First basic working version of pathfinding

Author: Robzz

.gitignore

@@ -1,2 +1,3 @@
 target/
+coverage/
 Cargo.lock

Cargo.toml

@@ -4,9 +4,10 @@ version = "0.1.0"
 edition = "2021"
 
 [features]
-#bundled-recast = ["recast-sys/bundled"]
-default = ["detour", "recast"]
+default = ["detour_crowd", "recast"]
+
 detour = ["recast-sys/detour"]
+detour_crowd = ["detour", "recast-sys/detour_crowd"]
 recast = ["recast-sys/recast"]
 
 [workspace]

README.md

@@ -13,5 +13,11 @@ likely to happen when this crate becomes usable enough to build a minimal Bevy p
 
 `recast-rs` contains two crates:
 
-  * `recast-sys`: low level FFI bindings to the Recast library.
+  * `recast-sys`: low level FFI bindings to the Recast library. You will need a working C++14 compiler to compile the
+    Recast code. There is no option to use system libraries yet, just the bundled one.
   * `recast`: higher level bindings.
+
+## License
+
+Recast-rs includes code from the recastnavigation project, provided under the Zlib license. Recast-rs itself is provided
+under either the MIT or Apache 2.0 license, at your option.

recast-sys/Cargo.toml

@@ -4,15 +4,14 @@ version = "0.1.0"
 edition = "2021"
 
 [features]
-default = ["recast", "detour"]
+default = ["recast", "detour", "detour_crowd"]
+
 detour = []
+detour_crowd = ["detour"]
 recast = []
 
-# Only support bundled builds for now
-#bundled = []
-
 [dependencies]
 cxx = "1.0"
 
 [build-dependencies]
-cxx-build = "1.0"
+cxx-build = "1.0"

recast-sys/build.rs

@@ -1,14 +1,46 @@
 fn main() {
     let mut bridge = cxx_build::bridge("src/lib.rs");
+    bridge.flag_if_supported("-std=c++14").shared_flag(true);
 
     #[cfg(feature = "detour")]
     {
+        bridge
+            .include("recastnavigation/Detour/Include")
+            // TODO: not a fan of sweeping this under the rug, look into the warning
+            .flag_if_supported("-Wno-class-memaccess")
+            // Detour source files
+            .file("recastnavigation/Detour/Source/DetourAlloc.cpp")
+            .file("recastnavigation/Detour/Source/DetourCommon.cpp")
+            .file("recastnavigation/Detour/Source/DetourNavMesh.cpp")
+            .file("recastnavigation/Detour/Source/DetourNavMeshBuilder.cpp")
+            .file("recastnavigation/Detour/Source/DetourNavMeshQuery.cpp")
+            .file("recastnavigation/Detour/Source/DetourNode.cpp")
+            // Our additional functions
+            .file("src/detour.cpp");
+
+        #[cfg(feature = "detour_crowd")]
+        {
+            bridge
+                .include("recastnavigation/DetourCrowd/Include")
+                // Detour source files
+                .file("recastnavigation/DetourCrowd/Source/DetourCrowd.cpp")
+                .file("recastnavigation/DetourCrowd/Source/DetourLocalBoundary.cpp")
+                .file("recastnavigation/DetourCrowd/Source/DetourObstacleAvoidance.cpp")
+                .file("recastnavigation/DetourCrowd/Source/DetourPathCorridor.cpp")
+                .file("recastnavigation/DetourCrowd/Source/DetourPathQueue.cpp")
+                .file("recastnavigation/DetourCrowd/Source/DetourProximityGrid.cpp")
+                // Our additional functions
+                //.file("src/detour_crowd.cpp")
+                ;
+        }
     }
     #[cfg(feature = "recast")]
     {
         bridge
             .include("recastnavigation/Recast/Include/")
+            // Silences a comment related warning in recast
             .flag_if_supported("-Wno-comment")
+            // Recast source files
             .file("recastnavigation/Recast/Source/Recast.cpp")
             .file("recastnavigation/Recast/Source/RecastAlloc.cpp")
             .file("recastnavigation/Recast/Source/RecastArea.cpp")
@@ -18,17 +50,10 @@ fn main() {
             .file("recastnavigation/Recast/Source/RecastMesh.cpp")
             .file("recastnavigation/Recast/Source/RecastMeshDetail.cpp")
             .file("recastnavigation/Recast/Source/RecastRasterization.cpp")
-            .file("recastnavigation/Recast/Source/RecastRegion.cpp");
+            .file("recastnavigation/Recast/Source/RecastRegion.cpp")
+            // Our additional functions
+            .file("src/recast.cpp");
     }
 
-    //#[cfg(not(feature = "bundled"))]
-    //{
-        //println!("cargo:rustc-link-lib=Recast");
-    //}
-
-    bridge.file("src/recast.cpp")
-        .flag_if_supported("-std=c++14")
-        //.flag_if_supported("Wl,--no-allow-shlib-undefined")
-        .shared_flag(true)
-        .compile("recast-sys");
+    bridge.compile("recast-sys");
 }

recast-sys/include/detour.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#include "rust/cxx.h"
+#include <memory>
+
+#include "recast-sys/recastnavigation/Detour/Include/DetourNavMesh.h"
+#include "recast-sys/recastnavigation/Detour/Include/DetourNavMeshBuilder.h"
+#include "recast-sys/recastnavigation/Detour/Include/DetourNavMeshQuery.h"
+#include "recast-sys/recastnavigation/Detour/Include/DetourStatus.h"
+
+struct NavMeshCreateParams;
+
+std::unique_ptr<dtNavMesh> newDtNavMesh();
+std::unique_ptr<dtNavMeshQuery> newDtNavMeshQuery();
+std::unique_ptr<dtQueryFilter> newDtQueryFilter();
+
+bool createNavMeshData(NavMeshCreateParams* params, std::uint8_t **outData, std::int32_t *outDataSize);

