From d9ffbbb8fb86c240d2df0c53967e3c923361430f Mon Sep 17 00:00:00 2001
From: Andrew Gilewsky <andrew.gilewsky@gmail.com>
Date: Wed, 6 Mar 2024 22:49:33 +0000
Subject: [PATCH] Now for real...

---
 vnavmesh/Debug/DebugDetourNavmesh.cs | 38 +++++++++++++++++++++++++++-
 vnavmesh/Navmesh.cs                  |  2 +-
 2 files changed, 38 insertions(+), 2 deletions(-)

diff --git a/vnavmesh/Debug/DebugDetourNavmesh.cs b/vnavmesh/Debug/DebugDetourNavmesh.cs
index d66922d..5cc7233 100644
--- a/vnavmesh/Debug/DebugDetourNavmesh.cs
+++ b/vnavmesh/Debug/DebugDetourNavmesh.cs
@@ -43,6 +43,12 @@ public override void Dispose()
     }
 
     public void Draw()
+    {
+        DrawMesh();
+        DrawQuery();
+    }
+
+    private void DrawMesh()
     {
         using var nr = _tree.Node("Detour navmesh");
         if (!nr.Opened)
@@ -78,7 +84,7 @@ public void Draw()
                         for (int j = 0; j < tile.data.header.polyCount; ++j)
                         {
                             var p = tile.data.polys[j];
-                            using var ntri = _tree.Node($"{p.index}: {p.vertCount} vertices, flags={p.flags:X}, area={p.GetArea()}, polytype={p.GetPolyType()}");
+                            using var ntri = _tree.Node($"{p.index} (0x{p.index:X}): {p.vertCount} vertices, flags={p.flags:X}, area={p.GetArea()}, polytype={p.GetPolyType()}");
                             if (ntri.SelectedOrHovered)
                                 VisualizeRoughPolygon(tile, p, true);
                             if (ntri.Opened)
@@ -86,6 +92,13 @@ public void Draw()
                                 for (int k = 0; k < p.vertCount; ++k)
                                     if (_tree.LeafNode($"{p.verts[k]} ({GetVertex(tile, p.verts[k])}), neighbours={p.neis[k]:X}").SelectedOrHovered)
                                         VisualizeVertex(GetVertex(tile, p.verts[k]));
+
+                                for (int k = tile.polyLinks[p.index]; k != DtNavMesh.DT_NULL_LINK; k = tile.links[k].next)
+                                {
+                                    var link = tile.links[k];
+                                    if (_tree.LeafNode($"Link {k}: refs={link.refs:X}, edge={link.edge}, side={link.side}, bmin={link.bmin}, bmax={link.bmax}").SelectedOrHovered)
+                                        VisualizeRoughPolygon(link.refs, true);
+                                }
                             }
                         }
                     }
@@ -160,6 +173,23 @@ public void Draw()
         }
     }
 
+    private void DrawQuery()
+    {
+        using var nr = _tree.Node("Detour query", _query == null || _query.GetNodePool().GetNodeCount() == 0);
+        if (!nr.Opened)
+            return;
+
+        int i = 1;
+        foreach (var n in _query!.GetNodePool().AsEnumerable())
+        {
+            if (_tree.LeafNode($"{i++}: {n.id:X}, parent={n.pidx}, enter={n.pos}, cost={n.cost}, total={n.total}, state={n.state}, flags={n.flags}").SelectedOrHovered)
+            {
+                VisualizeRoughPolygon(n.id, true);
+                VisualizeVertex(n.pos.RecastToSystem());
+            }
+        }
+    }
+
     private EffectMesh.Data GetOrInitVisualizerRough(int tileIndex)
     {
         ref var perTile = ref _perTile[tileIndex];
@@ -282,6 +312,12 @@ private void VisualizeRoughPolygon(DtMeshTile tile, DtPoly poly, bool colorByAre
         VisualizeRoughPolygon(tile, visu, poly, colorByArea, true);
     }
 
+    private void VisualizeRoughPolygon(long refs, bool colorByArea)
+    {
+        if (_navmesh.GetTileAndPolyByRef(refs, out var tile, out var poly).Succeeded())
+            VisualizeRoughPolygon(tile, poly, colorByArea);
+    }
+
     // effect + data are expected to be already bound
     private void VisualizeRoughPolygon(DtMeshTile tile, EffectMesh.Data visu, DtPoly poly, bool colorByArea, bool highlight)
     {
diff --git a/vnavmesh/Navmesh.cs b/vnavmesh/Navmesh.cs
index de04ec9..e906fdd 100644
--- a/vnavmesh/Navmesh.cs
+++ b/vnavmesh/Navmesh.cs
@@ -12,7 +12,7 @@ namespace Navmesh;
 public record class Navmesh(DtNavMesh Mesh, VoxelMap Volume)
 {
     public static readonly uint Magic = 0x444D564E; // 'NVMD'
-    public static readonly uint Version = 6;
+    public static readonly uint Version = 7;
 
     // throws an exception on failure
     public static Navmesh Deserialize(BinaryReader reader, NavmeshSettings settings)