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/*************************************************************************/
/* nav_utils.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* 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. */
/*************************************************************************/
#ifndef NAV_UTILS_H
#define NAV_UTILS_H
#include "core/math/vector3.h"
#include <vector>
/**
@author AndreaCatania
*/
class NavRegion;
namespace gd {
struct Polygon;
union PointKey {
struct {
int64_t x : 21;
int64_t y : 22;
int64_t z : 21;
};
uint64_t key = 0;
bool operator<(const PointKey &p_key) const { return key < p_key.key; }
};
struct EdgeKey {
PointKey a;
PointKey b;
bool operator<(const EdgeKey &p_key) const {
return (a.key == p_key.a.key) ? (b.key < p_key.b.key) : (a.key < p_key.a.key);
}
EdgeKey(const PointKey &p_a = PointKey(), const PointKey &p_b = PointKey()) :
a(p_a),
b(p_b) {
if (a.key > b.key) {
SWAP(a, b);
}
}
};
struct Point {
Vector3 pos;
PointKey key;
};
struct Edge {
/// This edge ID
int this_edge = -1;
/// Other Polygon
Polygon *other_polygon = nullptr;
/// The other `Polygon` at this edge id has this `Polygon`.
int other_edge = -1;
};
struct Polygon {
NavRegion *owner;
/// The points of this `Polygon`
std::vector<Point> points;
/// Are the points clockwise ?
bool clockwise;
/// The edges of this `Polygon`
std::vector<Edge> edges;
/// The center of this `Polygon`
Vector3 center;
};
struct Connection {
Polygon *A = nullptr;
int A_edge = -1;
Polygon *B = nullptr;
int B_edge = -1;
};
struct NavigationPoly {
uint32_t self_id = 0;
/// This poly.
const Polygon *poly;
/// The previous navigation poly (id in the `navigation_poly` array).
int prev_navigation_poly_id = -1;
/// The edge id in this `Poly` to reach the `prev_navigation_poly_id`.
uint32_t back_navigation_edge = 0;
/// The entry location of this poly.
Vector3 entry;
/// The distance to the destination.
float traveled_distance = 0.0;
NavigationPoly(const Polygon *p_poly) :
poly(p_poly) {}
bool operator==(const NavigationPoly &other) const {
return this->poly == other.poly;
}
bool operator!=(const NavigationPoly &other) const {
return !operator==(other);
}
};
struct FreeEdge {
bool is_free = false;
Polygon *poly = nullptr;
uint32_t edge_id = 0;
Vector3 edge_center;
Vector3 edge_dir;
float edge_len_squared = 0.0;
};
} // namespace gd
#endif // NAV_UTILS_H
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