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Moving recast headers out of project

This commit is contained in:
bernatx 2019-06-13 17:40:17 +02:00 committed by Néstor Subirón
parent a89789e616
commit 3521fe42c3
23 changed files with 23 additions and 5067 deletions
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22
LibCarla/cmake/client/CMakeLists.txt
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@ -1,15 +1,16 @@
cmake_minimum_required(VERSION 3.5.1)
project(libcarla-client)
# Install Recast&Detour libraries
install(DIRECTORY "${RECAST_INCLUDE_PATH}/recast" DESTINATION include/system)
file(GLOB libcarla_carla_recastlib "${RECAST_LIB_PATH}/*.*")
install(FILES ${libcarla_carla_recastlib} DESTINATION lib)
# Install rpclib (install in system folder to avoid extra warnings).
install(DIRECTORY "${RPCLIB_INCLUDE_PATH}/rpc" DESTINATION include/system)
file(GLOB libcarla_carla_rpclib "${RPCLIB_LIB_PATH}/*.*")
install(FILES ${libcarla_carla_rpclib} DESTINATION lib)
# Install Recast&Detour libraries
file(GLOB libcarla_carla_recastlib "${RECAST_LIB_PATH}/*.*")
install(FILES ${libcarla_carla_recastlib} DESTINATION lib)
# Install boost headers (install in system folder to avoid extra warnings).
# @todo Remove boost from public interface of LibCarla.client.
install(DIRECTORY "${BOOST_INCLUDE_PATH}/boost" DESTINATION include/system)
@ -70,11 +71,6 @@ file(GLOB libcarla_carla_nav_sources
set(libcarla_sources "${libcarla_sources};${libcarla_carla_nav_sources}")
install(FILES ${libcarla_carla_nav_sources} DESTINATION include/carla/nav)
file(GLOB libcarla_carla_nav_recast_sources
"${libcarla_source_path}/carla/nav/recast/*.h")
set(libcarla_sources "${libcarla_sources};${libcarla_carla_nav_recast_sources}")
install(FILES ${libcarla_carla_nav_recast_sources} DESTINATION include/carla/nav/recast)
file(GLOB libcarla_carla_opendrive_sources
"${libcarla_source_path}/carla/opendrive/*.cpp"
"${libcarla_source_path}/carla/opendrive/*.h")
@ -200,7 +196,8 @@ if (LIBCARLA_BUILD_RELEASE)
target_include_directories(carla_client SYSTEM PRIVATE
"${BOOST_INCLUDE_PATH}"
"${RPCLIB_INCLUDE_PATH}")
"${RPCLIB_INCLUDE_PATH}"
"${RECAST_INCLUDE_PATH}")
install(TARGETS carla_client DESTINATION lib)
@ -222,7 +219,7 @@ if (LIBCARLA_BUILD_RELEASE)
target_link_libraries(carla_client "${RECAST_LIB_PATH}/libDetour.a")
target_link_libraries(carla_client "${RECAST_LIB_PATH}/libDetourCrowd.a")
endif()
endif()
if (LIBCARLA_BUILD_DEBUG)
@ -230,7 +227,8 @@ if (LIBCARLA_BUILD_DEBUG)
target_include_directories(carla_client_debug SYSTEM PRIVATE
"${BOOST_INCLUDE_PATH}"
"${RPCLIB_INCLUDE_PATH}")
"${RPCLIB_INCLUDE_PATH}"
"${RECAST_INCLUDE_PATH}")
install(TARGETS carla_client_debug DESTINATION lib)

1
LibCarla/source/carla/nav/Navigation.cpp
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@ -399,7 +399,6 @@ namespace nav {
// set its position in Unreal coordinates
trans.location.x = agent->npos[0];
trans.location.y = agent->npos[2];
// trans.location.z = agent->npos[1] + baseOffset - 0.08f; // 0.08f is a hardcoded value to get rid of some empty space
trans.location.z = agent->npos[1] + baseOffset;
// set its rotation

12
LibCarla/source/carla/nav/Navigation.h
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@ -11,12 +11,12 @@
#include "carla/geom/Location.h"
#include "carla/geom/Transform.h"
#include "carla/rpc/ActorId.h"
#include "recast/Recast.h"
#include "recast/DetourCrowd.h"
#include "recast/DetourNavMesh.h"
#include "recast/DetourNavMeshBuilder.h"
#include "recast/DetourNavMeshQuery.h"
#include "recast/DetourCommon.h"
#include <recast/Recast.h>
#include <recast/DetourCrowd.h>
#include <recast/DetourNavMesh.h>
#include <recast/DetourNavMeshBuilder.h>
#include <recast/DetourNavMeshQuery.h>
#include <recast/DetourCommon.h>
namespace carla {
namespace nav {

61
LibCarla/source/carla/nav/recast/DetourAlloc.h
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@ -1,61 +0,0 @@
//
// Copyright (c) 2009-2010 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 DETOURALLOCATOR_H
#define DETOURALLOCATOR_H
#include <stddef.h>
/// Provides hint values to the memory allocator on how long the
/// memory is expected to be used.
enum dtAllocHint
{
DT_ALLOC_PERM, ///< Memory persist after a function call.
DT_ALLOC_TEMP ///< Memory used temporarily within a function.
};
/// A memory allocation function.
// @param[in] size The size, in bytes of memory, to allocate.
// @param[in] rcAllocHint A hint to the allocator on how long the memory is expected to be in use.
// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
/// @see dtAllocSetCustom
typedef void* (dtAllocFunc)(size_t size, dtAllocHint hint);
/// A memory deallocation function.
/// @param[in] ptr A pointer to a memory block previously allocated using #dtAllocFunc.
/// @see dtAllocSetCustom
typedef void (dtFreeFunc)(void* ptr);
/// Sets the base custom allocation functions to be used by Detour.
/// @param[in] allocFunc The memory allocation function to be used by #dtAlloc
/// @param[in] freeFunc The memory de-allocation function to be used by #dtFree
void dtAllocSetCustom(dtAllocFunc *allocFunc, dtFreeFunc *freeFunc);
/// Allocates a memory block.
/// @param[in] size The size, in bytes of memory, to allocate.
/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use.
/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
/// @see dtFree
void* dtAlloc(size_t size, dtAllocHint hint);
/// Deallocates a memory block.
/// @param[in] ptr A pointer to a memory block previously allocated using #dtAlloc.
/// @see dtAlloc
void dtFree(void* ptr);
#endif

56
LibCarla/source/carla/nav/recast/DetourAssert.h
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@ -1,56 +0,0 @@
//
// Copyright (c) 2009-2010 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 DETOURASSERT_H
#define DETOURASSERT_H
// Note: This header file's only purpose is to include define assert.
// Feel free to change the file and include your own implementation instead.
#ifdef NDEBUG
// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
# define dtAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false)
#else
/// An assertion failure function.
// @param[in] expression asserted expression.
// @param[in] file Filename of the failed assertion.
// @param[in] line Line number of the failed assertion.
/// @see dtAssertFailSetCustom
typedef void (dtAssertFailFunc)(const char* expression, const char* file, int line);
/// Sets the base custom assertion failure function to be used by Detour.
/// @param[in] assertFailFunc The function to be invoked in case of failure of #dtAssert
void dtAssertFailSetCustom(dtAssertFailFunc *assertFailFunc);
/// Gets the base custom assertion failure function to be used by Detour.
dtAssertFailFunc* dtAssertFailGetCustom();
# include <assert.h>
# define dtAssert(expression) \
{ \
dtAssertFailFunc* failFunc = dtAssertFailGetCustom(); \
if(failFunc == NULL) { assert(expression); } \
else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \
}
#endif
#endif // DETOURASSERT_H

572
LibCarla/source/carla/nav/recast/DetourCommon.h
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@ -1,572 +0,0 @@
//
// Copyright (c) 2009-2010 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 DETOURCOMMON_H
#define DETOURCOMMON_H
#include "DetourMath.h"
#include <stddef.h>
/**
@defgroup detour Detour
Members in this module are used to create, manipulate, and query navigation
meshes.
@note This is a summary list of members. Use the index or search
feature to find minor members.
*/
/// @name General helper functions
/// @{
/// Used to ignore a function parameter. VS complains about unused parameters
/// and this silences the warning.
/// @param [in] _ Unused parameter
template<class T> void dtIgnoreUnused(const T&) { }
/// Swaps the values of the two parameters.
/// @param[in,out] a Value A
/// @param[in,out] b Value B
template<class T> inline void dtSwap(T& a, T& b) { T t = a; a = b; b = t; }
/// Returns the minimum of two values.
/// @param[in] a Value A
/// @param[in] b Value B
/// @return The minimum of the two values.
template<class T> inline T dtMin(T a, T b) { return a < b ? a : b; }
/// Returns the maximum of two values.
/// @param[in] a Value A
/// @param[in] b Value B
/// @return The maximum of the two values.
template<class T> inline T dtMax(T a, T b) { return a > b ? a : b; }
/// Returns the absolute value.
/// @param[in] a The value.
/// @return The absolute value of the specified value.
template<class T> inline T dtAbs(T a) { return a < 0 ? -a : a; }
/// Returns the square of the value.
/// @param[in] a The value.
/// @return The square of the value.
template<class T> inline T dtSqr(T a) { return a*a; }
/// Clamps the value to the specified range.
/// @param[in] v The value to clamp.
/// @param[in] mn The minimum permitted return value.
/// @param[in] mx The maximum permitted return value.
/// @return The value, clamped to the specified range.
template<class T> inline T dtClamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); }
/// @}
/// @name Vector helper functions.
/// @{
/// Derives the cross product of two vectors. (@p v1 x @p v2)
/// @param[out] dest The cross product. [(x, y, z)]
/// @param[in] v1 A Vector [(x, y, z)]
/// @param[in] v2 A vector [(x, y, z)]
inline void dtVcross(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[1]*v2[2] - v1[2]*v2[1];
dest[1] = v1[2]*v2[0] - v1[0]*v2[2];
dest[2] = v1[0]*v2[1] - v1[1]*v2[0];
}
/// Derives the dot product of two vectors. (@p v1 . @p v2)
/// @param[in] v1 A Vector [(x, y, z)]
/// @param[in] v2 A vector [(x, y, z)]
/// @return The dot product.
inline float dtVdot(const float* v1, const float* v2)
{
return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
}
/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] v1 The base vector. [(x, y, z)]
/// @param[in] v2 The vector to scale and add to @p v1. [(x, y, z)]
/// @param[in] s The amount to scale @p v2 by before adding to @p v1.
inline void dtVmad(float* dest, const float* v1, const float* v2, const float s)
{
dest[0] = v1[0]+v2[0]*s;
dest[1] = v1[1]+v2[1]*s;
dest[2] = v1[2]+v2[2]*s;
}
/// Performs a linear interpolation between two vectors. (@p v1 toward @p v2)
/// @param[out] dest The result vector. [(x, y, x)]
/// @param[in] v1 The starting vector.
/// @param[in] v2 The destination vector.
/// @param[in] t The interpolation factor. [Limits: 0 <= value <= 1.0]
inline void dtVlerp(float* dest, const float* v1, const float* v2, const float t)
{
dest[0] = v1[0]+(v2[0]-v1[0])*t;
dest[1] = v1[1]+(v2[1]-v1[1])*t;
dest[2] = v1[2]+(v2[2]-v1[2])*t;
}
/// Performs a vector addition. (@p v1 + @p v2)
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] v1 The base vector. [(x, y, z)]
/// @param[in] v2 The vector to add to @p v1. [(x, y, z)]
inline void dtVadd(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]+v2[0];
dest[1] = v1[1]+v2[1];
dest[2] = v1[2]+v2[2];
}
/// Performs a vector subtraction. (@p v1 - @p v2)
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] v1 The base vector. [(x, y, z)]
/// @param[in] v2 The vector to subtract from @p v1. [(x, y, z)]
inline void dtVsub(float* dest, const float* v1, const float* v2)
{
dest[0] = v1[0]-v2[0];
dest[1] = v1[1]-v2[1];
dest[2] = v1[2]-v2[2];
}
/// Scales the vector by the specified value. (@p v * @p t)
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] v The vector to scale. [(x, y, z)]
/// @param[in] t The scaling factor.
inline void dtVscale(float* dest, const float* v, const float t)
{
dest[0] = v[0]*t;
dest[1] = v[1]*t;
dest[2] = v[2]*t;
}
/// Selects the minimum value of each element from the specified vectors.
/// @param[in,out] mn A vector. (Will be updated with the result.) [(x, y, z)]
/// @param[in] v A vector. [(x, y, z)]
inline void dtVmin(float* mn, const float* v)
{
mn[0] = dtMin(mn[0], v[0]);
mn[1] = dtMin(mn[1], v[1]);
mn[2] = dtMin(mn[2], v[2]);
}
/// Selects the maximum value of each element from the specified vectors.
/// @param[in,out] mx A vector. (Will be updated with the result.) [(x, y, z)]
/// @param[in] v A vector. [(x, y, z)]
inline void dtVmax(float* mx, const float* v)
{
mx[0] = dtMax(mx[0], v[0]);
mx[1] = dtMax(mx[1], v[1]);
mx[2] = dtMax(mx[2], v[2]);
}
/// Sets the vector elements to the specified values.
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] x The x-value of the vector.
/// @param[in] y The y-value of the vector.
/// @param[in] z The z-value of the vector.
inline void dtVset(float* dest, const float x, const float y, const float z)
{
dest[0] = x; dest[1] = y; dest[2] = z;
}
/// Performs a vector copy.
/// @param[out] dest The result. [(x, y, z)]
/// @param[in] a The vector to copy. [(x, y, z)]
inline void dtVcopy(float* dest, const float* a)
{
dest[0] = a[0];
dest[1] = a[1];
dest[2] = a[2];
}
/// Derives the scalar length of the vector.
/// @param[in] v The vector. [(x, y, z)]
/// @return The scalar length of the vector.
inline float dtVlen(const float* v)
{
return dtMathSqrtf(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
}
/// Derives the square of the scalar length of the vector. (len * len)
/// @param[in] v The vector. [(x, y, z)]
/// @return The square of the scalar length of the vector.
inline float dtVlenSqr(const float* v)
{
return v[0]*v[0] + v[1]*v[1] + v[2]*v[2];
}
/// Returns the distance between two points.
/// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)]
/// @return The distance between the two points.
inline float dtVdist(const float* v1, const float* v2)
{
const float dx = v2[0] - v1[0];
const float dy = v2[1] - v1[1];
const float dz = v2[2] - v1[2];
return dtMathSqrtf(dx*dx + dy*dy + dz*dz);
}
/// Returns the square of the distance between two points.
/// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)]
/// @return The square of the distance between the two points.
inline float dtVdistSqr(const float* v1, const float* v2)
{
const float dx = v2[0] - v1[0];
const float dy = v2[1] - v1[1];
const float dz = v2[2] - v1[2];
return dx*dx + dy*dy + dz*dz;
}
/// Derives the distance between the specified points on the xz-plane.
/// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)]
/// @return The distance between the point on the xz-plane.
///
/// The vectors are projected onto the xz-plane, so the y-values are ignored.
inline float dtVdist2D(const float* v1, const float* v2)
{
const float dx = v2[0] - v1[0];
const float dz = v2[2] - v1[2];
return dtMathSqrtf(dx*dx + dz*dz);
}
/// Derives the square of the distance between the specified points on the xz-plane.
/// @param[in] v1 A point. [(x, y, z)]
/// @param[in] v2 A point. [(x, y, z)]
/// @return The square of the distance between the point on the xz-plane.
inline float dtVdist2DSqr(const float* v1, const float* v2)
{
const float dx = v2[0] - v1[0];
const float dz = v2[2] - v1[2];
return dx*dx + dz*dz;
}
/// Normalizes the vector.
/// @param[in,out] v The vector to normalize. [(x, y, z)]
inline void dtVnormalize(float* v)
{
float d = 1.0f / dtMathSqrtf(dtSqr(v[0]) + dtSqr(v[1]) + dtSqr(v[2]));
v[0] *= d;
v[1] *= d;
v[2] *= d;
}
/// Performs a 'sloppy' colocation check of the specified points.
/// @param[in] p0 A point. [(x, y, z)]
/// @param[in] p1 A point. [(x, y, z)]
/// @return True if the points are considered to be at the same location.
///
/// Basically, this function will return true if the specified points are
/// close enough to eachother to be considered colocated.
inline bool dtVequal(const float* p0, const float* p1)
{
static const float thr = dtSqr(1.0f/16384.0f);
const float d = dtVdistSqr(p0, p1);
return d < thr;
}
/// Checks that the specified vector's components are all finite.
/// @param[in] v A point. [(x, y, z)]
/// @return True if all of the point's components are finite, i.e. not NaN
/// or any of the infinities.
inline bool dtVisfinite(const float* v)
{
bool result =
dtMathIsfinite(v[0]) &&
dtMathIsfinite(v[1]) &&
dtMathIsfinite(v[2]);
return result;
}
/// Checks that the specified vector's 2D components are finite.
/// @param[in] v A point. [(x, y, z)]
inline bool dtVisfinite2D(const float* v)
{
bool result = dtMathIsfinite(v[0]) && dtMathIsfinite(v[2]);
return result;
}
/// Derives the dot product of two vectors on the xz-plane. (@p u . @p v)
/// @param[in] u A vector [(x, y, z)]
/// @param[in] v A vector [(x, y, z)]
/// @return The dot product on the xz-plane.
///
/// The vectors are projected onto the xz-plane, so the y-values are ignored.
inline float dtVdot2D(const float* u, const float* v)
{
return u[0]*v[0] + u[2]*v[2];
}
/// Derives the xz-plane 2D perp product of the two vectors. (uz*vx - ux*vz)
/// @param[in] u The LHV vector [(x, y, z)]
/// @param[in] v The RHV vector [(x, y, z)]
/// @return The dot product on the xz-plane.
///
/// The vectors are projected onto the xz-plane, so the y-values are ignored.
inline float dtVperp2D(const float* u, const float* v)
{
return u[2]*v[0] - u[0]*v[2];
}
/// @}
/// @name Computational geometry helper functions.
/// @{
/// Derives the signed xz-plane area of the triangle ABC, or the relationship of line AB to point C.
/// @param[in] a Vertex A. [(x, y, z)]
/// @param[in] b Vertex B. [(x, y, z)]
/// @param[in] c Vertex C. [(x, y, z)]
/// @return The signed xz-plane area of the triangle.
inline float dtTriArea2D(const float* a, const float* b, const float* c)
{
const float abx = b[0] - a[0];
const float abz = b[2] - a[2];
const float acx = c[0] - a[0];
const float acz = c[2] - a[2];
return acx*abz - abx*acz;
}
/// Determines if two axis-aligned bounding boxes overlap.
/// @param[in] amin Minimum bounds of box A. [(x, y, z)]
/// @param[in] amax Maximum bounds of box A. [(x, y, z)]
/// @param[in] bmin Minimum bounds of box B. [(x, y, z)]
/// @param[in] bmax Maximum bounds of box B. [(x, y, z)]
/// @return True if the two AABB's overlap.
/// @see dtOverlapBounds
inline bool dtOverlapQuantBounds(const unsigned short amin[3], const unsigned short amax[3],
const unsigned short bmin[3], const unsigned short bmax[3])
{
bool overlap = true;
overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
return overlap;
}
/// Determines if two axis-aligned bounding boxes overlap.
/// @param[in] amin Minimum bounds of box A. [(x, y, z)]
/// @param[in] amax Maximum bounds of box A. [(x, y, z)]
/// @param[in] bmin Minimum bounds of box B. [(x, y, z)]
/// @param[in] bmax Maximum bounds of box B. [(x, y, z)]
/// @return True if the two AABB's overlap.
/// @see dtOverlapQuantBounds
inline bool dtOverlapBounds(const float* amin, const float* amax,
const float* bmin, const float* bmax)
{
bool overlap = true;
overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap;
return overlap;
}
/// Derives the closest point on a triangle from the specified reference point.
/// @param[out] closest The closest point on the triangle.
/// @param[in] p The reference point from which to test. [(x, y, z)]
/// @param[in] a Vertex A of triangle ABC. [(x, y, z)]
/// @param[in] b Vertex B of triangle ABC. [(x, y, z)]
/// @param[in] c Vertex C of triangle ABC. [(x, y, z)]
void dtClosestPtPointTriangle(float* closest, const float* p,
const float* a, const float* b, const float* c);
/// Derives the y-axis height of the closest point on the triangle from the specified reference point.
/// @param[in] p The reference point from which to test. [(x, y, z)]
/// @param[in] a Vertex A of triangle ABC. [(x, y, z)]
/// @param[in] b Vertex B of triangle ABC. [(x, y, z)]
/// @param[in] c Vertex C of triangle ABC. [(x, y, z)]
/// @param[out] h The resulting height.
bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h);
bool dtIntersectSegmentPoly2D(const float* p0, const float* p1,
const float* verts, int nverts,
float& tmin, float& tmax,
int& segMin, int& segMax);
bool dtIntersectSegSeg2D(const float* ap, const float* aq,
const float* bp, const float* bq,
float& s, float& t);
/// Determines if the specified point is inside the convex polygon on the xz-plane.
/// @param[in] pt The point to check. [(x, y, z)]
/// @param[in] verts The polygon vertices. [(x, y, z) * @p nverts]
/// @param[in] nverts The number of vertices. [Limit: >= 3]
/// @return True if the point is inside the polygon.
bool dtPointInPolygon(const float* pt, const float* verts, const int nverts);
bool dtDistancePtPolyEdgesSqr(const float* pt, const float* verts, const int nverts,
float* ed, float* et);
float dtDistancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t);
/// Derives the centroid of a convex polygon.
/// @param[out] tc The centroid of the polgyon. [(x, y, z)]
/// @param[in] idx The polygon indices. [(vertIndex) * @p nidx]
/// @param[in] nidx The number of indices in the polygon. [Limit: >= 3]
/// @param[in] verts The polygon vertices. [(x, y, z) * vertCount]
void dtCalcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts);
/// Determines if the two convex polygons overlap on the xz-plane.
/// @param[in] polya Polygon A vertices. [(x, y, z) * @p npolya]
/// @param[in] npolya The number of vertices in polygon A.
/// @param[in] polyb Polygon B vertices. [(x, y, z) * @p npolyb]
/// @param[in] npolyb The number of vertices in polygon B.
/// @return True if the two polygons overlap.
bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
const float* polyb, const int npolyb);
/// @}
/// @name Miscellanious functions.
/// @{
inline unsigned int dtNextPow2(unsigned int v)
{
v--;
v |= v >> 1;
v |= v >> 2;
v |= v >> 4;
v |= v >> 8;
v |= v >> 16;
v++;
return v;
}
inline unsigned int dtIlog2(unsigned int v)
{
unsigned int r;
unsigned int shift;
r = static_cast<unsigned int>(v > 0xffff) << 4; v >>= r;
shift = static_cast<unsigned int>(v > 0xff) << 3; v >>= shift; r |= shift;
shift = static_cast<unsigned int>(v > 0xf) << 2; v >>= shift; r |= shift;
shift = static_cast<unsigned int>(v > 0x3) << 1; v >>= shift; r |= shift;
r |= (v >> 1);
return r;
}
inline int dtAlign4(int x) { return (x+3) & ~3; }
inline int dtOppositeTile(int side) { return (side+4) & 0x7; }
inline void dtSwapByte(unsigned char* a, unsigned char* b)
{
unsigned char tmp = *a;
*a = *b;
*b = tmp;
}
inline void dtSwapEndian(unsigned short* v)
{
unsigned char* x = reinterpret_cast<unsigned char*>(v);
dtSwapByte(x+0, x+1);
}
inline void dtSwapEndian(short* v)
{
unsigned char* x = reinterpret_cast<unsigned char*>(v);
dtSwapByte(x+0, x+1);
}
inline void dtSwapEndian(unsigned int* v)
{
unsigned char* x = reinterpret_cast<unsigned char*>(v);
dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2);
}
inline void dtSwapEndian(int* v)
{
unsigned char* x = reinterpret_cast<unsigned char*>(v);
dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2);
}
inline void dtSwapEndian(float* v)
{
unsigned char* x = reinterpret_cast<unsigned char*>(v);
dtSwapByte(x+0, x+3); dtSwapByte(x+1, x+2);
}
void dtRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
const float s, const float t, float* out);
template<typename TypeToRetrieveAs>
TypeToRetrieveAs* dtGetThenAdvanceBufferPointer(const unsigned char*& buffer, const size_t distanceToAdvance)
{
TypeToRetrieveAs* returnPointer = reinterpret_cast<TypeToRetrieveAs*>(buffer);
buffer += distanceToAdvance;
return returnPointer;
}
template<typename TypeToRetrieveAs>
TypeToRetrieveAs* dtGetThenAdvanceBufferPointer(unsigned char*& buffer, const size_t distanceToAdvance)
{
TypeToRetrieveAs* returnPointer = reinterpret_cast<TypeToRetrieveAs*>(buffer);
buffer += distanceToAdvance;
return returnPointer;
}
/// @}
#endif // DETOURCOMMON_H
///////////////////////////////////////////////////////////////////////////
// This section contains detailed documentation for members that don't have
// a source file. It reduces clutter in the main section of the header.
/**
@fn float dtTriArea2D(const float* a, const float* b, const float* c)
@par
The vertices are projected onto the xz-plane, so the y-values are ignored.
This is a low cost function than can be used for various purposes. Its main purpose
is for point/line relationship testing.
In all cases: A value of zero indicates that all vertices are collinear or represent the same point.
(On the xz-plane.)
When used for point/line relationship tests, AB usually represents a line against which
the C point is to be tested. In this case:
A positive value indicates that point C is to the left of line AB, looking from A toward B.<br/>
A negative value indicates that point C is to the right of lineAB, looking from A toward B.
When used for evaluating a triangle:
The absolute value of the return value is two times the area of the triangle when it is
projected onto the xz-plane.
A positive return value indicates:
<ul>
<li>The vertices are wrapped in the normal Detour wrap direction.</li>
<li>The triangle's 3D face normal is in the general up direction.</li>
</ul>
A negative return value indicates:
<ul>
<li>The vertices are reverse wrapped. (Wrapped opposite the normal Detour wrap direction.)</li>
<li>The triangle's 3D face normal is in the general down direction.</li>
</ul>
*/

