/*
 *
 *  Singe 3
 *  Copyright (C) 2006-2026 Scott Duensing <scott@kangaroopunch.com>
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 3
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
 * 02110-1301, USA.
 *
 */

// Singe - Navigation:  walkable meshes baked from scene geometry (Recast), paths across them
// (Detour) and agents that follow those paths without walking through each other (DetourCrowd),
// behind a C interface.  Positions are world units; nodes are scene nodes.

#ifndef NAV_H
#define NAV_H

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include "math3d.h"

#ifdef __cplusplus
extern "C" {
#endif

#define NAV_NO_HANDLE         -1
#define NAV_MAX_PATH          256   // Corners navPath can hand back, and polygons a query may cross
#define NAV_ARRIVAL_QUEUE     64    // Arrivals held for navPollArrived between frames
#define NAV_MAX_CROWD_AGENTS  128   // Agents one mesh's crowd can steer

void    navInit(void);
int32_t navPollArrived(int32_t *agents, int32_t max);             // Agents that reached their targets since last asked
void    navQuit(void);
void    navUpdate(bool advance);                                  // Once per frame:  moves the agents

bool    navAddNode(int32_t nav, int32_t node);                    // The node's mesh and its children's, where they stand now
bool    navBuild(int32_t nav);                                    // Bakes what was added; may take a moment
bool    navDelete(int32_t nav);
int32_t navGetPolygons(int32_t nav, Vec3T *vertices, int32_t max);   // Triangles of the baked mesh (3 per), for debug drawing
int32_t navLoad(const void *data, size_t size, float agentRadius, float agentHeight);
bool    navNearest(int32_t nav, Vec3T point, Vec3T *out);         // The closest point on the mesh
int32_t navNew(float agentRadius, float agentHeight, float maxSlopeDegrees, float maxStep);
int32_t navPath(int32_t nav, Vec3T from, Vec3T to, Vec3T *points, int32_t max);   // Corners of the path, or -1 for none
bool    navRandomPoint(int32_t nav, Vec3T *out);
bool    navRaycast(int32_t nav, Vec3T from, Vec3T to, Vec3T *hit);   // true when the walk from from to to is blocked, hit where
bool    navSave(int32_t nav, const char *path);                   // The baked mesh, to reload with navLoad
bool    navValid(int32_t nav);

bool    navAgentDelete(int32_t agent);
int32_t navAgentGetNode(int32_t agent);
bool    navAgentGetVelocity(int32_t agent, Vec3T *velocity);
bool    navAgentIsArrived(int32_t agent);
bool    navAgentMoveTo(int32_t agent, Vec3T target);
int32_t navAgentNew(int32_t nav, int32_t node, float radius, float height, float speed);
bool    navAgentSetPlayer(int32_t agent, bool player);            // Steer a player controller on the node instead of placing it
bool    navAgentStop(int32_t agent);
bool    navAgentValid(int32_t agent);

#ifdef __cplusplus
}
#endif

#endif