navmesh: convert object_navmesh.cpp to plain c.

2 files changed, 301 insertions, 0 deletions

diff --git a/extern/recastnavigation/recast-capi.cpp b/extern/recastnavigation/recast-capi.cpp
index 52c4cdc90ed..2348497b0d7 100644
--- a/extern/recastnavigation/recast-capi.cpp
+++ b/extern/recastnavigation/recast-capi.cpp
@@ -35,3 +35,218 @@ int recast_buildMeshAdjacency(unsigned short* polys, const int npolys,
 {
 	return (int) buildMeshAdjacency(polys, npolys, nverts, vertsPerPoly);
 }
+
+void recast_calcBounds(const float *verts, int nv, float *bmin, float *bmax)
+{
+	rcCalcBounds(verts, nv, bmin, bmax);
+}
+
+void recast_calcGridSize(const float *bmin, const float *bmax, float cs, int *w, int *h)
+{
+	rcCalcGridSize(bmin, bmax, cs, w, h);
+}
+
+struct recast_heightfield *recast_newHeightfield(void)
+{
+	return (struct recast_heightfield *) (new rcHeightfield);
+}
+
+void recast_destroyHeightfield(struct recast_heightfield *heightfield)
+{
+	delete (rcHeightfield *) heightfield;
+}
+
+int recast_createHeightfield(struct recast_heightfield *hf, int width, int height,
+			const float *bmin, const float* bmax, float cs, float ch)
+{
+	return rcCreateHeightfield(*(rcHeightfield *)hf, width, height, bmin, bmax, cs, ch);
+}
+
+void recast_markWalkableTriangles(const float walkableSlopeAngle,const float *verts, int nv,
+			const int *tris, int nt, unsigned char *flags)
+{
+	rcMarkWalkableTriangles(walkableSlopeAngle, verts, nv, tris, nt, flags);
+}
+
+void recast_rasterizeTriangles(const float *verts, int nv, const int *tris,
+			const unsigned char *flags, int nt, struct recast_heightfield *solid)
+{
+	rcRasterizeTriangles(verts, nv, tris, flags, nt, *(rcHeightfield *) solid);
+}
+
+void recast_filterLedgeSpans(const int walkableHeight, const int walkableClimb,
+			struct recast_heightfield *solid)
+{
+	rcFilterLedgeSpans(walkableHeight, walkableClimb, *(rcHeightfield *) solid);
+}
+
+void recast_filterWalkableLowHeightSpans(int walkableHeight, struct recast_heightfield *solid)
+{
+	rcFilterWalkableLowHeightSpans(walkableHeight, *(rcHeightfield *) solid);
+}
+
+struct recast_compactHeightfield *recast_newCompactHeightfield(void)
+{
+	return (struct recast_compactHeightfield *) (new rcCompactHeightfield);
+}
+
+void recast_destroyCompactHeightfield(struct recast_compactHeightfield *compactHeightfield)
+{
+	delete (rcCompactHeightfield *) compactHeightfield;
+}
+
+int recast_buildCompactHeightfield(const int walkableHeight, const int walkableClimb,
+			unsigned char flags, struct recast_heightfield *hf, struct recast_compactHeightfield *chf)
+{
+	int rcFlags = 0;
+
+	if(flags & RECAST_WALKABLE)
+		rcFlags |= RC_WALKABLE;
+
+	if(flags & RECAST_REACHABLE)
+		rcFlags |= RC_REACHABLE;
+
+	return rcBuildCompactHeightfield(walkableHeight, walkableClimb, rcFlags,
+			*(rcHeightfield *) hf, *(rcCompactHeightfield *) chf);
+}
+
+int recast_buildDistanceField(struct recast_compactHeightfield *chf)
+{
+	return rcBuildDistanceField(*(rcCompactHeightfield *) chf);
+}
+
+int recast_buildRegions(struct recast_compactHeightfield *chf, int walkableRadius, int borderSize,
+	int minRegionSize, int mergeRegionSize)
+{
+	return rcBuildRegions(*(rcCompactHeightfield *) chf, walkableRadius, borderSize,
+				minRegionSize, mergeRegionSize);
+}
+
+struct recast_contourSet *recast_newContourSet(void)
+{
+	return (struct recast_contourSet *) (new rcContourSet);
+}
+
