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#ifndef NAVIGATION_H
#define NAVIGATION_H
#include "scene/3d/spatial.h"
#include "scene/3d/navigation_mesh.h"
class Navigation : public Spatial {
OBJ_TYPE( Navigation, Spatial);
union Point {
struct {
int64_t x:21;
int64_t y:22;
int64_t z:21;
};
uint64_t key;
bool operator<(const Point& p_key) const { return key < p_key.key; }
};
struct EdgeKey {
Point a;
Point 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 Point& p_a=Point(),const Point& p_b=Point()) {
a=p_a;
b=p_b;
if (a.key > b.key) {
SWAP(a,b);
}
}
};
struct Polygon {
struct Edge {
Point point;
Polygon *C; //connection
int C_edge;
Edge() { C=NULL; C_edge=-1; }
};
Vector<Edge> edges;
Vector3 center;
float distance;
int prev_edge;
};
struct Connection {
Polygon *A;
int A_edge;
Polygon *B;
int B_edge;
Connection() { A=NULL; B=NULL; A_edge=-1; B_edge=-1;}
};
Map<EdgeKey,Connection> connections;
struct NavMesh {
Transform xform;
bool linked;
Ref<NavigationMesh> navmesh;
List<Polygon> polygons;
};
_FORCE_INLINE_ Point _get_point(const Vector3& p_pos) const {
int x = int(Math::floor(p_pos.x/cell_size));
int y = int(Math::floor(p_pos.y/cell_size));
int z = int(Math::floor(p_pos.z/cell_size));
Point p;
p.key=0;
p.x=x;
p.y=y;
p.z=z;
return p;
}
_FORCE_INLINE_ Vector3 _get_vertex(const Point& p_point) const {
return Vector3(p_point.x,p_point.y,p_point.z)*cell_size;
}
void _navmesh_link(int p_id);
void _navmesh_unlink(int p_id);
float cell_size;
Map<int,NavMesh> navmesh_map;
int last_id;
Vector3 up;
protected:
static void _bind_methods();
public:
void set_up_vector(const Vector3& p_up);
Vector3 get_up_vector() const;
//API should be as dynamic as possible
int navmesh_create(const Ref<NavigationMesh>& p_mesh,const Transform& p_xform);
void navmesh_set_transform(int p_id, const Transform& p_xform);
void navmesh_remove(int p_id);
Vector<Vector3> get_simple_path(const Vector3& p_start, const Vector3& p_end,bool p_optimize=true);
Vector3 get_closest_point_to_segment(const Vector3& p_from,const Vector3& p_to);
Vector3 get_closest_point(const Vector3& p_point);
Vector3 get_closest_point_normal(const Vector3& p_point);
Navigation();
};
#endif // NAVIGATION_H
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