Initial commit for Recast based nav mesh generator.

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "External/recastnavigation"]
+	path = External/recastnavigation
+	url = https://github.com/recastnavigation/recastnavigation.git

External/recastnavigation

@@ -0,0 +1 @@
+Subproject commit c32297c2f9532a55a11c00f22ec763d771d3dae5

GiantsTools.sln

@@ -25,6 +25,12 @@ Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Plugins", "Plugins", "{0801
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "imp_gbs", "Plugins\imp_gbs\imp_gbs.vcxproj", "{448F061E-AE05-4E06-84A1-C95660FD048C}"
 EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Giants.Services.Tests", "Giants.Services.Tests\Giants.Services.Tests.csproj", "{2AFB71CA-8313-472E-B242-0517343764B4}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ServerConsole", "ServerConsoleExample\ServerConsole.vcxproj", "{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "NavMeshGenerator", "NavMeshGenerator\NavMeshGenerator.vcxproj", "{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -277,6 +283,74 @@ Global
 		{448F061E-AE05-4E06-84A1-C95660FD048C}.ReleaseBeta|x64.Build.0 = Release|x64
 		{448F061E-AE05-4E06-84A1-C95660FD048C}.ReleaseBeta|x86.ActiveCfg = Release|Win32
 		{448F061E-AE05-4E06-84A1-C95660FD048C}.ReleaseBeta|x86.Build.0 = Release|Win32
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Debug|x64.Build.0 = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Debug|x86.Build.0 = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.DebugBeta|Any CPU.ActiveCfg = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.DebugBeta|Any CPU.Build.0 = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.DebugBeta|x64.ActiveCfg = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.DebugBeta|x64.Build.0 = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.DebugBeta|x86.ActiveCfg = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.DebugBeta|x86.Build.0 = Debug|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Release|Any CPU.Build.0 = Release|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Release|x64.ActiveCfg = Release|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Release|x64.Build.0 = Release|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Release|x86.ActiveCfg = Release|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.Release|x86.Build.0 = Release|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.ReleaseBeta|Any CPU.ActiveCfg = Release|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.ReleaseBeta|Any CPU.Build.0 = Release|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.ReleaseBeta|x64.ActiveCfg = Release|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.ReleaseBeta|x64.Build.0 = Release|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.ReleaseBeta|x86.ActiveCfg = Release|Any CPU
+		{2AFB71CA-8313-472E-B242-0517343764B4}.ReleaseBeta|x86.Build.0 = Release|Any CPU
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Debug|Any CPU.ActiveCfg = Debug|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Debug|x64.ActiveCfg = Debug|x64
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Debug|x64.Build.0 = Debug|x64
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Debug|x86.ActiveCfg = Debug|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Debug|x86.Build.0 = Debug|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.DebugBeta|Any CPU.ActiveCfg = Debug|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.DebugBeta|Any CPU.Build.0 = Debug|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.DebugBeta|x64.ActiveCfg = Debug|x64
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.DebugBeta|x64.Build.0 = Debug|x64
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.DebugBeta|x86.ActiveCfg = Debug|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.DebugBeta|x86.Build.0 = Debug|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Release|Any CPU.ActiveCfg = Release|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Release|x64.ActiveCfg = Release|x64
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Release|x64.Build.0 = Release|x64
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Release|x86.ActiveCfg = Release|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.Release|x86.Build.0 = Release|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.ReleaseBeta|Any CPU.ActiveCfg = Debug|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.ReleaseBeta|Any CPU.Build.0 = Debug|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.ReleaseBeta|x64.ActiveCfg = Release|x64
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.ReleaseBeta|x64.Build.0 = Release|x64
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.ReleaseBeta|x86.ActiveCfg = Release|Win32
+		{8AEE9CFF-0E24-498F-B60A-627A7F4A727D}.ReleaseBeta|x86.Build.0 = Release|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|Any CPU.ActiveCfg = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|x64.ActiveCfg = Debug|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|x64.Build.0 = Debug|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|x86.ActiveCfg = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|x86.Build.0 = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.DebugBeta|Any CPU.ActiveCfg = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.DebugBeta|Any CPU.Build.0 = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.DebugBeta|x64.ActiveCfg = Debug|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.DebugBeta|x64.Build.0 = Debug|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.DebugBeta|x86.ActiveCfg = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.DebugBeta|x86.Build.0 = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|Any CPU.ActiveCfg = Release|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|x64.ActiveCfg = Release|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|x64.Build.0 = Release|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|x86.ActiveCfg = Release|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|x86.Build.0 = Release|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.ReleaseBeta|Any CPU.ActiveCfg = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.ReleaseBeta|Any CPU.Build.0 = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.ReleaseBeta|x64.ActiveCfg = Release|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.ReleaseBeta|x64.Build.0 = Release|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.ReleaseBeta|x86.ActiveCfg = Release|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.ReleaseBeta|x86.Build.0 = Release|Win32
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

NavMeshGenerator/Framework/ChunkyTriMesh.cpp

@@ -0,0 +1,315 @@
+//
+// 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.
+//
+
+#include "ChunkyTriMesh.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+
+struct BoundsItem
+{
+	float bmin[2];
+	float bmax[2];
+	int i;
+};
+
+static int compareItemX(const void* va, const void* vb)
+{
+	const BoundsItem* a = (const BoundsItem*)va;
+	const BoundsItem* b = (const BoundsItem*)vb;
+	if (a->bmin[0] < b->bmin[0])
+		return -1;
+	if (a->bmin[0] > b->bmin[0])
+		return 1;
+	return 0;
+}
+
+static int compareItemY(const void* va, const void* vb)
+{
+	const BoundsItem* a = (const BoundsItem*)va;
+	const BoundsItem* b = (const BoundsItem*)vb;
+	if (a->bmin[1] < b->bmin[1])
+		return -1;
+	if (a->bmin[1] > b->bmin[1])
+		return 1;
+	return 0;
+}
+
+static void calcExtends(const BoundsItem* items, const int /*nitems*/,
+						const int imin, const int imax,
+						float* bmin, float* bmax)
+{
+	bmin[0] = items[imin].bmin[0];
+	bmin[1] = items[imin].bmin[1];
+	
+	bmax[0] = items[imin].bmax[0];
+	bmax[1] = items[imin].bmax[1];
+	
+	for (int i = imin+1; i < imax; ++i)
+	{
+		const BoundsItem& it = items[i];
+		if (it.bmin[0] < bmin[0]) bmin[0] = it.bmin[0];
+		if (it.bmin[1] < bmin[1]) bmin[1] = it.bmin[1];
+		
+		if (it.bmax[0] > bmax[0]) bmax[0] = it.bmax[0];
+		if (it.bmax[1] > bmax[1]) bmax[1] = it.bmax[1];
+	}
+}
+
+inline int longestAxis(float x, float y)
+{
+	return y > x ? 1 : 0;
+}
+
+static void subdivide(BoundsItem* items, int nitems, int imin, int imax, int trisPerChunk,
+					  int& curNode, rcChunkyTriMeshNode* nodes, const int maxNodes,
+					  int& curTri, int* outTris, const int* inTris)
+{
+	int inum = imax - imin;
+	int icur = curNode;
+	
+	if (curNode >= maxNodes)
+		return;
+
+	rcChunkyTriMeshNode& node = nodes[curNode++];
+	
+	if (inum <= trisPerChunk)
+	{
+		// Leaf
+		calcExtends(items, nitems, imin, imax, node.bmin, node.bmax);
+		
+		// Copy triangles.
+		node.i = curTri;
+		node.n = inum;
+		
+		for (int i = imin; i < imax; ++i)
+		{
+			const int* src = &inTris[items[i].i*3];
+			int* dst = &outTris[curTri*3];
+			curTri++;
+			dst[0] = src[0];
+			dst[1] = src[1];
+			dst[2] = src[2];
+		}
+	}
+	else
+	{
+		// Split
+		calcExtends(items, nitems, imin, imax, node.bmin, node.bmax);
+		
+		int	axis = longestAxis(node.bmax[0] - node.bmin[0],
+							   node.bmax[1] - node.bmin[1]);
+		
+		if (axis == 0)
+		{
+			// Sort along x-axis
+			qsort(items+imin, static_cast<size_t>(inum), sizeof(BoundsItem), compareItemX);
+		}
+		else if (axis == 1)
+		{
+			// Sort along y-axis
+			qsort(items+imin, static_cast<size_t>(inum), sizeof(BoundsItem), compareItemY);
+		}
+		
+		int isplit = imin+inum/2;
+		
+		// Left
+		subdivide(items, nitems, imin, isplit, trisPerChunk, curNode, nodes, maxNodes, curTri, outTris, inTris);
+		// Right
+		subdivide(items, nitems, isplit, imax, trisPerChunk, curNode, nodes, maxNodes, curTri, outTris, inTris);
+		
+		int iescape = curNode - icur;
+		// Negative index means escape.
+		node.i = -iescape;
+	}
+}
+
+bool rcCreateChunkyTriMesh(const float* verts, const int* tris, int ntris,
+						   int trisPerChunk, rcChunkyTriMesh* cm)
+{
+	int nchunks = (ntris + trisPerChunk-1) / trisPerChunk;
+
+	cm->nodes = new rcChunkyTriMeshNode[nchunks*4];
+	if (!cm->nodes)
+		return false;
+		
+	cm->tris = new int[ntris*3];
+	if (!cm->tris)
+		return false;
+		
+	cm->ntris = ntris;
+
+	// Build tree
+	BoundsItem* items = new BoundsItem[ntris];
+	if (!items)
+		return false;
+
+	for (int i = 0; i < ntris; i++)
+	{
+		const int* t = &tris[i*3];
+		BoundsItem& it = items[i];
+		it.i = i;
+		// Calc triangle XZ bounds.
+		it.bmin[0] = it.bmax[0] = verts[t[0]*3+0];
+		it.bmin[1] = it.bmax[1] = verts[t[0]*3+2];
+		for (int j = 1; j < 3; ++j)
+		{
+			const float* v = &verts[t[j]*3];
+			if (v[0] < it.bmin[0]) it.bmin[0] = v[0]; 
+			if (v[2] < it.bmin[1]) it.bmin[1] = v[2]; 
+
+			if (v[0] > it.bmax[0]) it.bmax[0] = v[0]; 
+			if (v[2] > it.bmax[1]) it.bmax[1] = v[2]; 
+		}
+	}
+
+	int curTri = 0;
+	int curNode = 0;
+	subdivide(items, ntris, 0, ntris, trisPerChunk, curNode, cm->nodes, nchunks*4, curTri, cm->tris, tris);
+	
+	delete [] items;
+	
+	cm->nnodes = curNode;
+	
+	// Calc max tris per node.
+	cm->maxTrisPerChunk = 0;
+	for (int i = 0; i < cm->nnodes; ++i)
+	{
+		rcChunkyTriMeshNode& node = cm->nodes[i];
+		const bool isLeaf = node.i >= 0;
+		if (!isLeaf) continue;
+		if (node.n > cm->maxTrisPerChunk)
+			cm->maxTrisPerChunk = node.n;
+	}
+	 
+	return true;
+}
+
+
+inline bool checkOverlapRect(const float amin[2], const float amax[2],
+							 const float bmin[2], const float bmax[2])
+{
+	bool overlap = true;
+	overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap;
+	overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap;
+	return overlap;
+}
+
+int rcGetChunksOverlappingRect(const rcChunkyTriMesh* cm,
+							   float bmin[2], float bmax[2],
+							   int* ids, const int maxIds)
+{
+	// Traverse tree
+	int i = 0;
+	int n = 0;
+	while (i < cm->nnodes)
+	{
+		const rcChunkyTriMeshNode* node = &cm->nodes[i];
+		const bool overlap = checkOverlapRect(bmin, bmax, node->bmin, node->bmax);
+		const bool isLeafNode = node->i >= 0;
+		
+		if (isLeafNode && overlap)
+		{
+			if (n < maxIds)
+			{
+				ids[n] = i;
+				n++;
+			}
+		}
+		
+		if (overlap || isLeafNode)
+			i++;
+		else
+		{
+			const int escapeIndex = -node->i;
+			i += escapeIndex;
+		}
+	}
+	
+	return n;
+}
+
+
+
+static bool checkOverlapSegment(const float p[2], const float q[2],
+								const float bmin[2], const float bmax[2])
+{
+	static const float EPSILON = 1e-6f;
+
+	float tmin = 0;
+	float tmax = 1;
+	float d[2];
+	d[0] = q[0] - p[0];
+	d[1] = q[1] - p[1];
+	
+	for (int i = 0; i < 2; i++)
+	{
+		if (fabsf(d[i]) < EPSILON)
+		{
+			// Ray is parallel to slab. No hit if origin not within slab
+			if (p[i] < bmin[i] || p[i] > bmax[i])
+				return false;
+		}
+		else
+		{
+			// Compute intersection t value of ray with near and far plane of slab
+			float ood = 1.0f / d[i];
+			float t1 = (bmin[i] - p[i]) * ood;
+			float t2 = (bmax[i] - p[i]) * ood;
+			if (t1 > t2) { float tmp = t1; t1 = t2; t2 = tmp; }
+			if (t1 > tmin) tmin = t1;
+			if (t2 < tmax) tmax = t2;
+			if (tmin > tmax) return false;
+		}
+	}
+	return true;
+}
+
+int rcGetChunksOverlappingSegment(const rcChunkyTriMesh* cm,
+								  float p[2], float q[2],
+								  int* ids, const int maxIds)
+{
+	// Traverse tree
+	int i = 0;
+	int n = 0;
+	while (i < cm->nnodes)
+	{
+		const rcChunkyTriMeshNode* node = &cm->nodes[i];
+		const bool overlap = checkOverlapSegment(p, q, node->bmin, node->bmax);
+		const bool isLeafNode = node->i >= 0;
+		
+		if (isLeafNode && overlap)
+		{
+			if (n < maxIds)
+			{
+				ids[n] = i;
+				n++;
+			}
+		}
+		
+		if (overlap || isLeafNode)
+			i++;
+		else
+		{
+			const int escapeIndex = -node->i;
+			i += escapeIndex;
+		}
+	}
+	
+	return n;
+}

NavMeshGenerator/Framework/ChunkyTriMesh.h

@@ -0,0 +1,59 @@
+//
+// 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 CHUNKYTRIMESH_H
+#define CHUNKYTRIMESH_H
+
+struct rcChunkyTriMeshNode
+{
+	float bmin[2];
+	float bmax[2];
+	int i;
+	int n;
+};
+
+struct rcChunkyTriMesh
+{
+	inline rcChunkyTriMesh() : nodes(0), nnodes(0), tris(0), ntris(0), maxTrisPerChunk(0) {};
+	inline ~rcChunkyTriMesh() { delete [] nodes; delete [] tris; }
+
+	rcChunkyTriMeshNode* nodes;
+	int nnodes;
+	int* tris;
+	int ntris;
+	int maxTrisPerChunk;
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	rcChunkyTriMesh(const rcChunkyTriMesh&);
+	rcChunkyTriMesh& operator=(const rcChunkyTriMesh&);
+};
+
+/// Creates partitioned triangle mesh (AABB tree),
+/// where each node contains at max trisPerChunk triangles.
+bool rcCreateChunkyTriMesh(const float* verts, const int* tris, int ntris,
+						   int trisPerChunk, rcChunkyTriMesh* cm);
+
+/// Returns the chunk indices which overlap the input rectable.
+int rcGetChunksOverlappingRect(const rcChunkyTriMesh* cm, float bmin[2], float bmax[2], int* ids, const int maxIds);
+
+/// Returns the chunk indices which overlap the input segment.
+int rcGetChunksOverlappingSegment(const rcChunkyTriMesh* cm, float p[2], float q[2], int* ids, const int maxIds);
+
+
+#endif // CHUNKYTRIMESH_H

