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[11902] Import Recast Navigation
Import Recast Navigation as third party dependency Credits go to Mikko Mononen memon at inside dot org
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faramir118
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399 changed files with 142994 additions and 1 deletions
208
dep/recastnavigation/DebugUtils/Include/DebugDraw.h
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208
dep/recastnavigation/DebugUtils/Include/DebugDraw.h
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//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef DEBUGDRAW_H
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#define DEBUGDRAW_H
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// Some math headers don't have PI defined.
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static const float DU_PI = 3.14159265f;
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enum duDebugDrawPrimitives
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{
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DU_DRAW_POINTS,
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DU_DRAW_LINES,
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DU_DRAW_TRIS,
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DU_DRAW_QUADS,
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};
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// Abstrace debug draw interface.
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struct duDebugDraw
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{
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virtual ~duDebugDraw() = 0;
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virtual void depthMask(bool state) = 0;
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// Begin drawing primitives.
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// Params:
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// prim - (in) primitive type to draw, one of rcDebugDrawPrimitives.
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// nverts - (in) number of vertices to be submitted.
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// size - (in) size of a primitive, applies to point size and line width only.
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virtual void begin(duDebugDrawPrimitives prim, float size = 1.0f) = 0;
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// Submit a vertex
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// Params:
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// pos - (in) position of the verts.
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// color - (in) color of the verts.
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virtual void vertex(const float* pos, unsigned int color) = 0;
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// Submit a vertex
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// Params:
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// x,y,z - (in) position of the verts.
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// color - (in) color of the verts.
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virtual void vertex(const float x, const float y, const float z, unsigned int color) = 0;
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// End drawing primitives.
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virtual void end() = 0;
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};
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inline unsigned int duRGBA(int r, int g, int b, int a)
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{
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return ((unsigned int)r) | ((unsigned int)g << 8) | ((unsigned int)b << 16) | ((unsigned int)a << 24);
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}
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inline unsigned int duRGBAf(float fr, float fg, float fb, float fa)
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{
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unsigned char r = (unsigned char)(fr*255.0f);
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unsigned char g = (unsigned char)(fg*255.0f);
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unsigned char b = (unsigned char)(fb*255.0f);
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unsigned char a = (unsigned char)(fa*255.0f);
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return duRGBA(r,g,b,a);
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}
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unsigned int duIntToCol(int i, int a);
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void duIntToCol(int i, float* col);
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inline unsigned int duMultCol(const unsigned int col, const unsigned int d)
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{
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const unsigned int r = col & 0xff;
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const unsigned int g = (col >> 8) & 0xff;
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const unsigned int b = (col >> 16) & 0xff;
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const unsigned int a = (col >> 24) & 0xff;
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return duRGBA((r*d) >> 8, (g*d) >> 8, (b*d) >> 8, a);
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}
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inline unsigned int duDarkenCol(unsigned int col)
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{
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return ((col >> 1) & 0x007f7f7f) | (col & 0xff000000);
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}
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inline unsigned int duLerpCol(unsigned int ca, unsigned int cb, unsigned int u)
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{
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const unsigned int ra = ca & 0xff;
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const unsigned int ga = (ca >> 8) & 0xff;
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const unsigned int ba = (ca >> 16) & 0xff;
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const unsigned int aa = (ca >> 24) & 0xff;
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const unsigned int rb = cb & 0xff;
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const unsigned int gb = (cb >> 8) & 0xff;
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const unsigned int bb = (cb >> 16) & 0xff;
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const unsigned int ab = (cb >> 24) & 0xff;
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unsigned int r = (ra*(255-u) + rb*u)/255;
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unsigned int g = (ga*(255-u) + gb*u)/255;
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unsigned int b = (ba*(255-u) + bb*u)/255;
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unsigned int a = (aa*(255-u) + ab*u)/255;
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return duRGBA(r,g,b,a);
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}
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inline unsigned int duTransCol(unsigned int c, unsigned int a)
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{
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return (a<<24) | (c & 0x00ffffff);
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}
