text: //
  // Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
  //
  // This software is provided 'as-is', without any express or implied
  // warranty.  In no event will the authors be held liable for any damages
  // arising from the use of this software.
  // Permission is granted to anyone to use this software for any purpose,
  // including commercial applications, and to alter it and redistribute it
  // freely, subject to the following restrictions:
  // 1. The origin of this software must not be misrepresented; you must not
  //    claim that you wrote the original software. If you use this software
  //    in a product, an acknowledgment in the product documentation would be
  //    appreciated but is not required.
  // 2. Altered source versions must be plainly marked as such, and must not be
  //    misrepresented as being the original software.
  // 3. This notice may not be removed or altered from any source distribution.
  //
  
  #ifndef DETOURLOCALBOUNDARY_H
  #define DETOURLOCALBOUNDARY_H
  
  #include "DetourNavMeshQuery.h"
  
  
  class dtLocalBoundary
  {
  	static const int MAX_LOCAL_SEGS = 8;
  	static const int MAX_LOCAL_POLYS = 16;
  	
  	struct Segment
  	{
  		double s[6];	///< Segment start/end
  		double d;	///< Distance for pruning.
  	};
  	
  	double m_center[3];
  	Segment m_segs[MAX_LOCAL_SEGS];
  	int m_nsegs;
  	
  	dtPolyRef m_polys[MAX_LOCAL_POLYS];
  	int m_npolys;
  
  	void addSegment(const double dist, const double* seg);
  	
  public:
  	dtLocalBoundary();
  	~dtLocalBoundary();
  	
  	void reset();
  	
  	void update(dtPolyRef ref, const double* pos, const double collisionQueryRange,
  				dtNavMeshQuery* navquery, const dtQueryFilter* filter);
  	
  	bool isValid(dtNavMeshQuery* navquery, const dtQueryFilter* filter);
  	
  	inline const double* getCenter() const { return m_center; }
  	inline int getSegmentCount() const { return m_nsegs; }
  	inline const double* getSegment(int i) const { return m_segs[i].s; }
  };
  
  #endif // DETOURLOCALBOUNDARY_H
  