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/*
   Copyright (c) 2014 DIVIDE-Studio
   Copyright (c) 2009 Ionut Cava

   This file is part of DIVIDE Framework.

   Permission is hereby granted, free of charge, to any person obtaining a copy of this software
   and associated documentation files (the "Software"), to deal in the Software without restriction,
   including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
   and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so,
   subject to the following conditions:

   The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
   INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
   IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
   WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
   OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

 */

#ifndef _NAV_MESH_CONFIG_H_
#define _NAV_MESH_CONFIG_H_

#include "NavMeshDefines.h"
#include <math.h>

/*http://www.ogre3d.org/forums/viewtopic.php?f=11&t=69781&sid=2439989b4c0208780a353e4c90f9864b */

namespace Divide {
    namespace AI {

class NavigationMeshConfig {

public:
    NavigationMeshConfig() : _cellSize(0.3f),
                             _cellHeight(0.2f),
                             _tileSize(48),
                             _agentMaxSlope(20),
                             _agentHeight(2.5f),
                             _agentMaxClimb(1),
                             _agentRadius(0.5f),
                             _edgeMaxLen(12),
                             _edgeMaxError(1.3f),
                             _regionMinSize(50),
                             _regionMergeSize(20),
                             _vertsPerPoly(DT_VERTS_PER_POLYGON),   // (=6)
                             _detailSampleDist(6),
                             _detailSampleMaxError(1),
                             _keepInterResults(false)
    {
        eval();
    }

    /*****************
      * Rasterization
     *****************/
    inline void setCellSize(F32 cellSize) {
        this->_cellSize = cellSize;
        eval(); 
    }

    inline void setCellHeight(F32 cellHeight) { 
        this->_cellHeight = cellHeight;
        eval();
    }

    inline void setTileSize(I32 tileSize) {
        this->_tileSize = tileSize;
    }

    /*****************
      * Agent
     *****************/
    inline void setAgentHeight(F32 agentHeight) { 
        this->_agentHeight = agentHeight; 
        eval(); 
    }

    inline void setAgentRadius(F32 agentRadius) { 
        this->_agentRadius = agentRadius; 
        eval(); 
    }

    inline void setAgentMaxClimb(F32 agentMaxClimb) { 
        this->_agentMaxClimb = agentMaxClimb; 
        eval(); 
    }

    inline void setAgentMaxSlope(F32 agentMaxSlope) { 
        this->_agentMaxSlope = agentMaxSlope; 
    }

    /*****************
      * Region
     *****************/
    inline void setRegionMinSize(F32 regionMinSize) {
        this->_regionMinSize = regionMinSize; 
        eval(); 
    }

    inline void setRegionMergeSize(F32 regionMergeSize) { 
        this->_regionMergeSize = regionMergeSize; 
        eval(); 
    }

    /*****************
      * Polygonization
     *****************/
    inline void setEdgeMaxLen(F32 edgeMaxLength)  { 
        this->_edgeMaxLen = edgeMaxLength; 
        eval(); 
    }

    inline void setEdgeMaxError(F32 edgeMaxError) { 
        this->_edgeMaxError = edgeMaxError;
    }

    inline void setVertsPerPoly(I32 vertsPerPoly) { 
        this->_vertsPerPoly = vertsPerPoly; 
    }

    /*****************
      * Detail mesh
     *****************/
    inline void setDetailSampleDist(F32 detailSampleDist) {
        this->_detailSampleDist = detailSampleDist; 
        eval(); 
    }

    inline void setDetailSampleMaxError(F32 detailSampleMaxError) {
        this->_detailSampleMaxError = detailSampleMaxError; 
        eval(); 
    }

    inline void setKeepInterResults(bool keepInterResults) {
        this->_keepInterResults = keepInterResults; 
    }

    /*********************************************************************
      * Override derived parameters (params set in the eval function)
     *********************************************************************/

    inline void base_setWalkableHeight(I32 walkableHeight) {
        this->_walkableHeight = walkableHeight; 
    }

    inline void base_setWalkableClimb(I32 walkableClimb) {
        this->_walkableClimb = walkableClimb; 
    }

    inline void base_setWalkableRadius(I32 walkableRadius) { 
        this->_walkableRadius = walkableRadius; 
    }

    inline void base_setMaxEdgeLen(I32 maxEdgeLen) {
        this->_maxEdgeLen = maxEdgeLen; 
    }

    inline void base_setMinRegionArea(I32 minRegionArea) {
        this->_minRegionArea = minRegionArea; 
    }

    inline void base_setMergeRegionArea(I32 mergeRegionArea) {
        this->_mergeRegionArea = mergeRegionArea; 
    }