NavMeshGenerator/Framework/InputGeom.cpp

@@ -0,0 +1,614 @@
+//
+// 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.
+//
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <stdio.h>
+#include <ctype.h>
+#include <string.h>
+#include <algorithm>
+#include "Recast.h"
+#include "InputGeom.h"
+#include "ChunkyTriMesh.h"
+#include "MeshLoaderObj.h"
+#include "DebugDraw.h"
+#include "RecastDebugDraw.h"
+#include "DetourNavMesh.h"
+#include "Sample.h"
+
+static bool intersectSegmentTriangle(const float* sp, const float* sq,
+									 const float* a, const float* b, const float* c,
+									 float &t)
+{
+	float v, w;
+	float ab[3], ac[3], qp[3], ap[3], norm[3], e[3];
+	rcVsub(ab, b, a);
+	rcVsub(ac, c, a);
+	rcVsub(qp, sp, sq);
+	
+	// Compute triangle normal. Can be precalculated or cached if
+	// intersecting multiple segments against the same triangle
+	rcVcross(norm, ab, ac);
+	
+	// Compute denominator d. If d <= 0, segment is parallel to or points
+	// away from triangle, so exit early
+	float d = rcVdot(qp, norm);
+	if (d <= 0.0f) return false;
+	
+	// Compute intersection t value of pq with plane of triangle. A ray
+	// intersects iff 0 <= t. Segment intersects iff 0 <= t <= 1. Delay
+	// dividing by d until intersection has been found to pierce triangle
+	rcVsub(ap, sp, a);
+	t = rcVdot(ap, norm);
+	if (t < 0.0f) return false;
+	if (t > d) return false; // For segment; exclude this code line for a ray test
+	
+	// Compute barycentric coordinate components and test if within bounds
+	rcVcross(e, qp, ap);
+	v = rcVdot(ac, e);
+	if (v < 0.0f || v > d) return false;
+	w = -rcVdot(ab, e);
+	if (w < 0.0f || v + w > d) return false;
+	
+	// Segment/ray intersects triangle. Perform delayed division
+	t /= d;
+	
+	return true;
+}
+
+static char* parseRow(char* buf, char* bufEnd, char* row, int len)
+{
+	bool start = true;
+	bool done = false;
+	int n = 0;
+	while (!done && buf < bufEnd)
+	{
+		char c = *buf;
+		buf++;
+		// multirow
+		switch (c)
+		{
+			case '\n':
+				if (start) break;
+				done = true;
+				break;
+			case '\r':
+				break;
+			case '\t':
+			case ' ':
+				if (start) break;
+				// else falls through
+			default:
+				start = false;
+				row[n++] = c;
+				if (n >= len-1)
+					done = true;
+				break;
+		}
+	}
+	row[n] = '\0';
+	return buf;
+}
+
+
+
+InputGeom::InputGeom() :
+	m_chunkyMesh(0),
+	m_mesh(0),
+	m_hasBuildSettings(false),
+	m_offMeshConCount(0),
+	m_volumeCount(0)
+{
+}
+
+InputGeom::~InputGeom()
+{
+	delete m_chunkyMesh;
+	delete m_mesh;
+}
+		
+bool InputGeom::loadMesh(rcContext* ctx, const std::string& filepath)
+{
+	if (m_mesh)
+	{
+		delete m_chunkyMesh;
+		m_chunkyMesh = 0;
+		delete m_mesh;
+		m_mesh = 0;
+	}
+	m_offMeshConCount = 0;
+	m_volumeCount = 0;
+	
+	m_mesh = new rcMeshLoaderObj;
+	if (!m_mesh)
+	{
+		ctx->log(RC_LOG_ERROR, "loadMesh: Out of memory 'm_mesh'.");
+		return false;
+	}
+	if (!m_mesh->load(filepath))
+	{
+		ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not load '%s'", filepath.c_str());
+		return false;
+	}
+
+	rcCalcBounds(m_mesh->getVerts(), m_mesh->getVertCount(), m_meshBMin, m_meshBMax);
+
+	m_chunkyMesh = new rcChunkyTriMesh;
+	if (!m_chunkyMesh)
+	{
+		ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Out of memory 'm_chunkyMesh'.");
+		return false;
+	}
+	if (!rcCreateChunkyTriMesh(m_mesh->getVerts(), m_mesh->getTris(), m_mesh->getTriCount(), 256, m_chunkyMesh))
+	{
+		ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Failed to build chunky mesh.");
+		return false;
+	}		
+
+	return true;
+}
+
+bool InputGeom::loadGeomSet(rcContext* ctx, const std::string& filepath)
+{
+	char* buf = 0;
+	FILE* fp = fopen(filepath.c_str(), "rb");
+	if (!fp)
+	{
+		return false;
+	}
+	if (fseek(fp, 0, SEEK_END) != 0)
+	{
+		fclose(fp);
+		return false;
+	}
+
+	long bufSize = ftell(fp);
+	if (bufSize < 0)
+	{
+		fclose(fp);
+		return false;
+	}
+	if (fseek(fp, 0, SEEK_SET) != 0)
+	{
+		fclose(fp);
+		return false;
+	}
+	buf = new char[bufSize];
+	if (!buf)
+	{
+		fclose(fp);
+		return false;
+	}
+	size_t readLen = fread(buf, bufSize, 1, fp);
+	fclose(fp);
+	if (readLen != 1)
+	{
+		delete[] buf;
+		return false;
+	}
+	
+	m_offMeshConCount = 0;
+	m_volumeCount = 0;
+	delete m_mesh;
+	m_mesh = 0;
+
+	char* src = buf;
+	char* srcEnd = buf + bufSize;
+	char row[512];
+	while (src < srcEnd)
+	{
+		// Parse one row
+		row[0] = '\0';
+		src = parseRow(src, srcEnd, row, sizeof(row)/sizeof(char));
+		if (row[0] == 'f')
+		{
+			// File name.
+			const char* name = row+1;
+			// Skip white spaces
+			while (*name && isspace(*name))
+				name++;
+			if (*name)
+			{
+				if (!loadMesh(ctx, name))
+				{
+					delete [] buf;
+					return false;
+				}
+			}
+		}
+		else if (row[0] == 'c')
+		{
+			// Off-mesh connection
+			if (m_offMeshConCount < MAX_OFFMESH_CONNECTIONS)
+			{
+				float* v = &m_offMeshConVerts[m_offMeshConCount*3*2];
+				int bidir, area = 0, flags = 0;
+				float rad;
+				sscanf(row+1, "%f %f %f  %f %f %f %f %d %d %d",
+					   &v[0], &v[1], &v[2], &v[3], &v[4], &v[5], &rad, &bidir, &area, &flags);
+				m_offMeshConRads[m_offMeshConCount] = rad;
+				m_offMeshConDirs[m_offMeshConCount] = (unsigned char)bidir;
+				m_offMeshConAreas[m_offMeshConCount] = (unsigned char)area;
+				m_offMeshConFlags[m_offMeshConCount] = (unsigned short)flags;
+				m_offMeshConCount++;
+			}
+		}
+		else if (row[0] == 'v')
+		{
+			// Convex volumes
+			if (m_volumeCount < MAX_VOLUMES)
+			{
+				ConvexVolume* vol = &m_volumes[m_volumeCount++];
+				sscanf(row+1, "%d %d %f %f", &vol->nverts, &vol->area, &vol->hmin, &vol->hmax);
+				for (int i = 0; i < vol->nverts; ++i)
+				{
+					row[0] = '\0';
+					src = parseRow(src, srcEnd, row, sizeof(row)/sizeof(char));
+					sscanf(row, "%f %f %f", &vol->verts[i*3+0], &vol->verts[i*3+1], &vol->verts[i*3+2]);
+				}
+			}
+		}
+		else if (row[0] == 's')
+		{
+			// Settings
+			m_hasBuildSettings = true;
+			sscanf(row + 1, "%f %f %f %f %f %f %f %f %f %f %f %f %f %d %f %f %f %f %f %f %f",
+							&m_buildSettings.cellSize,
+							&m_buildSettings.cellHeight,
+							&m_buildSettings.agentHeight,
+							&m_buildSettings.agentRadius,
+							&m_buildSettings.agentMaxClimb,
+							&m_buildSettings.agentMaxSlope,
+							&m_buildSettings.regionMinSize,
+							&m_buildSettings.regionMergeSize,
+							&m_buildSettings.edgeMaxLen,
+							&m_buildSettings.edgeMaxError,
+							&m_buildSettings.vertsPerPoly,
+							&m_buildSettings.detailSampleDist,
+							&m_buildSettings.detailSampleMaxError,
+							&m_buildSettings.partitionType,
+							&m_buildSettings.navMeshBMin[0],
+							&m_buildSettings.navMeshBMin[1],
+							&m_buildSettings.navMeshBMin[2],
+							&m_buildSettings.navMeshBMax[0],
+							&m_buildSettings.navMeshBMax[1],
+							&m_buildSettings.navMeshBMax[2],
+							&m_buildSettings.tileSize);
+		}
+	}
+	
+	delete [] buf;
+	
+	return true;
+}
+
+bool InputGeom::load(rcContext* ctx, const std::string& filepath)
+{
+	size_t extensionPos = filepath.find_last_of('.');
+	if (extensionPos == std::string::npos)
+		return false;
+
+	std::string extension = filepath.substr(extensionPos);
+	std::transform(extension.begin(), extension.end(), extension.begin(), tolower);
+
+	if (extension == ".gset")
+		return loadGeomSet(ctx, filepath);
+	if (extension == ".obj")
+		return loadMesh(ctx, filepath);
+
+	return false;
+}
+
+bool InputGeom::saveGeomSet(const BuildSettings* settings)
+{
+	if (!m_mesh) return false;
+	
+	// Change extension
+	std::string filepath = m_mesh->getFileName();
+	size_t extPos = filepath.find_last_of('.');
+	if (extPos != std::string::npos)
+		filepath = filepath.substr(0, extPos);
+
+	filepath += ".gset";
+
+	FILE* fp = fopen(filepath.c_str(), "w");
+	if (!fp) return false;
+	
+	// Store mesh filename.
+	fprintf(fp, "f %s\n", m_mesh->getFileName().c_str());
+
+	// Store settings if any
+	if (settings)
+	{
+		fprintf(fp,
+			"s %f %f %f %f %f %f %f %f %f %f %f %f %f %d %f %f %f %f %f %f %f\n",
+			settings->cellSize,
+			settings->cellHeight,
+			settings->agentHeight,
+			settings->agentRadius,
+			settings->agentMaxClimb,
+			settings->agentMaxSlope,
+			settings->regionMinSize,
+			settings->regionMergeSize,
+			settings->edgeMaxLen,
+			settings->edgeMaxError,
+			settings->vertsPerPoly,
+			settings->detailSampleDist,
+			settings->detailSampleMaxError,
+			settings->partitionType,
+			settings->navMeshBMin[0],
+			settings->navMeshBMin[1],
+			settings->navMeshBMin[2],
+			settings->navMeshBMax[0],
+			settings->navMeshBMax[1],
+			settings->navMeshBMax[2],
+			settings->tileSize);
+	}
+	
+	// Store off-mesh links.
+	for (int i = 0; i < m_offMeshConCount; ++i)
+	{
+		const float* v = &m_offMeshConVerts[i*3*2];
+		const float rad = m_offMeshConRads[i];
+		const int bidir = m_offMeshConDirs[i];
+		const int area = m_offMeshConAreas[i];
+		const int flags = m_offMeshConFlags[i];
+		fprintf(fp, "c %f %f %f  %f %f %f  %f %d %d %d\n",
+				v[0], v[1], v[2], v[3], v[4], v[5], rad, bidir, area, flags);
+	}
+
+	// Convex volumes
+	for (int i = 0; i < m_volumeCount; ++i)
+	{
+		ConvexVolume* vol = &m_volumes[i];
+		fprintf(fp, "v %d %d %f %f\n", vol->nverts, vol->area, vol->hmin, vol->hmax);
+		for (int j = 0; j < vol->nverts; ++j)
+			fprintf(fp, "%f %f %f\n", vol->verts[j*3+0], vol->verts[j*3+1], vol->verts[j*3+2]);
+	}
+	
+	fclose(fp);
+	
+	return true;
+}
+
+static bool isectSegAABB(const float* sp, const float* sq,
+						 const float* amin, const float* amax,
+						 float& tmin, float& tmax)
+{
+	static const float EPS = 1e-6f;
+	
+	float d[3];
+	d[0] = sq[0] - sp[0];
+	d[1] = sq[1] - sp[1];
+	d[2] = sq[2] - sp[2];
+	tmin = 0.0;
+	tmax = 1.0f;
+	
+	for (int i = 0; i < 3; i++)
+	{
+		if (fabsf(d[i]) < EPS)
+		{
+			if (sp[i] < amin[i] || sp[i] > amax[i])
+				return false;
+		}
+		else
+		{
+			const float ood = 1.0f / d[i];
+			float t1 = (amin[i] - sp[i]) * ood;
+			float t2 = (amax[i] - sp[i]) * ood;
+			if (t1 > t2) { float tmp = t1; t1 = t2; t2 = tmp; }
+			if (t1 > tmin) tmin = t1;
+			if (t2 < tmax) tmax = t2;
+			if (tmin > tmax) return false;
+		}
+	}
+	
+	return true;
+}
+
+
+bool InputGeom::raycastMesh(float* src, float* dst, float& tmin)
+{
+	// Prune hit ray.
+	float btmin, btmax;
+	if (!isectSegAABB(src, dst, m_meshBMin, m_meshBMax, btmin, btmax))
+		return false;
+	float p[2], q[2];
+	p[0] = src[0] + (dst[0]-src[0])*btmin;
+	p[1] = src[2] + (dst[2]-src[2])*btmin;
+	q[0] = src[0] + (dst[0]-src[0])*btmax;
+	q[1] = src[2] + (dst[2]-src[2])*btmax;
+	
+	int cid[512];
+	const int ncid = rcGetChunksOverlappingSegment(m_chunkyMesh, p, q, cid, 512);
+	if (!ncid)
+		return false;
+	
+	tmin = 1.0f;
+	bool hit = false;
+	const float* verts = m_mesh->getVerts();
+	
+	for (int i = 0; i < ncid; ++i)
+	{
+		const rcChunkyTriMeshNode& node = m_chunkyMesh->nodes[cid[i]];
+		const int* tris = &m_chunkyMesh->tris[node.i*3];
+		const int ntris = node.n;
+
+		for (int j = 0; j < ntris*3; j += 3)
+		{
+			float t = 1;
+			if (intersectSegmentTriangle(src, dst,
+										 &verts[tris[j]*3],
+										 &verts[tris[j+1]*3],
+										 &verts[tris[j+2]*3], t))
+			{
+				if (t < tmin)
+					tmin = t;
+				hit = true;
+			}
+		}
+	}
+	
+	return hit;
+}
+
+void InputGeom::addOffMeshConnection(const float* spos, const float* epos, const float rad,
+									 unsigned char bidir, unsigned char area, unsigned short flags)
+{
+	if (m_offMeshConCount >= MAX_OFFMESH_CONNECTIONS) return;
+	float* v = &m_offMeshConVerts[m_offMeshConCount*3*2];
+	m_offMeshConRads[m_offMeshConCount] = rad;
+	m_offMeshConDirs[m_offMeshConCount] = bidir;
+	m_offMeshConAreas[m_offMeshConCount] = area;
+	m_offMeshConFlags[m_offMeshConCount] = flags;
+	m_offMeshConId[m_offMeshConCount] = 1000 + m_offMeshConCount;
+	rcVcopy(&v[0], spos);
+	rcVcopy(&v[3], epos);
+	m_offMeshConCount++;
+}
+
+void InputGeom::deleteOffMeshConnection(int i)
+{
+	m_offMeshConCount--;
+	float* src = &m_offMeshConVerts[m_offMeshConCount*3*2];
+	float* dst = &m_offMeshConVerts[i*3*2];
+	rcVcopy(&dst[0], &src[0]);
+	rcVcopy(&dst[3], &src[3]);
+	m_offMeshConRads[i] = m_offMeshConRads[m_offMeshConCount];
+	m_offMeshConDirs[i] = m_offMeshConDirs[m_offMeshConCount];
+	m_offMeshConAreas[i] = m_offMeshConAreas[m_offMeshConCount];
+	m_offMeshConFlags[i] = m_offMeshConFlags[m_offMeshConCount];
+}
+
+void InputGeom::drawOffMeshConnections(duDebugDraw* dd, bool hilight)
+{
+	unsigned int conColor = duRGBA(192,0,128,192);
+	unsigned int baseColor = duRGBA(0,0,0,64);
+	dd->depthMask(false);
+
+	dd->begin(DU_DRAW_LINES, 2.0f);
+	for (int i = 0; i < m_offMeshConCount; ++i)
+	{
+		float* v = &m_offMeshConVerts[i*3*2];
+
+		dd->vertex(v[0],v[1],v[2], baseColor);
+		dd->vertex(v[0],v[1]+0.2f,v[2], baseColor);
+		
+		dd->vertex(v[3],v[4],v[5], baseColor);
+		dd->vertex(v[3],v[4]+0.2f,v[5], baseColor);
+		
+		duAppendCircle(dd, v[0],v[1]+0.1f,v[2], m_offMeshConRads[i], baseColor);
+		duAppendCircle(dd, v[3],v[4]+0.1f,v[5], m_offMeshConRads[i], baseColor);
+
+		if (hilight)
+		{
+			duAppendArc(dd, v[0],v[1],v[2], v[3],v[4],v[5], 0.25f,
+						(m_offMeshConDirs[i]&1) ? 0.6f : 0.0f, 0.6f, conColor);
+		}
+	}	
+	dd->end();
+
+	dd->depthMask(true);
+}
+
+void InputGeom::addConvexVolume(const float* verts, const int nverts,
+								const float minh, const float maxh, unsigned char area)
+{
+	if (m_volumeCount >= MAX_VOLUMES) return;
+	ConvexVolume* vol = &m_volumes[m_volumeCount++];
+	memset(vol, 0, sizeof(ConvexVolume));
+	memcpy(vol->verts, verts, sizeof(float)*3*nverts);
+	vol->hmin = minh;
+	vol->hmax = maxh;
+	vol->nverts = nverts;
+	vol->area = area;
+}
+
+void InputGeom::deleteConvexVolume(int i)
+{
+	m_volumeCount--;
+	m_volumes[i] = m_volumes[m_volumeCount];
+}
+
+void InputGeom::drawConvexVolumes(struct duDebugDraw* dd, bool /*hilight*/)
+{
+	dd->depthMask(false);
+
+	dd->begin(DU_DRAW_TRIS);
+	
+	for (int i = 0; i < m_volumeCount; ++i)
+	{
+		const ConvexVolume* vol = &m_volumes[i];
+		unsigned int col = duTransCol(dd->areaToCol(vol->area), 32);
+		for (int j = 0, k = vol->nverts-1; j < vol->nverts; k = j++)
+		{
+			const float* va = &vol->verts[k*3];
+			const float* vb = &vol->verts[j*3];
+
+			dd->vertex(vol->verts[0],vol->hmax,vol->verts[2], col);
+			dd->vertex(vb[0],vol->hmax,vb[2], col);
+			dd->vertex(va[0],vol->hmax,va[2], col);
+			
+			dd->vertex(va[0],vol->hmin,va[2], duDarkenCol(col));
+			dd->vertex(va[0],vol->hmax,va[2], col);
+			dd->vertex(vb[0],vol->hmax,vb[2], col);
+
+			dd->vertex(va[0],vol->hmin,va[2], duDarkenCol(col));
+			dd->vertex(vb[0],vol->hmax,vb[2], col);
+			dd->vertex(vb[0],vol->hmin,vb[2], duDarkenCol(col));
+		}
+	}
+	
+	dd->end();
+
+	dd->begin(DU_DRAW_LINES, 2.0f);
+	for (int i = 0; i < m_volumeCount; ++i)
+	{
+		const ConvexVolume* vol = &m_volumes[i];
+		unsigned int col = duTransCol(dd->areaToCol(vol->area), 220);
+		for (int j = 0, k = vol->nverts-1; j < vol->nverts; k = j++)
+		{
+			const float* va = &vol->verts[k*3];
+			const float* vb = &vol->verts[j*3];
+			dd->vertex(va[0],vol->hmin,va[2], duDarkenCol(col));
+			dd->vertex(vb[0],vol->hmin,vb[2], duDarkenCol(col));
+			dd->vertex(va[0],vol->hmax,va[2], col);
+			dd->vertex(vb[0],vol->hmax,vb[2], col);
+			dd->vertex(va[0],vol->hmin,va[2], duDarkenCol(col));
+			dd->vertex(va[0],vol->hmax,va[2], col);
+		}
+	}
+	dd->end();
+
+	dd->begin(DU_DRAW_POINTS, 3.0f);
+	for (int i = 0; i < m_volumeCount; ++i)
+	{
+		const ConvexVolume* vol = &m_volumes[i];
+		unsigned int col = duDarkenCol(duTransCol(dd->areaToCol(vol->area), 220));
+		for (int j = 0; j < vol->nverts; ++j)
+		{
+			dd->vertex(vol->verts[j*3+0],vol->verts[j*3+1]+0.1f,vol->verts[j*3+2], col);
+			dd->vertex(vol->verts[j*3+0],vol->hmin,vol->verts[j*3+2], col);
+			dd->vertex(vol->verts[j*3+0],vol->hmax,vol->verts[j*3+2], col);
+		}
+	}
+	dd->end();
+	
+	
+	dd->depthMask(true);
+}

