219 lines
9.0 KiB
C
219 lines
9.0 KiB
C
// Copyright Epic Games, Inc. All Rights Reserved.
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// Modified version of Recast/Detour's source file
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//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef DETOURNAVMESHBUILDER_H
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#define DETOURNAVMESHBUILDER_H
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#include "CoreMinimal.h"
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#include "Detour/DetourAlloc.h"
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#include "DetourLargeWorldCoordinates.h"
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struct dtOffMeshLinkCreateParams
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{
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/// Off-mesh connection vertices (point-point = A0 <> B0, segment-segment = A0-A1 <> B0-B1 ) [Unit: wu]
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dtReal vertsA0[3];
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dtReal vertsA1[3];
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dtReal vertsB0[3];
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dtReal vertsB1[3];
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/// Off-mesh connection radii. [Unit: wu]
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dtReal snapRadius;
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/// Off-mesh connection height, less than 0 = use step height [Unit: wu]
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dtReal snapHeight;
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/// The user defined ids of the off-mesh connection.
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unsigned long long int userID;
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/// User defined flags assigned to the polys of off-mesh connections
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unsigned short polyFlag;
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/// User defined area ids assigned to the off-mesh connections
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unsigned char area;
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/// Off-mesh connection type (point to point, segment to segment, bidirectional)
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unsigned char type;
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};
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// @todo: This appears unused
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struct dtDynamicAreaCreateParams
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{
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/// Area id
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unsigned char area;
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/// Covex min,max height
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dtReal minH;
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dtReal maxH;
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/// X,Z coords of covex
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dtChunkArray<dtReal> verts;
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};
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/// Represents the source data used to build an navigation mesh tile.
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/// @ingroup detour
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struct dtNavMeshCreateParams
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{
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/// @name Polygon Mesh Attributes
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/// Used to create the base navigation graph.
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/// See #rcPolyMesh for details related to these attributes.
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/// @{
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const unsigned short* verts; ///< The polygon mesh vertices. [(x, y, z) * #vertCount] [Unit: vx]
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int vertCount; ///< The number vertices in the polygon mesh. [Limit: >= 3]
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const unsigned short* polys; ///< The polygon data. [Size: #polyCount * 2 * #nvp]
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const unsigned short* polyFlags; ///< The user defined flags assigned to each polygon. [Size: #polyCount]
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const unsigned char* polyAreas; ///< The user defined area ids assigned to each polygon. [Size: #polyCount]
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int polyCount; ///< Number of polygons in the mesh. [Limit: >= 1]
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int nvp; ///< Number maximum number of vertices per polygon. [Limit: >= 3]
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// @UE BEGIN
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#if WITH_NAVMESH_CLUSTER_LINKS
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/// @}
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/// @name Cluster Attributes
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/// @{
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unsigned short* polyClusters; ///< Cluster Id for each polygon [Size: #polyCount]
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unsigned short clusterCount; ///< Number of unique clusters
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#endif // WITH_NAVMESH_CLUSTER_LINKS
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// @UE END
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/// @}
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/// @name Height Detail Attributes (Optional)
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/// See #rcPolyMeshDetail for details related to these attributes.
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/// @{
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const unsigned int* detailMeshes; ///< The height detail sub-mesh data. [Size: 4 * #polyCount]
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const dtReal* detailVerts; ///< The detail mesh vertices. [Size: 3 * #detailVertsCount] [Unit: wu]
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int detailVertsCount; ///< The number of vertices in the detail mesh.
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const unsigned char* detailTris; ///< The detail mesh triangles. [Size: 4 * #detailTriCount]
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int detailTriCount; ///< The number of triangles in the detail mesh.
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/// @}
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/// @name Off-Mesh Connections Attributes (Optional)
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/// Used to define a custom edge within the navigation graph, an
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/// off-mesh connection is a user defined traversable connection,
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/// at least one side resides within a navigation mesh polygon.
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/// @{
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/// Off-mesh connection data. [Size: #offMeshConCount] [Unit: wu]
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const dtOffMeshLinkCreateParams* offMeshCons;
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/// The number of off-mesh connections. [Limit: >= 0]
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int offMeshConCount;
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/// @}
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/// @name Dynamic Area Attributes (Optional)
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/// Used to define a custom dynamic obstacles from convex volumes
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/// @{
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/// Dynamic Area data. [Size: #dynamicAreaCount] [Unit: wu]
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const dtDynamicAreaCreateParams* dynamicAreas; // @todo: this appears unused
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/// The number of dynamic areas. [Limit: >= 0]
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int dynamicAreaCount;
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/// @}
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/// @name Tile Attributes
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/// @note The tile grid/layer data can be left at zero if the destination is a single tile mesh.
