Recast navigation

libs/recastnavigation/RecastDemo/Include/ChunkyTriMesh.h

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+//
+// 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 CHUNKYTRIMESH_H
+#define CHUNKYTRIMESH_H
+
+struct rcChunkyTriMeshNode
+{
+	float bmin[2];
+	float bmax[2];
+	int i;
+	int n;
+};
+
+struct rcChunkyTriMesh
+{
+	inline rcChunkyTriMesh() : nodes(0), nnodes(0), tris(0), ntris(0), maxTrisPerChunk(0) {};
+	inline ~rcChunkyTriMesh() { delete [] nodes; delete [] tris; }
+
+	rcChunkyTriMeshNode* nodes;
+	int nnodes;
+	int* tris;
+	int ntris;
+	int maxTrisPerChunk;
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	rcChunkyTriMesh(const rcChunkyTriMesh&);
+	rcChunkyTriMesh& operator=(const rcChunkyTriMesh&);
+};
+
+/// Creates partitioned triangle mesh (AABB tree),
+/// where each node contains at max trisPerChunk triangles.
+bool rcCreateChunkyTriMesh(const float* verts, const int* tris, int ntris,
+						   int trisPerChunk, rcChunkyTriMesh* cm);
+
+/// Returns the chunk indices which overlap the input rectable.
+int rcGetChunksOverlappingRect(const rcChunkyTriMesh* cm, float bmin[2], float bmax[2], int* ids, const int maxIds);
+
+/// Returns the chunk indices which overlap the input segment.
+int rcGetChunksOverlappingSegment(const rcChunkyTriMesh* cm, float p[2], float q[2], int* ids, const int maxIds);
+
+
+#endif // CHUNKYTRIMESH_H

libs/recastnavigation/RecastDemo/Include/ConvexVolumeTool.h

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+//
+// 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 CONVEXVOLUMETOOL_H
+#define CONVEXVOLUMETOOL_H
+
+#include "Sample.h"
+
+// Tool to create convex volumess for InputGeom
+
+class ConvexVolumeTool : public SampleTool
+{
+	Sample* m_sample;
+	int m_areaType;
+	float m_polyOffset;
+	float m_boxHeight;
+	float m_boxDescent;
+	
+	static const int MAX_PTS = 12;
+	float m_pts[MAX_PTS*3];
+	int m_npts;
+	int m_hull[MAX_PTS];
+	int m_nhull;
+	
+public:
+	ConvexVolumeTool();
+	
+	virtual int type() { return TOOL_CONVEX_VOLUME; }
+	virtual void init(Sample* sample);
+	virtual void reset();
+	virtual void handleMenu();
+	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
+	virtual void handleStep();
+	virtual void handleUpdate(const float dt);
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+};
+
+#endif // CONVEXVOLUMETOOL_H

libs/recastnavigation/RecastDemo/Include/CrowdTool.h

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+//
+// 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 CROWDTOOL_H
+#define CROWDTOOL_H
+
+#include "Sample.h"
+#include "DetourNavMesh.h"
+#include "DetourObstacleAvoidance.h"
+#include "ValueHistory.h"
+#include "DetourCrowd.h"
+
+// Tool to create crowds.
+
+struct CrowdToolParams
+{
+	bool m_expandSelectedDebugDraw;
+	bool m_showCorners;
+	bool m_showCollisionSegments;
+	bool m_showPath;
+	bool m_showVO;
+	bool m_showOpt;
+	bool m_showNeis;
+	
+	bool m_expandDebugDraw;
+	bool m_showLabels;
+	bool m_showGrid;
+	bool m_showNodes;
+	bool m_showPerfGraph;
+	bool m_showDetailAll;
+	
+	bool m_expandOptions;
+	bool m_anticipateTurns;
+	bool m_optimizeVis;
+	bool m_optimizeTopo;
+	bool m_obstacleAvoidance;
+	float m_obstacleAvoidanceType;
+	bool m_separation;
+	float m_separationWeight;
+};
+
+class CrowdToolState : public SampleToolState
+{
+	Sample* m_sample;
+	dtNavMesh* m_nav;
+	dtCrowd* m_crowd;
+	
+	float m_targetPos[3];
+	dtPolyRef m_targetRef;
+
+	dtCrowdAgentDebugInfo m_agentDebug;
+	dtObstacleAvoidanceDebugData* m_vod;
+	
+	static const int AGENT_MAX_TRAIL = 64;
+	static const int MAX_AGENTS = 128;
+	struct AgentTrail
+	{
+		float trail[AGENT_MAX_TRAIL*3];
+		int htrail;
+	};
+	AgentTrail m_trails[MAX_AGENTS];
+	
+	ValueHistory m_crowdTotalTime;
+	ValueHistory m_crowdSampleCount;
+
+	CrowdToolParams m_toolParams;
+
+	bool m_run;
+
+public:
+	CrowdToolState();
+	virtual ~CrowdToolState();
+	
+	virtual void init(class Sample* sample);
+	virtual void reset();
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+	virtual void handleUpdate(const float dt);
+
+	inline bool isRunning() const { return m_run; }
+	inline void setRunning(const bool s) { m_run = s; }
+	
+	void addAgent(const float* pos);
+	void removeAgent(const int idx);
+	void hilightAgent(const int idx);
+	void updateAgentParams();
+	int hitTestAgents(const float* s, const float* p);
+	void setMoveTarget(const float* p, bool adjust);
+	void updateTick(const float dt);
+
+	inline CrowdToolParams* getToolParams() { return &m_toolParams; }
+	
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	CrowdToolState(const CrowdToolState&);
+	CrowdToolState& operator=(const CrowdToolState&);
+};
+
+
+class CrowdTool : public SampleTool
+{
+	Sample* m_sample;
+	CrowdToolState* m_state;
+	
+	enum ToolMode
+	{
+		TOOLMODE_CREATE,
+		TOOLMODE_MOVE_TARGET,
+		TOOLMODE_SELECT,
+		TOOLMODE_TOGGLE_POLYS,
+	};
+	ToolMode m_mode;
+	
+public:
+	CrowdTool();
+	
+	virtual int type() { return TOOL_CROWD; }
+	virtual void init(Sample* sample);
+	virtual void reset();
+	virtual void handleMenu();
+	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
+	virtual void handleStep();
+	virtual void handleUpdate(const float dt);
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+};
+
+#endif // CROWDTOOL_H