460
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@ -1,460 +0,0 @@
//
// Copyright (c) 2009-2010 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 DETOURCROWD_H
#define DETOURCROWD_H
#include "DetourNavMeshQuery.h"
#include "DetourObstacleAvoidance.h"
#include "DetourLocalBoundary.h"
#include "DetourPathCorridor.h"
#include "DetourProximityGrid.h"
#include "DetourPathQueue.h"
/// The maximum number of neighbors that a crowd agent can take into account
/// for steering decisions.
/// @ingroup crowd
static const int DT_CROWDAGENT_MAX_NEIGHBOURS = 6;
/// The maximum number of corners a crowd agent will look ahead in the path.
/// This value is used for sizing the crowd agent corner buffers.
/// Due to the behavior of the crowd manager, the actual number of useful
/// corners will be one less than this number.
/// @ingroup crowd
static const int DT_CROWDAGENT_MAX_CORNERS = 4;
/// The maximum number of crowd avoidance configurations supported by the
/// crowd manager.
/// @ingroup crowd
/// @see dtObstacleAvoidanceParams, dtCrowd::setObstacleAvoidanceParams(), dtCrowd::getObstacleAvoidanceParams(),
/// dtCrowdAgentParams::obstacleAvoidanceType
static const int DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS = 8;
/// The maximum number of query filter types supported by the crowd manager.
/// @ingroup crowd
/// @see dtQueryFilter, dtCrowd::getFilter() dtCrowd::getEditableFilter(),
/// dtCrowdAgentParams::queryFilterType
static const int DT_CROWD_MAX_QUERY_FILTER_TYPE = 16;
/// Provides neighbor data for agents managed by the crowd.
/// @ingroup crowd
/// @see dtCrowdAgent::neis, dtCrowd
struct dtCrowdNeighbour
{
int idx; ///< The index of the neighbor in the crowd.
float dist; ///< The distance between the current agent and the neighbor.
};
/// The type of navigation mesh polygon the agent is currently traversing.
/// @ingroup crowd
enum CrowdAgentState
{
DT_CROWDAGENT_STATE_INVALID, ///< The agent is not in a valid state.
DT_CROWDAGENT_STATE_WALKING, ///< The agent is traversing a normal navigation mesh polygon.
DT_CROWDAGENT_STATE_OFFMESH, ///< The agent is traversing an off-mesh connection.
};
/// Configuration parameters for a crowd agent.
/// @ingroup crowd
struct dtCrowdAgentParams
{
float radius; ///< Agent radius. [Limit: >= 0]
float height; ///< Agent height. [Limit: > 0]
float maxAcceleration; ///< Maximum allowed acceleration. [Limit: >= 0]
float maxSpeed; ///< Maximum allowed speed. [Limit: >= 0]
/// Defines how close a collision element must be before it is considered for steering behaviors. [Limits: > 0]
float collisionQueryRange;
float pathOptimizationRange; ///< The path visibility optimization range. [Limit: > 0]
/// How aggresive the agent manager should be at avoiding collisions with this agent. [Limit: >= 0]
float separationWeight;
/// Flags that impact steering behavior. (See: #UpdateFlags)
unsigned char updateFlags;
/// The index of the avoidance configuration to use for the agent.
/// [Limits: 0 <= value <= #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
unsigned char obstacleAvoidanceType;
/// The index of the query filter used by this agent.
unsigned char queryFilterType;
/// User defined data attached to the agent.
void* userData;
};
enum MoveRequestState
{
DT_CROWDAGENT_TARGET_NONE = 0,
DT_CROWDAGENT_TARGET_FAILED,
DT_CROWDAGENT_TARGET_VALID,
DT_CROWDAGENT_TARGET_REQUESTING,
DT_CROWDAGENT_TARGET_WAITING_FOR_QUEUE,
DT_CROWDAGENT_TARGET_WAITING_FOR_PATH,
DT_CROWDAGENT_TARGET_VELOCITY,
};
/// Represents an agent managed by a #dtCrowd object.
/// @ingroup crowd
struct dtCrowdAgent
{
/// True if the agent is active, false if the agent is in an unused slot in the agent pool.
bool active;
/// The type of mesh polygon the agent is traversing. (See: #CrowdAgentState)
unsigned char state;
/// True if the agent has valid path (targetState == DT_CROWDAGENT_TARGET_VALID) and the path does not lead to the requested position, else false.
bool partial;
/// The path corridor the agent is using.
dtPathCorridor corridor;
/// The local boundary data for the agent.
dtLocalBoundary boundary;
/// Time since the agent's path corridor was optimized.
float topologyOptTime;
/// The known neighbors of the agent.
dtCrowdNeighbour neis[DT_CROWDAGENT_MAX_NEIGHBOURS];
/// The number of neighbors.
int nneis;
/// The desired speed.
float desiredSpeed;
float npos[3]; ///< The current agent position. [(x, y, z)]
float disp[3]; ///< A temporary value used to accumulate agent displacement during iterative collision resolution. [(x, y, z)]
float dvel[3]; ///< The desired velocity of the agent. Based on the current path, calculated from scratch each frame. [(x, y, z)]
float nvel[3]; ///< The desired velocity adjusted by obstacle avoidance, calculated from scratch each frame. [(x, y, z)]
float vel[3]; ///< The actual velocity of the agent. The change from nvel -> vel is constrained by max acceleration. [(x, y, z)]
/// The agent's configuration parameters.
dtCrowdAgentParams params;
/// The local path corridor corners for the agent. (Staight path.) [(x, y, z) * #ncorners]
float cornerVerts[DT_CROWDAGENT_MAX_CORNERS*3];
/// The local path corridor corner flags. (See: #dtStraightPathFlags) [(flags) * #ncorners]
unsigned char cornerFlags[DT_CROWDAGENT_MAX_CORNERS];
/// The reference id of the polygon being entered at the corner. [(polyRef) * #ncorners]
dtPolyRef cornerPolys[DT_CROWDAGENT_MAX_CORNERS];
/// The number of corners.
int ncorners;
unsigned char targetState; ///< State of the movement request.
dtPolyRef targetRef; ///< Target polyref of the movement request.
float targetPos[3]; ///< Target position of the movement request (or velocity in case of DT_CROWDAGENT_TARGET_VELOCITY).
dtPathQueueRef targetPathqRef; ///< Path finder ref.
bool targetReplan; ///< Flag indicating that the current path is being replanned.
float targetReplanTime; /// <Time since the agent's target was replanned.
};
struct dtCrowdAgentAnimation
{
bool active;
float initPos[3], startPos[3], endPos[3];
dtPolyRef polyRef;
float t, tmax;
};
/// Crowd agent update flags.
/// @ingroup crowd
/// @see dtCrowdAgentParams::updateFlags
enum UpdateFlags
{
DT_CROWD_ANTICIPATE_TURNS = 1,
DT_CROWD_OBSTACLE_AVOIDANCE = 2,
DT_CROWD_SEPARATION = 4,
DT_CROWD_OPTIMIZE_VIS = 8, ///< Use #dtPathCorridor::optimizePathVisibility() to optimize the agent path.
DT_CROWD_OPTIMIZE_TOPO = 16, ///< Use dtPathCorridor::optimizePathTopology() to optimize the agent path.
};
struct dtCrowdAgentDebugInfo
{
int idx;
float optStart[3], optEnd[3];
dtObstacleAvoidanceDebugData* vod;
};
/// Provides local steering behaviors for a group of agents.
/// @ingroup crowd
class dtCrowd
{
int m_maxAgents;
dtCrowdAgent* m_agents;
dtCrowdAgent** m_activeAgents;
dtCrowdAgentAnimation* m_agentAnims;
dtPathQueue m_pathq;
dtObstacleAvoidanceParams m_obstacleQueryParams[DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS];
dtObstacleAvoidanceQuery* m_obstacleQuery;
dtProximityGrid* m_grid;
dtPolyRef* m_pathResult;
int m_maxPathResult;
float m_agentPlacementHalfExtents[3];
dtQueryFilter m_filters[DT_CROWD_MAX_QUERY_FILTER_TYPE];
float m_maxAgentRadius;
int m_velocitySampleCount;
dtNavMeshQuery* m_navquery;
void updateTopologyOptimization(dtCrowdAgent** agents, const int nagents, const float dt);
void updateMoveRequest(const float dt);
void checkPathValidity(dtCrowdAgent** agents, const int nagents, const float dt);
inline int getAgentIndex(const dtCrowdAgent* agent) const { return static_cast<int>(agent - m_agents); }
bool requestMoveTargetReplan(const int idx, dtPolyRef ref, const float* pos);
void purge();
public:
dtCrowd();
~dtCrowd();
/// Initializes the crowd.
/// @param[in] maxAgents The maximum number of agents the crowd can manage. [Limit: >= 1]
/// @param[in] maxAgentRadius The maximum radius of any agent that will be added to the crowd. [Limit: > 0]
/// @param[in] nav The navigation mesh to use for planning.
/// @return True if the initialization succeeded.
bool init(const int maxAgents, const float maxAgentRadius, dtNavMesh* nav);
/// Sets the shared avoidance configuration for the specified index.
/// @param[in] idx The index. [Limits: 0 <= value < #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
/// @param[in] params The new configuration.
void setObstacleAvoidanceParams(const int idx, const dtObstacleAvoidanceParams* params);
/// Gets the shared avoidance configuration for the specified index.
/// @param[in] idx The index of the configuration to retreive.
/// [Limits: 0 <= value < #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
/// @return The requested configuration.
const dtObstacleAvoidanceParams* getObstacleAvoidanceParams(const int idx) const;
/// Gets the specified agent from the pool.
/// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()]
/// @return The requested agent.
const dtCrowdAgent* getAgent(const int idx);
/// Gets the specified agent from the pool.
/// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()]
/// @return The requested agent.
dtCrowdAgent* getEditableAgent(const int idx);
/// The maximum number of agents that can be managed by the object.
/// @return The maximum number of agents.
int getAgentCount() const;
/// Adds a new agent to the crowd.
/// @param[in] pos The requested position of the agent. [(x, y, z)]
/// @param[in] params The configutation of the agent.
/// @return The index of the agent in the agent pool. Or -1 if the agent could not be added.
int addAgent(const float* pos, const dtCrowdAgentParams* params);
/// Updates the specified agent's configuration.
/// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()]
/// @param[in] params The new agent configuration.
void updateAgentParameters(const int idx, const dtCrowdAgentParams* params);
/// Removes the agent from the crowd.
/// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()]
void removeAgent(const int idx);
/// Submits a new move request for the specified agent.
/// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()]
/// @param[in] ref The position's polygon reference.
/// @param[in] pos The position within the polygon. [(x, y, z)]
/// @return True if the request was successfully submitted.
bool requestMoveTarget(const int idx, dtPolyRef ref, const float* pos);
/// Submits a new move request for the specified agent.
/// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()]
/// @param[in] vel The movement velocity. [(x, y, z)]
/// @return True if the request was successfully submitted.
bool requestMoveVelocity(const int idx, const float* vel);
/// Resets any request for the specified agent.
/// @param[in] idx The agent index. [Limits: 0 <= value < #getAgentCount()]
/// @return True if the request was successfully reseted.
bool resetMoveTarget(const int idx);
/// Gets the active agents int the agent pool.
/// @param[out] agents An array of agent pointers. [(#dtCrowdAgent *) * maxAgents]
/// @param[in] maxAgents The size of the crowd agent array.
/// @return The number of agents returned in @p agents.
int getActiveAgents(dtCrowdAgent** agents, const int maxAgents);
/// Updates the steering and positions of all agents.
/// @param[in] dt The time, in seconds, to update the simulation. [Limit: > 0]
/// @param[out] debug A debug object to load with debug information. [Opt]
void update(const float dt, dtCrowdAgentDebugInfo* debug);
/// Gets the filter used by the crowd.
/// @return The filter used by the crowd.
inline const dtQueryFilter* getFilter(const int i) const { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
/// Gets the filter used by the crowd.
/// @return The filter used by the crowd.
inline dtQueryFilter* getEditableFilter(const int i) { return (i >= 0 && i < DT_CROWD_MAX_QUERY_FILTER_TYPE) ? &m_filters[i] : 0; }
/// Gets the search halfExtents [(x, y, z)] used by the crowd for query operations.
/// @return The search halfExtents used by the crowd. [(x, y, z)]
const float* getQueryHalfExtents() const { return m_agentPlacementHalfExtents; }
/// Same as getQueryHalfExtents. Left to maintain backwards compatibility.
/// @return The search halfExtents used by the crowd. [(x, y, z)]
const float* getQueryExtents() const { return m_agentPlacementHalfExtents; }
/// Gets the velocity sample count.
/// @return The velocity sample count.
inline int getVelocitySampleCount() const { return m_velocitySampleCount; }
/// Gets the crowd's proximity grid.
/// @return The crowd's proximity grid.
const dtProximityGrid* getGrid() const { return m_grid; }
/// Gets the crowd's path request queue.
/// @return The crowd's path request queue.
const dtPathQueue* getPathQueue() const { return &m_pathq; }
/// Gets the query object used by the crowd.
const dtNavMeshQuery* getNavMeshQuery() const { return m_navquery; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
dtCrowd(const dtCrowd&);
dtCrowd& operator=(const dtCrowd&);
};
/// Allocates a crowd object using the Detour allocator.
/// @return A crowd object that is ready for initialization, or null on failure.
/// @ingroup crowd
dtCrowd* dtAllocCrowd();
/// Frees the specified crowd object using the Detour allocator.
/// @param[in] ptr A crowd object allocated using #dtAllocCrowd
/// @ingroup crowd
void dtFreeCrowd(dtCrowd* ptr);
#endif // DETOURCROWD_H
///////////////////////////////////////////////////////////////////////////
// This section contains detailed documentation for members that don't have
// a source file. It reduces clutter in the main section of the header.
/**
@defgroup crowd Crowd
Members in this module implement local steering and dynamic avoidance features.
The crowd is the big beast of the navigation features. It not only handles a
lot of the path management for you, but also local steering and dynamic
avoidance between members of the crowd. I.e. It can keep your agents from
running into each other.
Main class: #dtCrowd
The #dtNavMeshQuery and #dtPathCorridor classes provide perfectly good, easy
to use path planning features. But in the end they only give you points that
your navigation client should be moving toward. When it comes to deciding things
like agent velocity and steering to avoid other agents, that is up to you to
implement. Unless, of course, you decide to use #dtCrowd.
Basically, you add an agent to the crowd, providing various configuration
settings such as maximum speed and acceleration. You also provide a local
target to more toward. The crowd manager then provides, with every update, the
new agent position and velocity for the frame. The movement will be
constrained to the navigation mesh, and steering will be applied to ensure
agents managed by the crowd do not collide with each other.
This is very powerful feature set. But it comes with limitations.
The biggest limitation is that you must give control of the agent's position
completely over to the crowd manager. You can update things like maximum speed
and acceleration. But in order for the crowd manager to do its thing, it can't
allow you to constantly be giving it overrides to position and velocity. So
you give up direct control of the agent's movement. It belongs to the crowd.
The second biggest limitation revolves around the fact that the crowd manager
deals with local planning. So the agent's target should never be more than
256 polygons aways from its current position. If it is, you risk
your agent failing to reach its target. So you may still need to do long
distance planning and provide the crowd manager with intermediate targets.
Other significant limitations:
- All agents using the crowd manager will use the same #dtQueryFilter.
- Crowd management is relatively expensive. The maximum agents under crowd
management at any one time is between 20 and 30. A good place to start
is a maximum of 25 agents for 0.5ms per frame.
@note This is a summary list of members. Use the index or search
feature to find minor members.
@struct dtCrowdAgentParams
@see dtCrowdAgent, dtCrowd::addAgent(), dtCrowd::updateAgentParameters()
@var dtCrowdAgentParams::obstacleAvoidanceType
@par
#dtCrowd permits agents to use different avoidance configurations. This value
is the index of the #dtObstacleAvoidanceParams within the crowd.
@see dtObstacleAvoidanceParams, dtCrowd::setObstacleAvoidanceParams(),
dtCrowd::getObstacleAvoidanceParams()
@var dtCrowdAgentParams::collisionQueryRange
@par
Collision elements include other agents and navigation mesh boundaries.
This value is often based on the agent radius and/or maximum speed. E.g. radius * 8
@var dtCrowdAgentParams::pathOptimizationRange
@par
Only applicalbe if #updateFlags includes the #DT_CROWD_OPTIMIZE_VIS flag.
This value is often based on the agent radius. E.g. radius * 30
@see dtPathCorridor::optimizePathVisibility()
@var dtCrowdAgentParams::separationWeight
@par
A higher value will result in agents trying to stay farther away from each other at
the cost of more difficult steering in tight spaces.
*/

