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#include "Headers/NavMesh.h"
#include "Headers/NavMeshDebugDraw.h"
#include "../Headers/DivideRecast.h"

#include <SimpleIni.h>
#include "Core/Headers/ParamHandler.h"
#include "Managers/Headers/SceneManager.h"

#include <ReCast/DebugUtils/Include/RecastDump.h>
#include <ReCast/DebugUtils/Include/DetourDebugDraw.h>
#include <ReCast/DebugUtils/Include/RecastDebugDraw.h>

namespace Divide {
namespace AI {
namespace Navigation {

    NavigationMesh::NavigationMesh() : GUIDWrapper() 
    {

        ParamHandler& par = ParamHandler::getInstance();
		stringImpl path(par.getParam<stringImpl>("scriptLocation") + "/" +
						par.getParam<stringImpl>("scenesLocation") + "/" +
						par.getParam<stringImpl>("currentScene"));

        _debugDrawInterface = MemoryManager_NEW NavMeshDebugDraw();
        assert(_debugDrawInterface != nullptr);

        _fileName   =  path + "/navMeshes/";
        _configFile = path + "/navMeshConfig.ini";
        _buildThreaded = true;
        _debugDraw = false;
        _renderConnections = false;
        _renderMode = RENDER_NAVMESH;
        _heightField  = nullptr;
        _compactHeightField = nullptr;
        _countourSet  = nullptr;
        _polyMesh  = nullptr;
        _polyMeshDetail = nullptr;
        _navMesh  = nullptr;
        _tempNavMesh = nullptr;
        _navQuery = nullptr;
        _building = false;
    }

    NavigationMesh::~NavigationMesh()
    {
       unload();
    }

    bool NavigationMesh::unload() {
        if (_buildThread) {
            _buildThread->stopTask();
            while (!_buildThread->isFinished()){
            }
        }
        
        if (_navQuery) {
            dtFreeNavMeshQuery(_navQuery);
            _navQuery = 0;
        }

        freeIntermediates(true);
        dtFreeNavMesh(_navMesh);
        dtFreeNavMesh(_tempNavMesh);
        _navMesh = nullptr;
        _tempNavMesh = nullptr;

        MemoryManager::DELETE( _debugDrawInterface );
        return true;
    }

    void NavigationMesh::freeIntermediates(bool freeAll) {
        _navigationMeshLock.lock();

        rcFreeHeightField(_heightField);
        rcFreeCompactHeightfield(_compactHeightField);
        _heightField = nullptr;
        _compactHeightField = nullptr;

        if (!_saveIntermediates || freeAll)	{
            rcFreeContourSet(_countourSet);
            rcFreePolyMesh(_polyMesh);
            rcFreePolyMeshDetail(_polyMeshDetail);
            _countourSet = nullptr;
            _polyMesh = nullptr;
            _polyMeshDetail = nullptr;
        }

        _navigationMeshLock.unlock();
    }

    namespace {
        inline F32 charToFloat(const char* val) {
            return Util::convertData<F32, const char*>(val);
        }

        inline bool charToBool(const char* val) {
            return Util::convertData<bool, const char*>(val);
        }
    };

    bool NavigationMesh::loadConfigFromFile() {
        //Use SimpleIni library for cross-platform INI parsing
        CSimpleIniA ini;
        ini.SetUnicode();
        ini.LoadFile(_configFile.c_str());

        if(!ini.GetSection("Rasterization") ||
           !ini.GetSection("Agent") ||
           !ini.GetSection("Region") ||
           !ini.GetSection("Polygonization") ||
           !ini.GetSection("DetailMesh")) return false;

