/*************************************************************************/
/*  navigation_mesh.h                                                    */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
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/*************************************************************************/

#ifndef NAVIGATION_MESH_H
#define NAVIGATION_MESH_H

#include "scene/resources/mesh.h"

class Mesh;

class NavigationMesh : public Resource {
	GDCLASS(NavigationMesh, Resource);

	Vector<Vector3> vertices;
	struct Polygon {
		Vector<int> indices;
	};
	Vector<Polygon> polygons;
	Ref<ArrayMesh> debug_mesh;

	struct _EdgeKey {
		Vector3 from;
		Vector3 to;

		static uint32_t hash(const _EdgeKey &p_key) {
			return HashMapHasherDefault::hash(p_key.from) ^ HashMapHasherDefault::hash(p_key.to);
		}

		bool operator==(const _EdgeKey &p_with) const {
			return HashMapComparatorDefault<Vector3>::compare(from, p_with.from) && HashMapComparatorDefault<Vector3>::compare(to, p_with.to);
		}
	};

protected:
	static void _bind_methods();
	virtual void _validate_property(PropertyInfo &property) const override;

	void _set_polygons(const Array &p_array);
	Array _get_polygons() const;

public:
	enum SamplePartitionType {
		SAMPLE_PARTITION_WATERSHED = 0,
		SAMPLE_PARTITION_MONOTONE,
		SAMPLE_PARTITION_LAYERS,
		SAMPLE_PARTITION_MAX
	};

	enum ParsedGeometryType {
		PARSED_GEOMETRY_MESH_INSTANCES = 0,
		PARSED_GEOMETRY_STATIC_COLLIDERS,
		PARSED_GEOMETRY_BOTH,
		PARSED_GEOMETRY_MAX
	};

	enum SourceGeometryMode {
		SOURCE_GEOMETRY_NAVMESH_CHILDREN = 0,
		SOURCE_GEOMETRY_GROUPS_WITH_CHILDREN,
		SOURCE_GEOMETRY_GROUPS_EXPLICIT,
		SOURCE_GEOMETRY_MAX
	};

protected:
	float cell_size = 0.3f;
	float cell_height = 0.2f;
	float agent_height = 2.0f;
	float agent_radius = 1.0f;
	float agent_max_climb = 0.9f;
	float agent_max_slope = 45.0f;
	float region_min_size = 8.0f;
	float region_merge_size = 20.0f;
	float edge_max_length = 12.0f;
	float edge_max_error = 1.3f;
	float verts_per_poly = 6.0f;
	float detail_sample_distance = 6.0f;
	float detail_sample_max_error = 1.0f;

	SamplePartitionType partition_type = SAMPLE_PARTITION_WATERSHED;
	ParsedGeometryType parsed_geometry_type = PARSED_GEOMETRY_MESH_INSTANCES;
	uint32_t collision_mask = 0xFFFFFFFF;

	SourceGeometryMode source_geometry_mode = SOURCE_GEOMETRY_NAVMESH_CHILDREN;
	StringName source_group_name = "navmesh";

	bool filter_low_hanging_obstacles = false;
	bool filter_ledge_spans = false;
	bool filter_walkable_low_height_spans = false;

public:
	// Recast settings
	void set_sample_partition_type(SamplePartitionType p_value);
	SamplePartitionType get_sample_partition_type() const;

	void set_parsed_geometry_type(ParsedGeometryType p_value);
	ParsedGeometryType get_parsed_geometry_type() const;

	void set_collision_mask(uint32_t p_mask);
	uint32_t get_collision_mask() const;

	void set_collision_mask_value(int p_layer_number, bool p_value);
	bool get_collision_mask_value(int p_layer_number) const;

	void set_source_geometry_mode(SourceGeometryMode p_geometry_mode);
	SourceGeometryMode get_source_geometry_mode() const;

	void set_source_group_name(StringName p_group_name);
	StringName get_source_group_name() const;

	void set_cell_size(float p_value);
	float get_cell_size() const;

	void set_cell_height(float p_value);
	float get_cell_height() const;

	void set_agent_height(float p_value);
	float get_agent_height() const;

	void set_agent_radius(float p_value);
	float get_agent_radius();

	void set_agent_max_climb(float p_value);
	float get_agent_max_climb() const;

	void set_agent_max_slope(float p_value);
	float get_agent_max_slope() const;

	void set_region_min_size(float p_value);
	float get_region_min_size() const;

	void set_region_merge_size(float p_value);
	float get_region_merge_size() const;

	void set_edge_max_length(float p_value);
	float get_edge_max_length() const;

	void set_edge_max_error(float p_value);
	float get_edge_max_error() const;

	void set_verts_per_poly(float p_value);
	float get_verts_per_poly() const;

	void set_detail_sample_distance(float p_value);
	float get_detail_sample_distance() const;

	void set_detail_sample_max_error(float p_value);
	float get_detail_sample_max_error() const;

	void set_filter_low_hanging_obstacles(bool p_value);
	bool get_filter_low_hanging_obstacles() const;

	void set_filter_ledge_spans(bool p_value);
	bool get_filter_ledge_spans() const;

	void set_filter_walkable_low_height_spans(bool p_value);
	bool get_filter_walkable_low_height_spans() const;

	void create_from_mesh(const Ref<Mesh> &p_mesh);

	void set_vertices(const Vector<Vector3> &p_vertices);
	Vector<Vector3> get_vertices() const;

	void add_polygon(const Vector<int> &p_polygon);
	int get_polygon_count() const;
	Vector<int> get_polygon(int p_idx);
	void clear_polygons();

	Ref<Mesh> get_debug_mesh();

	NavigationMesh();
};

VARIANT_ENUM_CAST(NavigationMesh::SamplePartitionType);
VARIANT_ENUM_CAST(NavigationMesh::ParsedGeometryType);
VARIANT_ENUM_CAST(NavigationMesh::SourceGeometryMode);

#endif // NAVIGATION_MESH_H