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diff --git a/dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h b/dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h new file mode 100644 index 00000000000..4a5112c9eb9 --- /dev/null +++ b/dep/recastnavigation/Detour/Include/DetourNavMeshQuery.h @@ -0,0 +1,484 @@ +// +// 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 + +/// Defines polygon filtering and traversal costs for navigation mesh query operations. +/// @ingroup detour +class dtQueryFilter +{ + float m_areaCost[DT_MAX_AREAS]; ///< Cost per area type. (Used by default implementation.) + unsigned short m_includeFlags; ///< Flags for polygons that can be visited. (Used by default implementation.) + unsigned short m_excludeFlags; ///< Flags for polygons that should not be visted. (Used by default implementation.) + +public: + dtQueryFilter(); + + /// Returns true if the polygon can be visited. (I.e. Is traversable.) + /// @param[in] ref The reference id of the polygon test. + /// @param[in] tile The tile containing the polygon. + /// @param[in] poly The polygon to test. +#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 + + /// Returns cost to move from the beginning to the end of a line segment + /// that is fully contained within a polygon. + /// @param[in] pa The start position on the edge of the previous and current polygon. [(x, y, z)] + /// @param[in] pb The end position on the edge of the current and next polygon. [(x, y, z)] + /// @param[in] prevRef The reference id of the previous polygon. [opt] + /// @param[in] prevTile The tile containing the previous polygon. [opt] + /// @param[in] prevPoly The previous polygon. [opt] + /// @param[in] curRef The reference id of the current polygon. + /// @param[in] curTile The tile containing the current polygon. + /// @param[in] curPoly The current polygon. + /// @param[in] nextRef The refernece id of the next polygon. [opt] + /// @param[in] nextTile The tile containing the next polygon. [opt] + /// @param[in] nextPoly The next polygon. [opt] +#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 + + /// @name Getters and setters for the default implementation data. + ///@{ + + /// Returns the traversal cost of the area. + /// @param[in] i The id of the area. + /// @returns The traversal cost of the area. + inline float getAreaCost(const int i) const { return m_areaCost[i]; } + + /// Sets the traversal cost of the area. + /// @param[in] i The id of the area. + /// @param[in] cost The new cost of traversing the area. + inline void setAreaCost(const int i, const float cost) { m_areaCost[i] = cost; } + + /// Returns the include flags for the filter. + /// Any polygons that include one or more of these flags will be + /// included in the operation. + inline unsigned short getIncludeFlags() const { return m_includeFlags; } + + /// Sets the include flags for the filter. + /// @param[in] flags The new flags. + inline void setIncludeFlags(const unsigned short flags) { m_includeFlags = flags; } + + /// Returns the exclude flags for the filter. + /// Any polygons that include one ore more of these flags will be + /// excluded from the operation. + inline unsigned short getExcludeFlags() const { return m_excludeFlags; } + + /// Sets the exclude flags for the filter. + /// @param[in] flags The new flags. + inline void setExcludeFlags(const unsigned short flags) { m_excludeFlags = flags; } + + ///@} + +}; + +/// Provides the ability to perform pathfinding related queries against +/// a navigation mesh. +/// @ingroup detour +class dtNavMeshQuery +{ +public: + dtNavMeshQuery(); + ~dtNavMeshQuery(); + + /// Initializes the query object. + /// @param[in] nav Pointer to the dtNavMesh object to use for all queries. + /// @param[in] maxNodes Maximum number of search nodes. [Limits: 0 < value <= 65536] + /// @returns The status flags for the query. + dtStatus init(const dtNavMesh* nav, const int maxNodes); + + /// @name Standard Pathfinding Functions + // /@{ + + /// Finds a path from the start polygon to the end polygon. + /// @param[in] startRef The refrence id of the start polygon. + /// @param[in] endRef The reference id of the end polygon. + /// @param[in] startPos A position within the start polygon. [(x, y, z)] + /// @param[in] endPos A position within the end polygon. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @param[out] pathCount The number of polygons returned in the @p path array. + /// @param[in] maxPath The maximum number of polygons the @p path array can hold. [Limit: >= 1] + dtStatus findPath(dtPolyRef startRef, dtPolyRef endRef, + const float* startPos, const float* endPos, + const dtQueryFilter* filter, + dtPolyRef* path, int* pathCount, const int maxPath) const; + + /// Finds the straight path from the start to the end position within the polygon corridor. + /// @param[in] startPos Path start position. [(x, y, z)] + /// @param[in] endPos Path end position. [(x, y, z)] + /// @param[in] path An array of polygon references that represent the path corridor. + /// @param[in] pathSize The number of polygons in the @p path array. + /// @param[out] straightPath Points describing