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@ -1,66 +0,0 @@
//
// Copyright (c) 2009-2010 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 DETOURLOCALBOUNDARY_H
#define DETOURLOCALBOUNDARY_H
#include "DetourNavMeshQuery.h"
class dtLocalBoundary
{
static const int MAX_LOCAL_SEGS = 8;
static const int MAX_LOCAL_POLYS = 16;
struct Segment
{
float s[6]; ///< Segment start/end
float d; ///< Distance for pruning.
};
float m_center[3];
Segment m_segs[MAX_LOCAL_SEGS];
int m_nsegs;
dtPolyRef m_polys[MAX_LOCAL_POLYS];
int m_npolys;
void addSegment(const float dist, const float* s);
public:
dtLocalBoundary();
~dtLocalBoundary();
void reset();
void update(dtPolyRef ref, const float* pos, const float collisionQueryRange,
dtNavMeshQuery* navquery, const dtQueryFilter* filter);
bool isValid(dtNavMeshQuery* navquery, const dtQueryFilter* filter);
inline const float* getCenter() const { return m_center; }
inline int getSegmentCount() const { return m_nsegs; }
inline const float* getSegment(int i) const { return m_segs[i].s; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
dtLocalBoundary(const dtLocalBoundary&);
dtLocalBoundary& operator=(const dtLocalBoundary&);
};
#endif // DETOURLOCALBOUNDARY_H

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/**
@defgroup detour Detour
Members in this module are wrappers around the standard math library
*/
#ifndef DETOURMATH_H
#define DETOURMATH_H
#include <math.h>
// This include is required because libstdc++ has problems with isfinite
// if cmath is included before math.h.
#include <cmath>
inline float dtMathFabsf(float x) { return fabsf(x); }
inline float dtMathSqrtf(float x) { return sqrtf(x); }
inline float dtMathFloorf(float x) { return floorf(x); }
inline float dtMathCeilf(float x) { return ceilf(x); }
inline float dtMathCosf(float x) { return cosf(x); }
inline float dtMathSinf(float x) { return sinf(x); }
inline float dtMathAtan2f(float y, float x) { return atan2f(y, x); }
inline bool dtMathIsfinite(float x) { return std::isfinite(x); }
#endif