libs/recastnavigation/RecastDemo/Include/Filelist.h

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+//
+// 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 FILELIST_H
+#define FILELIST_H
+
+#include <vector>
+#include <string>
+
+void scanDirectoryAppend(const std::string& path, const std::string& ext, std::vector<std::string>& fileList);
+void scanDirectory(const std::string& path, const std::string& ext, std::vector<std::string>& fileList);
+
+#endif // FILELIST_H

libs/recastnavigation/RecastDemo/Include/InputGeom.h

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+//
+// 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 INPUTGEOM_H
+#define INPUTGEOM_H
+
+#include "ChunkyTriMesh.h"
+#include "MeshLoaderObj.h"
+
+static const int MAX_CONVEXVOL_PTS = 12;
+struct ConvexVolume
+{
+	float verts[MAX_CONVEXVOL_PTS*3];
+	float hmin, hmax;
+	int nverts;
+	int area;
+};
+
+struct BuildSettings
+{
+	// Cell size in world units
+	float cellSize;
+	// Cell height in world units
+	float cellHeight;
+	// Agent height in world units
+	float agentHeight;
+	// Agent radius in world units
+	float agentRadius;
+	// Agent max climb in world units
+	float agentMaxClimb;
+	// Agent max slope in degrees
+	float agentMaxSlope;
+	// Region minimum size in voxels.
+	// regionMinSize = sqrt(regionMinArea)
+	float regionMinSize;
+	// Region merge size in voxels.
+	// regionMergeSize = sqrt(regionMergeArea)
+	float regionMergeSize;
+	// Edge max length in world units
+	float edgeMaxLen;
+	// Edge max error in voxels
+	float edgeMaxError;
+	float vertsPerPoly;
+	// Detail sample distance in voxels
+	float detailSampleDist;
+	// Detail sample max error in voxel heights.
+	float detailSampleMaxError;
+	// Partition type, see SamplePartitionType
+	int partitionType;
+	// Bounds of the area to mesh
+	float navMeshBMin[3];
+	float navMeshBMax[3];
+	// Size of the tiles in voxels
+	float tileSize;
+};
+
+class InputGeom
+{
+	rcChunkyTriMesh* m_chunkyMesh;
+	rcMeshLoaderObj* m_mesh;
+	float m_meshBMin[3], m_meshBMax[3];
+	BuildSettings m_buildSettings;
+	bool m_hasBuildSettings;
+	
+	/// @name Off-Mesh connections.
+	///@{
+	static const int MAX_OFFMESH_CONNECTIONS = 256;
+	float m_offMeshConVerts[MAX_OFFMESH_CONNECTIONS*3*2];
+	float m_offMeshConRads[MAX_OFFMESH_CONNECTIONS];
+	unsigned char m_offMeshConDirs[MAX_OFFMESH_CONNECTIONS];
+	unsigned char m_offMeshConAreas[MAX_OFFMESH_CONNECTIONS];
+	unsigned short m_offMeshConFlags[MAX_OFFMESH_CONNECTIONS];
+	unsigned int m_offMeshConId[MAX_OFFMESH_CONNECTIONS];
+	int m_offMeshConCount;
+	///@}
+
+	/// @name Convex Volumes.
+	///@{
+	static const int MAX_VOLUMES = 256;
+	ConvexVolume m_volumes[MAX_VOLUMES];
+	int m_volumeCount;
+	///@}
+	
+	bool loadMesh(class rcContext* ctx, const std::string& filepath);
+	bool loadGeomSet(class rcContext* ctx, const std::string& filepath);
+public:
+	InputGeom();
+	~InputGeom();
+	
+	
+	bool load(class rcContext* ctx, const std::string& filepath);
+	bool saveGeomSet(const BuildSettings* settings);
+	
+	/// Method to return static mesh data.
+	const rcMeshLoaderObj* getMesh() const { return m_mesh; }
+	const float* getMeshBoundsMin() const { return m_meshBMin; }
+	const float* getMeshBoundsMax() const { return m_meshBMax; }
+	const float* getNavMeshBoundsMin() const { return m_hasBuildSettings ? m_buildSettings.navMeshBMin : m_meshBMin; }
+	const float* getNavMeshBoundsMax() const { return m_hasBuildSettings ? m_buildSettings.navMeshBMax : m_meshBMax; }
+	const rcChunkyTriMesh* getChunkyMesh() const { return m_chunkyMesh; }
+	const BuildSettings* getBuildSettings() const { return m_hasBuildSettings ? &m_buildSettings : 0; }
+	bool raycastMesh(float* src, float* dst, float& tmin);
+
+	/// @name Off-Mesh connections.
+	///@{
+	int getOffMeshConnectionCount() const { return m_offMeshConCount; }
+	const float* getOffMeshConnectionVerts() const { return m_offMeshConVerts; }
+	const float* getOffMeshConnectionRads() const { return m_offMeshConRads; }
+	const unsigned char* getOffMeshConnectionDirs() const { return m_offMeshConDirs; }
+	const unsigned char* getOffMeshConnectionAreas() const { return m_offMeshConAreas; }
+	const unsigned short* getOffMeshConnectionFlags() const { return m_offMeshConFlags; }
+	const unsigned int* getOffMeshConnectionId() const { return m_offMeshConId; }
+	void addOffMeshConnection(const float* spos, const float* epos, const float rad,
+							  unsigned char bidir, unsigned char area, unsigned short flags);
+	void deleteOffMeshConnection(int i);
+	void drawOffMeshConnections(struct duDebugDraw* dd, bool hilight = false);
+	///@}
+
+	/// @name Box Volumes.
+	///@{
+	int getConvexVolumeCount() const { return m_volumeCount; }
+	const ConvexVolume* getConvexVolumes() const { return m_volumes; }
+	void addConvexVolume(const float* verts, const int nverts,
+						 const float minh, const float maxh, unsigned char area);
+	void deleteConvexVolume(int i);
+	void drawConvexVolumes(struct duDebugDraw* dd, bool hilight = false);
+	///@}
+	
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	InputGeom(const InputGeom&);
+	InputGeom& operator=(const InputGeom&);
+};
+
+#endif // INPUTGEOM_H

