njin_nav3d.h

#pragma once
#include "_math.h"
#include "_types.h"
#include <vector>
 
namespace njin {
struct context;


struct navmesh3d_desc {
  f32 agent_radius = 0.4f;  
  f32 agent_height = 1.8f;  
  f32 agent_climb = 0.4f;   
  f32 max_slope = 45.0f;    
  f32 cell_size = 0.15f;
  f32 cell_height = 0.1f;   
  f32 tile_size = 16.0f;    
  f32 region_min = 8.0f;    
  f32 edge_max_error = 1.3f; 
  vec3 bounds_min{0.0f, 0.0f, 0.0f};
  vec3 bounds_max{0.0f, 0.0f, 0.0f}; 
  i32 max_agents = 128;     
  i32 obstacle_tiles_per_frame = 4;
};

constexpr i32 nav3d_max_areas = 16;

struct nav3d_filter {
  f32 cost[nav3d_max_areas]{1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f,
                            1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f};

  u16 excluded = 0;
};

navmesh3d_handle navmesh3d_create(context &ctx, const navmesh3d_desc &desc = {});

void navmesh3d_destroy(context &ctx, navmesh3d_handle handle);

void navmesh3d_add_mesh(context &ctx, navmesh3d_handle handle, const vec3 *positions, u32 vertex_count,
                        const u32 *indices = nullptr, u32 index_count = 0, u8 area = 0);

void navmesh3d_add_model(context &ctx, navmesh3d_handle handle, model_handle model, vec3 position,
                         vec3 rotation = {0.0f, 0.0f, 0.0f}, vec3 scale = {1.0f, 1.0f, 1.0f}, u8 area = 0);

void navmesh3d_add_box(context &ctx, navmesh3d_handle handle, vec3 center, vec3 size,
                       vec3 rotation = {0.0f, 0.0f, 0.0f}, u8 area = 0);

void navmesh3d_add_terrain(context &ctx, navmesh3d_handle handle, terrain3d_handle terrain, u8 area = 0);

void navmesh3d_add_link(context &ctx, navmesh3d_handle handle, vec3 from, vec3 to, bool both_ways = true,
                        f32 radius = 0.5f, u8 area = 0);

i32 navmesh3d_add_area(context &ctx, navmesh3d_handle handle, vec3 center, vec3 size, f32 yaw, u8 area);

void navmesh3d_remove_area(context &ctx, navmesh3d_handle handle, i32 id);

void navmesh3d_clear_geometry(context &ctx, navmesh3d_handle handle);

bool navmesh3d_build(context &ctx, navmesh3d_handle handle);

i32 navmesh3d_rebuild(context &ctx, navmesh3d_handle handle, vec3 min, vec3 max);

navmesh3d_handle navmesh3d_clone(context &ctx, navmesh3d_handle source, const navmesh3d_desc &desc);

void navmesh3d_set_filter(context &ctx, navmesh3d_handle handle, i32 index, const nav3d_filter &filter);

nav3d_filter navmesh3d_filter(const context &ctx, navmesh3d_handle handle, i32 index);

struct nav3d_obstacle_desc {
  vec3 position{};               
  vec3 size{1.0f, 2.0f, 1.0f};   
  f32 yaw = 0.0f;                
  f32 radius = 0.0f;             
};

i32 navmesh3d_add_obstacle(context &ctx, navmesh3d_handle handle, const nav3d_obstacle_desc &desc);

bool navmesh3d_move_obstacle(context &ctx, navmesh3d_handle handle, i32 id, vec3 position, f32 yaw = 0.0f);

void navmesh3d_remove_obstacle(context &ctx, navmesh3d_handle handle, i32 id);

i32 navmesh3d_pending_tiles(const context &ctx, navmesh3d_handle handle);

bool navmesh3d_path(const context &ctx, navmesh3d_handle handle, vec3 from, vec3 to, std::vector<vec3> &out);

bool navmesh3d_path(const context &ctx, navmesh3d_handle handle, vec3 from, vec3 to, std::vector<vec3> &out,
                    i32 filter);

bool navmesh3d_nearest(const context &ctx, navmesh3d_handle handle, vec3 p, vec3 &out,
                       vec3 extents = {2.0f, 4.0f, 2.0f});

struct nav3d_ray {
  bool hit = false;   
  vec3 point{};       
  vec3 normal{};      
  f32 fraction = 1.0f; 
};

nav3d_ray navmesh3d_raycast(const context &ctx, navmesh3d_handle handle, vec3 from, vec3 to);

bool navmesh3d_random_point(context &ctx, navmesh3d_handle handle, vec3 &out);

bool navmesh3d_random_point_near(context &ctx, navmesh3d_handle handle, vec3 center, f32 radius, vec3 &out);

void navmesh3d_draw_debug(context &ctx, navmesh3d_handle handle, rgba color = {0.2f, 0.8f, 1.0f, 1.0f});

struct nav3d_agent_desc {
  vec3 position{};          
  f32 radius = 0.4f;        
  f32 height = 1.8f;        
  f32 max_speed = 3.5f;     
  f32 max_accel = 10.0f;    
  f32 separation = 2.0f;    
  bool avoid = true;        
  f32 arrive_distance = 0.0f;
  character3d_handle character{};
  i32 filter = 0;
};

nav3d_agent_handle nav3d_agent_add(context &ctx, navmesh3d_handle navmesh, const nav3d_agent_desc &desc);

void nav3d_agent_remove(context &ctx, nav3d_agent_handle agent);

bool nav3d_agent_set_target(context &ctx, nav3d_agent_handle agent, vec3 target);

void nav3d_agent_set_filter(context &ctx, nav3d_agent_handle agent, i32 filter);

void nav3d_agent_stop(context &ctx, nav3d_agent_handle agent);

bool nav3d_agent_teleport(context &ctx, nav3d_agent_handle agent, vec3 position);

vec3 nav3d_agent_position(const context &ctx, nav3d_agent_handle agent);

vec3 nav3d_agent_velocity(const context &ctx, nav3d_agent_handle agent);

bool nav3d_agent_arrived(const context &ctx, nav3d_agent_handle agent);

i32 nav3d_agent_count(const context &ctx, navmesh3d_handle navmesh);
} // namespace njin