#include "DetourMath.h"
#include <stddef.h>

Functions
General helper functions
template<class T >
void	dtIgnoreUnused (const T &)
	Used to ignore a function parameter. More...

template<class T >
void	dtSwap (T &a, T &b)
	Swaps the values of the two parameters. More...

template<class T >
T	dtMin (T a, T b)
	Returns the minimum of two values. More...

template<class T >
T	dtMax (T a, T b)
	Returns the maximum of two values. More...

template<class T >
T	dtAbs (T a)
	Returns the absolute value. More...

template<class T >
T	dtSqr (T a)
	Returns the square of the value. More...

template<class T >
T	dtClamp (T v, T mn, T mx)
	Clamps the value to the specified range. More...

Vector helper functions.
void	dtVcross (float dest, const float v1, const float *v2)
	Derives the cross product of two vectors. More...

float	dtVdot (const float v1, const float v2)
	Derives the dot product of two vectors. More...

void	dtVmad (float dest, const float v1, const float *v2, const float s)
	Performs a scaled vector addition. More...

void	dtVlerp (float dest, const float v1, const float *v2, const float t)
	Performs a linear interpolation between two vectors. More...

void	dtVadd (float dest, const float v1, const float *v2)
	Performs a vector addition. More...

void	dtVsub (float dest, const float v1, const float *v2)
	Performs a vector subtraction. More...

void	dtVscale (float dest, const float v, const float t)
	Scales the vector by the specified value. More...

void	dtVmin (float mn, const float v)
	Selects the minimum value of each element from the specified vectors. More...

void	dtVmax (float mx, const float v)
	Selects the maximum value of each element from the specified vectors. More...

void	dtVset (float *dest, const float x, const float y, const float z)
	Sets the vector elements to the specified values. More...

void	dtVcopy (float dest, const float a)
	Performs a vector copy. More...

float	dtVlen (const float *v)
	Derives the scalar length of the vector. More...

float	dtVlenSqr (const float *v)
	Derives the square of the scalar length of the vector. More...

float	dtVdist (const float v1, const float v2)
	Returns the distance between two points. More...

float	dtVdistSqr (const float v1, const float v2)
	Returns the square of the distance between two points. More...

float	dtVdist2D (const float v1, const float v2)
	Derives the distance between the specified points on the xz-plane. More...

float	dtVdist2DSqr (const float v1, const float v2)
	Derives the square of the distance between the specified points on the xz-plane. More...

void	dtVnormalize (float *v)
	Normalizes the vector. More...

bool	dtVequal (const float p0, const float p1)
	Performs a 'sloppy' colocation check of the specified points. More...

bool	dtVisfinite (const float *v)
	Checks that the specified vector's components are all finite. More...

bool	dtVisfinite2D (const float *v)
	Checks that the specified vector's 2D components are finite. More...

float	dtVdot2D (const float u, const float v)
	Derives the dot product of two vectors on the xz-plane. More...

float	dtVperp2D (const float u, const float v)
	Derives the xz-plane 2D perp product of the two vectors. More...

Computational geometry helper functions.
float	dtTriArea2D (const float a, const float b, const float *c)
	Derives the signed xz-plane area of the triangle ABC, or the relationship of line AB to point C. More...

bool	dtOverlapQuantBounds (const unsigned short amin[3], const unsigned short amax[3], const unsigned short bmin[3], const unsigned short bmax[3])
	Determines if two axis-aligned bounding boxes overlap. More...

bool	dtOverlapBounds (const float amin, const float amax, const float bmin, const float bmax)
	Determines if two axis-aligned bounding boxes overlap. More...

void	dtClosestPtPointTriangle (float closest, const float p, const float a, const float b, const float *c)
	Derives the closest point on a triangle from the specified reference point. More...

bool	dtClosestHeightPointTriangle (const float p, const float a, const float b, const float c, float &h)
	Derives the y-axis height of the closest point on the triangle from the specified reference point. More...

