Recast navigation

2026-09-05 15:36:38 +00:00 · 2019-05-16 14:24:08 -07:00
parent e00cd4afd9
commit 4836db73d7
136 changed files with 65640 additions and 0 deletions
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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