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LibCarla/source/carla/nav/recast/DetourNavMesh.h
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//
// Copyright (c) 2009-2010 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 DETOURNAVMESH_H
#define DETOURNAVMESH_H
#include "DetourAlloc.h"
#include "DetourStatus.h"
// Undefine (or define in a build cofnig) the following line to use 64bit polyref.
// Generally not needed, useful for very large worlds.
// Note: tiles build using 32bit refs are not compatible with 64bit refs!
//#define DT_POLYREF64 1
#ifdef DT_POLYREF64
// TODO: figure out a multiplatform version of uint64_t
// - maybe: https://code.google.com/p/msinttypes/
// - or: http://www.azillionmonkeys.com/qed/pstdint.h
#include <stdint.h>
#endif
// Note: If you want to use 64-bit refs, change the types of both dtPolyRef & dtTileRef.
// It is also recommended that you change dtHashRef() to a proper 64-bit hash.
/// A handle to a polygon within a navigation mesh tile.
/// @ingroup detour
#ifdef DT_POLYREF64
static const unsigned int DT_SALT_BITS = 16;
static const unsigned int DT_TILE_BITS = 28;
static const unsigned int DT_POLY_BITS = 20;
typedef uint64_t dtPolyRef;
#else
typedef unsigned int dtPolyRef;
#endif
/// A handle to a tile within a navigation mesh.
/// @ingroup detour
#ifdef DT_POLYREF64
typedef uint64_t dtTileRef;
#else
typedef unsigned int dtTileRef;
#endif
/// The maximum number of vertices per navigation polygon.
/// @ingroup detour
static const int DT_VERTS_PER_POLYGON = 6;
/// @{
/// @name Tile Serialization Constants
/// These constants are used to detect whether a navigation tile's data
/// and state format is compatible with the current build.
///
/// A magic number used to detect compatibility of navigation tile data.
static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V';
/// A version number used to detect compatibility of navigation tile data.
static const int DT_NAVMESH_VERSION = 7;
/// A magic number used to detect the compatibility of navigation tile states.
static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S';
/// A version number used to detect compatibility of navigation tile states.
static const int DT_NAVMESH_STATE_VERSION = 1;
/// @}
/// A flag that indicates that an entity links to an external entity.
/// (E.g. A polygon edge is a portal that links to another polygon.)
static const unsigned short DT_EXT_LINK = 0x8000;
/// A value that indicates the entity does not link to anything.
static const unsigned int DT_NULL_LINK = 0xffffffff;
/// A flag that indicates that an off-mesh connection can be traversed in both directions. (Is bidirectional.)
static const unsigned int DT_OFFMESH_CON_BIDIR = 1;
/// The maximum number of user defined area ids.
/// @ingroup detour
static const int DT_MAX_AREAS = 64;
/// Tile flags used for various functions and fields.
/// For an example, see dtNavMesh::addTile().
enum dtTileFlags
{
/// The navigation mesh owns the tile memory and is responsible for freeing it.
DT_TILE_FREE_DATA = 0x01,
};
/// Vertex flags returned by dtNavMeshQuery::findStraightPath.
enum dtStraightPathFlags
{
DT_STRAIGHTPATH_START = 0x01, ///< The vertex is the start position in the path.
DT_STRAIGHTPATH_END = 0x02, ///< The vertex is the end position in the path.
DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04, ///< The vertex is the start of an off-mesh connection.
};
/// Options for dtNavMeshQuery::findStraightPath.
enum dtStraightPathOptions
{
DT_STRAIGHTPATH_AREA_CROSSINGS = 0x01, ///< Add a vertex at every polygon edge crossing where area changes.
DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02, ///< Add a vertex at every polygon edge crossing.
};
/// Options for dtNavMeshQuery::initSlicedFindPath and updateSlicedFindPath
enum dtFindPathOptions
{
DT_FINDPATH_ANY_ANGLE = 0x02, ///< use raycasts during pathfind to "shortcut" (raycast still consider costs)
};
/// Options for dtNavMeshQuery::raycast
enum dtRaycastOptions
{
DT_RAYCAST_USE_COSTS = 0x01, ///< Raycast should calculate movement cost along the ray and fill RaycastHit::cost
};
enum dtDetailTriEdgeFlags
{
DT_DETAIL_EDGE_BOUNDARY = 0x01, ///< Detail triangle edge is part of the poly boundary
};
/// Limit raycasting during any angle pahfinding
/// The limit is given as a multiple of the character radius
static const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
/// Flags representing the type of a navigation mesh polygon.
enum dtPolyTypes
{
/// The polygon is a standard convex polygon that is part of the surface of the mesh.
DT_POLYTYPE_GROUND = 0,
/// The polygon is an off-mesh connection consisting of two vertices.
DT_POLYTYPE_OFFMESH_CONNECTION = 1,
};
/// Defines a polygon within a dtMeshTile object.
/// @ingroup detour
struct dtPoly
{
/// Index to first link in linked list. (Or #DT_NULL_LINK if there is no link.)
unsigned int firstLink;
/// The indices of the polygon's vertices.
/// The actual vertices are located in dtMeshTile::verts.
unsigned short verts[DT_VERTS_PER_POLYGON];
/// Packed data representing neighbor polygons references and flags for each edge.
unsigned short neis[DT_VERTS_PER_POLYGON];
/// The user defined polygon flags.
unsigned short flags;
/// The number of vertices in the polygon.
unsigned char vertCount;
/// The bit packed area id and polygon type.
/// @note Use the structure's set and get methods to acess this value.
unsigned char areaAndtype;
/// Sets the user defined area id. [Limit: < #DT_MAX_AREAS]
inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); }
/// Sets the polygon type. (See: #dtPolyTypes.)
inline void setType(unsigned char t) { areaAndtype = static_cast<unsigned char>(areaAndtype & 0x3f) | static_cast<unsigned char>(t << 6); }
/// Gets the user defined area id.
inline unsigned char getArea() const { return areaAndtype & 0x3f; }
/// Gets the polygon type. (See: #dtPolyTypes)
inline unsigned char getType() const { return areaAndtype >> 6; }
};
/// Defines the location of detail sub-mesh data within a dtMeshTile.
struct dtPolyDetail
{
unsigned int vertBase; ///< The offset of the vertices in the dtMeshTile::detailVerts array.
unsigned int triBase; ///< The offset of the triangles in the dtMeshTile::detailTris array.
unsigned char vertCount; ///< The number of vertices in the sub-mesh.
unsigned char triCount; ///< The number of triangles in the sub-mesh.
};
/// Defines a link between polygons.
/// @note This structure is rarely if ever used by the end user.
/// @see dtMeshTile
struct dtLink
{
dtPolyRef ref; ///< Neighbour reference. (The neighbor that is linked to.)
unsigned int next; ///< Index of the next link.
unsigned char edge; ///< Index of the polygon edge that owns this link.
unsigned char side; ///< If a boundary link, defines on which side the link is.
unsigned char bmin; ///< If a boundary link, defines the minimum sub-edge area.
unsigned char bmax; ///< If a boundary link, defines the maximum sub-edge area.
};
/// Bounding volume node.
/// @note This structure is rarely if ever used by the end user.
/// @see dtMeshTile
struct dtBVNode
{
unsigned short bmin[3]; ///< Minimum bounds of the node's AABB. [(x, y, z)]
unsigned short bmax[3]; ///< Maximum bounds of the node's AABB. [(x, y, z)]
int i; ///< The node's index. (Negative for escape sequence.)
};
/// Defines an navigation mesh off-mesh connection within a dtMeshTile object.
/// An off-mesh connection is a user defined traversable connection made up to two vertices.
struct dtOffMeshConnection
{
/// The endpoints of the connection. [(ax, ay, az, bx, by, bz)]
float pos[6];
/// The radius of the endpoints. [Limit: >= 0]
float rad;
/// The polygon reference of the connection within the tile.
unsigned short poly;
/// Link flags.
/// @note These are not the connection's user defined flags. Those are assigned via the
/// connection's dtPoly definition. These are link flags used for internal purposes.
unsigned char flags;
/// End point side.
unsigned char side;
/// The id of the offmesh connection. (User assigned when the navigation mesh is built.)
unsigned int userId;
};
/// Provides high level information related to a dtMeshTile object.
/// @ingroup detour
struct dtMeshHeader
{
int magic; ///< Tile magic number. (Used to identify the data format.)
int version; ///< Tile data format version number.
int x; ///< The x-position of the tile within the dtNavMesh tile grid. (x, y, layer)
int y; ///< The y-position of the tile within the dtNavMesh tile grid. (x, y, layer)
int layer; ///< The layer of the tile within the dtNavMesh tile grid. (x, y, layer)
unsigned int userId; ///< The user defined id of the tile.
int polyCount; ///< The number of polygons in the tile.
int vertCount; ///< The number of vertices in the tile.
int maxLinkCount; ///< The number of allocated links.
int detailMeshCount; ///< The number of sub-meshes in the detail mesh.
/// The number of unique vertices in the detail mesh. (In addition to the polygon vertices.)
int detailVertCount;
int detailTriCount; ///< The number of triangles in the detail mesh.
int bvNodeCount; ///< The number of bounding volume nodes. (Zero if bounding volumes are disabled.)
int offMeshConCount; ///< The number of off-mesh connections.
int offMeshBase; ///< The index of the first polygon which is an off-mesh connection.
float walkableHeight; ///< The height of the agents using the tile.
float walkableRadius; ///< The radius of the agents using the tile.
float walkableClimb; ///< The maximum climb height of the agents using the tile.
float bmin[3]; ///< The minimum bounds of the tile's AABB. [(x, y, z)]
float bmax[3]; ///< The maximum bounds of the tile's AABB. [(x, y, z)]
/// The bounding volume quantization factor.
float bvQuantFactor;
};
/// Defines a navigation mesh tile.
/// @ingroup detour
struct dtMeshTile
{
unsigned int salt; ///< Counter describing modifications to the tile.
unsigned int linksFreeList; ///< Index to the next free link.
dtMeshHeader* header; ///< The tile header.
dtPoly* polys; ///< The tile polygons. [Size: dtMeshHeader::polyCount]
float* verts; ///< The tile vertices. [Size: dtMeshHeader::vertCount]
dtLink* links; ///< The tile links. [Size: dtMeshHeader::maxLinkCount]
dtPolyDetail* detailMeshes; ///< The tile's detail sub-meshes. [Size: dtMeshHeader::detailMeshCount]
/// The detail mesh's unique vertices. [(x, y, z) * dtMeshHeader::detailVertCount]
float* detailVerts;
/// The detail mesh's triangles. [(vertA, vertB, vertC, triFlags) * dtMeshHeader::detailTriCount].
/// See dtDetailTriEdgeFlags and dtGetDetailTriEdgeFlags.
unsigned char* detailTris;
/// The tile bounding volume nodes. [Size: dtMeshHeader::bvNodeCount]
/// (Will be null if bounding volumes are disabled.)
dtBVNode* bvTree;
dtOffMeshConnection* offMeshCons; ///< The tile off-mesh connections. [Size: dtMeshHeader::offMeshConCount]
unsigned char* data; ///< The tile data. (Not directly accessed under normal situations.)
int dataSize; ///< Size of the tile data.
int flags; ///< Tile flags. (See: #dtTileFlags)
dtMeshTile* next; ///< The next free tile, or the next tile in the spatial grid.
private:
dtMeshTile(const dtMeshTile&);
dtMeshTile& operator=(const dtMeshTile&);
};
/// Get flags for edge in detail triangle.
/// @param triFlags[in] The flags for the triangle (last component of detail vertices above).
/// @param edgeIndex[in] The index of the first vertex of the edge. For instance, if 0,
/// returns flags for edge AB.
inline int dtGetDetailTriEdgeFlags(unsigned char triFlags, int edgeIndex)
{
return (triFlags >> (edgeIndex * 2)) & 0x3;
}
/// Configuration parameters used to define multi-tile navigation meshes.
/// The values are used to allocate space during the initialization of a navigation mesh.
/// @see dtNavMesh::init()
/// @ingroup detour
struct dtNavMeshParams
{
float orig[3]; ///< The world space origin of the navigation mesh's tile space. [(x, y, z)]
float tileWidth; ///< The width of each tile. (Along the x-axis.)
float tileHeight; ///< The height of each tile. (Along the z-axis.)
int maxTiles; ///< The maximum number of tiles the navigation mesh can contain.
int maxPolys; ///< The maximum number of polygons each tile can contain.
};
/// A navigation mesh based on tiles of convex polygons.
/// @ingroup detour
class dtNavMesh
{
public:
dtNavMesh();
~dtNavMesh();
/// @{
/// @name Initialization and Tile Management
/// Initializes the navigation mesh for tiled use.
/// @param[in] params Initialization parameters.
/// @return The status flags for the operation.
dtStatus init(const dtNavMeshParams* params);
/// Initializes the navigation mesh for single tile use.
/// @param[in] data Data of the new tile. (See: #dtCreateNavMeshData)
/// @param[in] dataSize The data size of the new tile.
/// @param[in] flags The tile flags. (See: #dtTileFlags)
/// @return The status flags for the operation.
/// @see dtCreateNavMeshData
dtStatus init(unsigned char* data, const int dataSize, const int flags);
/// The navigation mesh initialization params.
const dtNavMeshParams* getParams() const;
/// Adds a tile to the navigation mesh.
/// @param[in] data Data for the new tile mesh. (See: #dtCreateNavMeshData)
/// @param[in] dataSize Data size of the new tile mesh.
/// @param[in] flags Tile flags. (See: #dtTileFlags)
/// @param[in] lastRef The desired reference for the tile. (When reloading a tile.) [opt] [Default: 0]
/// @param[out] result The tile reference. (If the tile was succesfully added.) [opt]
/// @return The status flags for the operation.
dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result);
/// Removes the specified tile from the navigation mesh.
/// @param[in] ref The reference of the tile to remove.
/// @param[out] data Data associated with deleted tile.
/// @param[out] dataSize Size of the data associated with deleted tile.
/// @return The status flags for the operation.
dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
/// @}
/// @{
/// @name Query Functions
/// Calculates the tile grid location for the specified world position.
/// @param[in] pos The world position for the query. [(x, y, z)]
/// @param[out] tx The tile's x-location. (x, y)
/// @param[out] ty The tile's y-location. (x, y)
void calcTileLoc(const float* pos, int* tx, int* ty) const;
/// Gets the tile at the specified grid location.
/// @param[in] x The tile's x-location. (x, y, layer)
/// @param[in] y The tile's y-location. (x, y, layer)
/// @param[in] layer The tile's layer. (x, y, layer)
/// @return The tile, or null if the tile does not exist.
const dtMeshTile* getTileAt(const int x, const int y, const int layer) const;
/// Gets all tiles at the specified grid location. (All layers.)
/// @param[in] x The tile's x-location. (x, y)
/// @param[in] y The tile's y-location. (x, y)
/// @param[out] tiles A pointer to an array of tiles that will hold the result.
/// @param[in] maxTiles The maximum tiles the tiles parameter can hold.
/// @return The number of tiles returned in the tiles array.
int getTilesAt(const int x, const int y,
dtMeshTile const** tiles, const int maxTiles) const;
/// Gets the tile reference for the tile at specified grid location.
/// @param[in] x The tile's x-location. (x, y, layer)
/// @param[in] y The tile's y-location. (x, y, layer)
/// @param[in] layer The tile's layer. (x, y, layer)
/// @return The tile reference of the tile, or 0 if there is none.
dtTileRef getTileRefAt(int x, int y, int layer) const;
/// Gets the tile reference for the specified tile.
/// @param[in] tile The tile.
/// @return The tile reference of the tile.
dtTileRef getTileRef(const dtMeshTile* tile) const;
/// Gets the tile for the specified tile reference.
/// @param[in] ref The tile reference of the tile to retrieve.
/// @return The tile for the specified reference, or null if the
/// reference is invalid.
const dtMeshTile* getTileByRef(dtTileRef ref) const;
/// The maximum number of tiles supported by the navigation mesh.
/// @return The maximum number of tiles supported by the navigation mesh.
int getMaxTiles() const;
/// Gets the tile at the specified index.
/// @param[in] i The tile index. [Limit: 0 >= index < #getMaxTiles()]
/// @return The tile at the specified index.
const dtMeshTile* getTile(int i) const;
/// Gets the tile and polygon for the specified polygon reference.
/// @param[in] ref The reference for the a polygon.
/// @param[out] tile The tile containing the polygon.
/// @param[out] poly The polygon.
/// @return The status flags for the operation.
dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
/// Returns the tile and polygon for the specified polygon reference.
/// @param[in] ref A known valid reference for a polygon.
/// @param[out] tile The tile containing the polygon.
/// @param[out] poly The polygon.
void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
/// Checks the validity of a polygon reference.
/// @param[in] ref The polygon reference to check.
/// @return True if polygon reference is valid for the navigation mesh.
bool isValidPolyRef(dtPolyRef ref) const;
/// Gets the polygon reference for the tile's base polygon.
/// @param[in] tile The tile.
/// @return The polygon reference for the base polygon in the specified tile.
dtPolyRef getPolyRefBase(const dtMeshTile* tile) const;
/// Gets the endpoints for an off-mesh connection, ordered by "direction of travel".
/// @param[in] prevRef The reference of the polygon before the connection.
/// @param[in] polyRef The reference of the off-mesh connection polygon.
/// @param[out] startPos The start position of the off-mesh connection. [(x, y, z)]
/// @param[out] endPos The end position of the off-mesh connection. [(x, y, z)]
/// @return The status flags for the operation.
dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
/// Gets the specified off-mesh connection.
/// @param[in] ref The polygon reference of the off-mesh connection.
/// @return The specified off-mesh connection, or null if the polygon reference is not valid.
const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const;
/// @}
/// @{
/// @name State Management
/// These functions do not effect #dtTileRef or #dtPolyRef's.
/// Sets the user defined flags for the specified polygon.
/// @param[in] ref The polygon reference.
/// @param[in] flags The new flags for the polygon.
/// @return The status flags for the operation.
dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags);
/// Gets the user defined flags for the specified polygon.
/// @param[in] ref The polygon reference.
/// @param[out] resultFlags The polygon flags.
/// @return The status flags for the operation.
dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const;
/// Sets the user defined area for the specified polygon.
/// @param[in] ref The polygon reference.
/// @param[in] area The new area id for the polygon. [Limit: < #DT_MAX_AREAS]
/// @return The status flags for the operation.
dtStatus setPolyArea(dtPolyRef ref, unsigned char area);
/// Gets the user defined area for the specified polygon.
/// @param[in] ref The polygon reference.
/// @param[out] resultArea The area id for the polygon.
/// @return The status flags for the operation.
dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const;
/// Gets the size of the buffer required by #storeTileState to store the specified tile's state.
/// @param[in] tile The tile.
/// @return The size of the buffer required to store the state.
int getTileStateSize(const dtMeshTile* tile) const;
/// Stores the non-structural state of the tile in the specified buffer. (Flags, area ids, etc.)
/// @param[in] tile The tile.
/// @param[out] data The buffer to store the tile's state in.
/// @param[in] maxDataSize The size of the data buffer. [Limit: >= #getTileStateSize]
/// @return The status flags for the operation.
dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const;
/// Restores the state of the tile.
/// @param[in] tile The tile.
/// @param[in] data The new state. (Obtained from #storeTileState.)
/// @param[in] maxDataSize The size of the state within the data buffer.
/// @return The status flags for the operation.
dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize);
/// @}
/// @{
/// @name Encoding and Decoding
/// These functions are generally meant for internal use only.
/// Derives a standard polygon reference.
/// @note This function is generally meant for internal use only.
/// @param[in] salt The tile's salt value.
/// @param[in] it The index of the tile.
/// @param[in] ip The index of the polygon within the tile.
inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const
{
#ifdef DT_POLYREF64
return (static_cast<dtPolyRef>(salt) << (DT_POLY_BITS+DT_TILE_BITS)) | (static_cast<dtPolyRef>(it) << DT_POLY_BITS) | static_cast<dtPolyRef>(ip);
#else
return (static_cast<dtPolyRef>(salt) << (m_polyBits+m_tileBits)) | (static_cast<dtPolyRef>(it) << m_polyBits) | static_cast<dtPolyRef>(ip);
#endif
}
/// Decodes a standard polygon reference.
/// @note This function is generally meant for internal use only.
/// @param[in] ref The polygon reference to decode.
/// @param[out] salt The tile's salt value.
/// @param[out] it The index of the tile.
/// @param[out] ip The index of the polygon within the tile.
/// @see #encodePolyId
inline void decodePolyId(dtPolyRef ref, unsigned int& salt, unsigned int& it, unsigned int& ip) const
{
#ifdef DT_POLYREF64
const dtPolyRef saltMask = ((dtPolyRef)1<<DT_SALT_BITS)-1;
const dtPolyRef tileMask = ((dtPolyRef)1<<DT_TILE_BITS)-1;
const dtPolyRef polyMask = ((dtPolyRef)1<<DT_POLY_BITS)-1;
salt = (unsigned int)((ref >> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask);
it = (unsigned int)((ref >> DT_POLY_BITS) & tileMask);
ip = (unsigned int)(ref & polyMask);
#else
const dtPolyRef saltMask = (static_cast<dtPolyRef>(1) << m_saltBits)-1;
const dtPolyRef tileMask = (static_cast<dtPolyRef>(1) << m_tileBits)-1;
const dtPolyRef polyMask = (static_cast<dtPolyRef>(1) << m_polyBits)-1;
salt = static_cast<unsigned int>((ref >> (m_polyBits+m_tileBits)) & saltMask);
it = static_cast<unsigned int>((ref >> m_polyBits) & tileMask);
ip = static_cast<unsigned int>(ref & polyMask);
#endif
}
/// Extracts a tile's salt value from the specified polygon reference.
/// @note This function is generally meant for internal use only.
/// @param[in] ref The polygon reference.
/// @see #encodePolyId
inline unsigned int decodePolyIdSalt(dtPolyRef ref) const
{
#ifdef DT_POLYREF64
const dtPolyRef saltMask = (static_cast<dtPolyRef>(1)<<DT_SALT_BITS)-1;
return static_cast<unsigned int>((ref >> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask);
#else
const dtPolyRef saltMask = (static_cast<dtPolyRef>(1) << m_saltBits)-1;
return static_cast<unsigned int>((ref >> (m_polyBits+m_tileBits)) & saltMask);
#endif
}
/// Extracts the tile's index from the specified polygon reference.
/// @note This function is generally meant for internal use only.
/// @param[in] ref The polygon reference.
/// @see #encodePolyId
inline unsigned int decodePolyIdTile(dtPolyRef ref) const
{
#ifdef DT_POLYREF64
const dtPolyRef tileMask = (static_cast<dtPolyRef>(1)<<DT_TILE_BITS)-1;
return static_cast<unsigned int>((ref >> DT_POLY_BITS) & tileMask);
#else
const dtPolyRef tileMask = (static_cast<dtPolyRef>(1)<<m_tileBits)-1;
return static_cast<unsigned int>((ref >> m_polyBits) & tileMask);
#endif
}
/// Extracts the polygon's index (within its tile) from the specified polygon reference.
/// @note This function is generally meant for internal use only.
/// @param[in] ref The polygon reference.
/// @see #encodePolyId
inline unsigned int decodePolyIdPoly(dtPolyRef ref) const
{
#ifdef DT_POLYREF64
const dtPolyRef polyMask = (static_cast<dtPolyRef>(1)<<DT_POLY_BITS)-1;
return static_cast<unsigned int>(ref & polyMask);
#else
const dtPolyRef polyMask = (static_cast<dtPolyRef>(1)<<m_polyBits)-1;
return static_cast<unsigned int>(ref & polyMask);
#endif
}
/// @}
private:
// Explicitly disabled copy constructor and copy assignment operator.
dtNavMesh(const dtNavMesh&);
dtNavMesh& operator=(const dtNavMesh&);
/// Returns pointer to tile in the tile array.
dtMeshTile* getTile(int i);
/// Returns neighbour tile based on side.
int getTilesAt(const int x, const int y,
dtMeshTile** tiles, const int maxTiles) const;
/// Returns neighbour tile based on side.
int getNeighbourTilesAt(const int x, const int y, const int side,
dtMeshTile** tiles, const int maxTiles) const;
/// Returns all polygons in neighbour tile based on portal defined by the segment.
int findConnectingPolys(const float* va, const float* vb,
const dtMeshTile* tile, int side,
dtPolyRef* con, float* conarea, int maxcon) const;
/// Builds internal polygons links for a tile.
void connectIntLinks(dtMeshTile* tile);
/// Builds internal polygons links for a tile.
void baseOffMeshLinks(dtMeshTile* tile);
/// Builds external polygon links for a tile.
void connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);
/// Builds external polygon links for a tile.
void connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side);
/// Removes external links at specified side.
void unconnectLinks(dtMeshTile* tile, dtMeshTile* target);
// TODO: These methods are duplicates from dtNavMeshQuery, but are needed for off-mesh connection finding.
/// Queries polygons within a tile.
int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
dtPolyRef* polys, const int maxPolys) const;
/// Find nearest polygon within a tile.
dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center,
const float* halfExtents, float* nearestPt) const;
/// Returns whether position is over the poly and the height at the position if so.
bool getPolyHeight(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* height) const;
/// Returns closest point on polygon.
void closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const;
dtNavMeshParams m_params; ///< Current initialization params. TODO: do not store this info twice.
float m_orig[3]; ///< Origin of the tile (0,0)
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.
dtMeshTile** m_posLookup; ///< Tile hash lookup.
dtMeshTile* m_nextFree; ///< Freelist of tiles.
dtMeshTile* m_tiles; ///< List of tiles.
#ifndef DT_POLYREF64
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.
#endif
friend class dtNavMeshQuery;
};
/// Allocates a navigation mesh object using the Detour allocator.
/// @return A navigation mesh that is ready for initialization, or null on failure.
/// @ingroup detour
dtNavMesh* dtAllocNavMesh();
/// Frees the specified navigation mesh object using the Detour allocator.
/// @param[in] navmesh A navigation mesh allocated using #dtAllocNavMesh
/// @ingroup detour
void dtFreeNavMesh(dtNavMesh* navmesh);
#endif // DETOURNAVMESH_H
///////////////////////////////////////////////////////////////////////////
// This section contains detailed documentation for members that don't have
// a source file. It reduces clutter in the main section of the header.
/**
@typedef dtPolyRef
@par
Polygon references are subject to the same invalidate/preserve/restore
rules that apply to #dtTileRef's. If the #dtTileRef for the polygon's
tile changes, the polygon reference becomes invalid.
Changing a polygon's flags, area id, etc. does not impact its polygon
reference.
@typedef dtTileRef
@par
The following changes will invalidate a tile reference:
- The referenced tile has been removed from the navigation mesh.
- The navigation mesh has been initialized using a different set
of #dtNavMeshParams.
A tile reference is preserved/restored if the tile is added to a navigation
mesh initialized with the original #dtNavMeshParams and is added at the
original reference location. (E.g. The lastRef parameter is used with
dtNavMesh::addTile.)
Basically, if the storage structure of a tile changes, its associated
tile reference changes.
@var unsigned short dtPoly::neis[DT_VERTS_PER_POLYGON]
@par
Each entry represents data for the edge starting at the vertex of the same index.
E.g. The entry at index n represents the edge data for vertex[n] to vertex[n+1].
A value of zero indicates the edge has no polygon connection. (It makes up the
border of the navigation mesh.)
The information can be extracted as follows:
@code
neighborRef = neis[n] & 0xff; // Get the neighbor polygon reference.
if (neis[n] & #DT_EX_LINK)
{
// The edge is an external (portal) edge.
}
@endcode
@var float dtMeshHeader::bvQuantFactor
@par
This value is used for converting between world and bounding volume coordinates.
For example:
@code
const float cs = 1.0f / tile->header->bvQuantFactor;
const dtBVNode* n = &tile->bvTree[i];
if (n->i >= 0)
{
// This is a leaf node.
float worldMinX = tile->header->bmin[0] + n->bmin[0]*cs;
float worldMinY = tile->header->bmin[0] + n->bmin[1]*cs;
// Etc...
}
@endcode
@struct dtMeshTile
@par
Tiles generally only exist within the context of a dtNavMesh object.
Some tile content is optional. For example, a tile may not contain any
off-mesh connections. In this case the associated pointer will be null.
If a detail mesh exists it will share vertices with the base polygon mesh.
Only the vertices unique to the detail mesh will be stored in #detailVerts.
@warning Tiles returned by a dtNavMesh object are not guarenteed to be populated.
For example: The tile at a location might not have been loaded yet, or may have been removed.
In this case, pointers will be null. So if in doubt, check the polygon count in the
tile's header to determine if a tile has polygons defined.
@var float dtOffMeshConnection::pos[6]
@par
For a properly built navigation mesh, vertex A will always be within the bounds of the mesh.
Vertex B is not required to be within the bounds of the mesh.
*/

