NavMesh.h

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/*
   Copyright (c) 2018 DIVIDE-Studio
   Copyright (c) 2009 Ionut Cava
 
   This file is part of DIVIDE Framework.
 
   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.
 
 */
 
//
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty.  In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
//    claim that you wrote the original software. If you use this software
//    in a product, an acknowledgment in the product documentation would be
//    appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
//    misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
// Changes, Additions and Refactoring : Copyright (c) 2010-2011 Lethal Concept,
// LLC
// Changes, Additions and Refactoring Author: Simon Wittenberg (MD)
// The above license is fully inherited.
//
// T3D 1.1 NavMesh class and supporting methods.
// Daniel Buckmaster, 2011
// With huge thanks to:
//    Lethal Concept http://www.lethalconcept.com/
//    Mikko Mononen http://code.google.com/p/recastnavigation/
//
 
#pragma once
#ifndef DVD_NAVIGATION_MESH_H_
#define DVD_NAVIGATION_MESH_H_
 
#include "Platform/Threading/Headers/Task.h"
#include "Core/Headers/PlatformContextComponent.h"
#include "NavMeshConfig.h"
#include "NavMeshLoader.h"
#include "NavMeshContext.h"
 
namespace Divide {
 
namespace GFX {
    class CommandBuffer;
}
 
class PlatformContext;
 
FWD_DECLARE_MANAGED_CLASS(SceneGraphNode);
 
namespace AI {
namespace Navigation {
 
constexpr I32 NAVMESHSET_MAGIC =
    'M' << 24 | 'S' << 16 | 'E' << 8 | 'T';  //'MSET';
constexpr I32 NAVMESHSET_VERSION = 1;
 
struct NavMeshSetHeader {
    I32 magic;
    I32 version;
    I32 numTiles;
    F32 extents[3];
    dtNavMeshParams params;
};
 
struct NavMeshTileHeader {
    dtTileRef tileRef;
    I32 dataSize;
};
 
class NavMeshDebugDraw;
class DivideDtCrowd;
class DivideRecast;
 
 
namespace Attorney {
    class NavigationMeshCrowd;
}
 
class NavigationMesh : public GUIDWrapper, public PlatformContextComponent /*,public SceneObject */ {
    friend class Attorney::NavigationMeshCrowd;
 
   protected:
    enum class RenderMode : U8 {
        RENDER_NAVMESH = 0,
        RENDER_CONTOURS,
        RENDER_POLYMESH,
        RENDER_DETAILMESH,
        RENDER_PORTALS,
    };
 
   public:
    using CreationCallback = DELEGATE<void, NavigationMesh*>;
 
    void setFileName(const Str<256>& fileName)
    {
        _fileName.append(fileName);
    }
    bool build(SceneGraphNode* sgn, CreationCallback creationCompleteCallback, bool threaded = true);
    bool save(const SceneGraphNode* sgn);
    bool load(const SceneGraphNode* sgn);
    bool unload();
    void draw(bool force, GFX::CommandBuffer& bufferInOut, GFX::MemoryBarrierCommand& memCmdInOut );
    void debugDraw(const bool state) noexcept { _debugDraw = state; }
    bool debugDraw() const noexcept { return _debugDraw; }
 
    void setRenderMode(const RenderMode& mode) noexcept { _renderMode = mode; }
    void setRenderConnections(const bool state) noexcept { _renderConnections = state; }
 
    const vec3<F32>& getExtents() const noexcept { return _extents; }
 
    const dtNavMeshQuery& getNavQuery() const noexcept { return *_navQuery; }
 
    bool getRandomPosition(vec3<F32>& result) const;
 
    bool getClosestPosition(const vec3<F32>& destination,
                            const vec3<F32>& extents, F32 delta,
                            vec3<F32>& result) const;
 
    bool getRandomPositionInCircle(const vec3<F32>& center, F32 radius,
                                   const vec3<F32>& extents, vec3<F32>& result,
                                   U8 maxIters = 15) const;
 
    NavigationMesh(PlatformContext& context, DivideRecast& recastInterface, Scene& parentScene);
    ~NavigationMesh() override;
 
   private:
    bool buildThreaded();
    void stopThreadedBuild();
    bool buildProcess();
    void buildInternal();
    bool generateMesh();
    bool createPolyMesh(const rcConfig& cfg, const NavModelData& data, rcContextDivide* ctx);
    bool createNavigationMesh(dtNavMeshCreateParams& params);
    bool loadConfigFromFile();
    bool createNavigationQuery(U32 maxNodes = 2048);
    static Str<256> GenerateMeshName(const SceneGraphNode* sgn);
   private:
    Scene& _parentScene;
    bool _saveIntermediates = false;
    NavigationMeshConfig _configParams;
    bool _buildThreaded;
    rcHeightfield* _heightField;
    rcCompactHeightfield* _compactHeightField;
    rcContourSet* _countourSet;
    rcPolyMesh* _polyMesh;
    rcPolyMeshDetail* _polyMeshDetail;
    dtNavMesh* _navMesh;
    dtNavMesh* _tempNavMesh;
    void freeIntermediates(bool freeAll);
 
    I64 _buildJobGUID = -1;
    Mutex _navigationMeshLock;
    std::atomic_bool _building;
    CreationCallback _loadCompleteClbk;
    Str<256> _fileName;
    ResourcePath _filePath;
    string _configFile;
    vec3<F32> _extents;
    dtNavMeshQuery* _navQuery;
    SceneGraphNode* _sgn;
    std::atomic_bool _debugDraw;
    bool _renderConnections;
    RenderMode _renderMode;
    std::unique_ptr<NavMeshDebugDraw> _debugDrawInterface;
 
    Task* _buildTask = nullptr;
    DivideRecast& _recastInterface;
};
 
namespace Attorney {
class NavigationMeshCrowd {
    static dtNavMesh* getNavigationMesh(NavigationMesh& navMesh) noexcept {
        return navMesh._navMesh;
    }
    static const NavigationMeshConfig& getConfigParams(const NavigationMesh& navMesh) noexcept {
        return navMesh._configParams;
    }
    friend class Navigation::DivideDtCrowd;
};
}  // namespace Attorney
}  // namespace Navigation
}  // namespace AI
}  // namespace Divide
 
#endif //DVD_NAVIGATION_MESH_H_