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Changed dtQueryFilter to contain the flags check and cost calculation…
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…, can customized. Fix for issue 47 and issue 103.

git-svn-id: http://recastnavigation.googlecode.com/svn/trunk@200 678f7576-1c49-11de-8b5c-13accb87f508
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memononen committed Aug 20, 2010
1 parent d2c425c commit c249a27
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Showing 19 changed files with 2,587 additions and 13,525 deletions.
1 change: 1 addition & 0 deletions DebugUtils/Include/DetourDebugDraw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ enum DrawNavMeshFlags

void duDebugDrawNavMesh(struct duDebugDraw* dd, const dtNavMesh& mesh, unsigned char flags);
void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery& query, unsigned char flags);
void duDebugDrawNavMeshNodes(struct duDebugDraw* dd, const dtNavMeshQuery& query);
void duDebugDrawNavMeshBVTree(struct duDebugDraw* dd, const dtNavMesh& mesh);
void duDebugDrawNavMeshPortals(struct duDebugDraw* dd, const dtNavMesh& mesh);
void duDebugDrawNavMeshPoly(struct duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef ref, const unsigned int col);
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101 changes: 40 additions & 61 deletions DebugUtils/Source/DetourDebugDraw.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include "DetourDebugDraw.h"
#include "DetourNavMesh.h"
#include "DetourCommon.h"
#include "DetourNode.h"


static float distancePtLine2d(const float* pt, const float* p, const float* q)
Expand Down Expand Up @@ -220,7 +221,6 @@ static void drawMeshTile(duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMesh
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)
Expand All @@ -229,7 +229,7 @@ static void drawMeshTile(duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMesh
dd->vertex(v[0], v[1], v[2], vcol);
}
dd->end();

dd->depthMask(true);
}

Expand Down Expand Up @@ -257,6 +257,44 @@ void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& m
}
}

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 (unsigned short 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 (unsigned short 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)
{
Expand Down Expand Up @@ -291,28 +329,6 @@ void duDebugDrawNavMeshBVTree(duDebugDraw* dd, const dtNavMesh& mesh)
}
}

/*
static void calcRect(const float* va, const float* vb,
float* bmin, float* bmax,
int side, float padx, float pady)
{
if (side == 0 || side == 4)
{
bmin[0] = dtMin(va[2],vb[2]) + padx;
bmin[1] = dtMin(va[1],vb[1]) - pady;
bmax[0] = dtMax(va[2],vb[2]) - padx;
bmax[1] = dtMax(va[1],vb[1]) + pady;
}
else if (side == 2 || side == 6)
{
bmin[0] = dtMin(va[0],vb[0]) + padx;
bmin[1] = dtMin(va[1],vb[1]) - pady;
bmax[0] = dtMax(va[0],vb[0]) - padx;
bmax[1] = dtMax(va[1],vb[1]) + pady;
}
}
*/

static void drawMeshTilePortal(duDebugDraw* dd, const dtMeshTile* tile)
{
// Draw portals
Expand Down Expand Up @@ -358,24 +374,6 @@ static void drawMeshTilePortal(duDebugDraw* dd, const dtMeshTile* tile)

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

/* const float zmin = dtMin(va[2], vb[2]) - padx;
const float zmax = dtMax(va[2], vb[2]) + padx;
const float ymin = dtMin(va[1], vb[1]) - pady;
const float ymax = dtMax(va[1], vb[1]) + pady;
const float x = va[0] + ((side == 0) ? -0.02f : 0.02f);
dd->vertex(x,ymin,zmin, col);
dd->vertex(x,ymin,zmax, col);
dd->vertex(x,ymin,zmax, col);
dd->vertex(x,ymax,zmax, col);
dd->vertex(x,ymax,zmax, col);
dd->vertex(x,ymax,zmin, col);
dd->vertex(x,ymax,zmin, col);
dd->vertex(x,ymin,zmin, col);*/
}
else if (side == 2 || side == 6)
{
Expand All @@ -394,25 +392,6 @@ static void drawMeshTilePortal(duDebugDraw* dd, const dtMeshTile* tile)

dd->vertex(vb[0],vb[1]-pady,z, col);
dd->vertex(va[0],va[1]-pady,z, col);