NavMeshGenerator/Framework/InputGeom.h

@@ -0,0 +1,150 @@
+//
+// 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 INPUTGEOM_H
+#define INPUTGEOM_H
+
+#include "ChunkyTriMesh.h"
+#include "MeshLoaderObj.h"
+
+static const int MAX_CONVEXVOL_PTS = 12;
+struct ConvexVolume
+{
+	float verts[MAX_CONVEXVOL_PTS*3];
+	float hmin, hmax;
+	int nverts;
+	int area;
+};
+
+struct BuildSettings
+{
+	// Cell size in world units
+	float cellSize;
+	// Cell height in world units
+	float cellHeight;
+	// Agent height in world units
+	float agentHeight;
+	// Agent radius in world units
+	float agentRadius;
+	// Agent max climb in world units
+	float agentMaxClimb;
+	// Agent max slope in degrees
+	float agentMaxSlope;
+	// Region minimum size in voxels.
+	// regionMinSize = sqrt(regionMinArea)
+	float regionMinSize;
+	// Region merge size in voxels.
+	// regionMergeSize = sqrt(regionMergeArea)
+	float regionMergeSize;
+	// Edge max length in world units
+	float edgeMaxLen;
+	// Edge max error in voxels
+	float edgeMaxError;
+	float vertsPerPoly;
+	// Detail sample distance in voxels
+	float detailSampleDist;
+	// Detail sample max error in voxel heights.
+	float detailSampleMaxError;
+	// Partition type, see SamplePartitionType
+	int partitionType;
+	// Bounds of the area to mesh
+	float navMeshBMin[3];
+	float navMeshBMax[3];
+	// Size of the tiles in voxels
+	float tileSize;
+};
+
+class InputGeom
+{
+	rcChunkyTriMesh* m_chunkyMesh;
+	rcMeshLoaderObj* m_mesh;
+	float m_meshBMin[3], m_meshBMax[3];
+	BuildSettings m_buildSettings;
+	bool m_hasBuildSettings;
+	
+	/// @name Off-Mesh connections.
+	///@{
+	static const int MAX_OFFMESH_CONNECTIONS = 256;
+	float m_offMeshConVerts[MAX_OFFMESH_CONNECTIONS*3*2];
+	float m_offMeshConRads[MAX_OFFMESH_CONNECTIONS];
+	unsigned char m_offMeshConDirs[MAX_OFFMESH_CONNECTIONS];
+	unsigned char m_offMeshConAreas[MAX_OFFMESH_CONNECTIONS];
+	unsigned short m_offMeshConFlags[MAX_OFFMESH_CONNECTIONS];
+	unsigned int m_offMeshConId[MAX_OFFMESH_CONNECTIONS];
+	int m_offMeshConCount;
+	///@}
+
+	/// @name Convex Volumes.
+	///@{
+	static const int MAX_VOLUMES = 256;
+	ConvexVolume m_volumes[MAX_VOLUMES];
+	int m_volumeCount;
+	///@}
+	
+	bool loadMesh(class rcContext* ctx, const std::string& filepath);
+	bool loadGeomSet(class rcContext* ctx, const std::string& filepath);
+public:
+	InputGeom();
+	~InputGeom();
+	
+	
+	bool load(class rcContext* ctx, const std::string& filepath);
+	bool saveGeomSet(const BuildSettings* settings);
+	
+	/// Method to return static mesh data.
+	const rcMeshLoaderObj* getMesh() const { return m_mesh; }
+	const float* getMeshBoundsMin() const { return m_meshBMin; }
+	const float* getMeshBoundsMax() const { return m_meshBMax; }
+	const float* getNavMeshBoundsMin() const { return m_hasBuildSettings ? m_buildSettings.navMeshBMin : m_meshBMin; }
+	const float* getNavMeshBoundsMax() const { return m_hasBuildSettings ? m_buildSettings.navMeshBMax : m_meshBMax; }
+	const rcChunkyTriMesh* getChunkyMesh() const { return m_chunkyMesh; }
+	const BuildSettings* getBuildSettings() const { return m_hasBuildSettings ? &m_buildSettings : 0; }
+	bool raycastMesh(float* src, float* dst, float& tmin);
+
+	/// @name Off-Mesh connections.
+	///@{
+	int getOffMeshConnectionCount() const { return m_offMeshConCount; }
+	const float* getOffMeshConnectionVerts() const { return m_offMeshConVerts; }
+	const float* getOffMeshConnectionRads() const { return m_offMeshConRads; }
+	const unsigned char* getOffMeshConnectionDirs() const { return m_offMeshConDirs; }
+	const unsigned char* getOffMeshConnectionAreas() const { return m_offMeshConAreas; }
+	const unsigned short* getOffMeshConnectionFlags() const { return m_offMeshConFlags; }
+	const unsigned int* getOffMeshConnectionId() const { return m_offMeshConId; }
+	void addOffMeshConnection(const float* spos, const float* epos, const float rad,
+							  unsigned char bidir, unsigned char area, unsigned short flags);
+	void deleteOffMeshConnection(int i);
+	void drawOffMeshConnections(struct duDebugDraw* dd, bool hilight = false);
+	///@}
+
+	/// @name Box Volumes.
+	///@{
+	int getConvexVolumeCount() const { return m_volumeCount; }
+	const ConvexVolume* getConvexVolumes() const { return m_volumes; }
+	void addConvexVolume(const float* verts, const int nverts,
+						 const float minh, const float maxh, unsigned char area);
+	void deleteConvexVolume(int i);
+	void drawConvexVolumes(struct duDebugDraw* dd, bool hilight = false);
+	///@}
+	
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	InputGeom(const InputGeom&);
+	InputGeom& operator=(const InputGeom&);
+};
+
+#endif // INPUTGEOM_H

