Recast: add ability to dump traverse link details

Detour dump utilities.

src/thirdparty/recast/CMakeLists.txt

@@ -39,13 +39,16 @@ start_sources()
 add_sources( SOURCE_GROUP "Source"
     "DebugUtils/Source/DebugDraw.cpp"
     "DebugUtils/Source/DetourDebugDraw.cpp"
+    "DebugUtils/Source/DetourDump.cpp"
     "DebugUtils/Source/RecastDebugDraw.cpp"
     "DebugUtils/Source/RecastDump.cpp"
 )
 
 add_sources( SOURCE_GROUP "Include"
+    "DebugUtils/Include/FileIO.h"
     "DebugUtils/Include/DebugDraw.h"
     "DebugUtils/Include/DetourDebugDraw.h"
+    "DebugUtils/Include/DetourDump.h"
     "DebugUtils/Include/RecastDebugDraw.h"
     "DebugUtils/Include/RecastDump.h"
 )

src/thirdparty/recast/DebugUtils/Include/DetourDump.h

@@ -0,0 +1,8 @@
+#ifndef DETOUR_DUMP_H
+#define DETOUR_DUMP_H
+
+#include "FileIO.h"
+
+bool duDumpTraverseLinkDetail(const dtNavMesh& mesh, const dtNavMeshQuery* query, const int traverseType, duFileIO* const io);
+
+#endif // DETOUR_DUMP_H

src/thirdparty/recast/DebugUtils/Include/FileIO.h

@@ -0,0 +1,31 @@
+//
+// 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.
+//
+
+#ifndef FILE_IO_H
+#define FILE_IO_H
+
+struct duFileIO
+{
+	virtual ~duFileIO() = 0;
+	virtual bool isWriting() const = 0;
+	virtual bool isReading() const = 0;
+	virtual bool write(const void* ptr, const size_t size) = 0;
+	virtual bool read(void* ptr, const size_t size) = 0;
+};
+
+#endif // FILE_IO_H

src/thirdparty/recast/DebugUtils/Include/RecastDump.h

@@ -19,14 +19,7 @@
 #ifndef RECAST_DUMP_H
 #define RECAST_DUMP_H
 
-struct duFileIO
-{
-	virtual ~duFileIO() = 0;
-	virtual bool isWriting() const = 0;
-	virtual bool isReading() const = 0;
-	virtual bool write(const void* ptr, const size_t size) = 0;
-	virtual bool read(void* ptr, const size_t size) = 0;
-};
+#include "FileIO.h"
 
 bool duDumpPolyMeshToObj(struct rcPolyMesh& pmesh, duFileIO* io);
 bool duDumpPolyMeshDetailToObj(struct rcPolyMeshDetail& dmesh, duFileIO* io);