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void duCalcBoxColors(unsigned int* colors, unsigned int colTop, unsigned int colSide);
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void duDebugDrawCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz,
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float maxx, float maxy, float maxz, unsigned int col, const float lineWidth);
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void duDebugDrawBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz,
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float maxx, float maxy, float maxz, unsigned int col, const float lineWidth);
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void duDebugDrawArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
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const float x1, const float y1, const float z1, const float h,
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const float as0, const float as1, unsigned int col, const float lineWidth);
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void duDebugDrawArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
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const float x1, const float y1, const float z1,
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const float as0, const float as1, unsigned int col, const float lineWidth);
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void duDebugDrawCircle(struct duDebugDraw* dd, const float x, const float y, const float z,
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const float r, unsigned int col, const float lineWidth);
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void duDebugDrawCross(struct duDebugDraw* dd, const float x, const float y, const float z,
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const float size, unsigned int col, const float lineWidth);
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void duDebugDrawBox(struct duDebugDraw* dd, float minx, float miny, float minz,
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float maxx, float maxy, float maxz, const unsigned int* fcol);
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void duDebugDrawCylinder(struct duDebugDraw* dd, float minx, float miny, float minz,
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float maxx, float maxy, float maxz, unsigned int col);
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void duDebugDrawGridXZ(struct duDebugDraw* dd, const float ox, const float oy, const float oz,
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const int w, const int h, const float size,
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const unsigned int col, const float lineWidth);
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// Versions without begin/end, can be used to draw multiple primitives.
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void duAppendCylinderWire(struct duDebugDraw* dd, float minx, float miny, float minz,
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float maxx, float maxy, float maxz, unsigned int col);
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void duAppendBoxWire(struct duDebugDraw* dd, float minx, float miny, float minz,
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float maxx, float maxy, float maxz, unsigned int col);
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void duAppendBoxPoints(struct duDebugDraw* dd, float minx, float miny, float minz,
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float maxx, float maxy, float maxz, unsigned int col);
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void duAppendArc(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
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const float x1, const float y1, const float z1, const float h,
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const float as0, const float as1, unsigned int col);
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void duAppendArrow(struct duDebugDraw* dd, const float x0, const float y0, const float z0,
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const float x1, const float y1, const float z1,
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const float as0, const float as1, unsigned int col);
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void duAppendCircle(struct duDebugDraw* dd, const float x, const float y, const float z,
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const float r, unsigned int col);
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void duAppendCross(struct duDebugDraw* dd, const float x, const float y, const float z,
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const float size, unsigned int col);
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void duAppendBox(struct duDebugDraw* dd, float minx, float miny, float minz,
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float maxx, float maxy, float maxz, const unsigned int* fcol);
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void duAppendCylinder(struct duDebugDraw* dd, float minx, float miny, float minz,
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float maxx, float maxy, float maxz, unsigned int col);
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class duDisplayList : public duDebugDraw
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{
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float* m_pos;
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unsigned int* m_color;
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int m_size;
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int m_cap;
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bool m_depthMask;
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duDebugDrawPrimitives m_prim;
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float m_primSize;
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void resize(int cap);
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public:
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duDisplayList(int cap = 512);
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~duDisplayList();
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virtual void depthMask(bool state);
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virtual void begin(duDebugDrawPrimitives prim, float size = 1.0f);
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virtual void vertex(const float x, const float y, const float z, unsigned int color);
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virtual void vertex(const float* pos, unsigned int color);
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virtual void end();
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void clear();
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void draw(struct duDebugDraw* dd);
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};
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#endif // DEBUGDRAW_H
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38
dep/recastnavigation/DebugUtils/Include/DetourDebugDraw.h
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38
dep/recastnavigation/DebugUtils/Include/DetourDebugDraw.h
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//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef DETOURDEBUGDRAW_H
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#define DETOURDEBUGDRAW_H
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#include "DetourNavMesh.h"
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#include "DetourNavMeshQuery.h"