libs/recastnavigation/RecastDemo/Include/MeshLoaderObj.h

@@ -0,0 +1,56 @@
+//
+// 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 MESHLOADER_OBJ
+#define MESHLOADER_OBJ
+
+#include <string>
+
+class rcMeshLoaderObj
+{
+public:
+	rcMeshLoaderObj();
+	~rcMeshLoaderObj();
+	
+	bool load(const std::string& fileName);
+
+	const float* getVerts() const { return m_verts; }
+	const float* getNormals() const { return m_normals; }
+	const int* getTris() const { return m_tris; }
+	int getVertCount() const { return m_vertCount; }
+	int getTriCount() const { return m_triCount; }
+	const std::string& getFileName() const { return m_filename; }
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	rcMeshLoaderObj(const rcMeshLoaderObj&);
+	rcMeshLoaderObj& operator=(const rcMeshLoaderObj&);
+	
+	void addVertex(float x, float y, float z, int& cap);
+	void addTriangle(int a, int b, int c, int& cap);
+	
+	std::string m_filename;
+	float m_scale;	
+	float* m_verts;
+	int* m_tris;
+	float* m_normals;
+	int m_vertCount;
+	int m_triCount;
+};
+
+#endif // MESHLOADER_OBJ

libs/recastnavigation/RecastDemo/Include/NavMeshPruneTool.h

@@ -0,0 +1,56 @@
+//
+// 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 NAVMESHPRUNETOOL_H
+#define NAVMESHPRUNETOOL_H
+
+#include "Sample.h"
+
+// Prune navmesh to accessible locations from a point.
+
+class NavMeshPruneTool : public SampleTool
+{
+	Sample* m_sample;
+	
+	class NavmeshFlags* m_flags;
+
+	float m_hitPos[3];
+	bool m_hitPosSet;
+	
+public:
+	NavMeshPruneTool();
+	virtual ~NavMeshPruneTool();
+	
+	virtual int type() { return TOOL_NAVMESH_PRUNE; }
+	virtual void init(Sample* sample);
+	virtual void reset();
+	virtual void handleMenu();
+	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
+	virtual void handleStep();
+	virtual void handleUpdate(const float dt);
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	NavMeshPruneTool(const NavMeshPruneTool&);
+	NavMeshPruneTool& operator=(const NavMeshPruneTool&);
+};
+
+#endif // NAVMESHPRUNETOOL_H

libs/recastnavigation/RecastDemo/Include/NavMeshTesterTool.h

@@ -0,0 +1,113 @@
+//
+// 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 NAVMESHTESTERTOOL_H
+#define NAVMESHTESTERTOOL_H
+
+#include "Sample.h"
+#include "DetourNavMesh.h"
+#include "DetourNavMeshQuery.h"
+
+class NavMeshTesterTool : public SampleTool
+{
+	Sample* m_sample;
+	
+	dtNavMesh* m_navMesh;
+	dtNavMeshQuery* m_navQuery;
+
+	dtQueryFilter m_filter;
+
+	dtStatus m_pathFindStatus;
+
+	enum ToolMode
+	{
+		TOOLMODE_PATHFIND_FOLLOW,
+		TOOLMODE_PATHFIND_STRAIGHT,
+		TOOLMODE_PATHFIND_SLICED,
+		TOOLMODE_RAYCAST,
+		TOOLMODE_DISTANCE_TO_WALL,
+		TOOLMODE_FIND_POLYS_IN_CIRCLE,
+		TOOLMODE_FIND_POLYS_IN_SHAPE,
+		TOOLMODE_FIND_LOCAL_NEIGHBOURHOOD,
+	};
+	
+	ToolMode m_toolMode;
+
+	int m_straightPathOptions;
+	
+	static const int MAX_POLYS = 256;
+	static const int MAX_SMOOTH = 2048;
+	
+	dtPolyRef m_startRef;
+	dtPolyRef m_endRef;
+	dtPolyRef m_polys[MAX_POLYS];
+	dtPolyRef m_parent[MAX_POLYS];
+	int m_npolys;
+	float m_straightPath[MAX_POLYS*3];
+	unsigned char m_straightPathFlags[MAX_POLYS];
+	dtPolyRef m_straightPathPolys[MAX_POLYS];
+	int m_nstraightPath;
+	float m_polyPickExt[3];
+	float m_smoothPath[MAX_SMOOTH*3];
+	int m_nsmoothPath;
+	float m_queryPoly[4*3];
+
+	static const int MAX_RAND_POINTS = 64;
+	float m_randPoints[MAX_RAND_POINTS*3];
+	int m_nrandPoints;
+	bool m_randPointsInCircle;
+	
+	float m_spos[3];
+	float m_epos[3];
+	float m_hitPos[3];
+	float m_hitNormal[3];
+	bool m_hitResult;
+	float m_distanceToWall;
+	float m_neighbourhoodRadius;
+	float m_randomRadius;
+	bool m_sposSet;
+	bool m_eposSet;
+
+	int m_pathIterNum;
+	dtPolyRef m_pathIterPolys[MAX_POLYS]; 
+	int m_pathIterPolyCount;
+	float m_prevIterPos[3], m_iterPos[3], m_steerPos[3], m_targetPos[3];
+	
+	static const int MAX_STEER_POINTS = 10;
+	float m_steerPoints[MAX_STEER_POINTS*3];
+	int m_steerPointCount;
+	
+public:
+	NavMeshTesterTool();
+
+	virtual int type() { return TOOL_NAVMESH_TESTER; }
+	virtual void init(Sample* sample);
+	virtual void reset();
+	virtual void handleMenu();
+	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
+	virtual void handleStep();
+	virtual void handleUpdate(const float dt);
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+
+	void recalc();
+	void drawAgent(const float* pos, float r, float h, float c, const unsigned int col);
+};
+
+#endif // NAVMESHTESTERTOOL_H

