602 lines
25 KiB
C++
602 lines
25 KiB
C++
//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef DETOURNAVMESH_H
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#define DETOURNAVMESH_H
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#include "DetourAlloc.h"
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// Reference to navigation polygon.
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typedef unsigned int dtPolyRef;
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// Reference to navigation mesh tile.
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typedef unsigned int dtTileRef;
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// Maximum number of vertices per navigation polygon.
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static const int DT_VERTS_PER_POLYGON = 6;
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static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V'; //'DNAV';
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static const int DT_NAVMESH_VERSION = 4;
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static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S'; //'DNMS';
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static const int DT_NAVMESH_STATE_VERSION = 1;
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static const unsigned short DT_EXT_LINK = 0x8000;
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static const unsigned int DT_NULL_LINK = 0xffffffff;
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static const unsigned int DT_OFFMESH_CON_BIDIR = 1;
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static const int DT_MAX_AREAS = 64;
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// Flags for addTile
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enum dtTileFlags
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{
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DT_TILE_FREE_DATA = 0x01, // Navmesh owns the tile memory and should free it.
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};
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// Flags returned by findStraightPath().
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enum dtStraightPathFlags
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{
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DT_STRAIGHTPATH_START = 0x01, // The vertex is the start position.
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DT_STRAIGHTPATH_END = 0x02, // The vertex is the end position.
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DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04, // The vertex is start of an off-mesh link.
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};
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// Flags describing polygon properties.
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enum dtPolyTypes
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{
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DT_POLYTYPE_GROUND = 0, // Regular ground polygons.
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DT_POLYTYPE_OFFMESH_CONNECTION = 1, // Off-mesh connections.
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};
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struct dtQueryFilter
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{
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dtQueryFilter() : includeFlags(0xffff), excludeFlags(0) {}
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unsigned short includeFlags; // If any of the flags are set, the poly is included.
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unsigned short excludeFlags; // If any of the flags are set, the poly is excluded.
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};
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// Structure describing the navigation polygon data.
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struct dtPoly
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{
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unsigned int firstLink; // Index to first link in linked list.
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unsigned short verts[DT_VERTS_PER_POLYGON]; // Indices to vertices of the poly.
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unsigned short neis[DT_VERTS_PER_POLYGON]; // Refs to neighbours of the poly.
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unsigned short flags; // Flags (see dtPolyFlags).
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unsigned char vertCount; // Number of vertices.
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unsigned char area : 6; // Area ID of the polygon.
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unsigned char type : 2; // Polygon type, see dtPolyTypes.
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};
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// Stucture describing polygon detail triangles.
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struct dtPolyDetail
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{
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unsigned short vertBase; // Offset to detail vertex array.
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unsigned short vertCount; // Number of vertices in the detail mesh.
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unsigned short triBase; // Offset to detail triangle array.
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unsigned short triCount; // Number of triangles.
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};
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// Stucture describing a link to another polygon.
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struct dtLink
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{
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dtPolyRef ref; // Neighbour reference.
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unsigned int next; // Index to next link.
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unsigned char edge; // Index to polygon edge which owns this link.
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unsigned char side; // If boundary link, defines on which side the link is.
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unsigned char bmin, bmax; // If boundary link, defines the sub edge area.
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};
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struct dtBVNode
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{
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unsigned short bmin[3], bmax[3]; // BVnode bounds
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int i; // Index to item or if negative, escape index.
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};
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struct dtOffMeshConnection
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{
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float pos[6]; // Both end point locations.
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float rad; // Link connection radius.
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unsigned short poly; // Poly Id
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unsigned char flags; // Link flags
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unsigned char side; // End point side.
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};
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struct dtMeshHeader
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{
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int magic; // Magic number, used to identify the data.
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int version; // Data version number.
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int x, y; // Location of the time on the grid.
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unsigned int userId; // User ID of the tile.
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int polyCount; // Number of polygons in the tile.
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int vertCount; // Number of vertices in the tile.