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enum DrawNavMeshFlags
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{
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DU_DRAWNAVMESH_OFFMESHCONS = 0x01,
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DU_DRAWNAVMESH_CLOSEDLIST = 0x02,
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};
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void duDebugDrawNavMesh(struct duDebugDraw* dd, const dtNavMesh& mesh, unsigned char flags);
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void duDebugDrawNavMeshWithClosedList(struct duDebugDraw* dd, const dtNavMesh& mesh, const dtNavMeshQuery& query, unsigned char flags);
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void duDebugDrawNavMeshNodes(struct duDebugDraw* dd, const dtNavMeshQuery& query);
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void duDebugDrawNavMeshBVTree(struct duDebugDraw* dd, const dtNavMesh& mesh);
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void duDebugDrawNavMeshPortals(struct duDebugDraw* dd, const dtNavMesh& mesh);
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void duDebugDrawNavMeshPoly(struct duDebugDraw* dd, const dtNavMesh& mesh, dtPolyRef ref, const unsigned int col);
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#endif // DETOURDEBUGDRAW_H
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38
dep/recastnavigation/DebugUtils/Include/RecastDebugDraw.h
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38
dep/recastnavigation/DebugUtils/Include/RecastDebugDraw.h
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//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef RECAST_DEBUGDRAW_H
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#define RECAST_DEBUGDRAW_H
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void duDebugDrawTriMesh(struct duDebugDraw* dd, const float* verts, int nverts, const int* tris, const float* normals, int ntris, const unsigned char* flags);
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void duDebugDrawTriMeshSlope(struct duDebugDraw* dd, const float* verts, int nverts, const int* tris, const float* normals, int ntris, const float walkableSlopeAngle);
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void duDebugDrawHeightfieldSolid(struct duDebugDraw* dd, const struct rcHeightfield& hf);
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void duDebugDrawHeightfieldWalkable(struct duDebugDraw* dd, const struct rcHeightfield& hf);
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void duDebugDrawCompactHeightfieldSolid(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf);
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void duDebugDrawCompactHeightfieldRegions(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf);
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void duDebugDrawCompactHeightfieldDistance(struct duDebugDraw* dd, const struct rcCompactHeightfield& chf);
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void duDebugDrawRegionConnections(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
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void duDebugDrawRawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
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void duDebugDrawContours(struct duDebugDraw* dd, const struct rcContourSet& cset, const float alpha = 1.0f);
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void duDebugDrawPolyMesh(struct duDebugDraw* dd, const struct rcPolyMesh& mesh);
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void duDebugDrawPolyMeshDetail(struct duDebugDraw* dd, const struct rcPolyMeshDetail& dmesh);
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#endif // RECAST_DEBUGDRAW_H
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43
dep/recastnavigation/DebugUtils/Include/RecastDump.h
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43
dep/recastnavigation/DebugUtils/Include/RecastDump.h
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//
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// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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//
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// This software is provided 'as-is', without any express or implied
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// warranty. In no event will the authors be held liable for any damages
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// arising from the use of this software.
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// Permission is granted to anyone to use this software for any purpose,
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// including commercial applications, and to alter it and redistribute it
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// freely, subject to the following restrictions:
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// 1. The origin of this software must not be misrepresented; you must not
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// claim that you wrote the original software. If you use this software
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// in a product, an acknowledgment in the product documentation would be
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// appreciated but is not required.
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// 2. Altered source versions must be plainly marked as such, and must not be
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// misrepresented as being the original software.
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// 3. This notice may not be removed or altered from any source distribution.
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//
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#ifndef RECAST_DUMP_H
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#define RECAST_DUMP_H
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struct duFileIO
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{
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virtual ~duFileIO() = 0;
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virtual bool isWriting() const = 0;
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virtual bool isReading() const = 0;
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virtual bool write(const void* ptr, const size_t size) = 0;
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virtual bool read(void* ptr, const size_t size) = 0;
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};
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bool duDumpPolyMeshToObj(struct rcPolyMesh& pmesh, duFileIO* io);
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bool duDumpPolyMeshDetailToObj(struct rcPolyMeshDetail& dmesh, duFileIO* io);
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bool duDumpContourSet(struct rcContourSet& cset, duFileIO* io);
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bool duReadContourSet(struct rcContourSet& cset, duFileIO* io);
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bool duDumpCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io);
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bool duReadCompactHeightfield(struct rcCompactHeightfield& chf, duFileIO* io);
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void duLogBuildTimes(rcContext& ctx, const int totalTileUsec);
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#endif // RECAST_DUMP_H
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