DetourTileCache.h

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#ifndef DETOURTILECACHE_H
#define DETOURTILECACHE_H
 
#include "DetourStatus.h"
 
typedef unsigned int dtObstacleRef;
typedef unsigned int dtCompressedTileRef;
 
enum dtCompressedTileFlags
{
    DT_COMPRESSEDTILE_FREE_DATA = 0x01  
};
 
struct dtCompressedTile
{
    unsigned int salt;                      
    struct dtTileCacheLayerHeader* header;
    unsigned char* compressed;
    int compressedSize;
    unsigned char* data;
    int dataSize;
    unsigned int flags;
    dtCompressedTile* next;
};
 
enum ObstacleState
{
    DT_OBSTACLE_EMPTY,
    DT_OBSTACLE_PROCESSING,
    DT_OBSTACLE_PROCESSED,
    DT_OBSTACLE_REMOVING
};
 
enum ObstacleType
{
    DT_OBSTACLE_CYLINDER,
    DT_OBSTACLE_BOX, // AABB
    DT_OBSTACLE_ORIENTED_BOX // OBB
};
 
struct dtObstacleCylinder
{
    float pos[ 3 ];
    float radius;
    float height;
};
 
struct dtObstacleBox
{
    float bmin[ 3 ];
    float bmax[ 3 ];
};
 
struct dtObstacleOrientedBox
{
    float center[ 3 ];
    float halfExtents[ 3 ];
    float rotAux[ 2 ]; //{ cos(0.5f*angle)*sin(-0.5f*angle); cos(0.5f*angle)*cos(0.5f*angle) - 0.5 }
};
 
static const int DT_MAX_TOUCHED_TILES = 8;
struct dtTileCacheObstacle
{
    union
    {
        dtObstacleCylinder cylinder;
        dtObstacleBox box;
        dtObstacleOrientedBox orientedBox;
    };
 
    dtCompressedTileRef touched[DT_MAX_TOUCHED_TILES];
    dtCompressedTileRef pending[DT_MAX_TOUCHED_TILES];
    unsigned short salt;
    unsigned char type;
    unsigned char state;
    unsigned char ntouched;
    unsigned char npending;
    dtTileCacheObstacle* next;
};
 
struct dtTileCacheParams
{
    float orig[3];
    float cs, ch;
    int width, height;
    float walkableHeight;
    float walkableRadius;
    float walkableClimb;
    float maxSimplificationError;
    int maxTiles;
    int maxObstacles;
};
 
struct dtTileCacheMeshProcess
{
    virtual ~dtTileCacheMeshProcess();
    virtual void process(struct dtNavMeshCreateParams* params, unsigned char* polyAreas, unsigned short* polyFlags) = 0;
};
 
class dtTileCache
{
public:
    dtTileCache();
    ~dtTileCache();
    
    struct dtTileCacheAlloc* getAlloc() { return m_talloc; }
    struct dtTileCacheCompressor* getCompressor() { return m_tcomp; }
    const dtTileCacheParams* getParams() const { return &m_params; }
    
    inline int getTileCount() const { return m_params.maxTiles; }
    inline const dtCompressedTile* getTile(const int i) const { return &m_tiles[i]; }
    
    inline int getObstacleCount() const { return m_params.maxObstacles; }
    inline const dtTileCacheObstacle* getObstacle(const int i) const { return &m_obstacles[i]; }
    
    const dtTileCacheObstacle* getObstacleByRef(dtObstacleRef ref);
    
    dtObstacleRef getObstacleRef(const dtTileCacheObstacle* obmin) const;
    
    dtStatus init(const dtTileCacheParams* params,
                  struct dtTileCacheAlloc* talloc,
                  struct dtTileCacheCompressor* tcomp,
                  struct dtTileCacheMeshProcess* tmproc);
    
    int getTilesAt(const int tx, const int ty, dtCompressedTileRef* tiles, const int maxTiles) const ;
    
    dtCompressedTile* getTileAt(const int tx, const int ty, const int tlayer);
    dtCompressedTileRef getTileRef(const dtCompressedTile* tile) const;
    const dtCompressedTile* getTileByRef(dtCompressedTileRef ref) const;
    
    dtStatus addTile(unsigned char* data, const int dataSize, unsigned char flags, dtCompressedTileRef* result);
    
    dtStatus removeTile(dtCompressedTileRef ref, unsigned char** data, int* dataSize);
    
