/* Copyright (C) Greg Snook, 2000.  * All rights reserved worldwide. * * This software is provided "as is" without express or implied * warranties. You may freely copy and compile this source into * applications you distribute provided that the copyright text * below is included in the resulting source code, for example: * "Portions Copyright (C) Greg Snook, 2000" */#ifndef NAVIGATIONMESH_H#define NAVIGATIONMESH_H/****************************************************************************************\	NavigationMesh.h	NavigationMesh component interface for the Navimesh sample program.	Included as part of the Game Programming Gems sample code.	Created 3/18/00 by Greg Snook	greg@mightystudios.com    ------------------------------------------------------------------------------------- 	Notes/Revisions:\****************************************************************************************/#ifndef _MTXLIB_H#include "mtxlib.h"#endif#ifndef NAVIGATIONCELL_H#include "navigationcell.h"#endif#ifndef NAVIGATIONHEAP_H#include "navigationheap.h"#endif#ifndef STD_VECTOR_H#define STD_VECTOR_H#pragma warning(disable : 4786)#include <vector>#endif#include <GL/glut.h>// forward declaration requiredclass NavigationPath;/*	NavigationMesh------------------------------------------------------------------------------------------		A NavigationMesh is a collecion of NavigationCells used to control object movement while	also providing path finding line-of-sight testing. It serves as a parent to all the	Actor objects which exist upon it.	------------------------------------------------------------------------------------------*/class NavigationMesh{public:	// ----- ENUMERATIONS & CONSTANTS -----	typedef	std::vector<NavigationCell*> CELL_ARRAY;	// ----- CREATORS ---------------------	NavigationMesh();	~NavigationMesh();	// ----- OPERATORS --------------------	// ----- MUTATORS ---------------------	void Clear();	void AddCell(const vector3& PointA, const vector3& PointB, const vector3& PointC);	void LinkCells();	vector3 SnapPointToCell(NavigationCell* Cell, const vector3& Point);	vector3 SnapPointToMesh(NavigationCell** CellOut, const vector3& Point);	NavigationCell* FindClosestCell(const vector3& Point)const;	bool LineOfSightTest(NavigationCell* StartCell, const vector3& StartPos, NavigationCell* EndCell, const vector3& EndPos);	bool BuildNavigationPath(NavigationPath& NavPath, NavigationCell* StartCell, const vector3& StartPos, NavigationCell* EndCell, const vector3& EndPos);	void ResolveMotionOnMesh(const vector3& StartPos, NavigationCell* StartCell, vector3& EndPos, NavigationCell** EndCell);	void Update(float elapsedTime = 1.0f);	void Render();	// ----- ACCESSORS --------------------	int TotalCells()const;	NavigationCell* Cell(int index);private:	// ----- DATA -------------------------	CELL_ARRAY m_CellArray; // the cells that make up this mesh	// path finding data...	int m_PathSession;	NavigationHeap m_NavHeap;	// ----- HELPER FUNCTIONS -------------	// ----- UNIMPLEMENTED FUNCTIONS ------	NavigationMesh( const NavigationMesh& Src);	NavigationMesh& operator=( const NavigationMesh& Src);};//- Inline Functions ---------------------------------------------------------------------//= CREATORS =============================================================================/*	NavigationMesh------------------------------------------------------------------------------------------		Default Object Constructor	------------------------------------------------------------------------------------------*/inline NavigationMesh::NavigationMesh():m_PathSession(0){	m_CellArray.clear();}/*	~NavigationMesh------------------------------------------------------------------------------------------		Default Object Destructor	------------------------------------------------------------------------------------------*/inline NavigationMesh::~NavigationMesh(){	Clear();}//= OPERATORS ============================================================================//= MUTATORS =============================================================================//:	Clear//----------------------------------------------------------------------------------------////	Delete all cells associated with this mesh ////-------------------------------------------------------------------------------------://inline void NavigationMesh::Clear(){	CELL_ARRAY::iterator	CellIter = m_CellArray.begin();	for(;CellIter != m_CellArray.end(); ++CellIter)	{		NavigationCell* Cell = *CellIter;		delete Cell;	}	m_CellArray.clear();}//:	AddCell//----------------------------------------------------------------------------------------////	Add a new cell, defined by the three vertices in clockwise order, to this mesh ////-------------------------------------------------------------------------------------://inline void NavigationMesh::AddCell(const vector3& PointA, const vector3& PointB, const vector3& PointC){	NavigationCell* NewCell = new NavigationCell;	NewCell->Initialize(PointA, PointB, PointC);	m_CellArray.push_back(NewCell);}//:	Render//----------------------------------------------------------------------------------------////	Render the mesh geometry to screen. The mesh is assumed to exist in world corrdinates //	for the purpose of this demo ////-------------------------------------------------------------------------------------://inline void NavigationMesh::Render(){    glPushMatrix();	glTranslatef(0.0f, 0.0f, 0.0f);	glBegin(GL_TRIANGLES);	// render each cell triangle	CELL_ARRAY::const_iterator	iter = m_CellArray.begin();	for(;iter != m_CellArray.end(); ++iter)	{		const NavigationCell* Cell = *iter;		int i;		for (i=0;i<3;++i)		{			char shade = (char)Cell->Vertex(i).y;			shade = 128+shade;			glColor4ub(shade, shade, shade, 0xff);			glTexCoord2f(0.0f, 0.0f);			glVertex3f(Cell->Vertex(i).x, Cell->Vertex(i).y, Cell->Vertex(i).z);		}	}	glEnd();	glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);	glBegin(GL_TRIANGLES);	// render cell edges as wireframe for added visibility	iter = m_CellArray.begin();	for(;iter != m_CellArray.end(); ++iter)	{		const NavigationCell* Cell = *iter;		int i;		for (i=0;i<3;++i)		{			char shade = (char)Cell->Vertex(i).y;			shade = 64+shade;			glColor4ub(shade, shade, shade, 0x80);			glTexCoord2f(0.0f, 0.0f);			glVertex3f(Cell->Vertex(i).x, Cell->Vertex(i).y + 0.2, Cell->Vertex(i).z);		}	}	glEnd();	glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);   	glPopMatrix();}//:	Update//----------------------------------------------------------------------------------------////	Does noting at this point. Stubbed for future use in animating the mesh ////-------------------------------------------------------------------------------------://inline void NavigationMesh::Update(float elapsedTime){}//= ACCESSORS ============================================================================inline int NavigationMesh::TotalCells()const{	return((int)m_CellArray.size());}inline NavigationCell* NavigationMesh::Cell(int index){	return(m_CellArray.at(index));}//- End of NavigationMesh ----------------------------------------------------------------//****************************************************************************************#endif  // end of file      ( NavigationMesh.h )