        //Load all key-value pairs for the "Rasterization" section
        _configParams.setCellSize(charToFloat(ini.GetValue("Rasterization", "fCellSize", "0.3")));
        _configParams.setCellHeight(charToFloat(ini.GetValue("Rasterization", "fCellHeight", "0.2")));
        _configParams.setTileSize(charToFloat(ini.GetValue("Rasterization", "iTileSize", "48")));
        //Load all key-value pairs for the "Agent" section
        _configParams.setAgentHeight(charToFloat(ini.GetValue("Agent", "fAgentHeight", "2.5")));
        _configParams.setAgentRadius(charToFloat(ini.GetValue("Agent", "fAgentRadius", "0.5")));
        _configParams.setAgentMaxClimb(charToFloat(ini.GetValue("Agent", "fAgentMaxClimb", "1")));
        _configParams.setAgentMaxSlope(charToFloat(ini.GetValue("Agent", "fAgentMaxSlope", "20")));
        //Load all key-value pairs for the "Region" section
        _configParams.setRegionMergeSize(charToFloat(ini.GetValue("Region", "fMergeSize", "20")));
        _configParams.setRegionMinSize(charToFloat(ini.GetValue("Region", "fMinSize", "50")));
        //Load all key-value pairs for the "Polygonization" section
        _configParams.setEdgeMaxLen(charToFloat(ini.GetValue("Polygonization", "fEdgeMaxLength", "12")));
        _configParams.setEdgeMaxError(charToFloat(ini.GetValue("Polygonization", "fEdgeMaxError", "1.3")));
        _configParams.setVertsPerPoly(charToFloat(ini.GetValue("Polygonization", "iVertsPerPoly", "6")));
        //Load all key-value pairs for the "DetailMesh" section
        _configParams.setDetailSampleDist(charToFloat(ini.GetValue("DetailMesh", "fDetailSampleDist", "6")));
        _configParams.setDetailSampleMaxError(charToFloat(ini.GetValue("DetailMesh", "fDetailSampleMaxError", "1")));
        _configParams.setKeepInterResults(charToBool(ini.GetValue("DetailMesh", "bKeepInterResults", "false")));

        return true;
    }

    bool NavigationMesh::build(SceneGraphNode* const sgn, 
                               CreationCallback creationCompleteCallback, 
                               bool threaded) {
        if (!loadConfigFromFile()) {
            ERROR_FN(Locale::get("NAV_MESH_CONFIG_NOT_FOUND"));
            return false;
        }

        _sgn = (sgn != nullptr) ? sgn : _sgn = GET_ACTIVE_SCENEGRAPH()->getRoot();
        _loadCompleteClbk = creationCompleteCallback;

        if (_buildThreaded && threaded) {
            return buildThreaded();
        }

        return buildProcess();
    }

    bool NavigationMesh::buildThreaded() {

        boost::mutex::scoped_lock sl(_buildLock);

        if (!sl.owns_lock()) { 
            return false;
        }

        if (_buildThread) {
            _buildThread->stopTask();
        }

        Kernel* kernel = Application::getInstance().getKernel();
        _buildThread.reset(kernel->AddTask(0, 0, DELEGATE_BIND(&NavigationMesh::buildInternal, this)));
		_buildThread->startTask();
        return true;
    }
    
	void NavigationMesh::buildInternal() {
		_building = true;
		// Create mesh
		D32 timeStart = GETTIME();
		bool success = generateMesh();
		if (!success) {
			ERROR_FN(Locale::get("NAV_MESH_GENERATION_INCOMPLETE"), GETTIME(true) - timeStart);
			return;
		}

		PRINT_FN(Locale::get("NAV_MESH_GENERATION_COMPLETE"), GETTIME(true) - timeStart);

		_navigationMeshLock.lock();
		{
			// Copy new NavigationMesh into old.
			dtNavMesh *old = _navMesh;
			// I am trusting that this is atomic.
			_navMesh = _tempNavMesh;
			dtFreeNavMesh(old);
			_debugDrawInterface->setDirty(true);
			_tempNavMesh = nullptr;

			bool navQueryComplete = createNavigationQuery();
			DIVIDE_ASSERT(navQueryComplete, 
                          "NavigationMesh Error: Navigation query creation failed!");
		}
		_navigationMeshLock.unlock();

		// Free structs used during build
		freeIntermediates(false);