libs/recastnavigation/RecastDemo/Include/OffMeshConnectionTool.h

@@ -0,0 +1,50 @@
+//
+// 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 OFFMESHCONNECTIONTOOL_H
+#define OFFMESHCONNECTIONTOOL_H
+
+#include "Sample.h"
+
+// Tool to create off-mesh connection for InputGeom
+
+class OffMeshConnectionTool : public SampleTool
+{
+	Sample* m_sample;
+	float m_hitPos[3];
+	bool m_hitPosSet;
+	bool m_bidir;
+	unsigned char m_oldFlags;
+	
+public:
+	OffMeshConnectionTool();
+	~OffMeshConnectionTool();
+	
+	virtual int type() { return TOOL_OFFMESH_CONNECTION; }
+	virtual void init(Sample* sample);
+	virtual void reset();
+	virtual void handleMenu();
+	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
+	virtual void handleStep();
+	virtual void handleUpdate(const float dt);
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+};
+
+#endif // OFFMESHCONNECTIONTOOL_H

libs/recastnavigation/RecastDemo/Include/PerfTimer.h

@@ -0,0 +1,32 @@
+//
+// 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 PERFTIMER_H
+#define PERFTIMER_H
+
+#ifdef __GNUC__
+#include <stdint.h>
+typedef int64_t TimeVal;
+#else
+typedef __int64 TimeVal;
+#endif
+
+TimeVal getPerfTime();
+int getPerfTimeUsec(const TimeVal duration);
+
+#endif // PERFTIMER_H