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)

bool	dtPointInPolygon (const float pt, const float verts, const int nverts)
	Determines if the specified point is inside the convex polygon on the xz-plane. More...

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)

void	dtCalcPolyCenter (float tc, const unsigned short idx, int nidx, const float *verts)
	Derives the centroid of a convex polygon. More...

bool	dtOverlapPolyPoly2D (const float polya, const int npolya, const float polyb, const int npolyb)
	Determines if the two convex polygons overlap on the xz-plane. More...

Miscellanious functions.
unsigned int	dtNextPow2 (unsigned int v)

unsigned int	dtIlog2 (unsigned int v)

int	dtAlign4 (int x)

int	dtOppositeTile (int side)

void	dtSwapByte (unsigned char a, unsigned char b)

void	dtSwapEndian (unsigned short *v)

void	dtSwapEndian (short *v)

void	dtSwapEndian (unsigned int *v)

void	dtSwapEndian (int *v)

void	dtSwapEndian (float *v)

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)

template<typename TypeToRetrieveAs >
TypeToRetrieveAs *	dtGetThenAdvanceBufferPointer (unsigned char *&buffer, const size_t distanceToAdvance)

Function Documentation

◆ dtAbs()

template<class T >

T dtAbs ( T a )

inline

Returns the absolute value.

Parameters

[in] a The value.

Returns: The absolute value of the specified value.

◆ dtAlign4()

int dtAlign4 ( int x )

inline

◆ dtCalcPolyCenter()

void dtCalcPolyCenter	(	float *	tc,
		const unsigned short *	idx,
		int	nidx,
		const float *	verts
	)

Derives the centroid of a convex polygon.

Parameters

[out]	tc	The centroid of the polgyon. [(x, y, z)]
[in]	idx	The polygon indices. [(vertIndex) * `nidx`]
[in]	nidx	The number of indices in the polygon. [Limit: >= 3]
[in]	verts	The polygon vertices. [(x, y, z) * vertCount]

◆ dtClamp()

template<class T >

T dtClamp	(	T	v,
		T	mn,
		T	mx
	)

inline

Clamps the value to the specified range.

Parameters

[in]	v	The value to clamp.
[in]	mn	The minimum permitted return value.
[in]	mx	The maximum permitted return value.

Returns: The value, clamped to the specified range.

◆ dtClosestHeightPointTriangle()

bool dtClosestHeightPointTriangle	(	const float *	p,
		const float *	a,
		const float *	b,
		const float *	c,
		float &	h
	)

Derives the y-axis height of the closest point on the triangle from the specified reference point.

Parameters

[in]	p	The reference point from which to test. [(x, y, z)]
[in]	a	Vertex A of triangle ABC. [(x, y, z)]
[in]	b	Vertex B of triangle ABC. [(x, y, z)]
[in]	c	Vertex C of triangle ABC. [(x, y, z)]
[out]	h	The resulting height.

◆ dtClosestPtPointTriangle()

void dtClosestPtPointTriangle	(	float *	closest,
		const float *	p,
		const float *	a,
		const float *	b,
		const float *	c
	)

Derives the closest point on a triangle from the specified reference point.

Parameters

[out]	closest	The closest point on the triangle.
[in]	p	The reference point from which to test. [(x, y, z)]
[in]	a	Vertex A of triangle ABC. [(x, y, z)]
[in]	b	Vertex B of triangle ABC. [(x, y, z)]
[in]	c	Vertex C of triangle ABC. [(x, y, z)]

◆ dtDistancePtPolyEdgesSqr()

bool dtDistancePtPolyEdgesSqr	(	const float *	pt,
		const float *	verts,
		const int	nverts,
		float *	ed,
		float *	et
	)

◆ dtDistancePtSegSqr2D()

float dtDistancePtSegSqr2D	(	const float *	pt,
		const float *	p,
		const float *	q,
		float &	t
	)