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//
// Copyright (c) 2009-2010 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 DETOURNAVMESHBUILDER_H
#define DETOURNAVMESHBUILDER_H
#include "DetourAlloc.h"
/// Represents the source data used to build an navigation mesh tile.
/// @ingroup detour
struct dtNavMeshCreateParams
{
/// @name Polygon Mesh Attributes
/// Used to create the base navigation graph.
/// See #rcPolyMesh for details related to these attributes.
/// @{
const unsigned short* verts; ///< The polygon mesh vertices. [(x, y, z) * #vertCount] [Unit: vx]
int vertCount; ///< The number vertices in the polygon mesh. [Limit: >= 3]
const unsigned short* polys; ///< The polygon data. [Size: #polyCount * 2 * #nvp]
const unsigned short* polyFlags; ///< The user defined flags assigned to each polygon. [Size: #polyCount]
const unsigned char* polyAreas; ///< The user defined area ids assigned to each polygon. [Size: #polyCount]
int polyCount; ///< Number of polygons in the mesh. [Limit: >= 1]
int nvp; ///< Number maximum number of vertices per polygon. [Limit: >= 3]
/// @}
/// @name Height Detail Attributes (Optional)
/// See #rcPolyMeshDetail for details related to these attributes.
/// @{
const unsigned int* detailMeshes; ///< The height detail sub-mesh data. [Size: 4 * #polyCount]
const float* detailVerts; ///< The detail mesh vertices. [Size: 3 * #detailVertsCount] [Unit: wu]
int detailVertsCount; ///< The number of vertices in the detail mesh.
const unsigned char* detailTris; ///< The detail mesh triangles. [Size: 4 * #detailTriCount]
int detailTriCount; ///< The number of triangles in the detail mesh.
/// @}
/// @name Off-Mesh Connections Attributes (Optional)
/// Used to define a custom point-to-point edge within the navigation graph, an
/// off-mesh connection is a user defined traversable connection made up to two vertices,
/// at least one of which resides within a navigation mesh polygon.
/// @{
/// Off-mesh connection vertices. [(ax, ay, az, bx, by, bz) * #offMeshConCount] [Unit: wu]
const float* offMeshConVerts;
/// Off-mesh connection radii. [Size: #offMeshConCount] [Unit: wu]
const float* offMeshConRad;
/// User defined flags assigned to the off-mesh connections. [Size: #offMeshConCount]
const unsigned short* offMeshConFlags;
/// User defined area ids assigned to the off-mesh connections. [Size: #offMeshConCount]
const unsigned char* offMeshConAreas;
/// The permitted travel direction of the off-mesh connections. [Size: #offMeshConCount]
///
/// 0 = Travel only from endpoint A to endpoint B.<br/>
/// #DT_OFFMESH_CON_BIDIR = Bidirectional travel.
const unsigned char* offMeshConDir;
/// The user defined ids of the off-mesh connection. [Size: #offMeshConCount]
const unsigned int* offMeshConUserID;
/// The number of off-mesh connections. [Limit: >= 0]
int offMeshConCount;
/// @}
/// @name Tile Attributes
/// @note The tile grid/layer data can be left at zero if the destination is a single tile mesh.
/// @{
unsigned int userId; ///< The user defined id of the tile.
int tileX; ///< The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.)
int tileY; ///< The tile's y-grid location within the multi-tile desitation mesh. (Along the z-axis.)
int tileLayer; ///< The tile's layer within the layered destination mesh. [Limit: >= 0] (Along the y-axis.)
float bmin[3]; ///< The minimum bounds of the tile. [(x, y, z)] [Unit: wu]
float bmax[3]; ///< The maximum bounds of the tile. [(x, y, z)] [Unit: wu]
/// @}
/// @name General Configuration Attributes
/// @{
float walkableHeight; ///< The agent height. [Unit: wu]
float walkableRadius; ///< The agent radius. [Unit: wu]
float walkableClimb; ///< The agent maximum traversable ledge. (Up/Down) [Unit: wu]
float cs; ///< The xz-plane cell size of the polygon mesh. [Limit: > 0] [Unit: wu]
float ch; ///< The y-axis cell height of the polygon mesh. [Limit: > 0] [Unit: wu]
/// True if a bounding volume tree should be built for the tile.
/// @note The BVTree is not normally needed for layered navigation meshes.
bool buildBvTree;
/// @}
};
/// Builds navigation mesh tile data from the provided tile creation data.
/// @ingroup detour
/// @param[in] params Tile creation data.
/// @param[out] outData The resulting tile data.
/// @param[out] outDataSize The size of the tile data array.
/// @return True if the tile data was successfully created.
bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize);
/// Swaps the endianess of the tile data's header (#dtMeshHeader).
/// @param[in,out] data The tile data array.
/// @param[in] dataSize The size of the data array.
bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int dataSize);
/// Swaps endianess of the tile data.
/// @param[in,out] data The tile data array.
/// @param[in] dataSize The size of the data array.
bool dtNavMeshDataSwapEndian(unsigned char* data, const int dataSize);
#endif // DETOURNAVMESHBUILDER_H
// This section contains detailed documentation for members that don't have
// a source file. It reduces clutter in the main section of the header.
/**
@struct dtNavMeshCreateParams
@par
This structure is used to marshal data between the Recast mesh generation pipeline and Detour navigation components.
See the rcPolyMesh and rcPolyMeshDetail documentation for detailed information related to mesh structure.
Units are usually in voxels (vx) or world units (wu). The units for voxels, grid size, and cell size
are all based on the values of #cs and #ch.
The standard navigation mesh build process is to create tile data using dtCreateNavMeshData, then add the tile
to a navigation mesh using either the dtNavMesh single tile <tt>init()</tt> function or the dtNavMesh::addTile()
function.
@see dtCreateNavMeshData
*/

