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Detour: Submittin missing renamed file, deleting old (tiled->tile renaming).

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Mikko Mononen 2009-07-14 16:04:11 +00:00
parent a7cb1f86e2
commit 8278720ff2
4 changed files with 316 additions and 218 deletions
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289
Detour/Include/DetourTileNavMesh.h Normal file
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//
// 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 DETOURTILENAVMESH_H
#define DETOURTILENAVMESH_H
// Reference to navigation polygon.
typedef unsigned int dtTilePolyRef;
// The bits used in the poly ref.
static const int DT_TILE_REF_SALT_BITS = 12;
static const int DT_TILE_REF_TILE_BITS = 12;
static const int DT_TILE_REF_POLY_BITS = 8;
static const int DT_TILE_REF_SALT_MASK = (1<<DT_TILE_REF_SALT_BITS)-1;
static const int DT_TILE_REF_TILE_MASK = (1<<DT_TILE_REF_TILE_BITS)-1;
static const int DT_TILE_REF_POLY_MASK = (1<<DT_TILE_REF_POLY_BITS)-1;
// Maximum number of vertices per navigation polygon.
static const int DT_TILE_VERTS_PER_POLYGON = 6;
static const int DT_MAX_TILES = 1 << DT_TILE_REF_TILE_BITS;
static const int DT_MAX_POLYGONS = 1 << DT_TILE_REF_POLY_BITS;
static const int DT_TILE_NAVMESH_MAGIC = 'NAVT';
static const int DT_TILE_NAVMESH_VERSION = 1;
// Structure holding the navigation polygon data.
struct dtTilePoly
{
unsigned short v[DT_TILE_VERTS_PER_POLYGON]; // Indices to vertices of the poly.
unsigned short n[DT_TILE_VERTS_PER_POLYGON]; // Refs to neighbours of the poly.
unsigned short links; // Base index to header 'links' array.
unsigned char nlinks; // Number of links for
unsigned char nv; // Number of vertices.
unsigned char flags; // Flags (not used).
};
// Stucture holding a link to another polygon.
struct dtTileLink
{
dtTilePolyRef ref; // Neighbour reference.
unsigned short p; // Index to polygon which owns this link.
unsigned char e; // Index to polygon edge which owns this link.
unsigned char side; // If boundary link, defines on which side the link is.
unsigned char bmin, bmax; // If boundary link, defines the sub edge area.
};
struct dtTileHeader
{
int magic;
int version;
int npolys;
int nverts;
int nlinks;
int maxlinks;
float cs;
float bmin[3], bmax[3];
dtTilePoly* polys;
float* verts;
dtTileLink* links;
};
struct dtTile
{
int salt;
int x,y;
dtTileHeader* header;
unsigned char* data;
int dataSize;
bool ownsData;
dtTile* next;
};
// Encodes a tile id.
inline dtTilePolyRef dtEncodeTileId(unsigned int salt, unsigned int it, unsigned int ip)
{
return (salt << (DT_TILE_REF_POLY_BITS+DT_TILE_REF_TILE_BITS)) | ((it+1) << DT_TILE_REF_POLY_BITS) | ip;
}
// Decodes a tile id.
inline void dtDecodeTileId(dtTilePolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip)
{
salt = (ref >> (DT_TILE_REF_POLY_BITS+DT_TILE_REF_TILE_BITS)) & DT_TILE_REF_SALT_MASK;
it = ((ref >> DT_TILE_REF_POLY_BITS) & DT_TILE_REF_TILE_MASK) - 1;
ip = ref & DT_TILE_REF_POLY_MASK;
}
static const int DT_TILE_LOOKUP_SIZE = DT_MAX_TILES/4;
class dtTiledNavMesh
{
public:
dtTiledNavMesh();
~dtTiledNavMesh();
// Initializes the nav mesh.
// Params:
// orig - (in) origin of the nav mesh tile space.
// tileSiz - (in) size of a tile.
// portalheight - (in) height of the portal region between tiles.
