(*data, size, 1, fp);
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fclose(fp);
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return size;
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}
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*/
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Sample_Debug::Sample_Debug() :
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m_chf(0),
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m_cset(0),
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m_pmesh(0)
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{
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resetCommonSettings();
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// Test
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/* m_chf = rcAllocCompactHeightfield();
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FileIO io;
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if (!io.openForRead("test.chf"))
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{
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delete m_chf;
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m_chf = 0;
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}
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else
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{
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if (!duReadCompactHeightfield(*m_chf, &io))
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{
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delete m_chf;
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m_chf = 0;
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}
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}*/
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/* if (m_chf)
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{
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unsigned short ymin = 0xffff;
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unsigned short ymax = 0;
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for (int i = 0; i < m_chf->spanCount; ++i)
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{
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const rcCompactSpan& s = m_chf->spans[i];
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if (s.y < ymin) ymin = s.y;
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if (s.y > ymax) ymax = s.y;
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}
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printf("ymin=%d ymax=%d\n", (int)ymin, (int)ymax);
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int maxSpans = 0;
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for (int i = 0; i < m_chf->width*m_chf->height; ++i)
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{
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maxSpans = rcMax(maxSpans, (int)m_chf->cells[i].count);
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}
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printf("maxSpans = %d\n", maxSpans);
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}*/
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/* const float orig[3] = {0,0,0};
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m_navMesh = new dtNavMesh;
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m_navMesh->init(orig, 133.333f,133.333f, 2048, 4096, 4096);
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unsigned char* data = 0;
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int dataSize = 0;
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// Tile_-13_-14.bin is basically just the bytes that was output by Detour. It should be loaded at X: -13 and Y: -14.
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dataSize = loadBin("Tile_-13_-13.bin", &data);
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if (dataSize > 0)
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{
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m_navMesh->addTileAt(-13,-13, data, dataSize, true);
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dtMeshHeader* header = (dtMeshHeader*)data;
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vcopy(m_bmin, header->bmin);
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vcopy(m_bmax, header->bmax);
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}
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dataSize = loadBin("Tile_-13_-14.bin", &data);
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if (dataSize > 0)
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{
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m_navMesh->addTileAt(-13,-14, data, dataSize, true);
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}
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dataSize = loadBin("Tile_-14_-14.bin", &data);
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if (dataSize > 0)
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{
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m_navMesh->addTileAt(-14,-14, data, dataSize, true);
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}
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const float halfExtents[3] = {40,100,40};
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const float center[3] = { -1667.9491f, 135.52649f, -1680.6149f };
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dtQueryFilter filter;
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m_ref = m_navMesh->findNearestPoly(center, halfExtents, &filter, 0);
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vcopy(m_halfExtents, halfExtents);
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vcopy(m_center, center);*/
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{
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m_cset = rcAllocContourSet();
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if (m_cset)
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{
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FileIO io;
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if (io.openForRead("PathSet_TMP_NA_PathingTestAReg1_1_2_CS.rc"))
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{
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duReadContourSet(*m_cset, &io);
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printf("bmin=(%f,%f,%f) bmax=(%f,%f,%f)\n",
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m_cset->bmin[0], m_cset->bmin[1], m_cset->bmin[2],
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m_cset->bmax[0], m_cset->bmax[1], m_cset->bmax[2]);
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printf("cs=%f ch=%f\n", m_cset->cs, m_cset->ch);
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}
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else
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{
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printf("could not open test.cset\n");
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}
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}
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else
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{
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printf("Could not alloc cset\n");
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}
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/* if (m_cset)
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{
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m_pmesh = rcAllocPolyMesh();
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if (m_pmesh)
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{
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rcBuildPolyMesh(m_ctx, *m_cset, 6, *m_pmesh);
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}
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}*/
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}
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}
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Sample_Debug::~Sample_Debug()
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{
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rcFreeCompactHeightfield(m_chf);
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rcFreeContourSet(m_cset);
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rcFreePolyMesh(m_pmesh);
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}
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void Sample_Debug::handleSettings()
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{
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}
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void Sample_Debug::handleTools()
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{
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}
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void Sample_Debug::handleDebugMode()
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{
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}
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void Sample_Debug::handleRender()
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{
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if (m_chf)
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{
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duDebugDrawCompactHeightfieldRegions(&m_dd, *m_chf);
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// duDebugDrawCompactHeightfieldSolid(&dd, *m_chf);
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}
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if (m_navMesh)
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duDebugDrawNavMesh(&m_dd, *m_navMesh, DU_DRAWNAVMESH_OFFMESHCONS);
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if (m_ref && m_navMesh)
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duDebugDrawNavMeshPoly(&m_dd, *m_navMesh, m_ref, duRGBA(255,0,0,128));
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/* float bmin[3], bmax[3];
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rcVsub(bmin, m_center, m_halfExtents);
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rcVadd(bmax, m_center, m_halfExtents);
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duDebugDrawBoxWire(&dd, bmin[0],bmin[1],bmin[2], bmax[0],bmax[1],bmax[2], duRGBA(255,255,255,128), 1.0f);
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duDebugDrawCross(&dd, m_center[0], m_center[1], m_center[2], 1.0f, duRGBA(255,255,255,128), 2.0f);*/
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if (m_cset)
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{
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duDebugDrawRawContours(&m_dd, *m_cset, 0.25f);
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duDebugDrawContours(&m_dd, *m_cset);
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}
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if (m_pmesh)
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{
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duDebugDrawPolyMesh(&m_dd, *m_pmesh);