+void recast_destroyContourSet(struct recast_contourSet *contourSet)
+{
+	delete (rcContourSet *) contourSet;
+}
+
+int recast_buildContours(struct recast_compactHeightfield *chf,
+			const float maxError, const int maxEdgeLen, struct recast_contourSet *cset)
+{
+	return rcBuildContours(*(rcCompactHeightfield *) chf, maxError, maxEdgeLen, *(rcContourSet *) cset);
+}
+
+struct recast_polyMesh *recast_newPolyMesh(void)
+{
+	return (recast_polyMesh *) (new rcPolyMesh);
+}
+
+void recast_destroyPolyMesh(struct recast_polyMesh *polyMesh)
+{
+	delete (rcPolyMesh *) polyMesh;
+}
+
+int recast_buildPolyMesh(struct recast_contourSet *cset, int nvp, struct recast_polyMesh *mesh)
+{
+	return rcBuildPolyMesh(*(rcContourSet *) cset, nvp, * (rcPolyMesh *) mesh);
+}
+
+unsigned short *recast_polyMeshGetVerts(struct recast_polyMesh *mesh, int *nverts)
+{
+	rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
+
+	if (nverts)
+		*nverts = pmesh->nverts;
+
+	return pmesh->verts;
+}
+
+void recast_polyMeshGetBoundbox(struct recast_polyMesh *mesh, float *bmin, float *bmax)
+{
+	rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
+
+	if (bmin) {
+		bmin[0] = pmesh->bmin[0];
+		bmin[1] = pmesh->bmin[1];
+		bmin[2] = pmesh->bmin[2];
+	}
+
+	if (bmax) {
+		bmax[0] = pmesh->bmax[0];
+		bmax[1] = pmesh->bmax[1];
+		bmax[2] = pmesh->bmax[2];
+	}
+}
+
+void recast_polyMeshGetCell(struct recast_polyMesh *mesh, float *cs, float *ch)
+{
+	rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
+
+	if (cs)
+		*cs = pmesh->cs;
+
+	if (ch)
+		*ch = pmesh->ch;
+}
+
+unsigned short *recast_polyMeshGetPolys(struct recast_polyMesh *mesh, int *npolys, int *nvp)
+{
+	rcPolyMesh *pmesh = (rcPolyMesh *)mesh;
+
+	if (npolys)
+		*npolys = pmesh->npolys;
+
+	if (nvp)
+		*nvp = pmesh->nvp;
+
+	return pmesh->polys;
+}
+
+struct recast_polyMeshDetail *recast_newPolyMeshDetail(void)
+{
+	return (struct recast_polyMeshDetail *) (new rcPolyMeshDetail);
+}
+
+void recast_destroyPolyMeshDetail(struct recast_polyMeshDetail *polyMeshDetail)
+{
+	delete (rcPolyMeshDetail *) polyMeshDetail;
+}
+
+int recast_buildPolyMeshDetail(const struct recast_polyMesh *mesh, const struct recast_compactHeightfield *chf,
+			const float sampleDist, const float sampleMaxError, struct recast_polyMeshDetail *dmesh)
+{
+	return rcBuildPolyMeshDetail(*(rcPolyMesh *) mesh, *(rcCompactHeightfield *) chf,
+			sampleDist, sampleMaxError, *(rcPolyMeshDetail *) dmesh);
+}
+
+float *recast_polyMeshDetailGetVerts(struct recast_polyMeshDetail *mesh, int *nverts)
+{
+	rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh;
+
+	if (nverts)
+		*nverts = dmesh->nverts;
+
+	return dmesh->verts;
+}
+
+unsigned char *recast_polyMeshDetailGetTris(struct recast_polyMeshDetail *mesh, int *ntris)
+{
+	rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh;
+
+	if (ntris)
+		*ntris = dmesh->ntris;
+
+	return dmesh->tris;
+}
+
+unsigned short *recast_polyMeshDetailGetMeshes(struct recast_polyMeshDetail *mesh, int *nmeshes)
+{
+	rcPolyMeshDetail *dmesh = (rcPolyMeshDetail *)mesh;
+
+	if (nmeshes)
+		*nmeshes = dmesh->nmeshes;
+
+	return dmesh->meshes;
+}
diff --git a/extern/recastnavigation/recast-capi.h b/extern/recastnavigation/recast-capi.h
index 0d20fdf9981..58fe08e6335 100644
--- a/extern/recastnavigation/recast-capi.h
+++ b/extern/recastnavigation/recast-capi.h
@@ -32,9 +32,95 @@
 extern "C" {
 #endif
 
+struct recast_polyMesh;
+struct recast_polyMeshDetail;
+struct recast_heightfield;
