Orkuncakilkaya
f65eda8b47
nav_us() gives the microseconds spent in nav_path across the loaded meshes. The shim times each path with the OS's monotonic clock (clock_gettime, or QueryPerformanceCounter from KERNEL32), so the DLL still needs no C++ runtime. Both libraries are rebuilt, and 13 tests pass on the Mac and the PC. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
79 lines
2.9 KiB
C++
79 lines
2.9 KiB
C++
// nav_shim.cpp - ludic.nav's door into Recast & Detour (phase 17). The shim rules of
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// packages/README.md: int, float and opaque handles cross; no struct by value, no callback into
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// Ludic; what a query finds is written into a buffer the package owns; errors are return codes.
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#include <Recast.h>
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#include <DetourNavMesh.h>
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#include <DetourNavMeshBuilder.h>
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#include <DetourNavMeshQuery.h>
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#include <DetourCommon.h>
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#include <cstring>
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#include <cstdlib>
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#include <cmath>
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#include <vector>
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#if defined(_WIN32)
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#define NAV_SHIM extern "C" __declspec(dllexport)
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#else
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#define NAV_SHIM extern "C" __attribute__((visibility("default")))
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#endif
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#ifdef _WIN32
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extern "C" __declspec(dllimport) int __stdcall QueryPerformanceCounter(long long *);
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extern "C" __declspec(dllimport) int __stdcall QueryPerformanceFrequency(long long *);
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#else
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#include <time.h>
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#endif
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namespace {
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// a monotonic clock in nanoseconds, from the OS alone (KERNEL32 on Windows: no C++ runtime to ship)
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long long nav_now_ns() {
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#ifdef _WIN32
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long long c = 0, f = 1;
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QueryPerformanceCounter(&c);
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QueryPerformanceFrequency(&f);
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return (long long)((double)c * 1e9 / (double)f);
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#else
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struct timespec t;
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clock_gettime(CLOCK_MONOTONIC, &t);
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return (long long)t.tv_sec * 1000000000LL + t.tv_nsec;
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#endif
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}
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const int NAV_MAX_POLYS = 512; // polygons a path may cross; a longer one is cut there
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const int NAV_MAX_NODES = 4096; // the search's open list
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const int NAV_FILTERS = 8; // costs per kind of ground: one set per kind of walker's taste
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// a navmesh and the one query that walks it, with the scratch a path needs
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struct Nav {
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dtNavMesh *mesh = nullptr;
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dtNavMeshQuery *query = nullptr;
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dtQueryFilter filters[NAV_FILTERS];
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float ext[3] = {2.0f, 4.0f, 2.0f}; // how far to look for the mesh around a point
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dtPolyRef polys[NAV_MAX_POLYS];
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int partial = 0; // the last path stopped short of its end
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long long ns = 0; // time spent finding paths, for the measure (17.10)
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};
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// a navmesh with its query, from params (a set of tiles) or from one tile's data
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Nav *nav_open(dtNavMesh *mesh) {
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Nav *n = new Nav();
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n->mesh = mesh;
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n->query = dtAllocNavMeshQuery();
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if (!n->query || dtStatusFailed(n->query->init(n->mesh, NAV_MAX_NODES))) { dtFreeNavMeshQuery(n->query); dtFreeNavMesh(n->mesh); delete n; return nullptr; }
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for (int f = 0; f < NAV_FILTERS; ++f) {
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n->filters[f].setIncludeFlags(0xffff);
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n->filters[f].setExcludeFlags(0);
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}
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return n;
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}
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Nav *nav_from(unsigned char *data, int size) {
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dtNavMesh *mesh = dtAllocNavMesh();
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if (!mesh || dtStatusFailed(mesh->init(data, size, DT_TILE_FREE_DATA))) { dtFree(data); dtFreeNavMesh(mesh); return nullptr; }
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return nav_open(mesh);
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}
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// filter f, the first when f is out of range
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const dtQueryFilter *nav_filter(Nav *n, int f) { return &n->filters[f >= 0 && f < NAV_FILTERS ? f : 0]; }
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} // namespace
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#include "nav_build.inl"
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#include "nav_tiles.inl"
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#include "nav_query.inl"
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