Core/Dep:
+ Added recastnavigation. + Add Info to Packagelist. + Link recastnavigation in Cmake.
This commit is contained in:
Venugh
@@ -0,0 +1,428 @@
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//
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// Copyright (c) 2009-2010 Mikko Mononen [email protected]
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef DETOURNAVMESH_H
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#define DETOURNAVMESH_H
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#include "DetourAlloc.h"
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#ifdef WIN32
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typedef unsigned __int64 uint64;
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#else
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#include <stdint.h>
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#ifndef uint64_t
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#ifdef __linux__
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#include <linux/types.h>
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#endif
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#endif
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typedef uint64_t uint64;
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#endif
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// Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef.
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// It is also recommended to change dtHashRef() to proper 64-bit hash too.
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// Reference to navigation polygon.
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typedef uint64 dtPolyRef;
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// Reference to navigation mesh tile.
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typedef uint64 dtTileRef;
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// Maximum number of vertices per navigation polygon.
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static const int DT_VERTS_PER_POLYGON = 6;
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static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V'; //'DNAV';
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static const int DT_NAVMESH_VERSION = 6;
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static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S'; //'DNMS';
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static const int DT_NAVMESH_STATE_VERSION = 1;
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static const unsigned short DT_EXT_LINK = 0x8000;
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static const unsigned int DT_NULL_LINK = 0xffffffff;
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static const unsigned int DT_OFFMESH_CON_BIDIR = 1;
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static const int DT_MAX_AREAS = 64;
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static const int STATIC_SALT_BITS = 12;
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static const int STATIC_TILE_BITS = 21;
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static const int STATIC_POLY_BITS = 31;
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// we cannot have over 31 bits for either tile nor poly
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// without changing polyCount to use 64bits too.
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// Flags for addTile
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enum dtTileFlags
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{
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DT_TILE_FREE_DATA = 0x01, // Navmesh owns the tile memory and should free it.
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};
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// Flags returned by findStraightPath().
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enum dtStraightPathFlags
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{
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DT_STRAIGHTPATH_START = 0x01, // The vertex is the start position.
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DT_STRAIGHTPATH_END = 0x02, // The vertex is the end position.
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DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04, // The vertex is start of an off-mesh link.
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};
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// Flags describing polygon properties.
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enum dtPolyTypes
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{
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DT_POLYTYPE_GROUND = 0, // Regular ground polygons.
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DT_POLYTYPE_OFFMESH_CONNECTION = 1, // Off-mesh connections.
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};
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enum dtStatus
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{
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DT_FAILURE = 0, // Operation failed.
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DT_FAILURE_DATA_MAGIC,
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DT_FAILURE_DATA_VERSION,
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DT_FAILURE_OUT_OF_MEMORY,
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DT_SUCCESS, // Operation succeed.
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DT_IN_PROGRESS, // Operation still in progress.
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};
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// Structure describing the navigation polygon data.
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struct dtPoly
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{
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unsigned int firstLink; // Index to first link in linked list.
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unsigned short verts[DT_VERTS_PER_POLYGON]; // Indices to vertices of the poly.
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unsigned short neis[DT_VERTS_PER_POLYGON]; // Refs to neighbours of the poly.
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unsigned short flags; // Flags (see dtPolyFlags).
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unsigned char vertCount; // Number of vertices.
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unsigned char areaAndtype; // Bit packed: Area ID of the polygon, and Polygon type, see dtPolyTypes..
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inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); }
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inline void setType(unsigned char t) { areaAndtype = (areaAndtype & 0x3f) | (t << 6); }
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inline unsigned char getArea() const { return areaAndtype & 0x3f; }
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inline unsigned char getType() const { return areaAndtype >> 6; }
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};
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// Stucture describing polygon detail triangles.
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struct dtPolyDetail
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{
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unsigned int vertBase; // Offset to detail vertex array.
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unsigned int triBase; // Offset to detail triangle array.
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unsigned char vertCount; // Number of vertices in the detail mesh.
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unsigned char triCount; // Number of triangles.
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};
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// Stucture describing a link to another polygon.
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struct dtLink
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{
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dtPolyRef ref; // Neighbour reference.
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unsigned int next; // Index to next link.
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unsigned char edge; // Index to polygon edge which owns this link.
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unsigned char side; // If boundary link, defines on which side the link is.
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unsigned char bmin, bmax; // If boundary link, defines the sub edge area.
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};
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struct dtBVNode
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{
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unsigned short bmin[3], bmax[3]; // BVnode bounds
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int i; // Index to item or if negative, escape index.
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};
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struct dtOffMeshConnection
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{
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float pos[6]; // Both end point locations.
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float rad; // Link connection radius.
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unsigned short poly; // Poly Id
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unsigned char flags; // Link flags
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unsigned char side; // End point side.
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unsigned int userId; // User ID to identify this connection.
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};
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struct dtMeshHeader
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{
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int magic; // Magic number, used to identify the data.
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int version; // Data version number.