NavMeshGenerator/Framework/MeshLoaderObj.cpp

@@ -0,0 +1,245 @@
+//
+// 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.
+//
+
+#include "MeshLoaderObj.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <cstring>
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+rcMeshLoaderObj::rcMeshLoaderObj() :
+	m_scale(1.0f),
+	m_verts(0),
+	m_tris(0),
+	m_normals(0),
+	m_vertCount(0),
+	m_triCount(0)
+{
+}
+
+rcMeshLoaderObj::~rcMeshLoaderObj()
+{
+	delete [] m_verts;
+	delete [] m_normals;
+	delete [] m_tris;
+}
+		
+void rcMeshLoaderObj::addVertex(float x, float y, float z, int& cap)
+{
+	if (m_vertCount+1 > cap)
+	{
+		cap = !cap ? 8 : cap*2;
+		float* nv = new float[cap*3];
+		if (m_vertCount)
+			memcpy(nv, m_verts, m_vertCount*3*sizeof(float));
+		delete [] m_verts;
+		m_verts = nv;
+	}
+	float* dst = &m_verts[m_vertCount*3];
+	*dst++ = x*m_scale;
+	*dst++ = y*m_scale;
+	*dst++ = z*m_scale;
+	m_vertCount++;
+}
+
+void rcMeshLoaderObj::addTriangle(int a, int b, int c, int& cap)
+{
+	if (m_triCount+1 > cap)
+	{
+		cap = !cap ? 8 : cap*2;
+		int* nv = new int[cap*3];
+		if (m_triCount)
+			memcpy(nv, m_tris, m_triCount*3*sizeof(int));
+		delete [] m_tris;
+		m_tris = nv;
+	}
+	int* dst = &m_tris[m_triCount*3];
+	*dst++ = a;
+	*dst++ = b;
+	*dst++ = c;
+	m_triCount++;
+}
+
+static char* parseRow(char* buf, char* bufEnd, char* row, int len)
+{
+	bool start = true;
+	bool done = false;
+	int n = 0;
+	while (!done && buf < bufEnd)
+	{
+		char c = *buf;
+		buf++;
+		// multirow
+		switch (c)
+		{
+			case '\\':
+				break;
+			case '\n':
+				if (start) break;
+				done = true;
+				break;
+			case '\r':
+				break;
+			case '\t':
+			case ' ':
+				if (start) break;
+				// else falls through
+			default:
+				start = false;
+				row[n++] = c;
+				if (n >= len-1)
+					done = true;
+				break;
+		}
+	}
+	row[n] = '\0';
+	return buf;
+}
+
+static int parseFace(char* row, int* data, int n, int vcnt)
+{
+	int j = 0;
+	while (*row != '\0')
+	{
+		// Skip initial white space
+		while (*row != '\0' && (*row == ' ' || *row == '\t'))
+			row++;
+		char* s = row;
+		// Find vertex delimiter and terminated the string there for conversion.
+		while (*row != '\0' && *row != ' ' && *row != '\t')
+		{
+			if (*row == '/') *row = '\0';
+			row++;
+		}
+		if (*s == '\0')
+			continue;
+		int vi = atoi(s);
+		data[j++] = vi < 0 ? vi+vcnt : vi-1;
+		if (j >= n) return j;
+	}
+	return j;
+}
+
+bool rcMeshLoaderObj::load(const std::string& filename)
+{
+	char* buf = 0;
+	FILE* fp = fopen(filename.c_str(), "rb");
+	if (!fp)
+		return false;
+	if (fseek(fp, 0, SEEK_END) != 0)
+	{
+		fclose(fp);
+		return false;
+	}
+	long bufSize = ftell(fp);
+	if (bufSize < 0)
+	{
+		fclose(fp);
+		return false;
+	}
+	if (fseek(fp, 0, SEEK_SET) != 0)
+	{
+		fclose(fp);
+		return false;
+	}
+	buf = new char[bufSize];
+	if (!buf)
+	{
+		fclose(fp);
+		return false;
+	}
+	size_t readLen = fread(buf, bufSize, 1, fp);
+	fclose(fp);
+
+	if (readLen != 1)
+	{
+		delete[] buf;
+		return false;
+	}
+
+	char* src = buf;
+	char* srcEnd = buf + bufSize;
+	char row[512];
+	int face[32];
+	float x,y,z;
+	int nv;
+	int vcap = 0;
+	int tcap = 0;
+	
+	while (src < srcEnd)
+	{
+		// Parse one row
+		row[0] = '\0';
+		src = parseRow(src, srcEnd, row, sizeof(row)/sizeof(char));
+		// Skip comments
+		if (row[0] == '#') continue;
+		if (row[0] == 'v' && row[1] != 'n' && row[1] != 't')
+		{
+			// Vertex pos
+			sscanf(row+1, "%f %f %f", &x, &y, &z);
+			addVertex(x, y, z, vcap);
+		}
+		if (row[0] == 'f')
+		{
+			// Faces
+			nv = parseFace(row+1, face, 32, m_vertCount);
+			for (int i = 2; i < nv; ++i)
+			{
+				const int a = face[0];
+				const int b = face[i-1];
+				const int c = face[i];
+				if (a < 0 || a >= m_vertCount || b < 0 || b >= m_vertCount || c < 0 || c >= m_vertCount)
+					continue;
+				addTriangle(a, b, c, tcap);
+			}
+		}
+	}
+
+	delete [] buf;
+
+	// Calculate normals.
+	m_normals = new float[m_triCount*3];
+	for (int i = 0; i < m_triCount*3; i += 3)
+	{
+		const float* v0 = &m_verts[m_tris[i]*3];
+		const float* v1 = &m_verts[m_tris[i+1]*3];
+		const float* v2 = &m_verts[m_tris[i+2]*3];
+		float e0[3], e1[3];
+		for (int j = 0; j < 3; ++j)
+		{
+			e0[j] = v1[j] - v0[j];
+			e1[j] = v2[j] - v0[j];
+		}
+		float* n = &m_normals[i];
+		n[0] = e0[1]*e1[2] - e0[2]*e1[1];
+		n[1] = e0[2]*e1[0] - e0[0]*e1[2];
+		n[2] = e0[0]*e1[1] - e0[1]*e1[0];
+		float d = sqrtf(n[0]*n[0] + n[1]*n[1] + n[2]*n[2]);
+		if (d > 0)
+		{
+			d = 1.0f/d;
+			n[0] *= d;
+			n[1] *= d;
+			n[2] *= d;
+		}
+	}
+	
+	m_filename = filename;
+	return true;
+}

NavMeshGenerator/Framework/MeshLoaderObj.h

@@ -0,0 +1,56 @@
+//
+// 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 MESHLOADER_OBJ
+#define MESHLOADER_OBJ
+
+#include <string>
+
+class rcMeshLoaderObj
+{
+public:
+	rcMeshLoaderObj();
+	~rcMeshLoaderObj();
+	
+	bool load(const std::string& fileName);
+
+	const float* getVerts() const { return m_verts; }
+	const float* getNormals() const { return m_normals; }
+	const int* getTris() const { return m_tris; }
+	int getVertCount() const { return m_vertCount; }
+	int getTriCount() const { return m_triCount; }
+	const std::string& getFileName() const { return m_filename; }
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	rcMeshLoaderObj(const rcMeshLoaderObj&);
+	rcMeshLoaderObj& operator=(const rcMeshLoaderObj&);
+	
+	void addVertex(float x, float y, float z, int& cap);
+	void addTriangle(int a, int b, int c, int& cap);
+	
+	std::string m_filename;
+	float m_scale;	
+	float* m_verts;
+	int* m_tris;
+	float* m_normals;
+	int m_vertCount;
+	int m_triCount;
+};
+
+#endif // MESHLOADER_OBJ

NavMeshGenerator/Framework/PerfTimer.cpp

@@ -0,0 +1,59 @@
+//
+// 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.
+//
+
+#include "PerfTimer.h"
+
+#if defined(WIN32)
+
+// Win32
+#include <windows.h>
+
+TimeVal getPerfTime()
+{
+	__int64 count;
+	QueryPerformanceCounter((LARGE_INTEGER*)&count);
+	return count;
+}
+
+int getPerfTimeUsec(const TimeVal duration)
+{
+	static __int64 freq = 0;
+	if (freq == 0)
+		QueryPerformanceFrequency((LARGE_INTEGER*)&freq);
+	return (int)(duration*1000000 / freq);
+}
+
+#else
+
+// Linux, BSD, OSX
+
+#include <sys/time.h>
+
+TimeVal getPerfTime()
+{
+	timeval now;
+	gettimeofday(&now, 0);
+	return (TimeVal)now.tv_sec*1000000L + (TimeVal)now.tv_usec;
+}
+
+int getPerfTimeUsec(const TimeVal duration)
+{
+	return (int)duration;
+}
+
+#endif

NavMeshGenerator/Framework/PerfTimer.h

@@ -0,0 +1,32 @@
+//
+// 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 PERFTIMER_H
+#define PERFTIMER_H
+
+#ifdef __GNUC__
+#include <stdint.h>
+typedef int64_t TimeVal;
+#else
+typedef __int64 TimeVal;
+#endif
+
+TimeVal getPerfTime();
+int getPerfTimeUsec(const TimeVal duration);
+
+#endif // PERFTIMER_H

NavMeshGenerator/Framework/Sample.h

@@ -0,0 +1,190 @@
+//
+// 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 RECASTSAMPLE_H
+#define RECASTSAMPLE_H
+
+#include "Recast.h"
+#include "SampleInterfaces.h"
+
+
+/// Tool types.
+enum SampleToolType
+{
+	TOOL_NONE = 0,
+	TOOL_TILE_EDIT,
+	TOOL_TILE_HIGHLIGHT,
+	TOOL_TEMP_OBSTACLE,
+	TOOL_NAVMESH_TESTER,
+	TOOL_NAVMESH_PRUNE,
+	TOOL_OFFMESH_CONNECTION,
+	TOOL_CONVEX_VOLUME,
+	TOOL_CROWD,
+	MAX_TOOLS
+};
+
+/// These are just sample areas to use consistent values across the samples.
+/// The use should specify these base on his needs.
+enum SamplePolyAreas
+{
+	SAMPLE_POLYAREA_GROUND,
+	SAMPLE_POLYAREA_WATER,
+	SAMPLE_POLYAREA_ROAD,
+	SAMPLE_POLYAREA_DOOR,
+	SAMPLE_POLYAREA_GRASS,
+	SAMPLE_POLYAREA_JUMP,
+};
+enum SamplePolyFlags
+{
+	SAMPLE_POLYFLAGS_WALK		= 0x01,		// Ability to walk (ground, grass, road)
+	SAMPLE_POLYFLAGS_SWIM		= 0x02,		// Ability to swim (water).
+	SAMPLE_POLYFLAGS_DOOR		= 0x04,		// Ability to move through doors.
+	SAMPLE_POLYFLAGS_JUMP		= 0x08,		// Ability to jump.
+	SAMPLE_POLYFLAGS_DISABLED	= 0x10,		// Disabled polygon
+	SAMPLE_POLYFLAGS_ALL		= 0xffff	// All abilities.
+};
+
+class SampleDebugDraw : public DebugDrawGL
+{
+public:
+	virtual unsigned int areaToCol(unsigned int area);
+};
+
+enum SamplePartitionType
+{
+	SAMPLE_PARTITION_WATERSHED,
+	SAMPLE_PARTITION_MONOTONE,
+	SAMPLE_PARTITION_LAYERS,
+};
+
+struct SampleTool
+{
+	virtual ~SampleTool() {}
+	virtual int type() = 0;
+	virtual void init(class Sample* sample) = 0;
+	virtual void reset() = 0;
+	virtual void handleMenu() = 0;
+	virtual void handleClick(const float* s, const float* p, bool shift) = 0;
+	virtual void handleRender() = 0;
+	virtual void handleRenderOverlay(double* proj, double* model, int* view) = 0;
+	virtual void handleToggle() = 0;
+	virtual void handleStep() = 0;
+	virtual void handleUpdate(const float dt) = 0;
+};
+
+struct SampleToolState {
+	virtual ~SampleToolState() {}
+	virtual void init(class Sample* sample) = 0;
+	virtual void reset() = 0;
+	virtual void handleRender() = 0;
+	virtual void handleRenderOverlay(double* proj, double* model, int* view) = 0;
+	virtual void handleUpdate(const float dt) = 0;
+};
+
+class Sample
+{
+protected:
+	class InputGeom* m_geom;
+	class dtNavMesh* m_navMesh;
+	class dtNavMeshQuery* m_navQuery;
+	class dtCrowd* m_crowd;
+
+	unsigned char m_navMeshDrawFlags;
+
+	float m_cellSize;
+	float m_cellHeight;
+	float m_agentHeight;
+	float m_agentRadius;
+	float m_agentMaxClimb;
+	float m_agentMaxSlope;
+	float m_regionMinSize;
+	float m_regionMergeSize;
+	float m_edgeMaxLen;
+	float m_edgeMaxError;
+	float m_vertsPerPoly;
+	float m_detailSampleDist;
+	float m_detailSampleMaxError;
+	int m_partitionType;
+
+	bool m_filterLowHangingObstacles;
+	bool m_filterLedgeSpans;
+	bool m_filterWalkableLowHeightSpans;
+	
+	SampleTool* m_tool;
+	SampleToolState* m_toolStates[MAX_TOOLS];
+	
+	BuildContext* m_ctx;
+
+	SampleDebugDraw m_dd;
+	
+	dtNavMesh* loadAll(const char* path);
+	void saveAll(const char* path, const dtNavMesh* mesh);
+
+public:
+	Sample();
+	virtual ~Sample();
+	
+	void setContext(BuildContext* ctx) { m_ctx = ctx; }
+	
+	void setTool(SampleTool* tool);
+	SampleToolState* getToolState(int type) { return m_toolStates[type]; }
+	void setToolState(int type, SampleToolState* s) { m_toolStates[type] = s; }
+
+	SampleDebugDraw& getDebugDraw() { return m_dd; }
+
+	virtual void handleSettings();
+	virtual void handleTools();
+	virtual void handleDebugMode();
+	virtual void handleClick(const float* s, const float* p, bool shift);
+	virtual void handleToggle();
+	virtual void handleStep();
+	virtual void handleRender();
+	virtual void handleRenderOverlay(double* proj, double* model, int* view);
+	virtual void handleMeshChanged(class InputGeom* geom);
+	virtual bool handleBuild();
+	virtual void handleUpdate(const float dt);
+	virtual void collectSettings(struct BuildSettings& settings);
+
+	virtual class InputGeom* getInputGeom() { return m_geom; }
+	virtual class dtNavMesh* getNavMesh() { return m_navMesh; }
+	virtual class dtNavMeshQuery* getNavMeshQuery() { return m_navQuery; }
+	virtual class dtCrowd* getCrowd() { return m_crowd; }
+	virtual float getAgentRadius() { return m_agentRadius; }
+	virtual float getAgentHeight() { return m_agentHeight; }
+	virtual float getAgentClimb() { return m_agentMaxClimb; }
+	
+	unsigned char getNavMeshDrawFlags() const { return m_navMeshDrawFlags; }
+	void setNavMeshDrawFlags(unsigned char flags) { m_navMeshDrawFlags = flags; }
+
+	void updateToolStates(const float dt);
+	void initToolStates(Sample* sample);
+	void resetToolStates();
+	void renderToolStates();
+	void renderOverlayToolStates(double* proj, double* model, int* view);
+
+	void resetCommonSettings();
+	void handleCommonSettings();
+
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	Sample(const Sample&);
+	Sample& operator=(const Sample&);
+};
+
+
+#endif // RECASTSAMPLE_H