libs/recastnavigation/RecastDemo/Include/Sample.h

@@ -0,0 +1,190 @@
+//
+// 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 RECASTSAMPLE_H
+#define RECASTSAMPLE_H
+
+#include "Recast.h"
+#include "SampleInterfaces.h"
+
+
+/// Tool types.
+enum SampleToolType
+{
+	TOOL_NONE = 0,
+	TOOL_TILE_EDIT,
+	TOOL_TILE_HIGHLIGHT,
+	TOOL_TEMP_OBSTACLE,
+	TOOL_NAVMESH_TESTER,
+	TOOL_NAVMESH_PRUNE,
+	TOOL_OFFMESH_CONNECTION,
+	TOOL_CONVEX_VOLUME,
+	TOOL_CROWD,
+	MAX_TOOLS
+};
+
+/// These are just sample areas to use consistent values across the samples.
+/// The use should specify these base on his needs.
+enum SamplePolyAreas
+{
+	SAMPLE_POLYAREA_GROUND,
+	SAMPLE_POLYAREA_WATER,
+	SAMPLE_POLYAREA_ROAD,
+	SAMPLE_POLYAREA_DOOR,
+	SAMPLE_POLYAREA_GRASS,
+	SAMPLE_POLYAREA_JUMP,
+};
+enum SamplePolyFlags
+{
+	SAMPLE_POLYFLAGS_WALK		= 0x01,		// Ability to walk (ground, grass, road)
+	SAMPLE_POLYFLAGS_SWIM		= 0x02,		// Ability to swim (water).
+	SAMPLE_POLYFLAGS_DOOR		= 0x04,		// Ability to move through doors.
+	SAMPLE_POLYFLAGS_JUMP		= 0x08,		// Ability to jump.
+	SAMPLE_POLYFLAGS_DISABLED	= 0x10,		// Disabled polygon
+	SAMPLE_POLYFLAGS_ALL		= 0xffff	// All abilities.
+};
+
+class SampleDebugDraw : public DebugDrawGL
+{
+public:
+	virtual unsigned int areaToCol(unsigned int area);
+};
+
+enum SamplePartitionType
+{
+	SAMPLE_PARTITION_WATERSHED,
+	SAMPLE_PARTITION_MONOTONE,
+	SAMPLE_PARTITION_LAYERS,
+};
+
+struct SampleTool
+{
+	virtual ~SampleTool() {}
+	virtual int type() = 0;
+	virtual void init(class Sample* sample) = 0;
+	virtual void reset() = 0;
+	virtual void handleMenu() = 0;
+	virtual void handleClick(const float* s, const float* p, bool shift) = 0;
+	virtual void handleRender() = 0;
+	virtual void handleRenderOverlay(double* proj, double* model, int* view) = 0;
+	virtual void handleToggle() = 0;
+	virtual void handleStep() = 0;
+	virtual void handleUpdate(const float dt) = 0;
+};
+
+struct SampleToolState {
+	virtual ~SampleToolState() {}
+	virtual void init(class Sample* sample) = 0;
+	virtual void reset() = 0;
+	virtual void handleRender() = 0;
+	virtual void handleRenderOverlay(double* proj, double* model, int* view) = 0;
+	virtual void handleUpdate(const float dt) = 0;
+};
+
+class Sample
+{
+protected:
+	class InputGeom* m_geom;
+	class dtNavMesh* m_navMesh;
+	class dtNavMeshQuery* m_navQuery;
+	class dtCrowd* m_crowd;
+
+	unsigned char m_navMeshDrawFlags;
+
+	float m_cellSize;
+	float m_cellHeight;
+	float m_agentHeight;
+	float m_agentRadius;
+	float m_agentMaxClimb;
+	float m_agentMaxSlope;
+	float m_regionMinSize;
+	float m_regionMergeSize;
+	float m_edgeMaxLen;
+	float m_edgeMaxError;
+	float m_vertsPerPoly;
+	float m_detailSampleDist;
+	float m_detailSampleMaxError;
+	int m_partitionType;
+
+	bool m_filterLowHangingObstacles;
+	bool m_filterLedgeSpans;
+	bool m_filterWalkableLowHeightSpans;
+	
+	SampleTool* m_tool;
+	SampleToolState* m_toolStates[MAX_TOOLS];
+	
+	BuildContext* m_ctx;
+
+	SampleDebugDraw m_dd;
+	
+	dtNavMesh* loadAll(const char* path);
+	void saveAll(const char* path, const dtNavMesh* mesh);
+
+public:
+	Sample();
+	virtual ~Sample();
+	
+	void setContext(BuildContext* ctx) { m_ctx = ctx; }
+	
+	void setTool(SampleTool* tool);
+	SampleToolState* getToolState(int type) { return m_toolStates[type]; }
+	void setToolState(int type, SampleToolState* s) { m_toolStates[type] = s; }
+
+	SampleDebugDraw& getDebugDraw() { return m_dd; }
+
+	virtual void handleSettings();
+	virtual void handleTools();
+	virtual void handleDebugMode();
+	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
+	virtual void handleStep();
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+	virtual void handleMeshChanged(class InputGeom* geom);
+	virtual bool handleBuild();
+	virtual void handleUpdate(const float dt);
+	virtual void collectSettings(struct BuildSettings& settings);
+
+	virtual class InputGeom* getInputGeom() { return m_geom; }
+	virtual class dtNavMesh* getNavMesh() { return m_navMesh; }
+	virtual class dtNavMeshQuery* getNavMeshQuery() { return m_navQuery; }
+	virtual class dtCrowd* getCrowd() { return m_crowd; }
+	virtual float getAgentRadius() { return m_agentRadius; }
+	virtual float getAgentHeight() { return m_agentHeight; }
+	virtual float getAgentClimb() { return m_agentMaxClimb; }
+	
+	unsigned char getNavMeshDrawFlags() const { return m_navMeshDrawFlags; }
+	void setNavMeshDrawFlags(unsigned char flags) { m_navMeshDrawFlags = flags; }
+
+	void updateToolStates(const float dt);
+	void initToolStates(Sample* sample);
+	void resetToolStates();
+	void renderToolStates();
+	void renderOverlayToolStates(double* proj, double* model, int* view);
+
+	void resetCommonSettings();
+	void handleCommonSettings();
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	Sample(const Sample&);
+	Sample& operator=(const Sample&);
+};
+
+
+#endif // RECASTSAMPLE_H

libs/recastnavigation/RecastDemo/Include/SampleInterfaces.h

@@ -0,0 +1,99 @@
+//
+// 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 SAMPLEINTERFACES_H
+#define SAMPLEINTERFACES_H
+
+#include "DebugDraw.h"
+#include "Recast.h"
+#include "RecastDump.h"
+#include "PerfTimer.h"
+
+// These are example implementations of various interfaces used in Recast and Detour.
+
+/// Recast build context.
+class BuildContext : public rcContext
+{
+	TimeVal m_startTime[RC_MAX_TIMERS];
+	TimeVal m_accTime[RC_MAX_TIMERS];
+
+	static const int MAX_MESSAGES = 1000;
+	const char* m_messages[MAX_MESSAGES];
+	int m_messageCount;
+	static const int TEXT_POOL_SIZE = 8000;
+	char m_textPool[TEXT_POOL_SIZE];
+	int m_textPoolSize;
+	
+public:
+	BuildContext();
+	
+	/// Dumps the log to stdout.
+	void dumpLog(const char* format, ...);
+	/// Returns number of log messages.
+	int getLogCount() const;
+	/// Returns log message text.
+	const char* getLogText(const int i) const;
+	
+protected:	
+	/// Virtual functions for custom implementations.
+	///@{
+	virtual void doResetLog();
+	virtual void doLog(const rcLogCategory category, const char* msg, const int len);
+	virtual void doResetTimers();
+	virtual void doStartTimer(const rcTimerLabel label);
+	virtual void doStopTimer(const rcTimerLabel label);
+	virtual int doGetAccumulatedTime(const rcTimerLabel label) const;
+	///@}
+};
+
+/// OpenGL debug draw implementation.
+class DebugDrawGL : public duDebugDraw
+{
+public:
+	virtual void depthMask(bool state);
+	virtual void texture(bool state);
+	virtual void begin(duDebugDrawPrimitives prim, float size = 1.0f);
+	virtual void vertex(const float* pos, unsigned int color);
+	virtual void vertex(const float x, const float y, const float z, unsigned int color);
+	virtual void vertex(const float* pos, unsigned int color, const float* uv);
+	virtual void vertex(const float x, const float y, const float z, unsigned int color, const float u, const float v);
+	virtual void end();
+};
+
+/// stdio file implementation.
+class FileIO : public duFileIO
+{
+	FILE* m_fp;
+	int m_mode;
+public:
+	FileIO();
+	virtual ~FileIO();
+	bool openForWrite(const char* path);
+	bool openForRead(const char* path);
+	virtual bool isWriting() const;
+	virtual bool isReading() const;
+	virtual bool write(const void* ptr, const size_t size);
+	virtual bool read(void* ptr, const size_t size);
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	FileIO(const FileIO&);
+	FileIO& operator=(const FileIO&);
+};
+
+#endif // SAMPLEINTERFACES_H
+

