76 lines
3.4 KiB
C
76 lines
3.4 KiB
C
/*
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*
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* Singe 3
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* Copyright (C) 2006-2026 Scott Duensing <scott@kangaroopunch.com>
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 3
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
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* 02110-1301, USA.
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*
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*/
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// Singe - Navigation: walkable meshes baked from scene geometry (Recast), paths across them
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// (Detour) and agents that follow those paths without walking through each other (DetourCrowd),
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// behind a C interface. Positions are world units; nodes are scene nodes.
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#ifndef NAV_H
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#define NAV_H
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdint.h>
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#include "math3d.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define NAV_NO_HANDLE -1
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#define NAV_MAX_PATH 256 // Corners navPath can hand back, and polygons a query may cross
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#define NAV_ARRIVAL_QUEUE 64 // Arrivals held for navPollArrived between frames
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#define NAV_MAX_CROWD_AGENTS 128 // Agents one mesh's crowd can steer
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void navInit(void);
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int32_t navPollArrived(int32_t *agents, int32_t max); // Agents that reached their targets since last asked
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void navQuit(void);
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void navUpdate(bool advance); // Once per frame: moves the agents
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bool navAddNode(int32_t nav, int32_t node); // The node's mesh and its children's, where they stand now
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bool navBuild(int32_t nav); // Bakes what was added; may take a moment
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bool navDelete(int32_t nav);
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int32_t navGetPolygons(int32_t nav, Vec3T *vertices, int32_t max); // Triangles of the baked mesh (3 per), for debug drawing
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int32_t navLoad(const void *data, size_t size, float agentRadius, float agentHeight);
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bool navNearest(int32_t nav, Vec3T point, Vec3T *out); // The closest point on the mesh
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int32_t navNew(float agentRadius, float agentHeight, float maxSlopeDegrees, float maxStep);
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int32_t navPath(int32_t nav, Vec3T from, Vec3T to, Vec3T *points, int32_t max); // Corners of the path, or -1 for none
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bool navRandomPoint(int32_t nav, Vec3T *out);
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bool navRaycast(int32_t nav, Vec3T from, Vec3T to, Vec3T *hit); // true when the walk from from to to is blocked, hit where
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bool navSave(int32_t nav, const char *path); // The baked mesh, to reload with navLoad
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bool navValid(int32_t nav);
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bool navAgentDelete(int32_t agent);
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int32_t navAgentGetNode(int32_t agent);
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bool navAgentGetVelocity(int32_t agent, Vec3T *velocity);
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bool navAgentIsArrived(int32_t agent);
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bool navAgentMoveTo(int32_t agent, Vec3T target);
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int32_t navAgentNew(int32_t nav, int32_t node, float radius, float height, float speed);
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bool navAgentSetPlayer(int32_t agent, bool player); // Steer a player controller on the node instead of placing it
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bool navAgentStop(int32_t agent);
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bool navAgentValid(int32_t agent);
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#ifdef __cplusplus
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}
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#endif
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#endif
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