DetourPathCorridor.h

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// Copyright Epic Games, Inc. All Rights Reserved.
// Modified version of Recast/Detour's source file
 
//
// 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 "CoreMinimal.h"
#include "Detour/DetourLargeWorldCoordinates.h"
#include "Detour/DetourNavMesh.h"
#include "HAL/Platform.h"
 
class dtNavMeshQuery;
class dtQueryFilter;
 
class dtPathCorridor
{
    dtReal m_pos[3];
    dtReal m_target[3];
    dtReal m_prevMovePoint[3];
    dtReal m_nextExpectedCorner[3];
    dtReal m_nextExpectedCorner2[3];
    dtReal m_moveSegAngle;
    uint32 m_hasNextExpectedCorner : 1;
    uint32 m_hasNextExpectedCorner2 : 1;
    uint32 m_isInSkipRange : 1;
    uint32 m_enableEarlyReach : 1;
 
    dtPolyRef* m_path;
    int m_npath;
    int m_maxPath;
    
public:
    NAVMESH_API dtPathCorridor();
    NAVMESH_API ~dtPathCorridor();
    
    NAVMESH_API bool init(const int maxPath);
    
    NAVMESH_API void reset(dtPolyRef ref, const dtReal* pos);
    
    NAVMESH_API int findCorners(dtReal* cornerVerts, unsigned char* cornerFlags,
                    dtPolyRef* cornerPolys, const int maxCorners,
                    dtNavMeshQuery* navquery, const dtQueryFilter* filter,
                    dtReal pathOffsetDistance, dtReal earlyReachDistance, bool bAllowEarlyReach = true);
    
    NAVMESH_API bool optimizePathVisibility(const dtReal* next, const dtReal pathOptimizationRange,
                                dtNavMeshQuery* navquery, const dtQueryFilter* filter);
    
    NAVMESH_API bool optimizePathTopology(dtNavMeshQuery* navquery, const dtQueryFilter* filter);
    
    NAVMESH_API bool moveOverOffmeshConnection(dtPolyRef offMeshConRef, dtPolyRef* refs,
                                   const dtReal* agentPos,
                                   dtReal* startPos, dtReal* endPos,
                                   dtNavMeshQuery* navquery);
 
    NAVMESH_API bool canMoveOverOffmeshConnection(dtPolyRef offMeshConRef, dtPolyRef* refs,
        const dtReal* agentPos, dtReal* startPos, dtReal* endPos,
        dtNavMeshQuery* navquery) const;
 
    NAVMESH_API void pruneOffmeshConenction(dtPolyRef offMeshConRef);
 
    NAVMESH_API bool fixPathStart(dtPolyRef safeRef, const dtReal* safePos);
 
    NAVMESH_API bool trimInvalidPath(dtPolyRef safeRef, const dtReal* safePos,
                         dtNavMeshQuery* navquery, const dtQueryFilter* filter);
    
    NAVMESH_API bool isValid(const int maxLookAhead, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
    
    NAVMESH_API bool movePosition(const dtReal* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
 
    NAVMESH_API void moveTargetPosition(const dtReal* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
    
    NAVMESH_API void setCorridor(const dtReal* target, const dtPolyRef* polys, const int npath);
    
    inline const dtReal* getPos() const { return m_pos; }
 
    inline const dtReal* 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 dtReal getSegmentAngle() const { return m_moveSegAngle; }
    inline const dtReal* getNextFixedCorner() const { return &m_nextExpectedCorner[0]; }
    inline const dtReal* 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