libs/recastnavigation/RecastDemo/Include/Sample_Debug.h

@@ -0,0 +1,63 @@
+//
+// 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 RECASTSAMPLEDEBUG_H
+#define RECASTSAMPLEDEBUG_H
+
+#include "Sample.h"
+#include "DetourNavMesh.h"
+#include "Recast.h"
+
+/// Sample used for random debugging.
+class Sample_Debug : public Sample
+{
+protected:
+	rcCompactHeightfield* m_chf;
+	rcContourSet* m_cset;
+	rcPolyMesh* m_pmesh;
+
+	float m_halfExtents[3];
+	float m_center[3];
+	float m_bmin[3], m_bmax[3];
+	dtPolyRef m_ref;
+	
+public:
+	Sample_Debug();
+	virtual ~Sample_Debug();
+	
+	virtual void handleSettings();
+	virtual void handleTools();
+	virtual void handleDebugMode();
+	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+	virtual void handleMeshChanged(class InputGeom* geom);
+	virtual bool handleBuild();
+
+	virtual const float* getBoundsMin();
+	virtual const float* getBoundsMax();
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	Sample_Debug(const Sample_Debug&);
+	Sample_Debug& operator=(const Sample_Debug&);
+};
+
+
+#endif // RECASTSAMPLE_H

libs/recastnavigation/RecastDemo/Include/Sample_SoloMesh.h

@@ -0,0 +1,86 @@
+//
+// 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 RECASTSAMPLESOLOMESH_H
+#define RECASTSAMPLESOLOMESH_H
+
+#include "Sample.h"
+#include "DetourNavMesh.h"
+#include "Recast.h"
+
+class Sample_SoloMesh : public Sample
+{
+protected:
+	bool m_keepInterResults;
+	float m_totalBuildTimeMs;
+
+	unsigned char* m_triareas;
+	rcHeightfield* m_solid;
+	rcCompactHeightfield* m_chf;
+	rcContourSet* m_cset;
+	rcPolyMesh* m_pmesh;
+	rcConfig m_cfg;	
+	rcPolyMeshDetail* m_dmesh;
+	
+	enum DrawMode
+	{
+		DRAWMODE_NAVMESH,
+		DRAWMODE_NAVMESH_TRANS,
+		DRAWMODE_NAVMESH_BVTREE,
+		DRAWMODE_NAVMESH_NODES,
+		DRAWMODE_NAVMESH_INVIS,
+		DRAWMODE_MESH,
+		DRAWMODE_VOXELS,
+		DRAWMODE_VOXELS_WALKABLE,
+		DRAWMODE_COMPACT,
+		DRAWMODE_COMPACT_DISTANCE,
+		DRAWMODE_COMPACT_REGIONS,
+		DRAWMODE_REGION_CONNECTIONS,
+		DRAWMODE_RAW_CONTOURS,
+		DRAWMODE_BOTH_CONTOURS,
+		DRAWMODE_CONTOURS,
+		DRAWMODE_POLYMESH,
+		DRAWMODE_POLYMESH_DETAIL,
+		MAX_DRAWMODE
+	};
+	
+	DrawMode m_drawMode;
+	
+	void cleanup();
+
+public:
+	Sample_SoloMesh();
+	virtual ~Sample_SoloMesh();
+	
+	virtual void handleSettings();
+	virtual void handleTools();
+	virtual void handleDebugMode();
+	
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+	virtual void handleMeshChanged(class InputGeom* geom);
+	virtual bool handleBuild();
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	Sample_SoloMesh(const Sample_SoloMesh&);
+	Sample_SoloMesh& operator=(const Sample_SoloMesh&);
+};
+
+
+#endif // RECASTSAMPLESOLOMESHSIMPLE_H

libs/recastnavigation/RecastDemo/Include/Sample_TempObstacles.h

@@ -0,0 +1,98 @@
+//
+// 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 RECASTSAMPLETEMPOBSTACLE_H
+#define RECASTSAMPLETEMPOBSTACLE_H
+
+#include "Sample.h"
+#include "DetourNavMesh.h"
+#include "Recast.h"
+#include "ChunkyTriMesh.h"
+
+
+class Sample_TempObstacles : public Sample
+{
+protected:
+	bool m_keepInterResults;
+
+	struct LinearAllocator* m_talloc;
+	struct FastLZCompressor* m_tcomp;
+	struct MeshProcess* m_tmproc;
+
+	class dtTileCache* m_tileCache;
+	
+	float m_cacheBuildTimeMs;
+	int m_cacheCompressedSize;
+	int m_cacheRawSize;
+	int m_cacheLayerCount;
+	unsigned int m_cacheBuildMemUsage;
+	
+	enum DrawMode
+	{
+		DRAWMODE_NAVMESH,
+		DRAWMODE_NAVMESH_TRANS,
+		DRAWMODE_NAVMESH_BVTREE,
+		DRAWMODE_NAVMESH_NODES,
+		DRAWMODE_NAVMESH_PORTALS,
+		DRAWMODE_NAVMESH_INVIS,
+		DRAWMODE_MESH,
+		DRAWMODE_CACHE_BOUNDS,
+		MAX_DRAWMODE
+	};
+	
+	DrawMode m_drawMode;
+	
+	int m_maxTiles;
+	int m_maxPolysPerTile;
+	float m_tileSize;
+	
+public:
+	Sample_TempObstacles();
+	virtual ~Sample_TempObstacles();
+	
+	virtual void handleSettings();
+	virtual void handleTools();
+	virtual void handleDebugMode();
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+	virtual void handleMeshChanged(class InputGeom* geom);
+	virtual bool handleBuild();
+	virtual void handleUpdate(const float dt);
+
+	void getTilePos(const float* pos, int& tx, int& ty);
+	
+	void renderCachedTile(const int tx, const int ty, const int type);
+	void renderCachedTileOverlay(const int tx, const int ty, double* proj, double* model, int* view);
+
+	void addTempObstacle(const float* pos);
+	void removeTempObstacle(const float* sp, const float* sq);
+	void clearAllTempObstacles();
+
+	void saveAll(const char* path);
+	void loadAll(const char* path);
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	Sample_TempObstacles(const Sample_TempObstacles&);
+	Sample_TempObstacles& operator=(const Sample_TempObstacles&);
+
+	int rasterizeTileLayers(const int tx, const int ty, const rcConfig& cfg, struct TileCacheData* tiles, const int maxTiles);
+};
+
+
+#endif // RECASTSAMPLETEMPOBSTACLE_H

