$#include "NavigationMesh.h"

/// Description of a navigation mesh geometry component, with transform and bounds information.
struct NavigationGeometryInfo
{
    /// Component.
    Component* component_;
    /// Geometry LOD level if applicable.
    unsigned lodLevel_;
    /// Transform relative to the navigation mesh root node.
    Matrix3x4 transform_;
    /// Bounding box relative to the navigation mesh root node.
    BoundingBox boundingBox_;
};

/// Navigation mesh component. Collects the navigation geometry from child nodes with the Navigable component and responds to path queries.
class NavigationMesh : public Component
{
public:
    /// Set tile size.
    void SetTileSize(int size);
    /// Set cell size.
    void SetCellSize(float size);
    /// Set cell height.
    void SetCellHeight(float height);
    /// Set navigation agent height.
    void SetAgentHeight(float height);
    /// Set navigation agent radius.
    void SetAgentRadius(float radius);
    /// Set navigation agent max vertical climb.
    void SetAgentMaxClimb(float maxClimb);
    /// Set navigation agent max slope.
    void SetAgentMaxSlope(float maxSlope);
    /// Set region minimum size.
    void SetRegionMinSize(float size);
    /// Set region merge size.
    void SetRegionMergeSize(float size);
    /// Set edge max length.
    void SetEdgeMaxLength(float length);
    /// Set edge max error.
    void SetEdgeMaxError(float error);
    /// Set detail sampling distance.
    void SetDetailSampleDistance(float distance);
    /// Set detail sampling maximum error.
    void SetDetailSampleMaxError(float error);
    /// Set padding of the navigation mesh bounding box. Having enough padding allows to add geometry on the extremities of the navigation mesh when doing partial rebuilds.
    void SetPadding(const Vector3& padding);
    /// Rebuild the navigation mesh. Return true if successful.
    bool Build();
    /// Rebuild part of the navigation mesh contained by the world-space bounding box. Return true if successful.
    bool Build(const BoundingBox& boundingBox);
    
    /// Find a path between world space points. Return non-empty list of points if successful. Extents specifies how far off the navigation mesh the points can be.
    // void FindPath(PODVector<Vector3>& dest, const Vector3& start, const Vector3& end, const Vector3& extents = Vector3::ONE);
    tolua_outside PODVector<Vector3> NavigationMeshFindPath @ FindPath(const Vector3& start, const Vector3& end, const Vector3& extents = Vector3::ONE);
    
    /// Return a random point on the navigation mesh.
    Vector3 GetRandomPoint();
    /// Return a random point on the navigation mesh within a circle. The circle radius is only a guideline and in practice the returned point may be further away.
    Vector3 GetRandomPointInCircle(const Vector3& center, float radius, const Vector3& extents = Vector3::ONE);
    /// Return distance to wall from a point. Maximum search radius must be specified.
    float GetDistanceToWall(const Vector3& point, float radius, const Vector3& extents = Vector3::ONE);
    /// Perform a walkability raycast on the navigation mesh between start and end and return the point where a wall was hit, or the end point if no walls.
    Vector3 Raycast(const Vector3& start, const Vector3& end, const Vector3& extents = Vector3::ONE);

    /// Return tile size.
    int GetTileSize() const { return tileSize_; }
    /// Return cell size.
    float GetCellSize() const { return cellSize_; }
    /// Return cell height.
    float GetCellHeight() const { return cellHeight_; }
    /// Return navigation agent height.
    float GetAgentHeight() const { return agentHeight_; }
    /// Return navigation agent radius.
    float GetAgentRadius() const { return agentRadius_; }
    /// Return navigation agent max vertical climb.
    float GetAgentMaxClimb() const { return agentMaxClimb_; }
    /// Return navigation agent max slope.
    float GetAgentMaxSlope() const { return agentMaxSlope_; }
    /// Return region minimum size.
    float GetRegionMinSize() const { return regionMinSize_; }
    /// Return region merge size.
    float GetRegionMergeSize() const { return regionMergeSize_; }
    /// Return edge max length.
    float GetEdgeMaxLength() const { return edgeMaxLength_; }
    /// Return edge max error.
    float GetEdgeMaxError() const { return edgeMaxError_; }
    /// Return detail sampling distance.
    float GetDetailSampleDistance() const { return detailSampleDistance_; }
    /// Return detail sampling maximum error.
    float GetDetailSampleMaxError() const { return detailSampleMaxError_; }
    /// Return navigation mesh bounding box padding.
    const Vector3& GetPadding() const { return padding_; }
    /// Return whether has been initialized with valid navigation data.
    bool IsInitialized() const { return navMesh_ != 0; }
    /// Return local space bounding box of the navigation mesh.
    const BoundingBox& GetBoundingBox() const { return boundingBox_; }
    /// Return world space bounding box of the navigation mesh.
    BoundingBox GetWorldBoundingBox() const;
    /// Return number of tiles.
    IntVector2 GetNumTiles() const { return IntVector2(numTilesX_, numTilesZ_); }
    
    // Properties:
    tolua_property__get_set int tileSize;
    tolua_property__get_set float cellSize;
    tolua_property__get_set float cellHeight;
    tolua_property__get_set float agentHeight;
    tolua_property__get_set float agentRadius;
    tolua_property__get_set float agentMaxClimb;
    tolua_property__get_set float agentMaxSlope;
    tolua_property__get_set float regionMinSize;
    tolua_property__get_set float regionMergeSize;
    tolua_property__get_set float edgeMaxLength;
    tolua_property__get_set float edgeMaxError;
    tolua_property__get_set float detailSampleDistance;
    tolua_property__get_set float detailSampleMaxError;
    tolua_property__get_set const Vector3& padding;
    tolua_readonly tolua_property__is_set bool initialized;
    tolua_readonly tolua_property__get_set const BoundingBox& boundingBox;
    tolua_readonly tolua_property__get_set BoundingBox worldBoundingBox;
    tolua_readonly tolua_property__get_set IntVector2 numTiles;
};

${

PODVector<Vector3> NavigationMeshFindPath(NavigationMesh* navMesh, const Vector3& start, const Vector3& end, const Vector3& extents = Vector3::ONE)
{
    PODVector<Vector3> dest;
    navMesh->FindPath(dest, start, end, extents);
    return dest;
}

// Patch for NavigationMesh.worldBoundingBox property.
#define TOLUA_DISABLE_tolua_get_NavigationMesh_worldBoundingBox
#define tolua_get_NavigationMesh_worldBoundingBox tolua_NavigationLuaAPI_NavigationMesh_GetWorldBoundingBox00

// Patch for NavigationMesh.numTiles property.
#define TOLUA_DISABLE_tolua_get_NavigationMesh_numTiles
#define tolua_get_NavigationMesh_numTiles tolua_NavigationLuaAPI_NavigationMesh_GetNumTiles00

$}