◆ dtGetThenAdvanceBufferPointer() [1/2]

template<typename TypeToRetrieveAs >

TypeToRetrieveAs* dtGetThenAdvanceBufferPointer	(	const unsigned char *&	buffer,
		const size_t	distanceToAdvance
	)

◆ dtGetThenAdvanceBufferPointer() [2/2]

template<typename TypeToRetrieveAs >

TypeToRetrieveAs* dtGetThenAdvanceBufferPointer	(	unsigned char *&	buffer,
		const size_t	distanceToAdvance
	)

◆ dtIgnoreUnused()

template<class T >

void dtIgnoreUnused ( const T & )

Used to ignore a function parameter.

VS complains about unused parameters and this silences the warning.

◆ dtIlog2()

unsigned int dtIlog2 ( unsigned int v )

inline

◆ dtIntersectSegmentPoly2D()

bool dtIntersectSegmentPoly2D	(	const float *	p0,
		const float *	p1,
		const float *	verts,
		int	nverts,
		float &	tmin,
		float &	tmax,
		int &	segMin,
		int &	segMax
	)

◆ dtIntersectSegSeg2D()

bool dtIntersectSegSeg2D	(	const float *	ap,
		const float *	aq,
		const float *	bp,
		const float *	bq,
		float &	s,
		float &	t
	)

◆ dtMax()

template<class T >

T dtMax	(	T	a,
		T	b
	)

inline

Returns the maximum of two values.

Parameters

[in]	a	Value A
[in]	b	Value B

Returns: The maximum of the two values.

◆ dtMin()

template<class T >

T dtMin	(	T	a,
		T	b
	)

inline

Returns the minimum of two values.

Parameters

[in]	a	Value A
[in]	b	Value B

Returns: The minimum of the two values.

◆ dtNextPow2()

unsigned int dtNextPow2 ( unsigned int v )

inline

◆ dtOppositeTile()

int dtOppositeTile ( int side )

inline

◆ dtOverlapBounds()

bool dtOverlapBounds	(	const float *	amin,
		const float *	amax,
		const float *	bmin,
		const float *	bmax
	)

inline

Determines if two axis-aligned bounding boxes overlap.

Parameters

[in]	amin	Minimum bounds of box A. [(x, y, z)]
[in]	amax	Maximum bounds of box A. [(x, y, z)]
[in]	bmin	Minimum bounds of box B. [(x, y, z)]
[in]	bmax	Maximum bounds of box B. [(x, y, z)]

Returns: True if the two AABB's overlap.

See also: dtOverlapQuantBounds

◆ dtOverlapPolyPoly2D()

bool dtOverlapPolyPoly2D	(	const float *	polya,
		const int	npolya,
		const float *	polyb,
		const int	npolyb
	)

Determines if the two convex polygons overlap on the xz-plane.

Parameters

[in]	polya	Polygon A vertices. [(x, y, z) * `npolya`]
[in]	npolya	The number of vertices in polygon A.
[in]	polyb	Polygon B vertices. [(x, y, z) * `npolyb`]
[in]	npolyb	The number of vertices in polygon B.

Returns: True if the two polygons overlap.

All vertices are projected onto the xz-plane, so the y-values are ignored.

◆ dtOverlapQuantBounds()

bool dtOverlapQuantBounds	(	const unsigned short	amin[3],
		const unsigned short	amax[3],
		const unsigned short	bmin[3],
		const unsigned short	bmax[3]
	)

inline

Determines if two axis-aligned bounding boxes overlap.

Parameters

[in]	amin	Minimum bounds of box A. [(x, y, z)]
[in]	amax	Maximum bounds of box A. [(x, y, z)]
[in]	bmin	Minimum bounds of box B. [(x, y, z)]
[in]	bmax	Maximum bounds of box B. [(x, y, z)]

Returns: True if the two AABB's overlap.