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int x, y; // Location of the time on the grid.
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unsigned int userId; // User ID of the tile.
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int polyCount; // Number of polygons in the tile.
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int vertCount; // Number of vertices in the tile.
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int maxLinkCount; // Number of allocated links.
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int detailMeshCount; // Number of detail meshes.
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int detailVertCount; // Number of detail vertices.
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int detailTriCount; // Number of detail triangles.
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int bvNodeCount; // Number of BVtree nodes.
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int offMeshConCount; // Number of Off-Mesh links.
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int offMeshBase; // Index to first polygon which is Off-Mesh link.
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float walkableHeight; // Height of the agent.
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float walkableRadius; // Radius of the agent
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float walkableClimb; // Max climb height of the agent.
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float bmin[3], bmax[3]; // Bounding box of the tile.
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float bvQuantFactor; // BVtree quantization factor (world to bvnode coords)
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};
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struct dtMeshTile
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{
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unsigned int salt; // Counter describing modifications to the tile.
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unsigned int linksFreeList; // Index to next free link.
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dtMeshHeader* header; // Pointer to tile header.
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dtPoly* polys; // Pointer to the polygons (will be updated when tile is added).
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float* verts; // Pointer to the vertices (will be updated when tile added).
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dtLink* links; // Pointer to the links (will be updated when tile added).
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dtPolyDetail* detailMeshes; // Pointer to detail meshes (will be updated when tile added).
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float* detailVerts; // Pointer to detail vertices (will be updated when tile added).
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unsigned char* detailTris; // Pointer to detail triangles (will be updated when tile added).
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dtBVNode* bvTree; // Pointer to BVtree nodes (will be updated when tile added).
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dtOffMeshConnection* offMeshCons; // Pointer to Off-Mesh links. (will be updated when tile added).
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unsigned char* data; // Pointer to tile data.
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int dataSize; // Size of the tile data.
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int flags; // Tile flags, see dtTileFlags.
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dtMeshTile* next; // Next free tile or, next tile in spatial grid.
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};
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struct dtNavMeshParams
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{
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float orig[3]; // Origin of the nav mesh tile space.
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float tileWidth, tileHeight; // Width and height of each tile.
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int maxTiles; // Maximum number of tiles the navmesh can contain.
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int maxPolys; // Maximum number of polygons each tile can contain.
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};
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class dtNavMesh
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{
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public:
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dtNavMesh();
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~dtNavMesh();
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// Initializes the nav mesh for tiled use.
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// Params:
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// params - (in) navmesh initialization params, see dtNavMeshParams.
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// Returns: True if succeed, else false.
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dtStatus init(const dtNavMeshParams* params);
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// Initializes the nav mesh for single tile use.
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// Params:
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// data - (in) Data of the new tile mesh.
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// dataSize - (in) Data size of the new tile mesh.
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// flags - (in) Tile flags, see dtTileFlags.
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// Returns: True if succeed, else false.
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dtStatus init(unsigned char* data, const int dataSize, const int flags);
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// Returns pointer to navmesh initialization params.
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const dtNavMeshParams* getParams() const;
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// Adds new tile into the navmesh.
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// The add will fail if the data is in wrong format,
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// there is not enough tiles left, or if there is a tile already at the location.
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// Params:
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// data - (in) Data of the new tile mesh.
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// dataSize - (in) Data size of the new tile mesh.
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// flags - (in) Tile flags, see dtTileFlags.
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// lastRef - (in,optional) Last tile ref, the tile will be restored so that
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// the reference (as well as poly references) will be the same. Default: 0.
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// result - (out,optional) tile ref if the tile was succesfully added.
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dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result);
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// Removes specified tile.
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// Params:
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// ref - (in) Reference to the tile to remove.
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// data - (out) Data associated with deleted tile.
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// dataSize - (out) Size of the data associated with deleted tile.
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dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
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// Calculates tile location based in input world position.
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// Params:
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// pos - (in) world position of the query.
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// tx - (out) tile x location.
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// ty - (out) tile y location.
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void calcTileLoc(const float* pos, int* tx, int* ty) const;
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// Returns pointer to tile at specified location.
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// Params:
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// x,y - (in) Location of the tile to get.
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// Returns: pointer to tile if tile exists or 0 tile does not exists.
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const dtMeshTile* getTileAt(int x, int y) const;
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// Returns reference to tile at specified location.
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// Params:
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// x,y - (in) Location of the tile to get.
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// Returns: reference to tile if tile exists or 0 tile does not exists.
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dtTileRef getTileRefAt(int x, int y) const;
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// Returns tile references of a tile based on tile pointer.
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dtTileRef getTileRef(const dtMeshTile* tile) const;
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// Returns tile based on references.
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const dtMeshTile* getTileByRef(dtTileRef ref) const;
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// Returns max number of tiles.
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int getMaxTiles() const;
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// Returns pointer to tile in the tile array.
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// Params:
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// i - (in) Index to the tile to retrieve, max index is getMaxTiles()-1.