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int maxLinkCount; // Number of allocated links.
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int detailMeshCount; // Number of detail meshes.
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int detailVertCount; // Number of detail vertices.
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int detailTriCount; // Number of detail triangles.
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int bvNodeCount; // Number of BVtree nodes.
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int offMeshConCount; // Number of Off-Mesh links.
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int offMeshBase; // Index to first polygon which is Off-Mesh link.
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float walkableHeight; // Height of the agent.
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float walkableRadius; // Radius of the agent
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float walkableClimb; // Max climb height of the agent.
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float bmin[3], bmax[3]; // Bounding box of the tile.
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float bvQuantFactor; // BVtree quantization factor (world to bvnode coords)
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};
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struct dtMeshTile
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{
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unsigned int salt; // Counter describing modifications to the tile.
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unsigned int linksFreeList; // Index to next free link.
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dtMeshHeader* header; // Pointer to tile header.
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dtPoly* polys; // Pointer to the polygons (will be updated when tile is added).
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float* verts; // Pointer to the vertices (will be updated when tile added).
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dtLink* links; // Pointer to the links (will be updated when tile added).
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dtPolyDetail* detailMeshes; // Pointer to detail meshes (will be updated when tile added).
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float* detailVerts; // Pointer to detail vertices (will be updated when tile added).
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unsigned char* detailTris; // Pointer to detail triangles (will be updated when tile added).
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dtBVNode* bvTree; // Pointer to BVtree nodes (will be updated when tile added).
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dtOffMeshConnection* offMeshCons; // Pointer to Off-Mesh links. (will be updated when tile added).
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unsigned char* data; // Pointer to tile data.
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int dataSize; // Size of the tile data.
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int flags; // Tile flags, see dtTileFlags.
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dtMeshTile* next; // Next free tile or, next tile in spatial grid.
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};
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struct dtNavMeshParams
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{
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float orig[3]; // Origin of the nav mesh tile space.
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float tileWidth, tileHeight; // Width and height of each tile.
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int maxTiles; // Maximum number of tiles the navmesh can contain.
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int maxPolys; // Maximum number of polygons each tile can contain.
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int maxNodes; // Maximum number of A* nodes to use (max 65536).
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};
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class dtNavMesh
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{
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public:
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dtNavMesh();
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~dtNavMesh();
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// Initializes the nav mesh for tiled use.
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// Params:
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// params - (in) navmesh initialization params, see dtNavMeshParams.
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// Returns: True if succeed, else false.
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bool init(const dtNavMeshParams* params);
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// Initializes the nav mesh for single tile use.
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// Params:
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// data - (in) Data of the new tile mesh.
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// dataSize - (in) Data size of the new tile mesh.
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// flags - (in) Tile flags, see dtTileFlags.
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// maxNodes - (in) maximum number of A* nodes to use*.
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// *) Will be rounded to next power of two.
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// Returns: True if succeed, else false.
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bool init(unsigned char* data, int dataSize, int flags, int maxNodes);
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// Returns pointer to navmesh initialization params.
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const dtNavMeshParams* getParams() const;
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// Adds new tile into the navmesh.
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// The add will fail if the data is in wrong format,
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// there is not enough tiles left, or if there is a tile already at the location.
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// Params:
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// data - (in) Data of the new tile mesh.
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// dataSize - (in) Data size of the new tile mesh.
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// flags - (in) Tile flags, see dtTileFlags.
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// lastRef - (in,optional) Last tile ref, the tile will be restored so that
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// the reference (as well as poly references) will be the same.
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// Returns: Reference to the tile, 0 if failed.
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dtTileRef addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef = 0);
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// Removes specified tile.
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// Params:
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// ref - (in) Reference to the tile to remove.
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// data - (out) Data associated with deleted tile.
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// dataSize - (out) Size of the data associated with deleted tile.
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// Returns: True if remove suceed, else false.
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bool removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
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// Returns pointer to tile at specified location.
