DetourPathCorridor.h

//
// 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 <AtomsUtils/Globals.h>
#include <AtomsUtils/NavigationMesh/Detour/DetourNavMesh.h>
 
namespace AtomsUtils 
{
 
    class dtNavMeshQuery;
    class dtQueryFilter;
 
    class ATOMSUTILS_EXPORT dtPathCorridor
    {
        float m_pos[3];
        float m_target[3];
        float m_prevMovePoint[3];
        float m_nextExpectedCorner[3];
        float m_nextExpectedCorner2[3];
        float m_moveSegAngle;
        unsigned int m_hasNextExpectedCorner : 1;
        unsigned int m_hasNextExpectedCorner2 : 1;
        unsigned int m_isInSkipRange : 1;
        unsigned int m_enableEarlyReach : 1;
 
        dtPolyRef* m_path;
        int m_npath;
        int m_maxPath;
 
    public:
        dtPathCorridor();
        ~dtPathCorridor();
 
        bool init(const int maxPath);
 
        void reset(dtPolyRef ref, const float* pos);
 
        int findCorners(float* cornerVerts, unsigned char* cornerFlags,
            dtPolyRef* cornerPolys, const int maxCorners,
            dtNavMeshQuery* navquery, const dtQueryFilter* filter,
            float pathOffsetDistance, float earlyReachDistance, bool bAllowEarlyReach = true);
 
        bool optimizePathVisibility(const float* next, const float pathOptimizationRange,
            dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 
        bool optimizePathTopology(dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 
        bool moveOverOffmeshConnection(dtPolyRef offMeshConRef, dtPolyRef* refs,
            const float* agentPos,
            float* startPos, float* endPos,
            dtNavMeshQuery* navquery);
 
        bool canMoveOverOffmeshConnection(dtPolyRef offMeshConRef, dtPolyRef* refs,
            const float* agentPos, float* startPos, float* endPos,
            dtNavMeshQuery* navquery) const;
 
        void pruneOffmeshConenction(dtPolyRef offMeshConRef);
 
        bool fixPathStart(dtPolyRef safeRef, const float* safePos);
 
        bool trimInvalidPath(dtPolyRef safeRef, const float* safePos,
            dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 
        bool isValid(const int maxLookAhead, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 
        bool movePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 
        void moveTargetPosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 
        void setCorridor(const float* target, const dtPolyRef* polys, const int npath);
 
        inline const float* getPos() const { return m_pos; }
 
        inline const float* getTarget() const { return m_target; }
 
        inline dtPolyRef getFirstPoly() const { return m_npath ? m_path[0] : 0; }
 
        inline dtPolyRef getLastPoly() const { return m_npath ? m_path[m_npath - 1] : 0; }
 
        inline const dtPolyRef* getPath() const { return m_path; }
 
        inline int getPathCount() const { return m_npath; }
 
        inline void setEarlyReachTest(bool enable) { m_enableEarlyReach = enable; }
 
        inline float getSegmentAngle() const { return m_moveSegAngle; }
        inline const float* getNextFixedCorner() const { return &m_nextExpectedCorner[0]; }
        inline const float* getNextFixedCorner2() const { return &m_nextExpectedCorner2[0]; }
        inline bool hasNextFixedCorner() const { return m_hasNextExpectedCorner; }
        inline bool hasNextFixedCorner2() const { return m_hasNextExpectedCorner2; }
    };
 
    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