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<article class="doc">
<h1 class="page">How to Build the jNavigation Recast Bindings</h1>
<div id="preamble">
<div class="sectionbody">
<div class="paragraph">
<p>jNavigation is Java jME port for Recast Navigation written in C++. The project has two parts:</p>
</div>
<div class="olist arabic">
<ol class="arabic">
<li>
<p><a href="https://github.com/QuietOne/jNavigation-native">jNavigationNative</a> contains Recast Navigation library and C++ wrapper for java</p>
</li>
<li>
<p><a href="https://github.com/QuietOne/jNavigation">jNavigation</a> is Java project that uses jNavigationNative and is the project that the end user will use</p>
</li>
</ol>
</div>
<div class="paragraph">
<p>If there is need for updating Recast Navigation from native side, there are two kinds of updating bindings:</p>
</div>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>only updating methods as the Recast made more efficient or more precise</p>
</li>
<li>
<p>adding new methods for Recast use</p>
</li>
</ol>
</div>
</div>
</div>
<div class="sect1">
<h2 id="updating-methods"><a class="anchor" href="#updating-methods"></a>Updating methods</h2>
<div class="sectionbody">
<div class="paragraph">
<p>Only updating methods are easy. The requirements needed:</p>
</div>
<div class="ulist">
<ul>
<li>
<p>C++ compiler</p>
</li>
</ul>
</div>
<div class="paragraph">
<p>The jNavigationNative that has following folders and files (it has more, but these are the most important for now):</p>
</div>
<div class="ulist">
<ul>
<li>
<p>Recast</p>
<div class="ulist">
<ul>
<li>
<p>Include</p>
</li>
<li>
<p>Source</p>
</li>
</ul>
</div>
</li>
<li>
<p>README.md</p>
</li>
<li>
<p>Recast_wrap.cxx - Java - C++ wrapper</p>
</li>
</ul>
</div>
<div class="paragraph">
<p>Updating the methods is only the matter of putting all headers from Recast Navigation to Include folder, source to Source folders, and then building the project.</p>
</div>
<div class="paragraph">
<p>As author of this project used the NetBeans 7.4 for building the project, the following instruction is included, if the building from terminal doesn&#8217;t work.</p>
</div>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>Setting <a href="https://netbeans.org/kb/docs/cnd/beginning-jni-linux.html"> parameters for NetBeans compiler</a></p>
</li>
<li>
<p>Remove all headers from Header Files</p>
</li>
<li>
<p>Remove all source files <strong>EXCEPT Recast_wrap.cxx</strong> from Source Files</p>
</li>
<li>
<p>Right click on Header files, select <code>Add Existing Item…</code> or <code>Add Existing Items from Folders…</code> and select needed headers</p>
</li>
<li>
<p>Right click on Source files, select <code>Add Existing Item…</code> or <code>Add Existing Items from Folders…</code> and select needed source files</p>
</li>
<li>
<p>Build</p>
</li>
<li>
<p>Add built project to jNavigation project</p>
</li>
<li>
<p>Build jNavigation project</p>
</li>
</ol>
</div>
<div class="sect2">
<h3 id="adding-new-methods-from-native-side"><a class="anchor" href="#adding-new-methods-from-native-side"></a>Adding new methods from native side</h3>
<div class="paragraph">
<p>This is more complicated process and it includes the all work done in NetBeans mentioned in previous section. After that, there are two ways to add new function:</p>
</div>
<div class="ulist">
<ul>
<li>
<p>manually adding code to wrapper</p>
</li>
<li>
<p>creating new wrapper with <a href="http://swig.org/">SWIG</a></p>
</li>
</ul>
</div>
<div class="sect3">
<h4 id="manually-adding-code-to-wrapper"><a class="anchor" href="#manually-adding-code-to-wrapper"></a>Manually adding code to wrapper</h4>
<div class="paragraph">
<p>Example of method in wrapper:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-java hljs" data-lang="java">SWIGEXPORT jint JNICALL Java_com_jme3_ai_navigation_utils_RecastJNI_rcIntArray_1size(JNIEnv *jenv, jclass jcls, jlong jarg1, jobject jarg1_) {
 ...
}</code></pre>
</div>
</div>
<div class="paragraph">
<p>The Recast_wrap.cxx uses SWIG wrapper so for declaring method in wrapper you must first use the keyword <code>SWIGEXPORT</code> then returning type (for more information on returning types see <a href="http://docs.oracle.com/javase/1.5.0/docs/guide/jni/spec/types.html">link</a>), then again keyword <code>JNICALL</code> and then as the name of method <code>Java_com_jme3_ai_navigation_utils_RecastJNI_</code> + <code>name of class</code> + <code>name of method</code>, after that, there goes list of parameters needed for the function (for more information see <a href="http://docs.oracle.com/javase/7/docs/technotes/guides/jni/spec/functions.html">link</a>). In body of method write how the function should be used.</p>
</div>
<div class="paragraph">
<p>After adding method to wrapper, compile project and add it to jNavigation.
In jNavigation project in class <code>com.jme3.ai.navigation.utils.RecastJNI.java</code> add native method, and after that add in class from which you would like to use this method to call this native method. It seems a little bit more complicated than it should be, but this also for support for updating native side with SWIG.</p>
</div>
</div>
<div class="sect3">
<h4 id="creating-new-wrapper-with-swig"><a class="anchor" href="#creating-new-wrapper-with-swig"></a>Creating new wrapper with SWIG</h4>
<div class="paragraph">
<p>In some temporary folder add all headers. It shouldn&#8217;t contain any subfolders.</p>
</div>
<div class="paragraph">
<p>The following script was used for generating wrapper:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="highlightjs highlight"><code class="language-none hljs">%module Recast
%include "carrays.i"
%array_class(double, DoubleArray);
%array_class(float, FloatArray);
%array_class(int, IntArray);
%array_class(unsigned char, UCharArray);
%array_class(unsigned short, UShortArray);
%array_class(unsigned int, UIntArray);
%array_class(long, LongArray);
%array_class(bool, BooleanArray)