src/thirdparty/recast/DebugUtils/Source/DetourDump.cpp

@@ -0,0 +1,151 @@
+#include "Shared/Include/SharedMath.h"
+#include "Shared/Include/SharedCommon.h"
+#include "Detour/Include/DetourNavMesh.h"
+#include "Detour/Include/DetourNavMeshQuery.h"
+#include "DebugUtils/Include/DetourDump.h"
+
+bool duDumpTraverseLinkDetail(const dtNavMesh& mesh, const dtNavMeshQuery* query, const int traverseType, duFileIO* const io)
+{
+	if (!io)
+	{
+		printf("duDumpTraverseLinkDetail: input IO is null.\n");
+		return false;
+	}
+	if (!io->isWriting())
+	{
+		printf("duDumpTraverseLinkDetail: input IO not writing.\n");
+		return false;
+	}
+
+	char buf[2048];
+	int bufCount = 0;
+
+	rdTempVector<unsigned char> distanceVec;
+	rdTempVector<float> slopeVec;
+
+	int totTraverseLinkCount = 0;
+	const int tileCount = mesh.getTileCount();
+
+	for (int i = 0; i < tileCount; i++)
+	{
+		const dtMeshTile* tile = mesh.getTile(i);
+		const dtMeshHeader* header = tile->header;
+
+		bool writeTileDetail = false;
+
+		for (int j = 0; j < header->polyCount; ++j)
+		{
+			const dtPoly* startPoly = &tile->polys[j];
+
+			if (startPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)	// Skip off-mesh links.
+				continue;
+
+			if (tile->links[j].ref == 0)
+				continue;
+
+			// Iterate through links in the poly.
+			for (int k = startPoly->firstLink; k != DT_NULL_LINK; k = tile->links[k].next)
+			{
+				const dtLink* link = &tile->links[k];
+
+				// Skip "normal" links (non-jumping ones).
+				if (link->traverseType == DT_NULL_TRAVERSE_TYPE)
+					continue;
+
+				// Filter out anything not matching input.
+				if (traverseType != -1 && link->traverseType != traverseType)
+					continue;
+
+				const dtPoly* endPoly;
+				const dtMeshTile* endTile;
+
+				if (dtStatusFailed(mesh.getTileAndPolyByRef(link->ref, &endTile, &endPoly)))
+					continue;
+
+				if (endPoly->getType() == DT_POLYTYPE_OFFMESH_CONNECTION)	// Skip off-mesh links.
+					continue;
+
+				if (!writeTileDetail)
+				{
+					io->write("{\n", 2);
+
+					bufCount = snprintf(buf, sizeof(buf), "\ttile: %d\n", i);
+					io->write(buf, bufCount);
+
+					writeTileDetail = true;
+				}
+
+				io->write("\t{\n", 3);
+
+				float startPos[3];
+				float endPos[3];
+
+				query->getEdgeMidPoint(mesh.getPolyRefBase(tile) | (dtPolyRef)j, link->ref, startPos);
+				query->getEdgeMidPoint(link->ref, mesh.getPolyRefBase(tile) | (dtPolyRef)j, endPos);
+
+				// note(amos): the lowest slope is the highest slope in reverse
+				// as we always have a reverse link; store the absolute value!!
+				const float slopeAngle = rdMathFabsf(rdCalcSlopeAngle(startPos, endPos));
+
+				//const bool hasReverseLink = link->reverseLink != DT_NULL_TRAVERSE_REVERSE_LINK;
+
+				bufCount = snprintf(buf, sizeof(buf), "\t\tlink: %d\n", k);
+				io->write(buf, bufCount);
+				bufCount = snprintf(buf, sizeof(buf), "\t\tstartPos: <%g, %g, %g>\n", startPos[0], startPos[1], startPos[2]);
+				io->write(buf, bufCount);
+				bufCount = snprintf(buf, sizeof(buf), "\t\tendPos: <%g, %g, %g>\n", endPos[0], endPos[1], endPos[2]);
+				io->write(buf, bufCount);
+				bufCount = snprintf(buf, sizeof(buf), "\t\tslopeAngle: %g\n", slopeAngle);
+				io->write(buf, bufCount);
+				bufCount = snprintf(buf, sizeof(buf), "\t\ttraverseType: %hhu\n", link->traverseType);
+				io->write(buf, bufCount);
+				bufCount = snprintf(buf, sizeof(buf), "\t\ttraverseDist: %hhu\n", link->traverseDist);
+				io->write(buf, bufCount);
+				bufCount = snprintf(buf, sizeof(buf), "\t\treverseLink: %hu\n", link->reverseLink);
+				io->write(buf, bufCount);
+
+				io->write("\t}\n", 3);
+
+				distanceVec.push_back(link->traverseDist);
+				slopeVec.push_back(slopeAngle);
+
+				totTraverseLinkCount++;
+			}
+		}
+
+		if (writeTileDetail)
+			io->write("}\n", 2);
+	}
+
+	std::sort(distanceVec.begin(), distanceVec.end());
+	std::sort(slopeVec.begin(), slopeVec.end());
+
+	if (distanceVec.size() > 0)
+	{
+		const int lowestDist = distanceVec[0];
+		const int highestDist = distanceVec[distanceVec.size()-1];
+
+		bufCount = snprintf(buf, sizeof(buf), "lowestDist: %d\n", lowestDist);
+		io->write(buf, bufCount);
+
+		bufCount = snprintf(buf, sizeof(buf), "highestDist: %d\n", highestDist);
+		io->write(buf, bufCount);
+	}
+
+	if (slopeVec.size() > 0)
+	{
+		const float lowestSlope = slopeVec[0];
+		const float highestSlope = slopeVec[slopeVec.size()-1];
+
+		bufCount = snprintf(buf, sizeof(buf), "lowestSlope: %g\n", lowestSlope);
+		io->write(buf, bufCount);
+
+		bufCount = snprintf(buf, sizeof(buf), "highestSlope: %g\n", highestSlope);
+		io->write(buf, bufCount);
+	}
+
+	bufCount = snprintf(buf, sizeof(buf), "totalLinkCount: %d\n", totTraverseLinkCount);
+	io->write(buf, bufCount);
+
+	return true;
+}