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Diffstat (limited to 'extern/recastnavigation/Detour/Include/DetourStatNavMesh.h')
| -rw-r--r-- | extern/recastnavigation/Detour/Include/DetourStatNavMesh.h | 234 |
1 files changed, 0 insertions, 234 deletions
diff --git a/extern/recastnavigation/Detour/Include/DetourStatNavMesh.h b/extern/recastnavigation/Detour/Include/DetourStatNavMesh.h deleted file mode 100644 index 5a3e04a2074..00000000000 --- a/extern/recastnavigation/Detour/Include/DetourStatNavMesh.h +++ /dev/null @@ -1,234 +0,0 @@ -// -// Copyright (c) 2009 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 DETOURSTATNAVMESH_H -#define DETOURSTATNAVMESH_H - -// Reference to navigation polygon. -typedef unsigned short dtStatPolyRef; - -// Maximum number of vertices per navigation polygon. -static const int DT_STAT_VERTS_PER_POLYGON = 6; - -// Structure holding the navigation polygon data. -struct dtStatPoly -{ - unsigned short v[DT_STAT_VERTS_PER_POLYGON]; // Indices to vertices of the poly. - dtStatPolyRef n[DT_STAT_VERTS_PER_POLYGON]; // Refs to neighbours of the poly. - unsigned char nv; // Number of vertices. - unsigned char flags; // Flags (not used). -}; - -struct dtStatPolyDetail -{ - unsigned short vbase; // Offset to detail vertex array. - unsigned short nverts; // Number of vertices in the detail mesh. - unsigned short tbase; // Offset to detail triangle array. - unsigned short ntris; // Number of triangles. -}; - -const int DT_STAT_NAVMESH_MAGIC = (('N'<<24) | ('A'<<16) | ('V'<<8) | 'M'); -const int DT_STAT_NAVMESH_VERSION = 3; - -struct dtStatBVNode -{ - unsigned short bmin[3], bmax[3]; - int i; -}; - -struct dtStatNavMeshHeader -{ - int magic; - int version; - int npolys; - int nverts; - int nnodes; - int ndmeshes; - int ndverts; - int ndtris; - float cs; - float bmin[3], bmax[3]; - dtStatPoly* polys; - float* verts; - dtStatBVNode* bvtree; - dtStatPolyDetail* dmeshes; - float* dverts; - unsigned char* dtris; -}; - -class dtStatNavMesh -{ -public: - - dtStatNavMesh(); - ~dtStatNavMesh(); - - // Initializes the navmesh with data. - // Params: - // data - (in) Pointer to navmesh data. - // dataSize - (in) size of the navmesh data. - // ownsData - (in) Flag indicating if the navmesh should own and delete the data. - bool init(unsigned char* data, int dataSize, bool ownsData); - - // Finds the nearest navigation polygon around the center location. - // Params: - // center - (in) The center of the search box. - // extents - (in) The extents of the search box. - // Returns: Reference identifier for the polygon, or 0 if no polygons found. - dtStatPolyRef findNearestPoly(const float* center, const float* extents); - - // Returns polygons which touch the query box. - // Params: - // center - (in) the center of the search box. - // extents - (in) the extents of the search box. - // polys - (out) array holding the search result. - // maxPolys - (in) The max number of polygons the polys array can hold. - // Returns: Number of polygons in search result array. - int queryPolygons(const float* center, const float* extents, - dtStatPolyRef* polys, const int maxPolys); - - // Finds path from start polygon to end polygon. - // If target polygon canno be reached through the navigation graph, - // the last node on the array is nearest node to the end polygon. - // Params: - // startRef - (in) ref to path start polygon. - // endRef - (in) ref to path end polygon. - // path - (out) array holding the search result. - // maxPathSize - (in) The max number of polygons the path array can hold. - // Returns: Number of polygons in search result array. - int findPath(dtStatPolyRef startRef, dtStatPolyRef endRef, - const float* startPos, const float* endPos, - dtStatPolyRef* path, const int maxPathSize); - - // Finds a straight path from start to end locations within the corridor - // described by the path polygons. - // Start and end locations will be clamped on the corridor. - // Params: - // startPos - (in) Path start location. - // endPos - (in) Path end location. - // path - (in) Array of connected polygons describing the corridor. - // pathSize - (in) Number of polygons in path array. - // straightPath - (out) Points describing the straight path. - // maxStraightPathSize - (in) The max number of points the straight path array can hold. - // Returns: Number of points in the path. - int findStraightPath(const float* startPos, const float* endPos, - const dtStatPolyRef* path, const int pathSize, - float* straightPath, const int maxStraightPathSize); - - // Finds intersection againts walls starting from start pos. - // Params: - // startRef - (in) ref to