forked from bartvdbraak/blender
235 lines
9.2 KiB
C++
235 lines
9.2 KiB
C++
//
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// Copyright (c) 2009 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef DETOURSTATNAVMESH_H
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#define DETOURSTATNAVMESH_H
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// Reference to navigation polygon.
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typedef unsigned short dtStatPolyRef;
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// Maximum number of vertices per navigation polygon.
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static const int DT_STAT_VERTS_PER_POLYGON = 6;
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// Structure holding the navigation polygon data.
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struct dtStatPoly
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{
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unsigned short v[DT_STAT_VERTS_PER_POLYGON]; // Indices to vertices of the poly.
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dtStatPolyRef n[DT_STAT_VERTS_PER_POLYGON]; // Refs to neighbours of the poly.
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unsigned char nv; // Number of vertices.
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unsigned char flags; // Flags (not used).
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};
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struct dtStatPolyDetail
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{
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unsigned short vbase; // Offset to detail vertex array.
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unsigned short nverts; // Number of vertices in the detail mesh.
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unsigned short tbase; // Offset to detail triangle array.
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unsigned short ntris; // Number of triangles.
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};
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const int DT_STAT_NAVMESH_MAGIC = 'NAVM';
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const int DT_STAT_NAVMESH_VERSION = 3;
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struct dtStatBVNode
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{
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unsigned short bmin[3], bmax[3];
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int i;
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};
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struct dtStatNavMeshHeader
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{
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int magic;
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int version;
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int npolys;
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int nverts;
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int nnodes;
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int ndmeshes;
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int ndverts;
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int ndtris;
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float cs;
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float bmin[3], bmax[3];
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dtStatPoly* polys;
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float* verts;
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dtStatBVNode* bvtree;
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dtStatPolyDetail* dmeshes;
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float* dverts;
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unsigned char* dtris;
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};
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class dtStatNavMesh
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{
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public:
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dtStatNavMesh();
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~dtStatNavMesh();
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// Initializes the navmesh with data.
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// Params:
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// data - (in) Pointer to navmesh data.
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// dataSize - (in) size of the navmesh data.
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// ownsData - (in) Flag indicating if the navmesh should own and delete the data.
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bool init(unsigned char* data, int dataSize, bool ownsData);
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// Finds the nearest navigation polygon around the center location.
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// Params:
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// center - (in) The center of the search box.
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// extents - (in) The extents of the search box.
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// Returns: Reference identifier for the polygon, or 0 if no polygons found.
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dtStatPolyRef findNearestPoly(const float* center, const float* extents);
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// Returns polygons which touch the query box.
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// Params:
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// center - (in) the center of the search box.
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// extents - (in) the extents of the search box.
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// polys - (out) array holding the search result.
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// maxPolys - (in) The max number of polygons the polys array can hold.
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// Returns: Number of polygons in search result array.
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int queryPolygons(const float* center, const float* extents,
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dtStatPolyRef* polys, const int maxPolys);
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// Finds path from start polygon to end polygon.
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// If target polygon canno be reached through the navigation graph,
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// the last node on the array is nearest node to the end polygon.
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// Params:
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// startRef - (in) ref to path start polygon.
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// endRef - (in) ref to path end polygon.
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// path - (out) array holding the search result.
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// maxPathSize - (in) The max number of polygons the path array can hold.
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// Returns: Number of polygons in search result array.
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int findPath(dtStatPolyRef startRef, dtStatPolyRef endRef,
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const float* startPos, const float* endPos,
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dtStatPolyRef* path, const int maxPathSize);
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// Finds a straight path from start to end locations within the corridor
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// described by the path polygons.
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// Start and end locations will be clamped on the corridor.
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// Params:
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// startPos - (in) Path start location.
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// endPos - (in) Path end location.
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// path - (in) Array of connected polygons describing the corridor.
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// pathSize - (in) Number of polygons in path array.
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// straightPath - (out) Points describing the straight path.
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// maxStraightPathSize - (in) The max number of points the straight path array can hold.
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// Returns: Number of points in the path.
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int findStraightPath(const float* startPos, const float* endPos,
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const dtStatPolyRef* path, const int pathSize,
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float* straightPath, const int maxStraightPathSize);
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// Finds intersection againts walls starting from start pos.
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// Params:
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// startRef - (in) ref to the polygon where the start lies.
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// startPos - (in) start position of the query.
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// endPos - (in) end position of the query.
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// t - (out) hit parameter along the segment, 0 if no hit.
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// endRef - (out) ref to the last polygon which was processed.