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// Params:
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// x,y - (in) Location of the tile to get.
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// Returns: pointer to tile if tile exists or 0 tile does not exists.
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dtMeshTile* getTileAt(int x, int y) const;
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// Returns reference to tile at specified location.
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// Params:
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// x,y - (in) Location of the tile to get.
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// Returns: reference to tile if tile exists or 0 tile does not exists.
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dtTileRef getTileRefAt(int x, int y) const;
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// Returns tile references of a tile.
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dtTileRef getTileRef(const dtMeshTile* tile) const;
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// Returns tile based on references.
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const dtMeshTile* getTileByRef(dtTileRef ref) const;
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// Returns max number of tiles.
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int getMaxTiles() const;
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// Returns pointer to tile in the tile array.
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// Params:
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// i - (in) Index to the tile to retrieve, max index is getMaxTiles()-1.
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// Returns: Pointer to specified tile.
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dtMeshTile* getTile(int i);
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const dtMeshTile* getTile(int i) const;
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// Returns pointer to tile in the tile array.
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// Params:
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// ref - (in) reference to a polygon inside the tile.
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// plyIndex - (out,optional) pointer to value where polygon index within the tile is stored.
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// Returns: Pointer to specified tile.
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const dtMeshTile* getTileByPolyRef(dtPolyRef ref, int* polyIndex) const;
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// Returns base poly id for the tile.
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dtPolyRef getTilePolyRefBase(const dtMeshTile* tile) const;
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// Returns number of bytes required to store tile state.
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int getTileStateSize(const dtMeshTile* tile) const;
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// Stores tile state to buffer.
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bool storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const;
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// Restores tile state.
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bool restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize);
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// Finds the nearest navigation polygon around the center location.
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// Params:
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// center[3] - (in) The center of the search box.
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// extents[3] - (in) The extents of the search box.
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// filter - (in) path polygon filter.
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// nearestPt[3] - (out, opt) The nearest point on found polygon, null if not needed.
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// Returns: Reference identifier for the polygon, or 0 if no polygons found.
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dtPolyRef findNearestPoly(const float* center, const float* extents,
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const dtQueryFilter* filter, float* nearestPt) const;
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// Returns polygons which overlap the query box.
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// Params:
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// center[3] - (in) the center of the search box.
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// extents[3] - (in) the extents of the search box.
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// filter - (in) path polygon filter.
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// polys - (out) array holding the search result.
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// maxPolys - (in) The max number of polygons the polys array can hold.
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// Returns: Number of polygons in search result array.
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int queryPolygons(const float* center, const float* extents, const dtQueryFilter* filter,
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dtPolyRef* polys, const int maxPolys) const;
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// Finds path from start polygon to end polygon.
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// If target polygon canno be reached through the navigation graph,
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// the last node on the array is nearest node to the end polygon.
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// Start end end positions are needed to calculate more accurate
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// traversal cost at start end end polygons.
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// Params:
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// startRef - (in) ref to path start polygon.
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// endRef - (in) ref to path end polygon.
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// startPos[3] - (in) Path start location.
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// endPos[3] - (in) Path end location.
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// filter - (in) path polygon filter.
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// path - (out) array holding the search result.
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// maxPathSize - (in) The max number of polygons the path array can hold.
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// Returns: Number of polygons in search result array.
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int findPath(dtPolyRef startRef, dtPolyRef endRef,
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const float* startPos, const float* endPos,
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const dtQueryFilter* filter,
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dtPolyRef* path, const int maxPathSize) const;
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// Finds a straight path from start to end locations within the corridor
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// described by the path polygons.
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// Start and end locations will be clamped on the corridor.
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// The returned polygon references are point to polygon which was entered when
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// a path point was added. For the end point, zero will be returned. This allows
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// to match for example off-mesh link points to their representative polygons.
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// Params:
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// startPos[3] - (in) Path start location.
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// endPo[3] - (in) Path end location.
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// path - (in) Array of connected polygons describing the corridor.
