void NavigationMesh::CollectGeometries(Vector<NavigationGeometryInfo>& geometryList)
{
    PROFILE(CollectNavigationGeometry);

    // Get Navigable components from child nodes, not from whole scene. This makes it possible to partition
    // the scene into several navigation meshes
    PODVector<Navigable*> navigables;
    node_->GetComponents<Navigable>(navigables, true);

    HashSet<Node*> processedNodes;
    for (unsigned i = 0; i < navigables.Size(); ++i)
    {
        if (navigables[i]->IsEnabledEffective())
            CollectGeometries(geometryList, navigables[i]->GetNode(), processedNodes, navigables[i]->IsRecursive());
    }

    // Get offmesh connections
    Matrix3x4 inverse = node_->GetWorldTransform().Inverse();
    PODVector<OffMeshConnection*> connections;
    node_->GetComponents<OffMeshConnection>(connections, true);

    for (unsigned i = 0; i < connections.Size(); ++i)
    {
        OffMeshConnection* connection = connections[i];
        if (connection->IsEnabledEffective() && connection->GetEndPoint())
        {
            const Matrix3x4& transform = connection->GetNode()->GetWorldTransform();

            NavigationGeometryInfo info;
            info.component_ = connection;
            info.boundingBox_ = BoundingBox(Sphere(transform.Translation(), connection->GetRadius())).Transformed(inverse);

            geometryList.Push(info);
        }
    }

    // Get nav area volumes
    PODVector<NavArea*> navAreas;
    node_->GetComponents<NavArea>(navAreas, true);
    for (unsigned i = 0; i < navAreas.Size(); ++i)
    {
        NavArea* area = navAreas[i];
        // Ignore disabled AND any areas that have no meaningful settings
        if (area->IsEnabledEffective() && area->GetAreaID() != 0)
        {
            NavigationGeometryInfo info;
            info.component_ = area;
            info.boundingBox_ = area->GetWorldBoundingBox();
            geometryList.Push(info);
        }
    }
}
void NavigationMesh::GetTileGeometry(NavBuildData* build, Vector<NavigationGeometryInfo>& geometryList, BoundingBox& box)
{
    Matrix3x4 inverse = node_->GetWorldTransform().Inverse();

    for (unsigned i = 0; i < geometryList.Size(); ++i)
    {
        if (box.IsInsideFast(geometryList[i].boundingBox_) != OUTSIDE)
        {
            const Matrix3x4& transform = geometryList[i].transform_;

            if (geometryList[i].component_->GetType() == OffMeshConnection::GetTypeStatic())
            {
                OffMeshConnection* connection = static_cast<OffMeshConnection*>(geometryList[i].component_);
                Vector3 start = inverse * connection->GetNode()->GetWorldPosition();
                Vector3 end = inverse * connection->GetEndPoint()->GetWorldPosition();

                build->offMeshVertices_.Push(start);
                build->offMeshVertices_.Push(end);
                build->offMeshRadii_.Push(connection->GetRadius());
                build->offMeshFlags_.Push((unsigned short)connection->GetMask());
                build->offMeshAreas_.Push((unsigned char)connection->GetAreaID());
                build->offMeshDir_.Push((unsigned char)(connection->IsBidirectional() ? DT_OFFMESH_CON_BIDIR : 0));
                continue;
            }
            else if (geometryList[i].component_->GetType() == NavArea::GetTypeStatic())
            {
                NavArea* area = static_cast<NavArea*>(geometryList[i].component_);
                NavAreaStub stub;
                stub.areaID_ = (unsigned char)area->GetAreaID();
                stub.bounds_ = area->GetWorldBoundingBox();
                build->navAreas_.Push(stub);
                continue;
            }

#ifdef ATOMIC_PHYSICS
            CollisionShape* shape = dynamic_cast<CollisionShape*>(geometryList[i].component_);
            if (shape)
            {
                switch (shape->GetShapeType())
                {
                case SHAPE_TRIANGLEMESH:
                    {
                        Model* model = shape->GetModel();
                        if (!model)
                            continue;

                        unsigned lodLevel = shape->GetLodLevel();
                        for (unsigned j = 0; j < model->GetNumGeometries(); ++j)
                            AddTriMeshGeometry(build, model->GetGeometry(j, lodLevel), transform);
                    }
                    break;

                case SHAPE_CONVEXHULL:
                    {
                        ConvexData* data = static_cast<ConvexData*>(shape->GetGeometryData());
                        if (!data)
                            continue;

                        unsigned numVertices = data->vertexCount_;
                        unsigned numIndices = data->indexCount_;
                        unsigned destVertexStart = build->vertices_.Size();

                        for (unsigned j = 0; j < numVertices; ++j)
                            build->vertices_.Push(transform * data->vertexData_[j]);

                        for (unsigned j = 0; j < numIndices; ++j)
                            build->indices_.Push(data->indexData_[j] + destVertexStart);
                    }
                    break;

                case SHAPE_BOX:
                    {
                        unsigned destVertexStart = build->vertices_.Size();