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//
// Copyright (c) 2009-2010 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 DETOURNAVMESHQUERY_H
#define DETOURNAVMESHQUERY_H
#include "DetourNavMesh.h"
#include "DetourStatus.h"
// Define DT_VIRTUAL_QUERYFILTER if you wish to derive a custom filter from dtQueryFilter.
// On certain platforms indirect or virtual function call is expensive. The default
// setting is to use non-virtual functions, the actual implementations of the functions
// are declared as inline for maximum speed.
//#define DT_VIRTUAL_QUERYFILTER 1
/// Defines polygon filtering and traversal costs for navigation mesh query operations.
/// @ingroup detour
class dtQueryFilter
{
float m_areaCost[DT_MAX_AREAS]; ///< Cost per area type. (Used by default implementation.)
unsigned short m_includeFlags; ///< Flags for polygons that can be visited. (Used by default implementation.)
unsigned short m_excludeFlags; ///< Flags for polygons that should not be visted. (Used by default implementation.)
public:
dtQueryFilter();
#ifdef DT_VIRTUAL_QUERYFILTER
virtual ~dtQueryFilter() { }
#endif
/// Returns true if the polygon can be visited. (I.e. Is traversable.)
/// @param[in] ref The reference id of the polygon test.
/// @param[in] tile The tile containing the polygon.
/// @param[in] poly The polygon to test.
#ifdef DT_VIRTUAL_QUERYFILTER
virtual bool passFilter(const dtPolyRef ref,
const dtMeshTile* tile,
const dtPoly* poly) const;
#else
bool passFilter(const dtPolyRef ref,
const dtMeshTile* tile,
const dtPoly* poly) const;
#endif
/// Returns cost to move from the beginning to the end of a line segment
/// that is fully contained within a polygon.
/// @param[in] pa The start position on the edge of the previous and current polygon. [(x, y, z)]
/// @param[in] pb The end position on the edge of the current and next polygon. [(x, y, z)]
/// @param[in] prevRef The reference id of the previous polygon. [opt]
/// @param[in] prevTile The tile containing the previous polygon. [opt]
/// @param[in] prevPoly The previous polygon. [opt]
/// @param[in] curRef The reference id of the current polygon.
/// @param[in] curTile The tile containing the current polygon.
/// @param[in] curPoly The current polygon.
/// @param[in] nextRef The refernece id of the next polygon. [opt]
/// @param[in] nextTile The tile containing the next polygon. [opt]
/// @param[in] nextPoly The next polygon. [opt]
#ifdef DT_VIRTUAL_QUERYFILTER
virtual float getCost(const float* pa, const float* pb,
const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
#else
float getCost(const float* pa, const float* pb,
const dtPolyRef prevRef, const dtMeshTile* prevTile, const dtPoly* prevPoly,
const dtPolyRef curRef, const dtMeshTile* curTile, const dtPoly* curPoly,
const dtPolyRef nextRef, const dtMeshTile* nextTile, const dtPoly* nextPoly) const;
#endif
/// @name Getters and setters for the default implementation data.
///@{
/// Returns the traversal cost of the area.
/// @param[in] i The id of the area.
/// @returns The traversal cost of the area.
inline float getAreaCost(const int i) const { return m_areaCost[i]; }
/// Sets the traversal cost of the area.
/// @param[in] i The id of the area.
/// @param[in] cost The new cost of traversing the area.
inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; }
/// Returns the include flags for the filter.
/// Any polygons that include one or more of these flags will be
/// included in the operation.
inline unsigned short getIncludeFlags() const { return m_includeFlags; }
/// Sets the include flags for the filter.
/// @param[in] flags The new flags.
inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; }
/// Returns the exclude flags for the filter.
/// Any polygons that include one ore more of these flags will be
/// excluded from the operation.
inline unsigned short getExcludeFlags() const { return m_excludeFlags; }
/// Sets the exclude flags for the filter.
/// @param[in] flags The new flags.
inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; }
///@}
};
/// Provides information about raycast hit
/// filled by dtNavMeshQuery::raycast
/// @ingroup detour
struct dtRaycastHit
{
/// The hit parameter. (FLT_MAX if no wall hit.)
float t;
/// hitNormal The normal of the nearest wall hit. [(x, y, z)]
float hitNormal[3];
/// The index of the edge on the final polygon where the wall was hit.
int hitEdgeIndex;
/// Pointer to an array of reference ids of the visited polygons. [opt]
dtPolyRef* path;
/// The number of visited polygons. [opt]
int pathCount;
/// The maximum number of polygons the @p path array can hold.
int maxPath;
/// The cost of the path until hit.
float pathCost;
};
/// Provides custom polygon query behavior.
/// Used by dtNavMeshQuery::queryPolygons.
/// @ingroup detour
class dtPolyQuery
{
public:
virtual ~dtPolyQuery() { }
/// Called for each batch of unique polygons touched by the search area in dtNavMeshQuery::queryPolygons.
/// This can be called multiple times for a single query.
virtual void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) = 0;
};
/// Provides the ability to perform pathfinding related queries against
/// a navigation mesh.
/// @ingroup detour
class dtNavMeshQuery
{
public:
dtNavMeshQuery();
~dtNavMeshQuery();
/// Initializes the query object.
/// @param[in] nav Pointer to the dtNavMesh object to use for all queries.
/// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65535]
/// @returns The status flags for the query.
dtStatus init(const dtNavMesh* nav, const int maxNodes);
/// @name Standard Pathfinding Functions
// /@{
/// Finds a path from the start polygon to the end polygon.
/// @param[in] startRef The refrence id of the start polygon.
/// @param[in] endRef The reference id of the end polygon.
/// @param[in] startPos A position within the start polygon. [(x, y, z)]
/// @param[in] endPos A position within the end polygon. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
/// [(polyRef) * @p pathCount]
/// @param[out] pathCount The number of polygons returned in the @p path array.
/// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 1]
dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter,
dtPolyRef* path, int* pathCount, const int maxPath) const;
/// Finds the straight path from the start to the end position within the polygon corridor.
/// @param[in] startPos Path start position. [(x, y, z)]
/// @param[in] endPos Path end position. [(x, y, z)]
/// @param[in] path An array of polygon references that represent the path corridor.
/// @param[in] pathSize The number of polygons in the @p path array.
/// @param[out] straightPath Points describing the straight path. [(x, y, z) * @p straightPathCount].
/// @param[out] straightPathFlags Flags describing each point. (See: #dtStraightPathFlags) [opt]
/// @param[out] straightPathRefs The reference id of the polygon that is being entered at each point. [opt]
/// @param[out] straightPathCount The number of points in the straight path.
/// @param[in] maxStraightPath The maximum number of points the straight path arrays can hold. [Limit: > 0]
/// @param[in] options Query options. (see: #dtStraightPathOptions)
/// @returns The status flags for the query.
dtStatus findStraightPath(const float* startPos, const float* endPos,
const dtPolyRef* path, const int pathSize,
float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
int* straightPathCount, const int maxStraightPath, const int options = 0) const;
///@}
/// @name Sliced Pathfinding Functions
/// Common use case:
/// -# Call initSlicedFindPath() to initialize the sliced path query.
/// -# Call updateSlicedFindPath() until it returns complete.
/// -# Call finalizeSlicedFindPath() to get the path.
///@{
/// Intializes a sliced path query.
/// @param[in] startRef The refrence id of the start polygon.
/// @param[in] endRef The reference id of the end polygon.
/// @param[in] startPos A position within the start polygon. [(x, y, z)]
/// @param[in] endPos A position within the end polygon. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[in] options query options (see: #dtFindPathOptions)
/// @returns The status flags for the query.
dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter, const unsigned int options = 0);
/// Updates an in-progress sliced path query.
/// @param[in] maxIter The maximum number of iterations to perform.
/// @param[out] doneIters The actual number of iterations completed. [opt]
/// @returns The status flags for the query.
dtStatus updateSlicedFindPath(const int maxIter, int* doneIters);
/// Finalizes and returns the results of a sliced path query.
/// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
/// [(polyRef) * @p pathCount]
/// @param[out] pathCount The number of polygons returned in the @p path array.
/// @param[in] maxPath The max number of polygons the path array can hold. [Limit: >= 1]
/// @returns The status flags for the query.
dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
/// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest
/// polygon on the existing path that was visited during the search.
/// @param[in] existing An array of polygon references for the existing path.
/// @param[in] existingSize The number of polygon in the @p existing array.
/// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
/// [(polyRef) * @p pathCount]
/// @param[out] pathCount The number of polygons returned in the @p path array.
/// @param[in] maxPath The max number of polygons the @p path array can hold. [Limit: >= 1]
/// @returns The status flags for the query.
dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
dtPolyRef* path, int* pathCount, const int maxPath);
///@}
/// @name Dijkstra Search Functions
/// @{
/// Finds the polygons along the navigation graph that touch the specified circle.
/// @param[in] startRef The reference id of the polygon where the search starts.
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
/// @param[in] radius The radius of the search circle.
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt]
/// @param[out] resultParent The reference ids of the parent polygons for each result.
/// Zero if a result polygon has no parent. [opt]
/// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt]
/// @param[out] resultCount The number of polygons found. [opt]
/// @param[in] maxResult The maximum number of polygons the result arrays can hold.
/// @returns The status flags for the query.
dtStatus findPolysAroundCircle(dtPolyRef startRef, const float* centerPos, const float radius,
const dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
int* resultCount, const int maxResult) const;
/// Finds the polygons along the naviation graph that touch the specified convex polygon.
/// @param[in] startRef The reference id of the polygon where the search starts.
/// @param[in] verts The vertices describing the convex polygon. (CCW)
/// [(x, y, z) * @p nverts]
/// @param[in] nverts The number of vertices in the polygon.
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt]
/// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a
/// result polygon has no parent. [opt]
/// @param[out] resultCost The search cost from the centroid point to the polygon. [opt]
/// @param[out] resultCount The number of polygons found.
/// @param[in] maxResult The maximum number of polygons the result arrays can hold.
/// @returns The status flags for the query.
dtStatus findPolysAroundShape(dtPolyRef startRef, const float* verts, const int nverts,
const dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent, float* resultCost,
int* resultCount, const int maxResult) const;
/// Gets a path from the explored nodes in the previous search.
/// @param[in] endRef The reference id of the end polygon.
/// @param[out] path An ordered list of polygon references representing the path. (Start to end.)
/// [(polyRef) * @p pathCount]
/// @param[out] pathCount The number of polygons returned in the @p path array.
/// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 0]
/// @returns The status flags. Returns DT_FAILURE | DT_INVALID_PARAM if any parameter is wrong, or if
/// @p endRef was not explored in the previous search. Returns DT_SUCCESS | DT_BUFFER_TOO_SMALL
/// if @p path cannot contain the entire path. In this case it is filled to capacity with a partial path.
/// Otherwise returns DT_SUCCESS.
/// @remarks The result of this function depends on the state of the query object. For that reason it should only
/// be used immediately after one of the two Dijkstra searches, findPolysAroundCircle or findPolysAroundShape.
dtStatus getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef* path, int* pathCount, int maxPath) const;
/// @}
/// @name Local Query Functions
///@{
/// Finds the polygon nearest to the specified center point.
/// @param[in] center The center of the search box. [(x, y, z)]
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] nearestRef The reference id of the nearest polygon.
/// @param[out] nearestPt The nearest point on the polygon. [opt] [(x, y, z)]
/// @returns The status flags for the query.
dtStatus findNearestPoly(const float* center, const float* halfExtents,
const dtQueryFilter* filter,
dtPolyRef* nearestRef, float* nearestPt) const;
/// Finds polygons that overlap the search box.
/// @param[in] center The center of the search box. [(x, y, z)]
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] polys The reference ids of the polygons that overlap the query box.
/// @param[out] polyCount The number of polygons in the search result.
/// @param[in] maxPolys The maximum number of polygons the search result can hold.
/// @returns The status flags for the query.
dtStatus queryPolygons(const float* center, const float* halfExtents,
const dtQueryFilter* filter,
dtPolyRef* polys, int* polyCount, const int maxPolys) const;
/// Finds polygons that overlap the search box.
/// @param[in] center The center of the search box. [(x, y, z)]
/// @param[in] halfExtents The search distance along each axis. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[in] query The query. Polygons found will be batched together and passed to this query.
dtStatus queryPolygons(const float* center, const float* halfExtents,
const dtQueryFilter* filter, dtPolyQuery* query) const;
/// Finds the non-overlapping navigation polygons in the local neighbourhood around the center position.
/// @param[in] startRef The reference id of the polygon where the search starts.
/// @param[in] centerPos The center of the query circle. [(x, y, z)]
/// @param[in] radius The radius of the query circle.
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] resultRef The reference ids of the polygons touched by the circle.
/// @param[out] resultParent The reference ids of the parent polygons for each result.
/// Zero if a result polygon has no parent. [opt]
/// @param[out] resultCount The number of polygons found.
/// @param[in] maxResult The maximum number of polygons the result arrays can hold.
/// @returns The status flags for the query.
dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
const dtQueryFilter* filter,
dtPolyRef* resultRef, dtPolyRef* resultParent,
int* resultCount, const int maxResult) const;
/// Moves from the start to the end position constrained to the navigation mesh.
/// @param[in] startRef The reference id of the start polygon.
/// @param[in] startPos A position of the mover within the start polygon. [(x, y, x)]
/// @param[in] endPos The desired end position of the mover. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] resultPos The result position of the mover. [(x, y, z)]
/// @param[out] visited The reference ids of the polygons visited during the move.
/// @param[out] visitedCount The number of polygons visited during the move.
/// @param[in] maxVisitedSize The maximum number of polygons the @p visited array can hold.
/// @returns The status flags for the query.
dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter,
float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const;
/// Casts a 'walkability' ray along the surface of the navigation mesh from
/// the start position toward the end position.
/// @note A wrapper around raycast(..., RaycastHit*). Retained for backward compatibility.
/// @param[in] startRef The reference id of the start polygon.
/// @param[in] startPos A position within the start polygon representing
/// the start of the ray. [(x, y, z)]
/// @param[in] endPos The position to cast the ray toward. [(x, y, z)]
/// @param[out] t The hit parameter. (FLT_MAX if no wall hit.)
/// @param[out] hitNormal The normal of the nearest wall hit. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] path The reference ids of the visited polygons. [opt]
/// @param[out] pathCount The number of visited polygons. [opt]
/// @param[in] maxPath The maximum number of polygons the @p path array can hold.
/// @returns The status flags for the query.
dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter,
float* t, float* hitNormal, dtPolyRef* path, int* pathCount, const int maxPath) const;
/// Casts a 'walkability' ray along the surface of the navigation mesh from
/// the start position toward the end position.
/// @param[in] startRef The reference id of the start polygon.
/// @param[in] startPos A position within the start polygon representing
/// the start of the ray. [(x, y, z)]
/// @param[in] endPos The position to cast the ray toward. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[in] flags govern how the raycast behaves. See dtRaycastOptions
/// @param[out] hit Pointer to a raycast hit structure which will be filled by the results.
/// @param[in] prevRef parent of start ref. Used during for cost calculation [opt]
/// @returns The status flags for the query.
dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
const dtQueryFilter* filter, const unsigned int options,
dtRaycastHit* hit, dtPolyRef prevRef = 0) const;
/// Finds the distance from the specified position to the nearest polygon wall.
/// @param[in] startRef The reference id of the polygon containing @p centerPos.
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
/// @param[in] maxRadius The radius of the search circle.
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] hitDist The distance to the nearest wall from @p centerPos.
/// @param[out] hitPos The nearest position on the wall that was hit. [(x, y, z)]
/// @param[out] hitNormal The normalized ray formed from the wall point to the
/// source point. [(x, y, z)]
/// @returns The status flags for the query.
dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
const dtQueryFilter* filter,
float* hitDist, float* hitPos, float* hitNormal) const;
/// Returns the segments for the specified polygon, optionally including portals.
/// @param[in] ref The reference id of the polygon.
/// @param[in] filter The polygon filter to apply to the query.
/// @param[out] segmentVerts The segments. [(ax, ay, az, bx, by, bz) * segmentCount]
/// @param[out] segmentRefs The reference ids of each segment's neighbor polygon.
/// Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount]
/// @param[out] segmentCount The number of segments returned.
/// @param[in] maxSegments The maximum number of segments the result arrays can hold.
/// @returns The status flags for the query.
dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount,
const int maxSegments) const;
/// Returns random location on navmesh.
/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
/// @param[in] filter The polygon filter to apply to the query.
/// @param[in] frand Function returning a random number [0..1).
/// @param[out] randomRef The reference id of the random location.
/// @param[out] randomPt The random location.
/// @returns The status flags for the query.
dtStatus findRandomPoint(const dtQueryFilter* filter, float (*frand)(),
dtPolyRef* randomRef, float* randomPt) const;
/// Returns random location on navmesh within the reach of specified location.
/// Polygons are chosen weighted by area. The search runs in linear related to number of polygon.
/// The location is not exactly constrained by the circle, but it limits the visited polygons.
/// @param[in] startRef The reference id of the polygon where the search starts.
/// @param[in] centerPos The center of the search circle. [(x, y, z)]
/// @param[in] filter The polygon filter to apply to the query.
/// @param[in] frand Function returning a random number [0..1).
/// @param[out] randomRef The reference id of the random location.
/// @param[out] randomPt The random location. [(x, y, z)]
/// @returns The status flags for the query.
dtStatus findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius,
const dtQueryFilter* filter, float (*frand)(),
dtPolyRef* randomRef, float* randomPt) const;
/// Finds the closest point on the specified polygon.
/// @param[in] ref The reference id of the polygon.
/// @param[in] pos The position to check. [(x, y, z)]
/// @param[out] closest The closest point on the polygon. [(x, y, z)]
/// @param[out] posOverPoly True of the position is over the polygon.
/// @returns The status flags for the query.
dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const;
/// Returns a point on the boundary closest to the source point if the source point is outside the
/// polygon's xz-bounds.
/// @param[in] ref The reference id to the polygon.
/// @param[in] pos The position to check. [(x, y, z)]
/// @param[out] closest The closest point. [(x, y, z)]
/// @returns The status flags for the query.
dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
/// Gets the height of the polygon at the provided position using the height detail. (Most accurate.)
/// @param[in] ref The reference id of the polygon.
/// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)]
/// @param[out] height The height at the surface of the polygon.
/// @returns The status flags for the query.
dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;
/// @}
/// @name Miscellaneous Functions
/// @{
/// Returns true if the polygon reference is valid and passes the filter restrictions.
/// @param[in] ref The polygon reference to check.
/// @param[in] filter The filter to apply.
bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const;
/// Returns true if the polygon reference is in the closed list.
/// @param[in] ref The reference id of the polygon to check.
/// @returns True if the polygon is in closed list.
bool isInClosedList(dtPolyRef ref) const;
/// Gets the node pool.
/// @returns The node pool.
class dtNodePool* getNodePool() const { return m_nodePool; }
/// Gets the navigation mesh the query object is using.
/// @return The navigation mesh the query object is using.
const dtNavMesh* getAttachedNavMesh() const { return m_nav; }
/// @}
private:
// Explicitly disabled copy constructor and copy assignment operator
dtNavMeshQuery(const dtNavMeshQuery&);
dtNavMeshQuery& operator=(const dtNavMeshQuery&);
/// Queries polygons within a tile.
void queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
const dtQueryFilter* filter, dtPolyQuery* query) const;
/// Returns portal points between two polygons.
dtStatus getPortalPoints(dtPolyRef from, dtPolyRef to, float* left, float* right,
unsigned char& fromType, unsigned char& toType) const;
dtStatus getPortalPoints(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
float* left, float* right) const;
/// Returns edge mid point between two polygons.
dtStatus getEdgeMidPoint(dtPolyRef from, dtPolyRef to, float* mid) const;
dtStatus getEdgeMidPoint(dtPolyRef from, const dtPoly* fromPoly, const dtMeshTile* fromTile,
dtPolyRef to, const dtPoly* toPoly, const dtMeshTile* toTile,
float* mid) const;
// Appends vertex to a straight path
dtStatus appendVertex(const float* pos, const unsigned char flags, const dtPolyRef ref,
float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
int* straightPathCount, const int maxStraightPath) const;
// Appends intermediate portal points to a straight path.
dtStatus appendPortals(const int startIdx, const int endIdx, const float* endPos, const dtPolyRef* path,
float* straightPath, unsigned char* straightPathFlags, dtPolyRef* straightPathRefs,
int* straightPathCount, const int maxStraightPath, const int options) const;
// Gets the path leading to the specified end node.
dtStatus getPathToNode(struct dtNode* endNode, dtPolyRef* path, int* pathCount, int maxPath) const;
const dtNavMesh* m_nav; ///< Pointer to navmesh data.
struct dtQueryData
{
dtStatus status;
struct dtNode* lastBestNode;
float lastBestNodeCost;
dtPolyRef startRef, endRef;
float startPos[3], endPos[3];
const dtQueryFilter* filter;
unsigned int options;
float raycastLimitSqr;
};
dtQueryData m_query; ///< Sliced query state.
class dtNodePool* m_tinyNodePool; ///< Pointer to small node pool.
class dtNodePool* m_nodePool; ///< Pointer to node pool.
class dtNodeQueue* m_openList; ///< Pointer to open list queue.
};
/// Allocates a query object using the Detour allocator.
/// @return An allocated query object, or null on failure.
/// @ingroup detour
dtNavMeshQuery* dtAllocNavMeshQuery();
/// Frees the specified query object using the Detour allocator.
/// @param[in] query A query object allocated using #dtAllocNavMeshQuery
/// @ingroup detour
void dtFreeNavMeshQuery(dtNavMeshQuery* query);
#endif // DETOURNAVMESHQUERY_H