		_building = false;

		if (_loadCompleteClbk) {
			_loadCompleteClbk(this);
		}

	}

    bool NavigationMesh::buildProcess() {
        _building = true;
        // Create mesh
        D32 timeStart = GETTIME();
        bool success = generateMesh();
        if (!success) {
            ERROR_FN(Locale::get("NAV_MESH_GENERATION_INCOMPLETE"), GETTIME(true) - timeStart);
            return false;
        }

        PRINT_FN(Locale::get("NAV_MESH_GENERATION_COMPLETE"),  GETTIME(true) - timeStart);

        _navigationMeshLock.lock();
        {
            // Copy new NavigationMesh into old.
            dtNavMesh *old = _navMesh;
            // I am trusting that this is atomic.
            _navMesh = _tempNavMesh;
            dtFreeNavMesh(old);
            _debugDrawInterface->setDirty(true);
            _tempNavMesh = nullptr;

            bool navQueryComplete = createNavigationQuery();
            DIVIDE_ASSERT(navQueryComplete, 
                          "NavigationMesh Error: Navigation query creation failed!");
        }
        _navigationMeshLock.unlock();

        // Free structs used during build
        freeIntermediates(false);

        _building = false;

        if (_loadCompleteClbk) {
            _loadCompleteClbk(this);
        }

        return success;
    }

    bool NavigationMesh::generateMesh() {
        assert(_sgn != nullptr);

        stringImpl nodeName((_sgn->getNode()->getType() != TYPE_ROOT) ?
                             "_node_[_" + _sgn->getName() + "_]" : 
                             "_root_node");

        // Parse objects from level into RC-compatible format
        _fileName.append(nodeName);
        _fileName.append(".nm");
        PRINT_FN(Locale::get("NAV_MESH_GENERATION_START"),nodeName.c_str());

        NavModelData data;
        stringImpl geometrySaveFile(_fileName);
        Util::replaceStringInPlace(geometrySaveFile,".nm",".ig");

        data.clear(false);
        data.setName(nodeName);

        if (!NavigationMeshLoader::loadMeshFile(data, geometrySaveFile.c_str())) {
            if (!NavigationMeshLoader::parse(_sgn->getBoundingBoxConst(), data, _sgn)) {
                ERROR_FN(Locale::get("ERROR_NAV_PARSE_FAILED"), nodeName.c_str());
            }
        }

        // Check for no geometry
        if (!data.getVertCount()) {
            data.isValid(false);
            return false;
        }

        // Free intermediate and final results
        freeIntermediates(true);
        // Recast initialisation data
        rcContextDivide ctx(true);

        rcConfig cfg;
        memset(&cfg, 0, sizeof(cfg));

        cfg.cs                     = _configParams.getCellSize();
        cfg.ch                     = _configParams.getCellHeight();
        cfg.walkableHeight         = _configParams.base_getWalkableHeight();
        cfg.walkableClimb          = _configParams.base_getWalkableClimb();
        cfg.walkableRadius         = _configParams.base_getWalkableRadius();
        cfg.walkableSlopeAngle     = _configParams.getAgentMaxSlope();
        cfg.borderSize             = _configParams.base_getWalkableRadius() + (I32)BORDER_PADDING;
        cfg.detailSampleDist       = _configParams.getDetailSampleDist();
        cfg.detailSampleMaxError   = _configParams.getDetailSampleMaxError();
        cfg.maxEdgeLen             = _configParams.getEdgeMaxLen();
        cfg.maxSimplificationError = _configParams.getEdgeMaxError();
        cfg.maxVertsPerPoly        = _configParams.getVertsPerPoly();
        cfg.minRegionArea          = _configParams.getRegionMinSize();
        cfg.mergeRegionArea        = _configParams.getRegionMergeSize();
        cfg.tileSize               = _configParams.getTileSize();