// Returns: True if succeed, else false.
bool init(const float* orig, float tileSize, float portalHeight);
// Adds new tile into the navmesh.
// The add will fail if the data is in wrong format,
// there is not enough tiles left, or if there is a tile already at the location.
// Params:
// x,y - (in) Location of the new tile.
// data - (in) Data of the new tile mesh.
// dataSize - (in) Data size of the new tile mesh.
// ownsData - (in) Flag indicating if the navmesh should own and delete the data.
// Returns: True if tile was added, else false.
bool addTileAt(int x, int y, unsigned char* data, int dataSize, bool ownsData);
// Removes tile at specified location.
// Params:
// x,y - (in) Location of the tile to remove.
// data - (out) Data associated with deleted tile.
// dataSize - (out) Size of the data associated with deleted tile.
// Returns: True if remove suceed, else false.
bool removeTileAt(int x, int y, unsigned char** data, int* dataSize);
// Returns pointer to tile at specified location.
// Params:
// x,y - (in) Location of the tile to get.
// Returns: pointer to tile if tile exists or 0 tile does not exists.
dtTile* getTileAt(int x, int y);
// Returns pointer to tile in the tile array.
// Params:
// i - (in) Index to the tile to retrieve, must be in range [0,DT_MAX_TILES[
// Returns: Pointer to specified tile.
dtTile* getTile(int i);
const dtTile* getTile(int i) const;
// 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.
dtTilePolyRef 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,
dtTilePolyRef* 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(dtTilePolyRef startRef, dtTilePolyRef endRef,
dtTilePolyRef* 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 dtTilePolyRef* 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(dtTilePolyRef startRef, const float* startPos, const float* endPos,
float& t, dtTilePolyRef* 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(dtTilePolyRef 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(dtTilePolyRef centerRef, const float* centerPos, float radius,
dtTilePolyRef* resultRef, dtTilePolyRef* 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(dtTilePolyRef ref, const float* pos, float* closest) const;
// Returns pointer to a polygon based on ref.
const dtTilePoly* getPolyByRef(dtTilePolyRef ref) const;
// Returns pointer to a polygon vertices based on ref.
const float* getPolyVertsByRef(dtTilePolyRef ref) const;
// Returns pointer to a polygon link based on ref.
const dtTileLink* getPolyLinksByRef(dtTilePolyRef ref) const;
private:
// Returns base id for the tile.
dtTilePolyRef getTileId(dtTile* tile);
// Returns neighbour tile based on side.
dtTile* getNeighbourTileAt(int x, int y, int side);
// Returns all polygons in neighbour tile based on portal defined by the segment.
int findConnectingPolys(const float* va, const float* vb,
dtTile* tile, int side,
dtTilePolyRef* con, float* conarea, int maxcon);
// Builds internal polygons links for a tile.
void buildIntLinks(dtTile* tile);
// Builds external polygon links for a tile.
void buildExtLinks(dtTile* tile, dtTile* target, int side);
// Removes external links at specified side.
void removeExtLinks(dtTile* tile, int side);
// Queries polygons within a tile.
int queryTilePolygons(dtTile* tile, const float* qmin, const float* qmax,
dtTilePolyRef* polys, const int maxPolys);
// Returns travel cost between two polygons.
float getCost(dtTilePolyRef prev, dtTilePolyRef from, dtTilePolyRef to) const;
// returns A* heuristics between two polygons.
float getHeuristic(dtTilePolyRef from, dtTilePolyRef to) const;
// Returns portal points between two polygons.