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//
// Copyright (c) 2009-2010 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 DETOURNODE_H
#define DETOURNODE_H
#include "DetourNavMesh.h"
enum dtNodeFlags
{
DT_NODE_OPEN = 0x01,
DT_NODE_CLOSED = 0x02,
DT_NODE_PARENT_DETACHED = 0x04, // parent of the node is not adjacent. Found using raycast.
};
typedef unsigned short dtNodeIndex;
static const dtNodeIndex DT_NULL_IDX = (dtNodeIndex)~0;
static const int DT_NODE_PARENT_BITS = 24;
static const int DT_NODE_STATE_BITS = 2;
struct dtNode
{
float pos[3]; ///< Position of the node.
float cost; ///< Cost from previous node to current node.
float total; ///< Cost up to the node.
unsigned int pidx : DT_NODE_PARENT_BITS; ///< Index to parent node.
unsigned int state : DT_NODE_STATE_BITS; ///< extra state information. A polyRef can have multiple nodes with different extra info. see DT_MAX_STATES_PER_NODE
unsigned int flags : 3; ///< Node flags. A combination of dtNodeFlags.
dtPolyRef id; ///< Polygon ref the node corresponds to.
};
static const int DT_MAX_STATES_PER_NODE = 1 << DT_NODE_STATE_BITS; // number of extra states per node. See dtNode::state
class dtNodePool
{
public:
dtNodePool(int maxNodes, int hashSize);
~dtNodePool();
void clear();
// Get a dtNode by ref and extra state information. If there is none then - allocate
// There can be more than one node for the same polyRef but with different extra state information
dtNode* getNode(dtPolyRef id, unsigned char state=0);
dtNode* findNode(dtPolyRef id, unsigned char state);
unsigned int findNodes(dtPolyRef id, dtNode** nodes, const int maxNodes);
inline unsigned int getNodeIdx(const dtNode* node) const
{
if (!node) return 0;
return (unsigned int)(node - m_nodes) + 1;
}
inline dtNode* getNodeAtIdx(unsigned int idx)
{
if (!idx) return 0;
return &m_nodes[idx - 1];
}
inline const dtNode* getNodeAtIdx(unsigned int idx) const
{
if (!idx) return 0;
return &m_nodes[idx - 1];
}
inline int getMemUsed() const
{
return sizeof(*this) +
sizeof(dtNode)*m_maxNodes +
sizeof(dtNodeIndex)*m_maxNodes +
sizeof(dtNodeIndex)*m_hashSize;
}
inline int getMaxNodes() const { return m_maxNodes; }
inline int getHashSize() const { return m_hashSize; }
inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; }
inline dtNodeIndex getNext(int i) const { return m_next[i]; }
inline int getNodeCount() const { return m_nodeCount; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
dtNodePool(const dtNodePool&);
dtNodePool& operator=(const dtNodePool&);
dtNode* m_nodes;
dtNodeIndex* m_first;
dtNodeIndex* m_next;
const int m_maxNodes;
const int m_hashSize;
int m_nodeCount;
};
class dtNodeQueue
{
public:
dtNodeQueue(int n);
~dtNodeQueue();
inline void clear() { m_size = 0; }
inline dtNode* top() { return m_heap[0]; }
inline dtNode* pop()
{
dtNode* result = m_heap[0];
m_size--;
trickleDown(0, m_heap[m_size]);
return result;
}
inline void push(dtNode* node)
{
m_size++;
bubbleUp(m_size-1, node);
}
inline void modify(dtNode* node)
{
for (int i = 0; i < m_size; ++i)
{
if (m_heap[i] == node)
{
bubbleUp(i, node);
return;
}
}
}
inline bool empty() const { return m_size == 0; }
inline int getMemUsed() const
{
return sizeof(*this) +
sizeof(dtNode*) * (m_capacity + 1);
}
inline int getCapacity() const { return m_capacity; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
dtNodeQueue(const dtNodeQueue&);
dtNodeQueue& operator=(const dtNodeQueue&);
void bubbleUp(int i, dtNode* node);
void trickleDown(int i, dtNode* node);
dtNode** m_heap;
const int m_capacity;
int m_size;
};
#endif // DETOURNODE_H

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//
// Copyright (c) 2009-2010 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 DETOUROBSTACLEAVOIDANCE_H
#define DETOUROBSTACLEAVOIDANCE_H
struct dtObstacleCircle
{
float p[3]; ///< Position of the obstacle
float vel[3]; ///< Velocity of the obstacle
float dvel[3]; ///< Velocity of the obstacle
float rad; ///< Radius of the obstacle
float dp[3], np[3]; ///< Use for side selection during sampling.
};
struct dtObstacleSegment
{
float p[3], q[3]; ///< End points of the obstacle segment
bool touch;
};
class dtObstacleAvoidanceDebugData
{
public:
dtObstacleAvoidanceDebugData();
~dtObstacleAvoidanceDebugData();
bool init(const int maxSamples);
void reset();
void addSample(const float* vel, const float ssize, const float pen,
const float vpen, const float vcpen, const float spen, const float tpen);
void normalizeSamples();
inline int getSampleCount() const { return m_nsamples; }
inline const float* getSampleVelocity(const int i) const { return &m_vel[i*3]; }
inline float getSampleSize(const int i) const { return m_ssize[i]; }
inline float getSamplePenalty(const int i) const { return m_pen[i]; }
inline float getSampleDesiredVelocityPenalty(const int i) const { return m_vpen[i]; }
inline float getSampleCurrentVelocityPenalty(const int i) const { return m_vcpen[i]; }
inline float getSamplePreferredSidePenalty(const int i) const { return m_spen[i]; }
inline float getSampleCollisionTimePenalty(const int i) const { return m_tpen[i]; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
dtObstacleAvoidanceDebugData(const dtObstacleAvoidanceDebugData&);
dtObstacleAvoidanceDebugData& operator=(const dtObstacleAvoidanceDebugData&);
int m_nsamples;
int m_maxSamples;
float* m_vel;
float* m_ssize;
float* m_pen;
float* m_vpen;
float* m_vcpen;
float* m_spen;
float* m_tpen;
};
dtObstacleAvoidanceDebugData* dtAllocObstacleAvoidanceDebugData();
void dtFreeObstacleAvoidanceDebugData(dtObstacleAvoidanceDebugData* ptr);
static const int DT_MAX_PATTERN_DIVS = 32; ///< Max numver of adaptive divs.
static const int DT_MAX_PATTERN_RINGS = 4; ///< Max number of adaptive rings.
struct dtObstacleAvoidanceParams
{
float velBias;
float weightDesVel;
float weightCurVel;
float weightSide;
float weightToi;
float horizTime;
unsigned char gridSize; ///< grid
unsigned char adaptiveDivs; ///< adaptive
unsigned char adaptiveRings; ///< adaptive
unsigned char adaptiveDepth; ///< adaptive
};
class dtObstacleAvoidanceQuery
{
public:
dtObstacleAvoidanceQuery();
~dtObstacleAvoidanceQuery();
bool init(const int maxCircles, const int maxSegments);
void reset();
void addCircle(const float* pos, const float rad,
const float* vel, const float* dvel);
void addSegment(const float* p, const float* q);
int sampleVelocityGrid(const float* pos, const float rad, const float vmax,
const float* vel, const float* dvel, float* nvel,
const dtObstacleAvoidanceParams* params,
dtObstacleAvoidanceDebugData* debug = 0);
int sampleVelocityAdaptive(const float* pos, const float rad, const float vmax,
const float* vel, const float* dvel, float* nvel,
const dtObstacleAvoidanceParams* params,
dtObstacleAvoidanceDebugData* debug = 0);
inline int getObstacleCircleCount() const { return m_ncircles; }
const dtObstacleCircle* getObstacleCircle(const int i) { return &m_circles[i]; }
inline int getObstacleSegmentCount() const { return m_nsegments; }
const dtObstacleSegment* getObstacleSegment(const int i) { return &m_segments[i]; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
dtObstacleAvoidanceQuery(const dtObstacleAvoidanceQuery&);
dtObstacleAvoidanceQuery& operator=(const dtObstacleAvoidanceQuery&);
void prepare(const float* pos, const float* dvel);
float processSample(const float* vcand, const float cs,
const float* pos, const float rad,
const float* vel, const float* dvel,
const float minPenalty,
dtObstacleAvoidanceDebugData* debug);
dtObstacleAvoidanceParams m_params;
float m_invHorizTime;
float m_vmax;
float m_invVmax;
int m_maxCircles;
dtObstacleCircle* m_circles;
int m_ncircles;
int m_maxSegments;
dtObstacleSegment* m_segments;
int m_nsegments;
};
dtObstacleAvoidanceQuery* dtAllocObstacleAvoidanceQuery();
void dtFreeObstacleAvoidanceQuery(dtObstacleAvoidanceQuery* ptr);
#endif // DETOUROBSTACLEAVOIDANCE_H

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//
// Copyright (c) 2009-2010 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 DETOUTPATHCORRIDOR_H
#define DETOUTPATHCORRIDOR_H
#include "DetourNavMeshQuery.h"
/// Represents a dynamic polygon corridor used to plan agent movement.
/// @ingroup crowd, detour
class dtPathCorridor
{
float m_pos[3];
float m_target[3];
dtPolyRef* m_path;
int m_npath;
int m_maxPath;
public:
dtPathCorridor();
~dtPathCorridor();
/// Allocates the corridor's path buffer.
/// @param[in] maxPath The maximum path size the corridor can handle.
/// @return True if the initialization succeeded.
bool init(const int maxPath);
/// Resets the path corridor to the specified position.
/// @param[in] ref The polygon reference containing the position.
/// @param[in] pos The new position in the corridor. [(x, y, z)]
void reset(dtPolyRef ref, const float* pos);
/// Finds the corners in the corridor from the position toward the target. (The straightened path.)
/// @param[out] cornerVerts The corner vertices. [(x, y, z) * cornerCount] [Size: <= maxCorners]
/// @param[out] cornerFlags The flag for each corner. [(flag) * cornerCount] [Size: <= maxCorners]
/// @param[out] cornerPolys The polygon reference for each corner. [(polyRef) * cornerCount]
/// [Size: <= @p maxCorners]
/// @param[in] maxCorners The maximum number of corners the buffers can hold.
/// @param[in] navquery The query object used to build the corridor.
/// @param[in] filter The filter to apply to the operation.
/// @return The number of corners returned in the corner buffers. [0 <= value <= @p maxCorners]
int findCorners(float* cornerVerts, unsigned char* cornerFlags,
dtPolyRef* cornerPolys, const int maxCorners,
dtNavMeshQuery* navquery, const dtQueryFilter* filter);
/// Attempts to optimize the path if the specified point is visible from the current position.
/// @param[in] next The point to search toward. [(x, y, z])
/// @param[in] pathOptimizationRange The maximum range to search. [Limit: > 0]
/// @param[in] navquery The query object used to build the corridor.
/// @param[in] filter The filter to apply to the operation.
void optimizePathVisibility(const float* next, const float pathOptimizationRange,
dtNavMeshQuery* navquery, const dtQueryFilter* filter);
/// Attempts to optimize the path using a local area search. (Partial replanning.)
/// @param[in] navquery The query object used to build the corridor.
/// @param[in] filter The filter to apply to the operation.
bool optimizePathTopology(dtNavMeshQuery* navquery, const dtQueryFilter* filter);
bool moveOverOffmeshConnection(dtPolyRef offMeshConRef, dtPolyRef* refs,
float* startPos, float* endPos,
dtNavMeshQuery* navquery);
bool fixPathStart(dtPolyRef safeRef, const float* safePos);
bool trimInvalidPath(dtPolyRef safeRef, const float* safePos,
dtNavMeshQuery* navquery, const dtQueryFilter* filter);
/// Checks the current corridor path to see if its polygon references remain valid.
/// @param[in] maxLookAhead The number of polygons from the beginning of the corridor to search.
/// @param[in] navquery The query object used to build the corridor.
/// @param[in] filter The filter to apply to the operation.
bool isValid(const int maxLookAhead, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
/// Moves the position from the current location to the desired location, adjusting the corridor
/// as needed to reflect the change.
/// @param[in] npos The desired new position. [(x, y, z)]
/// @param[in] navquery The query object used to build the corridor.
/// @param[in] filter The filter to apply to the operation.
/// @return Returns true if move succeeded.
bool movePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
/// Moves the target from the curent location to the desired location, adjusting the corridor
/// as needed to reflect the change.
/// @param[in] npos The desired new target position. [(x, y, z)]
/// @param[in] navquery The query object used to build the corridor.
/// @param[in] filter The filter to apply to the operation.
/// @return Returns true if move succeeded.
bool moveTargetPosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
/// Loads a new path and target into the corridor.
/// @param[in] target The target location within the last polygon of the path. [(x, y, z)]
/// @param[in] path The path corridor. [(polyRef) * @p npolys]
/// @param[in] npath The number of polygons in the path.
void setCorridor(const float* target, const dtPolyRef* polys, const int npath);
/// Gets the current position within the corridor. (In the first polygon.)
/// @return The current position within the corridor.
inline const float* getPos() const { return m_pos; }
/// Gets the current target within the corridor. (In the last polygon.)
/// @return The current target within the corridor.
inline const float* getTarget() const { return m_target; }
/// The polygon reference id of the first polygon in the corridor, the polygon containing the position.
/// @return The polygon reference id of the first polygon in the corridor. (Or zero if there is no path.)
inline dtPolyRef getFirstPoly() const { return m_npath ? m_path[0] : 0; }
/// The polygon reference id of the last polygon in the corridor, the polygon containing the target.
/// @return The polygon reference id of the last polygon in the corridor. (Or zero if there is no path.)
inline dtPolyRef getLastPoly() const { return m_npath ? m_path[m_npath-1] : 0; }
/// The corridor's path.
/// @return The corridor's path. [(polyRef) * #getPathCount()]
inline const dtPolyRef* getPath() const { return m_path; }
/// The number of polygons in the current corridor path.
/// @return The number of polygons in the current corridor path.
inline int getPathCount() const { return m_npath; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
dtPathCorridor(const dtPathCorridor&);
dtPathCorridor& operator=(const dtPathCorridor&);
};
int dtMergeCorridorStartMoved(dtPolyRef* path, const int npath, const int maxPath,
const dtPolyRef* visited, const int nvisited);
int dtMergeCorridorEndMoved(dtPolyRef* path, const int npath, const int maxPath,
const dtPolyRef* visited, const int nvisited);
int dtMergeCorridorStartShortcut(dtPolyRef* path, const int npath, const int maxPath,
const dtPolyRef* visited, const int nvisited);
#endif // DETOUTPATHCORRIDOR_H

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//
// Copyright (c) 2009-2010 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 DETOURPATHQUEUE_H
#define DETOURPATHQUEUE_H
#include "DetourNavMesh.h"
#include "DetourNavMeshQuery.h"
static const unsigned int DT_PATHQ_INVALID = 0;
typedef unsigned int dtPathQueueRef;
class dtPathQueue
{
struct PathQuery
{
dtPathQueueRef ref;
/// Path find start and end location.
float startPos[3], endPos[3];
dtPolyRef startRef, endRef;
/// Result.
dtPolyRef* path;
int npath;
/// State.
dtStatus status;
int keepAlive;
const dtQueryFilter* filter; ///< TODO: This is potentially dangerous!
};
static const int MAX_QUEUE = 8;
PathQuery m_queue[MAX_QUEUE];
dtPathQueueRef m_nextHandle;
int m_maxPathSize;
int m_queueHead;
dtNavMeshQuery* m_navquery;
void purge();
public:
dtPathQueue();
~dtPathQueue();
bool init(const int maxPathSize, const int maxSearchNodeCount, dtNavMesh* nav);
void update(const int maxIters);
dtPathQueueRef request(dtPolyRef startRef, dtPolyRef endRef,
const float* startPos, const float* endPos,
const dtQueryFilter* filter);
dtStatus getRequestStatus(dtPathQueueRef ref) const;
dtStatus getPathResult(dtPathQueueRef ref, dtPolyRef* path, int* pathSize, const int maxPath);
inline const dtNavMeshQuery* getNavQuery() const { return m_navquery; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
dtPathQueue(const dtPathQueue&);
dtPathQueue& operator=(const dtPathQueue&);
};
#endif // DETOURPATHQUEUE_H

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//
// Copyright (c) 2009-2010 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 DETOURPROXIMITYGRID_H
#define DETOURPROXIMITYGRID_H
class dtProximityGrid
{
float m_cellSize;
float m_invCellSize;
struct Item
{
unsigned short id;
short x,y;
unsigned short next;
};
Item* m_pool;
int m_poolHead;
int m_poolSize;
unsigned short* m_buckets;
int m_bucketsSize;
int m_bounds[4];
public:
dtProximityGrid();
~dtProximityGrid();
bool init(const int poolSize, const float cellSize);
void clear();
void addItem(const unsigned short id,
const float minx, const float miny,
const float maxx, const float maxy);
int queryItems(const float minx, const float miny,
const float maxx, const float maxy,
unsigned short* ids, const int maxIds) const;
int getItemCountAt(const int x, const int y) const;
inline const int* getBounds() const { return m_bounds; }
inline float getCellSize() const { return m_cellSize; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
dtProximityGrid(const dtProximityGrid&);
dtProximityGrid& operator=(const dtProximityGrid&);
};
dtProximityGrid* dtAllocProximityGrid();
void dtFreeProximityGrid(dtProximityGrid* ptr);
#endif // DETOURPROXIMITYGRID_H