    inline void base_setDetailSampleDist(F32 detailSampleDist) {
        this->_base_detailSampleDist = detailSampleDist; 
    }

    inline void base_setDetailSampleMaxError(F32 detailSampleMaxError) {
        this->_base_detailSampleMaxError = detailSampleMaxError; 
    }

    inline F32 getCellSize()             const { return _cellSize; }
    inline F32 getCellHeight()           const { return _cellHeight; }
    inline I32 getTileSize()             const { return _tileSize; }
    inline F32 getAgentMaxSlope()        const { return _agentMaxSlope; }
    inline F32 getAgentHeight()          const { return _agentHeight; }
    inline F32 getAgentMaxClimb()        const { return _agentMaxClimb; }
    inline F32 getAgentRadius()          const { return _agentRadius; }
    inline F32 getEdgeMaxLen()           const { return _edgeMaxLen; }
    inline F32 getEdgeMaxError()         const { return _edgeMaxError; }
    inline F32 getRegionMinSize()        const { return _regionMinSize; }
    inline F32 getRegionMergeSize()      const { return _regionMergeSize; }
    inline I32 getVertsPerPoly()         const { return _vertsPerPoly; }
    inline F32 getDetailSampleDist()     const { return _detailSampleDist; }
    inline F32 getDetailSampleMaxError() const { return _detailSampleMaxError; }
    inline bool getKeepInterResults()    const { return _keepInterResults; }

    inline I32 base_getWalkableHeight()       const { return _walkableHeight; }
    inline I32 base_getWalkableClimb()        const { return _walkableClimb; }
    inline I32 base_getWalkableRadius()       const { return _walkableRadius; }
    inline I32 base_getMaxEdgeLen()           const { return _maxEdgeLen; }
    inline I32 base_getMinRegionArea()        const { return _minRegionArea; }
    inline I32 base_getMergeRegionArea()      const { return _mergeRegionArea; }
    inline I32 base_getDetailSampleDist()     const { return (I32)_base_detailSampleDist; }
    inline I32 base_getDetailSampleMaxError() const { return (I32)_base_detailSampleMaxError; }

private:
    /**
      * Derive non-directly set parameters
      * This is the default behaviour and these parameters can be overridden using
      * base_ setters.
      **/
    inline void eval(void) {
        _walkableHeight = (I32)ceilf(_agentHeight / _cellHeight);
        _walkableClimb = (I32)floorf(_agentMaxClimb / _cellHeight);
        _walkableRadius = (I32)ceilf(_agentRadius / _cellSize);
        _maxEdgeLen = (I32)(_edgeMaxLen / _cellSize);
        _minRegionArea = (I32)rcSqr(_regionMinSize);      // Note: area = size*size
        _mergeRegionArea = (I32)rcSqr(_regionMergeSize);   // Note: area = size*size
        _base_detailSampleDist = _detailSampleDist < 0.9f ? 0 : _cellSize * _detailSampleDist;
        _base_detailSampleMaxError = _cellHeight * _detailSampleMaxError;
    }

    /** Tilesize is the number of (recast) cells per tile. (a multiple of 8 between 16 and 128) */

    I32 _tileSize;

    /**
      * Cellsize (cs) is the width and depth resolution used when sampling the source geometry.
      * The width and depth of the cell columns that make up voxel fields.
      * Cells are laid out on the width/depth plane of voxel fields.
      * Width is associated with the x-axis of the source geometry. Depth is associated with the z-axis.
      * A lower value allows for the generated meshes to more closely match the source geometry, 
      * but at a higher processing and memory cost. 
      * The xz-plane cell size to use for fields. [Limit: > 0] [Units: wu].
      * cs and ch define voxel/grid/cell size. 
      * So their values have significant side effects on all parameters defined in voxel units.
      * The minimum value for this parameter depends on the platform's floating point accuracy,
      * with the practical minimum usually around 0.05.
      **/
    F32 _cellSize;

    /**
      * Cellheight (ch) is the height resolution used when sampling the source geometry. 
      * The height of the voxels in voxel fields.
      * Height is associated with the y-axis of the source geometry.
      * A smaller value allows for the final meshes to more closely match the source geometry 
      * at a potentially higher processing cost.
      * (Unlike cellSize, using a lower value for cellHeight does not significantly increase memory use.)
      *
      * The y-axis cell size to use for fields. [Limit: > 0] [Units: wu].
      * cs and ch define voxel/grid/cell size. So their values have significant side effects 
      * on all parameters defined in voxel units.
      * The minimum value for this parameter depends on the platform's floating point accuracy, 
      * with the practical minimum usually around 0.05.
      *
      * Setting ch lower will result in more accurate detection of areas the agent can still pass under,
      * as min walkable height is discretisized
      * in number of cells. Also walkableClimb's precision is affected by ch in the same way, 
      * along with some other parameters.
      **/
    F32 _cellHeight;

