DetourPathCorridor.h

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//
// 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.
//

#ifndef DETOUTPATHCORRIDOR_H
#define DETOUTPATHCORRIDOR_H

#include "DetourNavMeshQuery.h"

class dtPathCorridor
{
        float m_pos[3];
        float m_target[3];
        
        dtPolyRef* m_path;
        int m_npath;
        int m_maxPath;
        
public:
        dtPathCorridor();
        ~dtPathCorridor();
        
        bool init(const int maxPath);
        
        void reset(dtPolyRef ref, const float* pos);
        
        int findCorners(float* cornerVerts, unsigned char* cornerFlags,
                                        dtPolyRef* cornerPolys, const int maxCorners,
                                        dtNavMeshQuery* navquery, const dtQueryFilter* filter);
        
        void optimizePathVisibility(const float* next, const float pathOptimizationRange,
                                                                dtNavMeshQuery* navquery, const dtQueryFilter* filter);
        
        bool optimizePathTopology(dtNavMeshQuery* navquery, const dtQueryFilter* filter);
        
        bool moveOverOffmeshConnection(dtPolyRef offMeshConRef, dtPolyRef* refs,
                                                                   float* startPos, float* endPos,
                                                                   dtNavMeshQuery* navquery);

        bool fixPathStart(dtPolyRef safeRef, const float* safePos);

        bool trimInvalidPath(dtPolyRef safeRef, const float* safePos,
                                                 dtNavMeshQuery* navquery, const dtQueryFilter* filter);
        
        bool isValid(const int maxLookAhead, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
        
        void movePosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);

        void moveTargetPosition(const float* npos, dtNavMeshQuery* navquery, const dtQueryFilter* filter);
        
        void setCorridor(const float* target, const dtPolyRef* polys, const int npath);
        
        inline const float* getPos() const { return m_pos; }

        inline const float* getTarget() const { return m_target; }
        
        inline dtPolyRef getFirstPoly() const { return m_npath ? m_path[0] : 0; }

        inline dtPolyRef getLastPoly() const { return m_npath ? m_path[m_npath-1] : 0; }
        
        inline const dtPolyRef* getPath() const { return m_path; }

        inline int getPathCount() const { return m_npath; }     
};

int dtMergeCorridorStartMoved(dtPolyRef* path, const int npath, const int maxPath,
                                                          const dtPolyRef* visited, const int nvisited);

int dtMergeCorridorEndMoved(dtPolyRef* path, const int npath, const int maxPath,
                                                        const dtPolyRef* visited, const int nvisited);

int dtMergeCorridorStartShortcut(dtPolyRef* path, const int npath, const int maxPath,
                                                                 const dtPolyRef* visited, const int nvisited);

#endif // DETOUTPATHCORRIDOR_H