        _saveIntermediates = _configParams.getKeepInterResults();
        rcCalcBounds(data.getVerts(), data.getVertCount(), cfg.bmin, cfg.bmax);
        rcCalcGridSize(cfg.bmin, cfg.bmax, cfg.cs, &cfg.width, &cfg.height);
        PRINT_FN(Locale::get("NAV_MESH_BOUNDS"), cfg.bmax[0], cfg.bmax[1], cfg.bmax[2],
                                                 cfg.bmin[0], cfg.bmin[1], cfg.bmin[2]);

        _extents = vec3<F32>(cfg.bmax[0] - cfg.bmin[0],
                             cfg.bmax[1] - cfg.bmin[1],
                             cfg.bmax[2] - cfg.bmin[2]);

        if (!createPolyMesh(cfg, data, &ctx)) {
            data.isValid(false);
            return false;
        }

        //Detour initialisation data
        dtNavMeshCreateParams params;
        memset(&params, 0, sizeof(params));
        rcVcopy(params.bmax, cfg.bmax);
        rcVcopy(params.bmin, cfg.bmin);

        params.ch = cfg.ch;
        params.cs = cfg.cs;
        params.walkableHeight = cfg.walkableHeight;
        params.walkableRadius = cfg.walkableRadius;
        params.walkableClimb  = cfg.walkableClimb;

        params.tileX     = 0;
        params.tileY     = 0;
        params.tileLayer = 0;
        params.buildBvTree = true;

        params.verts     = _polyMesh->verts;
        params.vertCount = _polyMesh->nverts;
        params.polys     = _polyMesh->polys;
        params.polyAreas = _polyMesh->areas;
        params.polyFlags = _polyMesh->flags;
        params.polyCount = _polyMesh->npolys;
        params.nvp       = _polyMesh->nvp;

        params.detailMeshes     = _polyMeshDetail->meshes;
        params.detailVerts      = _polyMeshDetail->verts;
        params.detailVertsCount = _polyMeshDetail->nverts;
        params.detailTris       = _polyMeshDetail->tris;
        params.detailTriCount   = _polyMeshDetail->ntris;

        if (!createNavigationMesh(params)) {
            data.isValid(false);
            return false;
        }

        data.isValid(true);

        return NavigationMeshLoader::saveMeshFile(data, geometrySaveFile.c_str());//input geometry;
    }

    bool NavigationMesh::createNavigationQuery(U32 maxNodes) {
        _navQuery = dtAllocNavMeshQuery();
        return (_navQuery->init(_navMesh, maxNodes) == DT_SUCCESS);
    }

    bool NavigationMesh::createPolyMesh(rcConfig &cfg, NavModelData &data, rcContextDivide *ctx) {
        if (_fileName.empty()) {
            _fileName = data.getName();
        }

        // Create a heightfield to voxelise our input geometry
        _heightField = rcAllocHeightfield();

        if (!_heightField) {
            ERROR_FN(Locale::get("ERROR_NAV_OUT_OF_MEMORY"), "rcAllocHeightfield", _fileName.c_str());
            return false;
        }

        // Reset build times gathering.
        ctx->resetTimers();
        // Start the build process.
        ctx->startTimer(RC_TIMER_TOTAL);
        ctx->log(RC_LOG_PROGRESS, "Building navigation:");
        ctx->log(RC_LOG_PROGRESS, " - %d x %d cells", cfg.width, cfg.height);
        ctx->log(RC_LOG_PROGRESS, " - %.1fK verts, %.1fK tris", data.getVertCount()/1000.0f,
                                                                data.getTriCount()/1000.0f);

        if (!rcCreateHeightfield(ctx, 
                                 *_heightField, 
                                 cfg.width, 
                                 cfg.height, 
                                 cfg.bmin, 
                                 cfg.bmax, 
                                 cfg.cs, 
                                 cfg.ch)) {
            ERROR_FN(Locale::get("ERROR_NAV_HEIGHTFIELD"), _fileName.c_str());
            return false;
        }