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// pathSize - (in) Number of polygons in path array.
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// straightPath - (out) Points describing the straight path.
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// straightPathFlags - (out, opt) Flags describing each point type, see dtStraightPathFlags.
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// straightPathRefs - (out, opt) References to polygons at point locations.
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// maxStraightPathSize - (in) The max number of points the straight path array can hold.
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// Returns: Number of points in the path.
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int findStraightPath(const float* startPos, const float* endPos,
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const dtPolyRef* path, const int pathSize,
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float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
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const int maxStraightPathSize) const;
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// Moves from startPos to endPos constrained to the navmesh.
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// If the endPos is reachable, the resultPos will be endPos,
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// or else the resultPos will be the nearest point in navmesh.
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// Note: The resulting point is not projected to the ground, use getPolyHeight() to get height.
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// Note: The algorithm is optimized for small delta movement and small number of polygons.
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// Params:
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// startRef - (in) ref to the polygon where startPos lies.
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// startPos[3] - (in) start position of the mover.
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// endPos[3] - (in) desired end position of the mover.
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// filter - (in) path polygon filter.
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// resultPos[3] - (out) new position of the mover.
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// visited - (out) array of visited polygons.
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// maxVisitedSize - (in) max number of polygons in the visited array.
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// Returns: Number of entries in the visited array.
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int moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
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const dtQueryFilter* filter,
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float* resultPos, dtPolyRef* visited, const int maxVisitedSize) const;
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// Casts 'walkability' ray along the navmesh surface from startPos towards the endPos.
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// Params:
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// startRef - (in) ref to the polygon where the start lies.
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// startPos[3] - (in) start position of the query.
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// endPos[3] - (in) end position of the query.
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// t - (out) hit parameter along the segment, FLT_MAX if no hit.
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// hitNormal[3] - (out) normal of the nearest hit.
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// filter - (in) path polygon filter.
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// path - (out) visited path polygons.
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// pathSize - (in) max number of polygons in the path array.
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// Returns: Number of polygons visited or 0 if failed.
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int raycast(dtPolyRef startRef, const float* startPos, const float* endPos, const dtQueryFilter* filter,
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float& t, float* hitNormal, dtPolyRef* path, const int pathSize) const;
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// Returns distance to nearest wall from the specified location.
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// Params:
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// centerRef - (in) ref to the polygon where the center lies.
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// centerPos[3] - (in) center if the query circle.
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// maxRadius - (in) max search radius.
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// filter - (in) path polygon filter.
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// hitPos[3] - (out) location of the nearest hit.
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// hitNormal[3] - (out) normal of the nearest hit.
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// Returns: Distance to nearest wall from the test location.
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float findDistanceToWall(dtPolyRef centerRef, const float* centerPos, float maxRadius,
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const dtQueryFilter* filter, float* hitPos, float* hitNormal) const;
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// Finds polygons found along the navigation graph which touch the specified circle.
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// Params:
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// startRef - (in) ref to the polygon where the search starts.
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// centerPos[3] - (in) center if the query circle.
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// radius - (in) radius of the query circle.
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// filter - (in) path polygon filter.
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// resultRef - (out, opt) refs to the polygons touched by the circle.
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// resultParent - (out, opt) parent of each result polygon.
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// resultCost - (out, opt) search cost at each result polygon.
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// maxResult - (int) maximum capacity of search results.
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// Returns: Number of results.
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int findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
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const dtQueryFilter* filter,
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dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
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const int maxResult) const;
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// Finds polygons found along the navigation graph which touch the convex polygon shape.
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// Params:
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// startRef - (in) ref to the polygon where the search starts.
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// verts[3*n] - (in) vertices describing convex polygon shape (CCW).
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// nverts - (in) number of vertices in the polygon.
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// filter - (in) path polygon filter.
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// resultRef - (out, opt) refs to the polygons touched by the circle.
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// resultParent - (out, opt) parent of each result polygon.
