navMesh.h

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#pragma once
 
#include "Engine/Utils/geometry/triangle.h"
#include <glm/vec3.hpp>
#include <vector>
#include <optional>
 
namespace Saga {
    class NavMesh {
    private: 
        struct Face; struct Edge; struct Vertex; struct HalfEdge;
        struct HalfEdge {
            HalfEdge *twin;
            HalfEdge *nxt;
            Vertex *vertex;
            Edge *edge;
            Face *face;
        };
        struct Vertex {
            HalfEdge *firstEdge;
            glm::vec3 pos;
            int degree;
        };
        struct Edge {
            HalfEdge *halfEdge;
            float highestAdminissibleRadius;
            glm::vec3 center;
        };
        struct Face {
            HalfEdge *halfEdge;
        };
 
    public:
        struct LocationInCell {
            int cell;
            glm::vec3 projectedPosition;
        };
 
        struct Path {
            float length;
            glm::vec3 from;
            glm::vec3 to;
            std::vector<int> edges;
        };
 
        void build(const std::vector<glm::vec3> &position, const std::vector<glm::ivec3> &faces);
        std::optional<Path> findPath(glm::vec3 from, glm::vec3 to);
        std::optional<LocationInCell> getCell(glm::vec3 pos);
    private:
        bool initialized;
 
        std::vector<Vertex> vertices;
        std::vector<Face> faces;
        std::vector<Edge> edges;
        std::vector<HalfEdge> halfEdges;
 
        Geometry::Triangle toTriangle(const Face& face);
    };
}