text: /*************************************************************************/
  /*  navigation_mesh.h                                                    */
  /*************************************************************************/
  /*                       This file is part of:                           */
  /*                           GODOT ENGINE                                */
  /*                      https://godotengine.org                          */
  /*************************************************************************/
  /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur.                 */
  /* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md).   */
  /*                                                                       */
  /* Permission is hereby granted, free of charge, to any person obtaining */
  /* a copy of this software and associated documentation files (the       */
  /* "Software"), to deal in the Software without restriction, including   */
  /* without limitation the rights to use, copy, modify, merge, publish,   */
  /* distribute, sublicense, and/or sell copies of the Software, and to    */
  /* permit persons to whom the Software is furnished to do so, subject to */
  /* the following conditions:                                             */
  /*                                                                       */
  /* The above copyright notice and this permission notice shall be        */
  /* included in all copies or substantial portions of the Software.       */
  /*                                                                       */
  /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
  /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
  /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
  /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
  /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
  /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
  /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
  /*************************************************************************/
  
  #ifndef NAVIGATION_MESH_H
  #define NAVIGATION_MESH_H
  
  #include "scene/3d/spatial.h"
  #include "scene/resources/mesh.h"
  
  class Mesh;
  
  class NavigationMesh : public Resource {
  	GDCLASS(NavigationMesh, Resource);
  
  	PoolVector<Vector3> vertices;
  	struct Polygon {
  		Vector<int> indices;
  	};
  	Vector<Polygon> polygons;
  	Ref<ArrayMesh> debug_mesh;
  
  	struct _EdgeKey {
  		Vector3 from;
  		Vector3 to;
  
  		bool operator<(const _EdgeKey &p_with) const { return from == p_with.from ? to < p_with.to : from < p_with.from; }
  	};
  
  protected:
  	static void _bind_methods();
  	virtual void _validate_property(PropertyInfo &property) const;
  
  	void _set_polygons(const Array &p_array);
  	Array _get_polygons() const;
  
  public:
  	enum SamplePartitionType {
  		SAMPLE_PARTITION_WATERSHED = 0,
  		SAMPLE_PARTITION_MONOTONE,
  		SAMPLE_PARTITION_LAYERS,
  		SAMPLE_PARTITION_MAX
  	};
  
  	enum ParsedGeometryType {
  		PARSED_GEOMETRY_MESH_INSTANCES = 0,
  		PARSED_GEOMETRY_STATIC_COLLIDERS,
  		PARSED_GEOMETRY_BOTH,
  		PARSED_GEOMETRY_MAX
  	};
  
  	enum SourceGeometryMode {
  		SOURCE_GEOMETRY_NAVMESH_CHILDREN = 0,
  		SOURCE_GEOMETRY_GROUPS_WITH_CHILDREN,
  		SOURCE_GEOMETRY_GROUPS_EXPLICIT,
  		SOURCE_GEOMETRY_MAX
  	};
  
  protected:
  	float cell_size;
  	float cell_height;
  	float agent_height;
  	float agent_radius;
  	float agent_max_climb;
  	float agent_max_slope;
  	float region_min_size;
  	float region_merge_size;
  	float edge_max_length;
  	float edge_max_error;
  	float verts_per_poly;
  	float detail_sample_distance;
  	float detail_sample_max_error;
  
  	SamplePartitionType partition_type;
  	ParsedGeometryType parsed_geometry_type;
  	uint32_t collision_mask;
  
  	SourceGeometryMode source_geometry_mode;
  	StringName source_group_name;
  
  	bool filter_low_hanging_obstacles;
  	bool filter_ledge_spans;
  	bool filter_walkable_low_height_spans;
  
  public:
  	// Recast settings
  	void set_sample_partition_type(SamplePartitionType p_value);
  	SamplePartitionType get_sample_partition_type() const;
  
  	void set_parsed_geometry_type(ParsedGeometryType p_value);
  	ParsedGeometryType get_parsed_geometry_type() const;
  
  	void set_collision_mask(uint32_t p_mask);
  	uint32_t get_collision_mask() const;
  
  	void set_collision_mask_bit(int p_bit, bool p_value);
  	bool get_collision_mask_bit(int p_bit) const;
  
  	void set_source_geometry_mode(SourceGeometryMode p_geometry_mode);
  	SourceGeometryMode get_source_geometry_mode() const;
  
  	void set_source_group_name(StringName p_group_name);
  	StringName get_source_group_name() const;
  
  	void set_cell_size(float p_value);
  	float get_cell_size() const;
  
  	void set_cell_height(float p_value);
  	float get_cell_height() const;
  
  	void set_agent_height(float p_value);
  	float get_agent_height() const;
  
  	void set_agent_radius(float p_value);
  	float get_agent_radius();
  
  	void set_agent_max_climb(float p_value);
  	float get_agent_max_climb() const;
  
  	void set_agent_max_slope(float p_value);
  	float get_agent_max_slope() const;
  
  	void set_region_min_size(float p_value);
  	float get_region_min_size() const;
  
  	void set_region_merge_size(float p_value);
  	float get_region_merge_size() const;
  
  	void set_edge_max_length(float p_value);
  	float get_edge_max_length() const;
  
  	void set_edge_max_error(float p_value);
  	float get_edge_max_error() const;
  
  	void set_verts_per_poly(float p_value);
  	float get_verts_per_poly() const;
  
  	void set_detail_sample_distance(float p_value);
  	float get_detail_sample_distance() const;
  
  	void set_detail_sample_max_error(float p_value);
  	float get_detail_sample_max_error() const;
  
  	void set_filter_low_hanging_obstacles(bool p_value);
  	bool get_filter_low_hanging_obstacles() const;
  
  	void set_filter_ledge_spans(bool p_value);
  	bool get_filter_ledge_spans() const;
  
  	void set_filter_walkable_low_height_spans(bool p_value);
  	bool get_filter_walkable_low_height_spans() const;
  
  	void create_from_mesh(const Ref<Mesh> &p_mesh);
  
  	void set_vertices(const PoolVector<Vector3> &p_vertices);
  	PoolVector<Vector3> get_vertices() const;
  
  	void add_polygon(const Vector<int> &p_polygon);
  	int get_polygon_count() const;
  	Vector<int> get_polygon(int p_idx);
  	void clear_polygons();
  
  	Ref<Mesh> get_debug_mesh();
  
  	NavigationMesh();
  };
  
  VARIANT_ENUM_CAST(NavigationMesh::SamplePartitionType);
  VARIANT_ENUM_CAST(NavigationMesh::ParsedGeometryType);
  VARIANT_ENUM_CAST(NavigationMesh::SourceGeometryMode);
  
  class Navigation;
  
  class NavigationMeshInstance : public Spatial {
  	GDCLASS(NavigationMeshInstance, Spatial);
  
  	bool enabled;
  	int nav_id;
  	Navigation *navigation;
  	Ref<NavigationMesh> navmesh;
  
  	Node *debug_view;
  
  protected:
  	void _notification(int p_what);
  	static void _bind_methods();
  	void _changed_callback(Object *p_changed, const char *p_prop);
  
  public:
  	void set_enabled(bool p_enabled);
  	bool is_enabled() const;
  
  	void set_navigation_mesh(const Ref<NavigationMesh> &p_navmesh);
  	Ref<NavigationMesh> get_navigation_mesh() const;
  
  	String get_configuration_warning() const;
  
  	NavigationMeshInstance();
  	~NavigationMeshInstance();
  };
  
  #endif // NAVIGATION_MESH_H
  