See also: dtOverlapBounds

◆ dtPointInPolygon()

bool dtPointInPolygon	(	const float *	pt,
		const float *	verts,
		const int	nverts
	)

Determines if the specified point is inside the convex polygon on the xz-plane.

Parameters

[in]	pt	The point to check. [(x, y, z)]
[in]	verts	The polygon vertices. [(x, y, z) * `nverts`]
[in]	nverts	The number of vertices. [Limit: >= 3]

Returns: True if the point is inside the polygon.

All points are projected onto the xz-plane, so the y-values are ignored.

◆ dtRandomPointInConvexPoly()

void dtRandomPointInConvexPoly	(	const float *	pts,
		const int	npts,
		float *	areas,
		const float	s,
		const float	t,
		float *	out
	)

◆ dtSqr()

template<class T >

T dtSqr ( T a )

inline

Returns the square of the value.

Parameters

[in] a The value.

Returns: The square of the value.

◆ dtSwap()

template<class T >

void dtSwap	(	T &	a,
		T &	b
	)

inline

Swaps the values of the two parameters.

Parameters

[in,out]	a	Value A
[in,out]	b	Value B

◆ dtSwapByte()

void dtSwapByte	(	unsigned char *	a,
		unsigned char *	b
	)

inline

◆ dtSwapEndian() [1/5]

void dtSwapEndian ( float * v )

inline

◆ dtSwapEndian() [2/5]

void dtSwapEndian ( int * v )

inline

◆ dtSwapEndian() [3/5]

void dtSwapEndian ( short * v )

inline

◆ dtSwapEndian() [4/5]

void dtSwapEndian ( unsigned int * v )

inline

◆ dtSwapEndian() [5/5]

void dtSwapEndian ( unsigned short * v )

inline

◆ dtTriArea2D()

float dtTriArea2D	(	const float *	a,
		const float *	b,
		const float *	c
	)

inline

Derives the signed xz-plane area of the triangle ABC, or the relationship of line AB to point C.

Parameters

[in]	a	Vertex A. [(x, y, z)]
[in]	b	Vertex B. [(x, y, z)]
[in]	c	Vertex C. [(x, y, z)]

Returns: The signed xz-plane area of the triangle.

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.
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:

The vertices are wrapped in the normal Detour wrap direction.
The triangle's 3D face normal is in the general up direction.

A negative return value indicates:

The vertices are reverse wrapped. (Wrapped opposite the normal Detour wrap direction.)
The triangle's 3D face normal is in the general down direction.

◆ dtVadd()

void dtVadd	(	float *	dest,
		const float *	v1,
		const float *	v2
	)

inline

Performs a vector addition.

(v1 + v2)

Parameters

[out]	dest	The result vector. [(x, y, z)]
[in]	v1	The base vector. [(x, y, z)]
[in]	v2	The vector to add to `v1`. [(x, y, z)]

◆ dtVcopy()

void dtVcopy	(	float *	dest,
		const float *	a
	)

inline

Performs a vector copy.

Parameters

[out]	dest	The result. [(x, y, z)]
[in]	a	The vector to copy. [(x, y, z)]

◆ dtVcross()

void dtVcross	(	float *	dest,
		const float *	v1,
		const float *	v2
	)

inline

Derives the cross product of two vectors.

(v1 x v2)

Parameters

[out]	dest	The cross product. [(x, y, z)]
[in]	v1	A Vector [(x, y, z)]
[in]	v2	A vector [(x, y, z)]

◆ dtVdist()

float dtVdist	(	const float *	v1,
		const float *	v2
	)

inline

Returns the distance between two points.

Parameters

[in]	v1	A point. [(x, y, z)]
[in]	v2	A point. [(x, y, z)]

Returns: The distance between the two points.

◆ dtVdist2D()

float dtVdist2D	(	const float *	v1,
		const float *	v2
	)

inline

Derives the distance between the specified points on the xz-plane.