recast-sys/include/detour_crowd.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include "rust/cxx.h"
+#include <memory>
+
+#include "recast-sys/recastnavigation/DetourCrowd/Include/DetourPathCorridor.h"
+
+struct NavMeshCreateParams;
+
+std::unique_ptr<dtPathCorridor> newDtPathCorridor();

recast-sys/include/recast.h

@@ -2,7 +2,6 @@
 
 #include "rust/cxx.h"
 #include "recast-sys/recastnavigation/Recast/Include/Recast.h"
-#include <functional>
 #include <memory>
 
 std::unique_ptr<rcContext> newRcContext(bool diagnostics);
@@ -13,9 +12,17 @@ std::unique_ptr<rcPolyMesh> newRcPolyMesh();
 std::unique_ptr<rcPolyMeshDetail> newRcPolyMeshDetail();
 
 const std::uint16_t* polyMeshGetVerts(rcPolyMesh const& poly_mesh);
+std::uint16_t* polyMeshGetVertsMut(rcPolyMesh & poly_mesh);
 const std::uint16_t* polyMeshGetPolys(rcPolyMesh const& poly_mesh);
+std::uint16_t* polyMeshGetPolysMut(rcPolyMesh& poly_mesh);
 const std::uint16_t* polyMeshGetRegions(rcPolyMesh const& poly_mesh);
+std::uint16_t* polyMeshGetRegionsMut(rcPolyMesh& poly_mesh);
+const std::uint16_t* polyMeshGetFlags(rcPolyMesh const& poly_mesh);
+std::uint16_t* polyMeshGetFlagsMut(rcPolyMesh& poly_mesh);
 const std::uint8_t* polyMeshGetAreas(rcPolyMesh const& poly_mesh);
+std::uint8_t* polyMeshGetAreasMut(rcPolyMesh& poly_mesh);
+
+
 std::int32_t polyMeshGetPolyCount(rcPolyMesh const& poly_mesh);
 std::int32_t polyMeshGetVertexCount(rcPolyMesh const& poly_mesh);
 std::int32_t polyMeshGetMaxVertexCountPerPoly(rcPolyMesh const& poly_mesh);

recast-sys/src/detour.cpp

@@ -0,0 +1,56 @@
+#include "recast-sys/include/detour.h"
+
+#include "recast-sys/src/lib.rs.h"
+
+std::unique_ptr<dtNavMesh> newDtNavMesh() {
+    return std::make_unique<dtNavMesh>();
+}
+
+std::unique_ptr<dtNavMeshQuery> newDtNavMeshQuery() {
+    return std::make_unique<dtNavMeshQuery>();
+}
+
+std::unique_ptr<dtQueryFilter> newDtQueryFilter() {
+    return std::make_unique<dtQueryFilter>();
+}
+
+std::unique_ptr<dtPathCorridor> newDtPathCorridor() {
+    return std::make_unique<dtPathCorridor>();
+}
+
+bool createNavMeshData(NavMeshCreateParams* params, std::uint8_t **outData, std::int32_t *outDataSize) {
+    auto dtParams = dtNavMeshCreateParams();
+    dtParams.verts = params->vertices;
+    dtParams.vertCount = params->num_vertices;
+    dtParams.polys = params->polygons;
+    dtParams.polyFlags = params->polygon_flags;
+    dtParams.polyAreas = params->polygon_areas;
+    dtParams.polyCount = params->num_polys;
+    dtParams.nvp = params->max_vertices_per_poly;
+    dtParams.detailMeshes = params->detail_meshes;
+    dtParams.detailVerts = params->detail_vertices;
+    dtParams.detailVertsCount = params->num_detail_vertices;
+    dtParams.detailTris = params->detail_triangles;
+    dtParams.detailTriCount = params->num_detail_triangles;
+    dtParams.offMeshConVerts = params->off_mesh_conn_vertices;
+    dtParams.offMeshConRad = params->off_mesh_conn_radii;
+    dtParams.offMeshConFlags = params->off_mesh_conn_flags;
+    dtParams.offMeshConAreas = params->off_mesh_conn_areas;
+    dtParams.offMeshConDir = params->off_mesh_conn_dir;
+    dtParams.offMeshConUserID = params->off_mesh_conn_ids;
+    dtParams.offMeshConCount = params->off_mesh_conn_count;
+    dtParams.userId = params->user_id;
+    dtParams.tileX = params->tile_x;
+    dtParams.tileY = params->tile_y;
+    dtParams.tileLayer = params->tile_layer;
+    std::copy(params->b_min.begin(), params->b_min.end(), dtParams.bmin);
+    std::copy(params->b_max.begin(), params->b_max.end(), dtParams.bmax);
+    dtParams.walkableHeight = params->walkable_height;
+    dtParams.walkableRadius = params->walkable_radius;
+    dtParams.walkableClimb = params->walkable_climb;
+    dtParams.cs = params->cs;
+    dtParams.ch = params->ch;
+    dtParams.buildBvTree = params->build_bv_tree;
+
+    return dtCreateNavMeshData(&dtParams, outData, outDataSize);
+}