    /**
      * The maximum slope that is considered traversable (in degrees).
      * [Limits: 0 <= value < 90]
      * The practical upper limit for this parameter is usually around 85 degrees.
      *
      * Also called maxTraversableSlope
      **/
    F32 _agentMaxSlope;

    /**
      * The height of an agent. Defines the minimum height that
      * agents can walk under. Parts of the navmesh with lower ceilings
      * will be pruned off.
      *
      * This parameter serves at setting walkableHeight (minTraversableHeight) parameter,
      * precision of this parameter is determined by cellHeight (ch).
      **/
    F32 _agentHeight;

    /**
      * The Maximum ledge height that is considered to still be traversable.
      * This parameter serves at setting walkableClimb (maxTraversableStep) parameter,
      * precision of this parameter is determined by cellHeight (ch).
      * [Limit: >=0]
      * Allows the mesh to flow over low lying obstructions such as curbs and up/down stairways.
      * The value is usually set to how far up/down an agent can step.
      **/
    F32 _agentMaxClimb;

    /**
      * The radius on the xz (ground) plane of the circle that describes the agent (character) size.
      * Serves at setting walkableRadius (traversableAreaBorderSize) parameter,
      * the precision of walkableRadius is affected by cellSize (cs).
      *
      * This parameter is also used by DetourCrowd to determine the area other agents have to avoid 
      * in order not to collide with an agent.
      * The distance to erode/shrink the walkable area of the heightfield away from obstructions.
      * [Limit: >=0]
      *
      * In general, this is the closest any part of the final mesh should get to an obstruction 
      * in the source geometry. It is usually set to the maximum agent radius.
      * While a value of zero is legal, it is not recommended and can result in odd edge case issues.
      *
      **/
    F32 _agentRadius;

    /**
      * The maximum allowed length for contour edges along the border of the mesh.
      * [Limit: >=0]
      * Extra vertices will be inserted as needed to keep contour edges below this length.
      * A value of zero effectively disables this feature.
      * Serves at setting maxEdgeLen, the precision of maxEdgeLen is affected by cellSize (cs).
      **/
    F32 _edgeMaxLen;

    /**
      * The maximum distance a simplfied contour's border edges should deviate the original raw contour. 
      * (edge matching) [Limit: >=0] [Units: wu]
      * The effect of this parameter only applies to the xz-plane.
      *
      * Also called maxSimplificationError or edgeMaxDeviation
      * The maximum distance the edges of meshes may deviate from the source geometry.
      * A lower value will result in mesh edges following the xz-plane geometry contour more accurately
      * at the expense of an increased triangle count.
      * A value to zero is not recommended since it can result in a large increase in the number of 
      * polygons in the final meshes at a high processing cost.
      **/
    F32 _edgeMaxError;

    /**
      * The minimum number of cells allowed to form isolated island areas (size).
      * [Limit: >=0]
      * Any regions that are smaller than this area will be marked as unwalkable. 
      * This is useful in removing useless regions that can sometimes form on geometry such as table tops, box tops, etc.
      * Serves at setting minRegionArea, which will be set to the square of this value 
      * (the regions are square, thus area=size*size)
      **/
    F32 _regionMinSize;

    /**
      * Any regions with a span count smaller than this value will, if possible, be merged with larger regions.
      * [Limit: >=0] [Units: vx]
      * Serves at setting MergeRegionArea, which will be set to the square of this value 
      * (the regions are square, thus area=size*size)
      **/
    F32 _regionMergeSize;

    /**
      * The maximum number of vertices allowed for polygons generated during the contour to polygon conversion process.
      * [Limit: >= 3]
      * If the mesh data is to be used to construct a Detour navigation mesh, 
      * then the upper limit is limited to <= DT_VERTS_PER_POLYGON (=6).
      *
      * Also called maxVertsPerPoly
      * The maximum number of vertices per polygon for polygons generated during the voxel to polygon conversion process.
      * Higher values increase processing cost, but can also result in better formed polygons in the final meshes.
      * A value of around 6 is generally adequate with diminishing returns for higher values.
      **/
    I32 _vertsPerPoly;