Parameters

[in]	v1	A point. [(x, y, z)]
[in]	v2	A point. [(x, y, z)]

Returns: The distance between the point on the xz-plane.

The vectors are projected onto the xz-plane, so the y-values are ignored.

◆ dtVdist2DSqr()

float dtVdist2DSqr	(	const float *	v1,
		const float *	v2
	)

inline

Derives the square of the distance between the specified points on the xz-plane.

Parameters

[in]	v1	A point. [(x, y, z)]
[in]	v2	A point. [(x, y, z)]

Returns: The square of the distance between the point on the xz-plane.

◆ dtVdistSqr()

float dtVdistSqr	(	const float *	v1,
		const float *	v2
	)

inline

Returns the square of the distance between two points.

Parameters

[in]	v1	A point. [(x, y, z)]
[in]	v2	A point. [(x, y, z)]

Returns: The square of the distance between the two points.

◆ dtVdot()

float dtVdot	(	const float *	v1,
		const float *	v2
	)

inline

Derives the dot product of two vectors.

(v1 . v2)

Parameters

[in]	v1	A Vector [(x, y, z)]
[in]	v2	A vector [(x, y, z)]

Returns: The dot product.

◆ dtVdot2D()

float dtVdot2D	(	const float *	u,
		const float *	v
	)

inline

Derives the dot product of two vectors on the xz-plane.

(u . v)

Parameters

[in]	u	A vector [(x, y, z)]
[in]	v	A vector [(x, y, z)]

Returns: The dot product on the xz-plane.

The vectors are projected onto the xz-plane, so the y-values are ignored.

◆ dtVequal()

bool dtVequal	(	const float *	p0,
		const float *	p1
	)

inline

Performs a 'sloppy' colocation check of the specified points.

Parameters

[in]	p0	A point. [(x, y, z)]
[in]	p1	A point. [(x, y, z)]

Returns: 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.

◆ dtVisfinite()

bool dtVisfinite ( const float * v )

inline

Checks that the specified vector's components are all finite.

Parameters

[in] v A point. [(x, y, z)]

Returns: True if all of the point's components are finite, i.e. not NaN or any of the infinities.

◆ dtVisfinite2D()

bool dtVisfinite2D ( const float * v )

inline

Checks that the specified vector's 2D components are finite.

Parameters

[in] v A point. [(x, y, z)]

◆ dtVlen()

float dtVlen ( const float * v )

inline

Derives the scalar length of the vector.

Parameters

[in] v The vector. [(x, y, z)]

Returns: The scalar length of the vector.

◆ dtVlenSqr()

float dtVlenSqr ( const float * v )

inline

Derives the square of the scalar length of the vector.

(len * len)

Parameters

[in] v The vector. [(x, y, z)]

Returns: The square of the scalar length of the vector.

◆ dtVlerp()

void dtVlerp	(	float *	dest,
		const float *	v1,
		const float *	v2,
		const float	t
	)

inline

Performs a linear interpolation between two vectors.

(v1 toward v2)

Parameters

[out]	dest	The result vector. [(x, y, x)]
[in]	v1	The starting vector.
[in]	v2	The destination vector.
[in]	t	The interpolation factor. [Limits: 0 <= value <= 1.0]

◆ dtVmad()

void dtVmad	(	float *	dest,
		const float *	v1,
		const float *	v2,
		const float	s
	)

inline

Performs a scaled vector addition.

(v1 + (v2 * s))

Parameters

[out]	dest	The result vector. [(x, y, z)]
[in]	v1	The base vector. [(x, y, z)]
[in]	v2	The vector to scale and add to `v1`. [(x, y, z)]
[in]	s	The amount to scale `v2` by before adding to `v1`.

◆ dtVmax()

void dtVmax	(	float *	mx,
		const float *	v
	)

inline

Selects the maximum value of each element from the specified vectors.

