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 config) 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.
 
#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
 
#ifdef DT_POLYREF64
typedef uint64_t dtTileRef;
#else
typedef unsigned int dtTileRef;
#endif
 
static const int DT_VERTS_PER_POLYGON = 6;
 
 
static const int DT_NAVMESH_MAGIC = 'D'<<24 | 'N'<<16 | 'A'<<8 | 'V';
 
static const int DT_NAVMESH_VERSION = 7;
 
static const int DT_NAVMESH_STATE_MAGIC = 'D'<<24 | 'N'<<16 | 'M'<<8 | 'S';
 
static const int DT_NAVMESH_STATE_VERSION = 1;
 
 
static const unsigned short DT_EXT_LINK = 0x8000;
 
static const unsigned int DT_NULL_LINK = 0xffffffff;
 
static const unsigned int DT_OFFMESH_CON_BIDIR = 1;
 
static const int DT_MAX_AREAS = 64;
 
enum dtTileFlags
{
    DT_TILE_FREE_DATA = 0x01
};
 
enum dtStraightPathFlags
{
    DT_STRAIGHTPATH_START = 0x01,               
    DT_STRAIGHTPATH_END = 0x02,                 
    DT_STRAIGHTPATH_OFFMESH_CONNECTION = 0x04   
};
 
enum dtStraightPathOptions
{
    DT_STRAIGHTPATH_AREA_CROSSINGS = 0x01,  
    DT_STRAIGHTPATH_ALL_CROSSINGS = 0x02    
};
 
 
enum dtFindPathOptions
{
    DT_FINDPATH_ANY_ANGLE   = 0x02      
};
 
enum dtRaycastOptions
{
    DT_RAYCAST_USE_COSTS = 0x01     
};
 
enum dtDetailTriEdgeFlags
{
    DT_DETAIL_EDGE_BOUNDARY = 0x01      
};
 
 
static const float DT_RAY_CAST_LIMIT_PROPORTIONS = 50.0f;
 
enum dtPolyTypes
{
    DT_POLYTYPE_GROUND = 0,
    DT_POLYTYPE_OFFMESH_CONNECTION = 1
};
 
 
struct dtPoly
{
    unsigned int firstLink;
 
    unsigned short verts[DT_VERTS_PER_POLYGON];
 
    unsigned short neis[DT_VERTS_PER_POLYGON];
 
    unsigned short flags;
 
    unsigned char vertCount;
 
    unsigned char areaAndtype;
 
    inline void setArea(unsigned char a) { areaAndtype = (areaAndtype & 0xc0) | (a & 0x3f); }
 
    inline void setType(unsigned char t) { areaAndtype = (areaAndtype & 0x3f) | (t << 6); }
 
    inline unsigned char getArea() const { return areaAndtype & 0x3f; }
 
    inline unsigned char getType() const { return areaAndtype >> 6; }
};
 
struct dtPolyDetail
{
    unsigned int vertBase;          
    unsigned int triBase;           
    unsigned char vertCount;        
    unsigned char triCount;         
};
 
struct dtLink
{
    dtPolyRef ref;                  
    unsigned int next;              
    unsigned char edge;             
    unsigned char side;             
    unsigned char bmin;             
    unsigned char bmax;             
};
 
struct dtBVNode
{
    unsigned short bmin[3];         
    unsigned short bmax[3];         
    int i;                          
};
 
struct dtOffMeshConnection
{
    float pos[6];
 
    float rad;      
 
    unsigned short poly;
 
    unsigned char flags;
 
    unsigned char side;
 
    unsigned int userId;
};
 
struct dtMeshHeader
{
    int magic;              
    int version;            
    int x;                  
    int y;                  
    int layer;              
    unsigned int userId;    
    int polyCount;          
    int vertCount;          
    int maxLinkCount;       
    int detailMeshCount;    
    
    int detailVertCount;
    
    int detailTriCount;         
    int bvNodeCount;            
    int offMeshConCount;        
    int offMeshBase;            
    float walkableHeight;       
    float walkableRadius;       
    float walkableClimb;        
    float bmin[3];              
    float bmax[3];              
    