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LibCarla/source/carla/nav/recast/DetourStatus.h
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//
// Copyright (c) 2009-2010 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 DETOURSTATUS_H
#define DETOURSTATUS_H
typedef unsigned int dtStatus;
// High level status.
static const unsigned int DT_FAILURE = 1u << 31; // Operation failed.
static const unsigned int DT_SUCCESS = 1u << 30; // Operation succeed.
static const unsigned int DT_IN_PROGRESS = 1u << 29; // Operation still in progress.
// Detail information for status.
static const unsigned int DT_STATUS_DETAIL_MASK = 0x0ffffff;
static const unsigned int DT_WRONG_MAGIC = 1 << 0; // Input data is not recognized.
static const unsigned int DT_WRONG_VERSION = 1 << 1; // Input data is in wrong version.
static const unsigned int DT_OUT_OF_MEMORY = 1 << 2; // Operation ran out of memory.
static const unsigned int DT_INVALID_PARAM = 1 << 3; // An input parameter was invalid.
static const unsigned int DT_BUFFER_TOO_SMALL = 1 << 4; // Result buffer for the query was too small to store all results.
static const unsigned int DT_OUT_OF_NODES = 1 << 5; // Query ran out of nodes during search.
static const unsigned int DT_PARTIAL_RESULT = 1 << 6; // Query did not reach the end location, returning best guess.
static const unsigned int DT_ALREADY_OCCUPIED = 1 << 7; // A tile has already been assigned to the given x,y coordinate
// Returns true of status is success.
inline bool dtStatusSucceed(dtStatus status)
{
return (status & DT_SUCCESS) != 0;
}
// Returns true of status is failure.
inline bool dtStatusFailed(dtStatus status)
{
return (status & DT_FAILURE) != 0;
}
// Returns true of status is in progress.
inline bool dtStatusInProgress(dtStatus status)
{
return (status & DT_IN_PROGRESS) != 0;
}
// Returns true if specific detail is set.
inline bool dtStatusDetail(dtStatus status, unsigned int detail)
{
return (status & detail) != 0;
}
#endif // DETOURSTATUS_H

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LibCarla/source/carla/nav/recast/Recast.h
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LibCarla/source/carla/nav/recast/RecastAlloc.h
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//
// Copyright (c) 2009-2010 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 RECASTALLOC_H
#define RECASTALLOC_H
#include <stddef.h>
#include <stdint.h>
#include <RecastAssert.h>
/// Provides hint values to the memory allocator on how long the
/// memory is expected to be used.
enum rcAllocHint
{
RC_ALLOC_PERM, ///< Memory will persist after a function call.
RC_ALLOC_TEMP ///< Memory used temporarily within a function.
};
/// A memory allocation function.
// @param[in] size The size, in bytes of memory, to allocate.
// @param[in] rcAllocHint A hint to the allocator on how long the memory is expected to be in use.
// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
/// @see rcAllocSetCustom
typedef void* (rcAllocFunc)(size_t size, rcAllocHint hint);
/// A memory deallocation function.
/// @param[in] ptr A pointer to a memory block previously allocated using #rcAllocFunc.
/// @see rcAllocSetCustom
typedef void (rcFreeFunc)(void* ptr);
/// Sets the base custom allocation functions to be used by Recast.
/// @param[in] allocFunc The memory allocation function to be used by #rcAlloc
/// @param[in] freeFunc The memory de-allocation function to be used by #rcFree
void rcAllocSetCustom(rcAllocFunc *allocFunc, rcFreeFunc *freeFunc);
/// Allocates a memory block.
/// @param[in] size The size, in bytes of memory, to allocate.
/// @param[in] hint A hint to the allocator on how long the memory is expected to be in use.
/// @return A pointer to the beginning of the allocated memory block, or null if the allocation failed.
/// @see rcFree
void* rcAlloc(size_t size, rcAllocHint hint);
/// Deallocates a memory block.
/// @param[in] ptr A pointer to a memory block previously allocated using #rcAlloc.
/// @see rcAlloc
void rcFree(void* ptr);
/// An implementation of operator new usable for placement new. The default one is part of STL (which we don't use).
/// rcNewTag is a dummy type used to differentiate our operator from the STL one, in case users import both Recast
/// and STL.
struct rcNewTag {};
inline void* operator new(size_t, const rcNewTag&, void* p) { return p; }
inline void operator delete(void*, const rcNewTag&, void*) {}
/// Signed to avoid warnnings when comparing to int loop indexes, and common error with comparing to zero.
/// MSVC2010 has a bug where ssize_t is unsigned (!!!).
typedef intptr_t rcSizeType;
#define RC_SIZE_MAX INTPTR_MAX
/// Macros to hint to the compiler about the likeliest branch. Please add a benchmark that demonstrates a performance
/// improvement before introducing use cases.
#if defined(__GNUC__) || defined(__clang__)
#define rcLikely(x) __builtin_expect((x), true)
#define rcUnlikely(x) __builtin_expect((x), false)
#else
#define rcLikely(x) (x)
#define rcUnlikely(x) (x)
#endif
/// Variable-sized storage type. Mimics the interface of std::vector<T> with some notable differences:
/// * Uses rcAlloc()/rcFree() to handle storage.
/// * No support for a custom allocator.
/// * Uses signed size instead of size_t to avoid warnings in for loops: "for (int i = 0; i < foo.size(); i++)"
/// * Omits methods of limited utility: insert/erase, (bad performance), at (we don't use exceptions), operator=.
/// * assign() and the pre-sizing constructor follow C++11 semantics -- they don't construct a temporary if no value is provided.
/// * push_back() and resize() support adding values from the current vector. Range-based constructors and assign(begin, end) do not.
/// * No specialization for bool.
template <typename T, rcAllocHint H>
class rcVectorBase {
rcSizeType m_size;
rcSizeType m_cap;
T* m_data;
// Constructs a T at the give address with either the copy constructor or the default.
static void construct(T* p, const T& v) { ::new(rcNewTag(), (void*)p) T(v); }
static void construct(T* p) { ::new(rcNewTag(), (void*)p) T; }
static void construct_range(T* begin, T* end);
static void construct_range(T* begin, T* end, const T& value);
static void copy_range(T* dst, const T* begin, const T* end);
void destroy_range(rcSizeType begin, rcSizeType end);
// Creates an array of the given size, copies all of this vector's data into it, and returns it.
T* allocate_and_copy(rcSizeType size);
void resize_impl(rcSizeType size, const T* value);
public:
typedef rcSizeType size_type;
typedef T value_type;
rcVectorBase() : m_size(0), m_cap(0), m_data(0) {};
rcVectorBase(const rcVectorBase<T, H>& other) : m_size(0), m_cap(0), m_data(0) { assign(other.begin(), other.end()); }
explicit rcVectorBase(rcSizeType count) : m_size(0), m_cap(0), m_data(0) { resize(count); }
rcVectorBase(rcSizeType count, const T& value) : m_size(0), m_cap(0), m_data(0) { resize(count, value); }
rcVectorBase(const T* begin, const T* end) : m_size(0), m_cap(0), m_data(0) { assign(begin, end); }
~rcVectorBase() { destroy_range(0, m_size); rcFree(m_data); }
// Unlike in std::vector, we return a bool to indicate whether the alloc was successful.
bool reserve(rcSizeType size);
void assign(rcSizeType count, const T& value) { clear(); resize(count, value); }
void assign(const T* begin, const T* end);
void resize(rcSizeType size) { resize_impl(size, NULL); }
void resize(rcSizeType size, const T& value) { resize_impl(size, &value); }
// Not implemented as resize(0) because resize requires T to be default-constructible.
void clear() { destroy_range(0, m_size); m_size = 0; }
void push_back(const T& value);
void pop_back() { rcAssert(m_size > 0); back().~T(); m_size--; }
rcSizeType size() const { return m_size; }
rcSizeType capacity() const { return m_cap; }
bool empty() const { return size() == 0; }
const T& operator[](rcSizeType i) const { rcAssert(i >= 0 && i < m_size); return m_data[i]; }
T& operator[](rcSizeType i) { rcAssert(i >= 0 && i < m_size); return m_data[i]; }
const T& front() const { rcAssert(m_size); return m_data[0]; }
T& front() { rcAssert(m_size); return m_data[0]; }
const T& back() const { rcAssert(m_size); return m_data[m_size - 1]; };
T& back() { rcAssert(m_size); return m_data[m_size - 1]; };
const T* data() const { return m_data; }
T* data() { return m_data; }
T* begin() { return m_data; }
T* end() { return m_data + m_size; }
const T* begin() const { return m_data; }
const T* end() const { return m_data + m_size; }
void swap(rcVectorBase<T, H>& other);
// Explicitly deleted.
rcVectorBase& operator=(const rcVectorBase<T, H>& other);
};
template<typename T, rcAllocHint H>
bool rcVectorBase<T, H>::reserve(rcSizeType count) {
if (count <= m_cap) {
return true;
}
T* new_data = allocate_and_copy(count);
if (!new_data) {
return false;
}
destroy_range(0, m_size);
rcFree(m_data);
m_data = new_data;
m_cap = count;
return true;
}
template <typename T, rcAllocHint H>
T* rcVectorBase<T, H>::allocate_and_copy(rcSizeType size) {
rcAssert(RC_SIZE_MAX / static_cast<rcSizeType>(sizeof(T)) >= size);
T* new_data = static_cast<T*>(rcAlloc(sizeof(T) * size, H));
if (new_data) {
copy_range(new_data, m_data, m_data + m_size);
}
return new_data;
}
template <typename T, rcAllocHint H>
void rcVectorBase<T, H>::assign(const T* begin, const T* end) {
clear();
reserve(end - begin);
m_size = end - begin;
copy_range(m_data, begin, end);
}
template <typename T, rcAllocHint H>
void rcVectorBase<T, H>::push_back(const T& value) {
// rcLikely increases performance by ~50% on BM_rcVector_PushPreallocated,
// and by ~2-5% on BM_rcVector_Push.
if (rcLikely(m_size < m_cap)) {
construct(m_data + m_size++, value);
return;
}
rcAssert(RC_SIZE_MAX / 2 >= m_size);
rcSizeType new_cap = m_size ? 2*m_size : 1;
T* data = allocate_and_copy(new_cap);
// construct between allocate and destroy+free in case value is
// in this vector.
construct(data + m_size, value);
destroy_range(0, m_size);
m_size++;
m_cap = new_cap;
rcFree(m_data);
m_data = data;
}
template <typename T, rcAllocHint H>
void rcVectorBase<T, H>::resize_impl(rcSizeType size, const T* value) {
if (size < m_size) {
destroy_range(size, m_size);
m_size = size;
} else if (size > m_size) {
T* new_data = allocate_and_copy(size);
// We defer deconstructing/freeing old data until after constructing
// new elements in case "value" is there.
if (value) {
construct_range(new_data + m_size, new_data + size, *value);
} else {
construct_range(new_data + m_size, new_data + size);
}
destroy_range(0, m_size);
rcFree(m_data);
m_data = new_data;
m_cap = size;
m_size = size;
}
}
template <typename T, rcAllocHint H>
void rcVectorBase<T, H>::swap(rcVectorBase<T, H>& other) {
// TODO: Reorganize headers so we can use rcSwap here.
rcSizeType tmp_cap = other.m_cap;
rcSizeType tmp_size = other.m_size;
T* tmp_data = other.m_data;
other.m_cap = m_cap;
other.m_size = m_size;
other.m_data = m_data;
m_cap = tmp_cap;
m_size = tmp_size;
m_data = tmp_data;
}
// static
template <typename T, rcAllocHint H>
void rcVectorBase<T, H>::construct_range(T* begin, T* end) {
for (T* p = begin; p < end; p++) {
construct(p);
}
}
// static
template <typename T, rcAllocHint H>
void rcVectorBase<T, H>::construct_range(T* begin, T* end, const T& value) {
for (T* p = begin; p < end; p++) {
construct(p, value);
}
}
// static
template <typename T, rcAllocHint H>
void rcVectorBase<T, H>::copy_range(T* dst, const T* begin, const T* end) {
for (rcSizeType i = 0 ; i < end - begin; i++) {
construct(dst + i, begin[i]);
}
}
template <typename T, rcAllocHint H>
void rcVectorBase<T, H>::destroy_range(rcSizeType begin, rcSizeType end) {
for (rcSizeType i = begin; i < end; i++) {
m_data[i].~T();
}
}
template <typename T>
class rcTempVector : public rcVectorBase<T, RC_ALLOC_TEMP> {
typedef rcVectorBase<T, RC_ALLOC_TEMP> Base;
public:
rcTempVector() : Base() {}
explicit rcTempVector(rcSizeType size) : Base(size) {}
rcTempVector(rcSizeType size, const T& value) : Base(size, value) {}
rcTempVector(const rcTempVector<T>& other) : Base(other) {}
rcTempVector(const T* begin, const T* end) : Base(begin, end) {}
};
template <typename T>
class rcPermVector : public rcVectorBase<T, RC_ALLOC_PERM> {
typedef rcVectorBase<T, RC_ALLOC_PERM> Base;
public:
rcPermVector() : Base() {}
explicit rcPermVector(rcSizeType size) : Base(size) {}
rcPermVector(rcSizeType size, const T& value) : Base(size, value) {}
rcPermVector(const rcPermVector<T>& other) : Base(other) {}
rcPermVector(const T* begin, const T* end) : Base(begin, end) {}
};
/// Legacy class. Prefer rcVector<int>.
class rcIntArray
{
rcTempVector<int> m_impl;
public:
rcIntArray() {}
rcIntArray(int n) : m_impl(n, 0) {}
void push(int item) { m_impl.push_back(item); }
void resize(int size) { m_impl.resize(size); }
int pop()
{
int v = m_impl.back();
m_impl.pop_back();
return v;
}
int size() const { return static_cast<int>(m_impl.size()); }
int& operator[](int index) { return m_impl[index]; }
int operator[](int index) const { return m_impl[index]; }
};
/// A simple helper class used to delete an array when it goes out of scope.
/// @note This class is rarely if ever used by the end user.
template<class T> class rcScopedDelete
{
T* ptr;
public:
/// Constructs an instance with a null pointer.
inline rcScopedDelete() : ptr(0) {}
/// Constructs an instance with the specified pointer.
/// @param[in] p An pointer to an allocated array.
inline rcScopedDelete(T* p) : ptr(p) {}
inline ~rcScopedDelete() { rcFree(ptr); }
/// The root array pointer.
/// @return The root array pointer.
inline operator T*() { return ptr; }
private:
// Explicitly disabled copy constructor and copy assignment operator.
rcScopedDelete(const rcScopedDelete&);
rcScopedDelete& operator=(const rcScopedDelete&);
};
#endif

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//
// Copyright (c) 2009-2010 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 RECASTASSERT_H
#define RECASTASSERT_H
// Note: This header file's only purpose is to include define assert.
// Feel free to change the file and include your own implementation instead.
#ifdef NDEBUG
// From http://cnicholson.net/2009/02/stupid-c-tricks-adventures-in-assert/
# define rcAssert(x) do { (void)sizeof(x); } while((void)(__LINE__==-1),false)
#else
/// An assertion failure function.
// @param[in] expression asserted expression.
// @param[in] file Filename of the failed assertion.
// @param[in] line Line number of the failed assertion.
/// @see rcAssertFailSetCustom
typedef void (rcAssertFailFunc)(const char* expression, const char* file, int line);
/// Sets the base custom assertion failure function to be used by Recast.
/// @param[in] assertFailFunc The function to be used in case of failure of #dtAssert
void rcAssertFailSetCustom(rcAssertFailFunc *assertFailFunc);
/// Gets the base custom assertion failure function to be used by Recast.
rcAssertFailFunc* rcAssertFailGetCustom();
# include <assert.h>
# define rcAssert(expression) \
{ \
rcAssertFailFunc* failFunc = rcAssertFailGetCustom(); \
if(failFunc == NULL) { assert(expression); } \
else if(!(expression)) { (*failFunc)(#expression, __FILE__, __LINE__); } \
}
#endif
#endif // RECASTASSERT_H

4
Util/BuildTools/Setup.sh
View File

@ -332,6 +332,10 @@ else
rm -Rf ${RECAST_BASENAME}-source ${RECAST_BASENAME}-build
# move headers inside 'recast' folder
mkdir -p "${PWD}/${RECAST_BASENAME}-install/include/recast"
mv "${PWD}/${RECAST_BASENAME}-install/include/"*h "${PWD}/${RECAST_BASENAME}-install/include/recast/"
fi
unset RECAST_BASENAME

4
Util/InstallersWin/install_recast.bat
View File

@ -86,6 +86,9 @@ if %DEL_SRC% == true (
rd /s /q "%RECAST_SRC_DIR%"
)
md "%RECAST_INSTALL_DIR%/include/recast"
move "%RECAST_INSTALL_DIR%/include/*.*" "%RECAST_INSTALL_DIR%/include/recast"
goto success
rem ============================================================================
@ -130,7 +133,6 @@ rem ============================================================================
:good_exit
echo %FILE_N% Exiting...
endlocal
endlocal & set install_recast=%RECAST_INSTALL_DIR%
exit /b 0