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Added Recast/Detour library code and module.
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Daniel Buckmaster
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210
Engine/lib/recast/DetourTileCache/Include/DetourTileCache.h
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210
Engine/lib/recast/DetourTileCache/Include/DetourTileCache.h
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#ifndef DETOURTILECACHE_H
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#define DETOURTILECACHE_H
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#include "DetourStatus.h"
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typedef unsigned int dtObstacleRef;
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typedef unsigned int dtCompressedTileRef;
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/// Flags for addTile
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enum dtCompressedTileFlags
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{
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DT_COMPRESSEDTILE_FREE_DATA = 0x01, ///< Navmesh owns the tile memory and should free it.
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};
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struct dtCompressedTile
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{
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unsigned int salt; ///< Counter describing modifications to the tile.
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struct dtTileCacheLayerHeader* header;
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unsigned char* compressed;
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int compressedSize;
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unsigned char* data;
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int dataSize;
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unsigned int flags;
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dtCompressedTile* next;
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};
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enum ObstacleState
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{
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DT_OBSTACLE_EMPTY,
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DT_OBSTACLE_PROCESSING,
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DT_OBSTACLE_PROCESSED,
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DT_OBSTACLE_REMOVING,
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};
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static const int DT_MAX_TOUCHED_TILES = 8;
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struct dtTileCacheObstacle
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{
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float pos[3], radius, height;
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dtCompressedTileRef touched[DT_MAX_TOUCHED_TILES];
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dtCompressedTileRef pending[DT_MAX_TOUCHED_TILES];
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unsigned short salt;
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unsigned char state;
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unsigned char ntouched;
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unsigned char npending;
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dtTileCacheObstacle* next;
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};
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struct dtTileCacheParams
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{
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float orig[3];
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float cs, ch;
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int width, height;
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float walkableHeight;
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float walkableRadius;
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float walkableClimb;
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float maxSimplificationError;
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int maxTiles;
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int maxObstacles;
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};
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struct dtTileCacheMeshProcess
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{
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virtual void process(struct dtNavMeshCreateParams* params,
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unsigned char* polyAreas, unsigned short* polyFlags) = 0;
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};
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class dtTileCache
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{
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public:
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dtTileCache();
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~dtTileCache();
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struct dtTileCacheAlloc* getAlloc() { return m_talloc; }
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struct dtTileCacheCompressor* getCompressor() { return m_tcomp; }
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const dtTileCacheParams* getParams() const { return &m_params; }
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inline int getTileCount() const { return m_params.maxTiles; }
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inline const dtCompressedTile* getTile(const int i) const { return &m_tiles[i]; }
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inline int getObstacleCount() const { return m_params.maxObstacles; }
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inline const dtTileCacheObstacle* getObstacle(const int i) const { return &m_obstacles[i]; }
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const dtTileCacheObstacle* getObstacleByRef(dtObstacleRef ref);
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dtObstacleRef getObstacleRef(const dtTileCacheObstacle* obmin) const;
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dtStatus init(const dtTileCacheParams* params,
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struct dtTileCacheAlloc* talloc,
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struct dtTileCacheCompressor* tcomp,
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struct dtTileCacheMeshProcess* tmproc);
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int getTilesAt(const int tx, const int ty, dtCompressedTileRef* tiles, const int maxTiles) const ;
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dtCompressedTile* getTileAt(const int tx, const int ty, const int tlayer);
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dtCompressedTileRef getTileRef(const dtCompressedTile* tile) const;
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const dtCompressedTile* getTileByRef(dtCompressedTileRef ref) const;
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dtStatus addTile(unsigned char* data, const int dataSize, unsigned char flags, dtCompressedTileRef* result);
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dtStatus removeTile(dtCompressedTileRef ref, unsigned char** data, int* dataSize);
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dtStatus addObstacle(const float* pos, const float radius, const float height, dtObstacleRef* result);
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dtStatus removeObstacle(const dtObstacleRef ref);
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dtStatus queryTiles(const float* bmin, const float* bmax,
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dtCompressedTileRef* results, int* resultCount, const int maxResults) const;
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dtStatus update(const float /*dt*/, class dtNavMesh* navmesh);
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dtStatus buildNavMeshTilesAt(const int tx, const int ty, class dtNavMesh* navmesh);
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dtStatus buildNavMeshTile(const dtCompressedTileRef ref, class dtNavMesh* navmesh);
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void calcTightTileBounds(const struct dtTileCacheLayerHeader* header, float* bmin, float* bmax) const;
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void getObstacleBounds(const struct dtTileCacheObstacle* ob, float* bmin, float* bmax) const;
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/// Encodes a tile id.