    /**
      * Sets the sampling distance to use when generating the detail mesh.
      * (For height detail only.) [Limits: 0 or >= 0.9] [Units: wu]
      *
      * Also called contourSampleDistance
      * Sets the sampling distance to use when matching the detail mesh to the surface of the original geometry.
      * Impacts how well the final detail mesh conforms to the surface contour of the original geometry. 
      * Higher values result in a detail mesh which conforms more closely to the original geometry's surface 
      * at the cost of a higher final triangle count and higher processing cost.
      * Setting this argument to less than 0.9 disables this functionality.
      **/
    F32 _detailSampleDist;

    /**
      * The maximum distance the detail mesh surface should deviate from heightfield data.
      * (For height detail only.) [Limit: >=0] [Units: wu]
      *
      * Also called contourMaxDeviation
      * The maximum distance the surface of the detail mesh may deviate from the surface of the original geometry.
      * The accuracy is impacted by contourSampleDistance.
      * The value of this parameter has no meaning if contourSampleDistance is set to zero.
      * Setting the value to zero is not recommended since it can result in a large increase in the number of 
      * triangles in the final detail mesh at a high processing cost.
      * Stronly related to detailSampleDist (contourSampleDistance).
      **/
    F32 _detailSampleMaxError;

    /**
      * Determines whether intermediary results are stored in OgreRecast class or whether they are 
      * removed after navmesh creation.
      **/
    bool _keepInterResults;

    /**
      * Minimum height in number of (voxel) cells that the ceiling needs to be
      * for an agent to be able to walk under. Related to cellHeight (ch) and
      * agentHeight.
      *
      * Minimum floor to 'ceiling' height that will still allow the floor area to be considered walkable.
      * [Limit: >= 3] [Units: vx]
      * Permits detection of overhangs in the source geometry that make the geometry below un-walkable. 
      * The value is usually set to the maximum agent height.
      *
      * Also called minTraversableHeight
      * This value should be at least two times the value of cellHeight in order to get good results.
      **/
    I32 _walkableHeight;

    /**
      * Maximum ledge height that is considered to still be traversable, in number of cells (height).
      * [Limit: >=0] [Units: vx].
      * Allows the mesh to flow over low lying obstructions such as curbs and up/down stairways. 
      * The value is usually set to how far up/down an agent can step.
      *
      * Also called maxTraversableStep
      * Represents the maximum ledge height that is considered to still be traversable.
      * Prevents minor deviations in height from improperly showing as obstructions.
      *  Permits detection of stair-like structures, curbs, etc.
      **/
    I32 _walkableClimb;

    /**
      * The distance to erode/shrink the walkable area of the heightfield away from obstructions, in cellsize units.
      * [Limit: >=0] [Units: vx]
      * In general, this is the closest any part of the final mesh should get to an obstruction in the source geometry.
      * It is usually set to the maximum agent radius.
      * While a value of zero is legal, it is not recommended and can result in odd edge case issues.
      *
      * Also called traversableAreaBorderSize
      * Represents the closest any part of a mesh can get to an obstruction in the source geometry.
      * Usually this value is set to the maximum bounding radius of agents utilizing the meshes for navigation decisions.
      *
      * This value must be greater than the cellSize to have an effect.
      * The actual border will be larger around ledges if ledge clipping is enabled. 
      * See the clipLedges parameter for more information.
      * The actual border area will be larger if smoothingTreshold is > 0. 
      * See the smoothingThreshold parameter for more information.
      **/
    I32 _walkableRadius;

    /**
      * The maximum allowed length for contour edges along the border of the mesh.
      * [Limit: >=0] [Units: vx].
      * Extra vertices will be inserted as needed to keep contour edges below this length. 
      * A value of zero effectively disables this feature.
      *
      * Also called maxEdgeLength
      * The maximum length of polygon edges that represent the border of meshes.
      * More vertices will be added to border edges if this value is exceeded for a particular edge.
      * In certain cases this will reduce the number of long thin triangles.
      * A value of zero will disable this feature.
      **/
    I32 _maxEdgeLen;

    /**
      * The minimum number of cells allowed to form isolated island areas.
      * [Limit: >=0] [Units: vx].
      * Any regions that are smaller than this area will be marked as unwalkable.
      * This is useful in removing useless regions that can sometimes form on geometry such as table tops, box tops, etc.
      *
      * Also called minUnconnectedRegionSize
      * The minimum region size for unconnected (island) regions.
      * The value is in voxels.
      * Regions that are not connected to any other region and are smaller than this size will be 
      * culled before mesh generation. I.e. They will no longer be considered traversable.
      **/
    I32 _minRegionArea;

