Navigation.h

#pragma once
 
#include <AiPlugin/Navigation/NavMesh.h>
#include <DetourNavMeshQuery.h>
#include <DetourPathCorridor.h>
#include <Foundation/Math/Angle.h>
#include <Foundation/Math/Vec3.h>
 
class plDebugRendererContext;
 
struct plAiSteeringInfo
{
  plVec3 m_vNextWaypoint;
  float m_fDistanceToWaypoint = 0;
  float m_fArrivalDistance = plMath::HighValue<float>();
  plVec2 m_vDirectionTowardsWaypoint = plVec2::MakeZero();
  plAngle m_AbsRotationTowardsWaypoint = plAngle::MakeZero();
  plAngle m_MaxAbsRotationAfterWaypoint = plAngle::MakeZero();
  // float m_fWaypointCorridorWidth = plMath::HighValue<float>();
};
 
class PL_AIPLUGIN_DLL plAiNavigation final
{
public:
  plAiNavigation();
  ~plAiNavigation();
 
  enum class State
  {
    Idle,
    StartNewSearch,
    InvalidCurrentPosition,
    InvalidTargetPosition,
    NoPathFound,
    PartialPathFound,
    FullPathFound,
    Searching,
  };
 
  static constexpr plUInt32 MaxPathNodes = 64;
  static constexpr plUInt32 MaxSearchNodes = MaxPathNodes * 8;
 
  State GetState() const { return m_State; }
 
  void Update();
 
  void CancelNavigation();
 
  void SetCurrentPosition(const plVec3& vPosition);
  void SetTargetPosition(const plVec3& vPosition);
  const plVec3& GetTargetPosition() const;
  void SetNavmesh(plAiNavMesh* pNavmesh);
  void SetQueryFilter(const dtQueryFilter& filter);
 
  void ComputeAllWaypoints(plDynamicArray<plVec3>& out_waypoints) const;
 
  void DebugDrawPathCorridor(const plDebugRendererContext& context, plColor tilesColor, float fPolyRenderOffsetZ = 0.1f);
  void DebugDrawPathLine(const plDebugRendererContext& context, plColor straightLineColor, float fLineRenderOffsetZ = 0.2f);
  void DebugDrawState(const plDebugRendererContext& context, const plVec3& vPosition) const;
 
 
  float GetCurrentElevation() const;
 
  void ComputeSteeringInfo(plAiSteeringInfo& out_info, const plVec2& vForwardDir, float fMaxLookAhead = 5.0f);
 
  // in what radius / up / down distance navigation mesh polygons should be searched around a given position
  // this should relate to the character size, ie at least the character radius
  // otherwise a character that barely left the navmesh area may not know where it is, anymore
  float m_fPolySearchRadius = 0.5f;
  float m_fPolySearchUp = 1.5f;
  float m_fPolySearchDown = 1.5f;
 
  // when a path search is started, all tiles in a rectangle around the start and end point are loaded first
  // this is the amount to increase that rectangle size, to overestimate which sectors may be needed during the path search
  constexpr static float c_fPathSearchBoundary = 10.0f;
 
 
private:
  State m_State = State::Idle;
 
  plVec3 m_vCurrentPosition = plVec3::MakeZero();
  plVec3 m_vTargetPosition = plVec3::MakeZero();
 
  plUInt8 m_uiCurrentPositionChangedBit : 1;
  plUInt8 m_uiTargetPositionChangedBit : 1;
  plUInt8 m_uiEnvironmentChangedBit : 1;
  plUInt8 m_uiReinitQueryBit : 1;
 
  plAiNavMesh* m_pNavmesh = nullptr;
  dtNavMeshQuery m_Query;
  const dtQueryFilter* m_pFilter = nullptr;
  dtPathCorridor m_PathCorridor;
 
  dtPolyRef m_PathSearchTargetPoly;
  plVec3 m_vPathSearchTargetPos;
 
  plUInt8 m_uiOptimizeTopologyCounter = 0;
  plUInt8 m_uiOptimizeVisibilityCounter = 0;
 
  bool UpdatePathSearch();
};
 
struct PL_AIPLUGIN_DLL plAiNavmeshRaycastHit
{
  plVec3 m_vHitPosition;
  float m_fHitDistanceNormalized;
  float m_fHitDistance;
};
 
class PL_AIPLUGIN_DLL plAiNavmeshQuery
{
public:
  plAiNavmeshQuery();
 
  void SetNavmesh(plAiNavMesh* pNavmesh);
  void SetQueryFilter(const dtQueryFilter& filter);
 
  bool PrepareQueryArea(const plVec3& vCenter, float fRadius);
  bool Raycast(const plVec3& vStart, const plVec3& vDir, float fDistance, plAiNavmeshRaycastHit& out_raycastHit);
 
private:
  plUInt8 m_uiReinitQueryBit : 1;
 
  plAiNavMesh* m_pNavmesh = nullptr;
  dtNavMeshQuery m_Query;
  const dtQueryFilter* m_pFilter = nullptr;
};