        U8* areas = MemoryManager_NEW U8[data.getTriCount()];

        if (!areas) {
            ERROR_FN(Locale::get("ERROR_NAV_OUT_OF_MEMORY"), "areaFlag allocation", _fileName.c_str());
            return false;
        }

        memset(areas, 0, data.getTriCount() * sizeof(U8));

        // Filter triangles by angle and rasterize
        rcMarkWalkableTriangles(ctx, 
                                cfg.walkableSlopeAngle,
                                data.getVerts(),
                                data.getVertCount(), 
                                data.getTris(), 
                                data.getTriCount(), 
                                areas);

        rcRasterizeTriangles(ctx, 
                             data.getVerts(), 
                             data.getVertCount(), 
                             data.getTris(), 
                             areas, 
                             data.getTriCount(), 
                             *_heightField, 
                             cfg.walkableClimb);

        if (!_saveIntermediates) {
            MemoryManager::DELETE_ARRAY( areas );
        }

        // Filter out areas with low ceilings and other stuff
        rcFilterLowHangingWalkableObstacles(ctx, 
                                            cfg.walkableClimb, 
                                            *_heightField);

        rcFilterLedgeSpans(ctx, 
                           cfg.walkableHeight, 
                           cfg.walkableClimb, 
                           *_heightField);

        rcFilterWalkableLowHeightSpans(ctx, 
                                       cfg.walkableHeight, 
                                       *_heightField);

        _compactHeightField = rcAllocCompactHeightfield();

        if (!_compactHeightField || !rcBuildCompactHeightfield(ctx, 
                                                               cfg.walkableHeight, 
                                                               cfg.walkableClimb, 
                                                               *_heightField, 
                                                               *_compactHeightField)) {
            ERROR_FN(Locale::get("ERROR_NAV_COMPACT_HEIGHTFIELD"), _fileName.c_str());
            return false;
        }

        if (!rcErodeWalkableArea(ctx,
                                 cfg.walkableRadius, 
                                 *_compactHeightField)) {
            ERROR_FN(Locale::get("ERROR_NAV_WALKABLE"), _fileName.c_str());
            return false;
        }

        if (false) {
            if (!rcBuildRegionsMonotone(ctx, 
                                        *_compactHeightField, 
                                        cfg.borderSize, 
                                        cfg.minRegionArea, 
                                        cfg.mergeRegionArea)) {
                ERROR_FN(Locale::get("ERROR_NAV_REGIONS"), _fileName.c_str());
                return false;
            }
        } else {
            if (!rcBuildDistanceField(ctx, 
                                      *_compactHeightField)) {
                return false;
            }

            if (!rcBuildRegions(ctx, 
                                *_compactHeightField, 
                                cfg.borderSize, 
                                cfg.minRegionArea, 
                                cfg.mergeRegionArea)) {
                return false;
            }
        }

        _countourSet = rcAllocContourSet();
        if (!_countourSet || !rcBuildContours(ctx, 
                                              *_compactHeightField, 
                                              cfg.maxSimplificationError, 
                                              cfg.maxEdgeLen, 
                                              *_countourSet)) {
            ERROR_FN(Locale::get("ERROR_NAV_COUNTOUR"), _fileName.c_str());
            return false;
        }

        _polyMesh = rcAllocPolyMesh();
        if (!_polyMesh || !rcBuildPolyMesh(ctx, 
                                           *_countourSet, 
                                           cfg.maxVertsPerPoly, 
                                           *_polyMesh)) {
            ERROR_FN(Locale::get("ERROR_NAV_POLY_MESH"), _fileName.c_str());
            return false;
        }

        _polyMeshDetail = rcAllocPolyMeshDetail();
        if(!_polyMeshDetail || !rcBuildPolyMeshDetail(ctx, 
                                                      *_polyMesh, 
                                                      *_compactHeightField, 
                                                      cfg.detailSampleDist, 
                                                      cfg.detailSampleMaxError, 
                                                      *_polyMeshDetail)) {
            ERROR_FN(Locale::get("ERROR_NAV_POLY_MESH_DETAIL"), _fileName.c_str());
            return false;
        }

