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77 lines
3.7 KiB
C++
77 lines
3.7 KiB
C++
#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORUTILS_H
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#define OPENMW_COMPONENTS_DETOURNAVIGATOR_NAVIGATORUTILS_H
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#include "findsmoothpath.hpp"
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#include "flags.hpp"
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#include "navigator.hpp"
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#include "navmeshcacheitem.hpp"
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#include "settings.hpp"
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#include <components/misc/guarded.hpp>
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#include <iterator>
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#include <optional>
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namespace DetourNavigator
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{
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/**
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* @brief findPath fills output iterator with points of scene surfaces to be used for actor to walk through.
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* @param agentBounds defines which navmesh to use.
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* @param start path from given point.
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* @param end path at given point.
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* @param includeFlags setup allowed navmesh areas.
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* @param out the beginning of the destination range.
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* @param endTolerance defines maximum allowed distance to end path point in addition to agentHalfExtents
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* @return Status.
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* Equal to out if no path is found.
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*/
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inline Status findPath(const Navigator& navigator, const AgentBounds& agentBounds, const osg::Vec3f& start,
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const osg::Vec3f& end, const Flags includeFlags, const AreaCosts& areaCosts, float endTolerance,
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std::output_iterator<osg::Vec3f> auto out)
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{
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const auto navMesh = navigator.getNavMesh(agentBounds);
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if (navMesh == nullptr)
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return Status::NavMeshNotFound;
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const Settings& settings = navigator.getSettings();
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FromNavMeshCoordinatesIterator outTransform(out, settings.mRecast);
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const auto locked = navMesh->lock();
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return findSmoothPath(locked->getQuery(), toNavMeshCoordinates(settings.mRecast, agentBounds.mHalfExtents),
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toNavMeshCoordinates(settings.mRecast, start), toNavMeshCoordinates(settings.mRecast, end), includeFlags,
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areaCosts, settings.mDetour, endTolerance, outTransform);
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}
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/**
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* @brief findRandomPointAroundCircle returns random location on navmesh within the reach of specified location.
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* @param agentBounds defines which navmesh to use.
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* @param start is a position where the search starts.
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* @param maxRadius limit maximum distance from start.
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* @param includeFlags setup allowed navmesh areas.
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* @return not empty optional with position if point is found and empty optional if point is not found.
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*/
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std::optional<osg::Vec3f> findRandomPointAroundCircle(const Navigator& navigator, const AgentBounds& agentBounds,
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const osg::Vec3f& start, const float maxRadius, const Flags includeFlags, float (*prng)());
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/**
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* @brief raycast finds farest navmesh point from start on a line from start to end that has path from start.
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* @param agentBounds defines which navmesh to use.
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* @param start of the line
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* @param end of the line
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* @param includeFlags setup allowed navmesh areas.
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* @return not empty optional with position if point is found and empty optional if point is not found.
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*/
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std::optional<osg::Vec3f> raycast(const Navigator& navigator, const AgentBounds& agentBounds,
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const osg::Vec3f& start, const osg::Vec3f& end, const Flags includeFlags);
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/**
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* @brief findNearestNavMeshPosition finds nearest position on navmesh within given area having given flags.
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* @param agentBounds defines which navmesh to use.
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* @param position is a center of the search area.
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* @param searchAreaHalfExtents defines AABB like area around given postion.
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* @param includeFlags setup allowed navmesh areas.
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* @return not empty optional with position if position is found and empty optional if position is not found.
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*/
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std::optional<osg::Vec3f> findNearestNavMeshPosition(const Navigator& navigator, const AgentBounds& agentBounds,
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const osg::Vec3f& position, const osg::Vec3f& searchAreaHalfExtents, const Flags includeFlags);
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}
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#endif
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