NavMesher.h

#ifndef NavMesher_HEADER_DEFINED
#define NavMesher_HEADER_DEFINED

#include <d3dx9.h>

#include "Recast/Recast.h"
#include "Detour/DetourNavMeshQuery.h"
#include "Detour/DetourNavMeshBuilder.h"

/// These are just sample areas to use consistent values across the samples.
/// The use should specify these base on his needs.
enum SamplePolyAreas
{
    SAMPLE_POLYAREA_GROUND,
    SAMPLE_POLYAREA_WATER,
    SAMPLE_POLYAREA_ROAD,
    SAMPLE_POLYAREA_DOOR,
    SAMPLE_POLYAREA_GRASS,
    SAMPLE_POLYAREA_JUMP,
};
enum SamplePolyFlags
{
    SAMPLE_POLYFLAGS_WALK = 0x01,       // Ability to walk (ground, grass, road)
    SAMPLE_POLYFLAGS_SWIM = 0x02,       // Ability to swim (water).
    SAMPLE_POLYFLAGS_DOOR = 0x04,       // Ability to move through doors.
    SAMPLE_POLYFLAGS_JUMP = 0x08,       // Ability to jump.
    SAMPLE_POLYFLAGS_DISABLED = 0x10,       // Disabled polygon
    SAMPLE_POLYFLAGS_ALL = 0xffff   // All abilities.
};

#define MAX_PATH_NODES 256

struct NavPath
{
    D3DXVECTOR3 pos[MAX_PATH_NODES];
    std::size_t count;
};

class NavMesher
{
private:

    struct BuildOpts
    {
        float m_cellSize;
        float m_cellHeight;
        float m_agentHeight;
        float m_agentRadius;
        float m_agentMaxClimb;
        float m_agentMaxSlope;
        float m_regionMinSize;
        float m_regionMergeSize;
        bool m_monotonePartitioning;
        float m_edgeMaxLen;
        float m_edgeMaxError;
        float m_vertsPerPoly;
        float m_detailSampleDist;
        float m_detailSampleMaxError;
    };

    BuildOpts         m_buildOpts;
    dtNavMeshQuery*   m_navQuery;
    dtNavMesh*        m_navMesh;

    D3DXVECTOR3       m_boundsMin;
    D3DXVECTOR3       m_boundsMax;

    LPD3DXMESH        m_dxDebugMesh; // built nav mesh as dx mesh so we can see it
    LPDIRECT3DDEVICE9 m_d3d9device;

    bool extractMeshData(LPD3DXMESH dxMesh, std::vector<float>& verts, std::vector<int>& tris);
    bool buildDebugMesh(rcPolyMeshDetail* dmesh);

public:

    NavMesher(LPDIRECT3DDEVICE9 device);
    ~NavMesher();

    bool buildNavMesh(LPD3DXMESH fromMesh);

    bool findPath(const D3DXVECTOR3& from, const D3DXVECTOR3& to, NavPath* path);
    LPD3DXMESH getDebugMesh() { return m_dxDebugMesh; }
    dtNavMesh* getNavMesh() { return m_navMesh; }
    dtNavMeshQuery* getNavQuery() { return m_navQuery; }
    const BuildOpts& getBuildOpts() { return m_buildOpts; }
    void togglePolyActiveState(float* p);
};

#endif