        // Show performance stats.
        ctx->stopTimer(RC_TIMER_TOTAL);
        duLogBuildTimes(*ctx, ctx->getAccumulatedTime(RC_TIMER_TOTAL));
        ctx->log(RC_LOG_PROGRESS, ">> Polymesh: %d vertices  %d polygons", _polyMesh->nverts,
                                                                           _polyMesh->npolys);

        PRINT_FN("[RC_LOG_PROGRESS] Polymesh: %d vertices  %d polygons %5.2f ms\n",
                 _polyMesh->nverts,
                 _polyMesh->npolys, 
                 (F32)ctx->getAccumulatedTime(RC_TIMER_TOTAL)/1000.0f);

        return true;
    }

    bool NavigationMesh::createNavigationMesh(dtNavMeshCreateParams &params) {
        U8 *tileData = nullptr;
        I32 tileDataSize = 0;
        if (!dtCreateNavMeshData(&params, &tileData, &tileDataSize)) {
            ERROR_FN(Locale::get("ERROR_NAV_MESH_DATA"), _fileName.c_str());
            return false;
        }

        _tempNavMesh = dtAllocNavMesh();
        if (!_tempNavMesh) {
            ERROR_FN(Locale::get("ERROR_NAV_DT_OUT_OF_MEMORY"), _fileName.c_str());
            return false;
        }

        dtStatus s = _tempNavMesh->init(tileData, tileDataSize, DT_TILE_FREE_DATA);
        if (dtStatusFailed(s)) {
            ERROR_FN(Locale::get("ERROR_NAV_DT_INIT"), _fileName.c_str());
            return false;
        }

        // Initialise all flags to something helpful.
        for (U32 i = 0; i < (U32)_tempNavMesh->getMaxTiles(); ++i) {
            const dtMeshTile* tile = ((const dtNavMesh*)_tempNavMesh)->getTile(i);

            if (!tile->header) {
                continue;
            }

            const dtPolyRef base = _tempNavMesh->getPolyRefBase(tile);

            for (U32 j = 0; j < (U32)tile->header->polyCount; ++j) {
                const dtPolyRef ref = base | j;
                U16 f = 0;
                _tempNavMesh->getPolyFlags(ref, &f);
                _tempNavMesh->setPolyFlags(ref, f | 1);
            }
        }

        return true;
    }

    void NavigationMesh::update(const U64 deltaTime) {
       _debugDrawInterface->paused(!_debugDraw);
    }

    void NavigationMesh::render(){
         RenderMode mode = _renderMode;

         if (_building) {
            mode = RENDER_NAVMESH;
            _debugDrawInterface->overrideColor(duRGBA(255, 0, 0, 80));
         }

         _debugDrawInterface->beginBatch();

         _navigationMeshLock.lock();

         switch(mode) {
            case RENDER_NAVMESH:
                if (_navMesh) {
                    duDebugDrawNavMesh(_debugDrawInterface, *_navMesh, 0);
                }
                break;
            case RENDER_CONTOURS:
                if (_countourSet) {
                   duDebugDrawContours(_debugDrawInterface, *_countourSet);
                }
                break;
            case RENDER_POLYMESH:
                if (_polyMesh) {
                   duDebugDrawPolyMesh(_debugDrawInterface, *_polyMesh);
                }
                break;
            case RENDER_DETAILMESH:
                if (_polyMeshDetail) {
                    duDebugDrawPolyMeshDetail(_debugDrawInterface, *_polyMeshDetail);
                }
                break;
            case RENDER_PORTALS:
                if (_navMesh) {
                   duDebugDrawNavMeshPortals(_debugDrawInterface, *_navMesh);
                }
                break;
         }

         if (!_building) {
            if (_countourSet && _renderConnections) {
                duDebugDrawRegionConnections(_debugDrawInterface, *_countourSet);
            }
         }

         _navigationMeshLock.unlock();