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inline dtCompressedTileRef encodeTileId(unsigned int salt, unsigned int it) const
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{
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return ((dtCompressedTileRef)salt << m_tileBits) | (dtCompressedTileRef)it;
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}
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/// Decodes a tile salt.
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inline unsigned int decodeTileIdSalt(dtCompressedTileRef ref) const
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{
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const dtCompressedTileRef saltMask = ((dtCompressedTileRef)1<<m_saltBits)-1;
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return (unsigned int)((ref >> m_tileBits) & saltMask);
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}
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/// Decodes a tile id.
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inline unsigned int decodeTileIdTile(dtCompressedTileRef ref) const
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{
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const dtCompressedTileRef tileMask = ((dtCompressedTileRef)1<<m_tileBits)-1;
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return (unsigned int)(ref & tileMask);
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}
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/// Encodes an obstacle id.
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inline dtObstacleRef encodeObstacleId(unsigned int salt, unsigned int it) const
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{
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return ((dtObstacleRef)salt << 16) | (dtObstacleRef)it;
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}
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/// Decodes an obstacle salt.
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inline unsigned int decodeObstacleIdSalt(dtObstacleRef ref) const
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{
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const dtObstacleRef saltMask = ((dtObstacleRef)1<<16)-1;
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return (unsigned int)((ref >> 16) & saltMask);
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}
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/// Decodes an obstacle id.
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inline unsigned int decodeObstacleIdObstacle(dtObstacleRef ref) const
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{
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const dtObstacleRef tileMask = ((dtObstacleRef)1<<16)-1;
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return (unsigned int)(ref & tileMask);
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}
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private:
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enum ObstacleRequestAction
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{
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REQUEST_ADD,
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REQUEST_REMOVE,
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};
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struct ObstacleRequest
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{
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int action;
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dtObstacleRef ref;
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};
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int m_tileLutSize; ///< Tile hash lookup size (must be pot).
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int m_tileLutMask; ///< Tile hash lookup mask.
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dtCompressedTile** m_posLookup; ///< Tile hash lookup.
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dtCompressedTile* m_nextFreeTile; ///< Freelist of tiles.
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dtCompressedTile* m_tiles; ///< List of tiles.
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unsigned int m_saltBits; ///< Number of salt bits in the tile ID.
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unsigned int m_tileBits; ///< Number of tile bits in the tile ID.
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dtTileCacheParams m_params;
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dtTileCacheAlloc* m_talloc;
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dtTileCacheCompressor* m_tcomp;
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dtTileCacheMeshProcess* m_tmproc;
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dtTileCacheObstacle* m_obstacles;
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dtTileCacheObstacle* m_nextFreeObstacle;
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static const int MAX_REQUESTS = 64;
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ObstacleRequest m_reqs[MAX_REQUESTS];
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int m_nreqs;
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static const int MAX_UPDATE = 64;
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dtCompressedTileRef m_update[MAX_UPDATE];
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int m_nupdate;
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};
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dtTileCache* dtAllocTileCache();
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void dtFreeTileCache(dtTileCache* tc);
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#endif
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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 DETOURTILECACHEBUILDER_H
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#define DETOURTILECACHEBUILDER_H
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#include "DetourAlloc.h"
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#include "DetourStatus.h"
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static const int DT_TILECACHE_MAGIC = 'D'<<24 | 'T'<<16 | 'L'<<8 | 'R'; ///< 'DTLR';
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static const int DT_TILECACHE_VERSION = 1;
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static const unsigned char DT_TILECACHE_NULL_AREA = 0;
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static const unsigned char DT_TILECACHE_WALKABLE_AREA = 63;
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static const unsigned short DT_TILECACHE_NULL_IDX = 0xffff;
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struct dtTileCacheLayerHeader
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{
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int magic; ///< Data magic
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int version; ///< Data version
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int tx,ty,tlayer;
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float bmin[3], bmax[3];
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unsigned short hmin, hmax; ///< Height min/max range
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unsigned char width, height; ///< Dimension of the layer.