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}
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/*
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dd.depthMask(false);
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{
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const float bmin[3] = {-32.000004f,-11.488281f,-115.343544f};
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const float cs = 0.300000f;
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const float ch = 0.200000f;
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const int verts[] = {
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158,46,336,0,
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157,47,331,0,
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161,53,330,0,
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162,52,335,0,
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158,46,336,0,
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154,46,339,5,
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161,46,365,5,
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171,46,385,5,
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174,46,400,5,
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177,46,404,5,
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177,46,410,5,
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183,46,416,5,
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188,49,416,5,
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193,52,411,6,
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194,53,382,6,
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188,52,376,6,
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188,57,363,6,
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174,57,349,6,
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174,60,342,6,
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168,58,336,6,
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167,59,328,6,
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162,55,324,6,
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159,53,324,5,
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152,46,328,5,
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151,46,336,5,
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154,46,339,5,
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158,46,336,0,
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160,46,340,0,
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164,52,339,0,
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168,55,343,0,
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168,50,351,0,
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182,54,364,0,
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182,47,378,0,
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188,50,383,0,
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188,49,409,0,
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183,46,409,0,
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183,46,403,0,
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180,46,399,0,
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177,46,384,0,
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165,46,359,0,
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160,46,340,0,
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};
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const int nverts = sizeof(verts)/(sizeof(int)*4);
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const unsigned int colln = duRGBA(255,255,255,128);
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dd.begin(DU_DRAW_LINES, 1.0f);
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for (int i = 0, j = nverts-1; i < nverts; j=i++)
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{
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const int* va = &verts[j*4];
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const int* vb = &verts[i*4];
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dd.vertex(bmin[0]+va[0]*cs, bmin[1]+va[1]*ch+j*0.01f, bmin[2]+va[2]*cs, colln);
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dd.vertex(bmin[0]+vb[0]*cs, bmin[1]+vb[1]*ch+i*0.01f, bmin[2]+vb[2]*cs, colln);
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}
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dd.end();
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const unsigned int colpt = duRGBA(255,255,255,255);
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dd.begin(DU_DRAW_POINTS, 3.0f);
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for (int i = 0, j = nverts-1; i < nverts; j=i++)
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{
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const int* va = &verts[j*4];
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dd.vertex(bmin[0]+va[0]*cs, bmin[1]+va[1]*ch+j*0.01f, bmin[2]+va[2]*cs, colpt);
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}
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dd.end();
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extern int triangulate(int n, const int* verts, int* indices, int* tris);
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static int indices[nverts];
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static int tris[nverts*3];
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for (int j = 0; j < nverts; ++j)
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indices[j] = j;
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static int ntris = 0;
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if (!ntris)
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{
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ntris = triangulate(nverts, verts, &indices[0], &tris[0]);
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if (ntris < 0) ntris = -ntris;
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}
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const unsigned int coltri = duRGBA(255,255,255,64);
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dd.begin(DU_DRAW_TRIS);
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for (int i = 0; i < ntris*3; ++i)
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{
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const int* va = &verts[indices[tris[i]]*4];
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dd.vertex(bmin[0]+va[0]*cs, bmin[1]+va[1]*ch, bmin[2]+va[2]*cs, coltri);
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}
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dd.end();
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}
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dd.depthMask(true);*/
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}
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void Sample_Debug::handleRenderOverlay(double* /*proj*/, double* /*model*/, int* /*view*/)
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{
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}
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void Sample_Debug::handleMeshChanged(InputGeom* geom)
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{
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m_geom = geom;
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}
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const float* Sample_Debug::getBoundsMin()
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{
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if (m_cset)
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return m_cset->bmin;
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if (m_chf)
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return m_chf->bmin;
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if (m_navMesh)
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return m_bmin;
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return 0;
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}
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const float* Sample_Debug::getBoundsMax()
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{
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if (m_cset)
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return m_cset->bmax;
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if (m_chf)
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return m_chf->bmax;
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if (m_navMesh)
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return m_bmax;
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return 0;
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}
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void Sample_Debug::handleClick(const float* s, const float* p, bool shift)
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{
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if (m_tool)
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m_tool->handleClick(s, p, shift);
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}
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void Sample_Debug::handleToggle()
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{
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if (m_tool)
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m_tool->handleToggle();
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}
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bool Sample_Debug::handleBuild()
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{
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if (m_chf)
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{
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rcFreeContourSet(m_cset);
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m_cset = 0;
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// Create contours.
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m_cset = rcAllocContourSet();
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if (!m_cset)
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{
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m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
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return false;
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}
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if (!rcBuildContours(m_ctx, *m_chf, /*m_cfg.maxSimplificationError*/1.3f, /*m_cfg.maxEdgeLen*/12, *m_cset))
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{
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m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
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return false;
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}
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}
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return true;
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}
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