DivideRecast.h

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/*
   Copyright (c) 2018 DIVIDE-Studio
   Copyright (c) 2009 Ionut Cava
 
   This file is part of DIVIDE Framework.
 
   Permission is hereby granted, free of charge, to any person obtaining a copy
   of this software
   and associated documentation files (the "Software"), to deal in the Software
   without restriction,
   including without limitation the rights to use, copy, modify, merge, publish,
   distribute, sublicense,
   and/or sell copies of the Software, and to permit persons to whom the
   Software is furnished to do so,
   subject to the following conditions:
 
   The above copyright notice and this permission notice shall be included in
   all copies or substantial portions of the Software.
 
   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   IMPLIED,
   INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
   PARTICULAR PURPOSE AND NONINFRINGEMENT.
   IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
   DAMAGES OR OTHER LIABILITY,
   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
   IN CONNECTION WITH THE SOFTWARE
   OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
 */
 
/*
    OgreCrowd
    ---------
 
    Copyright (c) 2012 Jonas Hauquier
 
    Additional contributions by:
 
    - mkultra333
    - Paul Wilson
 
    Sincere thanks and to:
 
    - Mikko Mononen (developer of Recast navigation libraries)
 
    Permission is hereby granted, free of charge, to any person obtaining a copy
    of this software and associated documentation files (the "Software"), to
   deal
    in the Software without restriction, including without limitation the rights
    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
    copies of the Software, and to permit persons to whom the Software is
    furnished to do so, subject to the following conditions:
 
    The above copyright notice and this permission notice shall be included in
    all copies or substantial portions of the Software.
 
    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
   FROM,
    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
    THE SOFTWARE.
 
*/
 
#pragma once
#ifndef DVD_NAVIGATION_PATH_H_
#define DVD_NAVIGATION_PATH_H_
 
#include "AI/PathFinding/NavMeshes/Headers/NavMesh.h"
 
namespace Divide {
namespace AI {
namespace Navigation {
 
class DivideRecast {
  public:
      DivideRecast();
 
    PathErrorCode FindPath(const NavigationMesh& navMesh, const vec3<F32>& startPos,
                           const vec3<F32>& endPos, U32 pathSlot, I32 target);
    vector<vec3<F32> > getPath(I32 pathSlot);
    I32 getTarget(I32 pathSlot) noexcept;
    bool getRandomNavMeshPoint(const NavigationMesh& navMesh, vec3<F32>& resultPt) const;
    bool getRandomPointAroundCircle(const NavigationMesh& navMesh,
                                    const vec3<F32>& centerPosition, F32 radius,
                                    const vec3<F32>& extents, vec3<F32>& resultPt,
                                    U8 maxIters) const;
    bool findNearestPointOnNavmesh(const NavigationMesh& navMesh,
                                   const vec3<F32>& position,
                                   const vec3<F32>& extents, F32 delta,
                                   vec3<F32>& resultPt, dtPolyRef& resultPoly) const;
 
    bool findNearestPolyOnNavmesh(const NavigationMesh& navMesh,
                                  const vec3<F32>& position,
                                  const vec3<F32>& extents, vec3<F32>& resultPt,
                                  dtPolyRef& resultPoly) const;
 
  protected:
    std::array<PATHDATA, MAX_PATHSLOT> _pathStore;
    std::unique_ptr<dtQueryFilter> _filter;
 
};
 
}  // namespace Navigation
}  // namespace AI
}  // namespace Divide
 
#endif //DVD_NAVIGATION_PATH_H_