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// resultCost - (out, opt) search cost at each result polygon.
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// maxResult - (int) maximum capacity of search results.
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// Returns: Number of results.
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int findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
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const dtQueryFilter* filter,
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dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
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const int maxResult) const;
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// Finds non-overlapping local neighbourhood around center location.
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// Note: The algorithm is optimized for small query radius and small number of polygons.
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// Params:
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// startRef - (in) ref to the polygon where the search starts.
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// centerPos[3] - (in) center if the query circle.
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// radius - (in) radius of the query circle.
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// filter - (in) path polygon filter.
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// resultRef - (out) refs to the polygons touched by the circle.
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// resultParent - (out, opt) parent of each result polygon.
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// maxResult - (int) maximum capacity of search results.
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// Returns: Number of results.
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int findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
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const dtQueryFilter* filter,
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dtPolyRef* resultRef, dtPolyRef* resultParent, const int maxResult) const;
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// Returns wall segments of specified polygon.
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// Params:
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// ref - (in) ref to the polygon.
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// filter - (in) path polygon filter.
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// segments[DT_VERTS_PER_POLYGON*3*2] - (out) wall segments.
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// Returns: Number of wall segments.
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int getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter, float* segments);
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// Returns closest point on navigation polygon.
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// Uses detail polygons to find the closest point to the navigation polygon surface.
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// Params:
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// ref - (in) ref to the polygon.
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// pos[3] - (in) the point to check.
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// closest[3] - (out) closest point.
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// Returns: true if closest point found.
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bool closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest) const;
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// Returns closest point on navigation polygon boundary.
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// Uses the navigation polygon boundary to snap the point to poly boundary
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// if it is outside the polygon. Much faster than closestPointToPoly. Does not affect height.
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// Params:
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// ref - (in) ref to the polygon.
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// pos[3] - (in) the point to check.
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// closest[3] - (out) closest point.
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// Returns: true if closest point found.
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bool closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
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// Returns start and end location of an off-mesh link polygon.
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// Params:
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// prevRef - (in) ref to the polygon before the link (used to select direction).
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// polyRef - (in) ref to the off-mesh link polygon.
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// startPos[3] - (out) start point of the link.
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// endPos[3] - (out) end point of the link.
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// Returns: true if link is found.
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bool getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
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// Returns height of the polygon at specified location.
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// Params:
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// ref - (in) ref to the polygon.
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// pos[3] - (in) the point where to locate the height.
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// height - (out) height at the location.
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// Returns: true if over polygon.
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bool getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;
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// Sets the pathfinding cost of the specified area.
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// Params:
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// area - (in) area ID (0-63).
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// cost - (int) travel cost of the area.
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void setAreaCost(const int area, float cost);
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// Returns the pathfinding cost of the specified area.
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// Params:
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// area - (in) area ID (0-63).
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float getAreaCost(const int area) const;
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// Sets polygon flags.
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void setPolyFlags(dtPolyRef ref, unsigned short flags);
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// Return polygon flags.
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unsigned short getPolyFlags(dtPolyRef ref) const;
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// Set polygon type.
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void setPolyArea(dtPolyRef ref, unsigned char area);
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// Return polygon area type.
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unsigned char getPolyArea(dtPolyRef ref) const;
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// Returns pointer to a polygon based on ref.
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const dtPoly* getPolyByRef(dtPolyRef ref) const;
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// Returns pointer to a polygon vertices based on ref.
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const float* getPolyVertsByRef(dtPolyRef ref) const;
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// Returns pointer to a polygon link based on ref.
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const dtLink* getPolyLinksByRef(dtPolyRef ref) const;
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// Returns true if poly reference ins in closed list.
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bool isInClosedList(dtPolyRef ref) const;
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// Encodes a tile id.
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inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const
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{
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return (salt << (m_polyBits+m_tileBits)) | (it << m_polyBits) | ip;
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}
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// Decodes a tile id.
