RedCore/cocos2d/cocos/navmesh/CCNavMeshUtils.h

/****************************************************************************
 Copyright (c) 2015-2017 Chukong Technologies Inc.
 
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 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
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 The above copyright notice and this permission notice shall be included in
 all copies or substantial portions of the Software.
 
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 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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#ifndef __CCNAV_MESH_TOOL_H__
#define __CCNAV_MESH_TOOL_H__

#include "base/ccConfig.h"
#if CC_USE_NAVMESH

#include "platform/CCPlatformMacros.h"
#include "math/CCMath.h"

#include "recast/Detour/DetourCommon.h"
#include "recast/Detour/DetourNavMesh.h"
#include "recast/Detour/DetourNavMeshQuery.h"
#include "recast/DetourTileCache/DetourTileCache.h"
#include "recast/DetourTileCache/DetourTileCacheBuilder.h"

NS_CC_BEGIN

/**
 * @addtogroup 3d
 * @{
 */

struct LinearAllocator : public dtTileCacheAlloc
{
    unsigned char* buffer;
    int capacity;
    int top;
    int high;

    LinearAllocator(const int cap);

    ~LinearAllocator();

    void resize(const int cap);

    virtual void reset();

    virtual void* alloc(const int size);

    virtual void free(void* /*ptr*/);
};

struct FastLZCompressor : public dtTileCacheCompressor
{
    virtual int maxCompressedSize(const int bufferSize);

    virtual dtStatus compress(const unsigned char* buffer, const int bufferSize,
        unsigned char* compressed, const int /*maxCompressedSize*/, int* compressedSize);

    virtual dtStatus decompress(const unsigned char* compressed, const int compressedSize,
        unsigned char* buffer, const int maxBufferSize, int* bufferSize);
};

struct GeomData
{
    static const int MAX_OFFMESH_CONNECTIONS = 256;
    float offMeshConVerts[MAX_OFFMESH_CONNECTIONS * 3 * 2];
    float offMeshConRads[MAX_OFFMESH_CONNECTIONS];
    unsigned char offMeshConDirs[MAX_OFFMESH_CONNECTIONS];
    unsigned char offMeshConAreas[MAX_OFFMESH_CONNECTIONS];
    unsigned short offMeshConFlags[MAX_OFFMESH_CONNECTIONS];
    unsigned int offMeshConId[MAX_OFFMESH_CONNECTIONS];
    int offMeshConCount;
};

struct MeshProcess : public dtTileCacheMeshProcess
{
    const GeomData *data;

    MeshProcess(const GeomData *geom);
    virtual ~MeshProcess();

    //void init(InputGeom* geom)
    //{
    //	m_geom = geom;
    //}

    virtual void process(struct dtNavMeshCreateParams* params,
        unsigned char* polyAreas, unsigned short* polyFlags) override;
};

bool inRange(const float* v1, const float* v2, const float r, const float h);

int fixupCorridor(dtPolyRef* path, const int npath, const int maxPath,
    const dtPolyRef* visited, const int nvisited);

// This function checks if the path has a small U-turn, that is,
// a polygon further in the path is adjacent to the first polygon
// in the path. If that happens, a shortcut is taken.
// This can happen if the target (T) location is at tile boundary,
// and we're (S) approaching it parallel to the tile edge.
// The choice at the vertex can be arbitrary, 
//  +---+---+
//  |:::|:::|
//  +-S-+-T-+
//  |:::|   | <-- the step can end up in here, resulting U-turn path.
//  +---+---+
int fixupShortcuts(dtPolyRef* path, int npath, dtNavMeshQuery* navQuery);

bool getSteerTarget(dtNavMeshQuery* navQuery, const float* startPos, const float* endPos,
    const float minTargetDist,
    const dtPolyRef* path, const int pathSize,
    float* steerPos, unsigned char& steerPosFlag, dtPolyRef& steerPosRef,
    float* outPoints = nullptr, int* outPointCount = nullptr);
/** @} */

NS_CC_END

#endif //CC_USE_NAVMESH

#endif // __CCNAV_MESH_H__