         _debugDrawInterface->endBatch();
    }

    bool NavigationMesh::load(SceneGraphNode* const sgn){
        if (!_fileName.length()) {
            return false;
        }
        stringImpl file = _fileName;

        if (sgn == nullptr) {
            file.append("_root_node");
        } else {
            file.append("_node_[_" + sgn->getName() + "_]");
        }

        file.append(".nm");
        // Parse objects from level into RC-compatible format
        FILE* fp = fopen(file.c_str(), "rb");
        if (!fp) {
            return false;
        }
        // Read header.
        NavMeshSetHeader header;
        fread(&header, sizeof(NavMeshSetHeader), 1, fp);

        if (header.magic != NAVMESHSET_MAGIC) {
            fclose(fp);
            return false;
        }

        if (header.version != NAVMESHSET_VERSION) {
            fclose(fp);
            return false;
        }

        boost::mutex::scoped_lock(_navigationMeshLock);

        if (_navMesh) {
            dtFreeNavMesh(_navMesh);
        }

        _navMesh = dtAllocNavMesh();

        if (!_navMesh) {
            fclose(fp);
            return false;
        }

        dtStatus status = _navMesh->init(&header.params);

        if (dtStatusFailed(status)) {
            fclose(fp);
            return false;
        }

        // Read tiles.
        for (U32 i = 0; i < (U32)header.numTiles; ++i) {
            NavMeshTileHeader tileHeader;
            fread(&tileHeader, sizeof(tileHeader), 1, fp);
            if (!tileHeader.tileRef || !tileHeader.dataSize) {
                return false;//break;
            }
            U8* data = (U8*)dtAlloc(tileHeader.dataSize, DT_ALLOC_PERM);

            if (!data) {
                return false;//break;
            }

            memset(data, 0, tileHeader.dataSize);
            fread(data, tileHeader.dataSize, 1, fp);

            _navMesh->addTile(data, tileHeader.dataSize, DT_TILE_FREE_DATA, tileHeader.tileRef, 0);
        }
        fclose(fp);

        _extents.set(header.extents[0], header.extents[1], header.extents[2]);

        return createNavigationQuery();
    }

    bool NavigationMesh::save(){
        if (!_fileName.length() || !_navMesh) {
            return false;
        }
        // Save our NavigationMesh into a file to load from next time
        FILE* fp = fopen(_fileName.c_str(), "wb");
        if (!fp) {
            return false;
        }

        boost::mutex::scoped_lock(_navigationMeshLock);

        // Store header.
        NavMeshSetHeader header;
        memcpy(header.extents, &_extents[0], sizeof(F32) * 3);

        header.magic = NAVMESHSET_MAGIC;
        header.version = NAVMESHSET_VERSION;
        header.numTiles = 0;

        for (U32 i = 0; i < (U32)_navMesh->getMaxTiles(); ++i) {
            const dtMeshTile* tile = ((const dtNavMesh*)_navMesh)->getTile(i);

            if (!tile || !tile->header || !tile->dataSize) {
                continue;
            }
            header.numTiles++;
        }

        memcpy(&header.params, _navMesh->getParams(), sizeof(dtNavMeshParams));
        fwrite(&header, sizeof(NavMeshSetHeader), 1, fp);

        // Store tiles.
        for (U32 i = 0; i < (U32)_navMesh->getMaxTiles(); ++i) {
            const dtMeshTile* tile = ((const dtNavMesh*)_navMesh)->getTile(i);

            if (!tile || !tile->header || !tile->dataSize) {
                continue;
            }