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inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const
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{
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salt = (ref >> (m_polyBits+m_tileBits)) & ((1<<m_saltBits)-1);
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it = (ref >> m_polyBits) & ((1<<m_tileBits)-1);
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ip = ref & ((1<<m_polyBits)-1);
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}
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// Decodes a tile salt.
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inline unsigned int decodePolyIdSalt(dtPolyRef ref) const
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{
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return (ref >> (m_polyBits+m_tileBits)) & ((1<<m_saltBits)-1);
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}
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// Decodes a tile id.
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inline unsigned int decodePolyIdTile(dtPolyRef ref) const
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{
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return (ref >> m_polyBits) & ((1<<m_tileBits)-1);
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}
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// Decodes a poly id.
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inline unsigned int decodePolyIdPoly(dtPolyRef ref) const
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{
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return ref & ((1<<m_polyBits)-1);
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}
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private:
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// Returns neighbour tile based on side.
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dtMeshTile* getNeighbourTileAt(int x, int y, int side) const;
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// Returns all polygons in neighbour tile based on portal defined by the segment.
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int findConnectingPolys(const float* va, const float* vb,
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const dtMeshTile* tile, int side,
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dtPolyRef* con, float* conarea, int maxcon) const;
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// Builds internal polygons links for a tile.
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void connectIntLinks(dtMeshTile* tile);
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// Builds internal polygons links for a tile.
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void connectIntOffMeshLinks(dtMeshTile* tile);
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// Builds external polygon links for a tile.
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void connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);
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// Builds external polygon links for a tile.
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void connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side);
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// Removes external links at specified side.
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void unconnectExtLinks(dtMeshTile* tile, int side);
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// Queries polygons within a tile.
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int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, const dtQueryFilter* filter,
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dtPolyRef* polys, const int maxPolys) const;
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// Find nearest polygon within a tile.
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dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center, const float* extents,
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const dtQueryFilter* filter, float* nearestPt) const;
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// Returns closest point on polygon.
|
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bool closestPointOnPolyInTile(const dtMeshTile* tile, unsigned int ip, const float* pos, float* closest) const;
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// Returns portal points between two polygons.
|
|
bool getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
|
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unsigned char& fromType, unsigned char& toType) const;
|
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bool getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
|
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dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
|
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float* left, float* right) const;
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|
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// Returns edge mid point between two polygons.
|
|
bool getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
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bool getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
|
|
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
|
|
float* mid) const;
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|
|
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dtNavMeshParams m_params; // Current initialization params. TODO: do not store this info twice.
|
|
float m_orig[3]; // Origin of the tile (0,0)
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|
float m_tileWidth, m_tileHeight; // Dimensions of each tile.
|
|
int m_maxTiles; // Max number of tiles.
|
|
int m_tileLutSize; // Tile hash lookup size (must be pot).
|
|
int m_tileLutMask; // Tile hash lookup mask.
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|
|
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dtMeshTile** m_posLookup; // Tile hash lookup.
|
|
dtMeshTile* m_nextFree; // Freelist of tiles.
|
|
dtMeshTile* m_tiles; // List of tiles.
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|
|
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unsigned int m_saltBits; // Number of salt bits in the tile ID.
|
|
unsigned int m_tileBits; // Number of tile bits in the tile ID.
|
|
unsigned int m_polyBits; // Number of poly bits in the tile ID.
|
|
|
|
float m_areaCost[DT_MAX_AREAS]; // Cost per area.
|
|
|
|
class dtNodePool* m_tinyNodePool; // Pointer to node pool.
|
|
class dtNodePool* m_nodePool; // Pointer to node pool.
|
|
class dtNodeQueue* m_openList; // Pointer to open list queue.
|
|
};
|
|
|
|
// Helper function to allocate navmesh class using Detour allocator.
|
|
dtNavMesh* dtAllocNavMesh();
|
|
void dtFreeNavMesh(dtNavMesh* navmesh);
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|
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#endif // DETOURNAVMESH_H
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