knavmesh.h

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#ifndef KNAVMESH_H
#define KNAVMESH_H
 
#include "kexport.h"
#include "kdatatype.h"
 
#include <vector>
 
namespace kemena
{
    // -------------------------------------------------------------------------
    // Partition algorithm used during Recast region building
    // -------------------------------------------------------------------------

    enum class kNavPartitionType
    {
        Watershed, 
        Monotone,  
        Layers,    
    };
 
    // -------------------------------------------------------------------------
    // Build configuration
    // -------------------------------------------------------------------------

    struct kNavBuildConfig
    {
        // Voxel grid
        float cellSize             = 0.3f;  
        float cellHeight           = 0.2f;  
 
        // Agent dimensions
        float agentHeight          = 2.0f;  
        float agentRadius          = 0.6f;  
        float agentMaxClimb        = 0.9f;  
        float agentMaxSlope        = 45.0f; 
 
        // Region merging
        float regionMinSize        = 8.0f;  
        float regionMergeSize      = 20.0f; 
 
        // Edge simplification
        float edgeMaxLen           = 12.0f; 
        float edgeMaxError         = 1.3f;  
        int   maxVertsPerPoly      = 6;     
 
        // Detail mesh
        float detailSampleDist     = 6.0f; 
        float detailSampleMaxError = 1.0f; 
 
        kNavPartitionType partition = kNavPartitionType::Watershed; 

        float tileSize = 48.0f;
    };
 
    // -------------------------------------------------------------------------
    // Off-mesh connection (navmesh link)
    // -------------------------------------------------------------------------

    struct kNavLink
    {
        kVec3 start;                
        kVec3 end;                  
        float radius        = 0.6f; 
        bool  bidirectional = true; 
    };
 
    // -------------------------------------------------------------------------
    // Editor-authored navigation surface descriptor
    // -------------------------------------------------------------------------

    struct KEMENA3D_API kNavMeshDesc
    {
        kNavBuildConfig config;                       
        bool            useArea  = false;             
        kVec3           areaSize = kVec3(20.0f, 10.0f, 20.0f); 
    };
 
    // -------------------------------------------------------------------------
    // kNavMesh
    // -------------------------------------------------------------------------

    class KEMENA3D_API kNavMesh
    {
    public:
        kNavMesh();
        ~kNavMesh();
 
        // --- Baking ----------------------------------------------------------

        bool bake(const std::vector<float>      &verts,
                  const std::vector<int>         &tris,
                  const kNavBuildConfig          &config = {},
                  const std::vector<kNavLink>    &links  = {});

        void clear();

        bool isBaked() const;
 
        // --- Pathfinding -----------------------------------------------------

        std::vector<kVec3> findPath(const kVec3 &start, const kVec3 &end,
                                    int maxPoints = 256) const;

        kVec3 findNearestPoint(const kVec3 &pos,
                               const kVec3 &extents = kVec3(2.f, 4.f, 2.f)) const;

        bool isPointOnMesh(const kVec3 &pos,
                           const kVec3 &extents = kVec3(2.f, 4.f, 2.f)) const;

        void getDebugLines(std::vector<kVec3> &outSegments) const;
 
        // --- Internal (used by kNavManager) ----------------------------------

        void *getNavMesh()      const;
        void *getNavMeshQuery() const;
        void *getTileCache()    const;
 
        struct Impl; 
 
    protected:
    private:
        Impl *m_impl; 
    };
 
} // namespace kemena
 
#endif // KNAVMESH_H