NavMeshGenerator/Framework/SampleInterfaces.h

@@ -0,0 +1,99 @@
+//
+// 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 SAMPLEINTERFACES_H
+#define SAMPLEINTERFACES_H
+
+#include "DebugDraw.h"
+#include "Recast.h"
+#include "RecastDump.h"
+#include "PerfTimer.h"
+
+// These are example implementations of various interfaces used in Recast and Detour.
+
+/// Recast build context.
+class BuildContext : public rcContext
+{
+	TimeVal m_startTime[RC_MAX_TIMERS];
+	TimeVal m_accTime[RC_MAX_TIMERS];
+
+	static const int MAX_MESSAGES = 1000;
+	const char* m_messages[MAX_MESSAGES];
+	int m_messageCount;
+	static const int TEXT_POOL_SIZE = 8000;
+	char m_textPool[TEXT_POOL_SIZE];
+	int m_textPoolSize;
+	
+public:
+	BuildContext();
+	
+	/// Dumps the log to stdout.
+	void dumpLog(const char* format, ...);
+	/// Returns number of log messages.
+	int getLogCount() const;
+	/// Returns log message text.
+	const char* getLogText(const int i) const;
+	
+protected:	
+	/// Virtual functions for custom implementations.
+	///@{
+	virtual void doResetLog();
+	virtual void doLog(const rcLogCategory category, const char* msg, const int len);
+	virtual void doResetTimers();
+	virtual void doStartTimer(const rcTimerLabel label);
+	virtual void doStopTimer(const rcTimerLabel label);
+	virtual int doGetAccumulatedTime(const rcTimerLabel label) const;
+	///@}
+};
+
+/// OpenGL debug draw implementation.
+class DebugDrawGL : public duDebugDraw
+{
+public:
+	virtual void depthMask(bool state);
+	virtual void texture(bool state);
+	virtual void begin(duDebugDrawPrimitives prim, float size = 1.0f);
+	virtual void vertex(const float* pos, unsigned int color);
+	virtual void vertex(const float x, const float y, const float z, unsigned int color);
+	virtual void vertex(const float* pos, unsigned int color, const float* uv);
+	virtual void vertex(const float x, const float y, const float z, unsigned int color, const float u, const float v);
+	virtual void end();
+};
+
+/// stdio file implementation.
+class FileIO : public duFileIO
+{
+	FILE* m_fp;
+	int m_mode;
+public:
+	FileIO();
+	virtual ~FileIO();
+	bool openForWrite(const char* path);
+	bool openForRead(const char* path);
+	virtual bool isWriting() const;
+	virtual bool isReading() const;
+	virtual bool write(const void* ptr, const size_t size);
+	virtual bool read(void* ptr, const size_t size);
+private:
+	// Explicitly disabled copy constructor and copy assignment operator.
+	FileIO(const FileIO&);
+	FileIO& operator=(const FileIO&);
+};
+
+#endif // SAMPLEINTERFACES_H
+

NavMeshGenerator/Main.cpp

@@ -0,0 +1,49 @@
+#include "Framework/InputGeom.h"
+
+#include "NavMeshGenerator.h"
+#include "RecastContext.h"
+
+int main(int argc, char** argv)
+{
+    std::filesystem::path inputPath;
+    std::filesystem::path outputPath;
+    bool enableLogging = false;
+
+    for (int i = 1; i < argc; ++i)
+    {
+        if (!_stricmp(argv[i], "--input"))
+        {
+            inputPath = argv[++i];
+        }
+        else if (!_stricmp(argv[i], "--output"))
+        {
+            outputPath = argv[++i];
+        }
+        else if (!_stricmp(argv[i], "--enableLogging"))
+        {
+            enableLogging = true;
+        }
+    }
+
+    InputGeom* geom = new InputGeom();
+    geom->load(nullptr, inputPath.string());
+
+    if (outputPath.empty())
+    {
+        printf("Warning: no output path set, no file will be generated.\n");
+    }
+
+    const auto context = std::make_shared<RecastContext>(enableLogging);
+    NavMeshGenerator generator(geom, context);
+    bool success = generator.BuildNavMesh();
+
+    float totalTime = context->getAccumulatedTime(RC_TIMER_TOTAL) / 1000.0f;
+
+    printf("Success: %d\n", success);
+    printf("Total time in milliseconds: %.2f\n", totalTime);
+
+    if (!outputPath.empty())
+    {
+        generator.Serialize(outputPath);
+    }
+}

NavMeshGenerator/NavMeshGenerator.cpp

@@ -0,0 +1,527 @@
+#include "NavMeshGenerator.h"
+
+#include "DetourNavMesh.h"
+#include "DetourNavMeshBuilder.h"
+#include "Recast.h"
+#include "RecastContext.h"
+
+NavMeshGenerator::NavMeshGenerator(InputGeom* geom, std::shared_ptr<RecastContext> context)
+    : m_geom(geom),
+    m_navMeshQuery(dtAllocNavMeshQuery()),
+    m_navMesh(dtAllocNavMesh()),
+    m_ctx(context)
+{
+}
+
+NavMeshGenerator::~NavMeshGenerator()
+{
+	Cleanup();
+}
+
+void NavMeshGenerator::Cleanup()
+{
+	delete[] m_triareas;
+	m_triareas = 0;
+	rcFreeHeightField(m_solid);
+	m_solid = 0;
+	rcFreeCompactHeightfield(m_chf);
+	m_chf = 0;
+	rcFreeContourSet(m_cset);
+	m_cset = 0;
+	rcFreePolyMesh(m_pmesh);
+	m_pmesh = 0;
+	rcFreePolyMeshDetail(m_dmesh);
+	m_dmesh = 0;
+}
+
+bool NavMeshGenerator::BuildNavMesh()
+{
+    dtNavMeshParams params{};
+    rcVcopy(params.orig, m_geom->getNavMeshBoundsMin());
+    params.tileWidth = m_tileSize * m_cellSize;
+    params.tileHeight = m_tileSize * m_cellSize;
+    params.maxTiles = m_maxTiles;
+    params.maxPolys = m_maxPolysPerTile;
+
+    dtStatus status = m_navMesh->init(&params);
+    if (dtStatusFailed(status))
+    {
+        return false;
+    }
+
+    status = m_navMeshQuery->init(m_navMesh.get(), 2048);
+    if (dtStatusFailed(status))
+    {
+        //m_ctx->log(RC_LOG_ERROR, "buildTiledNavigation: Could not init Detour navmesh query");
+        return false;
+    }
+
+    BuildAllTiles();
+	return true;
+}
+
+void NavMeshGenerator::BuildAllTiles()
+{
+    const float* bmin = m_geom->getNavMeshBoundsMin();
+    const float* bmax = m_geom->getNavMeshBoundsMax();
+
+    int gw = 0, gh = 0;
+    rcCalcGridSize(bmin, bmax, m_cellSize, &gw, &gh);
+    const int ts = (int)m_tileSize;
+    const int tw = (gw + ts - 1) / ts;
+    const int th = (gh + ts - 1) / ts;
+    const float tcs = m_tileSize * m_cellSize;
+
+    m_ctx->startTimer(RC_TIMER_TEMP);
+
+    for (int y = 0; y < th; ++y)
+    {
+        for (int x = 0; x < tw; ++x)
+        {
+            m_lastBuiltTileBmin[0] = bmin[0] + x * tcs;
+            m_lastBuiltTileBmin[1] = bmin[1];
+            m_lastBuiltTileBmin[2] = bmin[2] + y * tcs;
+
+            m_lastBuiltTileBmax[0] = bmin[0] + (x + 1) * tcs;
+            m_lastBuiltTileBmax[1] = bmax[1];
+            m_lastBuiltTileBmax[2] = bmin[2] + (y + 1) * tcs;
+
+            int dataSize = 0;
+            unsigned char* data = BuildTileMesh(x, y, m_lastBuiltTileBmin, m_lastBuiltTileBmax, dataSize);
+            if (data)
+            {
+                // Remove any previous data (navmesh owns and deletes the data).
+                m_navMesh->removeTile(m_navMesh->getTileRefAt(x, y, 0), 0, 0);
+                // Let the navmesh own the data.
+                dtStatus status = m_navMesh->addTile(data, dataSize, DT_TILE_FREE_DATA, 0, 0);
+                if (dtStatusFailed(status))
+                    dtFree(data);
+            }
+        }
+    }
+
+    // Start the build process.	
+    m_ctx->stopTimer(RC_TIMER_TEMP);
+
+    //m_totalBuildTimeMs = m_ctx->getAccumulatedTime(RC_TIMER_TEMP) / 1000.0f;
+}
+
+unsigned char* NavMeshGenerator::BuildTileMesh(const int tx, const int ty, const float* bmin, const float* bmax, int& dataSize)
+{
+	if (!m_geom || !m_geom->getMesh() || !m_geom->getChunkyMesh())
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Input mesh is not specified.");
+		return 0;
+	}
+
+	m_tileMemUsage = 0;
+	m_tileBuildTime = 0;
+
+	Cleanup();
+
+	const float* verts = m_geom->getMesh()->getVerts();
+	const int nverts = m_geom->getMesh()->getVertCount();
+	const int ntris = m_geom->getMesh()->getTriCount();
+	const rcChunkyTriMesh* chunkyMesh = m_geom->getChunkyMesh();
+
+	// Init build configuration from GUI
+	memset(&m_cfg, 0, sizeof(m_cfg));
+	m_cfg.cs = m_cellSize;
+	m_cfg.ch = m_cellHeight;
+	m_cfg.walkableSlopeAngle = m_agentMaxSlope;
+	m_cfg.walkableHeight = (int)ceilf(m_agentHeight / m_cfg.ch);
+	m_cfg.walkableClimb = (int)floorf(m_agentMaxClimb / m_cfg.ch);
+	m_cfg.walkableRadius = (int)ceilf(m_agentRadius / m_cfg.cs);
+	m_cfg.maxEdgeLen = (int)(m_edgeMaxLen / m_cellSize);
+	m_cfg.maxSimplificationError = m_edgeMaxError;
+	m_cfg.minRegionArea = (int)rcSqr(m_regionMinSize);		// Note: area = size*size
+	m_cfg.mergeRegionArea = (int)rcSqr(m_regionMergeSize);	// Note: area = size*size
+	m_cfg.maxVertsPerPoly = (int)m_vertsPerPoly;
+	m_cfg.tileSize = (int)m_tileSize;
+	m_cfg.borderSize = m_cfg.walkableRadius + 3; // Reserve enough padding.
+	m_cfg.width = m_cfg.tileSize + m_cfg.borderSize * 2;
+	m_cfg.height = m_cfg.tileSize + m_cfg.borderSize * 2;
+	m_cfg.detailSampleDist = m_detailSampleDist < 0.9f ? 0 : m_cellSize * m_detailSampleDist;
+	m_cfg.detailSampleMaxError = m_cellHeight * m_detailSampleMaxError;
+
+	// Expand the heighfield bounding box by border size to find the extents of geometry we need to build this tile.
+	//
+	// This is done in order to make sure that the navmesh tiles connect correctly at the borders,
+	// and the obstacles close to the border work correctly with the dilation process.
+	// No polygons (or contours) will be created on the border area.
+	//
+	// IMPORTANT!
+	//
+	//   :''''''''':
+	//   : +-----+ :
+	//   : |     | :
+	//   : |     |<--- tile to build
+	//   : |     | :  
+	//   : +-----+ :<-- geometry needed
+	//   :.........:
+	//
+	// You should use this bounding box to query your input geometry.
+	//
+	// For example if you build a navmesh for terrain, and want the navmesh tiles to match the terrain tile size
+	// you will need to pass in data from neighbour terrain tiles too! In a simple case, just pass in all the 8 neighbours,
+	// or use the bounding box below to only pass in a sliver of each of the 8 neighbours.
+	rcVcopy(m_cfg.bmin, bmin);
+	rcVcopy(m_cfg.bmax, bmax);
+	m_cfg.bmin[0] -= m_cfg.borderSize * m_cfg.cs;
+	m_cfg.bmin[2] -= m_cfg.borderSize * m_cfg.cs;
+	m_cfg.bmax[0] += m_cfg.borderSize * m_cfg.cs;
+	m_cfg.bmax[2] += m_cfg.borderSize * m_cfg.cs;
+
+	// Reset build times gathering.
+	m_ctx->resetTimers();
+
+	// Start the build process.
+	m_ctx->startTimer(RC_TIMER_TOTAL);
+
+	m_ctx->log(RC_LOG_PROGRESS, "Building navigation:");
+	m_ctx->log(RC_LOG_PROGRESS, " - %d x %d cells", m_cfg.width, m_cfg.height);
+	m_ctx->log(RC_LOG_PROGRESS, " - %.1fK verts, %.1fK tris", nverts / 1000.0f, ntris / 1000.0f);
+
+	// Allocate voxel heightfield where we rasterize our input data to.
+	m_solid = rcAllocHeightfield();
+	if (!m_solid)
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'solid'.");
+		return 0;
+	}
+	if (!rcCreateHeightfield(m_ctx.get(), *m_solid, m_cfg.width, m_cfg.height, m_cfg.bmin, m_cfg.bmax, m_cfg.cs, m_cfg.ch))
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create solid heightfield.");
+		return 0;
+	}
+
+	// Allocate array that can hold triangle flags.
+	// If you have multiple meshes you need to process, allocate
+	// and array which can hold the max number of triangles you need to process.
+	m_triareas = new unsigned char[chunkyMesh->maxTrisPerChunk];
+	if (!m_triareas)
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'm_triareas' (%d).", chunkyMesh->maxTrisPerChunk);
+		return 0;
+	}
+
+	float tbmin[2], tbmax[2];
+	tbmin[0] = m_cfg.bmin[0];
+	tbmin[1] = m_cfg.bmin[2];
+	tbmax[0] = m_cfg.bmax[0];
+	tbmax[1] = m_cfg.bmax[2];
+	int cid[512];// TODO: Make grow when returning too many items.
+	const int ncid = rcGetChunksOverlappingRect(chunkyMesh, tbmin, tbmax, cid, 512);
+	if (!ncid)
+		return 0;
+
+	m_tileTriCount = 0;
+
+	for (int i = 0; i < ncid; ++i)
+	{
+		const rcChunkyTriMeshNode& node = chunkyMesh->nodes[cid[i]];
+		const int* ctris = &chunkyMesh->tris[node.i * 3];
+		const int nctris = node.n;
+
+		m_tileTriCount += nctris;
+
+		memset(m_triareas, 0, nctris * sizeof(unsigned char));
+		rcMarkWalkableTriangles(m_ctx.get(), m_cfg.walkableSlopeAngle,
+			verts, nverts, ctris, nctris, m_triareas);
+
+		if (!rcRasterizeTriangles(m_ctx.get(), verts, nverts, ctris, m_triareas, nctris, *m_solid, m_cfg.walkableClimb))
+			return 0;
+	}
+
+	if (!m_keepInterResults)
+	{
+		delete[] m_triareas;
+		m_triareas = 0;
+	}
+
+	// Once all geometry is rasterized, we do initial pass of filtering to
+	// remove unwanted overhangs caused by the conservative rasterization
+	// as well as filter spans where the character cannot possibly stand.
+	if (m_filterLowHangingObstacles)
+		rcFilterLowHangingWalkableObstacles(m_ctx.get(), m_cfg.walkableClimb, *m_solid);
+	if (m_filterLedgeSpans)
+		rcFilterLedgeSpans(m_ctx.get(), m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid);
+	if (m_filterWalkableLowHeightSpans)
+		rcFilterWalkableLowHeightSpans(m_ctx.get(), m_cfg.walkableHeight, *m_solid);
+
+	// Compact the heightfield so that it is faster to handle from now on.
+	// This will result more cache coherent data as well as the neighbours
+	// between walkable cells will be calculated.
+	m_chf = rcAllocCompactHeightfield();
+	if (!m_chf)
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'chf'.");
+		return 0;
+	}
+	if (!rcBuildCompactHeightfield(m_ctx.get(), m_cfg.walkableHeight, m_cfg.walkableClimb, *m_solid, *m_chf))
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build compact data.");
+		return 0;
+	}
+
+	if (!m_keepInterResults)
+	{
+		rcFreeHeightField(m_solid);
+		m_solid = 0;
+	}
+
+	// Erode the walkable area by agent radius.
+	if (!rcErodeWalkableArea(m_ctx.get(), m_cfg.walkableRadius, *m_chf))
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not erode.");
+		return 0;
+	}
+
+	// (Optional) Mark areas.
+	const ConvexVolume* vols = m_geom->getConvexVolumes();
+	for (int i = 0; i < m_geom->getConvexVolumeCount(); ++i)
+		rcMarkConvexPolyArea(m_ctx.get(), vols[i].verts, vols[i].nverts, vols[i].hmin, vols[i].hmax, (unsigned char)vols[i].area, *m_chf);
+
+
+	// Partition the heightfield so that we can use simple algorithm later to triangulate the walkable areas.
+	// There are 3 martitioning methods, each with some pros and cons:
+	// 1) Watershed partitioning
+	//   - the classic Recast partitioning
+	//   - creates the nicest tessellation
+	//   - usually slowest
+	//   - partitions the heightfield into nice regions without holes or overlaps
+	//   - the are some corner cases where this method creates produces holes and overlaps
+	//      - holes may appear when a small obstacles is close to large open area (triangulation can handle this)
+	//      - overlaps may occur if you have narrow spiral corridors (i.e stairs), this make triangulation to fail
+	//   * generally the best choice if you precompute the nacmesh, use this if you have large open areas
+	// 2) Monotone partioning
+	//   - fastest
+	//   - partitions the heightfield into regions without holes and overlaps (guaranteed)
+	//   - creates long thin polygons, which sometimes causes paths with detours
+	//   * use this if you want fast navmesh generation
+	// 3) Layer partitoining
+	//   - quite fast
+	//   - partitions the heighfield into non-overlapping regions
+	//   - relies on the triangulation code to cope with holes (thus slower than monotone partitioning)
+	//   - produces better triangles than monotone partitioning
+	//   - does not have the corner cases of watershed partitioning
+	//   - can be slow and create a bit ugly tessellation (still better than monotone)
+	//     if you have large open areas with small obstacles (not a problem if you use tiles)
+	//   * good choice to use for tiled navmesh with medium and small sized tiles
+
+	if (m_partitionType == SAMPLE_PARTITION_WATERSHED)
+	{
+		// Prepare for region partitioning, by calculating distance field along the walkable surface.
+		if (!rcBuildDistanceField(m_ctx.get(), *m_chf))
+		{
+			m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build distance field.");
+			return 0;
+		}
+
+		// Partition the walkable surface into simple regions without holes.
+		if (!rcBuildRegions(m_ctx.get(), *m_chf, m_cfg.borderSize, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
+		{
+			m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build watershed regions.");
+			return 0;
+		}
+	}
+	else if (m_partitionType == SAMPLE_PARTITION_MONOTONE)
+	{
+		// Partition the walkable surface into simple regions without holes.
+		// Monotone partitioning does not need distancefield.
+		if (!rcBuildRegionsMonotone(m_ctx.get(), *m_chf, m_cfg.borderSize, m_cfg.minRegionArea, m_cfg.mergeRegionArea))
+		{
+			m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build monotone regions.");
+			return 0;
+		}
+	}
+	else // SAMPLE_PARTITION_LAYERS
+	{
+		// Partition the walkable surface into simple regions without holes.
+		if (!rcBuildLayerRegions(m_ctx.get(), *m_chf, m_cfg.borderSize, m_cfg.minRegionArea))
+		{
+			m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not build layer regions.");
+			return 0;
+		}
+	}
+
+	// Create contours.
+	m_cset = rcAllocContourSet();
+	if (!m_cset)
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'cset'.");
+		return 0;
+	}
+	if (!rcBuildContours(m_ctx.get(), *m_chf, m_cfg.maxSimplificationError, m_cfg.maxEdgeLen, *m_cset))
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not create contours.");
+		return 0;
+	}
+
+	if (m_cset->nconts == 0)
+	{
+		return 0;
+	}
+
+	// Build polygon navmesh from the contours.
+	m_pmesh = rcAllocPolyMesh();
+	if (!m_pmesh)
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'pmesh'.");
+		return 0;
+	}
+	if (!rcBuildPolyMesh(m_ctx.get(), *m_cset, m_cfg.maxVertsPerPoly, *m_pmesh))
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could not triangulate contours.");
+		return 0;
+	}
+
+	// Build detail mesh.
+	m_dmesh = rcAllocPolyMeshDetail();
+	if (!m_dmesh)
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Out of memory 'dmesh'.");
+		return 0;
+	}
+
+	if (!rcBuildPolyMeshDetail(m_ctx.get(), *m_pmesh, *m_chf,
+		m_cfg.detailSampleDist, m_cfg.detailSampleMaxError,
+		*m_dmesh))
+	{
+		m_ctx->log(RC_LOG_ERROR, "buildNavigation: Could build polymesh detail.");
+		return 0;
+	}
+
+	if (!m_keepInterResults)
+	{
+		rcFreeCompactHeightfield(m_chf);
+		m_chf = 0;
+		rcFreeContourSet(m_cset);
+		m_cset = 0;
+	}
+
+	unsigned char* navData = 0;
+	int navDataSize = 0;
+	if (m_cfg.maxVertsPerPoly <= DT_VERTS_PER_POLYGON)
+	{
+		if (m_pmesh->nverts >= 0xffff)
+		{
+			// The vertex indices are ushorts, and cannot point to more than 0xffff vertices.
+			m_ctx->log(RC_LOG_ERROR, "Too many vertices per tile %d (max: %d).", m_pmesh->nverts, 0xffff);
+			return 0;
+		}
+
+		// Update poly flags from areas.
+		for (int i = 0; i < m_pmesh->npolys; ++i)
+		{
+			if (m_pmesh->areas[i] == RC_WALKABLE_AREA)
+				m_pmesh->areas[i] = SAMPLE_POLYAREA_GROUND;
+
+			if (m_pmesh->areas[i] == SAMPLE_POLYAREA_GROUND ||
+				m_pmesh->areas[i] == SAMPLE_POLYAREA_GRASS ||
+				m_pmesh->areas[i] == SAMPLE_POLYAREA_ROAD)
+			{
+				m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK;
+			}
+			else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_WATER)
+			{
+				m_pmesh->flags[i] = SAMPLE_POLYFLAGS_SWIM;
+			}
+			else if (m_pmesh->areas[i] == SAMPLE_POLYAREA_DOOR)
+			{
+				m_pmesh->flags[i] = SAMPLE_POLYFLAGS_WALK | SAMPLE_POLYFLAGS_DOOR;
+			}
+		}
+
+		dtNavMeshCreateParams params{};
+		params.verts = m_pmesh->verts;
+		params.vertCount = m_pmesh->nverts;
+		params.polys = m_pmesh->polys;
+		params.polyAreas = m_pmesh->areas;
+		params.polyFlags = m_pmesh->flags;
+		params.polyCount = m_pmesh->npolys;
+		params.nvp = m_pmesh->nvp;
+		params.detailMeshes = m_dmesh->meshes;
+		params.detailVerts = m_dmesh->verts;
+		params.detailVertsCount = m_dmesh->nverts;
+		params.detailTris = m_dmesh->tris;
+		params.detailTriCount = m_dmesh->ntris;
+		params.offMeshConVerts = m_geom->getOffMeshConnectionVerts();
+		params.offMeshConRad = m_geom->getOffMeshConnectionRads();
+		params.offMeshConDir = m_geom->getOffMeshConnectionDirs();
+		params.offMeshConAreas = m_geom->getOffMeshConnectionAreas();
+		params.offMeshConFlags = m_geom->getOffMeshConnectionFlags();
+		params.offMeshConUserID = m_geom->getOffMeshConnectionId();
+		params.offMeshConCount = m_geom->getOffMeshConnectionCount();
+		params.walkableHeight = m_agentHeight;
+		params.walkableRadius = m_agentRadius;
+		params.walkableClimb = m_agentMaxClimb;
+		params.tileX = tx;
+		params.tileY = ty;
+		params.tileLayer = 0;
+		rcVcopy(params.bmin, m_pmesh->bmin);
+		rcVcopy(params.bmax, m_pmesh->bmax);
+		params.cs = m_cfg.cs;
+		params.ch = m_cfg.ch;
+		params.buildBvTree = true;
+
+		if (!dtCreateNavMeshData(&params, &navData, &navDataSize))
+		{
+			m_ctx->log(RC_LOG_ERROR, "Could not build Detour navmesh.");
+			return 0;
+		}
+	}
+	m_tileMemUsage = navDataSize / 1024.0f;
+
+	m_ctx->stopTimer(RC_TIMER_TOTAL);
+
+	// Show performance stats.
+	duLogBuildTimes(*m_ctx, m_ctx->getAccumulatedTime(RC_TIMER_TOTAL));
+	m_ctx->log(RC_LOG_PROGRESS, ">> Polymesh: %d vertices  %d polygons", m_pmesh->nverts, m_pmesh->npolys);
+
+	m_tileBuildTime = m_ctx->getAccumulatedTime(RC_TIMER_TOTAL) / 1000.0f;
+
+	dataSize = navDataSize;
+	return navData;
+}
+
+void NavMeshGenerator::Serialize(const std::filesystem::path& path) const
+{
+	if (!m_navMesh) return;
+
+	FILE* fp = fopen(path.string().c_str(), "wb");
+	if (!fp)
+		return;
+
+	// Store header.
+	NavMeshSetHeader header;
+	header.magic = NAVMESHSET_MAGIC;
+	header.version = NAVMESHSET_VERSION;
+	header.numTiles = 0;
+	for (int i = 0; i < m_navMesh->getMaxTiles(); ++i)
+	{
+		const dtNavMesh* navMesh = m_navMesh.get();
+		const dtMeshTile* tile = navMesh->getTile(i);
+		if (!tile || !tile->header || !tile->dataSize) continue;
+		header.numTiles++;
+	}
+	memcpy(&header.params, m_navMesh->getParams(), sizeof(dtNavMeshParams));
+	fwrite(&header, sizeof(NavMeshSetHeader), 1, fp);
+
+	// Store tiles.
+	for (int i = 0; i < m_navMesh->getMaxTiles(); ++i)
+	{
+		const dtNavMesh* navMesh = m_navMesh.get();
+		const dtMeshTile* tile = navMesh->getTile(i);
+		if (!tile || !tile->header || !tile->dataSize) continue;
+
+		NavMeshTileHeader tileHeader;
+		tileHeader.tileRef = m_navMesh->getTileRef(tile);
+		tileHeader.dataSize = tile->dataSize;
+		fwrite(&tileHeader, sizeof(tileHeader), 1, fp);
+
+		fwrite(tile->data, tile->dataSize, 1, fp);
+	}
+
+	fclose(fp);
+}

