axmol/core/navmesh/CCNavMeshAgent.h

/****************************************************************************
 Copyright (c) 2015-2016 Chukong Technologies Inc.
 Copyright (c) 2017-2018 Xiamen Yaji Software Co., Ltd.

 https://axis-project.github.io/

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 all copies or substantial portions of the Software.

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#ifndef __CCNAV_MESH_AGENT_H__
#define __CCNAV_MESH_AGENT_H__

#include "base/ccConfig.h"
#if CC_USE_NAVMESH
#    include "2d/CCComponent.h"

#    include "base/CCRef.h"
#    include "math/Vec3.h"
#    include "recast/DetourCrowd.h"

class dtNavMeshQuery;
NS_AX_BEGIN

/**
 * @addtogroup 3d
 * @{
 */
struct CC_DLL NavMeshAgentParam
{
    NavMeshAgentParam();

    float radius;           ///< Agent radius. [Limit: >= 0]
    float height;           ///< Agent height. [Limit: > 0]
    float maxAcceleration;  ///< Maximum allowed acceleration. [Limit: >= 0]
    float maxSpeed;         ///< Maximum allowed speed. [Limit: >= 0]

    /// Defines how close a collision element must be before it is considered for steering behaviors. [Limits: > 0]
    float collisionQueryRange;

    float pathOptimizationRange;  ///< The path visibility optimization range. [Limit: > 0]

    /// How aggressive the agent manager should be at avoiding collisions with this agent. [Limit: >= 0]
    float separationWeight;

    /// Flags that impact steering behavior. (See: #UpdateFlags)
    unsigned char updateFlags;

    /// The index of the avoidance configuration to use for the agent.
    /// [Limits: 0 <= value <= #DT_CROWD_MAX_OBSTAVOIDANCE_PARAMS]
    unsigned char obstacleAvoidanceType;

    /// The index of the query filter used by this agent.
    unsigned char queryFilterType;
};

struct CC_DLL OffMeshLinkData
{
    Vec3 startPosition;  // position in local coordinate system.
    Vec3 endPosition;    // position in local coordinate system.
};

/** @brief NavMeshAgent: The code wrapping of dtCrowdAgent, use component mode. */
class CC_DLL NavMeshAgent : public Component
{
    friend class NavMesh;

public:
    enum NavMeshAgentSyncFlag
    {
        NONE          = 0,
        NODE_TO_AGENT = 1,
        AGENT_TO_NODE = 2,
        NODE_AND_NODE = NODE_TO_AGENT | AGENT_TO_NODE,
    };

    typedef std::function<void(NavMeshAgent* agent, float totalTimeAfterMove)> MoveCallback;

    /**
    Create agent

    @param param The parameters of agent.
    */
    static NavMeshAgent* create(const NavMeshAgentParam& param);
    static std::string_view getNavMeshAgentComponentName();

    virtual void onEnter() override;
    virtual void onExit() override;

    /** set agent radius */
    void setRadius(float radius);

    /** get agent radius */
    float getRadius() const;

    /** set agent height */
    void setHeight(float height);

    /** get agent height */
    float getHeight() const;

    /** set maximal acceleration of agent*/
    void setMaxAcceleration(float maxAcceleration);

    /** get maximal acceleration of agent*/
    float getMaxAcceleration() const;

    /** set maximal speed of agent */
    void setMaxSpeed(float maxSpeed);

    /** get maximal speed of agent */
    float getMaxSpeed() const;

    /** set separation weight */
    void setSeparationWeight(float weight);

    /** get separation weight */
    float getSeparationWeight() const;

    /** set obstacle avoidance type */
    void setObstacleAvoidanceType(unsigned char type);

    /** get obstacle avoidance type */
    unsigned char getObstacleAvoidanceType() const;

    /** get current velocity */
    Vec3 getCurrentVelocity() const;

    /**
    Move agent to a destination

    @param destination The position in world coordinate system.
    @param callback Use this function can catch movement state.
    */
    void move(const Vec3& destination, const MoveCallback& callback = nullptr);

    /** pause movement */
    void pause();

    /** resume movement */
    void resume();

    /** stop movement */
    void stop();

    /**
    Set the reference axes of agent's orientation

    @param rotRefAxes The value of reference axes in local coordinate system.
    */
    void setOrientationRefAxes(const Vec3& rotRefAxes);

    /**Set automatic Orientation */
    void setAutoOrientation(bool isAuto);

    /**Set automatic Traverse OffMeshLink */
    void setAutoTraverseOffMeshLink(bool isAuto);

    /**Check agent arrived OffMeshLink */
    bool isOnOffMeshLink();

    /**Traverse OffMeshLink manually*/
    void completeOffMeshLink();

    /**Get current OffMeshLink information*/
    OffMeshLinkData getCurrentOffMeshLinkData();

    void setUserData(void* data) { _userData = data; };
    void* getUserData() const { return _userData; };

    /**
     * synchronization between node and agent is time consuming, you can skip some synchronization using this function
     */
    void setSyncFlag(const NavMeshAgentSyncFlag& flag) { _syncFlag = flag; }
    NavMeshAgentSyncFlag getSyncFlag() const { return _syncFlag; }

    /** synchronize parameter to agent. */
    void syncToAgent();

    /** synchronize parameter to node. */
    void syncToNode();

    /** get current velocity */
    Vec3 getVelocity() const;

    NavMeshAgent();
    virtual ~NavMeshAgent();

private:
    bool initWith(const NavMeshAgentParam& param);
    void addTo(dtCrowd* crowed);
    void removeFrom(dtCrowd* crowed);
    void setNavMeshQuery(dtNavMeshQuery* query);
    void preUpdate(float delta);
    void postUpdate(float delta);
    static void convertTodtAgentParam(const NavMeshAgentParam& inParam, dtCrowdAgentParams& outParam);

private:
    MoveCallback _moveCallback;
    NavMeshAgentParam _param;
    NavMeshAgentSyncFlag _syncFlag;
    Vec3 _origination;
    Vec3 _destination;
    Vec3 _rotRefAxes;
    unsigned char _state;
    bool _needAutoOrientation;
    int _agentID;
    bool _needUpdateAgent;
    bool _needMove;
    float _totalTimeAfterMove;
    void* _userData;
    dtCrowd* _crowd;
    dtNavMeshQuery* _navMeshQuery;
};

/** @} */

NS_AX_END

#endif  // CC_USE_NAVMESH

#endif  // __CCNAV_MESH_AGENT_H__