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// Returns: Number of polygons in path or 0 if failed.
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int raycast(dtStatPolyRef startRef, const float* startPos, const float* endPos,
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float& t, dtStatPolyRef* path, const int pathSize);
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// Returns distance to nearest wall from the specified location.
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// Params:
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// centerRef - (in) ref to the polygon where the center lies.
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// centerPos - (in) center if the query circle.
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// maxRadius - (in) max search radius.
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// hitPos - (out) location of the nearest hit.
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// hitNormal - (out) normal of the nearest hit.
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// Returns: Distance to nearest wall from the test location.
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float findDistanceToWall(dtStatPolyRef centerRef, const float* centerPos, float maxRadius,
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float* hitPos, float* hitNormal);
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// Finds polygons found along the navigation graph which touch the specified circle.
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// Params:
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// centerRef - (in) ref to the polygon where the center lies.
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// centerPos - (in) center if the query circle
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// radius - (in) radius of the query circle
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// resultRef - (out, opt) refs to the polygons touched by the circle.
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// resultParent - (out, opt) parent of each result polygon.
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// resultCost - (out, opt) search cost at each result polygon.
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// maxResult - (int) maximum capacity of search results.
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// Returns: Number of results.
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int findPolysAround(dtStatPolyRef centerRef, const float* centerPos, float radius,
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dtStatPolyRef* resultRef, dtStatPolyRef* resultParent, float* resultCost,
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const int maxResult);
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// Returns closest point on navigation polygon.
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// Params:
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// ref - (in) ref to the polygon.
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// pos - (in) the point to check.
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// closest - (out) closest point.
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// Returns: true if closest point found.
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bool closestPointToPoly(dtStatPolyRef ref, const float* pos, float* closest) const;
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// Returns height of the polygon at specified location.
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// Params:
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// ref - (in) ref to the polygon.
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// pos - (in) the point where to locate the height.
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// height - (out) height at the location.
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// Returns: true if oer polygon.
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bool getPolyHeight(dtStatPolyRef ref, const float* pos, float* height) const;
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// Returns pointer to a polygon based on ref.
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const dtStatPoly* getPolyByRef(dtStatPolyRef ref) const;
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// Returns polygon index based on ref, or -1 if failed.
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int getPolyIndexByRef(dtStatPolyRef ref) const;
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// Returns number of navigation polygons.
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inline int getPolyCount() const { return m_header ? m_header->npolys : 0; }
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// Rerturns pointer to specified navigation polygon.
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inline const dtStatPoly* getPoly(int i) const { return &m_header->polys[i]; }
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// Returns number of vertices.
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inline int getVertexCount() const { return m_header ? m_header->nverts : 0; }
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// Returns pointer to specified vertex.
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inline const float* getVertex(int i) const { return &m_header->verts[i*3]; }
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// Returns number of navigation polygons details.
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inline int getPolyDetailCount() const { return m_header ? m_header->ndmeshes : 0; }
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// Rerturns pointer to specified navigation polygon detail.
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const dtStatPolyDetail* getPolyDetail(int i) const { return &m_header->dmeshes[i]; }
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// Returns pointer to specified vertex.
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inline const float* getDetailVertex(int i) const { return &m_header->dverts[i*3]; }
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// Returns pointer to specified vertex.
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inline const unsigned char* getDetailTri(int i) const { return &m_header->dtris[i*4]; }
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bool isInClosedList(dtStatPolyRef ref) const;
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int getMemUsed() const;
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inline unsigned char* getData() const { return m_data; }
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inline int getDataSize() const { return m_dataSize; }
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inline const dtStatNavMeshHeader* getHeader() const { return m_header; }
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inline const dtStatBVNode* getBvTreeNodes() const { return m_header ? m_header->bvtree : 0; }
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inline int getBvTreeNodeCount() const { return m_header ? m_header->nnodes : 0; }
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private:
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// Copies the locations of vertices of a polygon to an array.
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int getPolyVerts(dtStatPolyRef ref, float* verts) const;
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// Returns portal points between two polygons.
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bool getPortalPoints(dtStatPolyRef from, dtStatPolyRef to, float* left, float* right) const;
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// Returns edge mid point between two polygons.
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bool getEdgeMidPoint(dtStatPolyRef from, dtStatPolyRef to, float* mid) const;
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unsigned char* m_data;
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int m_dataSize;
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dtStatNavMeshHeader* m_header;
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class dtNodePool* m_nodePool;
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class dtNodeQueue* m_openList;
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};
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#endif // DETOURSTATNAVMESH_H
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