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unsigned char minx, maxx, miny, maxy; ///< Usable sub-region.
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};
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struct dtTileCacheLayer
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{
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dtTileCacheLayerHeader* header;
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unsigned char regCount; ///< Region count.
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unsigned char* heights;
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unsigned char* areas;
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unsigned char* cons;
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unsigned char* regs;
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};
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struct dtTileCacheContour
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{
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int nverts;
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unsigned char* verts;
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unsigned char reg;
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unsigned char area;
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};
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struct dtTileCacheContourSet
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{
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int nconts;
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dtTileCacheContour* conts;
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};
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struct dtTileCachePolyMesh
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{
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int nvp;
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int nverts; ///< Number of vertices.
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int npolys; ///< Number of polygons.
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unsigned short* verts; ///< Vertices of the mesh, 3 elements per vertex.
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unsigned short* polys; ///< Polygons of the mesh, nvp*2 elements per polygon.
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unsigned short* flags; ///< Per polygon flags.
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unsigned char* areas; ///< Area ID of polygons.
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};
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struct dtTileCacheAlloc
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{
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virtual void reset()
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{
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}
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virtual void* alloc(const int size)
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{
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return dtAlloc(size, DT_ALLOC_TEMP);
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}
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virtual void free(void* ptr)
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{
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dtFree(ptr);
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}
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};
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struct dtTileCacheCompressor
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{
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virtual int maxCompressedSize(const int bufferSize) = 0;
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virtual dtStatus compress(const unsigned char* buffer, const int bufferSize,
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unsigned char* compressed, const int maxCompressedSize, int* compressedSize) = 0;
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virtual dtStatus decompress(const unsigned char* compressed, const int compressedSize,
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unsigned char* buffer, const int maxBufferSize, int* bufferSize) = 0;
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};
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dtStatus dtBuildTileCacheLayer(dtTileCacheCompressor* comp,
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dtTileCacheLayerHeader* header,
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const unsigned char* heights,
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const unsigned char* areas,
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const unsigned char* cons,
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unsigned char** outData, int* outDataSize);
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void dtFreeTileCacheLayer(dtTileCacheAlloc* alloc, dtTileCacheLayer* layer);
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dtStatus dtDecompressTileCacheLayer(dtTileCacheAlloc* alloc, dtTileCacheCompressor* comp,
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unsigned char* compressed, const int compressedSize,
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dtTileCacheLayer** layerOut);
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dtTileCacheContourSet* dtAllocTileCacheContourSet(dtTileCacheAlloc* alloc);
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void dtFreeTileCacheContourSet(dtTileCacheAlloc* alloc, dtTileCacheContourSet* cset);
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dtTileCachePolyMesh* dtAllocTileCachePolyMesh(dtTileCacheAlloc* alloc);
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void dtFreeTileCachePolyMesh(dtTileCacheAlloc* alloc, dtTileCachePolyMesh* lmesh);
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dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
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const float* pos, const float radius, const float height, const unsigned char areaId);
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dtStatus dtBuildTileCacheRegions(dtTileCacheAlloc* alloc,
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dtTileCacheLayer& layer,
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const int walkableClimb);
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dtStatus dtBuildTileCacheContours(dtTileCacheAlloc* alloc,
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dtTileCacheLayer& layer,
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const int walkableClimb, const float maxError,
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dtTileCacheContourSet& lcset);
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dtStatus dtBuildTileCachePolyMesh(dtTileCacheAlloc* alloc,
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dtTileCacheContourSet& lcset,
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dtTileCachePolyMesh& mesh);
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/// Swaps the endianess of the compressed tile data's header (#dtTileCacheLayerHeader).
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/// Tile layer data does not need endian swapping as it consits only of bytes.
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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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bool dtTileCacheHeaderSwapEndian(unsigned char* data, const int dataSize);
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#endif // DETOURTILECACHEBUILDER_H
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