NavMeshGenerator/NavMeshGenerator.h

@@ -0,0 +1,77 @@
+#pragma once
+
+// Recast
+#include "Recast.h"
+#include "DetourNavMesh.h"
+#include "DetourNavMeshQuery.h"
+
+// Framework
+#include "Framework/InputGeom.h"
+#include "Framework/Sample.h"
+
+#include "NavMeshUtil.h"
+#include "RecastContext.h"
+
+class NavMeshGenerator
+{
+public:
+    NavMeshGenerator(InputGeom* geom, std::shared_ptr<RecastContext> context);
+    virtual ~NavMeshGenerator();
+
+    bool BuildNavMesh();
+    void Serialize(const std::filesystem::path& path) const;
+private:
+    void BuildAllTiles();
+    void Cleanup();
+
+    unsigned char* BuildTileMesh(const int tx, const int ty, const float* bmin, const float* bmax, int& dataSize);
+
+    std::unique_ptr<InputGeom> m_geom;
+    std::unique_ptr<dtNavMesh, NavMeshDeleter> m_navMesh;
+    std::unique_ptr<dtNavMeshQuery, NavMeshQueryDeleter> m_navMeshQuery;
+    std::shared_ptr<rcContext> m_ctx;
+   
+
+    unsigned char* m_triareas{};
+    rcHeightfield* m_solid{};
+    rcCompactHeightfield* m_chf{};
+    rcContourSet* m_cset{};
+    rcPolyMesh* m_pmesh{};
+    rcPolyMeshDetail* m_dmesh{};
+    rcConfig m_cfg{};
+
+    // Core configuration
+    float m_cellSize = 0.3f;
+    float m_cellHeight = 0.2f;
+    float m_agentHeight = 2.0f;
+    float m_agentRadius = 0.6f;
+    float m_agentMaxClimb = 0.9f;
+    float m_agentMaxSlope = 50.0f; //45.0f;
+    float m_regionMinSize = 8;
+    float m_regionMergeSize = 20;
+    float m_edgeMaxLen = 12.0f;
+    float m_edgeMaxError = 1.3f;
+    float m_vertsPerPoly = 6.0f;
+    float m_detailSampleDist = 6.0f;
+    float m_detailSampleMaxError = 1.0f;
+    int m_partitionType = SAMPLE_PARTITION_WATERSHED;
+    bool m_keepInterResults = false;
+
+    // Core filtering configuration
+    bool m_filterLowHangingObstacles = true;
+    bool m_filterLedgeSpans = true;
+    bool m_filterWalkableLowHeightSpans = true;
+
+    // Tile configuration
+    int m_maxTiles = 0;
+    int m_maxPolysPerTile = 0;
+    float m_tileSize = 32;
+
+    unsigned int m_tileCol{};
+    float m_lastBuiltTileBmin[3]{};
+    float m_lastBuiltTileBmax[3]{};
+    float m_tileMemUsage{};
+    float m_tileBuildTime{};
+    int m_tileTriCount{};
+    
+};

NavMeshGenerator/NavMeshGenerator.sln

@@ -0,0 +1,31 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 16
+VisualStudioVersion = 16.0.30804.86
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "NavMeshGenerator", "NavMeshGenerator.vcxproj", "{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|x64.ActiveCfg = Debug|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|x64.Build.0 = Debug|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|x86.ActiveCfg = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Debug|x86.Build.0 = Debug|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|x64.ActiveCfg = Release|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|x64.Build.0 = Release|x64
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|x86.ActiveCfg = Release|Win32
+		{CA9C0938-3ADA-4C73-A89A-E9447ABCE101}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {4274A358-82D6-4297-99D3-9647B7FC1368}
+	EndGlobalSection
+EndGlobal