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// Returns: Pointer to specified tile.
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const dtMeshTile* getTile(int i) const;
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// Returns pointer to tile and polygon pointed by the polygon reference.
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// Params:
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// ref - (in) reference to a polygon.
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// tile - (out) pointer to the tile containing the polygon.
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// poly - (out) pointer to the polygon.
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dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
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// Returns pointer to tile and polygon pointed by the polygon reference.
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// Note: this function does not check if 'ref' s valid, and is thus faster. Use only with valid refs!
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// Params:
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// ref - (in) reference to a polygon.
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// tile - (out) pointer to the tile containing the polygon.
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// poly - (out) pointer to the polygon.
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void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
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// Returns true if polygon reference points to valid data.
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bool isValidPolyRef(dtPolyRef ref) const;
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// Returns base poly id for specified tile, polygon refs can be deducted from this.
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dtPolyRef getPolyRefBase(const dtMeshTile* tile) const;
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// Returns start and end location of an off-mesh link polygon.
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// Params:
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// prevRef - (in) ref to the polygon before the link (used to select direction).
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// polyRef - (in) ref to the off-mesh link polygon.
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// startPos[3] - (out) start point of the link.
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// endPos[3] - (out) end point of the link.
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// Returns: true if link is found.
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dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
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// Returns pointer to off-mesh connection based on polyref, or null if ref not valid.
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const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const;
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// Sets polygon flags.
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dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags);
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// Return polygon flags.
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dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const;
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// Set polygon type.
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dtStatus setPolyArea(dtPolyRef ref, unsigned char area);
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// Return polygon area type.
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dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const;
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// Returns number of bytes required to store tile state.
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int getTileStateSize(const dtMeshTile* tile) const;
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// Stores tile state to buffer.
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dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const;
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// Restores tile state.
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dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize);
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// Encodes a tile id.
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inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const
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{
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return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip;
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}
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// Decodes a tile id.
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inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const
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{
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const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
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const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
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const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
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salt = (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
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it = (unsigned int)((ref >> m_polyBits) & tileMask);
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ip = (unsigned int)(ref & polyMask);
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}
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// Decodes a tile salt.
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inline unsigned int decodePolyIdSalt(dtPolyRef ref) const
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{
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const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
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return (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
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}
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// Decodes a tile id.
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inline unsigned int decodePolyIdTile(dtPolyRef ref) const
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{
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const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
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return (unsigned int)((ref >> m_polyBits) & tileMask);
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}
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// Decodes a poly id.
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inline unsigned int decodePolyIdPoly(dtPolyRef ref) const
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{
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const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
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return (unsigned int)(ref & polyMask);
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}
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private:
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// Returns pointer to tile in the tile array.
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dtMeshTile* getTile(int i);
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// Returns neighbour tile based on side.
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dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
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// Returns all polygons in neighbour tile based on portal defined by the segment.
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int findConnectingPolys(const float* va, const float* vb,
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const dtMeshTile* tile, int side,
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dtPolyRef* con, float* conarea, int maxcon) const;
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// Builds internal polygons links for a tile.
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void connectIntLinks(dtMeshTile* tile);
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// Builds internal polygons links for a tile.
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void connectIntOffMeshLinks(dtMeshTile* tile);
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// Builds external polygon links for a tile.
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void connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);
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// Builds external polygon links for a tile.
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void connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side);
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// Removes external links at specified side.
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void unconnectExtLinks(dtMeshTile* tile, int side);
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// TODO: These methods are duplicates from dtNavMeshQuery, but are needed for off-mesh connection finding.
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// Queries polygons within a tile.
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int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
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dtPolyRef* polys, const int maxPolys) const;
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// Find nearest polygon within a tile.
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dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center,
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const float* extents, float* nearestPt) const;
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// Returns closest point on polygon.
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dtStatus closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip,
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const float* pos, float* closest) const;
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dtNavMeshParams m_params; // Current initialization params. TODO: do not store this info twice.
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float m_orig[3]; // Origin of the tile (0,0)
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float m_tileWidth, m_tileHeight; // Dimensions of each tile.
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int m_maxTiles; // Max number of tiles.
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int m_tileLutSize; // Tile hash lookup size (must be pot).
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int m_tileLutMask; // Tile hash lookup mask.
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dtMeshTile** m_posLookup; // Tile hash lookup.
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dtMeshTile* m_nextFree; // Freelist of tiles.
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dtMeshTile* m_tiles; // List of tiles.
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unsigned int m_saltBits; // Number of salt bits in the tile ID.
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unsigned int m_tileBits; // Number of tile bits in the tile ID.
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unsigned int m_polyBits; // Number of poly bits in the tile ID.
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};
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// Helper function to allocate navmesh class using Detour allocator.
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dtNavMesh* dtAllocNavMesh();
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void dtFreeNavMesh(dtNavMesh* navmesh);
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#endif // DETOURNAVMESH_H
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Reference in New Issue
Block a user