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/// @{
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unsigned int userId; ///< The user defined id of the tile.
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int tileX; ///< The tile's x-grid location within the multi-tile destination mesh. (Along the x-axis.)
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int tileY; ///< The tile's y-grid location within the multi-tile desitation mesh. (Along the z-axis.)
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int tileLayer; ///< The tile's layer within the layered destination mesh. (Along the y-axis.) [Limit: >= 0]
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dtReal bmin[3]; ///< The minimum bounds of the tile. [(x, y, z)] [Unit: wu]
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dtReal bmax[3]; ///< The maximum bounds of the tile. [(x, y, z)] [Unit: wu]
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/// @}
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/// @name General Configuration Attributes
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/// @{
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dtReal walkableHeight; ///< The agent height. [Unit: wu]
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dtReal walkableRadius; ///< The agent radius. [Unit: wu]
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dtReal walkableClimb; ///< The agent maximum traversable ledge. (Up/Down) [Unit: wu]
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dtReal cs; ///< The xz-plane cell size of the polygon mesh. [Limit: > 0] [Unit: wu]
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dtReal ch; ///< The y-axis cell height of the polygon mesh. [Limit: > 0] [Unit: wu]
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unsigned char tileResolutionLevel; ///< Tile resolution index //@UE
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/// True if a bounding volume tree should be built for the tile.
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/// @note The BVTree is not normally needed for layered navigation meshes.
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bool buildBvTree;
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/// @}
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};
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/// Builds navigation mesh tile data from the provided tile creation data.
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/// @ingroup detour
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/// @param[in] params Tile creation data.
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/// @param[out] outData The resulting tile data.
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/// @param[out] outDataSize The size of the tile data array.
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/// @return True if the tile data was successfully created.
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NAVMESH_API bool dtCreateNavMeshData(dtNavMeshCreateParams* params, unsigned char** outData, int* outDataSize);
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/// Swaps the endianess of the tile data's header (#dtMeshHeader).
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/// @param[in,out] data The tile data array.
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/// @param[in] dataSize The size of the data array.
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NAVMESH_API bool dtNavMeshHeaderSwapEndian(unsigned char* data, const int dataSize);
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/// Swaps endianess of the tile data.
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/// @param[in,out] data The tile data array.
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/// @param[in] dataSize The size of the data array.
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NAVMESH_API bool dtNavMeshDataSwapEndian(unsigned char* data, const int dataSize);
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// @UE BEGIN
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/// Offset and rotate around center the data in the tile
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/// @param[in,out] data Data of the tile mesh. (See: #dtCreateNavMeshData)
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/// @param[in] dataSize Data size of the tile mesh.
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/// @param[in] offsetX X offset in tile coordinates.
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/// @param[in] offsetY Y offset in tile coordinates.
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/// @param[in] tileWidth Tile width.
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/// @param[in] tileHeight Tile height.
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/// @param[in] rotationDeg Rotation in degrees.
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NAVMESH_API bool dtTransformTileData(unsigned char* data, const int dataSize, const int offsetX, const int offsetY, const dtReal tileWidth, const dtReal tileHeight, const dtReal rotationDeg, const dtReal bvQuantFactor);
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/// Compute XY offset caused by the given rotation
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/// @param[in] position Position to rotate. [(x, y, z)]
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/// @param[in] rotationCenter Rotation center. [(x, y, z)]
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/// @param[in] rotationDeg Rotation in degrees.
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/// @param[in] tileWidth Tile width.
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/// @param[in] tileHeight Tile height.
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/// @param[out] deltaX Offset X in tile coordinates.
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/// @param[out] deltaY Offset Y in tile coordinates.
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NAVMESH_API void dtComputeTileOffsetFromRotation(const dtReal* position, const dtReal* rotationCenter, const dtReal rotationDeg, const dtReal tileWidth, const dtReal tileHeight, int& deltaX, int& deltaY);
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// @UE END
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#endif // DETOURNAVMESHBUILDER_H
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// This section contains detailed documentation for members that don't have
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// a source file. It reduces clutter in the main section of the header.
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/**
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@struct dtNavMeshCreateParams
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@par
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This structure is used to marshal data between the Recast mesh generation pipeline and Detour navigation components.
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See the rcPolyMesh and rcPolyMeshDetail documentation for detailed information related to mesh structure.
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Units are usually in voxels (vx) or world units (wu). The units for voxels, grid size, and cell size
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are all based on the values of #cs and #ch.
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The standard navigation mesh build process is to create tile data using dtCreateNavMeshData, then add the tile
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to a navigation mesh using either the dtNavMesh single tile <tt>init()</tt> function or the dtNavMesh::addTile()
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function.
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@see dtCreateNavMeshData
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*/
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