379 lines
15 KiB
C++
379 lines
15 KiB
C++
//
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// Copyright (c) 2009 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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// Reference to navigation polygon.
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typedef unsigned int dtPolyRef;
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// The bits used in the poly ref.
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/*static const int DT_REF_SALT_BITS = 12;
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static const int DT_REF_TILE_BITS = 12;
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static const int DT_REF_POLY_BITS = 8;
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static const int DT_REF_SALT_MASK = (1<<DT_REF_SALT_BITS)-1;
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static const int DT_REF_TILE_MASK = (1<<DT_REF_TILE_BITS)-1;
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static const int DT_REF_POLY_MASK = (1<<DT_REF_POLY_BITS)-1;*/
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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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/*
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static const int DT_MAX_TILES = 1 << DT_REF_TILE_BITS;
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static const int DT_MAX_POLYGONS = 1 << DT_REF_POLY_BITS;
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*/
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static const int DT_NAVMESH_MAGIC = 'DNAV';
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static const int DT_NAVMESH_VERSION = 1;
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// Structure holding the navigation polygon data.
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struct dtPoly
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{
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unsigned short v[DT_VERTS_PER_POLYGON]; // Indices to vertices of the poly.
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unsigned short n[DT_VERTS_PER_POLYGON]; // Refs to neighbours of the poly.
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unsigned short links; // Base index to header 'links' array.
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unsigned char nlinks; // Number of links for
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unsigned char nv; // Number of vertices.
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unsigned char flags; // Flags (not used).
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};
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struct dtPolyDetail
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{
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unsigned short vbase; // Offset to detail vertex array.
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unsigned short nverts; // Number of vertices in the detail mesh.
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unsigned short tbase; // Offset to detail triangle array.
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unsigned short ntris; // Number of triangles.
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};
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// Stucture holding 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 short p; // Index to polygon which owns this link.
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unsigned char e; // 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];
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int i;
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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 npolys; // Number of polygons in the tile.
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int nverts; // Number of vertices in the tile.
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int nlinks; // Number of links in the tile (will be updated when tile is added).
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int maxlinks; // Number of allocated links.
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int ndmeshes;
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int ndverts;
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int ndtris;
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int nbvtree;
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float bmin[3], bmax[3]; // Bounding box of the tile.
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float bvquant;
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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* dmeshes;
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float* dverts;
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unsigned char* dtris;
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dtBVNode* bvtree;
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};
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struct dtMeshTile
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{
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int salt; // Counter describing modifications to the tile.
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int x,y; // Grid location of the tile.
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dtMeshHeader* header; // Pointer to tile header.
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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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bool ownsData; // Flag indicating of the navmesh should release the data.
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dtMeshTile* next; // Next free tile or, next tile in spatial grid.
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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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// orig - (in) origin of the nav mesh tile space.
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// tileWidth - (in) width of each tile.
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// tileHeight - (in) height of each tile.
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// portalheight - (in) height of the portal region between tiles.
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// maxTiles - (in) maximum number of tiles the navmesh can contain*.
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// maxPolys - (in) maximum number of polygons each tile can contain*.
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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(const float* orig, float tileWidth, float tileHeight, float portalHeight,
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int maxTiles, int maxPolys, int maxNodes);
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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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// ownsData - (in) Flag indicating if the navmesh should own and delete the data.
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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, bool ownsData, int maxNodes);
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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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// x,y - (in) Location of the new tile.
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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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// ownsData - (in) Flag indicating if the navmesh should own and delete the data.
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// Returns: True if tile was added, else false.
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bool addTileAt(int x, int y, unsigned char* data, int dataSize, bool ownsData);
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// Removes tile at specified location.
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// Params:
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// x,y - (in) Location of 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 removeTileAt(int x, int y, 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);
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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* getTileByRef(dtPolyRef ref, int* polyIndex) const;
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// Returns base id for the tile.