/* const float xmin = dtMin(va[0], vb[0]) - padx;
const float xmax = dtMax(va[0], vb[0]) + padx;
const float ymin = dtMin(va[1], vb[1]) - pady;
const float ymax = dtMax(va[1], vb[1]) + pady;
const float z = va[2] + ((side == 2) ? -0.02f : 0.02f);
dd->vertex(xmin,ymin,z, col);
dd->vertex(xmax,ymin,z, col);
dd->vertex(xmax,ymin,z, col);
dd->vertex(xmax,ymax,z, col);
dd->vertex(xmax,ymax,z, col);
dd->vertex(xmin,ymax,z, col);
dd->vertex(xmin,ymax,z, col);
dd->vertex(xmin,ymin,z, col);*/
}

}
Expand Down
95 changes: 82 additions & 13 deletions Detour/Include/DetourNavMeshQuery.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,14 +19,81 @@
#ifndef DETOURNAVMESHQUERY_H
#define DETOURNAVMESHQUERY_H

#include "DetourAlloc.h"
#include "DetourNavMesh.h"

struct dtQueryFilter

// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter.
// On certain platforms indirect or virtual function call is expensive. The default
// setting is to use non-virtual functions, the actualy implementations of the functions
// are declared as inline for maximum speed.

//#define DT_VIRTUAL_QUERYFILTER 1

// Class for polygon filtering and cost calculation during query operations.
// - It is possible to derive a custom query filter from dtQueryFilter by overriding
// the virtual functions passFilter() and getCost().
// - Both functions should be as fast as possible. Use cached local copy of data
// instead of accessing your own objects where possible.
// - You do not need to adhere to the flags and cost logic provided by the default
// implementation.
// - In order for the A* to work properly, the cost should be proportional to
// the travel distance. Using cost modifier less than 1.0 is likely to lead
// to problems during pathfinding.
class dtQueryFilter
{
dtQueryFilter() : includeFlags(0xffff), excludeFlags(0) {}
unsigned short includeFlags; // If any of the flags are set, the poly is included.
unsigned short excludeFlags; // If any of the flags are set, the poly is excluded.
float m_areaCost[DT_MAX_AREAS]; // Array storing cost per area type, used by default implementation.
unsigned short m_includeFlags; // Include poly flags, used by default implementation.
unsigned short m_excludeFlags; // Exclude poly flags, used by default implementation.

public:
dtQueryFilter();

// Returns true if the polygon is can visited.
// Params:
// ref - (in) reference to the polygon test.
// tile - (in) pointer to the tile of the polygon test.
// poly - (in) pointer to the polygon test.
#ifdef DT_VIRTUAL_QUERYFILTER
virtual bool passFilter(const dtPolyRef ref,
const dtMeshTile* tile,
const dtPoly* poly) const;
#else
bool passFilter(const dtPolyRef ref,
const dtMeshTile* tile,
const dtPoly* poly) const;
#endif

// Returns cost to travel from 'pa' to 'pb'.'
// The segment is fully contained inside 'cur'.
// 'pa' lies on the edge between 'prev' and 'cur',
// 'pb' lies on the edge between 'cur' and 'next'.
// Params:
// pa - (in) segment start position.
// pb - (in) segment end position.
// prevRef, prevTile, prevPoly - (in) data describing the previous polygon, can be null.
// curRef, curTile, curPoly - (in) data describing the current polygon.
// nextRef, nextTile, nextPoly - (in) data describing the next polygon, can be null.
#ifdef DT_VIRTUAL_QUERYFILTER
virtual float getCost(const float* pa, const float* pb,
const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
#else
float getCost(const float* pa, const float* pb,
const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
#endif