NavMeshGenerator/NavMeshGenerator.vcxproj

@@ -0,0 +1,221 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <VCProjectVersion>16.0</VCProjectVersion>
+    <Keyword>Win32Proj</Keyword>
+    <ProjectGuid>{ca9c0938-3ada-4c73-a89a-e9447abce101}</ProjectGuid>
+    <RootNamespace>NavMeshGenerator</RootNamespace>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v142</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v142</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v142</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v142</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="Shared">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <LinkIncremental>true</LinkIncremental>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <LinkIncremental>false</LinkIncremental>
+  </PropertyGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;_CRT_SECURE_NO_WARNINGS;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>..\External\recastnavigation\DebugUtils\Include;..\External\recastnavigation\Detour\Include;..\External\recastnavigation\DetourTileCache\Include;;..\External\recastnavigation\Recast\Include</AdditionalIncludeDirectories>
+      <LanguageStandard>stdcpplatest</LanguageStandard>
+      <ForcedIncludeFiles>pch.h</ForcedIncludeFiles>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>WIN32;_CRT_SECURE_NO_WARNINGS;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+      <AdditionalIncludeDirectories>..\External\recastnavigation\DebugUtils\Include;..\External\recastnavigation\Detour\Include;..\External\recastnavigation\DetourTileCache\Include;;..\External\recastnavigation\Recast\Include</AdditionalIncludeDirectories>
+      <LanguageStandard>stdcpplatest</LanguageStandard>
+      <ForcedIncludeFiles>pch.h</ForcedIncludeFiles>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <WarningLevel>Level3</WarningLevel>
+      <FunctionLevelLinking>true</FunctionLevelLinking>
+      <IntrinsicFunctions>true</IntrinsicFunctions>
+      <SDLCheck>true</SDLCheck>
+      <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <ConformanceMode>true</ConformanceMode>
+    </ClCompile>
+    <Link>
+      <SubSystem>Console</SubSystem>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClCompile Include="..\External\recastnavigation\DebugUtils\Source\DebugDraw.cpp" />
+    <ClCompile Include="..\External\recastnavigation\DebugUtils\Source\DetourDebugDraw.cpp" />
+    <ClCompile Include="..\External\recastnavigation\DebugUtils\Source\RecastDebugDraw.cpp" />
+    <ClCompile Include="..\External\recastnavigation\DebugUtils\Source\RecastDump.cpp" />
+    <ClCompile Include="..\External\recastnavigation\DetourTileCache\Source\DetourTileCache.cpp" />
+    <ClCompile Include="..\External\recastnavigation\DetourTileCache\Source\DetourTileCacheBuilder.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourAlloc.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourAssert.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourCommon.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourNavMesh.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourNavMeshBuilder.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourNavMeshQuery.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourNode.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\Recast.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastAlloc.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastArea.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastAssert.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastContour.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastFilter.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastLayers.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastMesh.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastMeshDetail.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastRasterization.cpp" />
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastRegion.cpp" />
+    <ClCompile Include="Framework\ChunkyTriMesh.cpp" />
+    <ClCompile Include="Framework\InputGeom.cpp" />
+    <ClCompile Include="Framework\MeshLoaderObj.cpp" />
+    <ClCompile Include="Framework\PerfTimer.cpp" />
+    <ClCompile Include="Main.cpp" />
+    <ClCompile Include="NavMeshGenerator.cpp" />
+    <ClCompile Include="pch.cpp">
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
+    </ClCompile>
+    <ClCompile Include="RecastContext.cpp" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="..\External\recastnavigation\DebugUtils\Include\DebugDraw.h" />
+    <ClInclude Include="..\External\recastnavigation\DebugUtils\Include\DetourDebugDraw.h" />
+    <ClInclude Include="..\External\recastnavigation\DebugUtils\Include\RecastDebugDraw.h" />
+    <ClInclude Include="..\External\recastnavigation\DebugUtils\Include\RecastDump.h" />
+    <ClInclude Include="..\External\recastnavigation\DetourTileCache\Include\DetourTileCache.h" />
+    <ClInclude Include="..\External\recastnavigation\DetourTileCache\Include\DetourTileCacheBuilder.h" />
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourAlloc.h" />
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourAssert.h" />
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourCommon.h" />
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourMath.h" />
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourNavMesh.h" />
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourNavMeshBuilder.h" />
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourNavMeshQuery.h" />
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourNode.h" />
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourStatus.h" />
+    <ClInclude Include="..\External\recastnavigation\Recast\Include\Recast.h" />
+    <ClInclude Include="..\External\recastnavigation\Recast\Include\RecastAlloc.h" />
+    <ClInclude Include="..\External\recastnavigation\Recast\Include\RecastAssert.h" />
+    <ClInclude Include="Framework\ChunkyTriMesh.h" />
+    <ClInclude Include="Framework\InputGeom.h" />
+    <ClInclude Include="Framework\MeshLoaderObj.h" />
+    <ClInclude Include="Framework\PerfTimer.h" />
+    <ClInclude Include="Framework\Sample.h" />
+    <ClInclude Include="Framework\SampleInterfaces.h" />
+    <ClInclude Include="NavMeshGenerator.h" />
+    <ClInclude Include="NavMeshUtil.h" />
+    <ClInclude Include="pch.h" />
+    <ClInclude Include="RecastContext.h" />
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

NavMeshGenerator/NavMeshGenerator.vcxproj.filters

@@ -0,0 +1,243 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup>
+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
+    </Filter>
+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
+      <Extensions>h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd</Extensions>
+    </Filter>
+    <Filter Include="Resource Files">
+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
+    </Filter>
+    <Filter Include="Recast">
+      <UniqueIdentifier>{82f0fd75-bb9d-4e6c-849a-71f66d5a8f0a}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\DebugUtils">
+      <UniqueIdentifier>{31af1122-2287-4254-860d-7d9819551310}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\DebugUtils\Include">
+      <UniqueIdentifier>{7589cc4f-b87f-4191-81fc-17622331c7ca}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\DebugUtils\Source">
+      <UniqueIdentifier>{203ec006-7bdb-47fa-858a-6f12327c5d44}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\Detour">
+      <UniqueIdentifier>{b05a0256-22d5-478e-85d7-c56cef704e1e}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\Detour\Source">
+      <UniqueIdentifier>{d30da57a-2663-4461-a272-be169bd1a3a5}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\Detour\Include">
+      <UniqueIdentifier>{1cb89f5c-da8d-49cf-9bfa-0cb8b38fabac}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\DetourTileCache">
+      <UniqueIdentifier>{b4850d74-861d-4dc8-aa4e-59b6f18a7754}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\DetourTileCache\Include">
+      <UniqueIdentifier>{f0447598-7859-485b-97e8-61035bd87634}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\DetourTileCache\Source">
+      <UniqueIdentifier>{1bc45b59-e845-4a30-b042-2c6ff3fdc3fe}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\Recast">
+      <UniqueIdentifier>{b17dc902-8d50-4da4-9013-e1bd39206ca5}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\Recast\Source">
+      <UniqueIdentifier>{091ace17-5d99-46d0-9d81-57fd2b4eb225}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Recast\Recast\Include">
+      <UniqueIdentifier>{54fffb89-f106-45f9-9a78-119f59e17fed}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\Framework">
+      <UniqueIdentifier>{c5ca75e6-1ec9-4c06-a733-4323f130f5c4}</UniqueIdentifier>
+    </Filter>
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="..\External\recastnavigation\DebugUtils\Source\DebugDraw.cpp">
+      <Filter>Recast\DebugUtils\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\DebugUtils\Source\DetourDebugDraw.cpp">
+      <Filter>Recast\DebugUtils\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\DebugUtils\Source\RecastDebugDraw.cpp">
+      <Filter>Recast\DebugUtils\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\DebugUtils\Source\RecastDump.cpp">
+      <Filter>Recast\DebugUtils\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourAlloc.cpp">
+      <Filter>Recast\Detour\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourAssert.cpp">
+      <Filter>Recast\Detour\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourCommon.cpp">
+      <Filter>Recast\Detour\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourNavMesh.cpp">
+      <Filter>Recast\Detour\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourNavMeshBuilder.cpp">
+      <Filter>Recast\Detour\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourNavMeshQuery.cpp">
+      <Filter>Recast\Detour\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Detour\Source\DetourNode.cpp">
+      <Filter>Recast\Detour\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\DetourTileCache\Source\DetourTileCache.cpp">
+      <Filter>Recast\DetourTileCache\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\DetourTileCache\Source\DetourTileCacheBuilder.cpp">
+      <Filter>Recast\DetourTileCache\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\Recast.cpp">
+      <Filter>Recast\Recast\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastAlloc.cpp">
+      <Filter>Recast\Recast\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastArea.cpp">
+      <Filter>Recast\Recast\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastAssert.cpp">
+      <Filter>Recast\Recast\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastContour.cpp">
+      <Filter>Recast\Recast\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastFilter.cpp">
+      <Filter>Recast\Recast\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastLayers.cpp">
+      <Filter>Recast\Recast\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastMesh.cpp">
+      <Filter>Recast\Recast\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastMeshDetail.cpp">
+      <Filter>Recast\Recast\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastRasterization.cpp">
+      <Filter>Recast\Recast\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="..\External\recastnavigation\Recast\Source\RecastRegion.cpp">
+      <Filter>Recast\Recast\Source</Filter>
+    </ClCompile>
+    <ClCompile Include="Main.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="NavMeshGenerator.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="pch.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RecastContext.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Framework\ChunkyTriMesh.cpp">
+      <Filter>Source Files\Framework</Filter>
+    </ClCompile>
+    <ClCompile Include="Framework\InputGeom.cpp">
+      <Filter>Source Files\Framework</Filter>
+    </ClCompile>
+    <ClCompile Include="Framework\MeshLoaderObj.cpp">
+      <Filter>Source Files\Framework</Filter>
+    </ClCompile>
+    <ClCompile Include="Framework\PerfTimer.cpp">
+      <Filter>Source Files\Framework</Filter>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <ClInclude Include="..\External\recastnavigation\DebugUtils\Include\DebugDraw.h">
+      <Filter>Recast\DebugUtils\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\DebugUtils\Include\DetourDebugDraw.h">
+      <Filter>Recast\DebugUtils\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\DebugUtils\Include\RecastDebugDraw.h">
+      <Filter>Recast\DebugUtils\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\DebugUtils\Include\RecastDump.h">
+      <Filter>Recast\DebugUtils\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourAlloc.h">
+      <Filter>Recast\Detour\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourAssert.h">
+      <Filter>Recast\Detour\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourCommon.h">
+      <Filter>Recast\Detour\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourMath.h">
+      <Filter>Recast\Detour\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourNavMesh.h">
+      <Filter>Recast\Detour\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourNavMeshBuilder.h">
+      <Filter>Recast\Detour\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourNavMeshQuery.h">
+      <Filter>Recast\Detour\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourNode.h">
+      <Filter>Recast\Detour\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Detour\Include\DetourStatus.h">
+      <Filter>Recast\Detour\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\DetourTileCache\Include\DetourTileCache.h">
+      <Filter>Recast\DetourTileCache\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\DetourTileCache\Include\DetourTileCacheBuilder.h">
+      <Filter>Recast\DetourTileCache\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Recast\Include\Recast.h">
+      <Filter>Recast\Recast\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Recast\Include\RecastAlloc.h">
+      <Filter>Recast\Recast\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="..\External\recastnavigation\Recast\Include\RecastAssert.h">
+      <Filter>Recast\Recast\Include</Filter>
+    </ClInclude>
+    <ClInclude Include="NavMeshGenerator.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
+    <ClInclude Include="pch.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
+    <ClInclude Include="NavMeshUtil.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
+    <ClInclude Include="RecastContext.h">
+      <Filter>Source Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Framework\ChunkyTriMesh.h">
+      <Filter>Source Files\Framework</Filter>
+    </ClInclude>
+    <ClInclude Include="Framework\InputGeom.h">
+      <Filter>Source Files\Framework</Filter>
+    </ClInclude>
+    <ClInclude Include="Framework\MeshLoaderObj.h">
+      <Filter>Source Files\Framework</Filter>
+    </ClInclude>
+    <ClInclude Include="Framework\PerfTimer.h">
+      <Filter>Source Files\Framework</Filter>
+    </ClInclude>
+    <ClInclude Include="Framework\Sample.h">
+      <Filter>Source Files\Framework</Filter>
+    </ClInclude>
+    <ClInclude Include="Framework\SampleInterfaces.h">
+      <Filter>Source Files\Framework</Filter>
+    </ClInclude>
+  </ItemGroup>
+</Project>

NavMeshGenerator/NavMeshUtil.h

@@ -0,0 +1,41 @@
+#pragma once
+
+//////////////////////////////////////////////////////////
+// Smart pointer deleters
+
+struct NavMeshDeleter
+{
+    void operator()(dtNavMesh* navMesh)
+    {
+        if (navMesh)
+            dtFreeNavMesh(navMesh);
+    }
+};
+
+struct NavMeshQueryDeleter
+{
+    void operator()(dtNavMeshQuery* navMeshQuery)
+    {
+        if (navMeshQuery)
+            dtFreeNavMeshQuery(navMeshQuery);
+    }
+};
+
+//////////////////////////////////////////////////////////
+// Serialization logic
+struct NavMeshSetHeader
+{
+    int magic;
+    int version;
+    int numTiles;
+    dtNavMeshParams params;
+};
+
+struct NavMeshTileHeader
+{
+    dtTileRef tileRef;
+    int dataSize;
+};
+
+static const int NAVMESHSET_MAGIC = 'M' << 24 | 'S' << 16 | 'E' << 8 | 'T'; //'MSET';
+static const int NAVMESHSET_VERSION = 1;

NavMeshGenerator/RecastContext.cpp

@@ -0,0 +1,44 @@
+#include "RecastContext.h"
+
+#include <windows.h>
+
+RecastContext::RecastContext(bool enableLogging)
+	: m_enableLogging(enableLogging)
+{
+}
+
+void RecastContext::doResetLog()
+{
+}
+
+void RecastContext::doLog(const rcLogCategory category, const char* msg, const int len)
+{
+	if (m_enableLogging)
+		printf("RECAST: %s\n", msg);
+}
+
+void RecastContext::doResetTimers()
+{
+	for (int i = 0; i < RC_MAX_TIMERS; ++i)
+		m_accTime[i] = -1;
+}
+
+void RecastContext::doStartTimer(const rcTimerLabel label)
+{
+	m_startTime[label] = getPerfTime();
+}
+
+void RecastContext::doStopTimer(const rcTimerLabel label)
+{
+	const TimeVal endTime = getPerfTime();
+	const TimeVal deltaTime = endTime - m_startTime[label];
+	if (m_accTime[label] == -1)
+		m_accTime[label] = deltaTime;
+	else
+		m_accTime[label] += deltaTime;
+}
+
+int RecastContext::doGetAccumulatedTime(const rcTimerLabel label) const
+{
+	return getPerfTimeUsec(m_accTime[label]);
+}

NavMeshGenerator/RecastContext.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include "Recast.h"
+#include "Framework/PerfTimer.h"
+
+class RecastContext : public rcContext
+{
+public:
+	RecastContext(bool enableLogging);
+
+protected:
+	virtual void doResetLog();
+	virtual void doLog(const rcLogCategory category, const char* msg, const int len);
+	virtual void doResetTimers();
+	virtual void doStartTimer(const rcTimerLabel label);
+	virtual void doStopTimer(const rcTimerLabel label);
+	virtual int doGetAccumulatedTime(const rcTimerLabel label) const;
+
+private:
+	bool m_enableLogging{};
+	TimeVal m_startTime[RC_MAX_TIMERS]{};
+	TimeVal m_accTime[RC_MAX_TIMERS]{};
+};

