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/*
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2011 Blender Foundation.
* All rights reserved.
*
* Contributor(s): Sergey Sharybin
*
* ***** END GPL LICENSE BLOCK *****
*/
#ifndef RECAST_C_API_H
#define RECAST_C_API_H
// for size_t
#include <stddef.h>
#ifdef __cplusplus
extern "C" {
#endif
struct recast_polyMesh;
struct recast_polyMeshDetail;
struct recast_heightfield;
struct recast_compactHeightfield;
struct recast_heightfieldLayerSet;
struct recast_contourSet;
enum recast_BuildContoursFlags
{
RECAST_CONTOUR_TESS_WALL_EDGES = 0x01,
RECAST_CONTOUR_TESS_AREA_EDGES = 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 *areas);
void recast_clearUnwalkableTriangles(const float walkableSlopeAngle, const float* verts, int nv,
const int* tris, int nt, unsigned char* areas);
int recast_addSpan(struct recast_heightfield *hf, const int x, const int y,
const unsigned short smin, const unsigned short smax,
const unsigned char area, const int flagMergeThr);
int recast_rasterizeTriangle(const float* v0, const float* v1, const float* v2,
const unsigned char area, struct recast_heightfield *solid,
const int flagMergeThr);
int recast_rasterizeTriangles(const float *verts, const int nv, const int *tris,
const unsigned char *areas, const int nt, struct recast_heightfield *solid,
const int flagMergeThr);
void recast_filterLedgeSpans(const int walkableHeight, const int walkableClimb,
struct recast_heightfield *solid);
void recast_filterWalkableLowHeightSpans(int walkableHeight, struct recast_heightfield *solid);
void recast_filterLowHangingWalkableObstacles(const int walkableClimb, struct recast_heightfield *solid);
int recast_getHeightFieldSpanCount(struct recast_heightfield *hf);
struct recast_heightfieldLayerSet *recast_newHeightfieldLayerSet(void);
void recast_destroyHeightfieldLayerSet(struct recast_heightfieldLayerSet *lset);
struct recast_compactHeightfield *recast_newCompactHeightfield(void);
void recast_destroyCompactHeightfield(struct recast_compactHeightfield *compactHeightfield);
int recast_buildCompactHeightfield(const int walkableHeight, const int walkableClimb,
struct recast_heightfield *hf, struct recast_compactHeightfield *chf);
int recast_erodeWalkableArea(int radius, struct recast_compactHeightfield *chf);
int recast_medianFilterWalkableArea(struct recast_compactHeightfield *chf);
void recast_markBoxArea(const float *bmin, const float *bmax, unsigned char areaId,
struct recast_compactHeightfield *chf);
void recast_markConvexPolyArea(const float* verts, const int nverts,
const float hmin, const float hmax, unsigned char areaId,
struct recast_compactHeightfield *chf);
int recast_offsetPoly(const float* verts, const int nverts,
const float offset, float *outVerts, const int maxOutVerts);
void recast_markCylinderArea(const float* pos, const float r, const float h,
unsigned char areaId, struct recast_compactHeightfield *chf);
int recast_buildDistanceField(struct recast_compactHeightfield *chf);
int recast_buildRegions(struct recast_compactHeightfield *chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea);
int recast_buildLayerRegions(struct recast_compactHeightfield *chf,
const int borderSize, const int minRegionArea);
int recast_buildRegionsMonotone(struct recast_compactHeightfield *chf,
const int borderSize, const int minRegionArea, const int mergeRegionArea);
/* 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,
const int buildFlags);
/* Poly mesh */
struct recast_polyMesh *recast_newPolyMesh(void);
void recast_destroyPolyMesh(struct recast_polyMesh *polyMesh);
int recast_buildPolyMesh(struct recast_contourSet *cset, const int nvp, struct recast_polyMesh *mesh);
int recast_mergePolyMeshes(struct recast_polyMesh **meshes, const int nmeshes, struct recast_polyMesh *mesh);
int recast_copyPolyMesh(const struct recast_polyMesh *src, struct recast_polyMesh *dst);
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);
int recast_mergePolyMeshDetails(struct recast_polyMeshDetail **meshes, const int nmeshes, struct recast_polyMeshDetail *mesh);
float *recast_polyMeshDetailGetVerts(struct recast_polyMeshDetail *mesh, int *nverts);
unsigned char *recast_polyMeshDetailGetTris(struct recast_polyMeshDetail *mesh, int *ntris);
unsigned int *recast_polyMeshDetailGetMeshes(struct recast_polyMeshDetail *mesh, int *nmeshes);
#ifdef __cplusplus
}
#endif
#endif // RECAST_C_API_H
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