the straight path. [(x, y, z) * @p straightPathCount]. + /// @param[out] straightPathFlags Flags describing each point. (See: #dtStraightPathFlags) [opt] + /// @param[out] straightPathRefs The reference id of the polygon that is being entered at each point. [opt] + /// @param[out] straightPathCount The number of points in the straight path. + /// @param[in] maxStraightPath The maximum number of points the straight path arrays can hold. [Limit: > 0] + /// @param[in] options Query options. (see: #dtStraightPathOptions) + /// @returns The status flags for the query. + 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; + + ///@} + /// @name Sliced Pathfinding Functions + /// Common use case: + /// -# Call initSlicedFindPath() to initialize the sliced path query. + /// -# Call updateSlicedFindPath() until it returns complete. + /// -# Call finalizeSlicedFindPath() to get the path. + ///@{ + + /// Intializes a sliced path query. + /// @param[in] startRef The refrence id of the start polygon. + /// @param[in] endRef The reference id of the end polygon. + /// @param[in] startPos A position within the start polygon. [(x, y, z)] + /// @param[in] endPos A position within the end polygon. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @returns The status flags for the query. + dtStatus initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef, + const float* startPos, const float* endPos, + const dtQueryFilter* filter); + + /// Updates an in-progress sliced path query. + /// @param[in] maxIter The maximum number of iterations to perform. + /// @param[out] doneIters The actual number of iterations completed. [opt] + /// @returns The status flags for the query. + dtStatus updateSlicedFindPath(const int maxIter, int* doneIters); + + /// Finalizes and returns the results of a sliced path query. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @param[out] pathCount The number of polygons returned in the @p path array. + /// @param[in] maxPath The max number of polygons the path array can hold. [Limit: >= 1] + /// @returns The status flags for the query. + dtStatus finalizeSlicedFindPath(dtPolyRef* path, int* pathCount, const int maxPath); + + /// Finalizes and returns the results of an incomplete sliced path query, returning the path to the furthest + /// polygon on the existing path that was visited during the search. + /// @param[in] existing An array of polygon references for the existing path. + /// @param[in] existingSize The number of polygon in the @p existing array. + /// @param[out] path An ordered list of polygon references representing the path. (Start to end.) + /// [(polyRef) * @p pathCount] + /// @param[out] pathCount The number of polygons returned in the @p path array. + /// @param[in] maxPath The max number of polygons the @p path array can hold. [Limit: >= 1] + /// @returns The status flags for the query. + dtStatus finalizeSlicedFindPathPartial(const dtPolyRef* existing, const int existingSize, + dtPolyRef* path, int* pathCount, const int maxPath); + + ///@} + /// @name Dijkstra Search Functions + /// @{ + + /// Finds the polygons along the navigation graph that touch the specified circle. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] centerPos The center of the search circle. [(x, y, z)] + /// @param[in] radius The radius of the search circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the circle. [opt] + /// @param[out] resultParent The reference ids of the parent polygons for each result. + /// Zero if a result polygon has no parent. [opt] + /// @param[out] resultCost The search cost from @p centerPos to the polygon. [opt] + /// @param[out] resultCount The number of polygons found. [opt] + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. + 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; + + /// Finds the polygons along the naviation graph that touch the specified convex polygon. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] verts The vertices describing the convex polygon. (CCW) + /// [(x, y, z) * @p nverts] + /// @param[in] nverts The number of vertices in the polygon. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the search polygon. [opt] + /// @param[out] resultParent The reference ids of the parent polygons for each result. Zero if a + /// result polygon has no parent. [opt] + /// @param[out] resultCost The search cost from the centroid point to the polygon. [opt] + /// @param[out] resultCount The number of polygons found. + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. + 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; + + /// @} + /// @name Local Query Functions + ///@{ + + /// Finds the polygon nearest to the specified center point. + /// @param[in] center The center of the search box. [(x, y, z)] + /// @param[in] extents The search distance along each axis. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] nearestRef The reference id of the nearest polygon. + /// @param[out] nearestPt The nearest point on the polygon. [opt] [(x, y, z)] + /// @returns The status flags for the query. + dtStatus findNearestPoly(const float* center, const float* extents, + const dtQueryFilter* filter, + dtPolyRef* nearestRef, float* nearestPt) const; + + /// Finds polygons that overlap the search box. + /// @param[in] center The center of the search box. [(x, y, z)] + /// @param[in] extents The search distance along each axis. