detour.h

#ifndef __NMS_DETOUR_H__
#define __NMS_DETOUR_H__

#include <cstdint>
#include <unordered_map>
#include <mutex>

class dtNavMesh;
class dtNavMeshQuery;
class dtQueryFilter;
class dtTileCache;

namespace NavMeshScene {

    class LinearAllocator;
    class FastLZCompressor;
    class MeshProcess;

    class Detour {
    public:

        Detour(bool bStaticMesh = true, uint16_t maxNode = 2048);
        virtual ~Detour();

        int Load(const char* path);

        bool TryMove(
            uint64_t startPolyRef,
            float startPos[3],
            float endPos[3],
            float halfExtents[3],
            const dtQueryFilter& filter,
            uint64_t& realEndPolyRef,
            float realEndPos[3],
            bool& bHit);

        bool GetPoly(
            float pos[3],
            float halfExtents[3],
            const dtQueryFilter& filter,
            uint64_t& nearestRef,
            float nearestPt[3]);

        bool Raycast(
            uint64_t startPolyRef,
            float startPos[3],
            float endPos[3],
            const dtQueryFilter &filter,
            bool& bHit,
            float hitPos[3]);

        bool RandomPosition(
            float halfExtents[3],
            const dtQueryFilter* filter,
            float(*frand)(),
            uint64_t& randomRef,
            float randomPt[3]);

        inline void SetHeightMode(int heightMode) { mHeightMode = heightMode; }
        unsigned int AddCapsuleObstacle(const float pos[3], const float radius, const float height);
        unsigned int AddBoxObstacle(const float bmin[3], const float bmax[3]);
        unsigned int AddBoxObstacle(const float center[3], const float halfExtents[3], const float yRadians);
        void RemoveObstacle(unsigned int obstacleId);

        float* GetBoundsMin() { return mBoundsMin; }
        float* GetBoundsMax() { return mBoundsMax; }

    public:
        inline dtTileCache* GetTileCache() { return mTileCache; }
        inline dtNavMesh* GetMesh() { return mMesh; }

    protected:
        dtNavMesh* loadStaticMesh(const char*path, int& errCode);
        dtNavMesh* loadDynamicMesh(const char*path, int& errCode);
        dtNavMesh* createStaticMesh(const char*path, int& errCode);

        bool mbStaticMesh;
        int mMaxNode;
        dtNavMesh* mMesh;
        dtTileCache* mTileCache;
        dtNavMeshQuery* mQuery;

        float mBoundsMin[3];
        float mBoundsMax[3];

        int mHeightMode;
        LinearAllocator* mTalloc;
        FastLZCompressor* mTcomp;
        MeshProcess* mTmproc;
        dtNavMeshQuery* mQueryForHeightMode2;
        static std::unordered_map<std::string, dtNavMesh*> mStaticMesh;
        static std::mutex mMutex;
    };

}

#endif