    float bvQuantFactor;
};
 
struct dtMeshTile
{
    unsigned int salt;                  
 
    unsigned int linksFreeList;         
    dtMeshHeader* header;               
    dtPoly* polys;                      
    float* verts;                       
    dtLink* links;                      
    dtPolyDetail* detailMeshes;         
    
    float* detailVerts; 
 
    unsigned char* detailTris;  
 
    dtBVNode* bvTree;
 
    dtOffMeshConnection* offMeshCons;       
        
    unsigned char* data;                    
    int dataSize;                           
    int flags;                              
    dtMeshTile* next;                       
};
 
inline int dtGetDetailTriEdgeFlags(unsigned char triFlags, int edgeIndex)
{
    return (triFlags >> (edgeIndex * 2)) & 0x3;
}
 
struct dtNavMeshParams
{
    float orig[3];                  
    float tileWidth;                
    float tileHeight;               
    int maxTiles;                   
    int maxPolys;                   
};
 
class dtNavMesh
{
public:
    dtNavMesh();
    ~dtNavMesh();
 
 
    dtStatus init(const dtNavMeshParams* params);
 
    dtStatus init(unsigned char* data, const int dataSize, const int flags);
    
    const dtNavMeshParams* getParams() const;
 
    dtStatus addTile(unsigned char* data, int dataSize, int flags, dtTileRef lastRef, dtTileRef* result);
    
    dtStatus removeTile(dtTileRef ref, unsigned char** data, int* dataSize);
 
 
 
    void calcTileLoc(const float* pos, int* tx, int* ty) const;
 
    const dtMeshTile* getTileAt(const int x, const int y, const int layer) const;
 
    int getTilesAt(const int x, const int y,
                   dtMeshTile const** tiles, const int maxTiles) const;
    
    dtTileRef getTileRefAt(int x, int y, int layer) const;
 
    dtTileRef getTileRef(const dtMeshTile* tile) const;
 
    const dtMeshTile* getTileByRef(dtTileRef ref) const;
    
    int getMaxTiles() const;
    
    const dtMeshTile* getTile(int i) const;
 
    dtStatus getTileAndPolyByRef(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
    
    void getTileAndPolyByRefUnsafe(const dtPolyRef ref, const dtMeshTile** tile, const dtPoly** poly) const;
 
    bool isValidPolyRef(dtPolyRef ref) const;
    
    dtPolyRef getPolyRefBase(const dtMeshTile* tile) const;
    
    dtStatus getOffMeshConnectionPolyEndPoints(dtPolyRef prevRef, dtPolyRef polyRef, float* startPos, float* endPos) const;
 
    const dtOffMeshConnection* getOffMeshConnectionByRef(dtPolyRef ref) const;
    
 
 
    dtStatus setPolyFlags(dtPolyRef ref, unsigned short flags);
 
    dtStatus getPolyFlags(dtPolyRef ref, unsigned short* resultFlags) const;
 
    dtStatus setPolyArea(dtPolyRef ref, unsigned char area);
 
    dtStatus getPolyArea(dtPolyRef ref, unsigned char* resultArea) const;
 
    int getTileStateSize(const dtMeshTile* tile) const;
    
    dtStatus storeTileState(const dtMeshTile* tile, unsigned char* data, const int maxDataSize) const;
    
    dtStatus restoreTileState(dtMeshTile* tile, const unsigned char* data, const int maxDataSize);
    
 
 
    inline dtPolyRef encodePolyId(unsigned int salt, unsigned int it, unsigned int ip) const
    {
#ifdef DT_POLYREF64
        return ((dtPolyRef)salt << (DT_POLY_BITS+DT_TILE_BITS)) | ((dtPolyRef)it << DT_POLY_BITS) | (dtPolyRef)ip;
#else
        return ((dtPolyRef)salt << (m_polyBits+m_tileBits)) | ((dtPolyRef)it << m_polyBits) | (dtPolyRef)ip;
#endif
    }
    