bool getPortalPoints(dtTilePolyRef from, dtTilePolyRef to, float* left, float* right) const;
float m_orig[3];
float m_tileSize;
float m_portalHeight;
dtTile* m_posLookup[DT_TILE_LOOKUP_SIZE];
dtTile* m_nextFree;
dtTile m_tiles[DT_MAX_TILES];
dtTileLink* m_tmpLinks;
int m_ntmpLinks;
class dtNodePool* m_nodePool;
class dtNodeQueue* m_openList;
};
#endif // DETOURTILENAVMESH_H

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Detour/Include/DetourTileNavMeshBuilder.h Normal file
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//
// 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 DETOURTILEDNAVMESHBUILDER_H
#define DETOURTILEDNAVMESHBUILDER_H
bool dtCreateNavMeshTileData(const unsigned short* verts, const int nverts,
const unsigned short* polys, const int npolys, const int nvp,
const float* bmin, const float* bmax, float cs, float ch, int tileSize, int walkableClimb,
unsigned char** outData, int* outDataSize);
#endif // DETOURTILEDNAVMESHBUILDER_H

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Detour/Include/DetourTiledNavMesh.h
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//
// 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 DETOURTILEDNAVMESH_H
#define DETOURTILEDNAVMESH_H
// Reference to navigation polygon.
typedef unsigned int dtTilePolyRef;
static const int DT_TILE_REF_SALT_BITS = 12;
static const int DT_TILE_REF_SALT_MASK = (1<<DT_TILE_REF_SALT_BITS)-1;
static const int DT_TILE_REF_TILE_BITS = 12;
static const int DT_TILE_REF_TILE_MASK = (1<<DT_TILE_REF_TILE_BITS)-1;
static const int DT_TILE_REF_POLY_BITS = 8;
static const int DT_TILE_REF_POLY_MASK = (1<<DT_TILE_REF_POLY_BITS)-1;
// Maximum number of vertices per navigation polygon.
static const int DT_TILE_VERTS_PER_POLYGON = 6;
static const int DT_MAX_TILES = 1 << DT_TILE_REF_TILE_BITS;
static const int DT_MAX_POLYGONS = 1 << DT_TILE_REF_POLY_BITS;
// Structure holding the navigation polygon data.
struct dtTilePoly
{
unsigned short v[DT_TILE_VERTS_PER_POLYGON]; // Indices to vertices of the poly.
unsigned short n[DT_TILE_VERTS_PER_POLYGON]; // Refs to neighbours of the poly.
unsigned short links;
unsigned char nlinks;
unsigned char nv; // Number of vertices.
unsigned char flags; // Flags (not used).
};
struct dtTileLink
{
dtTilePolyRef ref;
unsigned short p;
unsigned char e;
unsigned char side;
float bmin, bmax;
};
static const int DT_TILE_NAVMESH_MAGIC = 'NAVT';
static const int DT_TILE_NAVMESH_VERSION = 1;
struct dtTileHeader
{
int magic;
int version;
int npolys;
int nverts;
int nportals[4];
int nlinks;
int maxlinks;
float cs;
float bmin[3], bmax[3];
dtTilePoly* polys;
float* verts;
dtTileLink* links;
struct dtTile* nei[4];
};
struct dtTile
{
int salt;
int x,y;
dtTileHeader* header;
dtTile* next;
};
inline dtTilePolyRef encodeId(int salt, int it, int ip)
{
return ((unsigned int)salt << (DT_TILE_REF_POLY_BITS+DT_TILE_REF_TILE_BITS)) | ((unsigned int)(it+1) << DT_TILE_REF_POLY_BITS) | (unsigned int)ip;
}
inline void decodeId(dtTilePolyRef ref, int& salt, int& it, int& ip)
{
salt = (int)((ref >> (DT_TILE_REF_POLY_BITS+DT_TILE_REF_TILE_BITS)) & DT_TILE_REF_SALT_MASK);
it = (int)(((ref >> DT_TILE_REF_POLY_BITS) & DT_TILE_REF_TILE_MASK) - 1);
ip = (int)(ref & DT_TILE_REF_POLY_MASK);
}
static const int DT_TILE_LOOKUP_SIZE = DT_MAX_TILES/4;
class dtTiledNavMesh
{
public:
dtTiledNavMesh();
~dtTiledNavMesh();
bool init(const float* orig, float tileSize, float portalHeight);
bool addTile(int x, int y, unsigned char* data, int dataSize);
bool removeTile(int x, int y);
dtTile* getTile(int x, int y);
const dtTile* getTile(int i) const { return &m_tiles[i]; }
// 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.