            NavMeshTileHeader tileHeader;
            tileHeader.tileRef = _navMesh->getTileRef(tile);
            tileHeader.dataSize = tile->dataSize;

            fwrite(&tileHeader, sizeof(tileHeader), 1, fp);
            fwrite(tile->data, tile->dataSize, 1, fp);
        }

        fclose(fp);

        return true;
    }

    bool NavigationMesh::getClosestPosition(const vec3<F32>& destination,
                                            const vec3<F32>& extents,
                                            F32 delta, 
                                            vec3<F32>& result) const {
        dtPolyRef resultPoly;
        return Navigation::DivideRecast::getInstance().findNearestPointOnNavmesh(*this, 
                                                                                 destination,
                                                                                 extents,
                                                                                 delta, 
                                                                                 result,
                                                                                 resultPoly);
    }

    bool NavigationMesh::getRandomPosition(vec3<F32>& result) const {
        return Navigation::DivideRecast::getInstance().getRandomNavMeshPoint(*this, 
                                                                             result);
    }

    bool NavigationMesh::getRandomPositionInCircle(const vec3<F32>& center, 
                                                   F32 radius, 
                                                   const vec3<F32>& extents, 
                                                   vec3<F32>& result, 
                                                   U8 maxIters) const {
        return Navigation::DivideRecast::getInstance().getRandomPointAroundCircle(*this,
                                                                                  center,
                                                                                  radius,
                                                                                  extents,
                                                                                  result,
                                                                                  maxIters);
    }
}; //namespace Navigation
}; //namespace AI
}; //namespace Divide

Commits for Divide-Framework/trunk/Source Code/AI/PathFinding/NavMeshes/NavMesh.cpp

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)

326 Diff Diff IonutCava picture IonutCava Tue 30 Sep, 2014 21:11:32 +0000

[Ionut]
- Fixed more memory leaks
- Simplified Task interface and timing System
- Improved compatibility between Boost, STL and EASTL with random combinations of vectors, strings and maps
- Simplified Light class by removing the “slot” member
- Random optimizations

325 Diff Diff IonutCava picture IonutCava Wed 17 Sep, 2014 20:06:13 +0000

[Ionut]
- Reworked transform system:
— Parent transform chain system moved from Transform class to the PhysicsComponent
— PhysicsComponent now returns all transform values needed both global and local (still needs heavy optimization and caching)

- Reworked SceneGraph node management:
— Proper ref counting of SceneNodes and proper removing of resource (ResourceCache is now empty on destruction, as it should be)
— Removed parent transform tracking as that’s the PhysicsComponent’s responsibility
— Only nodes loaded via the ResourceCache are allowed to be added to the SceneGraph (added proper loaders for Impostors, Sky, etc)

- Optimized some of the math classes (mat4, mat3)

322 Diff Diff IonutCava picture IonutCava Sat 06 Sep, 2014 20:33:47 +0000

[Ionut]
- Refactored most of Boost related code to be C++11 based
— Boost is only used for ThreadPool, Mutex handling, XML parsing and networking (ASIO)
— Function binds, threads, regex, NonCopyable base, Hashing algorithms and more are now using C++11 libraries
- Replaced all FOR_EACH calls with standard, range, “for” calls

321 Diff Diff IonutCava picture IonutCava Wed 03 Sep, 2014 22:05:15 +0000

[Ionut]
- Added support (and enabled by default) for the EASTL library (http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2271.html / https://github.com/paulhodge/EASTL)
— Strings, vectors and hash_maps can be combined from EASTL, STL and Boost (not all combinations work. e.g. EASTL strings with STL/Boost containers due to the lack of a proper hash function)

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)

315 Diff Diff IonutCava picture IonutCava Mon 25 Aug, 2014 15:23:33 +0000

[Ionut]
- Update ReCast to the latest version available on GitHub
- Improved nav mesh target point selection
- Added basic “go to enemy flag” logic for the WarScene teams

313 Diff Diff IonutCava picture IonutCava Sat 23 Aug, 2014 23:46:25 +0000

[Ionut]
- Added a messageBox gui element. Simple title/message hide/show System
- Added a working memory system to the WarSceneAISceneImpl class and a few memory facts for testing
- Reworked AI sensor system

312 Diff Diff IonutCava picture IonutCava Fri 22 Aug, 2014 22:46:19 +0000

[Ionut]
- Replaced AESOP with CPPGOAP (https://github.com/cpowell/cppgoap)
- Added a better interface to GOAP classes and objects via the AISceneImpl
- Actions, goals and orders basic infrastructure

311 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