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- added options to enable visualization for obstacle simulation and steering actuator

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- added python attributes for parameters of steering actuator
This commit is contained in:
Nick Samarin
2010-07-15 18:41:29 +00:00
parent 219e9022b9
commit 0fbca1dc19
16 changed files with 144 additions and 46 deletions
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48
source/gameengine/Ketsji/KX_NavMeshObject.cpp
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@@ -446,6 +446,13 @@ bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&verti
bool KX_NavMeshObject::BuildNavMesh()
{
if (m_navMesh)
{
delete m_navMesh;
m_navMesh = NULL;
}
if (GetMeshCount()==0)
return false;
@@ -628,25 +635,23 @@ dtStatNavMesh* KX_NavMeshObject::GetNavMesh()
return m_navMesh;
}
void KX_NavMeshObject::DrawNavMesh()
void KX_NavMeshObject::DrawNavMesh(NavMeshRenderMode renderMode)
{
if (!m_navMesh)
return;
MT_Vector3 color(0.f, 0.f, 0.f);
enum RenderMode {POLYS ,DETAILED_TRIS, WALLS};
static const RenderMode renderMode = DETAILED_TRIS;// DETAILED_TRIS POLYS
switch (renderMode)
{
case POLYS :
case WALLS :
case RM_POLYS :
case RM_WALLS :
for (int pi=0; pi<m_navMesh->getPolyCount(); pi++)
{
const dtStatPoly* poly = m_navMesh->getPoly(pi);
for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++)
{
if (poly->n[j] && renderMode==WALLS)
if (poly->n[j] && renderMode==RM_WALLS)
continue;
const float* vif = m_navMesh->getVertex(poly->v[i]);
const float* vjf = m_navMesh->getVertex(poly->v[j]);
@@ -658,7 +663,7 @@ void KX_NavMeshObject::DrawNavMesh()
}
}
break;
case DETAILED_TRIS :
case RM_TRIS :
for (int i = 0; i < m_navMesh->getPolyDetailCount(); ++i)
{
const dtStatPoly* p = m_navMesh->getPoly(i);
@@ -800,7 +805,7 @@ PyTypeObject KX_NavMeshObject::Type = {
Methods,
0,
0,
&CValue::Type,
&KX_GameObject::Type,
0,0,0,0,0,0,
py_base_new
};
@@ -814,6 +819,7 @@ PyMethodDef KX_NavMeshObject::Methods[] = {
KX_PYMETHODTABLE(KX_NavMeshObject, findPath),
KX_PYMETHODTABLE(KX_NavMeshObject, raycast),
KX_PYMETHODTABLE(KX_NavMeshObject, draw),
KX_PYMETHODTABLE(KX_NavMeshObject, rebuild),
{NULL,NULL} //Sentinel
};
@@ -854,10 +860,30 @@ KX_PYMETHODDEF_DOC(KX_NavMeshObject, raycast,
return PyFloat_FromDouble(hit);
}
KX_PYMETHODDEF_DOC_NOARGS(KX_NavMeshObject, draw,
"draw(): navigation mesh debug drawing\n")
KX_PYMETHODDEF_DOC(KX_NavMeshObject, draw,
"draw(mode): navigation mesh debug drawing\n"
"mode: WALLS, POLYS, TRIS\n")
{
DrawNavMesh();
char* mode;
NavMeshRenderMode renderMode = RM_TRIS;
if (PyArg_ParseTuple(args,"s:rebuild",&mode))
{
STR_String mode_str(mode);
if (mode_str.IsEqualNoCase("WALLS"))
renderMode = RM_WALLS;
else if (mode_str.IsEqualNoCase("POLYS"))
renderMode = RM_POLYS;
else if (mode_str.IsEqualNoCase("TRIS"))
renderMode = RM_TRIS;
}
DrawNavMesh(renderMode);
Py_RETURN_NONE;
}
KX_PYMETHODDEF_DOC_NOARGS(KX_NavMeshObject, rebuild,
"rebuild(): rebuild navigation mesh\n")
{
BuildNavMesh();
Py_RETURN_NONE;
}