Parameters

[in,out]	mx	A vector. (Will be updated with the result.) [(x, y, z)]
[in]	v	A vector. [(x, y, z)]

◆ dtVmin()

void dtVmin	(	float *	mn,
		const float *	v
	)

inline

Selects the minimum value of each element from the specified vectors.

Parameters

[in,out]	mn	A vector. (Will be updated with the result.) [(x, y, z)]
[in]	v	A vector. [(x, y, z)]

◆ dtVnormalize()

void dtVnormalize ( float * v )

inline

Normalizes the vector.

Parameters

[in,out] v The vector to normalize. [(x, y, z)]

◆ dtVperp2D()

float dtVperp2D	(	const float *	u,
		const float *	v
	)

inline

Derives the xz-plane 2D perp product of the two vectors.

(uz*vx - ux*vz)

Parameters

[in]	u	The LHV vector [(x, y, z)]
[in]	v	The RHV vector [(x, y, z)]

Returns: The perp dot product on the xz-plane.

The vectors are projected onto the xz-plane, so the y-values are ignored.

◆ dtVscale()

void dtVscale	(	float *	dest,
		const float *	v,
		const float	t
	)

inline

Scales the vector by the specified value.

(v * t)

Parameters

[out]	dest	The result vector. [(x, y, z)]
[in]	v	The vector to scale. [(x, y, z)]
[in]	t	The scaling factor.

◆ dtVset()

void dtVset	(	float *	dest,
		const float	x,
		const float	y,
		const float	z
	)

inline

Sets the vector elements to the specified values.

Parameters

[out]	dest	The result vector. [(x, y, z)]
[in]	x	The x-value of the vector.
[in]	y	The y-value of the vector.
[in]	z	The z-value of the vector.

◆ dtVsub()

void dtVsub	(	float *	dest,
		const float *	v1,
		const float *	v2
	)

inline

Performs a vector subtraction.

(v1 - v2)

Parameters

[out]	dest	The result vector. [(x, y, z)]
[in]	v1	The base vector. [(x, y, z)]
[in]	v2	The vector to subtract from `v1`. [(x, y, z)]

Functions

Function Documentation

◆ dtAbs()

◆ dtAlign4()

◆ dtCalcPolyCenter()

◆ dtClamp()

◆ dtClosestHeightPointTriangle()

◆ dtClosestPtPointTriangle()

◆ dtDistancePtPolyEdgesSqr()

◆ dtDistancePtSegSqr2D()

◆ dtGetThenAdvanceBufferPointer() [1/2]

◆ dtGetThenAdvanceBufferPointer() [2/2]

◆ dtIgnoreUnused()

◆ dtIlog2()

◆ dtIntersectSegmentPoly2D()

◆ dtIntersectSegSeg2D()

◆ dtMax()

◆ dtMin()

◆ dtNextPow2()

◆ dtOppositeTile()

◆ dtOverlapBounds()

◆ dtOverlapPolyPoly2D()

◆ dtOverlapQuantBounds()

◆ dtPointInPolygon()

◆ dtRandomPointInConvexPoly()

◆ dtSqr()

◆ dtSwap()

◆ dtSwapByte()

◆ dtSwapEndian() [1/5]

◆ dtSwapEndian() [2/5]

◆ dtSwapEndian() [3/5]

◆ dtSwapEndian() [4/5]

◆ dtSwapEndian() [5/5]

◆ dtTriArea2D()

◆ dtVadd()

◆ dtVcopy()

◆ dtVcross()

◆ dtVdist()

◆ dtVdist2D()

◆ dtVdist2DSqr()

◆ dtVdistSqr()

◆ dtVdot()

◆ dtVdot2D()

◆ dtVequal()

◆ dtVisfinite()

◆ dtVisfinite2D()

◆ dtVlen()

◆ dtVlenSqr()

◆ dtVlerp()

◆ dtVmad()

◆ dtVmax()

◆ dtVmin()

◆ dtVnormalize()

◆ dtVperp2D()

◆ dtVscale()

◆ dtVset()

◆ dtVsub()