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] polys The reference ids of the polygons that overlap the query box. + /// @param[out] polyCount The number of polygons in the search result. + /// @param[in] maxPolys The maximum number of polygons the search result can hold. + /// @returns The status flags for the query. + dtStatus queryPolygons(const float* center, const float* extents, + const dtQueryFilter* filter, + dtPolyRef* polys, int* polyCount, const int maxPolys) const; + + /// Finds the non-overlapping navigation polygons in the local neighbourhood around the center position. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] centerPos The center of the query circle. [(x, y, z)] + /// @param[in] radius The radius of the query circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultRef The reference ids of the polygons touched by the circle. + /// @param[out] resultParent The reference ids of the parent polygons for each result. + /// Zero if a result polygon has no parent. [opt] + /// @param[out] resultCount The number of polygons found. + /// @param[in] maxResult The maximum number of polygons the result arrays can hold. + /// @returns The status flags for the query. + dtStatus findLocalNeighbourhood(dtPolyRef startRef, const float* centerPos, const float radius, + const dtQueryFilter* filter, + dtPolyRef* resultRef, dtPolyRef* resultParent, + int* resultCount, const int maxResult) const; + + /// Moves from the start to the end position constrained to the navigation mesh. + /// @param[in] startRef The reference id of the start polygon. + /// @param[in] startPos A position of the mover within the start polygon. [(x, y, x)] + /// @param[in] endPos The desired end position of the mover. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] resultPos The result position of the mover. [(x, y, z)] + /// @param[out] visited The reference ids of the polygons visited during the move. + /// @param[out] visitedCount The number of polygons visited during the move. + /// @param[in] maxVisitedSize The maximum number of polygons the @p visited array can hold. + /// @returns The status flags for the query. + dtStatus moveAlongSurface(dtPolyRef startRef, const float* startPos, const float* endPos, + const dtQueryFilter* filter, + float* resultPos, dtPolyRef* visited, int* visitedCount, const int maxVisitedSize) const; + + /// Casts a 'walkability' ray along the surface of the navigation mesh from + /// the start position toward the end position. + /// @param[in] startRef The reference id of the start polygon. + /// @param[in] startPos A position within the start polygon representing + /// the start of the ray. [(x, y, z)] + /// @param[in] endPos The position to cast the ray toward. [(x, y, z)] + /// @param[out] t The hit parameter. (FLT_MAX if no wall hit.) + /// @param[out] hitNormal The normal of the nearest wall hit. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] path The reference ids of the visited polygons. [opt] + /// @param[out] pathCount The number of visited polygons. [opt] + /// @param[in] maxPath The maximum number of polygons the @p path array can hold. + /// @returns The status flags for the query. + 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; + + /// Finds the distance from the specified position to the nearest polygon wall. + /// @param[in] startRef The reference id of the polygon containing @p centerPos. + /// @param[in] centerPos The center of the search circle. [(x, y, z)] + /// @param[in] maxRadius The radius of the search circle. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] hitDist The distance to the nearest wall from @p centerPos. + /// @param[out] hitPos The nearest position on the wall that was hit. [(x, y, z)] + /// @param[out] hitNormal The normalized ray formed from the wall point to the + /// source point. [(x, y, z)] + /// @returns The status flags for the query. + dtStatus findDistanceToWall(dtPolyRef startRef, const float* centerPos, const float maxRadius, + const dtQueryFilter* filter, + float* hitDist, float* hitPos, float* hitNormal) const; + + /// Returns the segments for the specified polygon, optionally including portals. + /// @param[in] ref The reference id of the polygon. