158 lines
5.0 KiB
C++
158 lines
5.0 KiB
C++
#ifndef NAVMESHRENDERER_H
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#define NAVMESHRENDERER_H
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#include <unordered_set>
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#include <Indoor/navMesh/NavMesh.h>
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#include <Indoor/navMesh/NavMeshTriangle.h>
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#include <Indoor/navMesh/NavMeshType.h>
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#include <QPainter>
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#include <QOpenGLWidget>
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#include "../misc/Renderable3D.h"
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#include "../misc/Shader.h"
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#include "../misc/TriangleData.h"
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class NavMeshRenderer {
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private:
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// settings
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//GridRendererColorMode colorMode = GridRendererColorMode::SHOW_NODE_IMPORTANCE;
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bool showEdges = false;
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struct Color {
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float r,g,b;
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Color() : r(1), g(0), b(0) {;}
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Color(float r, float g, float b) : r(r), g(g), b(b) {;}
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};
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/** node color depending on the node's type. see ctor */
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Color colors[200];
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public:
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/** ctor */
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NavMeshRenderer() {
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colors[GridNode::TYPE_FLOOR] = Color(0.4, 0.4, 0.4);
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colors[GridNode::TYPE_STAIR] = Color(0,0,1);
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colors[GridNode::TYPE_ELEVATOR] = Color(0,0,1);
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colors[GridNode::TYPE_DOOR] = Color(0.0, 0.0, 0.0);
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colors[GridNode::TYPE_OUTDOOR] = Color(0.0, 0.5, 0.0);
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}
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// void setNodeColorMode(const GridRendererColorMode mode) {this->colorMode = mode;}
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void setShowEdges(const bool show) {this->showEdges = show;}
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/** render the given grid using GL commands */
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void render(const RenderSettings& rs, NM::NavMesh<NM::NavMeshTriangle>* navMesh, QOpenGLWidget* dst) {
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if (navMesh == nullptr) {return;}
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rs.shader->bind();
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rs.shader->setModelMatrix(QMatrix4x4());
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TriangleData data;
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for (const NM::NavMeshTriangle* tria : *navMesh) {
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Point3 color;
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switch (tria->getType()) {
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case (int) NM::NavMeshType::FLOOR_INDOOR: color = Point3(0.8, 0.8, 0.8); break;
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case (int) NM::NavMeshType::FLOOR_OUTDOOR: color = Point3(0.1, 0.8, 0.1); break;
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case (int) NM::NavMeshType::DOOR: color = Point3(0.7, 0.7, 0.8); break;
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case (int) NM::NavMeshType::STAIR_LEVELED: color = Point3(0.5, 0.5, 0.5); break;
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case (int) NM::NavMeshType::STAIR_SKEWED: color = Point3(0.6, 0.6, 0.6); break;
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}
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data.addTriangle(tria->getP1(), tria->getP3(), tria->getP2(), Point3(0,0,1), color.x, color.y, color.z, 1.0f);
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// vertices.insert(vertices.end(), {tria->getP1().x, tria->getP1().y, tria->getP1().z});
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// vertices.insert(vertices.end(), {tria->getP3().x, tria->getP3().y, tria->getP3().z});
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// vertices.insert(vertices.end(), {tria->getP2().x, tria->getP2().y, tria->getP2().z});
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// colors.insert(colors.end(), {color.x, color.y, color.z, 1});
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// colors.insert(colors.end(), {color.x, color.y, color.z, 1});
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// colors.insert(colors.end(), {color.x, color.y, color.z, 1});
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}
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rs.shader->setVertices(data.getVertices().data());
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rs.shader->setVertexColor(data.getRGBA().data());
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glDrawArrays(GL_TRIANGLES, 0, data.getVertices().size()/3);
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rs.shader->unsetVertices();
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rs.shader->unsetVertexColor();
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data.clear();
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for (const NM::NavMeshTriangle* tria : *navMesh) {
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Point3 color;
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switch (tria->getType()) {
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case (int) NM::NavMeshType::FLOOR_INDOOR: color = Point3(0.6, 0.6, 0.6); break;
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case (int) NM::NavMeshType::FLOOR_OUTDOOR: color = Point3(0.0, 0.6, 0.0); break;
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case (int) NM::NavMeshType::DOOR: color = Point3(0.5, 0.5, 0.6); break;
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case (int) NM::NavMeshType::STAIR_LEVELED: color = Point3(0.4, 0.4, 0.4); break;
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case (int) NM::NavMeshType::STAIR_SKEWED: color = Point3(0.4, 0.4, 0.4); break;
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}
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const float o = 0.001f;
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data.addLine(tria->getP1(), tria->getP2(), color.x, color.y, color.z, 1);
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data.addLine(tria->getP2(), tria->getP3(), color.x, color.y, color.z, 1);
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data.addLine(tria->getP3(), tria->getP1(), color.x, color.y, color.z, 1);
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// vertices.insert(vertices.end(), {tria->getP1().x, tria->getP1().y, tria->getP1().z+o});
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// vertices.insert(vertices.end(), {tria->getP2().x, tria->getP2().y, tria->getP2().z+o});
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// vertices.insert(vertices.end(), {tria->getP2().x, tria->getP2().y, tria->getP2().z+o});
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// vertices.insert(vertices.end(), {tria->getP3().x, tria->getP3().y, tria->getP3().z+o});
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// vertices.insert(vertices.end(), {tria->getP3().x, tria->getP3().y, tria->getP3().z+o});
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// vertices.insert(vertices.end(), {tria->getP1().x, tria->getP1().y, tria->getP1().z+o});
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// colors.insert(colors.end(), {color.x, color.y, color.z, 1});
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// colors.insert(colors.end(), {color.x, color.y, color.z, 1});
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// colors.insert(colors.end(), {color.x, color.y, color.z, 1});
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// colors.insert(colors.end(), {color.x, color.y, color.z, 1});
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// colors.insert(colors.end(), {color.x, color.y, color.z, 1});
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// colors.insert(colors.end(), {color.x, color.y, color.z, 1});
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}
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rs.shader->setVertices(data.getVertices().data());
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rs.shader->setVertexColor(data.getRGBA().data());
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glDrawArrays(GL_LINES, 0, data.getVertices().size()/3);
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rs.shader->unsetVertices();
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rs.shader->unsetVertexColor();
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rs.shader->release();
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}
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// std::vector<MyNode> lint() {
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// std::vector<MyNode> vec;
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// lintStair(vec);
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// return vec;
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// }
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// void lintStair(std::vector<MyNode>& vec) {
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// for (MyNode& n1 : *grid) {
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// if (n1.getNumNeighbors() <= 5) { vec.push_back(n1);}
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// }
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// }
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};
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#endif // NAVMESHRENDERER_H
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