    // Cylinder obstacle.
    dtStatus addObstacle(const float* pos, const float radius, const float height, dtObstacleRef* result);
 
    // Aabb obstacle.
    dtStatus addBoxObstacle(const float* bmin, const float* bmax, dtObstacleRef* result);
 
    // Box obstacle: can be rotated in Y.
    dtStatus addBoxObstacle(const float* center, const float* halfExtents, const float yRadians, dtObstacleRef* result);
    
    dtStatus removeObstacle(const dtObstacleRef ref);
    
    dtStatus queryTiles(const float* bmin, const float* bmax,
                        dtCompressedTileRef* results, int* resultCount, const int maxResults) const;
    
    dtStatus update(const float dt, class dtNavMesh* navmesh, bool* upToDate = 0);
    
    dtStatus buildNavMeshTilesAt(const int tx, const int ty, class dtNavMesh* navmesh);
    
    dtStatus buildNavMeshTile(const dtCompressedTileRef ref, class dtNavMesh* navmesh);
    
    void calcTightTileBounds(const struct dtTileCacheLayerHeader* header, float* bmin, float* bmax) const;
    
    void getObstacleBounds(const struct dtTileCacheObstacle* ob, float* bmin, float* bmax) const;
    
 
    inline dtCompressedTileRef encodeTileId(unsigned int salt, unsigned int it) const
    {
        return ((dtCompressedTileRef)salt << m_tileBits) | (dtCompressedTileRef)it;
    }
    
    inline unsigned int decodeTileIdSalt(dtCompressedTileRef ref) const
    {
        const dtCompressedTileRef saltMask = ((dtCompressedTileRef)1<<m_saltBits)-1;
        return (unsigned int)((ref >> m_tileBits) & saltMask);
    }
    
    inline unsigned int decodeTileIdTile(dtCompressedTileRef ref) const
    {
        const dtCompressedTileRef tileMask = ((dtCompressedTileRef)1<<m_tileBits)-1;
        return (unsigned int)(ref & tileMask);
    }
 
    inline dtObstacleRef encodeObstacleId(unsigned int salt, unsigned int it) const
    {
        return ((dtObstacleRef)salt << 16) | (dtObstacleRef)it;
    }
    
    inline unsigned int decodeObstacleIdSalt(dtObstacleRef ref) const
    {
        const dtObstacleRef saltMask = ((dtObstacleRef)1<<16)-1;
        return (unsigned int)((ref >> 16) & saltMask);
    }
    
    inline unsigned int decodeObstacleIdObstacle(dtObstacleRef ref) const
    {
        const dtObstacleRef tileMask = ((dtObstacleRef)1<<16)-1;
        return (unsigned int)(ref & tileMask);
    }
    
    
private:
    // Explicitly disabled copy constructor and copy assignment operator.
    dtTileCache(const dtTileCache&);
    dtTileCache& operator=(const dtTileCache&);
 
    enum ObstacleRequestAction
    {
        REQUEST_ADD,
        REQUEST_REMOVE
    };
    
    struct ObstacleRequest
    {
        int action;
        dtObstacleRef ref;
    };
    
    int m_tileLutSize;                      
    int m_tileLutMask;                      
    
    dtCompressedTile** m_posLookup;         
    dtCompressedTile* m_nextFreeTile;       
    dtCompressedTile* m_tiles;              
    
    unsigned int m_saltBits;                
    unsigned int m_tileBits;                
    
    dtTileCacheParams m_params;
    
    dtTileCacheAlloc* m_talloc;
    dtTileCacheCompressor* m_tcomp;
    dtTileCacheMeshProcess* m_tmproc;
    
    dtTileCacheObstacle* m_obstacles;
    dtTileCacheObstacle* m_nextFreeObstacle;
    
    static const int MAX_REQUESTS = 64;
    ObstacleRequest m_reqs[MAX_REQUESTS];
    int m_nreqs;
    
    static const int MAX_UPDATE = 64;
    dtCompressedTileRef m_update[MAX_UPDATE];
    int m_nupdate;
};
 
dtTileCache* dtAllocTileCache();
void dtFreeTileCache(dtTileCache* tc);
 
#endif