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dtPolyRef getTileId(const dtMeshTile* tile) const;
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// Finds the nearest navigation polygon around the center location.
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// Params:
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// center - (in) The center of the search box.
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// extents - (in) The extents of the search box.
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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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// Returns polygons which touch the query box.
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// Params:
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// center - (in) the center of the search box.
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// extents - (in) the extents of the search box.
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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,
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dtPolyRef* polys, const int maxPolys);
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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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// 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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// 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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dtPolyRef* path, const int maxPathSize);
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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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// Params:
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// startPos - (in) Path start location.
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// endPos - (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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// 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, const int maxStraightPathSize);
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// Moves towards end position a long the path corridor.
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// Returns: Index to the result path polygon.
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int moveAlongPathCorridor(const float* startPos, const float* endPos, float* resultPos,
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const dtPolyRef* path, const int pathSize);
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// Finds intersection againts walls starting from start pos.
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// Params:
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// startRef - (in) ref to the polygon where the start lies.
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// startPos - (in) start position of the query.
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// endPos - (in) end position of the query.
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// t - (out) hit parameter along the segment, 0 if no hit.
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// endRef - (out) ref to the last polygon which was processed.
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// Returns: Number of polygons in path or 0 if failed.
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int raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
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float& t, dtPolyRef* path, const int pathSize);
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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 - (in) center if the query circle.
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// maxRadius - (in) max search radius.
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// hitPos - (out) location of the nearest hit.
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// hitNormal - (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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float* hitPos, float* hitNormal);
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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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// centerRef - (in) ref to the polygon where the center lies.
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// centerPos - (in) center if the query circle
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// radius - (in) radius of the query circle
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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 findPolysAround(dtPolyRef centerRef, const float* centerPos, float radius,
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dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
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const int maxResult);
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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.
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// Params:
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// ref - (in) ref to the polygon.
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// pos - (in) the point to check.
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// closest - (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 - (in) the point to check.
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// closest - (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 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 - (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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// 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 dtEncodePolyId(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+1) << m_polyBits) | ip;
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}
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// Decodes a tile id.
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inline void dtDecodePolyId(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) & ((1<<m_tileBits)-1);
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ip = 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);
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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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dtMeshTile* tile, int side,
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dtPolyRef* con, float* conarea, int maxcon);
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// Builds internal polygons links for a tile.
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void buildIntLinks(dtMeshTile* tile);
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// Builds external polygon links for a tile.
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void buildExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);
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// Removes external links at specified side.
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void removeExtLinks(dtMeshTile* tile, int side);
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// Queries polygons within a tile.
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int queryTilePolygons(dtMeshTile* tile, const float* qmin, const float* qmax,
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dtPolyRef* polys, const int maxPolys);
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float getCost(dtPolyRef prev, dtPolyRef from, dtPolyRef to) const;
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float getFirstCost(const float* pos, dtPolyRef from, dtPolyRef to) const;
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float getLastCost(dtPolyRef from, dtPolyRef to, const float* pos) const;
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float getHeuristic(const float* from, const float* to) const;
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// Returns portal points between two polygons.
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bool getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right) const;
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// Returns edge mid point between two polygons.
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bool getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
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float m_orig[3];
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float m_tileWidth, m_tileHeight;
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float m_portalHeight;
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int m_maxTiles;
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int m_tileLutSize;
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int m_tileLutMask;
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dtMeshTile** m_posLookup; //[DT_TILE_LOOKUP_SIZE];
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dtMeshTile* m_nextFree;
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dtMeshTile* m_tiles; //[DT_MAX_TILES];
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// TODO: dont grow!
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dtLink* m_tmpLinks;
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int m_ntmpLinks;
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unsigned int m_saltBits;
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unsigned int m_tileBits;
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unsigned int m_polyBits;
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class dtNodePool* m_nodePool;
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class dtNodeQueue* m_openList;
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};
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#endif // DETOURNAVMESH_H
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