%{
#include "DetourAlloc.h"
#include "DetourAssert.h"
#include "DetourCommon.h"
#include "DetourCrowd.h"
#include "DetourLocalBoundary.h"
#include "DetourMath.h"
#include "DetourNavMesh.h"
#include "DetourNavMeshBuilder.h"
#include "DetourNavMeshQuery.h"
#include "DetourNode.h"
#include "DetourObstacleAvoidance.h"
#include "DetourPathCorridor.h"
#include "DetourPathQueue.h"
#include "DetourProximityGrid.h"
#include "DetourStatus.h"
#include "DetourTileCache.h"
#include "DetourTileCacheBuilder.h"
#include "Recast.h"
#include "RecastAlloc.h"
#include "RecastAssert.h"
%}

/* Let's just grab the original header file here */
%include "DetourAlloc.h"
%include "DetourAssert.h"
%include "DetourCommon.h"
%include "DetourCrowd.h"
%include "DetourLocalBoundary.h"
%include "DetourMath.h"
%include "DetourNavMesh.h"
%include "DetourNavMeshBuilder.h"
%include "DetourNavMeshQuery.h"
%include "DetourNode.h"
%include "DetourObstacleAvoidance.h"
%include "DetourPathCorridor.h"
%include "DetourPathQueue.h"
%include "DetourProximityGrid.h"
%include "DetourStatus.h"
%include "DetourTileCache.h"
%include "DetourTileCacheBuilder.h"
%include "Recast.h"
%include "RecastAlloc.h"
%include "RecastAssert.h"

%pragma(java) jniclasscode=%{
  static {
    System.load("Recast");
  }
%}</code></pre>
</div>
</div>
<div class="paragraph">
<p>If there are more headers at some moment, include them in both places.</p>
</div>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>Save script as Recast.i into temp folder with rest of the headers</p>
</li>
<li>
<p>Install SWIG if not already</p>
</li>
<li>
<p>Open terminal and go to folder where the script is</p>
</li>
<li>
<p>Execute command <code>swig -c++ -java Recast.i</code></p>
</li>
<li>
<p>Now SWIG will generate Java classes and new Recast_wrap.cxx</p>
</li>
<li>
<p>Recast_wrap.cxx put in jNavigationNative with new headers and source files, as previously mentioned</p>
</li>
<li>
<p>Build that project</p>
</li>
<li>
<p>For jNavigation side, put only new methods in RecastJNI, and use where they are being used. For that you can see in Java class that are build with SWIG.</p>
</li>
<li>
<p>If method uses some explicit SWIG type, try to use some method for converting it into jME type, or similar. You can probably find something in package <code>com.jme3.ai.navigation.utils</code></p>
</li>
</ol>
</div>
</div>
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