    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 = ((dtPolyRef)1<<m_saltBits)-1;
        const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
        const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
        salt = (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
        it = (unsigned int)((ref >> m_polyBits) & tileMask);
        ip = (unsigned int)(ref & polyMask);
#endif
    }
 
    inline unsigned int decodePolyIdSalt(dtPolyRef ref) const
    {
#ifdef DT_POLYREF64
        const dtPolyRef saltMask = ((dtPolyRef)1<<DT_SALT_BITS)-1;
        return (unsigned int)((ref >> (DT_POLY_BITS+DT_TILE_BITS)) & saltMask);
#else
        const dtPolyRef saltMask = ((dtPolyRef)1<<m_saltBits)-1;
        return (unsigned int)((ref >> (m_polyBits+m_tileBits)) & saltMask);
#endif
    }
    
    inline unsigned int decodePolyIdTile(dtPolyRef ref) const
    {
#ifdef DT_POLYREF64
        const dtPolyRef tileMask = ((dtPolyRef)1<<DT_TILE_BITS)-1;
        return (unsigned int)((ref >> DT_POLY_BITS) & tileMask);
#else
        const dtPolyRef tileMask = ((dtPolyRef)1<<m_tileBits)-1;
        return (unsigned int)((ref >> m_polyBits) & tileMask);
#endif
    }
    
    inline unsigned int decodePolyIdPoly(dtPolyRef ref) const
    {
#ifdef DT_POLYREF64
        const dtPolyRef polyMask = ((dtPolyRef)1<<DT_POLY_BITS)-1;
        return (unsigned int)(ref & polyMask);
#else
        const dtPolyRef polyMask = ((dtPolyRef)1<<m_polyBits)-1;
        return (unsigned int)(ref & polyMask);
#endif
    }
 
    
private:
    // Explicitly disabled copy constructor and copy assignment operator.
    dtNavMesh(const dtNavMesh&);
    dtNavMesh& operator=(const dtNavMesh&);
 
    dtMeshTile* getTile(int i);
 
    int getTilesAt(const int x, const int y,
                   dtMeshTile** tiles, const int maxTiles) const;
 
    int getNeighbourTilesAt(const int x, const int y, const int side,
                            dtMeshTile** tiles, const int maxTiles) const;
    
    int findConnectingPolys(const float* va, const float* vb,
                            const dtMeshTile* tile, int side,
                            dtPolyRef* con, float* conarea, int maxcon) const;
    
    void connectIntLinks(dtMeshTile* tile);
    void baseOffMeshLinks(dtMeshTile* tile);
 
    void connectExtLinks(dtMeshTile* tile, dtMeshTile* target, int side);
    void connectExtOffMeshLinks(dtMeshTile* tile, dtMeshTile* target, int side);
    
    void unconnectLinks(dtMeshTile* tile, dtMeshTile* target);
    
 
    // TODO: These methods are duplicates from dtNavMeshQuery, but are needed for off-mesh connection finding.
    
    int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax,
                            dtPolyRef* polys, const int maxPolys) const;
    dtPolyRef findNearestPolyInTile(const dtMeshTile* tile, const float* center,
                                    const float* halfExtents, float* nearestPt) const;
    bool getPolyHeight(const dtMeshTile* tile, const dtPoly* poly, const float* pos, float* height) const;
    void closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const;
    
    dtNavMeshParams m_params;           
    float m_orig[3];                    
    float m_tileWidth, m_tileHeight;    
    int m_maxTiles;                     
    int m_tileLutSize;                  
    int m_tileLutMask;                  
 
    dtMeshTile** m_posLookup;           
    dtMeshTile* m_nextFree;             
    dtMeshTile* m_tiles;                
        
#ifndef DT_POLYREF64
    unsigned int m_saltBits;            
    unsigned int m_tileBits;            
    unsigned int m_polyBits;            
#endif
 
    friend class dtNavMeshQuery;
};
 
dtNavMesh* dtAllocNavMesh();
 
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.