+struct recast_compactHeightfield;
+struct recast_contourSet;
+
+enum recast_SpanFlags
+{
+	RECAST_WALKABLE = 0x01,
+	RECAST_REACHABLE = 0x02
+};
+
 int recast_buildMeshAdjacency(unsigned short* polys, const int npolys,
 			const int nverts, const int vertsPerPoly);
 
+void recast_calcBounds(const float *verts, int nv, float *bmin, float *bmax);
+
+void recast_calcGridSize(const float *bmin, const float *bmax, float cs, int *w, int *h);
+
+struct recast_heightfield *recast_newHeightfield(void);
+
+void recast_destroyHeightfield(struct recast_heightfield *heightfield);
+
+int recast_createHeightfield(struct recast_heightfield *hf, int width, int height,
+			const float *bmin, const float* bmax, float cs, float ch);
+
+void recast_markWalkableTriangles(const float walkableSlopeAngle,const float *verts, int nv,
+			const int *tris, int nt, unsigned char *flags);
+
+void recast_rasterizeTriangles(const float *verts, int nv, const int *tris,
+			const unsigned char *flags, int nt, struct recast_heightfield *solid);
+
+void recast_filterLedgeSpans(const int walkableHeight, const int walkableClimb,
+			struct recast_heightfield *solid);
+
+void recast_filterWalkableLowHeightSpans(int walkableHeight, struct recast_heightfield *solid);
+
+struct recast_compactHeightfield *recast_newCompactHeightfield(void);
+
+void recast_destroyCompactHeightfield(struct recast_compactHeightfield *compactHeightfield);
+
+int recast_buildCompactHeightfield(const int walkableHeight, const int walkableClimb,
+			unsigned char flags, struct recast_heightfield *hf, struct recast_compactHeightfield *chf);
+
+int recast_buildDistanceField(struct recast_compactHeightfield *chf);
+
+int recast_buildRegions(struct recast_compactHeightfield *chf, int walkableRadius, int borderSize,
+	int minRegionSize, int mergeRegionSize);
+
+/* Contour set */
+
+struct recast_contourSet *recast_newContourSet(void);
+
+void recast_destroyContourSet(struct recast_contourSet *contourSet);
+
+int recast_buildContours(struct recast_compactHeightfield *chf,
+			const float maxError, const int maxEdgeLen, struct recast_contourSet *cset);
+
+/* Poly mesh */
+
+struct recast_polyMesh *recast_newPolyMesh(void);
+
+void recast_destroyPolyMesh(struct recast_polyMesh *polyMesh);
+
+int recast_buildPolyMesh(struct recast_contourSet *cset, int nvp, struct recast_polyMesh *mesh);
+
+unsigned short *recast_polyMeshGetVerts(struct recast_polyMesh *mesh, int *nverts);
+
+void recast_polyMeshGetBoundbox(struct recast_polyMesh *mesh, float *bmin, float *bmax);
+
+void recast_polyMeshGetCell(struct recast_polyMesh *mesh, float *cs, float *ch);
+
+unsigned short *recast_polyMeshGetPolys(struct recast_polyMesh *mesh, int *npolys, int *nvp);
+
+/* Poly mesh detail */
+
+struct recast_polyMeshDetail *recast_newPolyMeshDetail(void);
+
+void recast_destroyPolyMeshDetail(struct recast_polyMeshDetail *polyMeshDetail);
+
+int recast_buildPolyMeshDetail(const struct recast_polyMesh *mesh, const struct recast_compactHeightfield *chf,
+			const float sampleDist, const float sampleMaxError, struct recast_polyMeshDetail *dmesh);
+
+float *recast_polyMeshDetailGetVerts(struct recast_polyMeshDetail *mesh, int *nverts);
+
+unsigned char *recast_polyMeshDetailGetTris(struct recast_polyMeshDetail *mesh, int *ntris);
+
+unsigned short *recast_polyMeshDetailGetMeshes(struct recast_polyMeshDetail *mesh, int *nmeshes);
+
 #ifdef __cplusplus
 }
 #endif