    /**
      * Any regions with a span count smaller than this value will, if possible, be merged with larger regions.
      * [Limit: >=0] [Units: vx]
      *
      * Also called mergeRegionSize or mergeRegionArea
      * Any regions smaller than this size will, if possible, be merged with larger regions.
      * Value is in voxels.
      * Helps reduce the number of small regions. This is especially an issue in diagonal path regions 
      * where inherent faults in the region generation algorithm can result in unnecessarily small regions.
      * Small regions are left unchanged if they cannot be legally merged with a neighbor region. 
      * (E.g. Merging will result in a non-simple polygon.)
      **/
    I32 _mergeRegionArea;

    /**
      * Sets the sampling distance to use when generating the detail mesh.
      * (For height detail only.) [Limits: 0 or >= 0.9] [Units: wu]
      *
      * Also called contourSampleDistance
      * Sets the sampling distance to use when matching the detail mesh to the surface of the original geometry.
      * Impacts how well the final detail mesh conforms to the surface contour of the original geometry.
      * Higher values result in a
      * detail mesh which conforms more closely to the original geometry's surface at the cost of 
      * a higher final triangle count and higher processing cost.
      * Setting this argument to less than 0.9 disables this functionality.
      *
      * The difference between this parameter and edge matching (edgeMaxError) is that this parameter
      * operates on the height rather than the xz-plane.
      * It also matches the entire detail mesh surface to the contour of the original geometry. 
      * Edge matching only matches edges of meshes to the contour of the original geometry.
      **/
    F32 _base_detailSampleDist;

    /**
      * The maximum distance the detail mesh surface should deviate from heightfield data.
      * (For height detail only.) [Limit: >=0] [Units: wu]
      *
      * Also called contourMaxDeviation
      * The maximum distance the surface of the detail mesh may deviate from the surface of the original geometry.
      * The accuracy is impacted by contourSampleDistance (detailSampleDist).
      * The value of this parameter has no meaning if contourSampleDistance is set to zero.
      * Setting the value to zero is not recommended since it can result in a large increase in the number of 
      * triangles in the final detail mesh at a high processing cost.
      * This parameter has no impact if contourSampleDistance is set to zero.
      **/
    F32 _base_detailSampleMaxError;
};

    }; //namespace AI
}; //namespace Divide

#endif

Commits for Divide-Framework/trunk/Source Code/AI/PathFinding/NavMeshes/Headers/NavMeshConfig.h

Diff revisions: vs.
Revision Author Commited Message
331 Diff Diff IonutCava picture IonutCava Sat 06 Dec, 2014 20:53:45 +0000

[Ionut]
- Limited line length to 132 characters to improve readability and diff-comparisons
- Refactored memory allocation/deallocation functions
- Fixed a few compatibility issues with HashMap.h
- Fixed a bug in GPU Skinning shaders (cast a float to int)

318 Diff Diff IonutCava picture IonutCava Sat 30 Aug, 2014 17:35:53 +0000

[Ionut]
- Wrapped the entire code in a “Divide” namespace
- VertexBuffers now call “shrink_to_fit” on all internal data storage
- Improved some vector performance by preferring “emplace_back” instead of “push_back” + proepr usage of reserve / resize
- Wrapped OIS specific types and classes in Divide::Input namespace
- Added the messageBox.layout file (forgot it in the previous few commits)

314 Diff Diff IonutCava picture IonutCava Sun 24 Aug, 2014 19:54:33 +0000

[Ionut]
- More AI work
- Added some needed audio dlls

311 Diff Diff IonutCava picture IonutCava Mon 18 Aug, 2014 21:40:52 +0000

[Ionut]
- Added a basic AESOP implementation
- Moved all AI related classes under the “AI” namespace

221 Diff Diff k1ngp1n picture k1ngp1n Wed 08 Jan, 2014 18:50:02 +0000

[Ionut] [[BR]]
- Merged branch “Shadows And Animations” back into trunk [[BR]]
- Added DoxygenGUI project file [[BR]]

  • Buggy *
171 Diff Diff k1ngp1n picture k1ngp1n Sun 03 Nov, 2013 18:15:06 +0000

-Replaced all tabs with spaces [[BR]]

160 Diff Diff k1ngp1n picture k1ngp1n Wed 10 Jul, 2013 17:07:04 +0000

[Ionut] [[BR]]
- Changed licensing from LGPL to the MIT license [[BR]]
— Code can now be used in non-commercial or commercial closed or open source projects [[BR]]

157 k1ngp1n picture k1ngp1n Sat 06 Jul, 2013 00:07:09 +0000

[Ionut] [[BR]]
- Added per-scene ini config file for NavMesh creation [[BR]]
- Improved some IMEmulation cleanup code and fixed a memory leak with NavMesh debug rendering [[BR]]
- NavMesh debug rendering can now be toggled on/off in the Editor [[BR]]