                        build->vertices_.Push(transform * Vector3(-0.5f, 0.5f, -0.5f));
                        build->vertices_.Push(transform * Vector3(0.5f, 0.5f, -0.5f));
                        build->vertices_.Push(transform * Vector3(0.5f, -0.5f, -0.5f));
                        build->vertices_.Push(transform * Vector3(-0.5f, -0.5f, -0.5f));
                        build->vertices_.Push(transform * Vector3(-0.5f, 0.5f, 0.5f));
                        build->vertices_.Push(transform * Vector3(0.5f, 0.5f, 0.5f));
                        build->vertices_.Push(transform * Vector3(0.5f, -0.5f, 0.5f));
                        build->vertices_.Push(transform * Vector3(-0.5f, -0.5f, 0.5f));

                        const unsigned indices[] = {
                            0, 1, 2, 0, 2, 3, 1, 5, 6, 1, 6, 2, 4, 5, 1, 4, 1, 0, 5, 4, 7, 5, 7, 6,
                            4, 0, 3, 4, 3, 7, 1, 0, 4, 1, 4, 5
                        };

                        for (unsigned j = 0; j < 36; ++j)
                            build->indices_.Push(indices[j] + destVertexStart);
                    }
                    break;

                default:
                    break;
                }

                continue;
            }
#endif
            Drawable* drawable = dynamic_cast<Drawable*>(geometryList[i].component_);
            if (drawable)
            {
                const Vector<SourceBatch>& batches = drawable->GetBatches();

                for (unsigned j = 0; j < batches.Size(); ++j)
                    AddTriMeshGeometry(build, drawable->GetLodGeometry(j, geometryList[i].lodLevel_), transform);
            }
        }
    }
}
void NavigationMesh::FindPath(PODVector<NavigationPathPoint>& dest, const Vector3& start, const Vector3& end,
    const Vector3& extents, const dtQueryFilter* filter)
{
    ATOMIC_PROFILE(FindPath);
    dest.Clear();

    if (!InitializeQuery())
        return;

    // Navigation data is in local space. Transform path points from world to local
    const Matrix3x4& transform = node_->GetWorldTransform();
    Matrix3x4 inverse = transform.Inverse();

    Vector3 localStart = inverse * start;
    Vector3 localEnd = inverse * end;

    const dtQueryFilter* queryFilter = filter ? filter : queryFilter_.Get();
    dtPolyRef startRef;
    dtPolyRef endRef;
    navMeshQuery_->findNearestPoly(&localStart.x_, &extents.x_, queryFilter, &startRef, 0);
    navMeshQuery_->findNearestPoly(&localEnd.x_, &extents.x_, queryFilter, &endRef, 0);

    if (!startRef || !endRef)
        return;

    int numPolys = 0;
    int numPathPoints = 0;

    navMeshQuery_->findPath(startRef, endRef, &localStart.x_, &localEnd.x_, queryFilter, pathData_->polys_, &numPolys,
        MAX_POLYS);
    if (!numPolys)
        return;

    Vector3 actualLocalEnd = localEnd;

    // If full path was not found, clamp end point to the end polygon
    if (pathData_->polys_[numPolys - 1] != endRef)
        navMeshQuery_->closestPointOnPoly(pathData_->polys_[numPolys - 1], &localEnd.x_, &actualLocalEnd.x_, 0);

    navMeshQuery_->findStraightPath(&localStart.x_, &actualLocalEnd.x_, pathData_->polys_, numPolys,
        &pathData_->pathPoints_[0].x_, pathData_->pathFlags_, pathData_->pathPolys_, &numPathPoints, MAX_POLYS);

    // Transform path result back to world space
    for (int i = 0; i < numPathPoints; ++i)
    {
        NavigationPathPoint pt;
        pt.position_ = transform * pathData_->pathPoints_[i];
        pt.flag_ = (NavigationPathPointFlag)pathData_->pathFlags_[i];

        // Walk through all NavAreas and find nearest
        unsigned nearestNavAreaID = 0;       // 0 is the default nav area ID
        float nearestDistance = M_LARGE_VALUE;
        for (unsigned j = 0; j < areas_.Size(); j++)
        {
            NavArea* area = areas_[j].Get();
            if (area && area->IsEnabledEffective())
            {
                BoundingBox bb = area->GetWorldBoundingBox();
                if (bb.IsInside(pt.position_) == INSIDE)
                {
                    Vector3 areaWorldCenter = area->GetNode()->GetWorldPosition();
                    float distance = (areaWorldCenter - pt.position_).LengthSquared();
                    if (distance < nearestDistance)
                    {
                        nearestDistance = distance;
                        nearestNavAreaID = area->GetAreaID();
                    }
                }
            }
        }
        pt.areaID_ = (unsigned char)nearestNavAreaID;

        dest.Push(pt);
    }
}