the polygon where the start lies. - // startPos - (in) start position of the query. - // endPos - (in) end position of the query. - // t - (out) hit parameter along the segment, 0 if no hit. - // endRef - (out) ref to the last polygon which was processed. - // Returns: Number of polygons in path or 0 if failed. - int raycast(dtStatPolyRef startRef, const float* startPos, const float* endPos, - float& t, dtStatPolyRef* path, const int pathSize); - - // Returns distance to nearest wall from the specified location. - // Params: - // centerRef - (in) ref to the polygon where the center lies. - // centerPos - (in) center if the query circle. - // maxRadius - (in) max search radius. - // hitPos - (out) location of the nearest hit. - // hitNormal - (out) normal of the nearest hit. - // Returns: Distance to nearest wall from the test location. - float findDistanceToWall(dtStatPolyRef centerRef, const float* centerPos, float maxRadius, - float* hitPos, float* hitNormal); - - // Finds polygons found along the navigation graph which touch the specified circle. - // Params: - // centerRef - (in) ref to the polygon where the center lies. - // centerPos - (in) center if the query circle - // radius - (in) radius of the query circle - // resultRef - (out, opt) refs to the polygons touched by the circle. - // resultParent - (out, opt) parent of each result polygon. - // resultCost - (out, opt) search cost at each result polygon. - // maxResult - (int) maximum capacity of search results. - // Returns: Number of results. - int findPolysAround(dtStatPolyRef centerRef, const float* centerPos, float radius, - dtStatPolyRef* resultRef, dtStatPolyRef* resultParent, float* resultCost, - const int maxResult); - - // Returns closest point on navigation polygon. - // Params: - // ref - (in) ref to the polygon. - // pos - (in) the point to check. - // closest - (out) closest point. - // Returns: true if closest point found. - bool closestPointToPoly(dtStatPolyRef ref, const float* pos, float* closest) const; - - // Returns height of the polygon at specified location. - // Params: - // ref - (in) ref to the polygon. - // pos - (in) the point where to locate the height. - // height - (out) height at the location. - // Returns: true if oer polygon. - bool getPolyHeight(dtStatPolyRef ref, const float* pos, float* height) const; - - // Returns pointer to a polygon based on ref. - const dtStatPoly* getPolyByRef(dtStatPolyRef ref) const; - // Returns polygon index based on ref, or -1 if failed. - int getPolyIndexByRef(dtStatPolyRef ref) const; - // Returns number of navigation polygons. - inline int getPolyCount() const { return m_header ? m_header->npolys : 0; } - // Rerturns pointer to specified navigation polygon. - inline const dtStatPoly* getPoly(int i) const { return &m_header->polys[i]; } - // Returns number of vertices. - inline int getVertexCount() const { return m_header ? m_header->nverts : 0; } - // Returns pointer to specified vertex. - inline const float* getVertex(int i) const { return &m_header->verts[i*3]; } - // Returns number of navigation polygons details. - inline int getPolyDetailCount() const { return m_header ? m_header->ndmeshes : 0; } - // Rerturns pointer to specified navigation polygon detail. - const dtStatPolyDetail* getPolyDetail(int i) const { return &m_header->dmeshes[i]; } - // Returns pointer to specified vertex. - inline const float* getDetailVertex(int i) const { return &m_header->dverts[i*3]; } - // Returns pointer to specified vertex. - inline const unsigned char* getDetailTri(int i) const { return &m_header->dtris[i*4]; } - - bool isInClosedList(dtStatPolyRef ref) const; - - int getMemUsed() const; - - inline unsigned char* getData() const { return m_data; } - inline int getDataSize() const { return m_dataSize; } - inline const dtStatNavMeshHeader* getHeader() const { return m_header; } - inline const dtStatBVNode* getBvTreeNodes() const { return m_header ? m_header->bvtree : 0; } - inline int getBvTreeNodeCount() const { return m_header ? m_header->nnodes : 0; } - -private: - - // Copies the locations of vertices of a polygon to an array. - int getPolyVerts(dtStatPolyRef ref, float* verts) const; - // Returns portal points between two polygons. - bool getPortalPoints(dtStatPolyRef from, dtStatPolyRef to, float* left, float* right) const; - // Returns edge mid point between two polygons. - bool getEdgeMidPoint(dtStatPolyRef from, dtStatPolyRef to, float* mid) const; - - unsigned char* m_data; - int m_dataSize; - - dtStatNavMeshHeader* m_header; - - class dtNodePool* m_nodePool; - class dtNodeQueue* m_openList; -}; - -#endif // DETOURSTATNAVMESH_H |