// Getters and setters for the default implementation data.
inline float getAreaCost(const int i) const { return m_areaCost[i]; }
inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; }

inline unsigned short getIncludeFlags() const { return m_includeFlags; }
inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; }

inline unsigned short getExcludeFlags() const { return m_excludeFlags; }
inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; }
};

enum dtQueryState
Expand All @@ -47,18 +114,18 @@ class dtNavMeshQuery
// nav - (in) pointer to navigation mesh data.
// maxNodes - (in) Maximum number of search nodes to use (max 65536).
// Returns: True if succeed, else false.
bool init(dtNavMesh* nav, const int maxNodes);
bool init(class dtNavMesh* nav, const int maxNodes);

// Sets the pathfinding cost of the specified area.
// Params:
// area - (in) area ID (0-63).
// cost - (int) travel cost of the area.
void setAreaCost(const int area, float cost);
// void setAreaCost(const int area, float cost);

// Returns the pathfinding cost of the specified area.
// Params:
// area - (in) area ID (0-63).
float getAreaCost(const int area) const;
// float getAreaCost(const int area) const;

// Finds the nearest navigation polygon around the center location.
// Params:
Expand Down Expand Up @@ -101,8 +168,10 @@ class dtNavMeshQuery
dtPolyRef* path, const int maxPathSize) const;

// Intializes sliced path find query.
// Note: calling any other dtNavMeshQuery method before calling findPathEnd()
// Note 1: calling any other dtNavMeshQuery method before calling findPathEnd()
// may results in corrupted data!
// Note 2: The pointer to filter is store, and used in subsequent
// calls to updateSlicedFindPath().
// Params:
// startRef - (in) ref to path start polygon.
// endRef - (in) ref to path end polygon.
Expand Down Expand Up @@ -285,6 +354,8 @@ class dtNavMeshQuery
// Returns true if poly reference ins in closed list.
bool isInClosedList(dtPolyRef ref) const;

class dtNodePool* getNodePool() const { return m_nodePool; }

private:

// Returns neighbour tile based on side.
Expand Down Expand Up @@ -312,7 +383,7 @@ class dtNavMeshQuery
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
float* mid) const;

dtNavMesh* m_nav; // Pointer to navmesh data.
class dtNavMesh* m_nav; // Pointer to navmesh data.

struct dtQueryData
{
Expand All @@ -321,12 +392,10 @@ class dtNavMeshQuery
float lastBestNodeCost;
dtPolyRef startRef, endRef;
float startPos[3], endPos[3];
dtQueryFilter filter;
const dtQueryFilter* filter;
};
dtQueryData m_query; // Sliced query state.

float m_areaCost[DT_MAX_AREAS]; // Cost per area.

class dtNodePool* m_tinyNodePool; // Pointer to small node pool.
class dtNodePool* m_nodePool; // Pointer to node pool.
class dtNodeQueue* m_openList; // Pointer to open list queue.
Expand Down
13 changes: 13 additions & 0 deletions Detour/Include/DetourNode.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,11 @@ enum dtNodeFlags
DT_NODE_CLOSED = 0x02,
};

static const unsigned short DT_NULL_IDX = 0xffff;

struct dtNode
{
float pos[3];
float cost;
float total;
unsigned int id;
Expand Down Expand Up @@ -55,6 +58,12 @@ class dtNodePool
if (!idx) return 0;
return &m_nodes[idx-1];
}

inline const dtNode* getNodeAtIdx(unsigned int idx) const
{
if (!idx) return 0;
return &m_nodes[idx-1];
}

inline int getMemUsed() const
{
Expand All @@ -66,6 +75,10 @@ class dtNodePool

inline int getMaxNodes() const { return m_maxNodes; }

inline int getHashSize() const { return m_hashSize; }
inline unsigned short getFirst(int bucket) const { return m_first[bucket]; }
inline unsigned short getNext(int i) const { return m_next[i]; }

private:
inline unsigned int hashint(unsigned int a) const
{
Expand Down
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