NavMeshGenerator/pch.h

@@ -0,0 +1,3 @@
+#pragma once
+
+#include <filesystem>

Plugins/imp_gbs/imp_gbs.vcxproj

@@ -19,6 +19,7 @@
     <RootNamespace>GiantsExp</RootNamespace>
     <Keyword>Win32Proj</Keyword>
     <ProjectName>imp_gbs</ProjectName>
+    <WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
@@ -74,7 +75,7 @@
       <WarningLevel>Level3</WarningLevel>
       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
       <CompileAs>Default</CompileAs>
-      <LanguageStandard>stdcpplatest</LanguageStandard>
+      <LanguageStandard>stdcpp17</LanguageStandard>
       <ForcedIncludeFiles>stdafx.h</ForcedIncludeFiles>
     </ClCompile>
     <ResourceCompile>
@@ -110,7 +111,7 @@
       <WarningLevel>Level3</WarningLevel>
       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
       <CompileAs>Default</CompileAs>
-      <LanguageStandard>stdcpplatest</LanguageStandard>
+      <LanguageStandard>stdcpp17</LanguageStandard>
       <ForcedIncludeFiles>stdafx.h</ForcedIncludeFiles>
     </ClCompile>
     <ResourceCompile>
@@ -142,7 +143,7 @@
       <PrecompiledHeader>Use</PrecompiledHeader>
       <WarningLevel>Level3</WarningLevel>
       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
-      <LanguageStandard>stdcpplatest</LanguageStandard>
+      <LanguageStandard>stdcpp17</LanguageStandard>
       <ForcedIncludeFiles>stdafx.h</ForcedIncludeFiles>
     </ClCompile>
     <ResourceCompile>

Sdk/Include/DataTypes.h

@@ -0,0 +1,165 @@
+#pragma once
+
+#include <float.h>
+#include <math.h>
+#include <memory>
+#include <string>
+#include <string_view>
+
+//////////////////////////////////////////////////////////////////////////////////////
+// Basic game data types and macros
+
+typedef unsigned int uint;
+typedef unsigned char UBYTE;
+typedef signed char SBYTE;
+typedef unsigned short UWORD;
+typedef int BOOL;
+typedef unsigned long ULONG;
+typedef unsigned long DWORD;
+typedef std::int64_t int64;
+typedef std::uint64_t uint64;
+#ifdef UNICODE
+typedef std::wstring tstring;
+typedef std::wstring_view tstring_view;
+#else
+typedef std::string tstring;
+typedef std::string_view tstring_view;
+#endif
+
+#define countof(array) (sizeof((array)) / sizeof((array)[0]))
+
+#define FlagSet(b, f) ((b) |= (f))
+#define FlagClear(b, f) ((b) &= ~(f))
+#define FlagIsClear(b, f) (!FlagIsSet(b, f))
+#define FlagFlip(b, f) ((b) ^= (f))
+#define FlagIsSet(b, f) (((b) & (f)) != 0)
+
+//////////////////////////////////////////////////////////////////////////////////////
+// Vectors
+
+struct P3D
+{
+	float x;
+	float y;
+	float z;
+
+	inline const P3D& operator -= (const P3D& rhs)
+	{
+		x -= rhs.x;
+		y -= rhs.y;
+		z -= rhs.z;
+
+		return *this;
+	}
+
+	inline const P3D& operator += (const P3D& rhs)
+	{
+		x += rhs.x;
+		y += rhs.y;
+		z += rhs.z;
+
+		return *this;
+	}
+
+	inline P3D operator - (const P3D& rhs)
+	{
+		P3D result;
+
+		result.x = x - rhs.x;
+		result.y = y - rhs.y;
+		result.z = z - rhs.z;
+
+		return result;
+	}
+
+	inline P3D Cross(const P3D& v2)
+	{
+		P3D result;
+
+		result.x = y * v2.z - z * v2.y;
+		result.y = z * v2.x - x * v2.z;
+		result.z = x * v2.y - y * v2.x;
+
+		return result;
+	}
+
+	inline float Dot(const P3D& v2)
+	{
+		return x * v2.x + y * v2.y + z * v2.z;
+	}
+
+	inline float Length()
+	{
+		return (float)(sqrt(x * x + y * y + z * z));
+	}
+
+	inline P3D Scale(float scale)
+	{
+		x *= scale;
+		y *= scale;
+		z *= scale;
+
+		return *this;
+	}
+
+	inline P3D Normalize()
+	{
+		const float length = Length();
+		P3D normalized = *this;
+
+		float factor = 0.0f;
+		if (length)
+		{
+			factor = 1 / length;
+		}
+		else
+		{
+			factor = 1.0f;
+		}
+
+		normalized.x *= factor;
+		normalized.y *= factor;
+		normalized.z *= factor;
+
+		return normalized;
+	}
+
+	bool IsNaN() const
+	{
+		return (_isnan(x) || _isnan(y) || _isnan(z));
+	}
+
+	bool Finite() const
+	{
+		return (_finite(x) && _finite(y) && _finite(z));
+	}
+};
+
+#pragma pack (push, 1)
+// Optimized 3D vector for network packets.
+struct NetP3D
+{
+	short x, y, z;
+};
+#pragma pack (pop)
+
+//////////////////////////////////////////////////////////////////////////////////////
+
+struct RGBFloat
+{
+	float r{};
+	float g{};
+	float b{};
+};
+
+struct VertRGB
+{
+	unsigned char r;
+	unsigned char g;
+	unsigned char b;
+};
+
+struct UV
+{
+	float u, v;
+};

Sdk/Include/GameServerEvents.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <DataTypes.h>
+
 #include "NetCommon.h"
 
 /// <summary>
@@ -29,21 +31,22 @@ struct PlayerConnectedEvent : GameServerEvent
 {
 	PlayerConnectedEvent() noexcept : GameServerEvent(GameServerEventType::PlayerConnected) { }
 
-	std::unique_ptr<PlayerInfo> info;
+	std::shared_ptr<PlayerInfo> info;
 };
 
 struct PlayerDisconnectedEvent : GameServerEvent
 {
 	PlayerDisconnectedEvent() noexcept : GameServerEvent(GameServerEventType::PlayerDisconnected) { }
 
-	std::unique_ptr<PlayerInfo> info;
+	std::shared_ptr<PlayerInfo> info;
 };
 
 struct ChatMessageEvent : GameServerEvent
 {
 	ChatMessageEvent() noexcept : GameServerEvent(GameServerEventType::ChatMessage) { }
 
-	std::string_view message;
+	tstring_view message{};
+	PlayerIndex senderIndex{};
 };
 
 struct WorldLoadedEvent : GameServerEvent

Sdk/Include/IGameServer.h

@@ -3,6 +3,8 @@
 #include <vector>
 #include <functional>
 #include <memory>
+
+#include <DataTypes.h>
 #include <IComponent.h>
 #include <IEventSource.h>
 
@@ -19,19 +21,60 @@ struct IGameServer : IComponent, IEventSource<GameServerEventType, GameServerEve
 {
 	virtual ~IGameServer() = default;
 
-	virtual void STDMETHODCALLTYPE SendChatMessage(const std::string_view& message, ChatColor color, int flags, PlayerIndex indexTo) = 0;
+	/// <summary>
+	/// Sends a chat message to all players or to a specified player.
+	/// </summary>
+	/// <param name="message">The chat message.</param>
+	/// <param name="color">Text color.</param>
+	/// <param name="flags">Flags for the message.</param>
+	/// <param name="indexTo">The index to send the message to. If 0, it will be sent to all players.</param>
+	virtual void STDMETHODCALLTYPE SendChatMessage(const tstring_view& message, ChatColor color, int flags, PlayerIndex indexTo) = 0;
 
+	/// <summary>
+	/// Bans the player at the specified index.
+	/// </summary>
+	/// <param name="index">The player index.</param>
+	/// <returns></returns>
 	virtual void STDMETHODCALLTYPE BanPlayer(int index) = 0;
 
+	/// <summary>
+	/// Kicks the player at the specified index.
+	/// </summary>
+	/// <param name="index">The player index.</param>
+	/// <param name="reason">The reason for kicking the player.</param>
+	/// <returns></returns>
 	virtual void STDMETHODCALLTYPE KickPlayer(int index, KickReason reason) = 0;
 
-	virtual PlayerInfo STDMETHODCALLTYPE GetPlayer(int index) = 0;
+	/// <summary>
+	/// Gets player data for the specified index.
+	/// </summary>
+	/// <param name="index">The zero-based player index.</param>
+	/// <throws>std::out_of_range</throws>
+	virtual const std::shared_ptr<PlayerInfo> STDMETHODCALLTYPE GetPlayer(int index) const = 0;
 
-	virtual std::vector<PlayerInfo> STDMETHODCALLTYPE  GetPlayers() = 0;
+	/// <summary>
+	/// Gets data for all players in the current game.
+	/// </summary>
+	virtual std::vector<std::shared_ptr<PlayerInfo>> STDMETHODCALLTYPE GetPlayers() const = 0;
 
+	/// <summary>
+	/// Toggles or increments the specified game option.
+	/// Note: the behavior of this method is the same as changing an option from the F1 in-game menu.
+	/// </summary>
+	/// <param name="option"></param>
+	/// <returns></returns>
 	virtual void STDMETHODCALLTYPE ChangeGameOption(GameOption option) = 0;
 
-	virtual NetGameDetails STDMETHODCALLTYPE GetGameDetails() = 0;
+	/// <summary>
+	/// Gets details for the current game.
+	/// </summary>
+	virtual const std::shared_ptr<NetGameDetails> STDMETHODCALLTYPE GetGameDetails() const = 0;
+
+	/// <summary>
+	/// Modifies the settings for the current game.
+	/// </summary>
+	/// <param name="gameDetails">The game details.</param>
+	virtual void STDMETHODCALLTYPE ChangeGameDetails(const NetGameDetails& gameDetails) = 0;
 };
 
 struct DECLSPEC_UUID("{B2D67EE7-8063-488F-B3B9-E7DA675CB752}") IGameServer;

Sdk/Include/ITextLookupService.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <DataTypes.h>
 #include <IComponent.h>
 #include <string>
 
@@ -14,7 +15,7 @@ inline const GUID IID_ITextLookupService = { 0x770debd3, 0x165d, 0x4340, 0x82, 0
 /// </summary>
 struct ITextLookupService : public IComponent
 {
-	virtual std::string STDMETHODCALLTYPE GetLocalized(std::string_view lookup) = 0;
+	virtual std::string STDMETHODCALLTYPE GetLocalized(tstring_view lookup) = 0;
 
 	virtual std::string STDMETHODCALLTYPE GetNetPlayerStateName(enum class NetPlayerState state) = 0;
 

ServerConsoleExample/.gitignore

@@ -0,0 +1 @@
+vcpkg_installed/

ServerConsoleExample/ServerConsole.vcxproj

@@ -93,6 +93,9 @@
   </PropertyGroup>
   <PropertyGroup Label="Vcpkg" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" />
   <PropertyGroup Label="Vcpkg" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" />
+  <PropertyGroup Label="Vcpkg">
+    <VcpkgEnableManifest>true</VcpkgEnableManifest>
+  </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
     <ClCompile>
       <PrecompiledHeader>Use</PrecompiledHeader>
@@ -100,7 +103,7 @@
       <SDLCheck>true</SDLCheck>
       <PreprocessorDefinitions>WIN32;_WINDOWS;_SILENCE_CXX17_CODECVT_HEADER_DEPRECATION_WARNING;_DEBUG;_USRDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
-      <AdditionalIncludeDirectories>..\..\Sdk\Include</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\Sdk\Include</AdditionalIncludeDirectories>
       <EnablePREfast>true</EnablePREfast>
       <LanguageStandard>stdcpplatest</LanguageStandard>
       <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
@@ -154,7 +157,7 @@
       <SDLCheck>true</SDLCheck>
       <PreprocessorDefinitions>WIN32;_WINDOWS;_SILENCE_CXX17_CODECVT_HEADER_DEPRECATION_WARNING;NDEBUG;_USRDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
-      <AdditionalIncludeDirectories>..\..\Sdk\Include</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\Sdk\Include</AdditionalIncludeDirectories>
       <EnablePREfast>true</EnablePREfast>
       <LanguageStandard>stdcpplatest</LanguageStandard>
       <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>

ServerConsoleExample/ServerDialog.cpp

@@ -132,7 +132,7 @@ void ServerDialog::RefreshPlayers()
 	const auto& pGameServer = m_pContainer->Get<IGameServer>();
 	for (const auto& player : pGameServer->GetPlayers())
 	{
-		if (player.host)
+		if (player->host)
 		{
 			continue; // Skip host player
 		}
@@ -140,14 +140,14 @@ void ServerDialog::RefreshPlayers()
 		LVITEM item{};
 		item.cColumns = NumColumns;
 		item.mask = LVIF_COLUMNS | LVIF_PARAM;
-		item.lParam = player.index;
+		item.lParam = player->index;
 
 		const int index = PlayersListCtrl.InsertItem(&item);
-		PlayersListCtrl.SetItemText(index, 0, player.name.c_str());
-		PlayersListCtrl.SetItemText(index, 1, pTextLookupService->GetNetPlayerStateName(player.state).c_str());
-		PlayersListCtrl.SetItemText(index, 2, fmt::format(_T("{0}"), player.ping).c_str());
-		PlayersListCtrl.SetItemText(index, 3, fmt::format(_T("{0}"), player.score).c_str());
-		PlayersListCtrl.SetItemText(index, 4, pTextLookupService->GetPlayerTeamName(player.team).c_str());
+		PlayersListCtrl.SetItemText(index, 0, player->name.c_str());
+		PlayersListCtrl.SetItemText(index, 1, pTextLookupService->GetNetPlayerStateName(player->state).c_str());
+		PlayersListCtrl.SetItemText(index, 2, fmt::format(_T("{0}"), player->ping).c_str());
+		PlayersListCtrl.SetItemText(index, 3, fmt::format(_T("{0}"), player->score).c_str());
+		PlayersListCtrl.SetItemText(index, 4, pTextLookupService->GetPlayerTeamName(player->team).c_str());
 	}
 
 	PlayersListCtrl.SetSelectionMark(savedSelection);
@@ -181,7 +181,7 @@ void ServerDialog::HandleWorldLoaded(const GameServerEvent& event)
 
 	const auto& pGameServer = m_pContainer->Get<IGameServer>();
 
-	NetGameDetails details = pGameServer->GetGameDetails();
+	auto details = pGameServer->GetGameDetails();
 
 	// TODO: Connect to world state controls
 }

ServerConsoleExample/vcpkg.json

@@ -0,0 +1,7 @@
+{
+	"name": "server-console",
+	"version-string": "1.0.0",
+	"dependencies": [
+		"fmt"
+	]
+}