libs/recastnavigation/RecastDemo/Include/Sample_TileMesh.h

@@ -0,0 +1,112 @@
+//
+// 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 RECASTSAMPLETILEMESH_H
+#define RECASTSAMPLETILEMESH_H
+
+#include "Sample.h"
+#include "DetourNavMesh.h"
+#include "Recast.h"
+#include "ChunkyTriMesh.h"
+
+class Sample_TileMesh : public Sample
+{
+protected:
+	bool m_keepInterResults;
+	bool m_buildAll;
+	float m_totalBuildTimeMs;
+
+	unsigned char* m_triareas;
+	rcHeightfield* m_solid;
+	rcCompactHeightfield* m_chf;
+	rcContourSet* m_cset;
+	rcPolyMesh* m_pmesh;
+	rcPolyMeshDetail* m_dmesh;
+	rcConfig m_cfg;	
+	
+	enum DrawMode
+	{
+		DRAWMODE_NAVMESH,
+		DRAWMODE_NAVMESH_TRANS,
+		DRAWMODE_NAVMESH_BVTREE,
+		DRAWMODE_NAVMESH_NODES,
+		DRAWMODE_NAVMESH_PORTALS,
+		DRAWMODE_NAVMESH_INVIS,
+		DRAWMODE_MESH,
+		DRAWMODE_VOXELS,
+		DRAWMODE_VOXELS_WALKABLE,
+		DRAWMODE_COMPACT,
+		DRAWMODE_COMPACT_DISTANCE,
+		DRAWMODE_COMPACT_REGIONS,
+		DRAWMODE_REGION_CONNECTIONS,
+		DRAWMODE_RAW_CONTOURS,
+		DRAWMODE_BOTH_CONTOURS,
+		DRAWMODE_CONTOURS,
+		DRAWMODE_POLYMESH,
+		DRAWMODE_POLYMESH_DETAIL,		
+		MAX_DRAWMODE
+	};
+		
+	DrawMode m_drawMode;
+	
+	int m_maxTiles;
+	int m_maxPolysPerTile;
+	float m_tileSize;
+	
+	unsigned int m_tileCol;
+	float m_lastBuiltTileBmin[3];
+	float m_lastBuiltTileBmax[3];
+	float m_tileBuildTime;
+	float m_tileMemUsage;
+	int m_tileTriCount;
+
+	unsigned char* buildTileMesh(const int tx, const int ty, const float* bmin, const float* bmax, int& dataSize);
+	
+	void cleanup();
+	
+	void saveAll(const char* path, const dtNavMesh* mesh);
+	dtNavMesh* loadAll(const char* path);
+	
+public:
+	Sample_TileMesh();
+	virtual ~Sample_TileMesh();
+	
+	virtual void handleSettings();
+	virtual void handleTools();
+	virtual void handleDebugMode();
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+	virtual void handleMeshChanged(class InputGeom* geom);
+	virtual bool handleBuild();
+	virtual void collectSettings(struct BuildSettings& settings);
+	
+	void getTilePos(const float* pos, int& tx, int& ty);
+	
+	void buildTile(const float* pos);
+	void removeTile(const float* pos);
+	void buildAllTiles();
+	void removeAllTiles();
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	Sample_TileMesh(const Sample_TileMesh&);
+	Sample_TileMesh& operator=(const Sample_TileMesh&);
+};
+
+
+#endif // RECASTSAMPLETILEMESH_H

libs/recastnavigation/RecastDemo/Include/TestCase.h

@@ -0,0 +1,110 @@
+//
+// 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 TESTCASE_H
+#define TESTCASE_H
+
+#include <string>
+#include "DetourNavMesh.h"
+
+class TestCase
+{
+	enum TestType
+	{
+		TEST_PATHFIND,
+		TEST_RAYCAST,
+	};
+	
+	struct Test
+	{
+		Test() :
+			type(),
+			radius(0),
+			includeFlags(0),
+			excludeFlags(0),
+			expand(false),
+			straight(0),
+			nstraight(0),
+			polys(0),
+			npolys(0),
+			findNearestPolyTime(0),
+			findPathTime(0),
+			findStraightPathTime(0),
+			next(0)
+		{
+		}
+
+		~Test()
+		{
+			delete [] straight;
+			delete [] polys;
+		}
+		
+		TestType type;
+		float spos[3];
+		float epos[3];
+		float nspos[3];
+		float nepos[3];
+		float radius;
+		unsigned short includeFlags;
+		unsigned short excludeFlags;
+		bool expand;
+		
+		float* straight;
+		int nstraight;
+		dtPolyRef* polys;
+		int npolys;
+		
+		int findNearestPolyTime;
+		int findPathTime;
+		int findStraightPathTime;
+		
+		Test* next;
+	private:
+		// Explicitly disabled copy constructor and copy assignment operator.
+		Test(const Test&);
+		Test& operator=(const Test&);
+	};
+
+	std::string m_sampleName;
+	std::string m_geomFileName;
+	Test* m_tests;
+	
+	void resetTimes();
+	
+public:
+	TestCase();
+	~TestCase();
+
+	bool load(const std::string& filePath);
+	
+	const std::string& getSampleName() const { return m_sampleName; }
+	const std::string& getGeomFileName() const { return m_geomFileName; }
+	
+	void doTests(class dtNavMesh* navmesh, class dtNavMeshQuery* navquery);
+	
+	void handleRender();
+	bool handleRenderOverlay(double* proj, double* model, int* view);
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	TestCase(const TestCase&);
+	TestCase& operator=(const TestCase&);
+};
+
+#endif // TESTCASE_H

