NavMesh.h

#pragma once
 
#include <AiPlugin/Navigation/NavigationConfig.h>
#include <DetourNavMesh.h>
#include <DetourNavMeshQuery.h>
#include <Foundation/Containers/Deque.h>
#include <Foundation/Containers/DynamicArray.h>
#include <Foundation/Containers/Map.h>
#include <Foundation/Math/Vec2.h>
#include <Foundation/Types/RefCounted.h>
#include <Foundation/Types/SharedPtr.h>
#include <Recast.h>
#include <RendererCore/Debug/DebugRendererContext.h>
 
using plDataBuffer = plDynamicArray<plUInt8>;
 
class plNavmeshGeoWorldModuleInterface;
class dtNavMesh;
 
struct plAiNavMeshTriangle final
{
  PL_DECLARE_POD_TYPE();
 
  plAiNavMeshTriangle() = default;
  plAiNavMeshTriangle(plInt32 a, plInt32 b, plInt32 c)
  {
    m_VertexIdx[0] = a;
    m_VertexIdx[1] = b;
    m_VertexIdx[2] = c;
  }
 
  plInt32 m_VertexIdx[3];
};
 
struct plAiNavMeshInputGeo final
{
  plDynamicArray<plVec3> m_Vertices;
  plDynamicArray<plAiNavMeshTriangle> m_Triangles;
  plDynamicArray<plUInt8> m_TriangleAreaIDs;
};
 
struct plAiNavMeshSector final
{
  plAiNavMeshSector();
  ~plAiNavMeshSector();
 
  plUInt8 m_FlagRequested : 1;
  plUInt8 m_FlagInvalidate : 1;
  plUInt8 m_FlagUpdateAvailable : 1;
  plUInt8 m_FlagUsable : 1;
 
  plDataBuffer m_NavmeshDataCur;
  plDataBuffer m_NavmeshDataNew;
  dtTileRef m_TileRef = 0;
};
 
class PL_AIPLUGIN_DLL plAiNavMesh final
{
  PL_DISALLOW_COPY_AND_ASSIGN(plAiNavMesh);
 
public:
  plAiNavMesh(plUInt32 uiNumSectorsX, plUInt32 uiNumSectorsY, float fSectorMetersXY, const plAiNavmeshConfig& navmeshConfig);
  ~plAiNavMesh();
 
  using SectorID = plUInt32;
 
  plVec2I32 CalculateSectorCoord(float fPositionX, float fPositionY) const;
  plVec2 GetSectorPositionOffset(plVec2I32 vCoord) const;
  plBoundingBox GetSectorBounds(plVec2I32 vCoord, float fMinZ = 0.0f, float fMaxZ = 1.0f) const;
  float GetSectorSize() const { return m_fSectorMetersXY; }
  SectorID CalculateSectorID(plVec2I32 vCoord) const { return vCoord.y * m_uiNumSectorsX + vCoord.x; }
  plVec2I32 CalculateSectorCoord(SectorID sectorID) const;
 
  const plAiNavMeshSector* GetSector(SectorID sectorID) const;
 
  bool RequestSector(SectorID sectorID);
 
  bool RequestSector(const plVec2& vCenter, const plVec2& vHalfExtents);
 
  void InvalidateSector(SectorID sectorID, bool bRebuildAsSoonAsPossible);
 
  void InvalidateSector(const plVec2& vCenter, const plVec2& vHalfExtents, bool bRebuildAsSoonAsPossible);
 
  void FinalizeSectorUpdates();
 
  SectorID RetrieveRequestedSector();
  void BuildSector(SectorID sectorID, const plNavmeshGeoWorldModuleInterface* pGeo);
 
  const dtNavMesh* GetDetourNavMesh() const { return m_pNavMesh; }
 
  void DebugDraw(plDebugRendererContext context, const plAiNavigationConfig& config);
 
  const plAiNavmeshConfig& GetConfig() const { return m_NavmeshConfig; }
 
private:
  void DebugDrawSector(plDebugRendererContext context, const plAiNavigationConfig& config, int iTileIdx);
 
  plAiNavmeshConfig m_NavmeshConfig;
 
  plUInt32 m_uiNumSectorsX = 0;
  plUInt32 m_uiNumSectorsY = 0;
  float m_fSectorMetersXY = 0;
  float m_fInvSectorMetersXY = 0;
 
  dtNavMesh* m_pNavMesh = nullptr;
  plMap<SectorID, plAiNavMeshSector> m_Sectors;
  plDeque<SectorID> m_RequestedSectors;
 
  plMutex m_Mutex;
  plDynamicArray<SectorID> m_UpdatingSectors;
 
  plDynamicArray<SectorID> m_UnloadingSectors;
};