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[out] segmentVerts The segments. [(ax, ay, az, bx, by, bz) * segmentCount] + /// @param[out] segmentRefs The reference ids of each segment's neighbor polygon. + /// Or zero if the segment is a wall. [opt] [(parentRef) * @p segmentCount] + /// @param[out] segmentCount The number of segments returned. + /// @param[in] maxSegments The maximum number of segments the result arrays can hold. + /// @returns The status flags for the query. + dtStatus getPolyWallSegments(dtPolyRef ref, const dtQueryFilter* filter, + float* segmentVerts, dtPolyRef* segmentRefs, int* segmentCount, + const int maxSegments) const; + + /// Returns random location on navmesh. + /// Polygons are chosen weighted by area. The search runs in linear related to number of polygon. + /// @param[in] filter The polygon filter to apply to the query. + /// @param[in] frand Function returning a random number [0..1). + /// @param[out] randomRef The reference id of the random location. + /// @param[out] randomPt The random location. + /// @returns The status flags for the query. + dtStatus findRandomPoint(const dtQueryFilter* filter, float (*frand)(), + dtPolyRef* randomRef, float* randomPt) const; + + /// Returns random location on navmesh within the reach of specified location. + /// Polygons are chosen weighted by area. The search runs in linear related to number of polygon. + /// The location is not exactly constrained by the circle, but it limits the visited polygons. + /// @param[in] startRef The reference id of the polygon where the search starts. + /// @param[in] centerPos The center of the search circle. [(x, y, z)] + /// @param[in] filter The polygon filter to apply to the query. + /// @param[in] frand Function returning a random number [0..1). + /// @param[out] randomRef The reference id of the random location. + /// @param[out] randomPt The random location. [(x, y, z)] + /// @returns The status flags for the query. + dtStatus findRandomPointAroundCircle(dtPolyRef startRef, const float* centerPos, const float maxRadius, + const dtQueryFilter* filter, float (*frand)(), + dtPolyRef* randomRef, float* randomPt) const; + + /// Finds the closest point on the specified polygon. + /// @param[in] ref The reference id of the polygon. + /// @param[in] pos The position to check. [(x, y, z)] + /// @param[out] closest The closest point on the polygon. [(x, y, z)] + /// @param[out] posOverPoly True of the position is over the polygon. + /// @returns The status flags for the query. + dtStatus closestPointOnPoly(dtPolyRef ref, const float* pos, float* closest, bool* posOverPoly) const; + + /// Returns a point on the boundary closest to the source point if the source point is outside the + /// polygon's xz-bounds. + /// @param[in] ref The reference id to the polygon. + /// @param[in] pos The position to check. [(x, y, z)] + /// @param[out] closest The closest point. [(x, y, z)] + /// @returns The status flags for the query. + dtStatus closestPointOnPolyBoundary(dtPolyRef ref, const float* pos, float* closest) const; + + /// Gets the height of the polygon at the provided position using the height detail. (Most accurate.) + /// @param[in] ref The reference id of the polygon. + /// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)] + /// @param[out] height The height at the surface of the polygon. + /// @returns The status flags for the query. + dtStatus getPolyHeight(dtPolyRef ref, const float* pos, float* height) const; + + /// @} + /// @name Miscellaneous Functions + /// @{ + + /// Returns true if the polygon reference is valid and passes the filter restrictions. + /// @param[in] ref The polygon reference to check. + /// @param[in] filter The filter to apply. + bool isValidPolyRef(dtPolyRef ref, const dtQueryFilter* filter) const; + + /// Returns true if the polygon reference is in the closed list. + /// @param[in] ref The reference id of the polygon to check. + /// @returns True if the polygon is in closed list. + bool isInClosedList(dtPolyRef ref) const; + + /// Gets the node pool. + /// @returns The node pool. + class dtNodePool* getNodePool() const { return m_nodePool; } + + /// Gets the navigation mesh the query object is using. + /// @return The navigation mesh the query object is using. + const dtNavMesh* getAttachedNavMesh() const { return m_nav; } + + /// @} + +private: + + /// Returns neighbour tile based on side. + dtMeshTile* getNeighbourTileAt(int x, int y, int side) const; + + /// Queries polygons within a tile. + int queryPolygonsInTile(const dtMeshTile* tile, const float* qmin, const float* qmax, const dtQueryFilter* filter, + dtPolyRef* polys, const int maxPolys) const; + + /// Returns portal points between two polygons. + 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; + + /// Returns edge mid point between two polygons. + 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; + + const dtNavMesh* m_nav; ///< Pointer to navmesh data. + + struct dtQueryData + { + dtStatus status; + struct dtNode* lastBestNode; + float lastBestNodeCost; + dtPolyRef startRef, endRef; + float startPos[3], endPos[3]; + const dtQueryFilter* filter; + }; + dtQueryData m_query; ///< Sliced query state. + + class dtNodePool* m_tinyNodePool; ///< Pointer to small node pool. + class dtNodePool* m_nodePool; ///< Pointer to node pool. + class dtNodeQueue* m_openList; ///< Pointer to open list queue. +}; + +/// Allocates a query object using the Detour allocator. +/// @return An allocated query object, or null on failure. +/// @ingroup detour +dtNavMeshQuery* dtAllocNavMeshQuery(); + +/// Frees the specified query object using the Detour allocator. +/// @param[in] query A query object allocated using #dtAllocNavMeshQuery +/// @ingroup detour +void dtFreeNavMeshQuery(dtNavMeshQuery* query); + +#endif // DETOURNAVMESHQUERY_H |