libs/recastnavigation/RecastDemo/Include/ValueHistory.h

@@ -0,0 +1,50 @@
+#ifndef VALUEHISTORY_H
+#define VALUEHISTORY_H
+
+class ValueHistory
+{
+	static const int MAX_HISTORY = 256;
+	float m_samples[MAX_HISTORY];
+	int m_hsamples;
+public:
+	ValueHistory();
+
+	inline void addSample(const float val)
+	{
+		m_hsamples = (m_hsamples+MAX_HISTORY-1) % MAX_HISTORY;
+		m_samples[m_hsamples] = val;
+	}
+	
+	inline int getSampleCount() const
+	{
+		return MAX_HISTORY;
+	}
+	
+	inline float getSample(const int i) const
+	{
+		return m_samples[(m_hsamples+i) % MAX_HISTORY];
+	}
+	
+	float getSampleMin() const;
+	float getSampleMax() const;
+	float getAverage() const;
+};
+
+struct GraphParams
+{
+	void setRect(int ix, int iy, int iw, int ih, int ipad);
+	void setValueRange(float ivmin, float ivmax, int indiv, const char* iunits);
+	
+	int x, y, w, h, pad;
+	float vmin, vmax;
+	int ndiv;
+	char units[16];
+};
+
+void drawGraphBackground(const GraphParams* p);
+
+void drawGraph(const GraphParams* p, const ValueHistory* graph,
+			   int idx, const char* label, const unsigned int col);
+
+
+#endif // VALUEHISTORY_H

libs/recastnavigation/RecastDemo/Include/imgui.h

@@ -0,0 +1,108 @@
+//
+// 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 IMGUI_H
+#define IMGUI_H
+
+enum imguiMouseButton
+{
+	IMGUI_MBUT_LEFT = 0x01, 
+	IMGUI_MBUT_RIGHT = 0x02, 
+};
+
+enum imguiTextAlign
+{
+	IMGUI_ALIGN_LEFT,
+	IMGUI_ALIGN_CENTER,
+	IMGUI_ALIGN_RIGHT,
+};
+
+inline unsigned int imguiRGBA(unsigned char r, unsigned char g, unsigned char b, unsigned char a=255)
+{
+	return (r) | (g << 8) | (b << 16) | (a << 24);
+}
+
+void imguiBeginFrame(int mx, int my, unsigned char mbut, int scroll);
+void imguiEndFrame();
+
+bool imguiBeginScrollArea(const char* name, int x, int y, int w, int h, int* scroll);
+void imguiEndScrollArea();
+
+void imguiIndent();
+void imguiUnindent();
+void imguiSeparator();
+void imguiSeparatorLine();
+
+bool imguiButton(const char* text, bool enabled = true);
+bool imguiItem(const char* text, bool enabled = true);
+bool imguiCheck(const char* text, bool checked, bool enabled = true);
+bool imguiCollapse(const char* text, const char* subtext, bool checked, bool enabled = true);
+void imguiLabel(const char* text);
+void imguiValue(const char* text);
+bool imguiSlider(const char* text, float* val, float vmin, float vmax, float vinc, bool enabled = true);
+
+void imguiDrawText(int x, int y, int align, const char* text, unsigned int color);
+void imguiDrawLine(float x0, float y0, float x1, float y1, float r, unsigned int color);
+void imguiDrawRoundedRect(float x, float y, float w, float h, float r, unsigned int color);
+void imguiDrawRect(float x, float y, float w, float h, unsigned int color);
+
+// Pull render interface.
+enum imguiGfxCmdType
+{
+	IMGUI_GFXCMD_RECT,
+	IMGUI_GFXCMD_TRIANGLE,
+	IMGUI_GFXCMD_LINE,
+	IMGUI_GFXCMD_TEXT,
+	IMGUI_GFXCMD_SCISSOR,
+};
+
+struct imguiGfxRect
+{
+	short x,y,w,h,r;
+};
+
+struct imguiGfxText
+{
+	short x,y,align;
+	const char* text;
+};
+
+struct imguiGfxLine
+{
+	short x0,y0,x1,y1,r;
+};
+
+struct imguiGfxCmd
+{
+	char type;
+	char flags;
+	char pad[2];
+	unsigned int col;
+	union
+	{
+		imguiGfxLine line;
+		imguiGfxRect rect;
+		imguiGfxText text;
+	};
+};
+
+const imguiGfxCmd* imguiGetRenderQueue();
+int imguiGetRenderQueueSize();
+
+
+#endif // IMGUI_H

libs/recastnavigation/RecastDemo/Include/imguiRenderGL.h

@@ -0,0 +1,26 @@
+//
+// 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 IMGUI_RENDER_GL_H
+#define IMGUI_RENDER_GL_H
+
+bool imguiRenderGLInit(const char* fontpath);
+void imguiRenderGLDestroy();
+void imguiRenderGLDraw();
+
+#endif // IMGUI_RENDER_GL_H