dtTilePolyRef 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,
dtTilePolyRef* polys, const int maxPolys);
bool closestPointToPoly(dtTilePolyRef ref, const float* pos, float* closest) const;
int getPolyNeighbours(dtTilePolyRef ref, dtTilePolyRef* nei, int maxNei) const;
int findPath(dtTilePolyRef startRef, dtTilePolyRef endRef,
dtTilePolyRef* path, const int maxPathSize);
int findStraightPath(const float* startPos, const float* endPos,
const dtTilePolyRef* path, const int pathSize,
float* straightPath, const int maxStraightPathSize);
int raycast(dtTilePolyRef startRef, const float* startPos, const float* endPos,
float& t, dtTilePolyRef* path, const int pathSize);
int findPolysAround(dtTilePolyRef centerRef, const float* centerPos, float radius,
dtTilePolyRef* resultRef, dtTilePolyRef* resultParent,
float* resultCost, unsigned short* resultDepth,
const int maxResult);
float findDistanceToWall(dtTilePolyRef centerRef, const float* centerPos, float maxRadius,
float* hitPos, float* hitNormal);
inline const dtTilePoly* getPolyByRef(dtTilePolyRef ref) const
{
int salt, it, ip;
decodeId(ref, salt, it, ip);
if (it >= DT_MAX_TILES) return 0;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
if (ip >= m_tiles[it].header->npolys) return 0;
return &m_tiles[it].header->polys[ip];
}
inline const float* getPolyVertsByRef(dtTilePolyRef ref) const
{
int salt, it, ip;
decodeId(ref, salt, it, ip);
if (it >= DT_MAX_TILES) return 0;
if (m_tiles[it].salt != salt || m_tiles[it].header == 0) return 0;
if (ip >= m_tiles[it].header->npolys) return 0;
return m_tiles[it].header->verts;
}
private:
dtTilePolyRef getTileId(dtTile* tile);
dtTile* getNeighbourTile(int x, int y, int side);
void buildIntLinks(dtTile* tile);
void buildExtLinks(dtTile* tile, dtTile* target, int side);
void removeExtLinks(dtTile* tile, int side);
void createConnections(dtTile* tilea, dtTile* tileb, int sidea);
void removeConnections(dtTile* tile, int side);
int queryTilePolygons(dtTile* tile, const float* qmin, const float* qmax,
dtTilePolyRef* polys, const int maxPolys);
int findConnectingPolys(const float* va, const float* vb,
dtTile* tile, int side,
dtTilePolyRef* con, float* conarea, int maxcon);
float getCost(dtTilePolyRef prev, dtTilePolyRef from, dtTilePolyRef to) const;
float getHeuristic(dtTilePolyRef from, dtTilePolyRef to) const;
// Returns portal points between two polygons.
bool getPortalPoints(dtTilePolyRef from, dtTilePolyRef to, float* left, float* right) const;
float m_orig[3];
float m_tileSize;
float m_portalHeight;
dtTile* m_posLookup[DT_TILE_LOOKUP_SIZE];
dtTile* m_nextFree;
dtTile m_tiles[DT_MAX_TILES];
dtTileLink* m_tmpLinks;
int m_ntmpLinks;
class dtTileNodePool* m_nodePool;
class dtTileNodeQueue* m_openList;
};
#endif // DETOURTILEDNAVMESH_H

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Detour/Include/DetourTiledNavMeshBuilder.h
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#ifndef DETOURTILEDNAVMESHBUILDER_H
#define DETOURTILEDNAVMESHBUILDER_H
bool dtCreateNavMeshTileData(const unsigned short* verts, const int nverts,
const unsigned short* polys, const int npolys, const int nvp,
const float* bmin, const float* bmax, float cs, float ch, int tileSize, int walkableClimb,
unsigned char** outData, int* outDataSize);
#endif // DETOURTILEDNAVMESHBUILDER_H