navigation_recast_path.h

/*
===========================================================================
Copyright (C) 2025 the OpenMoHAA team
 
This file is part of OpenMoHAA source code.
 
OpenMoHAA source code 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 2 of the License,
or (at your option) any later version.
 
OpenMoHAA source code 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 OpenMoHAA source code; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
===========================================================================
*/
 
#pragma once
 
#include "navigation_path.h"
 
class dtNavMesh;
class dtPathCorridor;
class NavigationMap;
struct DetourData;

class RecastPather : public IPather
{
public:
    RecastPather();
    ~RecastPather();
 
    virtual void FindPath(const Vector& start, const Vector& end, const PathSearchParameter& parameters) override;
    virtual void
    FindPathNear(const Vector& start, const Vector& end, float radius, const PathSearchParameter& parameters) override;
    virtual void FindPathAway(
        const Vector&              start,
        const Vector&              avoid,
        const Vector&              preferredDir,
        float                      radius,
        const PathSearchParameter& parameters
    ) override;
    virtual bool TestPath(const Vector& start, const Vector& end, const PathSearchParameter& parameters) override;
 
    virtual void UpdatePos(const Vector& origin) override;
    virtual void Clear() override;
 
    virtual PathNav GetNode(unsigned int index) const override;
    virtual int     GetNodeCount() const override;
    virtual Vector  GetCurrentDelta() const override;
    virtual Vector  GetCurrentDirection() const override;
    virtual Vector  GetDestination() const override;
    virtual bool    HasReachedGoal(const Vector& origin) const override;
    virtual bool    IsQuerying() const override;
 
private:
    void ResetPosition(const Vector& origin);
 
private:
    DetourData *detourData;
    bool        moving;
    Vector      lastorg;
    Vector      lastValidOrg;
    Vector      currentNodePos;
    int         lastCheckTime;
    int         traversingOffMeshLink;
};
 
class RecastPathMaster
{
public:
    void PostLoadNavigation(const NavigationMap& map);
    void ClearNavigation();
    void Update();
};
 
extern RecastPathMaster pathMaster;