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 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
 
class dtQueryFilter
{
    float m_areaCost[DT_MAX_AREAS];     
    unsigned short m_includeFlags;      
    unsigned short m_excludeFlags;      
    
public:
    dtQueryFilter();
    
#ifdef DT_VIRTUAL_QUERYFILTER
    virtual ~dtQueryFilter() { }
#endif
    
#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
 
#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
 
 
    inline float getAreaCost(const int i) const { return m_areaCost[i]; }
 
    inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; } 
 
    inline unsigned short getIncludeFlags() const { return m_includeFlags; }
 
    inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; }
 
    inline unsigned short getExcludeFlags() const { return m_excludeFlags; }
 
    inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; } 
 
 
};
 
struct dtRaycastHit
{
    float t; 
    
    float hitNormal[3];
 
    int hitEdgeIndex;
    
    dtPolyRef* path;
    
    int pathCount;
 
    int maxPath;
 
    float pathCost;
};
 
class dtPolyQuery
{
public:
    virtual ~dtPolyQuery();
 
    virtual void process(const dtMeshTile* tile, dtPoly** polys, dtPolyRef* refs, int count) = 0;
};
 
class dtNavMeshQuery
{
public:
    dtNavMeshQuery();
    ~dtNavMeshQuery();
    
    dtStatus init(const dtNavMesh* nav, const int maxNodes);
    
 
    dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef,
                      const float* startPos, const float* endPos,
                      const dtQueryFilter* filter,
                      dtPolyRef* path, int* pathCount, const int maxPath) const;
 
    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;
 
 
    dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef,
                                const float* startPos, const float* endPos,
                                const dtQueryFilter* filter, const unsigned int options = 0);
 
    dtStatus updateSlicedFindPath(const int maxIter, int* doneIters);
 
    dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath);
    
    dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize,
                                           dtPolyRef* path, int* pathCount, const int maxPath);
 
 
    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;
    
    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;
    
    dtStatus getPathFromDijkstraSearch(dtPolyRef endRef, dtPolyRef* path, int* pathCount, int maxPath) const;
 
 
    dtStatus findNearestPoly(const float* center, const float* halfExtents,
                             const dtQueryFilter* filter,
                             dtPolyRef* nearestRef, float* nearestPt) const;
 
    dtStatus findNearestPoly(const float* center, const float* halfExtents,
                             const dtQueryFilter* filter,
                             dtPolyRef* nearestRef, float* nearestPt, bool* isOverPoly) const;
    
    dtStatus queryPolygons(const float* center, const float* halfExtents,
                           const dtQueryFilter* filter,
                           dtPolyRef* polys, int* polyCount, const int maxPolys) const;
 
    dtStatus queryPolygons(const float* center, const float* halfExtents,
                           const dtQueryFilter* filter, dtPolyQuery* query) const;
 
    dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius,
                                    const dtQueryFilter* filter,
                                    dtPolyRef* resultRef, dtPolyRef* resultParent,
                                    int* resultCount, const int maxResult) const;
 
    dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos,
                              const dtQueryFilter* filter,
                              float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const;
    
    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;
    
    dtStatus raycast(dtPolyRef startRef, const float* startPos, const float* endPos,
                     const dtQueryFilter* filter, const unsigned int options,
                     dtRaycastHit* hit, dtPolyRef prevRef = 0) const;
 
 
    dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius,
                                const dtQueryFilter* filter,
                                float* hitDist, float* hitPos, float* hitNormal) const;
    
    dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter,
                                 float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount,
                                 const int maxSegments) const;
 
    dtStatus findRandomPoint(const dtQueryFilter* filter, float (*frand)(),
                             dtPolyRef* randomRef, float* randomPt) const;
 
    dtStatus findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius,
                                         const dtQueryFilter* filter, float (*frand)(),
                                         dtPolyRef* randomRef, float* randomPt) const;
    
    dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const;
    
    dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const;
    
    dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const;
 
 
    bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const;
 
    bool isInClosedList(dtPolyRef ref) const;
    
    class dtNodePool* getNodePool() const { return m_nodePool; }
    
    const dtNavMesh* getAttachedNavMesh() const { return m_nav; }
 
    
private:
    // Explicitly disabled copy constructor and copy assignment operator
    dtNavMeshQuery(const dtNavMeshQuery&);
    dtNavMeshQuery& operator=(const dtNavMeshQuery&);
    
    void queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
                             const dtQueryFilter* filter, dtPolyQuery* query) const;
 
    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;
    
    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;             
 
    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;                
 
    class dtNodePool* m_tinyNodePool;   
    class dtNodePool* m_nodePool;       
    class dtNodeQueue* m_openList;      
};
 
dtNavMeshQuery* dtAllocNavMeshQuery();
 
void dtFreeNavMeshQuery(dtNavMeshQuery* query);
 
#endif // DETOURNAVMESHQUERY_H